CN102437626A - Non-contact induction charging device - Google Patents
Non-contact induction charging device Download PDFInfo
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- CN102437626A CN102437626A CN2011104449302A CN201110444930A CN102437626A CN 102437626 A CN102437626 A CN 102437626A CN 2011104449302 A CN2011104449302 A CN 2011104449302A CN 201110444930 A CN201110444930 A CN 201110444930A CN 102437626 A CN102437626 A CN 102437626A
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- 238000007600 charging Methods 0.000 title claims abstract description 42
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 27
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Abstract
The invention provides a non-contact induction charging device comprising a current transformer, a bidirectional triode thyristor, an overvoltage protection circuit, a rectifying circuit, a BUCK circuit, a lithium battery pack, a voltage feedback control circuit and a voltage current feedback circuit, wherein a circular ring is formed by two C-shaped iron cores of the current transformer and is sleeved on a transmission line; the output end of the current transformer is connected with a relay matrix and is used for controlling the number of turns of a primary coil of the current transformer; an output of the relay matrix is connected with the bidirectional triode thyristor and is connected with the voltage feedback control circuit and the voltage current feedback circuit at the same time; the output end of the rectifying circuit is connected with the bidirectional triode thyristor through a voltage feedback control signal; and an input of the BUCK circuit is the output of the rectifying circuit and the output of the BUCK circuit is directly connected with the lithium battery pack; and the lithium battery pack is connected with the BUCK circuit through a voltage and current feedback circuit. According to the invention, when the device is used for charging a robot battery, the frequent online and offline are avoided, so that the practical applicability of the robot can be enhanced and the inspection frequency of the transmission line is improved.
Description
Technical field
The invention belongs to automation and industrial robot technical field, be specifically related to a kind of noncontact induction electricity getting device.This noncontact induction electricity getting device is used for the electric energy supply of high voltage transmission line circuit scanning test robot, prolongs the field operation time of robot, is applicable to the following high voltage transmission line circuit scanning test robot of 500KV.
Background technology
The high voltage transmission line circuit scanning test robot is operated on the high voltage transmission line, utilizes checkout equipment that robot loads that transmission line and related facility are carried out fault and patrols and examines.
Since the volume weight of robot own, aspect reasons such as mechanism design, the operating process of once reaching the standard grade, rolling off the production line is very complicated, needs many people's cooperations on the line, and co-operation is accomplished under the terrestrial operation staffing; In addition, the ultra-high-tension power transmission line live line working is dangerous high, and frequent operation the personnel that cause easily injure, and also easy normal operation to transmission line brings influence.Therefore, crusing robot must possess the function ability practicability of own cumulative.
In addition, owing to national safe class to transmission line has clearly regulation, can not be through wired mode from the direct power taking of transmission line.
Therefore, urgent need will propose a kind of method that just can charge to the high voltage transmission line circuit scanning test robot through wireless mode.
Summary of the invention
The present invention needs for solving the online charging of inspection robot, has designed the noncontact induction electricity getting device that is the basis with noncontact wireless power transmission technology and has been used for power taking on the robot line.The electric current that this device can adapt to transmission line changes; Can under the short-circuit impact electric current, realize self-protection; And normal power taking in big electric current excursion, and, accomplish monitoring and charging to lithium battery according to the lithium cell charging characteristic curve according to the physical characteristic of lithium battery.
Noncontact induction charging device of the present invention comprises current transformer 1, bidirectional triode thyristor 2, overvoltage crowbar 3, rectification circuit 4, BUCK circuit 5, lithium battery group 6, Voltage Feedback control circuit 7, electric current and voltage feedback circuit 8; Wherein two of current transformer 1 C sections cores constitute annulus and are enclosed within on the transmission line; The output of current transformer 1 is connected with relay matrix 9; The secondary coil number of turn that is used for Control current instrument transformer 1; The output of relay matrix 9 links to each other with bidirectional triode thyristor 2; Link to each other with rectification circuit 4 with overvoltage crowbar 3 simultaneously, the output of rectification circuit 4 is connected the output that is input as rectification circuit 4 of BUCK circuit 5 through Voltage Feedback control signal 7 with bidirectional triode thyristor 2; And the output of BUCK circuit 5 directly connects lithium battery group 6, and lithium battery group 6 links to each other with BUCK circuit 5 through electric current and voltage feedback circuit 8.
