煤矿井下巡检机器人机电转换充电方法  

Electromechanical Transformation Charging Method for Coal Mine Inspection Robots

作　　者：李一文 陈湘源 张海峰 LI Yiwen;CHEN Xiangyuan;ZHANG Haifeng(China Coal Technology and Engineering Group Chongqing Research Institute Co.,Ltd.,Chongqing 400039,China;CHN Energy Yulin Energy Co.,Ltd.,Yulin 719000,China)

机构地区：[1]中煤科工集团重庆研究院有限公司,重庆400039 [2]国能榆林能源有限责任公司,榆林719000

出　　处：《自动化与仪表》2023年第6期39-44,共6页Automation & Instrumentation

基　　金：天地科技股份有限公司科技创新创业资金专项重点项目(2022-TD-ZD001);中煤科工集团重庆研究院重点项目(2022ZDXM01);榆林能源公司科技创新项目(CSIEZB170208428)。

摘　　要：针对煤矿井下大倾角、长续航皮带巡检机器人充电安全性要求高、充电功率大、多电池组隔离充电的特点,提出一种机电能量转换充电方法。设计基于鼓形齿轮的充电对接机构,采用碰撞无火花材料以确保机械对接安全;研制巡检机器人发电及充放电管理组件和充电站,设计以FPGA为核心的多电池组隔离充电电路,采用功率因数校正及同步整流技术,提高发电机及充电电路功率因数、降低功耗;充电站采用PLC+变频器控制,与巡检机器人通过无线传输进行信息交互,实现机器人充电过程自动控制。实验验证结果表明,该方法技术可行,具有安全性好、充电功率大等优点,应用效果良好。Aiming at the requirements of high charging safety,high charging power,and isolation charging of multi-battery packs for large inclination,long time-scale endurance coal mine inspection robots,a charging method of mechanical electrical energy transformation is proposed.A charging docking mechanism based on drum-shaped gear is designed,which using sparkless material to ensure mechanical docking safety,power generation and charging management components and a charging station for inspection robot are developed.Isolate charging circuit for battery packs with FPGA as the core is designed,which using power factor correction and synchronous rectification technology to improve the power factor of the generator and charging circuit and reduce the power consumption.The charging station is controlled by PLC and inverter and communicates with the inspection robot through wireless to achieve automatic control of the charging process.Experimental conclusion shows that this method is feasible,with the advantages of good security,high charging power,and has good application effect.

关 键 词：巡检机器人 防爆 充电管理 镍氢电池 

分 类 号：TD414[矿业工程—矿山机电]