CN105449780A - Automatic positioning and charging apparatus for substation patrol robot - Google Patents

Abstract

The invention discloses an automatic positioning and charging device for a substation inspection robot. A magnetic guide rail is installed on the ground, and the inspection robot body runs along the magnetic guide rail. The inspection robot body is provided with a positioning photoelectric switch, a control photoelectric switch transmitter, and a positive electrode. and the negative electrode. The inspection robot body is equipped with a charging control module, a DC contactor and a lithium rechargeable battery. The charging control module is connected to the photoelectric switch transmitter and the DC contactor. The DC contactor is connected to the positive electrode, negative electrode, and lithium charging The battery is connected, the charging device is equipped with a control photoelectric switch receiver, and a positioning control module, a battery charging switching power supply and a DC geared motor are installed inside. The DC geared motor is connected with two springs through a push rod, and the spring is connected to the positive contact and the negative contacts. The invention has the advantages of simple structure, accurate positioning, low cost, low failure rate, high working reliability of the device, no need for maintenance, and is suitable for long-term automatic unattended work.

Description

A substation inspection robot automatic positioning charging device

technical field

The invention relates to substation inspection robot technology in the field of industrial technology, in particular to an automatic positioning charging device for a substation inspection robot.

Background technique

With the development of society and the prosperity of economy, computer automation technology has been more and more widely used. In substations, the traditional inspection work is done manually, and robot technology is applied to the daily inspection work of substations, which overcomes the shortcomings of manual inspection workload, low inspection reliability, and difficulty in inspection data recording. During the inspection process, the inspection robot records high-definition video images and infrared thermal imaging images at the same time. The computer intelligently judges equipment failures, can automatically detect the operating temperature of the equipment, and can promptly alarm the equipment overheating failure, which improves the substation inspection work. The reliability of the substation can be realized unattended. However, the inspection robot relies on its own battery for power supply, and the automatic charging problem of the inspection robot has become an important problem that must be solved.

Contents of the invention

In order to solve the above problems, the present invention provides an automatic positioning and charging device for a substation inspection robot, which has a simple structure, low cost, low failure rate, high reliability and no maintenance, and is suitable for long-term automatic unattended work.

In order to achieve the above object, the technical scheme that the present invention takes is:

An automatic positioning and charging device for a substation inspection robot, comprising an inspection robot body, a charging device and a magnetic guide rail, the magnetic guide rail is installed on the ground, and the inspection robot body runs along the magnetic guide rail, characterized in that the inspection robot body is A positioning photoelectric switch, a control photoelectric switch transmitter, a positive electrode and a negative electrode are provided, and a charging control module, a DC contactor and a lithium rechargeable battery are arranged inside the inspection robot body, and the charging control module and the control photoelectric switch transmitter, DC The contactor is connected, and the DC contactor is connected with the positive electrode, the negative electrode, and the lithium rechargeable battery. There are two springs connected, and the two springs are respectively connected with a positive contact and a negative contact. The positioning control module is connected with the control photoelectric switch receiver, the DC deceleration motor, and the battery charging switching power supply. The output terminal of the battery charging switching power supply is connected to the positive contact. Point, negative contact connected.

Preferably, the charging control module is designed based on an ARM embedded processor, the ARM embedded processor is a 32-bit ARM processor based on the CortexTM-M3 core, the operating frequency is 72MHz, and the operating rate is ^1.25MIPS /MHz. The specific model is STM32-103VT.

Preferably, the model of the control photoelectric switch transmitter is E3JK-5M2-N through-beam type, which works based on infrared photoelectric technology. The transmitter emits infrared rays and cooperates with the receiver to communicate between the charging device and the robot body.

Preferably, the model of the positioning photoelectric switch is E3JK-R4M2 mirror reflection type, which works based on infrared photoelectric technology, and the switch operates when the emitted infrared light is reflected by an object.

Preferably, the model of the DC geared motor is LX600, the working power supply is 24VDC, the stroke is 400MM, and the load is 6000N. The DC geared motor is connected to the push rod through a worm, and the DC geared motor rotates forward to push the push rod out of the charging device, and the DC geared motor reverses. Turn to push the push rod to retract the charging device.

Preferably, the model of the battery charging switching power supply is DZL241001, the input power is 220VAC, and the output voltage is up to 29.4VDC, which is used to charge lithium rechargeable batteries. The positive terminal of the load is connected to the positive contact, and the negative terminal of the load is connected to the negative contact. The dots are connected.

Preferably, the positive contact and the negative contact are made of copper material, and are connected to the push rod through a spring. When the push rod is stretched out, the positive and negative contacts are driven to move, and are connected to the positive and negative electrodes set on the inspection robot body. contacts for electrical connection. The distance between the positive contact and the negative contact is D.

Preferably, the positive electrode and the negative electrode are rectangular in shape, made of copper material, and placed on the robot body. In order to avoid docking errors between the robot and the charging device, the length L of the positive electrode and the negative electrode is smaller than the contact distance D.

Preferably, the battery capacity of the lithium rechargeable battery is 40AH, the nominal voltage is 24V, the limit voltage is 29.4V, the applicable motor power is 250W-800W, and the number of cycles is 800-1000 times.

Preferably, the model of the DC contactor is MZJ-200A, the coil voltage is 24VDC, and the contact current is 200A. The positioning control module is designed based on the ARM embedded processor, and the ARM embedded processor is based on the Cortex ^TM -M3 core 32-bit ARM processor with a working frequency of 72MHz and a working rate of 1.25MIPS/MHz. The specific model is STM32-103VT.

