CN105449780A - Automatic positioning and charging apparatus for substation patrol robot - Google Patents
Automatic positioning and charging apparatus for substation patrol robot Download PDFInfo
- Publication number
- CN105449780A CN105449780A CN201511016604.6A CN201511016604A CN105449780A CN 105449780 A CN105449780 A CN 105449780A CN 201511016604 A CN201511016604 A CN 201511016604A CN 105449780 A CN105449780 A CN 105449780A
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- charging device
- contact
- control module
- intelligent mobile
- mobile robot
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatic positioning and charging apparatus for a substation patrol robot. A magnetic guide rail is mounted on the ground; a patrol robot body runs along the magnetic guide rail; a positioning photoelectric switch, a control photoelectric switch emitter, a positive electrode and a negative electrode are arranged on the patrol robot body; a charging control module, a direct-current contactor and a lithium charging battery are arranged in the patrol robot body; the charging control module is connected with the control photoelectric switch emitter and the direct-current contactor; the direct-current contactor is connected with the positive electrode, the negative electrode and the lithium charging battery; a control photoelectric switch receiver is arranged on the charging apparatus; a positioning control module, a battery charging switch power supply and a direct-current speed reduction motor are arranged in the charging apparatus; the direct-current speed reduction motor is connected with two springs through push rods; and the springs are connected with a positive contact and a negative contact. The automatic positioning and charging apparatus is simple in structure, accurate in positioning, low in cost, low in fault rate, high in working reliability, maintenance-free and suitable for long-term automatic unattended operations.
Description
Technical field
The present invention relates to the Intelligent Mobile Robot technology of industrial technical field, be specifically related to a kind of Intelligent Mobile Robot and automatically locate charging device.
Background technology
Along with the development of society, economic prosperity, computer automation technology obtains applying more and more widely.In transformer station, traditional work of patrolling and examining is by manually completing, Robotics is applied in the Daily Round Check work of transformer station, overcome manual inspection workload large, patrol and examine reliability not high, patrol and examine the shortcomings such as data record difficulty, in the process of patrolling and examining, crusing robot records high clear video image and infrared thermal imaging image simultaneously, computer carries out intelligent decision to equipment fault, can the working temperature of automatic checkout equipment, to apparatus overheat fault can and alarm, improve the reliability of substation inspection work, transformer station's unattended operation can be realized.But crusing robot relies on the powered battery carried, the automatic charging problem of crusing robot becomes the major issue that must solve.
Summary of the invention
For solving the problem, the invention provides a kind of Intelligent Mobile Robot and automatically locating charging device, structure is simple, and cost is low, failure rate is low, and device functional reliability is high, Maintenance free, is applicable to long-term unattended operation work automatically.
For achieving the above object, the technical scheme that the present invention takes is:
A kind of Intelligent Mobile Robot locates charging device automatically, comprises inspection machine human body, charging device and magnetic conductance rail, magnetic conductance rail is installed on the ground, and inspection machine human body runs along magnetic conductance rail, and it is characterized in that, described inspection machine human body is provided with location optoelectronic switch, control optoelectronic switch reflector, positive electrode and negative electrode, described crusing robot body interior is provided with charge control module, D.C. contactor and lithium rechargeable batteries, charge control module and control optoelectronic switch reflector, D.C. contactor is connected, D.C. contactor and positive electrode, negative electrode, lithium rechargeable batteries is connected, and charging device is provided with and controls optoelectronic switch receiver, and inside is provided with positioning control module, battery charge switch power supply and DC speed-reducing, DC speed-reducing is by being connected with two springs, and two springs are connected to positive contact and negative contact, positioning control module and control optoelectronic switch receiver, DC speed-reducing, battery charge switch power supply is connected, the output of battery charge switch power supply and positive contact, negative contact is connected.
Preferably, described charge control module is based on ARM Embedded Processor, and ARM flush bonding processor is based on Cortex
tM32 arm processors of-M3 kernel, operating frequency is 72MHz, operating rate 1.25MIPS/MHz, and concrete model is STM32-103VT.
Preferably, the model of described control optoelectronic switch reflector is E3JK-5M2-N correlation type, and based on infrared electro technical work, infrared ray launched by reflector, with receiver collaborative work, carries out the communication of charging device and robot body.
