CN218161840U - Automatic charging device for ultra-low temperature environment track inspection robot - Google Patents
Automatic charging device for ultra-low temperature environment track inspection robot Download PDFInfo
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- CN218161840U CN218161840U CN202221592118.4U CN202221592118U CN218161840U CN 218161840 U CN218161840 U CN 218161840U CN 202221592118 U CN202221592118 U CN 202221592118U CN 218161840 U CN218161840 U CN 218161840U
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- fixing frame
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- 238000007689 inspection Methods 0.000 title claims abstract description 35
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 34
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 238000010438 heat treatment Methods 0.000 claims description 22
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 239000003245 coal Substances 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010892 electric spark Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Abstract
The utility model provides an automatic charging device for ultra-low temperature environment track inspection robot, including charger box, the mechanism of charging, track and track inspection robot, charger box installs on the track, with the mechanism electrical connection that charges, the mechanism that charges includes: the system comprises a power receiving contact, a charging slide rail fixing frame, a charging slide rail, a lithium battery pack, a power receiving end control module, a battery end in-place sensor fixing frame, a charger end in-place sensor, a battery end in-place sensor and a charger end in-place sensor fixing frame. Whether the inspection robot reaches the charging position or not is detected by the in-place detection sensor, and the charging loop is automatically closed when the inspection robot reaches the charging position, so that the automatic charging of the inspection robot is realized. The utility model discloses ensured safety and the high efficiency that lithium cell group charges, prolonged the life of lithium cell group at ultra-low temperature environment.
Description
Technical Field
The utility model relates to a track patrols and examines robot technical field, concretely relates to an automatic charging device that is used for ultra-low temperature environment track to patrol and examine robot.
Background
With the progress of science and technology, the inspection robot replaces manual inspection and is gradually popularized and applied to coal mines. The robot has strong pertinence to the detected equipment in the inspection process, the inspection quality and effect are superior to those of manual inspection, and the robot has a great pushing effect on the 'personnel reduction and efficiency improvement' work of a coal mine, so that the requirement of the coal mine on the equipment is changed from a simple automatic requirement to an automatic and intelligent requirement.
At present, a plurality of open pit coal mines are built in China, and statistical data shows that most of the open pit coal mines in China are distributed in northern areas such as inner Mongolia, xinjiang and the like. Along with the continuous increase of the demand of coal, the reconstruction and extension of large-scale opencut coal mines are also continuously increased, and the transportation of opencut coal is mainly completed by a belt, so that the belt transportation equipment is more and more widely applied to opencut mines, and the corresponding belt inspection also brings great workload to workers. Due to the special climatic conditions of Xinjiang and inner Mongolia, the temperature difference between summer and winter is large, the lowest temperature is below 40 ℃ below zero, and the highest temperature is above 40 ℃. Most of the conveying belts are built according to mountains, the maximum gradient can reach 25 degrees, and as open-pit mines have no corresponding protection, the ordinary inspection robot can not adapt to the severe environmental conditions due to the fact that the ordinary inspection robot is subjected to snow freezing in winter and high-temperature insolation in summer.
Therefore, the intelligent inspection robot which can work in a low-temperature open-air environment needs to be developed to meet the inspection application of an open-air mine site. As an important component of the inspection robot, a battery and a charging system thereof become critical. Because the lithium battery can not be charged in an environment below 0 ℃, and the discharging efficiency can be obviously reduced in a low-temperature environment, a lithium battery and a charging system which can work in an open-air low-temperature environment are needed, and the system is also suitable for the mobile characteristic and the intelligent characteristic of the inspection robot.
In the prior art, the patent of "a lithium battery low temperature automatic charging device" with patent number CN214589096U realizes the automatic charging in the low temperature environment, but when being applied to the mobile device of the inspection robot, the device lacks a corresponding automatic charging mechanism and a sensor for ensuring safety, and does not have an intelligent control algorithm matching with the automatic charging mechanism and the sensor.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides an automatic charging device for ultra-low temperature environment track patrols and examines robot, but this charging device work is at-40 ℃'s ultra-low temperature environment, when patrolling and examining the inside group battery electric quantity of robot and being less than the setting value, and robot automatic operation charges to the position of charging, realizes the full-automatic charging of independent external condition under the ultra-low temperature environment.
