Short-circuit protection circuit of dam inspection robot

Abstract

The utility model discloses a short-circuit protection circuit of a dam inspection robot, and relates to the technical field of short-circuit protection. One end of the first resistor is connected with the movable driving motor, and the other end of the first resistor is grounded through the second resistor; the device comprises a first relay, an NPN triode, a third resistor and a fourth resistor, a coil end of the first relay is connected with a collector electrode of the NPN triode through the third resistor, a base electrode of the NPN triode is connected with a connecting end of the first resistor and a connecting end of the second resistor, and a second controlled end of the first relay is connected with a mobile driving motor; and one end of the third controlled end of the first relay is connected with the prompt circuit. When the two ends of the movable driving motor are short-circuited, the NPN triode is conducted, the first relay is closed, the two ends of the movable driving motor are disconnected, the circuit is prevented from being burnt due to short circuit, and meanwhile the prompting circuit gives an alarm to prompt workers that the robot breaks down.

Description

Technical Field

[0001] The utility model relates to the technical field of short - circuit protection, in particular to a short - circuit protection circuit for a dam inspection robot. Background Technique

[0002] According to relevant data statistics, about 70% of the total number of dam - failure reservoirs are found through dam inspection. Therefore, it is necessary to strictly standardize the dam inspection work, make accurate judgments in a timely manner on the problems found during the inspection, and ensure the safe operation of the dam.

[0003] The dam inspection robot is used to replace manual inspection, and the mobile drive motor provides power for the robot to walk. Therefore, once the circuit controlling the operation of the mobile drive motor fails, the robot cannot move and cannot conduct inspections. Replacing or repairing the circuit board takes a long time. So, the circuit controlling the operation of the mobile drive motor needs to have self - protection ability in abnormal states. For the circuit controlling the operation of the mobile drive motor, the biggest safety threat comes from the circuit board being burned out caused by motor short - circuit. Traditional short - circuit protection methods are only applicable to low - power motors; and although they can achieve the function of short - circuit protection, their cost is too high and they are not economical enough. Content of the Utility Model

[0004] The purpose of the utility model is to provide a short - circuit protection circuit for a dam inspection robot. When the two ends of the mobile drive motor are short - circuited, the NPN triode conducts, and the first relay is attracted, so that the two ends of the mobile drive motor are disconnected, preventing the circuit from being burned out due to short - circuit. At the same time, a prompt circuit is also set up to prompt the staff that the robot has a fault.

[0005] To solve the above - mentioned technical problems, the utility model adopts the following technical solutions:

[0006] On one hand, an embodiment of the present utility model provides a short - circuit protection circuit for a dam inspection robot. The short - circuit protection circuit includes: a mobile drive motor for controlling the movement of the robot, and a first electrode of the mobile drive motor is connected to a first power source; a first resistor and a second resistor, one end of the first resistor is connected to a second electrode of the mobile drive motor, the other end of the first resistor is connected to one end of the second resistor, and the other end of the second resistor is grounded; a first relay, an NPN triode, a third resistor and a fourth resistor, one end of the coil terminal of the first relay is connected to the first power source, the other end of the coil terminal of the first relay is connected to one end of the third resistor, the other end of the third resistor is connected to the collector of the NPN triode, the base of the NPN triode is connected to the other end of the first resistor and one end of the second resistor, the emitter of the NPN triode is grounded, one end of the first controlled terminal of the first relay is grounded through the fourth resistor, and one end of the second controlled terminal of the first relay is connected to the second electrode of the mobile drive motor; a prompting circuit, a first electrode of the prompting circuit is connected to the first power source, one end of the third controlled terminal of the first relay is connected to a second electrode of the prompting circuit, and the other end of the first controlled terminal of the first relay and the other end of the second controlled terminal of the first relay are in a normally - closed state.

[0007] In some embodiments, the short - circuit protection circuit further includes a second relay and a PNP triode. One end of the coil terminal of the second relay is connected to the first power source, the other end of the coil terminal of the second relay is connected to one end of the coil terminal of the first relay, one end of the controlled switch of the second relay is connected to the first power source, the other end of the controlled switch of the second relay is connected to the first electrode of the mobile drive motor, the controlled switch of the second relay is in a normally - closed state, the emitter of the PNP triode is connected to the other end of the coil terminal of the first relay, the base of the PNP triode is connected to the collector of the NPN triode, and the collector of the PNP triode is connected to the base of the NPN triode.

