CN101447699A - Electromagnetic induction coupling power device of high-voltage transmission line online deicing robot - Google Patents
Electromagnetic induction coupling power device of high-voltage transmission line online deicing robot Download PDFInfo
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- CN101447699A CN101447699A CNA2008101906003A CN200810190600A CN101447699A CN 101447699 A CN101447699 A CN 101447699A CN A2008101906003 A CNA2008101906003 A CN A2008101906003A CN 200810190600 A CN200810190600 A CN 200810190600A CN 101447699 A CN101447699 A CN 101447699A
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- transmission line
- magnetic core
- voltage transmission
- electromagnetic induction
- deicing robot
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Abstract
The invention provides an electromagnetic induction coupling power device of a high voltage transmission line online deicing robot. The device takes a current carrying conductor of the high voltage transmission line as a primary side, and converges an alternating flux by a magnetic core of a separated high saturation magnetic conductivity iron-based amorphous alloy soft magnetic material; electricity getting loops are twisted on the separated magnetic core; a compensation condenser is directly connected with the electricity getting loops in series or in parallel; the separated magnetic core is controlled by an actuator for opening and closing, and can conveniently follow the robot to cross the barriers like a stockbridge damper, a wire clamp, and the like. The power device comprises the separated magnetic core, the compensation condenser, the electricity getting loops, a power control circuit, a rectifier device, a DC-DC convertor, and the actuator for opening and closing the magnetic core. The device is characterized in that the structure is simple and practical, complementary type double-electricity getting loops are adopted, a power storage battery is not needed, the device has high reliability and does not need maintenance, and the device can continuously output electricity power in a moving process of the device.
Description
Technical field
The invention belongs to and power frequency high voltage power transmission line contactless electric energy transmitting field and electric and electronic technical field, relate to a kind of electromagnetic induction coupling power device of high-voltage transmission line online deicing robot.
Background technology
Powerline ice-covering and accumulated snow regular meeting cause tripping operation, the broken string of circuit, the accidents such as bar, insulator arc-over and communication disruption of falling; become the common issue with that the many national grids in the whole world face; China is subjected to one of the most serious country of powerline ice-covering harm, and the probability that circuit ice trouble accident takes place is high.The main at present artificial de-icing method that adopts is inefficiency not only, and power worker's life security has been caused great threat.
Therefore, must adopt novel de-icing method to substitute artificial deicing, to raise the efficiency and fail safe.The online deicing robot of transmission line has the high reliability motion on the transmission of electricity cable, can realize the independent behaviour control and navigation of robot under the complicated destructuring environment, can adopt the efficient deicing mode of not damaged that the transmission of electricity cable is carried out the deicing operation.
Traditional mobile robot provides electric energy by service cable or batteries usually, because deicing robot need carry out online deicing operation on the high-tension bus-bar cable, thereby be not suitable for adopting the cable power supply mode, and deicing robot operation on the high voltage overhead cable, if adopt fuel electric generator or simple batteries energy-provision way, then need in its course of work, routinely add fuel oil or change storage battery, then increased the own wt of deicing robot on the one hand, in addition in the deicing robot course of work, high voltage transmission line is in the power delivery state, and high-tension overhead line is away from ground, the distribution situation complexity of transmission line, for adding fuel oil or change storage battery, deicing robot has sizable technical difficulty, greatly increased human cost, reduced the operating efficiency of system, the non-contact electric energy provisioning technique that therefore must seek a kind of advanced person provides supply of electrical energy for deicing robot online.
Online deicing robot is when carrying out the deicing operation for the high-tension electricity overhead transmission line, and transmission line is in the electric energy transmitting state, and the middle electric current transmitted of transmission line is with load size and between ampere surplus in the of 1000 is to 3100 amperes.The magnetic field that utilizes transmission current in the transmission of electricity cable to produce in the space nearby, converge the magnetic flux that the transmission of electricity cable produces by split type magnetic core, the power taking coil that is wound on the split type magnetic core obtains energy by electromagnetic induction, carry out rectifying and wave-filtering by rectifying device after by compensation condenser the inductance value of coil being compensated, provide 48 volts of direct voltages by DC-DC converter and power control circuit to deicing robot again.Split type magnetic core is controlled opening and closing by actuator, when the deicing robot across obstacle, by power control circuit the power taking coil is carried out the de operation, thereby reduces the resistance of split type magnetic core folding.The reliability height of whole device, easy for installation.
