CN107565631A - A kind of suspension type track machine people automatic charging system and charge control method - Google Patents
A kind of suspension type track machine people automatic charging system and charge control method Download PDFInfo
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- CN107565631A CN107565631A CN201710810900.6A CN201710810900A CN107565631A CN 107565631 A CN107565631 A CN 107565631A CN 201710810900 A CN201710810900 A CN 201710810900A CN 107565631 A CN107565631 A CN 107565631A
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- charging
- machine people
- charger
- track machine
- auxiliary reclay
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Abstract
The invention provides a kind of suspension type track machine people automatic charging system and charge control method, the system is made up of robot device and charging device two parts；Robot device includes：Track, track machine people, control unit, detection sensor and charging socket；Charging device includes：Auxiliary reclay, charger, charging contacts, to level detection sensor, power supply indicator, auxiliary reclay normally opened contact and charger case.The charging system can automatically control track machine people and be charged, and after ensureing track machine people in place, charger starts to charge up, and after track machine people charges electricity, leave automatically and automatic power-off function of charger, not only easy to use, and add the security of charging.
Description
Technical field
The present invention relates to robot field, specifically a kind of suspension type track machine people automatic charging system and charging control
Method processed.
Background technology
The more and more extensive industry spot severe applied to ground environment of suspension type track machine people, instead of people
Complete various monitorings and patrol task.But existing robot automatic charging problem cannot solve well always, and
Charger is such as powered for a long time, and there will be potential safety hazard.Existing implementation method is control charger case electric discharge, or use more manually
Whether root cable detection robot reaches charge position, and efficiency is low.
The content of the invention
In order to solve the above technical problems, the invention provides a kind of suspension type track machine people automatic charging system and charging
Control method；
The technical solution adopted by the present invention is：A kind of suspension type track machine people's automatic charging system, by robot device and fill
Electric installation two parts form.Wherein robot device includes：Track（6）, track machine people（8）, control unit（7）, detection pass
Sensor（9）And charging socket（10）；Charging device includes：Auxiliary reclay（1）, charger（2）, charging contacts（3）, in place examine
Survey sensor（4）, power supply indicator（5）, auxiliary reclay normally opened contact（11）With charger case（12）.
The power supply indicator（5）For green, installed in charger case（12）On cabinet panel, charger（2）And centre
Relay（1）Installed in charger case（12）It is interior, to level detection sensor（4）Installed in track（6）Support on, charging contacts
（3）By 2 contact points（31）With（32）Composition, charging contacts（3）Installed in track（6）Overhead support on.Charging contacts（3）
With track machine people（8）Charging socket（10）Contact, realizes charge function.
To level detection sensor（4）And power supply indicator（5）Form measure loop, auxiliary reclay（1）For control element,
Auxiliary reclay open contacts（11）, charger（2）And charging contacts（3）Composition control loop.
Present invention also offers a kind of charge control method based on suspension type track machine people's automatic charging system, the party
Method comprises the following steps：
Step 1：Track machine people（8）In track（6）Upper operation, works as control unit（7）When detecting that battery electric quantity is low, according to
Current location controls track machine people（8）Automatic-searching charger case（12）；
Step 2：Control unit（7）Judge track machine people（8）Whether charger case is reached（12）Near, if track machine
People（8）Close to charger case（12）, then track machine people is controlled（8）Slow down；
Step 3：Pass through detection sensor（9）Detect track machine people（8）Whether charger case has been reached（12）Position, if
Track machine people（8）Charger case is reached（12）Position, then charging socket（10）With charger case（12）Charging contacts（3）
Contact, track machine people（8）It is out of service；
Step 4：To level detection sensor（4）Detect track machine people（8）After in place, auxiliary reclay is controlled（1）Action,
Auxiliary reclay normally opened contact（11）Closure, so as to connect charger（2）Electric power loop, output current of charger, pass through charging
Contact（3）To track machine people（8）Charging；
Step 5：After charging complete, control unit（7）Control track machine people（8）Leave charger case（12）；
Step 6：To level detection sensor（4）Detect track machine people（8）After leaving, auxiliary reclay is controlled（1）Power-off,
Auxiliary reclay normally opened contact（11）Open, so as to disconnect charger（2）Electric power loop, charging contacts（3）Power-off, has charged
Into.
