CN220457149U - Power supply system of track inspection robot and track inspection robot - Google Patents
Power supply system of track inspection robot and track inspection robot Download PDFInfo
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- CN220457149U CN220457149U CN202321785556.7U CN202321785556U CN220457149U CN 220457149 U CN220457149 U CN 220457149U CN 202321785556 U CN202321785556 U CN 202321785556U CN 220457149 U CN220457149 U CN 220457149U
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- 238000007689 inspection Methods 0.000 title claims abstract description 56
- 230000005611 electricity Effects 0.000 claims abstract description 3
- 239000003990 capacitor Substances 0.000 claims description 19
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- 206010068065 Burning mouth syndrome Diseases 0.000 description 27
- 230000006870 function Effects 0.000 description 9
- 238000012544 monitoring process Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 238000007599 discharging Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- IBPXYDUJQWENPM-PKTZIBPZSA-N n-[2-[[(1r,2s)-2-[(4-methylsulfanylbenzoyl)amino]cyclohexyl]amino]-2-oxoethyl]-2-(propan-2-ylcarbamoylamino)-5-(trifluoromethyl)benzamide Chemical compound C1=CC(SC)=CC=C1C(=O)N[C@@H]1[C@H](NC(=O)CNC(=O)C=2C(=CC=C(C=2)C(F)(F)F)NC(=O)NC(C)C)CCCC1 IBPXYDUJQWENPM-PKTZIBPZSA-N 0.000 description 5
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- 238000004364 calculation method Methods 0.000 description 3
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
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- 238000013480 data collection Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 238000004146 energy storage Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- GELKBWJHTRAYNV-UHFFFAOYSA-K lithium iron phosphate Chemical compound [Li+].[Fe+2].[O-]P([O-])([O-])=O GELKBWJHTRAYNV-UHFFFAOYSA-K 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Abstract
The embodiment of the application provides a power supply system of track inspection robot and track inspection robot, wherein, power supply system includes: each storage battery comprises a single battery and a battery management system BMS, and the single battery is used for being connected with an electricity load in the track inspection robot; the output ends of the single batteries in the two storage battery packs are connected in parallel; the battery management system BMS is connected with the corresponding single battery; the data acquisition module is connected with the output ends of the battery management systems BMS in the two storage battery packs and is used for acquiring output data of the battery management systems BMS; the controller is connected with the data acquisition module; and the touch screen is connected with the controller. The power supply system of the track inspection robot and the track inspection robot can prolong the endurance capacity and improve the reliability.
Description
Technical Field
The application relates to a track inspection equipment technology, in particular to a power supply system of a track inspection robot and the track inspection robot.
Background
In recent years, the number of urban rail transit lines in China is rapidly increased, the total operating mileage reaches tens of thousands of kilometers, and key equipment such as rails, switches and the like on each line need to be monitored and managed healthily at regular intervals. Along with the continuous progress of intelligent technology, the track inspection robot replaces manual inspection, and realizes automatic inspection of circuit equipment.
The track inspection robot is usually powered by a storage battery, and the cruising ability of the track inspection robot is determined by the capacity of the storage battery. Under the condition that the track lines in China are gradually increased and the empty window period is gradually shortened, the track inspection robot needs to have higher endurance and reliability. At present, the mode of improving the cruising ability is to enlarge the capacity of a storage battery, but the problem brought by the enlarged capacity of the storage battery is that the weight of the storage battery is increased, the carrying difficulty is improved, and the installation and the transportation of the robot are influenced. In addition, once the storage battery fails in the inspection process, the robot is paralyzed, so that collected data is lost, and the reliability of the storage battery cannot meet the requirements.
Disclosure of Invention
In order to solve one of the technical defects, the embodiment of the application provides a power supply system of a track inspection robot and the track inspection robot.
According to a first aspect of embodiments of the present application, there is provided a power supply system of a track inspection robot, including:
each storage battery comprises a single battery and a battery management system BMS, and the single battery is used for being connected with an electricity load in the track inspection robot; the output ends of the single batteries in the two storage battery packs are connected in parallel; the battery management system BMS is connected with the corresponding single battery;
the data acquisition module is connected with the output ends of the battery management systems BMS in the two storage battery packs and is used for acquiring output data of the battery management systems BMS;
the controller is connected with the data acquisition module;
and the touch screen is connected with the controller.