The present invention has adopted technique scheme; Through making full use of the transmission line electromagnetic energy of alternation on every side; Can be crusing robot can with rechargeable electrical energy is provided; Unnecessary workload and unsafe factor that artificial replacing battery causes the frequent tape up and down of robot have been saved, for the extension wire crusing robot operating time provides reliable guarantee.
Description of drawings
Fig. 1 is the schematic diagram of noncontact induction electricity getting device of the present invention;
Fig. 2 is number of turn variable current instrument transformer sketch map in the noncontact induction electricity getting device of the present invention;
Fig. 3 is the circuit diagram of rectification circuit in the noncontact induction electricity getting device of the present invention;
Fig. 4 is the circuit diagram of control and status display circuit in the noncontact induction electricity getting device of the present invention;
Fig. 5 is the circuit diagram of MOSFET drive circuit in the noncontact induction electricity getting device of the present invention;
Fig. 6 is the circuit diagram of voltage comparator circuit in the noncontact induction electricity getting device of the present invention;
Fig. 7 is the circuit diagram of 2.5V reference voltage source circuit in the noncontact induction electricity getting device of the present invention;
Fig. 8 is the circuit diagram of current detection circuit in the noncontact induction electricity getting device of the present invention;
Fig. 9 is the sketch map of noncontact induction electricity getting device repeat circuit group of the present invention.
Embodiment
For making the object of the invention, technical scheme and advantage clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, to further explain of the present invention.
The noncontact induction electricity getting device that is applied to transmission line polling robot of the present invention is with the wireless power transmission technology, Switching Power Supply office technology, and the lithium cell charging technology is a technical background.The wireless power transmission technology is a kind of technology of carrying out NE BY ENERGY TRANSFER by means of electromagnetic field or electromagnetic wave, be divided into induction, electromagentic resonance formula and electromagnetic radiation formula.Way of electromagnetic induction can be used for low-power, short range transmission, and electromagentic resonance is applicable to mid power, the middle distance power transfer; Electromagnetic radiation is applicable to high-power, and it is the most feasible that the way of electromagnetic induction power taking is used in power taking on the crusing robot line.Noncontact induction electricity getting device of the present invention utilizes switch power technology, is the electric current and voltage value that charging circuit can be used with the energy integration of fetching, and is the control core with the single-chip microcomputer, monitoring charging current magnitude of voltage and charging interval, realizes intelligent charge.
Fig. 1 is the structure chart of noncontact induction electricity getting device of the present invention.With reference to Fig. 1, noncontact induction electricity getting device comprises current transformer 1, bidirectional triode thyristor 2, overvoltage crowbar 3, rectification circuit 4, BUCK circuit 5, lithium battery group 6, Voltage Feedback control circuit 7, electric current and voltage feedback circuit 8.
Wherein two of current transformer 1 C sections cores constitute annulus and are enclosed within on the transmission line, and the output of current transformer 1 is connected with relay group 9, is used for the secondary coil number of turn of Control current instrument transformer 1.Relay matrix 9 outputs link to each other with bidirectional triode thyristor 2, link to each other with rectification circuit 4 with overvoltage crowbar 3 simultaneously.For guaranteeing rectification circuit output stablizing 48V voltage, rectification output end is connected with bidirectional triode thyristor 2 through Voltage Feedback control signal 7.The output that is input as rectification circuit 4 of BUCK circuit 5, and the output of BUCK circuit 5 directly connects lithium battery group 6.Lithium battery group 6 links to each other with BUCK circuit 5 through electric current and voltage feedback signal 8 again.