[0008] In some embodiments, the short - circuit protection circuit further includes a first diode. The positive pole of the first diode is connected to the second electrode of the mobile drive motor, and the negative pole of the first diode is connected to one end of the first resistor.

[0009] In some embodiments, the short - circuit protection circuit further includes an optocoupler, a reset switch, and a fifth resistor. One end of the fifth resistor is connected to the other end of the coil terminal of the first relay, and the other end of the fifth resistor is connected to the emitter of the PNP triode. The input terminal of the light - emitting end of the optocoupler is connected to a second power supply, the output terminal of the light - emitting end of the optocoupler is connected to one end of the reset switch, the other end of the reset switch is grounded, the input terminal of the light - receiving end of the optocoupler is connected to the base of the NPN triode, and the output terminal of the light - receiving end of the optocoupler is grounded.

[0010] In some embodiments, the short - circuit protection circuit further includes a second diode. The positive pole of the second diode is connected to the other end of the coil terminal of the first relay, and the negative pole of the second diode is connected to one end of the coil terminal of the second relay.

[0011] In some embodiments, the prompting circuit includes a speaker, a sixth resistor, and a seventh resistor. The positive pole of the speaker is connected to one end of the sixth resistor, the other end of the sixth resistor is connected to a first power supply, and the negative pole of the speaker is connected to one end of the third controlled terminal of the first relay through the seventh resistor.

[0012] In some embodiments, the prompting circuit further includes a prompting lamp and an eighth resistor. The positive pole of the prompting lamp is connected to one end of the sixth resistor, and the negative pole of the prompting lamp is connected to one end of the third controlled terminal of the first relay through the eighth resistor.

[0013] According to the short - circuit protection circuit of a dam inspection robot according to an embodiment of the present invention, it has at least the following beneficial effects: When the two ends of the mobile drive motor are short - circuited, the NPN triode conducts, the first relay is attracted, so that the two ends of the mobile drive motor are disconnected, preventing the circuit from being burned out due to short - circuit. In this application, a speaker and a prompting lamp are provided. When the two ends of the mobile drive motor are short - circuited, the speaker and the prompting lamp simultaneously give out sound and light alarms to prompt the staff that the robot has a fault. In this application, an optocoupler is provided to separate the strong electricity from the weak electricity, improving the safety of operation.

[0014] It should be understood that the above general description and the following detailed description are only exemplary and do not limit the present disclosure. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1Schematic diagram of a short - circuit protection circuit according to an embodiment. Detailed implementation manners

[0017] The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0018] The terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", and "third" may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more.

[0019] In the description of the present utility model, it should be noted that, unless otherwise clearly defined and limited, the terms "connected" and "connected to" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0020] Now, the exemplary embodiments will be described more comprehensively with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; on the contrary, these exemplary embodiments are provided so that the present disclosure will be more comprehensive and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repeated description will be omitted.

[0021] The technical solutions of the embodiments of the present application are briefly described below:

[0022] According to some embodiments, as Figure 1 shown, the present application provides a short - circuit protection circuit for a dam inspection robot. The short - circuit protection circuit includes:

[0023] A mobile drive motor M, which is used to control the movement of the robot. The first electrode of the mobile drive motor M is connected to a first power source V1;

[0024] The first resistor R1 and the second resistor R2, one end of the first resistor R1 is connected to the second electrode of the mobile drive motor M, the other end of the first resistor R1 is connected to one end of the second resistor R2, and the other end of the second resistor R2 is grounded;

[0025] The first relay K1, the NPN transistor Q1, the third resistor R3 and the fourth resistor R4, one end of the coil terminal of the first relay K1 is connected to the first power supply V1, the other end of the coil terminal of the first relay K1 is connected to one end of the third resistor R3, the other end of the third resistor R3 is connected to the collector of the NPN transistor Q1, the base of the NPN transistor Q1 is connected to the other end of the first resistor R1 and one end of the second resistor R2, the emitter of the NPN transistor Q1 is grounded, one end of the first controlled terminal of the first relay K1 is grounded through the fourth resistor R4, and one end of the second controlled terminal of the first relay K1 is connected to the second electrode of the mobile drive motor M;

[0026] The prompt circuit, the first electrode of the prompt circuit is connected to the first power supply V1, one end of the third controlled terminal of the first relay K1 is connected to the second electrode of the prompt circuit, and the other end of the first controlled terminal of the first relay K1 and the other end of the second controlled terminal of the first relay K1 are in a normally closed state.

