Research On Wireless Charging Technology Of Intelligent Inspection Robot In Chemical Workshop

With the continuous advancement of chemical plant construction,the research and development of intelligent inspection robot to replace manual inspection task has become the focus of special robot research.There are high temperature,high pressure,flammable and explosive gases in the chemical workshop.The traditional contact charging generates electric spark at the moment of plug insertion,which is easy to cause explosion and other major accidents.The wireless charging technology avoids the electrical connection,and there is no wear and aging of the line,which provides a new solution for the safe and reliable charging of the inspection robot.This paper takes the gasification workshop of coal to methanol chemical plant as the experimental site,takes improving the efficiency of wireless charging system and ensuring electromagnetic safety as the goal,optimizes and improves the transmission characteristics of magnetic coupling mechanism by combining the new coil topology with nanocrystalline magnetic core material,and carries out simulation analysis on metal eddy current loss and human electromagnetic radiation in the workshop.The main research contents are as follows:Firstly,the basic principle of robot wireless charging technology is analyzed,and the equivalent circuit of the system is established by using mutual inductance model;for the double coil magnetic coupling mechanism,the energy transmission models of isolated unit,lossless and lossy magnetic coupling mechanism are established by using coupling mode theory,and the energy transmission process of the system is analyzed.Secondly,a new type of wireless charging coil topology is designed,and its advantages in magnetic field distribution,coupling characteristics and anti offset ability are proved by comparing with traditional coupling coil simulation.The magnetic core material and shape of magnetic coupling mechanism are studied,and nanocrystalline material is used to replace traditional ferrite to further improve the charging performance of the system.Furthermore,aiming at the potential electromagnetic safety hazard of wireless charging to metal equipment and personnel in the workshop,the metal eddy current loss analysis and human electromagnetic radiation safety research are carried out.Through theoretical derivation and Maxwell finite element simulation analysis,the results show that the eddy current loss inside the metal is very small,and there is no risk of explosion;and the electromagnetic radiation generated by the high frequency electromagnetic field is lower than the national limit,which ensures the safety of the magnetic coupling mechanism.Finally,the hardware circuit design and application test of wireless charging system for inspection robot are carried out.The practice shows that the walking speed of the intelligent inspection robot is 0.5m/s,it takes about 90 minutes to complete the inspection task of 3-12 floors of the gasification workshop,and it can walk for six hours continuously.The battery power consumption for each inspection is 6Ah.The wireless charging device only needs 50 minutes to recover the battery power,which meets the operation requirements of the inspection robot and achieves the expected design goal.