Fig. 2 is the sketch map of current transformer.Current transformer 1 is responsible for the alternating magnetic field around the transmission line is converted into the electric energy that can be the inspection robot charging.In Fig. 2, power taking Current Transformer 1 adopts silicon steel material to design and produce, and transformer core is that two C type silicon steel material butt joints are used, and the magnetic core specification is inside radius 35mm, external diameter 55mm, high 110mm.Winding is the enamelled wire of line footpath 1.2mm.Instrument transformer is made up of 9 windings, and first umber of turn is 120, and other winding numbers of turn are 60.Instrument transformer 1 exports relay group 9 to, and relay group 9 may command relay on-offs can change the work winding number of turn, realizes that the number of turn is controlled.
Fig. 3 is the circuit diagram of overvoltage crowbar and rectification circuit.With reference to Fig. 3, current transformer 1 output AC signal is given overvoltage crowbar and rectification circuit, and overvoltage crowbar prevents that the current transformer output voltage is too high, damages rectification circuit and subsequent conditioning circuit.Rectification circuit 4 carries out the output signal of current transformer 1 rectification and comes voltage stabilizing through Voltage Feedback control circuit 7.
In Fig. 3, rectifier diode D2, D3.D5.D6 forms rectifier bridge; Capacitor C 2, C3, C4 are filter capacitor; Voltage stabilizing D1, D4, D7 are that voltage stabilizing didoe is used for clamp output voltage; MOC1 is two-way optocoupler, is used for isolating and transmitting feedback signal, forms the output voltage feedback closed loop; Resistance R 2 conductings are used for overvoltage protection when the instrument transformer output voltage surpasses 480V; Transient Suppression Diode Z1 is a Transient Voltage Suppressor, is used to suppress because the surge voltage that the transmission line current pulsation induces; Q1 is a bidirectional triode thyristor, is the part of feedback loop, and when the output voltage overrate is, excitation is offset in the controllable silicon conducting, and instrument transformer is power output no longer.Rectification circuit output 48V constant voltage is for lithium cell charging provides energy.Double end contact pin JP2 connects the output of current transformer 1, resistance R 2, and Transient Suppression Diode Z1 also connects; Be used for overvoltage protection; The pin 1,2 of bidirectional triode thyristor links to each other with current transformer 1 output, under the effect of control signal, with the magnetic core output short-circuit, offsets excitation; The pin 3 of bidirectional triode thyristor connects the pin 4 of MOC1, is signal input end.Capacitor C 1, resistance R 3 polyphone also connects the protection bidirectional triode thyristor with the pin 1,2 of bidirectional triode thyristor.Rectifier diode D2, D5, D3, D6 such as figure connect to form rectifier bridge, capacitor C 4; C2, C3 is filter capacitor as scheming parallel connection, voltage-stabiliser tube D1; D4, D7 is respectively 12V, 12V, 24V voltage stabilizing; With the pin 1 that meets optocoupler MOC behind resistance R 4 polyphones, when voltage is higher than 24V, the pin 4 of MOC1 and 6 pin conductings, output control signal.Resistance R 1 is control pin current-limiting resistance with resistance R 5, and rectification circuit 48V voltage regulation signal is exported by contact pin JP1.
Fig. 4 is a controller circuitry, is the control unit part in Figure 1B UCK circuit 5.Its effect is for the BUCK circuit provides duty ratio variable PWM ripple, and it can be the direct current signal of lithium battery group 6 chargings that the approximate direct current signal of rectification circuit 4 output is transformed to.U2 is the PIC single-chip microcomputer, and the CPP2 pin is that Switching Power Supply provides and has variable duty ratio PWM ripple, through RA0; The AD port of RA1 is realized the charging voltage of lithium battery, the FEEDBACK CONTROL of electric current, RD4, RD5; RD6, the indication of RD7 output circuit operating state comprises the indication of trickle charge state; The indication of constant current charge state, the indication of constant voltage charge state, the indication of charging done state.RD0 is the charging interval control signal, and is long when the charging interval, and single-chip microcomputer is put the RD0 pin low, removes the PWM enable signal, and lithium battery stops charging.Peripheral circuit is as shown in Figure 4, pin 1 connecting resistance R4 to 5V.Capacitor C 3, be connected in parallel 5V and digitally of C4.Pin 2, pin 3 connect pin 1 pin 9 and pin 2 pin 10 of P2 respectively.17 pin link to each other with 7,8 of contact pin P2 through double contact pin P7, are used to export the PWM ripple.19,20 link to each other with 5,16 of contact pin P2 respectively, are the output of output control signal SD and relay signal JiDianQi.The pin 6 of contact pin P2, pin 14 connects 15V, pin 3,4,11 connect SGND respectively, GND and GND.