[0027] Based on the working principle of the above embodiment, when the first electrode and the second electrode of the mobile drive motor M are not short-circuited, the base of the NPN transistor Q1 is pulled down to a low level by the second resistor R2, the NPN transistor Q1 is cut off, the coil terminal of the first relay K1 is not powered, the other end of the first controlled terminal of the first relay K1 is connected to the other end of the second controlled terminal of the first relay K1, and the mobile drive motor M works normally.

[0028] When the first electrode and the second electrode of the mobile drive motor M are short-circuited, the base of the NPN transistor Q1 is pulled up to a high level by the first resistor R1, the NPN transistor Q1 is turned on, the coil terminal of the first relay K1 is powered, the other end of the first controlled terminal of the first relay K1 is connected to the other end of the third controlled terminal of the first relay K1, preventing the circuit from being burned out due to short circuit, the mobile drive motor M also stops working, the prompt circuit is powered, and the prompt circuit issues an abnormal prompt for the motor M to prompt the staff in time.

[0029] Among them, the first resistor R1 and the second resistor R2 are used for voltage division, and the first resistor R1 also plays a role in current limiting.

[0030] The following combines the appendix of this specification Figure 1 , and further elaborates on the preferred embodiments of the present disclosure in detail.

[0031] According to some embodiments, such as Figure 1As shown in the figure, the short - circuit protection circuit further includes a second relay K2 and a PNP transistor Q2. One end of the coil terminal of the second relay K2 is connected to the first power supply V1, and the other end of the coil terminal of the second relay K2 is connected to one end of the coil terminal of the first relay K1. One end of the controlled switch of the second relay K2 is connected to the first power supply V1, and the other end of the controlled switch of the second relay K2 is connected to the first electrode of the mobile drive motor M. The controlled switch of the second relay K2 is normally closed. The emitter of the PNP transistor Q2 is connected to the other end of the coil terminal of the first relay K1, the base of the PNP transistor Q2 is connected to the collector of the NPN transistor Q1, and the collector of the PNP transistor Q2 is connected to the base of the NPN transistor Q1.

[0032] Based on the working principle of the above - mentioned embodiment, when there is no short - circuit between the first electrode and the second electrode of the mobile drive motor M, the base of the NPN transistor Q1 is pulled down to a low level by the second resistor R2, the NPN transistor Q1 is cut off, the coil terminal of the second relay K2 is not powered, the PNP transistor Q2 is cut off, and the mobile drive motor M works normally.

[0033] When there is a short - circuit between the first electrode and the second electrode of the mobile drive motor M, the base of the NPN transistor Q1 is pulled up to a high level by the first resistor R1, the NPN transistor Q1 is turned on, the coil terminals of the first relay K1 and the second relay K2 are powered, the PNP transistor Q2 is turned on, the NPN transistor Q1 and the PNP transistor Q2 are interlocked and always turned on, the prompting circuit works, and the controlled switch of the second relay K2 is disconnected.

[0034] The above design of the present application can prevent the situation that due to foreign objects in the mobile drive motor M, sometimes there is a short - circuit and sometimes there is no short - circuit, which affects the normal alarm of the prompting circuit, and further makes it impossible for the staff to hear or see the alarm situation normally.

[0035] According to some embodiments, as Figure 1 shown, the short - circuit protection circuit further includes a first diode D1. The positive pole of the first diode D1 is connected to the second electrode of the mobile drive motor M, and the negative pole of the first diode D1 is connected to one end of the first resistor R1.