Preferably, the model of described location optoelectronic switch is E3JK-R4M2 mirror surface reflecting type, based on infrared electro technical work, after the Infrared of launching runs into reflections off objects, and switch motion.
Preferably, the model of described DC speed-reducing is LX600, working power 24VDC, stroke 400MM, load 6000N, DC speed-reducing is connected with push rod by worm screw, DC speed-reducing rotates forward promotion push rod and stretches out charging device, and DC speed-reducing reversion then promotes push rod indentation charging device.
Preferably, the model of described battery charge switch power supply is DZL241001, input power 220VAC, and output voltage is up to 29.4VDC, and for charging to lithium rechargeable batteries, its load anode is connected with positive contact, and its load negative terminal is connected with negative contact.
Preferably, described positive contact and negative contact adopt copper product, be connected, when push rod stretches out, drive positive and negative contact to move by spring with push rod, and contact with the upper positive and negative electrode arranged of inspection machine human body, realize electrical connection.Spacing between positive contact and negative contact is D.
Preferably, described positive electrode and negative electrode profile are rectangle, adopt copper product, are placed on robot fuselage, and to dock with charging device for avoiding robot and slip up, the length L of positive electrode and negative electrode is less than contact spacing D.
Preferably, the battery capacity of described lithium rechargeable batteries is 40AH, and nominal voltage is 24V, and deboost is 29.4V, and applicable power of motor is 250W-800W, and cycle-index is 800-1000 time.
Preferably, the model of described D.C. contactor is MZJ-200A, coil voltage 24VDC, contact current 200A, and described positioning control module is based on ARM Embedded Processor, and ARM flush bonding processor is based on Cortex
tM32 arm processors of-M3 kernel, operating frequency is 72MHz, operating rate 1.25MIPS/MHz, and concrete model is STM32-103VT.
The present invention has following beneficial effect:
By magnetic navigation, photoelectric technology, computer technology, automatic technology are combined, adopt magnetic navigation technology, ensure that the lateral separation between robot body and charging device is accurate, adopt infrared electro technology, ensure that the fore-and-aft distance between robot body and charging device is accurate, system configuration is simple, accurate positioning, and cost is low, failure rate is low, device functional reliability is high, Maintenance free, is applicable to long-term unattended operation work automatically.
Accompanying drawing explanation
Fig. 1 is the structural representation that a kind of Intelligent Mobile Robot of the embodiment of the present invention locates charging device automatically.
Embodiment
In order to make objects and advantages of the present invention clearly understand, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, the embodiment of the present invention provides a kind of Intelligent Mobile Robot automatically to locate charging device, comprises inspection machine human body, charging device and magnetic conductance rail, magnetic conductance rail is installed on the ground, and inspection machine human body runs along magnetic conductance rail, and it is characterized in that, described inspection machine human body is provided with location optoelectronic switch, control optoelectronic switch reflector, positive electrode and negative electrode, described crusing robot body interior is provided with charge control module, D.C. contactor and lithium rechargeable batteries, charge control module and control optoelectronic switch reflector, D.C. contactor is connected, D.C. contactor and positive electrode, negative electrode, lithium rechargeable batteries is connected, and charging device is provided with and controls optoelectronic switch receiver, and inside is provided with positioning control module, battery charge switch power supply and DC speed-reducing, DC speed-reducing is by being connected with two springs, and two springs are connected to positive contact and negative contact, positioning control module and control optoelectronic switch receiver, DC speed-reducing, battery charge switch power supply is connected, the output of battery charge switch power supply and positive contact, negative contact is connected.
Described charge control module is based on ARM Embedded Processor, and ARM flush bonding processor is based on Cortex
tM32 arm processors of-M3 kernel, operating frequency is 72MHz, operating rate 1.25MIPS/MHz, and concrete model is STM32-103VT.
The model of described control optoelectronic switch reflector is E3JK-5M2-N correlation type, and based on infrared electro technical work, infrared ray launched by reflector, with receiver collaborative work, carries out the communication of charging device and robot body.
The model of described location optoelectronic switch is E3JK-R4M2 mirror surface reflecting type, based on infrared electro technical work, after the Infrared of launching runs into reflections off objects, and switch motion.