The utility model adopts the technical proposal that: the utility model provides an automatic charging device for ultra-low temperature environment track patrols and examines robot, patrols and examines the robot including charger case, charging mechanism, track and track, and the installation of charger case is fixed in on the track, with charging mechanism electrical connection.
The charging mechanism includes: the device comprises a power receiving contact, a charging slide rail fixing frame, a charging slide rail, a lithium battery pack, a power receiving end control module, a battery end in-place sensor fixing frame, a charger end in-place sensor, a battery end in-place sensor and a charger end in-place sensor fixing frame.
The charging mechanism is characterized in that a charging slide rail fixing frame of the charging mechanism is fixedly arranged on a rail, and a charging slide rail, a charger end in-place sensor and a charger end in-place sensor fixing frame are fixedly arranged on the charging slide rail fixing frame.
The power receiving contact, the power receiving end control module, the lithium battery pack, the battery end in-place sensor fixing frame and the battery end in-place sensor are arranged on the track inspection robot.
The charging mechanism has the functions of realizing the reliable connection of a charging circuit at the charger box end and a power receiving circuit at the lithium battery pack end, forming a complete charging circuit and providing the installation positions of the charging slide rail and the in-place sensor at the charger end.
The charger box is used for converting an external power supply into voltage suitable for the lithium battery pack to charge the lithium battery pack, detecting whether the robot reaches a charging position or not through the charger end in-place sensor, closing the charging loop to release electric energy after the robot reaches the charging position, and otherwise, preventing discharging, thereby ensuring that the charger charging loop and the lithium battery pack receiving loop are electrified in the switching-on process, further preventing sparks from being generated and ensuring that charging is safer. The charger box also has an automatic heating function, when the temperature is lower than a set value, the heating is started, and when the temperature is heated to the set value, the heating is stopped.
The battery end in-place sensor is arranged on the battery end in-place sensor fixing frame, and the power receiving end control module judges whether the inspection robot moves to a charging position or not according to a signal of the battery end in-place sensor; the lithium battery pack is internally provided with a battery pack temperature sensor and a battery pack heating module, and the power receiving control module is respectively connected with the lithium battery pack, the power receiving contact and the battery end in-place sensor. Patrol and examine when the robot moves to the position of charging, receive the electrical contact and reliably contact with the slide rail that charges, at this moment, battery end sensor that targets in place detects the robot and arrives the position of charging, receives the electrical loop switch-on of end control module, judges before charging whether the temperature satisfies the requirement of charging, if be less than the threshold value of settlement, then heat earlier, wait for the temperature to rise to and charge after the settlement temperature, wherein, the required electric energy of heating comes from the charger case, does not consume the battery energy.
The utility model has the advantages that:
1. ultra low temperature environmental suitability
The utility model discloses an for charger and the inside heating module that increases of lithium cell group, solved the problem that lithium cell group can not charge below 0 ℃, through temperature acquisition module to ambient temperature's perception, further utilize the temperature of heating module control charger and lithium cell group, make the charging environment of lithium cell group maintain a temperature range that is fit for charging all the time, guaranteed the security of lithium cell charging process, also prolonged the life of lithium cell group.
2. Adaptive docking of charging and receiving terminals
The utility model discloses a what remove patrols and examines robot receives the self-adaptation butt joint of the fixed slide rail that charges of contact and charger end to realized the unmanned on duty of charging process, realized automatic charging.
3. Electroless butt joint of charging end and receiving end
The utility model utilizes the in-place detection sensor to detect the relative position of the robot and the charging mechanism in real time, only when the in-place charging end sensor detects the robot and the in-place receiving end sensor detects the charging mechanism, the whole charging loop is switched on, and current flows between the charging slide rail and the receiving contact, otherwise, the charging slide rail is not electrified; before the robot reaches the charging position, the charging slide rail and the power receiving contact are reliably connected, so that electric sparks cannot be generated in the whole charging process, flammable and explosive substances in the surrounding environment cannot be ignited, and the safety of the charging device is further improved.