According to a second aspect of embodiments of the present application, there is provided a track inspection robot, comprising:
a main frame;
the travelling system is arranged at the bottom of the main frame;
the inspection operation device is arranged on the main frame and is used for executing track inspection operation;
the power supply system is arranged on the main frame and is used for supplying power to the inspection operation device.
The technical scheme provided by the embodiment of the application adopts two storage battery packs, wherein each storage battery pack comprises a single battery and a BMS, and the single battery is used for being connected with an electric load in the track inspection robot; the output ends of the single batteries in the two storage battery packs are connected in parallel; the BMS is connected with the corresponding single battery; the data acquisition module is connected with the output ends of the BMSs in the two storage battery packs and is used for acquiring output data of the BMSs; the controller is connected with the data acquisition module; the touch screen is connected with the controller, so that power supply and electric quantity monitoring of the track inspection robot are realized, the cruising ability of the robot can be increased by adopting two storage battery packs, and the single storage battery pack is small in size and weight and easy to carry and transport. And under the condition that one storage battery pack fails, the other storage battery pack supplies power, so that the probability of losing collected data can be reduced, and the reliability of the robot is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
fig. 1 is a schematic structural diagram of a power supply system of a track inspection robot according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of connection of two storage battery packs in the power supply system according to the embodiment of the present application;
fig. 3 is a schematic structural diagram of a BMS in a power supply system according to an embodiment of the present application.
Reference numerals:
1-a first battery pack; 11-a first single battery; 12-a first BMS; 13-a first current limiting module;
2-a second battery pack; 21-a second unit cell; 22-a second BMS; 23-a second current limiting module;
3-a regulated power supply;
4-loading;
5-a data acquisition module;
6-a controller;
7-a touch screen;
8-an industrial personal computer;
9-super capacitor.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following detailed description of exemplary embodiments of the present application is given with reference to the accompanying drawings, and it is apparent that the described embodiments are only some of the embodiments of the present application and not exhaustive of all the embodiments. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.
The embodiment provides a power supply system, can be applied to the track inspection robot for power supply is carried out to the track inspection robot to prolong its duration, improve the reliability of use.
As shown in fig. 1 to 3, the power supply system of the track inspection robot provided in the present embodiment includes: two storage battery packs, a data acquisition module 5, a controller 6 and a touch screen 7. Wherein, two storage battery packs are respectively: the first storage battery pack 1 and the second storage battery pack 2, each storage battery pack comprises a single battery and a battery management system BMS, and the single battery is used for being connected with an electric load in the track inspection robot. The output ends of the single batteries in the two storage battery packs are connected in parallel; the battery management system BMS is connected with the corresponding single battery and is used for monitoring and managing the corresponding single battery, for example, collecting the total voltage of the storage battery, the voltage, the electric quantity, the charge and discharge current, the battery environment temperature and the like of the single battery.
The battery cells in the first battery pack 1 are referred to as first battery cells 11, and the BMS is referred to as first BMS12. The first BMS12 monitors and manages the first battery cells 11.
The battery cells in the second battery pack 2 are referred to as second battery cells 21, and the BMS is referred to as second BMS22. The second BMS22 monitors and manages the second unit cells 21.
The adoption of two storage battery packs can increase the endurance of the robot, and the volume and the weight of a single storage battery pack are smaller, so that the robot is easy to carry and transport. And under the condition that one storage battery pack fails, the other storage battery pack supplies power, so that the probability of losing collected data can be reduced, and the reliability of the robot is improved.
The data acquisition module 5 is connected with the output ends of the first BMS12 and the second BMS22, and is used for acquiring output data of the first BMS12 and the second BMS22, for example: the total voltage of the storage battery, the voltage, the electric quantity, the charge and discharge current, the battery environment temperature and the like of the single battery are used for monitoring the charge and discharge process and the state of the storage battery.