The present invention has the following beneficial effects:

By combining magnetic navigation, photoelectric technology, computer technology and automation technology, the use of magnetic navigation technology ensures that the lateral distance between the robot body and the charging device is accurate, and the use of infrared photoelectric technology ensures the distance between the robot body and the charging device. The longitudinal distance is precise, the system structure is simple, the positioning is accurate, the cost is low, the failure rate is low, the device has high reliability, no maintenance, and is suitable for long-term automatic unattended work.

Description of drawings

Fig. 1 is a schematic structural diagram of an automatic positioning charging device for a substation inspection robot according to an embodiment of the present invention.

detailed description

In order to make the objects and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

As shown in Figure 1, an embodiment of the present invention provides an automatic positioning and charging device for a substation inspection robot, including an inspection robot body, a charging device, and a magnetic guide rail. The magnetic guide rail is installed on the ground, and the inspection robot body runs along the magnetic guide rail. It is characterized in that a positioning photoelectric switch, a control photoelectric switch transmitter, a positive electrode and a negative electrode are arranged on the inspection robot body, and a charging control module, a DC contactor and a lithium rechargeable battery are arranged inside the inspection robot body, The charging control module is connected with the control photoelectric switch transmitter and the DC contactor. The DC contactor is connected with the positive electrode, negative electrode and lithium rechargeable battery. The charging device is equipped with a control photoelectric switch receiver. Switching power supply and DC deceleration motor, the DC deceleration motor is connected with two springs, the two springs are respectively connected with positive contacts and negative contacts, the positioning control module is connected with the control photoelectric switch receiver, DC deceleration motor, battery charging switching power supply , the output terminal of the battery charging switching power supply is connected with the positive contact and the negative contact.

The charging control module is designed based on an ARM embedded processor. The ARM embedded processor is a 32-bit ARM processor based on the Cortex ^TM -M3 core, with a working frequency of 72MHz and a working rate of 1.25MIPS/MHz. The specific model is STM32-103VT .

The model of the control photoelectric switch transmitter is E3JK-5M2-N type, based on infrared photoelectric technology, the transmitter emits infrared rays, and cooperates with the receiver to communicate between the charging device and the robot body.

The model of the positioning photoelectric switch is E3JK-R4M2 mirror reflection type, which works based on infrared photoelectric technology. When the emitted infrared light is reflected by an object, the switch will act.

The model of the DC deceleration motor is LX600, the working power is 24VDC, the stroke is 400MM, and the load is 6000N. The DC deceleration motor is connected to the push rod through the worm. The push rod retracts the charging unit.

The model of the battery charging switching power supply is DZL241001, the input power is 220VAC, and the output voltage is up to 29.4VDC. It is used to charge the lithium rechargeable battery. The positive terminal of the load is connected to the positive contact, and the negative terminal of the load is connected to the negative contact.

The positive contact and the negative contact are made of copper material, and are connected to the push rod through a spring. When the push rod is stretched out, the positive and negative contacts are driven to move and contact the positive and negative electrodes set on the inspection robot body to realize Electrical connections. The distance between the positive contact and the negative contact is D.

The shape of the positive electrode and the negative electrode is rectangular, made of copper material, and placed on the robot body. In order to avoid the wrong connection between the robot and the charging device, the length L of the positive electrode and the negative electrode is smaller than the contact distance D.

The battery capacity of the lithium rechargeable battery is 40AH, the nominal voltage is 24V, the limit voltage is 29.4V, the applicable motor power is 250W-800W, and the number of cycles is 800-1000 times.

The model of the DC contactor is MZJ-200A, the coil voltage is 24VDC, and the contact current is 200A. The positioning control module is designed based on the ARM embedded processor, and the ARM embedded processor is a 32-bit ARM based on the Cortex ^TM -M3 core The processor has a working frequency of 72MHz and a working rate of 1.25MIPS/MHz. The specific model is STM32-103VT.

In this specific implementation, under the control of the main control module, after the inspection robot enters the charging area, it runs slowly along the magnetic guide rail laid on the ground, and at the same time controls the photoelectric switch emitter to emit infrared light. When the robot reaches the charging position, the positioning photoelectric switch closes The signal reflected from the charging device indicates that the charging position has arrived, and the host control module then controls the robot to stop. At the same time, the control photoelectric switch receiver on the charging device also receives the infrared rays emitted by the transmitter, and notifies the charging control module, controls the DC geared motor to rotate forward, and extends the push rod. After 10 seconds, the contact on the top of the push rod and the robot body The contact of the electrodes, the spring can enhance the contact pressure between the two, and the pressure on the push rod will cause the motor to stall. After the charging control module detects the stalling current of the DC deceleration motor, it will turn off the motor and control the battery charging switch power output. In order to avoid electrical corrosion caused by live contact between contacts and electrodes, after the host control module controls the robot to stop, the DC contactor is switched on after a delay of 20 seconds. The output of the switching power supply passes through the contacts, electrodes, and DC contactor to charge the lithium rechargeable battery . When the charging is completed, the host control module closes the DC contactor, closes the control photoelectric switch transmitter, and the receiver has no signal. The charging control module closes the battery charging switch power supply, controls the DC deceleration motor to reverse, retracts the push rod, and the charging device and the robot machine separated.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications should also be It is regarded as the 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.