The model of described DC speed-reducing is LX600, working power 24VDC, stroke 400MM, load 6000N, DC speed-reducing is connected with push rod by worm screw, and DC speed-reducing rotates forward promotion push rod and stretches out charging device, and DC speed-reducing reversion then promotes push rod indentation charging device.
The model of described battery charge switch power supply is DZL241001, input power 220VAC, and output voltage is up to 29.4VDC, and for charging to lithium rechargeable batteries, its load anode is connected with positive contact, and its load negative terminal is connected with negative contact.
Described positive contact and negative contact adopt copper product, be connected, when push rod stretches out, drive positive and negative contact to move by spring with push rod, and contact with the upper positive and negative electrode arranged of inspection machine human body, realize electrical connection.Spacing between positive contact and negative contact is D.
Described positive electrode and negative electrode profile are rectangle, adopt copper product, are placed on robot fuselage, and to dock with charging device for avoiding robot and slip up, the length L of positive electrode and negative electrode is less than contact spacing D.
The battery capacity of described lithium rechargeable batteries is 40AH, and nominal voltage is 24V, and deboost is 29.4V, and applicable power of motor is 250W-800W, and cycle-index is 800-1000 time.
The model of described D.C. contactor is MZJ-200A, coil voltage 24VDC, contact current 200A, and described positioning control module is based on ARM Embedded Processor, and ARM flush bonding processor is based on Cortex
tM32 arm processors of-M3 kernel, operating frequency is 72MHz, operating rate 1.25MIPS/MHz, and concrete model is STM32-103VT.
Under this concrete enforcement is controlled by master control control module; after crusing robot enters charged area; the magnetic conductance rail laid along ground at a slow speed runs; control optoelectronic switch reflector simultaneously and send infrared light; when robot arrives charge position; location optoelectronic switch receives the signal that charging device reflects, and shows that charge position arrives, and host computer control module and then control are shut down.Meanwhile, the control optoelectronic switch receiver on charging device also receives the infrared ray that reflector is launched, notice charge control module, control DC speed-reducing rotates forward, stretch out push rod, after 10S, the contact on push rod top and the electrode contact of robot fuselage, spring can strengthen both contact, push rod is under pressure, and causes motor rotation blockage, after charge control module detects the locked rotor current of DC speed-reducing, disable motor, controls battery charge switch power supply and exports.For avoiding contact and electrode band electrical contact, produce galvanic corrosion, host computer control module control shut down after, time delay 20S just connects D.C. contactor, the output of Switching Power Supply through contact, electrode, D.C. contactor, lithium rechargeable batteries is charged.Work as charging complete, host computer control module closes D.C. contactor, closing control optoelectronic switch reflector, receiver no signal, charge control module closes battery charge switch power supply, controls DC speed-reducing reversion, retraction push rod, charging device is separated with robot fuselage.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. Intelligent Mobile Robot locates a charging device automatically, comprises inspection machine human body, charging device and magnetic conductance rail, magnetic conductance rail is installed on the ground, and inspection machine human body runs along magnetic conductance rail, and it is characterized in that, described inspection machine human body is provided with location optoelectronic switch, control optoelectronic switch reflector, positive electrode and negative electrode, described crusing robot body interior is provided with charge control module, D.C. contactor and lithium rechargeable batteries, charge control module and control optoelectronic switch reflector, D.C. contactor is connected, D.C. contactor and positive electrode, negative electrode, lithium rechargeable batteries is connected, and charging device is provided with and controls optoelectronic switch receiver, and inside is provided with positioning control module, battery charge switch power supply and DC speed-reducing, DC speed-reducing is by being connected with two springs, and two springs are connected to positive contact and negative contact, positioning control module and control optoelectronic switch receiver, DC speed-reducing, battery charge switch power supply is connected, the output of battery charge switch power supply and positive contact, negative contact is connected.
2. a kind of Intelligent Mobile Robot according to claim 1 locates charging device automatically, it is characterized in that, described charge control module is based on ARM Embedded Processor, and ARM flush bonding processor is based on Cortex
tM32 arm processors of-M3 kernel, operating frequency is 72MHz, operating rate 1.25MIPS/MHz, and concrete model is STM32-103VT.