The controller 6 is connected with the data acquisition module 5, receives the data acquired by the data acquisition module 5 from the BMS, monitors the battery information in real time, stores the data in a transferring mode, analyzes the electric quantity of the data, and the like, generates a data diagnosis result, is beneficial to improving the safety of the storage battery, prevents overcharge and overdischarge, and prolongs the service life of the storage battery.
The touch screen 7 is electrically connected with the controller 6, and on one hand, receives the diagnosis result sent by the controller 6 and displays the diagnosis result on the screen for the operator to check; on the other hand, a man-machine interface is provided on the screen for the staff to input control parameters and control instructions.
The technical scheme provided by the embodiment adopts two storage battery packs, wherein each storage battery pack comprises a single battery and a BMS, and the single battery is used for being connected with an electric load in the track inspection robot; the output ends of the single batteries in the two storage battery packs are connected in parallel; the BMS is connected with the corresponding single battery; the data acquisition module is connected with the output ends of the BMSs in the two storage battery packs and is used for acquiring output data of the BMSs; the controller is connected with the data acquisition module; the touch screen is connected with the controller, so that power supply and electric quantity monitoring of the track inspection robot are realized, the cruising ability of the robot can be increased by adopting two storage battery packs, and the single storage battery pack is small in size and weight and easy to carry and transport. And under the condition that one storage battery pack fails, the other storage battery pack supplies power, so that the probability of losing collected data can be reduced, and the reliability of the robot is improved.
Further, the controller 6 is specifically a programmable logic controller (Programmable Logic Controller, abbreviated as PLC). The PLC comprises a processor module, a communication module, a digital quantity input module, an analog quantity input module, a digital quantity output module, an analog quantity output module and the like. The communication module may be in communication connection with the data acquisition module 5, and may use point-to-point communication, ethernet communication, or other communication methods. The communication interface of the PLC can be USB, RS-232, RS-422, RS-485 and the like.
For example: the output end of the data acquisition module 5 is a modbus protocol communication interface so as to transmit data with the PLC through a modbus protocol.
The specific mode is as follows: the data acquisition module 5 is specifically a serial 485 bus module, communicates with the BMS through a 485 bus, and transmits data with the PLC through a modbus protocol.
Of course, the BMS and the data acquisition module can also communicate through USB, RS-232, RS-422 and the like. The data acquisition module also has the functions of protection and warning, and when abnormal data is monitored, the storage battery pack is controlled to be powered off, and warning is sent out so as to ensure the accuracy and instantaneity of the battery data.
Furthermore, an industrial personal computer 8 is connected between the PLC and the touch screen 7 for storing battery data and analyzing the data. The PLC is used for collecting battery data and controlling all the devices.
The two storage battery packs are redundant. And carrying out battery redundancy design on the actually required battery capacity, the power supply current and the power supply voltage of the system obtained by calculation and analysis of the power supply system, wherein one storage battery is used as a main battery, and the other storage battery is used as a redundant battery. The power supply voltage and the power supply current of the redundant battery are consistent with those of the main battery, so that the redundant battery can meet the actual requirements of the robot. The capacity of the redundant battery can be expanded according to the actual requirements of the site.
Further, the output end of the single battery in each storage battery pack is connected with a unidirectional current limiting module, so that the problem of mutual charging between the storage battery packs is solved, and the service efficiency of the battery is improved. Specifically, the first current limiting module 13 is disposed between the first BMS12 and the electric load (simply referred to as load 4), so that the second battery pack 2 can be prevented from charging the first battery pack 1. The second current limiting module 23 is provided between the second BMS22 and the load 4, so that the first battery pack 1 can be prevented from charging the second battery pack 2.
Furthermore, the power supply system also adopts a super capacitor 9 which is used for being connected with the data acquisition module and the controller. When the main battery and the redundant battery are both powered off accidentally, the super capacitor 9 can supply power to the data acquisition module 5, the controller 6, the touch screen 7 and the industrial personal computer 8 in a short time, so that data can be stored in a disc manner, and data loss is avoided. The touch screen 7 also sends out an alarm signal to prompt the staff to save data in time and conduct fault investigation. The resistor and diode in the figure are used to match the charging and discharging of the super capacitor 9.
