An intrinsic safety type patrol robot lithium battery multi-path parallel driving walking structure

Abstract

The utility model relates to the field of inspection robot power supply, concretely relates to a kind of intrinsic safety type inspection robot lithium battery multipath parallel driving walking structure, including four brushless motors connected with four wheels respectively, the brushless motor all adopt intrinsic safety type, battery pack for its separate power supply is equipped on each brushless motor, the intrinsic safety type inspection robot lithium battery multipath parallel driving walking structure, by the parallel power supply mode of intrinsic safety type lithium battery, 4 intrinsic safety type brushless motor driving of intrinsic safety type inspection robot is driven, realize the intrinsic safety driving design of inspection robot, lighten the robot load weight, improve the cruising ability. Parallel driving walking control structure is powered by 5-way intrinsic safety lithium battery, lithium battery is designed as Ex ib I Mb explosion-proof grade, wherein 4-way is respectively powered to four driving wheels, 1-way is powered to control host computer. After parallel connection of each lithium battery, double overcurrent overvoltage charge-discharge protection of ib grade is realized after battery protection circuit.

Description

Technical Field

[0001] This utility model relates to the field of power supply for inspection robots, specifically to an intrinsically safe inspection robot lithium battery multi-path parallel drive walking structure. Background Technology

[0002] To achieve a lightweight design for inspection robots used in the explosive methane environment of coal mines, it is necessary to replace the original explosion-proof batteries with intrinsically safe batteries and the explosion-proof motors with intrinsically safe motors in order to reduce weight and increase range. Since high-capacity lithium batteries can only be connected in series and cannot achieve intrinsically safe power supply, and intrinsically safe batteries have low power, it is necessary to design an intrinsically safe inspection robot lithium battery multi-parallel drive walking structure, which can reduce the weight of the equipment while also enabling the intrinsically safe motors to be powered by lithium batteries. Utility Model Content

[0003] The purpose of this invention is to provide an intrinsically safe inspection robot with a multi-path parallel drive structure for lithium batteries.

[0004] To achieve this objective, the present invention adopts the following technical solution:

[0005] A lithium battery-powered multi-parallel drive walking structure is provided for an intrinsically safe inspection robot, including four brushless motors connected to four wheels respectively. All brushless motors are intrinsically safe. The four brushless motors are divided into left front, left rear, right front, and right rear brushless motors. The left front and left rear brushless motors are connected to a left walking driver, and the right front and right rear brushless motors are connected to a right walking driver. Each brushless motor is equipped with a battery pack that supplies power to it. Each battery pack is connected to the brushless motor through a left walking driver or a left walking driver. The battery packs contain intrinsically safe batteries, and the batteries in each battery pack are distributed in parallel.

[0006] Furthermore, it also includes a control host, which is electrically connected to the left travel driver and the right travel driver, and a host battery pack, which is used for electrical connection to the control host.

[0007] Furthermore, each battery pack is connected to either the left or right drive drive via a battery protection unit.

[0008] Furthermore, the battery protection unit includes five battery charge and discharge protection units, and each of the five battery packs is connected to the left travel driver, the right travel driver, or the control host through a charge and discharge protection unit.

[0009] Furthermore, the battery protection unit is connected to a battery charging and discharging interface.

[0010] Furthermore, the battery pack, when connected in series, outputs a voltage of 12 volts and a current of 1.5 amps.

[0011] The beneficial effects of this utility model are as follows: The intrinsically safe inspection robot's lithium battery multi-path parallel drive walking structure drives four intrinsically safe brushless motors of the intrinsically safe inspection robot through the parallel power supply of intrinsically safe lithium batteries, thereby realizing the intrinsically safe drive design of the inspection robot, reducing the robot's load weight, and improving its cruising capability.

[0012] The parallel drive walking control structure is powered by five intrinsically safe lithium batteries, designed with an Ex ib 1 Mb explosion-proof rating. Four batteries power the four drive wheels respectively, and one battery powers the control unit. Each lithium battery is connected in parallel and then protected by a battery protection circuit to achieve dual overcurrent and overvoltage charge / discharge protection at the ib level. The inspection robot's main unit controls the speed of each brushless motor according to control signals, achieving intrinsic safety in the power supply of the inspection robot. This design completely solves the problem of explosion-proof battery power supply, greatly simplifies the overall weight, and improves explosion-proof safety. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the embodiments of this utility model will be briefly introduced below.

[0014] Figure 1 This is a circuit connection diagram of the present invention. Detailed Implementation

[0015] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0016] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual images. They should not be construed as limiting the scope of this patent. To better illustrate the embodiments of this utility model, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product.