3. a kind of Intelligent Mobile Robot according to claim 1 locates charging device automatically, it is characterized in that, the model of described control optoelectronic switch reflector is E3JK-5M2-N correlation type, based on infrared electro technical work, infrared ray launched by reflector, with receiver collaborative work, carry out the communication of charging device and robot body.
4. a kind of Intelligent Mobile Robot according to claim 1 locates charging device automatically, it is characterized in that, the model of described location optoelectronic switch is E3JK-R4M2 mirror surface reflecting type, based on infrared electro technical work, after the Infrared of launching runs into reflections off objects, switch motion.
5. a kind of Intelligent Mobile Robot according to claim 1 locates charging device automatically, it is characterized in that, the model of described DC speed-reducing is LX600, working power 24VDC, stroke 400MM, load 6000N, DC speed-reducing is connected with push rod by worm screw.
6. a kind of Intelligent Mobile Robot according to claim 1 locates charging device automatically, it is characterized in that, the model of described battery charge switch power supply is DZL241001, input power 220VAC, output voltage is up to 29.4VDC, for charging to lithium rechargeable batteries, its load anode is connected with positive contact, and its load negative terminal is connected with negative contact.
7. a kind of Intelligent Mobile Robot according to claim 1 locates charging device automatically, it is characterized in that, described positive contact and negative contact adopt copper product, and be connected with push rod by spring, the spacing between positive contact and negative contact is D.
8. a kind of Intelligent Mobile Robot according to claim 1 locates charging device automatically, it is characterized in that, described positive electrode and negative electrode profile are rectangle, adopt copper product, be placed on robot fuselage, to dock with charging device for avoiding robot and slip up, the length L of positive electrode and negative electrode is less than contact spacing D.
9. a kind of Intelligent Mobile Robot according to claim 1 locates charging device automatically, it is characterized in that, the battery capacity of described lithium rechargeable batteries is 40AH, nominal voltage is 24V, deboost is 29.4V, and applicable power of motor is 250W-800W, and cycle-index is 800-1000 time.
10. a kind of Intelligent Mobile Robot according to claim 1 locates charging device automatically, it is characterized in that, the model of described D.C. contactor is MZJ-200A, coil voltage 24VDC, contact current 200A, described positioning control module is based on ARM Embedded Processor, and ARM flush bonding processor is based on Cortex
tM32 arm processors of-M3 kernel, operating frequency is 72MHz, operating rate 1.25MIPS/MHz, and concrete model is STM32-103VT.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201511016604.6A CN105449780A (en) | 2015-12-25 | 2015-12-25 | Automatic positioning and charging apparatus for substation patrol robot |
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| CN201511016604.6A CN105449780A (en) | 2015-12-25 | 2015-12-25 | Automatic positioning and charging apparatus for substation patrol robot |
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| CN201511016604.6A Pending CN105449780A (en) | 2015-12-25 | 2015-12-25 | Automatic positioning and charging apparatus for substation patrol robot |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105811507A (en) * | 2016-04-19 | 2016-07-27 | 哈尔滨工大服务机器人有限公司 | Robot charging mechanism, robot employing same and charging method |
| CN106026321A (en) * | 2016-07-04 | 2016-10-12 | 西安清眸电子科技有限公司 | Automatic charging device and method for self-moving device |
| CN106953202A (en) * | 2017-05-05 | 2017-07-14 | 上海木爷机器人技术有限公司 | A kind of charging connector and charging equipment |
| CN107421009A (en) * | 2017-07-25 | 2017-12-01 | 合肥四点零自动化科技有限公司 | One kind walking Kong Jing robots and its automatic charging, water filling system |
| CN107666160A (en) * | 2016-07-29 | 2018-02-06 | 鸿富锦精密电子(天津)有限公司 | Charging device and the charge control system with the charging device |