Drawings
FIG. 1 is a view showing the structure of the present invention;
FIG. 2 is a schematic view of a sensor mounting portion of the present invention;
fig. 3 is a partial enlarged view of the sensor mounting of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, an automatic charging device for a track inspection robot in an ultra-low temperature environment comprises a charger box 1, a charging mechanism 2, a track 11 and a track inspection robot 12, wherein the charger box 1 is fixedly installed on the track 11 and is electrically connected with the charging mechanism 2.
The charging mechanism 2 includes: the system comprises a power receiving contact 3, a charging slide rail fixing frame 4, a charging slide rail 5, a lithium battery pack 6, a power receiving end control module, a battery end in-place sensor fixing frame 7, a charger end in-place sensor 8, a battery end in-place sensor 9 and a charger end in-place sensor fixing frame 10.
A charging slide rail fixing frame 4 of the charging mechanism 2 is fixedly arranged on a rail 11, and a charging slide rail 5, a charger end in-place sensor 8 and a charger end in-place sensor fixing frame 10 are fixedly arranged on the charging slide rail fixing frame 4.
The power receiving contact 3, the power receiving end control module, the lithium battery pack 6, the battery end in-place sensor fixing frame 7 and the battery end in-place sensor 9 are arranged on the track inspection robot 12. The receiving end control module adopts an STM32F107VCT chip.
The function of the charging mechanism 2 is to realize the reliable connection between the charging circuit at the end of the charger box 1 and the power receiving circuit at the end of the lithium battery pack 6 so as to form a complete charging circuit, and simultaneously provide the installation positions of the charging slide rail 5 and the charger end in-place sensor 8.
As shown in fig. 2, the charger end in-place sensor 8 is mounted on the charger end in-place sensor fixing frame 10 at a specific angle, the charger end in-place sensor 8 is required to be over against the track inspection robot body, and when the robot runs to a detection area, the robot can be detected. The effect of charger case 1 is that the voltage that is suitable for with external power supply conversion lithium cell group 6 charges for lithium cell group 6, and can reach the charging position through charger end sensor 8 detection robot that targets in place, patrols and examines closed charging circuit release electric energy after the robot reachs the charging position, otherwise can not discharge to guarantee that charger case 1 charging circuit and lithium cell group 6 receive the electric circuit switch-on in-process uncharged, thereby can not produce the spark, make charge safer. The charger box 1 also has an automatic heating function, when the temperature is lower than a set value, the heating is started, and when the temperature is heated to the set value, the heating is stopped.
As shown in fig. 3, the battery end in-place sensor 9 is mounted on the battery end in-place sensor fixing frame 7 at a specific angle, during mounting, it is ensured that the sensor can detect the charger end in-place sensor fixing frame 10, and the power receiving end control module judges whether the robot moves to a charging position according to a signal of the battery end in-place sensor 9; the battery end in-place sensor fixing frame 7 and the power receiving contact 3 are vertically arranged at a specific position of the track inspection robot 12; the lithium battery pack 6 comprises a battery pack temperature sensor and a battery pack heating module, the power receiving control module is respectively connected with the lithium battery pack 6 and the power receiving contact 3, and the power receiving end control module is connected with the battery end in-place sensor 9 through a control line. When the robot runs to a charging position, the power receiving contact 3 is reliably contacted with the charging slide rail 5, at the moment, the battery end in-place sensor 9 detects that the inspection robot reaches the charging position, and the power receiving end control module is used for switching on a power receiving circuit; and judging whether the temperature meets the charging requirement before charging, if the temperature is lower than a set threshold, heating, and charging after the temperature is increased to the set temperature.