[0017] Reference Figure 1The diagram illustrates a lithium battery-powered parallel drive walking structure for an intrinsically safe inspection robot. It includes four brushless motors connected to four wheels, all intrinsically safe. The four brushless motors are designated as front left, rear left, front right, and rear right brushless motors. Left-side drive drivers are connected to the front left and rear left brushless motors, while right-side drive drivers are connected to the front right and rear right brushless motors. By controlling the left and right drive drivers, the inspection robot can be controlled to move left or right. Each brushless motor has its own dedicated battery pack, and each battery pack is connected to the brushless motor via either a left or right drive driver. The drive drivers control whether the battery pack supplies power to the motor; when powered, the motor rotates. The battery packs contain intrinsically safe batteries, which are connected in parallel. This parallel connection increases the current while maintaining a constant voltage, effectively increasing battery power and achieving intrinsically safe power supply.

[0018] This intrinsically safe inspection robot features a multi-path parallel drive structure powered by lithium batteries. Through the parallel power supply of intrinsically safe lithium batteries, it drives four intrinsically safe brushless motors of the inspection robot, achieving an intrinsically safe drive design, reducing the robot's load weight, and improving its cruising capability.

[0019] It also includes a control unit, which is electrically connected to the left and right travel drivers, and a main unit battery pack, which is used for electrical connection to the control unit. This allows the control unit to have its own independent power supply, eliminating the need for other power supplies to be connected in series and ensuring parallel power supply for drive.

[0020] Each battery pack is connected to either the left or right drive drive via a battery protection unit. The battery protection unit protects the battery during charging and discharging.

[0021] The battery protection unit includes five battery charge / discharge protection units. Each of the five battery packs is connected to the left travel driver, right travel driver, or control host via a separate charge / discharge protection unit. By using individual battery charge / discharge protection units, the independent safety of each battery can be ensured, while also allowing for parallel power supply and drive.

[0022] The battery protection unit is connected to a battery charging / discharging interface. This ensures that during charging and discharging, the current passes through the battery charging / discharging protection unit, preventing excessive voltage fluctuations that could damage the battery pack.

[0023] The battery pack, connected in series, outputs a voltage of 12 volts and a current of 1.5 amps. These current and voltage values ​​are the parameters required for an intrinsically safe brushless motor drive.

[0024] This intrinsically safe inspection robot features a multi-path parallel drive structure powered by lithium batteries. By using parallel power supply from intrinsically safe lithium batteries to drive four intrinsically safe brushless motors, the robot achieves an inherently safe drive design, reduces its load weight, and improves its cruising capability.

[0025] The parallel drive walking control structure is powered by five intrinsically safe lithium batteries, designed with an Ex ib 1 Mb explosion-proof rating. Four batteries power the four drive wheels respectively, and one battery powers the control unit. Each lithium battery is connected in parallel and then protected by a battery protection circuit to achieve dual overcurrent and overvoltage charge / discharge protection at the ib level. The inspection robot's main unit controls the speed of each brushless motor according to control signals, achieving intrinsic safety in the power supply of the inspection robot. This design completely solves the problem of explosion-proof battery power supply, greatly simplifies the overall weight, and improves explosion-proof safety.

[0026] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An intrinsic safety type patrol robot lithium battery multi-channel parallel driving walking structure, characterized in that, The system includes four brushless motors connected to the four wheels, all of which are intrinsically safe. The four brushless motors are designated as front left, rear left, front right, and rear right brushless motors. The front left and rear left brushless motors are connected to a left travel driver, and the front right and rear right brushless motors are connected to a right travel driver. Each brushless motor is equipped with a battery pack that supplies power to it. Each battery pack is connected to the brushless motor via a left travel driver or a right travel driver. The battery packs contain intrinsically safe batteries, and the batteries in each battery pack are connected in parallel.

2. The intrinsically safe lithium battery-powered robot walking structure with multi-channel parallel driving according to claim 1, wherein It also includes a control host, which is electrically connected to the left travel drive and the right travel drive, and a host battery pack, which is used to electrically connect to the control host.

3. The intrinsically safe lithium battery-powered robot walking structure with multi-channel parallel driving according to claim 2, characterized in that, Each battery pack is connected to either the left or right drive drive via a battery protection unit.

4. The intrinsically safe lithium battery-powered robot walking structure with multi-channel parallel driving according to claim 3, characterized in that, The battery protection unit includes five battery charge and discharge protection units. Each of the five battery packs is connected to the left travel driver, the right travel driver, or the control host through a charge and discharge protection unit.

5. The intrinsically safe inspection robot lithium battery multi-path parallel drive walking structure as described in claim 3, characterized in that, The battery protection unit is connected to a battery charging and discharging interface.

6. The intrinsically safe inspection robot lithium battery multi-path parallel drive walking structure as described in claim 1, characterized in that, The battery pack, when connected in series, outputs a voltage of 12 volts and a current of 1.5 amps.

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