Fig. 5 is the MOSFET drive circuit, is the drive part of the switching device in Figure 1B UCK circuit.The PWM ripple of Fig. 4 output could control switch device (MOSFET) behind this drive circuit according to the duty ratio high-speed switch action of hope.The present invention uses IRF540 as switching tube, and switching tube receives single-chip microcomputer output PWM ripple, realizes the break-make control to the BUCK circuit.U5 is a level transferring chip, and the 5VPWM ripple that single-chip microcomputer is exported boosts to 15V, and U3 is main chip for driving, for MOSFET provides correct driving voltage and enough drive currents, guarantees the switching speed of switching tube.Resistance R 8 is the switching tube protective circuit with diode Dstart.Resistance R start2 and diode Dstart2 are start-up circuit; Battery is connected after the BUCK circuit output end, and the Vs pin voltage of IR2110 (U3) is a cell voltage, for guaranteeing that drive circuit normally starts; VB-VS voltage will remain on driving voltage value could let the switch circuit normally start; Export enough driving voltages, therefore here with resistance Rstart2 and diode Dstart2 with VB pin and input voltage 48V company, guarantee that charging circuit starts smoothly under the condition of battery having.SD-bijiaoqi is the comparator output diode, is lower than load voltage value for guaranteeing lithium battery voltage value, prevents that the switching circuit fault from causing cell voltage to raise; Damage battery, added voltage comparator circuit at output, when voltage is higher than set point; Comparator output useful signal through comparator output diode control switch pipe driving chip, cuts off the output signal; Voltage stabilizing didoe Dz1 is used for clamped gate voltage, and resistance R 61 is used for pulldown gate voltage.Diode D12 is the reverse-conducting diode of BUCK circuit.
In Fig. 5, TR1 is N-channel MOS FET.Resistance R S and diode Dstart1 polyphone are connected on the D of switch transistor T R1, S end respectively.Diode Dz1 and resistance R 61 also connect G and the S end of TR1.The G that 7 pin of U3 are run TR1 well through resistance R 43 and switch is connected.11 pin of U3 (IR2110) are connected with 2 pin of P11, and 1 pin of P11 is connected with the bijiaoqi signal through diode, and 3 pin are connected with 5 pin of U5 (IR4427) through diode, R42, and 2 pin of U5 are connected with the PWM_5 signal.
Fig. 6 is the circuit diagram of voltage comparator circuit, is the output voltage values protective circuit in the BUCK circuit.When exceeding the permission voltage range of battery for the direct-flow signal voltage of lithium cell charging; This circuit will be exported one tunnel control signal and give relay circuit shown in Figure 9; Cut off the physical connection between output of circuit instrument transformer and the subsequent conditioning circuit, protect whole charging system.Like Fig. 6, resistance R 37, resistance R 38 formed bleeder circuits, and partial pressure value and reference voltage value 2.5V comparison are judged whether overrate of charging voltage.Comparator LM393 is that comparison circuit is chip used, imports the pin 5 of LM393 then, and pin 6 is the input of 2.5V reference voltage, and pin 7 is for comparative result output, if voltage is higher than rated voltage, clear switch power supply output enable is protected battery.Pin 7 is connected with pin 8 through resistance R 40, is connected to 15V voltage jointly.This circuit output signal is a cell voltage overvoltage protection signal.