The utility model discloses a working process is: when the inspection robot is close to the automatic charging device, the charger box 1 detects whether the inspection robot reaches the charging position through the charger end in-place sensor 8. If the robot reaches the charging position, the power receiving contact 3 is reliably contacted with the charging slide rail 5, the charger end in-place sensor 8 closes the charging loop to release electric energy after detecting that the inspection robot reaches the charging position, and the charging slide rail 5 is charged at the moment. The lithium battery pack 6 is internally provided with a battery pack temperature sensor and a battery pack heating module, when the battery end in-place sensor 9 detects that the inspection robot reaches a charging position, whether the temperature meets the temperature condition for charging the lithium battery pack 6 or not is judged firstly, and if yes, a power receiving loop is closed; if the temperature is not met, the battery pack heating module is started to heat, and the power receiving loop is closed to charge after the temperature condition is met. The electric energy of the battery pack 6 heating module comes from the charger box 1, and the energy of the battery pack 6 is not consumed. The charger box 1 has an automatic heating function, a control module and a heating module are arranged inside the charger box, the control module determines whether to start the heating module for heating according to a temperature value, when the temperature is lower than a set low-temperature threshold value, heating is started, and when the temperature is heated to a set value, heating is stopped.
The present invention is not limited to the embodiments of the specific embodiments, and other embodiments obtained by the solution of the present invention are also included in the scope of the technical innovation and protection of the present invention.
Claims (2)
1. The utility model provides an automatic charging device for ultra-low temperature environment track patrols and examines robot, patrols and examines robot (12), its characterized in that including charger case (1), charging mechanism (2), track (11) and track: the charger box (1) is fixedly arranged on the track (11) and is electrically connected with the charging mechanism (2); the charging mechanism (2) includes: the system comprises a power receiving contact (3), a charging slide rail fixing frame (4), a charging slide rail (5), a lithium battery pack (6), a power receiving end control module, a battery end in-place sensor fixing frame (7), a charger end in-place sensor (8), a battery end in-place sensor (9) and a charger end in-place sensor fixing frame (10); a charging slide rail fixing frame (4) of the charging mechanism (2) is fixedly arranged on the track (11), and a charging slide rail (5), a charger end in-place sensor (8) and a charger end in-place sensor fixing frame (10) are fixedly arranged on the charging slide rail fixing frame (4); the power receiving contact (3), the power receiving end control module, the lithium battery pack (6), the battery end in-place sensor fixing frame (7) and the battery end in-place sensor (9) are arranged on the track inspection robot (12).
2. The automatic charging device for the track inspection robot in the ultra-low temperature environment according to claim 1, characterized in that: the charger end in-place sensor (8) is arranged on a charger end in-place sensor fixing frame (10), the battery end in-place sensor (9) is arranged on a battery end in-place sensor fixing frame (7) at a specific angle, and the battery end in-place sensor fixing frame (7) and the power receiving contact (3) are vertically arranged at a specific position of the track inspection robot (12); the lithium battery pack (6) comprises a battery pack temperature sensor and a battery pack heating module, the power receiving control module is connected with the lithium battery pack (6) and the power receiving contact (3) respectively, and the power receiving end control module is connected with the battery end in-place sensor (9) through a control line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221592118.4U CN218161840U (en) | 2022-06-24 | 2022-06-24 | Automatic charging device for ultra-low temperature environment track inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221592118.4U CN218161840U (en) | 2022-06-24 | 2022-06-24 | Automatic charging device for ultra-low temperature environment track inspection robot |
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| Publication Number | Publication Date |
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| CN218161840U true CN218161840U (en) | 2022-12-27 |
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| CN202221592118.4U Active CN218161840U (en) | 2022-06-24 | 2022-06-24 | Automatic charging device for ultra-low temperature environment track inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117498506A (en) * | 2023-12-27 | 2024-02-02 | 西安博深安全科技股份有限公司 | Charging device and charging method for mining inspection robot |
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2022
- 2022-06-24 CN CN202221592118.4U patent/CN218161840U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117498506A (en) * | 2023-12-27 | 2024-02-02 | 西安博深安全科技股份有限公司 | Charging device and charging method for mining inspection robot |
| CN117498506B (en) * | 2023-12-27 | 2024-03-15 | 西安博深安全科技股份有限公司 | Charging device and charging method for mining inspection robot |
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