[0036] Among them, the first diode D1 is used to prevent the reverse flow of current. When there is a short - circuit between the first electrode and the second electrode of the mobile drive motor M, the other end of the first controlled terminal of the first relay K1 is disconnected from the other end of the second controlled terminal of the first relay K1, and the controlled switch of the second relay K2 is disconnected. At this time, the motor M can be directly disassembled.

[0037] According to some embodiments, as Figure 1As shown, the short - circuit protection circuit further includes an optocoupler U, a reset switch S, and a fifth resistor R5. One end of the fifth resistor R5 is connected to the other end of the coil terminal of the first relay K1, and the other end of the fifth resistor R5 is connected to the emitter of the PNP transistor Q2. The input terminal of the light - emitting end of the optocoupler U is connected to the second power supply V2, the output terminal of the light - emitting end of the optocoupler U is connected to one end of the reset switch S, and the other end of the reset switch S is grounded. The input terminal of the light - receiving end of the optocoupler U is connected to the base of the NPN transistor Q1, and the output terminal of the light - receiving end of the optocoupler U is grounded.

[0038] Among them, the third resistor R3, the fourth resistor R4, and the fifth resistor R5 are all used for current limiting.

[0039] Based on the working principle of the above - mentioned embodiment, if the short - circuit is caused by accidental momentary contact between lines or when the robot touches metal debris, press the reset switch S. The function of the reset switch S is for reset. After the reset switch S is closed, the optocoupler U conducts, the base level of the NPN transistor Q1 is pulled low by the optocoupler U, the NPN transistor Q1 is cut off, the base level of the PNP transistor Q2 is pulled high by the third resistor R3, the PNP transistor Q2 is cut off, the coil terminals of the first relay K1 and the second relay K2 are not powered, the controlled switch of the second relay K2 is closed, the other end of the first controlled terminal of the first relay K1 is closed to the other end of the second controlled terminal of the first relay K1, and the mobile drive motor M resumes normal operation. Among them, the voltage of the first power supply V1 is higher than the voltage of the second power supply V2. Using the optocoupler U can separate the strong and weak electricity. When there is a problem with the strong - electricity end, it will not endanger the weak - electricity end, so that the staff can be safer when pressing the reset switch S.

[0040] According to some embodiments, as Figure 1 shown, the short - circuit protection circuit further includes a second diode D2. The positive electrode of the second diode D2 is connected to the other end of the coil terminal of the first relay K1, and the negative electrode of the second diode D2 is connected to one end of the coil terminal of the second relay K2.

[0041] Among them, when the power supply V1 is turned off from the energized state for the coil terminals of the first relay K1 and the second relay K2, current can flow through the second diode D2 for freewheeling, so as to further improve the service life of the first relay K1 and the second relay K2.

[0042] According to some embodiments, as Figure 1 shown, the prompt circuit includes a horn LS, a sixth resistor R6, and a seventh resistor R7. The positive electrode of the horn LS is connected to one end of the sixth resistor R6, the other end of the sixth resistor R6 is connected to the first power supply V1, and the negative electrode of the horn LS is connected to one end of the third controlled terminal of the first relay K1 through the seventh resistor R7.

[0043] Among them, the sixth resistor R6 and the seventh resistor R7 are used for voltage division and current limiting of the speaker LS.

[0044] When the first electrode and the second electrode of the mobile drive motor M are short-circuited, the other end of the first controlled terminal of the first relay K1 is connected to the other end of the third controlled terminal of the first relay K1, and the speaker LS gives an abnormal prompt to prompt the staff that the robot has a fault.

[0045] Further, as Figure 1 shown, the prompting circuit further includes a prompting lamp D3 and an eighth resistor R8. The positive electrode of the prompting lamp D3 is connected to one end of the sixth resistor R6, and the negative electrode of the prompting lamp D3 is connected to one end of the third controlled terminal of the first relay K1 through the eighth resistor R8.

[0046] Among them, the sixth resistor and the eighth resistor are used for voltage division and current limiting of the prompting lamp D3.

[0047] When the first electrode and the second electrode of the mobile drive motor M are short-circuited, the other end of the first controlled terminal of the first relay K1 is connected to the other end of the third controlled terminal of the first relay K1, and the speaker LS and the prompting lamp D3 give an audible and visual alarm simultaneously to prompt the staff that the robot has a fault.