Fig. 7 is a reference voltage output circuit, for voltage comparator circuit shown in Figure 6 provides 2.5V reference voltage, as the reference voltage of control relay circuit Fig. 9.Like figure, form reference voltage source by U7 (TL431) and R36, input voltage is 15V, output 2.5V reference voltage.15V voltage is connected with the negative electrode of U7 through R36, and the feedback input end of U7 is connected with negative electrode, plus earth.Negative electrode output 2.5V reference voltage.
Fig. 8 is the circuit diagram of voltage (Fig. 8 left side) electric current (Fig. 8 right side) feedback circuit.Electric current and voltage feedback circuit 8 is given in BUCK circuit 5 output backs.The charging of lithium battery group explicitly calls for charging voltage, electric current, utilizes voltage, current feedback circuit can control the output voltage and the electric current electric current of charging circuit.
Like Fig. 8, the electric current and voltage feedback circuit is by resistance R s1, R10, R14; R15, triode TR3, TR4 forms, and charging current flows through resistance R s1; Detect the output voltage of CrntSignal, calculate according to formula (1) and can obtain charging current value, triode TR3, TR4 are PNP triode 9012.Wherein Vc is the output voltage of CrntSignal.
I＝(Vc*R10)/(Rs1*R14) (1)
In Fig. 8, resistance R s1 is serially connected in the charge circuit, and resistance R 10 is connected with the emitter of triode TR4, and collector electrode is through resistance R 14 ground connection.The base stage of triode TR3 is connected with the collector electrode short circuit and with the base stage of triode TR4, again through resistance R 15 ground connection.CmtSignal is an output voltage signal, is connected with filter circuit.
Fig. 9 is the relay group, is used for the secondary coil number of turn of Control current instrument transformer 1 to change.Its 9 secondary winding that are input as current transformer 1, output connects bidirectional triode thyristor.Relay group 9 is all joined 9 windings through logical combination successively, or the part connection, changes the number of turn of the secondary winding of actual participation induction output electric energy.The control signal of relay group is provided by controller (Fig. 4), according to the output current decision secondary coil number of turn of current transformer 1.The output number of turn can be 120 circles, 180 circles, 240 circles, 300 circles, 360 circles, 420 circles, 480 circles, 540 circles, 600 circles.Control other untapped winding simultaneously and connect also end to end formation closed-loop path successively, prevent that open circuit from producing high voltage infringement circuit instrument transformer.
Above-described specific embodiment; The object of the invention, technical scheme and beneficial effect have been carried out further explain, and institute it should be understood that the above is merely specific embodiment of the present invention; Be not limited to the present invention; All within spirit of the present invention and principle, any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. noncontact induction charging device; This device comprises current transformer (1), bidirectional triode thyristor (2), overvoltage crowbar (3), rectification circuit (4), BUCK circuit (5), lithium battery group (6), Voltage Feedback control circuit (7), electric current and voltage feedback circuit (8); Wherein two C sections cores of current transformer (1) constitute annulus and are enclosed within on the transmission line; The output of current transformer (1) is connected with relay matrix (9); The secondary coil number of turn that is used for Control current instrument transformer (1), the output of relay matrix (9) links to each other with bidirectional triode thyristor (2), links to each other with rectification circuit (4) with overvoltage crowbar (3) simultaneously; The output of rectification circuit (4) is connected with bidirectional triode thyristor (2) through Voltage Feedback control signal (7); The output that is input as rectification circuit (4) of BUCK circuit (5), and the output of BUCK circuit (5) directly connects lithium battery group (6), and lithium battery group (6) links to each other with BUCK circuit (5) through electric current and voltage feedback circuit (8).
2. noncontact induction charging device according to claim 1 is characterized in that, current transformer (1) uses the asymmetric C sections of silicon steel core, and air gap is left in the centre.
3. noncontact induction charging device according to claim 2 is characterized in that, overvoltage crowbar (3) guarantees when the instantaneous short circuit electric current appears in transmission line, charging device to be carried out overvoltage protection.
