Energy discharge circuit of inspection robot

Abstract

The utility model relates to an energy discharge circuit of an inspection robot. The energy discharge circuit is applied to a main circuit sequentially connected with a battery pack and a motor. A switching circuit and an energy release circuit are connected in the main circuit, the switching circuit is sequentially connected with a first voltage control switch and a current control switch, the energy release circuit is sequentially connected with a second voltage control switch and an energy release resistor, and the current control switch is connected with the second voltage control switch. When the motor accelerates downhill and loses braking capacity to cause increase of reverse electromotive force, the motor charges the battery pack within a safe voltage range; when the voltage exceeds a safety range to turn on the first voltage control switch, the switching circuit is electrified to turn on the current control switch, and the current control switch controls the second voltage control switch in the energy release circuit to turn on, so that most of energy in the reverse electromotive force is released by the energy release resistor in the energy release circuit, and the energy release effect is improved. The battery pack is prevented from being damaged.

Description

Technical Field

[0001] The present application relates to the technical field of electronic circuits, and in particular to an energy discharge circuit of an inspection robot. Background Art

[0002] Due to the complex environment in the mine and the frequent changes in ground equipment and tools, it is a common technical means to use inspection robots suspended on the track to assist in monitoring the production site. Due to the complex environment in the mine, the track is not a smooth straight line, and there will be downhill and uphill situations. When the inspection robot goes downhill, if an emergency occurs, that is, when the brakes fail, the weight of the inspection robot itself will cause accelerated descent, and because the drive wheel is always in contact with the track, the rapid rotation of the drive wheel will cause a large reverse electromotive force in the inspection robot motor. If no energy is discharged or protected, it is easy to burn the main control board of the inspection robot. Utility Model Content

[0003] In order to solve the problems raised in the background technology, the purpose of this application is to provide an energy discharge circuit for an inspection robot.

[0004] The present application adopts the following technical solution: an energy discharge circuit of an inspection robot, which is applied to a main circuit connected with a battery pack and a motor in sequence. A switch circuit and an energy discharge circuit are connected in the main circuit, a first voltage control switch and a current control switch are connected in sequence in the switch circuit, a second voltage control switch and an energy discharge resistor are connected in sequence in the energy discharge circuit, and the current control switch is connected to the second voltage control switch.

[0005] Preferably, the first voltage control switch is a TVS tube VZ10, the current control switch is an NPN transistor Q21, the second voltage control switch is a PMOS tube Q19, the output end of the TVS tube VZ10 is connected to the base of the NPN transistor Q21, the collector of the NPN transistor Q21 is connected to the gate of the PMOS tube Q19, and the energy dissipation resistor is connected to the source of the PMOS tube Q19.

[0006] Preferably, a first resistor R72 connected in parallel with the NPN transistor Q21 is provided in the switch circuit, and a second resistor R73 is connected in series to the base of the NPN transistor Q21.

[0007] Preferably, the resistance of the first resistor R72 is greater than that of the second resistor R73.

[0008] Preferably, the energy dissipation resistor is two parallel-connected cement resistors R74 and R75.

[0009] Preferably, the energy dissipation circuit is further provided with an electrolytic capacitor C81 connected in parallel with the energy dissipation resistor.

[0010] Preferably, a fuse F10 is connected in series between the battery pack and the motor.

[0011] Preferably, the switch control voltage of the first voltage-controlled switch is 30V.

[0012] In summary, the present application includes at least the following beneficial technical effects: a switch circuit and an energy dissipation circuit are connected in the main circuit, and the energy dissipation circuit is turned on by the switch circuit. The switch circuit is composed of a TVS tube and an NPN transistor, and the NPN transistor is connected to the PMOS tube in the energy dissipation circuit. When the TVS tube is broken down and turned on by a set voltage, the NPN transistor is turned on, and then the PMOS tube is turned on to turn on the entire energy dissipation circuit, so that most of the energy is consumed in the energy dissipation resistor in the energy dissipation circuit. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 Is a circuit schematic diagram of the utility model;

[0014] Figure 2 It is a functional structure schematic diagram of the utility model. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present utility model. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present utility model.

[0016] The following is combined with Figure 1 The present application is further described in detail. The embodiment of the present application discloses an energy discharge circuit of an inspection robot, which is applied to a main circuit connected with a battery pack Battery and a motor BLDC1 in sequence, wherein a switch circuit and an energy discharge circuit are connected in the main circuit, wherein a first voltage control switch and a current control switch are connected in sequence to the switch circuit, wherein a second voltage control switch and an energy discharge resistor are connected in sequence to the energy discharge circuit, and the current control switch is connected to the second voltage control switch. When neither the first voltage control switch nor the second voltage control switch detects that the voltage reaches the switch control voltage, both the switch circuit and the energy discharge circuit are in a non-conducting state. When the first voltage control switch detects that the voltage of the main circuit reaches the set switch control voltage, the switch circuit is turned on, thereby turning on the current control switch. After the current control switch is turned on, the second voltage control switch connected to the current control switch reaches the switch control voltage, thereby enabling the energy discharge resistor in the energy discharge circuit to realize the function of energy discharge.