Summary of the invention
Technical problem to be solved by this invention is: the electromagnetic induction coupling power device that a kind of high-voltage transmission line online deicing robot is provided, this device is arranged on two walking forearms of deicing robot, by two split type magnetic cores and power taking coil, can in robot deicing and walking process, provide stable supply of electrical energy incessantly.
Technical solution of the present invention is as follows:
A kind of electromagnetic induction coupling power device of high-voltage transmission line online deicing robot, it is characterized in that, comprise 2 rectification branch roads and a DC-DC converter, the parallel connection of described 2 rectification branch roads is after DC-DC converter provides electric energy to deicing robot; But, described rectification branch road is wrapped in the power taking coil of described folding magnetic core, a rectifying device and a Power Diode Pumped but comprising a folding magnetic core; The input of described rectifying device accesses electric coil, and the output of described rectifying device connects described DC-DC converter (being the DC-DC converter) by described Power Diode Pumped.
Two output cross-over connections at described power taking coil have building-out capacitor.
The output cross-over connection of the rectifying device of each described rectification branch road has gate-controlled switch.
Described gate-controlled switch is a thyristor.
Connect DC-DC converter by filter reactor after the parallel connection of described 2 rectification branch roads, this DC-to-DC converter can be typical buck chopper Buck converter, also can be typical liftable straightening stream copped wave Cuk converter, it be stable to be used for control output voltage.
2 input cross-over connections of DC-DC converter have filter capacitor.
But the folding magnetic core adopts the Fe-based amorphous alloy soft magnetic material.
But described folding magnetic core can adopt cirque structure or rectangular configuration.
Beneficial effect:
1. the present invention obtains electric energy by electromagnetic induction principle from the alternating magnetic field that self conduction current of high-tension cable is produced, can provide online supply of electrical energy for 220kV/330kV/500kv high voltage power transmission cable deicing robot, not needing regularly to change storage battery or add fuel oil for deicing robot provides energy, improve the operating efficiency of deicing robot, reduced its maintenance difficulties.
2. the present invention adopts the version of two power taking coils, in deicing robot work and walking process, can control separable magnetic core by actuator and remove the wherein coupled relation of any one power taking coil and high voltage power transmission cable, in this process, another power taking coil can provide specified supply of electrical energy to robot, guaranteed the stability of supply of electrical energy, the flexibility when having increased the deicing robot motion.
3. as described in 2, the present invention adopts the version of two power taking coils, and deicing robot no longer needs to be equipped with power accumulator, and part has reduced the deadweight of device, has reduced the complexity of power management when being, has the simple advantage of control.
4. adopt building-out capacitor among the present invention, strengthened the power taking ability of power taking coil, can reduce the volume of magnetic core under the equal power condition, reduced installation weight.
5. adopt split type magnetic core, magnetic core adopts the Fe-based amorphous alloy soft magnetic material to constitute, and has high magnetic permeability and high saturated magnetic induction, can effectively reduce the volume and the weight of magnetic core.By the air gap distance of the split type magnetic core of appropriate design, the adverse effect when having reduced the big electric current of high-tension cable to the iron core magnetic saturation effectively.
Description of drawings
Fig. 1 is overall circuit theory diagrams;
Schematic diagram when Fig. 2 is operating state 1;
Schematic diagram when Fig. 3 is operating state 2;
Schematic diagram when Fig. 4 is operating state 3.
Drawing reference numeral explanation: 1-voltage transmission of electricity cable, 201, the split type magnetic core of 202-(getting final product the folding magnetic core), 301,302-power taking coil, 401,402-building-out capacitor, 501, the 502-rectifying device, 601,602-switch thyristor, 701,702-Power Diode Pumped, the 80-filter reactor, 85-filter capacitor, 90-DC-DC converter.