| CN109256820A (en) * | 2017-07-12 | 2019-01-22 | 先进机器人有限公司 | Terminal charge seat with active optical Guidance-Mechanism and electrical shock protection |
| CN109394087A (en) * | 2018-11-26 | 2019-03-01 | 墨宝股份有限公司 | A kind of intelligent robot facilitating charging |
| CN109620657A (en) * | 2017-10-09 | 2019-04-16 | 杭州科技职业技术学院 | Multi-functional disabled person's power-assisted walking aid rehabilitation device |
| CN109980744A (en) * | 2019-04-16 | 2019-07-05 | 中科开创（广州）智能科技发展有限公司 | A kind of inspection robot charging special charging hammer |
| CN109995099A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | Indoor automatic cleaning machine people's charging equipment |
| CN110323807A (en) * | 2019-07-30 | 2019-10-11 | 苏州博众机器人有限公司 | Robot charging unit |
| CN110911904A (en) * | 2019-11-15 | 2020-03-24 | 深圳市优必选科技股份有限公司 | First power supply structure, second power supply structure, charging device and robot system |
| CN110912226A (en) * | 2019-11-26 | 2020-03-24 | 贵州电网有限责任公司 | Charging device of power transformation operation cooperative robot |
| CN111525317A (en) * | 2020-04-27 | 2020-08-11 | 中科开创（广州）智能科技发展有限公司 | Track type intelligent inspection robot charging device and charging method thereof |
| CN112788903A (en) * | 2019-11-07 | 2021-05-11 | 国创新能源汽车能源与信息创新中心(江苏)有限公司 | PDU robot module, movable switching device and power divider |
| CN113241831A (en) * | 2021-05-28 | 2021-08-10 | 国网山东省电力公司电力科学研究院 | Transformer substation inspection robot autonomous charging method and system |
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| CN106026321A (en) * | 2016-07-04 | 2016-10-12 | 西安清眸电子科技有限公司 | Automatic charging device and method for self-moving device |
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| CN107421009A (en) * | 2017-07-25 | 2017-12-01 | 合肥四点零自动化科技有限公司 | One kind walking Kong Jing robots and its automatic charging, water filling system |
| CN107421009B (en) * | 2017-07-25 | 2022-09-20 | 金石泓源(北京)科技有限公司 | Walking air cleaning robot and automatic charging and water filling system thereof |
| CN109620657A (en) * | 2017-10-09 | 2019-04-16 | 杭州科技职业技术学院 | Multi-functional disabled person's power-assisted walking aid rehabilitation device |
| CN109995099A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | Indoor automatic cleaning machine people's charging equipment |
| CN109995099B (en) * | 2017-12-29 | 2023-02-03 | 沈阳新松机器人自动化股份有限公司 | Indoor automatic cleaning robot charging equipment |
| CN109394087A (en) * | 2018-11-26 | 2019-03-01 | 墨宝股份有限公司 | A kind of intelligent robot facilitating charging |
| CN109980744B (en) * | 2019-04-16 | 2021-03-23 | 中科开创（广州）智能科技发展有限公司 | Charging hammer special for charging inspection robot |
| CN109980744A (en) * | 2019-04-16 | 2019-07-05 | 中科开创（广州）智能科技发展有限公司 | A kind of inspection robot charging special charging hammer |
| CN110323807B (en) * | 2019-07-30 | 2021-01-05 | 苏州博众机器人有限公司 | Charging device for robot |
| CN110323807A (en) * | 2019-07-30 | 2019-10-11 | 苏州博众机器人有限公司 | Robot charging unit |
| CN112788903A (en) * | 2019-11-07 | 2021-05-11 | 国创新能源汽车能源与信息创新中心(江苏)有限公司 | PDU robot module, movable switching device and power divider |
| CN110911904B (en) * | 2019-11-15 | 2021-12-17 | 深圳市优必选科技股份有限公司 | First power supply structure, second power supply structure, charging device and robot system |
| CN110911904A (en) * | 2019-11-15 | 2020-03-24 | 深圳市优必选科技股份有限公司 | First power supply structure, second power supply structure, charging device and robot system |
| CN110912226A (en) * | 2019-11-26 | 2020-03-24 | 贵州电网有限责任公司 | Charging device of power transformation operation cooperative robot |
| CN111525317A (en) * | 2020-04-27 | 2020-08-11 | 中科开创（广州）智能科技发展有限公司 | Track type intelligent inspection robot charging device and charging method thereof |
| CN111525317B (en) * | 2020-04-27 | 2021-07-23 | 中科开创（广州）智能科技发展有限公司 | Track type intelligent inspection robot charging device and charging method thereof |
| CN113241831A (en) * | 2021-05-28 | 2021-08-10 | 国网山东省电力公司电力科学研究院 | Transformer substation inspection robot autonomous charging method and system |
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Application publication date: 20160330 |