[0048] In the description of the above embodiments, the specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner.

[0049] Although the present disclosure has been described with reference to several exemplary embodiments, it should be understood that the terms used are illustrative and exemplary, rather than restrictive. Since the present disclosure can be embodied in many forms without departing from the spirit or essence of the present application, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be broadly construed within the spirit and scope defined by the appended claims. Therefore, all changes and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A short-circuit protection circuit for a dam inspection robot, characterized in that, The short-circuit protection circuit includes: A mobile drive motor for controlling the movement of the robot, with the first electrode of the mobile drive motor connected to a first power source; A first resistor and a second resistor, one end of the first resistor is connected to the second electrode of the mobile drive motor, the other end of the first resistor is connected to one end of the second resistor, and the other end of the second resistor is grounded; A first relay, an NPN transistor, a third resistor, and a fourth resistor. One end of the coil terminal of the first relay is connected to the first power source, the other end of the coil terminal of the first relay is connected to one end of the third resistor, the other end of the third resistor is connected to the collector of the NPN transistor, the base of the NPN transistor is connected to the other end of the first resistor and one end of the second resistor, the emitter of the NPN transistor is grounded, one end of the first controlled terminal of the first relay is grounded through the fourth resistor, and one end of the second controlled terminal of the first relay is connected to the second electrode of the mobile drive motor; A prompt circuit, with the first electrode of the prompt circuit connected to the first power source, one end of the third controlled terminal of the first relay is connected to the second electrode of the prompt circuit, and the other end of the first controlled terminal of the first relay and the other end of the second controlled terminal of the first relay are in a normally closed state.

2. The short-circuit protection circuit according to claim 1, wherein The short-circuit protection circuit further includes a second relay and a PNP transistor. One end of the coil terminal of the second relay is connected to the first power source, the other end of the coil terminal of the second relay is connected to one end of the coil terminal of the first relay, one end of the controlled switch of the second relay is connected to the first power source, the other end of the controlled switch of the second relay is connected to the first electrode of the mobile drive motor, the controlled switch of the second relay is in a normally closed state, the emitter of the PNP transistor is connected to the other end of the coil terminal of the first relay, the base of the PNP transistor is connected to the collector of the NPN transistor, and the collector of the PNP transistor is connected to the base of the NPN transistor.

3. The short-circuit protection circuit according to claim 2, characterized in that, The short-circuit protection circuit further includes a first diode, with the positive electrode of the first diode connected to the second electrode of the mobile drive motor and the negative electrode of the first diode connected to one end of the first resistor.

4. The short-circuit protection circuit according to claim 2, wherein, The short-circuit protection circuit further includes an optocoupler, a reset switch, and a fifth resistor. One end of the fifth resistor is connected to the other end of the coil terminal of the first relay, the other end of the fifth resistor is connected to the emitter of the PNP transistor, the input terminal of the light-emitting end of the optocoupler is connected to a second power source, the output terminal of the light-emitting end of the optocoupler is connected to one end of the reset switch, the other end of the reset switch is grounded, the input terminal of the light-receiving end of the optocoupler is connected to the base of the NPN transistor, and the output terminal of the light-receiving end of the optocoupler is grounded.

5. The short-circuit protection circuit according to claim 2, characterized in that, The short-circuit protection circuit further includes a second diode, with the positive electrode of the second diode connected to the other end of the coil terminal of the first relay and the negative electrode of the second diode connected to one end of the coil terminal of the second relay.

6. The short-circuit protection circuit according to claim 1, characterized in that, The prompting circuit includes a speaker, a sixth resistor, and a seventh resistor. The positive electrode of the speaker is connected to one end of the sixth resistor, the other end of the sixth resistor is connected to a first power supply, and the negative electrode of the speaker is connected to one end of the third controlled terminal of the first relay through the seventh resistor.

7. The short-circuit protection circuit according to claim 6, wherein, The prompting circuit further includes a prompting lamp and an eighth resistor. The positive electrode of the prompting lamp is connected to one end of the sixth resistor, and the negative electrode of the prompting lamp is connected to one end of the third controlled terminal of the first relay through the eighth resistor.

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