Embodiment
Following example is to further specify of the present invention, rather than the restriction scope of invention:
Embodiment 1:
Two split type magnetic cores (201,202 get final product the folding magnetic core) in company with the free movements of two walking forearms, in the robot ambulation process, pass through actuator, control split type magnetic core and take turns the built on stilts voltage transmission of electricity cable 1 of obvolvent, each split type magnetic core (201,202) all be wound with power taking coil (301 on, 302), in deicing robot work and moving process, keep at least one split type magnetic core and 1 obvolvent of high voltage power transmission cable by actuator, direct and power taking coil (301, the 302) parallel connection of building-out capacitor (401,402), coil inductance is compensated so that improve power taking power, building-out capacitor (401,402) satisfies power frequency complex resonance condition with the numerical value of power taking coil, the direct and rectifying device (501 of the circuit after overcompensation, 502) connect, rectifying device adopts bridge rectifier; The rectifying device output is connected in parallel and provides direct current power supply to deicing robot with after Power Diode Pumped (701,702) is connected.Among the present invention, split type magnetic core can adopt cirque structure or rectangular configuration, and split type magnetic core surface encapsulates by resin material and reinforces and insulation.Except that the power taking coil, the remainder of this device all places in the power controling box.For volume and the weight that reduces magnetic core, the present invention has adopted the silicon steel laminations of colding pressing of high saturated magnetic permeability as core material.
The parts in the present embodiment or the parameter of element are:
1. magnetic core constitutes saturation induction density B by Fe-based amorphous alloy software magnetic laminate
s=1.7T, initial permeability〉1000, maximum permeability〉200000. magnetic core external shape can select the rectangular configuration of separate type semicircle or separate type for use, and the power taking coil turn is 20～32.
2. the power taking winding inductance quantity is: 80uH～150uH; Building-out capacitor and power taking coil satisfy the complete condition of resonance under the power frequency 50Hz.Filter capacitor 85 is 2200uF～4700uF.
3. output dc voltage is 48V, rated output power 1.5KW, peak power output 2.0KW.
In the course of the work, according to the different operating and the motion state of deicing robot,, can be divided into three kinds of different operating states according to the coupled relation of power taking coil and high voltage transmission line.
First kind of operating state be split type magnetic core 201 and 202 all with the 1 tight obvolvent of high voltage power transmission cable, then power taking coil 301 and 302 all works in the power taking state, the induced electromotive force that power taking coil 301 and 302 is produced by induction coupling is after carrying out inductance compensation through building-out capacitor 401 and 402, carry out rectification via rectifying device 501 and 502 respectively, the output of rectifying device is output in parallel behind the serial connection diode, at output energy storage filter reactor 80 is set and involves surge to eliminate harmonic high frequency, possesses energy-storage function simultaneously, controlled thyristor 601,602 is intermittent open-minded according to the magnitude of voltage situation of change at filter capacitor 85 two ends in the course of the work, with control coupling gained power from high voltage power transmission cable 1 surrounding magnetic field, the input terminal voltage of keeping DC-DC converter 90 is within 55V to 65V scope, when the input voltage of DC-DC converter 90 during less than 55V, controlled thyristor 601,602 turn-off, when when the input voltage of DC-DC converter during, controlled thyristor 601 greater than 65V, 602 conductings.
Operating state two, 601 conductings of control electric power thyristor, remove the electromagnetic coupled of power taking coil 301 and high voltage power transmission cable 1, open split type magnetic core 201 by actuator, follow walking forearm relatively high pressure transmission of electricity cable 1 and vertically descending, and moving forward split type magnetic core 202 this moment obvolvent high voltage power transmission cable 1 under the effect of controller, produce induced electromotive force by power taking coil 302, provide electric energy to robot.
Operating state three: split type magnetic core 201 is followed walking forearm obvolvent high voltage power transmission cable 1 again under the effect of actuator, 602 conductings of control electric power thyristor, split type magnetic core 202 opens under the effect of actuator, and relatively high pressure transmission of electricity cable 1 vertically descends, remove the electromagnetic coupled of power taking coil 302 and high voltage power transmission cable 1, obtain induced electromotive force by the power taking coil 301 on the split type magnetic core 201 this moment, provides electric energy to robot.