The beneficial effects of the invention are as follows：After the charging system can ensure track machine people in place, charger starts to charge up；
After track machine people charges electricity, leave automatically, automatic power-off function of charger is not only easy to use, and adds the safety of charging
Property.
Brief description of the drawings
Fig. 1 is suspension type track machine people automatic charging system composition structural representation.
Fig. 2 is suspension type track machine people's automatic charging system charging device operation principle schematic diagram.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, a kind of suspension type track machine people's automatic charging system, by robot device and charging device
Two parts form.Wherein robot device includes：Track（6）, track machine people（8）, control unit（7）, detection sensor（9）
And charging socket（10）；Charging device includes：Auxiliary reclay（1）, charger（2）, charging contacts（3）, in place detection sensing
Device（4）, power supply indicator（5）, auxiliary reclay normally opened contact（11）With charger case（12）.
The power supply indicator（5）For green, installed in charger case（12）On cabinet panel, charger（2）And centre
Relay（1）Installed in charger case（12）It is interior, to level detection sensor（4）Installed in track（6）Support on, charging contacts
（3）By 2 contact points（31）With（32）Composition, charging contacts（3）Installed in track（6）Overhead support on.Charging contacts（3）
With track machine people（8）Charging socket（10）Contact, realizes charge function.
In charging device, to level detection sensor（4）One end be connected with power supply L ends, the other end and auxiliary reclay（1）
One end be connected, auxiliary reclay（1）The other end be connected with power supply N-terminal；Auxiliary reclay normally opened contact（11）One end with
Power supply L ends and power supply indicator（5）One end be connected, auxiliary reclay normally opened contact（11）The other end and charger（2）It is defeated
Enter to hold one end to be connected, charger（2）The other end of input and power supply N-terminal and power supply indicator（5）The other end be connected.Charging
Device（2）2 output ends respectively with charging contacts（3）2 contact points（31）With（32）It is connected.
To level detection sensor（4）And power supply indicator（5）Form measure loop, auxiliary reclay（1）For control element,
Auxiliary reclay normally opened contact（11）, charger（2）And charging contacts（3）Composition control loop.
Present invention also offers a kind of charge control method based on suspension type track machine people's automatic charging system, the party
Method comprises the following steps：
Step 1：Track machine people（8）In track（6）Upper operation, works as control unit（7）When detecting that battery electric quantity is low, according to
Current location controls track machine people（8）Automatic-searching charger case（12）；
Step 2：Control unit（7）Judge track machine people（8）Whether charger case is reached（12）Near, if track machine
People（8）Close to charger case（12）, then track machine people is controlled（8）Slow down；
Step 3：Pass through detection sensor（9）Detect track machine people（8）Whether charger case has been reached（12）Position, if
Track machine people（8）Charger case is reached（12）Position, then charging socket（10）With charger case（12）Charging contacts（3）
Contact, track machine people（8）It is out of service；
Step 4：To level detection sensor（4）Detect track machine people（8）After in place, auxiliary reclay is controlled（1）Action,
Auxiliary reclay normally opened contact（11）Closure, so as to connect charger（2）Electric power loop, output current of charger, pass through charging
Contact（3）To track machine people（8）Charging；
Step 5：After charging complete, control unit（7）Control track machine people（8）Leave charger case（12）；
Step 6：To level detection sensor（4）Detect track machine people（8）After leaving, auxiliary reclay is controlled（1）Power-off,
Auxiliary reclay normally opened contact（11）Open, so as to disconnect charger（2）Electric power loop, charging contacts（3）Power-off, has charged
Into.