The super capacitor has the following characteristics: (1) high volume density: the super capacitor has higher capacitance per unit volume or unit mass, and can store more electric energy. (2) fast charge-discharge rate: the super capacitor can be charged and discharged rapidly in a short time, and has good power density. (3) long cycle life: the super capacitor has longer cycle life, and can perform charge and discharge cycles for many times without losing performance. (4) broad operating temperature range: compared with other energy storage devices, the super capacitor has stronger adaptability to the working temperature.
In addition, the power supply system is also provided with a super capacitor charging and discharging system, and specifically comprises an electric energy management system and a protection circuit.
Wherein, the electric energy management module: the system is responsible for monitoring and managing the electric energy state of the super capacitor, and comprises the functions of super capacitor voltage detection, temperature monitoring, fault diagnosis and the like. The electric energy management module can also intelligently control the charging and discharging processes of the super capacitor so as to optimize the using effect of the super capacitor to the greatest extent. The electric energy management module can be realized by software, and the data are processed and analyzed after the parameters such as the voltage, the ambient temperature, the faults and the like of the super capacitor are obtained.
The protection circuit: the method is used for protecting the super capacitor from adverse conditions such as overvoltage, overcurrent and overhigh temperature. The protection circuit may include overvoltage protection, overcurrent protection, temperature monitoring, and triggering of circuit breakers to ensure safe operation of the supercapacitor system. The protection circuit is a hardware circuit, for example, a protection resistor is arranged, and the influence of overvoltage or overcurrent on the super capacitor is reduced.
The design and configuration of the supercapacitor charge-discharge system will vary according to the specific application requirements and system requirements. In order to effectively manage the charging and discharging processes of the super capacitor and improve the system performance, the components need to cooperate and coordinate with each other.
Further, a regulated power supply 3 is provided before the load 4 for improving the stability of the voltage input to the load 4.
The scheme provides a battery redundancy technology of the track inspection robot, and when a main battery is unexpected, the redundant battery is used for supplying power. The collected battery data is subjected to data calculation and analysis by a data collection module 5, a controller 6 and an industrial personal computer 8. Man-machine interaction is realized through the touch screen 7, and the monitoring capability of the power supply system is improved. The scheme is favorable for improving the safety of the storage battery, preventing overcharge and overdischarge, prolonging the service life of a storage battery team, realizing the full life cycle management of the storage battery, and further improving the endurance capacity and reliability of the robot.
The redundant battery can select a manual mode or an automatic mode, and the main battery and the redundant battery are connected in parallel in the manual mode and simultaneously supply power, and the normal time of a power supply system is not influenced by sudden power failure of any battery. In the automatic mode, the two storage battery packs are automatically controlled to work through the PLC, and the main battery and the redundant battery are flexibly allocated according to the requirement.
For example: and when the residual electric quantity of the main battery is lower than the residual value, the communication abnormality of the main battery is monitored, and the communication acquisition data of the main battery is monitored to be close to the safety set value of the BMS battery, the redundant battery is automatically connected into the system for supplying power.
The BMS adopted by the power supply system provided in this embodiment can be applied to the scheme of the string battery pack of the power battery 15, and can be applied to lithium battery cores with various chemical properties, such as lithium ions, lithium polymers, lithium iron phosphate and the like, and has a relatively strong carrying capacity. Specifically, the BMS has various protection functions of charging and discharging, can perform discharge overcurrent and short-circuit protection function processing of hardware, has discharge control switch and pre-discharge function, and can perform overvoltage, undervoltage, temperature and overload protection functions of software. The SOC calculation function can be performed accurately, and the function of automatically learning the SOC is achieved. The BMS also has RS485 and CANBUS communication functions, can read all data of the battery in real time, and the RS485, the CANBUS and the Bluetooth UART can work simultaneously.
The BMS mainly comprises an MCU, a detection part and an isolated power supply, wherein the detection part is used for detecting various data of the battery. The MCU acquires the data detected by the detection part and sends the data to the data acquisition module through the isolated power supply.