Deicing robot is in deicing operation and moving process, and operating state one, two, three replaces and circulation takes place.
Claims (8)
1. the electromagnetic induction coupling power device of a high-voltage transmission line online deicing robot, it is characterized in that, comprise 2 rectification branch roads and a DC-DC converter, the parallel connection of described 2 rectification branch roads is after DC-DC converter provides electric energy to deicing robot; But, described rectification branch road is wrapped in the power taking coil of described folding magnetic core, a rectifying device and a Power Diode Pumped but comprising a folding magnetic core; The input of described rectifying device accesses electric coil, and the output of described rectifying device connects described DC-DC converter by described Power Diode Pumped.
2. the electromagnetic induction coupling power device of high-voltage transmission line online deicing robot according to claim 1 is characterized in that, in two output cross-over connections of described power taking coil building-out capacitor is arranged.
3. the electromagnetic induction coupling power device of high-voltage transmission line online deicing robot according to claim 1 is characterized in that, the output cross-over connection of the rectifying device of each described rectification branch road has gate-controlled switch.
4. the electromagnetic induction coupling power device of high-voltage transmission line online deicing robot according to claim 3 is characterized in that, described gate-controlled switch is a thyristor.
5. the electromagnetic induction coupling power device of high-voltage transmission line online deicing robot according to claim 1 is characterized in that, connects DC-DC converter by filter reactor after the parallel connection of described 2 rectification branch roads.
6. the electromagnetic induction coupling power device of high-voltage transmission line online deicing robot according to claim 5 is characterized in that, 2 input cross-over connections of DC-DC converter have filter capacitor.
7. according to the electromagnetic induction coupling power device of each described high-voltage transmission line online deicing robot of claim 1～6, it is characterized in that, but described folding magnetic core adopts the Fe-based amorphous alloy soft magnetic material.
8. the electromagnetic induction coupling power device of high-voltage transmission line online deicing robot according to claim 1 is characterized in that, but described folding magnetic core can adopt cirque structure or rectangular configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CNA2008101906003A CN101447699A (en) | 2008-12-31 | 2008-12-31 | Electromagnetic induction coupling power device of high-voltage transmission line online deicing robot |
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| CNA2008101906003A CN101447699A (en) | 2008-12-31 | 2008-12-31 | Electromagnetic induction coupling power device of high-voltage transmission line online deicing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101783532A (en) * | 2010-03-26 | 2010-07-21 | 张俊昌 | Induction electricity getting device for high-voltage power transmission line |
| CN102255270A (en) * | 2010-05-17 | 2011-11-23 | 湖北工业大学 | Power transmission line cone cutter head milling and extrusion deicing method and apparatus thereof |
| CN102562154A (en) * | 2010-12-29 | 2012-07-11 | 沈阳新松机器人自动化股份有限公司 | Cable tunnel routing inspection robot |
| CN102590574A (en) * | 2012-03-14 | 2012-07-18 | 昆明迪森电气有限公司 | Digital current transformer based on induction power supply and monitoring method for digital current transformer |
| CN103155341A (en) * | 2010-08-06 | 2013-06-12 | 奥克兰联合服务有限公司 | Inductive power receiver apparatus |
| CN103346686A (en) * | 2013-05-29 | 2013-10-09 | 浙江大学 | Current transformer resonance power taking-based direct-current source |
| CN103539044A (en) * | 2013-10-30 | 2014-01-29 | 广州供电局有限公司 | Automatic installing and uninstalling device for alerter |