Claims (2)
- A kind of 1. suspension type track machine people's automatic charging system, it is characterised in that：The system is filled by robot device and charging Put two parts composition；The robot device includes：Track（6）, track machine people（8）, control unit（7）, detection sensor （9）And charging socket（10）；The charging device includes：Auxiliary reclay（1）, charger（2）, charging contacts（3）, in place examine Survey sensor（4）, power supply indicator（5）, auxiliary reclay normally opened contact（11）With charger case（12）；Charging contacts（3）By 2 Individual contact point（31）With（32）Composition；In charging device, to level detection sensor（4）One end be connected with power supply L ends, the other end With auxiliary reclay（1）One end be connected, auxiliary reclay（1）The other end be connected with power supply N-terminal；Auxiliary reclay is normally opened to be touched Point（11）One end and power supply L ends and power supply indicator（5）One end be connected, auxiliary reclay normally opened contact（11）The other end With charger（2）Input one end be connected, charger（2）The other end of input and power supply N-terminal and power supply indicator（5）'s The other end is connected；Charger（2）2 output ends respectively with charging contacts（3）2 contact points（31）With（32）It is connected.
- A kind of 2. suspension type track machine people's automatic charging system according to claim 1, it is characterised in that：The power supply Indicator lamp（5）Installed in charger case（12）Cabinet panel on, charger（2）And auxiliary reclay（1）Installed in charger Case（12）It is interior, to level detection sensor（4）Installed in track（6）Support on, charging contacts（3）Installed in track（6）It is upper On square support；Charging contacts（3）With track machine people（8）Charging socket（10）Contact, realizes charge function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710810900.6A CN107565631A (en) | 2017-09-11 | 2017-09-11 | A kind of suspension type track machine people automatic charging system and charge control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710810900.6A CN107565631A (en) | 2017-09-11 | 2017-09-11 | A kind of suspension type track machine people automatic charging system and charge control method |
Publications (1)
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| CN107565631A true CN107565631A (en) | 2018-01-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710810900.6A Pending CN107565631A (en) | 2017-09-11 | 2017-09-11 | A kind of suspension type track machine people automatic charging system and charge control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109586378A (en) * | 2019-01-24 | 2019-04-05 | 深圳市施罗德工业集团有限公司 | Piping lane charging mechanism and system |
| CN109586378B (en) * | 2019-01-24 | 2024-07-26 | 深圳市施罗德工业集团有限公司 | Piping lane charging mechanism and system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102931711A (en) * | 2012-11-28 | 2013-02-13 | 山东电力集团公司电力科学研究院 | Automatic robot charging system and charging method thereof |
| CN105397795A (en) * | 2015-12-10 | 2016-03-16 | 深圳市施罗德工业测控设备有限公司 | Rail type polling robot |
| CN106512266A (en) * | 2016-10-27 | 2017-03-22 | 中国矿业大学 | Hanging rail type fire controlling and routing inspection robot |
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2017
- 2017-09-11 CN CN201710810900.6A patent/CN107565631A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102931711A (en) * | 2012-11-28 | 2013-02-13 | 山东电力集团公司电力科学研究院 | Automatic robot charging system and charging method thereof |
| CN105397795A (en) * | 2015-12-10 | 2016-03-16 | 深圳市施罗德工业测控设备有限公司 | Rail type polling robot |
| WO2017096989A1 (en) * | 2015-12-10 | 2017-06-15 | 深圳市施罗德工业测控设备有限公司 | Inspection robot travelling on rail |
| CN106512266A (en) * | 2016-10-27 | 2017-03-22 | 中国矿业大学 | Hanging rail type fire controlling and routing inspection robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109586378A (en) * | 2019-01-24 | 2019-04-05 | 深圳市施罗德工业集团有限公司 | Piping lane charging mechanism and system |
| CN109586378B (en) * | 2019-01-24 | 2024-07-26 | 深圳市施罗德工业集团有限公司 | Piping lane charging mechanism and system |
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Application publication date: 20180109 |
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