[0017] Specifically, the first voltage control switch is a TVS tube VZ10, the current control switch is an NPN transistor Q21, the second voltage control switch is a PMOS tube Q19, the output end of the TVS tube VZ10 is connected to the base of the NPN transistor Q21, the collector of the NPN transistor Q21 is connected to the gate of the PMOS tube Q19, and the energy dissipation resistor is connected to the source of the PMOS tube Q19. In this embodiment, the model of the TVS tube VZ10 is 1SMB5936BT3, and its switch control voltage, that is, the breakdown voltage, is 30V. When the reverse electromotive force reaches 30V, the TVS tube VZ10 is turned on to turn on the switch circuit, thereby turning on the current control switch NPN transistor Q21. The collector of the NPN transistor Q21 is connected to the gate of the second voltage-controlled switch PMOS tube Q19 in the energy dissipation circuit. The NPN transistor Q21 after being turned on pulls down the gate voltage of the PMOS tube Q19, thereby turning on the PMOS tube Q19, thereby turning on the energy dissipation circuit. Since the impedance between the drain and source of the POS tube Q19 is low, when both the switch circuit and the energy dissipation circuit are turned on, most of the current will pass through the energy dissipation circuit. At this time, the energy dissipation resistor connected to the source of the second voltage-controlled switch PMOS tube Q19 releases most of the energy, thereby realizing the energy dissipation protection function for the main circuit. Specifically, the energy dissipation resistor is two cement resistors R74 and R75 connected in parallel, and the cement resistor releases energy by heating. In order to buffer the energy impact on the cement resistor and prevent the energy generated by the reverse electromotive force from burning through the cement resistor too quickly, an electrolytic capacitor C81 connected in parallel with the energy dissipation resistor is also provided in the energy dissipation circuit.

[0018] The switch circuit is provided with a first resistor R72 connected in parallel with the NPN transistor Q21, and a second resistor R73 is connected in series with the base of the NPN transistor Q21. The two resistors in the switch circuit are used to buffer the energy impact on the current control switch NPN transistor Q21, wherein the resistance of the first resistor R72 is greater than that of the second resistor R73.

[0019] A fuse F10 is connected in series between the battery pack and the motor to prevent the reverse electromotive force from increasing too quickly and the energy dissipation circuit from failing to react or aging in time, which may cause damage to the battery pack.

[0020] Working principle: During normal operation, the output voltage of the battery pack is 24V, which supplies power to the motor to make it run normally. Since the switch control voltage of the first voltage control switch is 30V, the first voltage control switch is not turned on at this time, there is no current in the switch circuit, and the current control switch is not turned on, so that the gate voltage of the second voltage control switch PMOS tube Q19 in the energy dissipation circuit is greater than the source voltage, the PMOS tube Q19 is in the cut-off state, and the energy dissipation circuit is not turned on. The output of the battery pack is all output to the motor.

[0021] When the inspection robot walks downhill and the braking force fails due to other faults, the weight of the inspection robot itself will cause the robot to accelerate downhill, and the reverse electromotive force generated by the motor will gradually increase. When the voltage of the reverse electromotive force is greater than 20V and less than 30V, the energy generated by the reverse electromotive force charges the battery pack. When the voltage generated by the reverse electromotive force is greater than 30V, the first voltage control switch is turned on, and current passes through the switch circuit, thereby turning on the current control switch. The conduction of the current control switch turns on the third voltage control switch, thereby turning on the energy dissipation circuit. Since the impedance between the drain and source of the PMOS tube Q19 of the third voltage control switch is low, most of the current of the reverse electromotive force is in the energy dissipation circuit, so most of the voltage of the reverse electromotive force is consumed in the energy dissipation resistor connected to the source of the third voltage control switch, thereby achieving energy dissipation protection for the main circuit.

[0022] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0023] In the present application, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation", "screw-on" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in this application according to the specific circumstances.

[0024] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and concept of the present application, and all these changes or substitutions should fall within the protection scope of the claims attached to the present application.

Claims

1. An energy discharge circuit of an inspection robot, applied to a main circuit connected in sequence with a battery pack and a motor, characterized in that: A switch circuit and an energy dissipation circuit are connected in the main circuit, wherein the switch circuit is sequentially connected with a first voltage control switch and a current control switch, wherein the energy dissipation circuit is sequentially connected with a second voltage control switch and an energy dissipation resistor, and the current control switch is connected with the second voltage control switch.

2. The energy discharge circuit of the inspection robot according to claim 1, characterized in that: The first voltage control switch is a TVS tube VZ10, the current control switch is an NPN transistor Q21, the second voltage control switch is a PMOS tube Q19, the output end of the TVS tube VZ10 is connected to the base of the NPN transistor Q21, the collector of the NPN transistor Q21 is connected to the gate of the PMOS tube Q19, and the energy dissipation resistor is connected to the source of the PMOS tube Q19.

3. The energy discharge circuit of the inspection robot according to claim 2, characterized in that: The switch circuit is provided with a first resistor R72 connected in parallel with the NPN transistor Q21, and a second resistor R73 is connected in series with the base of the NPN transistor Q21.

4. The energy discharge circuit of the inspection robot according to claim 3, characterized in that: The resistance of the first resistor R72 is greater than that of the second resistor R73.

5. The energy discharge circuit of the inspection robot according to claim 1, characterized in that: The energy dissipation resistor is two parallel-connected cement resistors R74 and R75.

6. The energy discharge circuit of the inspection robot according to claim 1, characterized in that: The energy dissipation circuit is also provided with an electrolytic capacitor C81 connected in parallel with the energy dissipation resistor.

7. The energy discharge circuit of the inspection robot according to claim 1, characterized in that: A fuse F10 is connected in series between the battery pack and the motor.

8. The energy discharge circuit of the inspection robot according to claim 1, characterized in that: The switch control voltage of the first voltage-controlled switch is 30V.

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