4. noncontact induction charging device according to claim 3; It is characterized in that; BUCK circuit (5) charge characteristic to lithium battery (6) under Single-chip Controlling is carried out energy integration; Utilize the voltage and current of electric current and voltage feedback circuit (8) to feed back regulating circuit output, the electric energy that makes current transformer sense (1) provide can directly be used for lithium battery (6) charging.
5. noncontact induction charging device according to claim 4 is characterized in that, overvoltage crowbar (3) constitutes by piezo-resistance with along the parallel connection of attitude voltage suppressor.
6. noncontact induction charging device according to claim 5; It is characterized in that; Current transformer (1) output AC signal is given overvoltage crowbar (3) and rectification circuit (4); Overvoltage crowbar prevents that current transformer (1) output voltage is too high, damages rectification circuit and subsequent conditioning circuit, and rectification circuit (4) carries out the output signal of current transformer (1) rectification and comes voltage stabilizing through Voltage Feedback control circuit (7).
7. noncontact induction charging device according to claim 6; It is characterized in that; BUCK circuit (5) comprises control unit; Being used to BUCK circuit (5) provides duty ratio variable PWM ripple, and it can be the direct current signal of lithium battery group (6) charging that the approximate direct current signal of rectification circuit (4) output is transformed to.
8. noncontact induction charging device according to claim 7 is characterized in that, the input of electric current and voltage feedback circuit (8) is the output of BUCK circuit (5), and this circuit is used to control input voltage and the electric current that is input to the lithium battery group.
9. noncontact induction charging device according to claim 8 is characterized in that, the secondary coil number of turn that relay group (9) is used for Control current instrument transformer (1) changes, and it is input as the secondary winding of current transformer (1), and output connects bidirectional triode thyristor (2).
10. noncontact induction charging device according to claim 9; It is characterized in that; Current transformer (1) has 9 secondary winding, and relay group (9) is all joined 9 windings through logical combination successively; Or the part connection, export the number of turn of the secondary winding of electric energy to change the actual participation induction.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102891538A (en) * | 2012-09-20 | 2013-01-23 | 中国科学院自动化研究所 | Line patrol robot wireless charging system |
| CN103872792A (en) * | 2014-02-24 | 2014-06-18 | 北京中凯科电电力技术有限公司 | Current transformer online powering device |
| CN104009778A (en) * | 2013-02-21 | 2014-08-27 | Nxp股份有限公司 | Non-galvanic connector |
| CN104037953A (en) * | 2014-06-09 | 2014-09-10 | 上海勋睿电力科技有限公司 | Power supply device taking electricity by using lead |
| CN104158307A (en) * | 2014-08-22 | 2014-11-19 | 重庆大学 | Online energy acquiring system used for ultrahigh voltage quad-bundled conductor power transmission line de-icing device |
| CN105226834A (en) * | 2015-10-09 | 2016-01-06 | 东南大学 | The high-power online energy taking device power fluctuation suppressing method of a kind of 110kV high-tension line wireless energy supply system |
| CN105553119A (en) * | 2016-02-03 | 2016-05-04 | 中国农业大学 | Current-sensing power taking device and method |
| CN106849369A (en) * | 2017-04-05 | 2017-06-13 | 贵州电网有限责任公司电力科学研究院 | The energy taking device and method of the built on stilts lightning protection ground wire of the transmission line of electricity based on CT power takings |
| CN107294216A (en) * | 2016-03-31 | 2017-10-24 | 上海交通大学 | A kind of transformer station's energization from magnetic field device |
| CN107425583A (en) * | 2017-09-15 | 2017-12-01 | 国家电网公司 | HV Transmission Line Routing Inspection intelligent robot induction charging device |
| CN110082638A (en) * | 2019-05-13 | 2019-08-02 | 广东工业大学 | A kind of power matching network automatic inspection equipment and method |
| CN110829611A (en) * | 2019-11-14 | 2020-02-21 | 云南电网有限责任公司电力科学研究院 | Tunnel inspection robot power supply device based on induction electricity taking technology |
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