| CN104158306A (en) * | 2014-08-22 | 2014-11-19 | 华电北瑞电气(北京)有限公司 | Wide current range CT electricity taking device |
| CN104319910A (en) * | 2014-11-06 | 2015-01-28 | 国家电网公司 | Power source energy taking circuit based on high-voltage power transmission line |
| CN106026987A (en) * | 2016-07-26 | 2016-10-12 | 杨木林 | High-potential self-energy-taking pulse power supply |
| CN108387758A (en) * | 2018-01-09 | 2018-08-10 | 国网山东省电力公司滨州供电公司 | A kind of electromagnetic induction type caution device for transmitting line |
| CN110588355A (en) * | 2019-09-05 | 2019-12-20 | 深圳供电局有限公司 | Rail robot and power supply device |
| CN110829619A (en) * | 2019-11-05 | 2020-02-21 | 长沙理工大学 | Power transmission line energy taking device with impedance adjusting function and application method thereof |
| CN112994253A (en) * | 2021-02-22 | 2021-06-18 | 广东电网有限责任公司广州供电局 | Power taking device for power transmission line |
| CN113241707A (en) * | 2021-05-08 | 2021-08-10 | 贵州电网有限责任公司 | Distributed electric pulse deicing device and method for overhead transmission line ground wire |
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- 2008-12-31 CN CNA2008101906003A patent/CN101447699A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101783532A (en) * | 2010-03-26 | 2010-07-21 | 张俊昌 | Induction electricity getting device for high-voltage power transmission line |
| CN102255270A (en) * | 2010-05-17 | 2011-11-23 | 湖北工业大学 | Power transmission line cone cutter head milling and extrusion deicing method and apparatus thereof |
| CN103155341A (en) * | 2010-08-06 | 2013-06-12 | 奥克兰联合服务有限公司 | Inductive power receiver apparatus |
| CN102562154A (en) * | 2010-12-29 | 2012-07-11 | 沈阳新松机器人自动化股份有限公司 | Cable tunnel routing inspection robot |
| CN102590574B (en) * | 2012-03-14 | 2015-12-30 | 昆明迪森电气有限公司 | Based on digital current mutual inductor and the monitoring method thereof of inductive power supply |
| CN102590574A (en) * | 2012-03-14 | 2012-07-18 | 昆明迪森电气有限公司 | Digital current transformer based on induction power supply and monitoring method for digital current transformer |
| CN103346686A (en) * | 2013-05-29 | 2013-10-09 | 浙江大学 | Current transformer resonance power taking-based direct-current source |
| CN103346686B (en) * | 2013-05-29 | 2015-08-05 | 浙江大学 | A kind of DC source based on the power taking of current transformer resonance |
| CN103539044A (en) * | 2013-10-30 | 2014-01-29 | 广州供电局有限公司 | Automatic installing and uninstalling device for alerter |
| CN103539044B (en) * | 2013-10-30 | 2016-02-24 | 广州供电局有限公司 | Annunciator automatically setuping and uninstalling device |
| CN104158306A (en) * | 2014-08-22 | 2014-11-19 | 华电北瑞电气(北京)有限公司 | Wide current range CT electricity taking device |
| CN104319910A (en) * | 2014-11-06 | 2015-01-28 | 国家电网公司 | Power source energy taking circuit based on high-voltage power transmission line |
| CN106026987B (en) * | 2016-07-26 | 2019-04-05 | 杨木林 | A kind of high potential self-energizing pulse power |
| CN106026987A (en) * | 2016-07-26 | 2016-10-12 | 杨木林 | High-potential self-energy-taking pulse power supply |
| CN108387758A (en) * | 2018-01-09 | 2018-08-10 | 国网山东省电力公司滨州供电公司 | A kind of electromagnetic induction type caution device for transmitting line |
| CN110588355A (en) * | 2019-09-05 | 2019-12-20 | 深圳供电局有限公司 | Rail robot and power supply device |
| CN110829619A (en) * | 2019-11-05 | 2020-02-21 | 长沙理工大学 | Power transmission line energy taking device with impedance adjusting function and application method thereof |
| CN110829619B (en) * | 2019-11-05 | 2020-12-04 | 长沙理工大学 | Power transmission line energy taking device with impedance adjusting function and application method thereof |
| CN112994253A (en) * | 2021-02-22 | 2021-06-18 | 广东电网有限责任公司广州供电局 | Power taking device for power transmission line |
| CN112994253B (en) * | 2021-02-22 | 2022-07-26 | 广东电网有限责任公司广州供电局 | Power taking device for power transmission line |
| CN113241707A (en) * | 2021-05-08 | 2021-08-10 | 贵州电网有限责任公司 | Distributed electric pulse deicing device and method for overhead transmission line ground wire |
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Open date: 20090603 |