The embodiment also provides a track inspection robot, including: main frame, traveling system, inspection operation device and power supply system. The walking system is arranged at the bottom of the main frame and drives the robot to walk. The inspection operation device is arranged on the main frame and can be positioned at the top and the bottom of the main frame and used for executing track inspection operation. The power supply system is arranged on the main frame and is used for supplying power to the inspection operation device.
The power supply system is specifically arranged on the upper surface of the main frame. And the main frame is also provided with a heat dissipation system which is arranged at the side of the power supply system and used for dissipating heat of the power supply system.
Two independent battery installation parts are arranged on the main frame, and one storage battery pack is assembled on one battery installation part, so that each storage battery pack can be conveniently disassembled and assembled. When one storage battery pack needs to be replaced or maintained, the storage battery pack is detached from the battery mounting part, the other storage battery pack is not affected, the operation is flexible, the efficiency is high, and the maintenance cost is low.
Further, a power supply connecting seat is arranged on the main frame, and a plurality of connecting terminals are arranged on the power supply connecting seat and are respectively connected with the single batteries in the two storage battery packs. After the storage battery pack is mounted on the battery mounting part, the output end of the storage battery pack is spliced to the corresponding connecting terminal of the power supply connecting seat.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.
In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may communicate with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
Claims (10)
1. The utility model provides a power supply system of track inspection robot which characterized in that includes:
each storage battery comprises a single battery and a battery management system BMS, and the single battery is used for being connected with an electricity load in the track inspection robot; the output ends of the single batteries in the two storage battery packs are connected in parallel; the battery management system BMS is connected with the corresponding single battery;
the data acquisition module is connected with the output ends of the battery management systems BMS in the two storage battery packs and is used for acquiring output data of the battery management systems BMS;
the controller is connected with the data acquisition module;
and the touch screen is connected with the controller.
2. The power supply system of the track inspection robot according to claim 1, wherein the output end of the single battery in each storage battery pack is connected with a unidirectional current limiting module.
3. The power supply system of a track inspection robot of claim 1, further comprising: the super capacitor is used for being connected with the data acquisition module and the controller.
4. A power supply system for a track inspection robot according to any one of claims 1-3, wherein the data acquisition module is a serial 485 bus module.
5. The power supply system of the track inspection robot according to claim 4, wherein the output end of the data acquisition module is a modbus protocol communication interface for transmitting data with the controller through a modbus protocol.
6. A power supply system for a track inspection robot according to any one of claims 1-3, wherein the controller is a programmable logic controller PLC, and the data acquisition module is connected to a communication module in the PLC.
7. A track inspection robot, comprising:
a main frame;
the travelling system is arranged at the bottom of the main frame;
the inspection operation device is arranged on the main frame and is used for executing track inspection operation;
a power supply system according to any one of claims 1 to 6, provided on the main frame for supplying power to the inspection operation device.
8. The track inspection robot according to claim 7, wherein the power supply system is disposed on an upper surface of the main frame; and the main frame is also provided with a heat dissipation system which is arranged at the side of the power supply system and used for dissipating heat of the power supply system.
9. The track inspection robot of claim 7, wherein the main frame is provided with two independent battery mounting portions, and a battery pack is assembled to one battery mounting portion.
10. The track inspection robot according to claim 8, wherein the main frame is provided with a power connection seat, and the power connection seat is provided with a plurality of connection terminals, and the connection terminals are respectively connected with the single batteries in the two storage battery packs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321785556.7U CN220457149U (en) | 2023-07-07 | 2023-07-07 | Power supply system of track inspection robot and track inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321785556.7U CN220457149U (en) | 2023-07-07 | 2023-07-07 | Power supply system of track inspection robot and track inspection robot |
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| Publication Number | Publication Date |
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| CN220457149U true CN220457149U (en) | 2024-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321785556.7U Active CN220457149U (en) | 2023-07-07 | 2023-07-07 | Power supply system of track inspection robot and track inspection robot |
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| Country | Link |
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| CN (1) | CN220457149U (en) |
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2023
- 2023-07-07 CN CN202321785556.7U patent/CN220457149U/en active Active
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