CN104037957B - Radio energy transmission system multiple degrees of freedom pick up mechanism - Google Patents
Radio energy transmission system multiple degrees of freedom pick up mechanism Download PDFInfo
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- CN104037957B CN104037957B CN201410304686.3A CN201410304686A CN104037957B CN 104037957 B CN104037957 B CN 104037957B CN 201410304686 A CN201410304686 A CN 201410304686A CN 104037957 B CN104037957 B CN 104037957B
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Abstract
The invention discloses a kind of radio energy transmission system multiple degrees of freedom pick up mechanism, comprise pick-up winding, it is characterized in that: described pick-up winding is wound on six columniform magnetic cores respectively, described six magnetic cores being wound with pick-up winding are fixed according to the spatial distribution structure of triangular pyramid six ribs, article six, the pick-up winding on magnetic core is connected in series according to the order preset, the magnetic flux not looping that on same plane, three pick-up windings produce.Its remarkable result is: structure is simple, easy for installation, by changing coil distribution form and the winding mode of mechanism for picking, realize the energy multiple degrees of freedom pickup in wireless energy transfer system, when mechanism for picking is fixed, trigger mechanism can be coupled from any direction, when trigger mechanism is fixed, mechanism for picking also can rotate freely in three dimensions, allows energy access more convenient, freer.
Description
Technical field
The present invention relates to magnetic coupling techniques, be specifically related to the multiple degrees of freedom pick up mechanism in a kind of radio energy transmission system.
Background technology
Inductively coupled power transfer (InductivelyCoupledPowerTransfer, being called for short ICPT) technology is wireless power transmission pattern based on electromagnetic induction coupling principle, solve the power supply of mobile electrical equipment flexibly, safety, green access problem, be one of current wireless power transmission area research focus.
Based on electromagnetic induction coupling principle, using close for two coils as electromagnetic coupling mechanisms, when electric current changes in a coil, the magnetic flux produced becomes medium, causes also producing electromotive force in another coil.Efficiency of transmission between two coils is mainly determined by the effective area in the inductively face in pick-up winding and magnetic field, due to the spatial characteristic in magnetic field, causes the dimensional orientation in induction coil and magnetic field to be subject to strict restriction.Common coil is discoid or cylindric, can obtain larger charged area and efficiency of transmission, but, if mechanism for picking rotates in three dimensions, be just difficult to realize multiple degrees of freedom pick up.
Summary of the invention
For above-mentioned defect, the present invention proposes a kind of radio energy transmission system multiple degrees of freedom pick up mechanism, this mechanism, by changing structure and the winding mode of pick-up winding, realizes pick-up winding and can rotate by multiple degrees of freedom while guarantee energy transmission efficiency, allow energy pick up more flexible.
In order to achieve the above object, concrete technical scheme of the present invention is as follows:
A kind of radio energy transmission system multiple degrees of freedom pick up mechanism, comprise pick-up winding, its key is: described pick-up winding is wound on six columniform magnetic cores respectively, described six magnetic cores being wound with pick-up winding are fixed according to the spatial distribution structure of triangular pyramid six ribs, article six, the pick-up winding on magnetic core is connected in series according to the order preset, the magnetic flux not looping that on same plane, three pick-up windings produce.
Based on above-mentioned design, this programme has changed traditional discoid or cylindric pick-up winding into solid space point cloth-like, six ribs of triangular pyramid fix the magnetic core that is wound with pick-up winding respectively, article six, the pick-up winding on magnetic core is cascaded, in solid space, the magnetic field that any direction enters, total magnetic flux on mechanism for picking is that each bar rib responds to magnetic flux sum, on every bar rib, the magnetic flux of pick-up winding has both direction, pass through combinatory analysis, the winding mode of pick-up winding can be adjusted, realize the pickup of mechanism for picking ceiling capacity in free space.
In order to ensure the equilibrium that all directions energy picks up, described six magnetic cores measure-alike.
In order to easy-to-connect, on described six magnetic cores, the pick-up winding of coiling adopts same wire segmentation coiling to form.
In order to improve the stability of mechanism for picking, the installation being convenient to magnetic core is fixed, this mechanism for picking also comprises triangular pyramid skeleton, and the direction along every bar rib of triangular pyramid skeleton offers groove, and described six magnetic cores being wound with pick-up winding are separately fixed in the groove on six ribs of triangular pyramid skeleton.
In order to reduce interference, described triangular pyramid skeleton is that non-magnet material is made.
As preferably, described triangular pyramid skeleton is positive triangular pyramid.
In order to ensure that multiple degrees of freedom energy even is picked up, the groove on described triangular pyramid skeleton every bar rib is identical with the vertex distance at these rib two ends.
Remarkable result of the present invention is:
Structure is simple, easy for installation, by changing coil distribution form and the winding mode of mechanism for picking, realize the energy multiple degrees of freedom pickup in wireless energy transfer system, when mechanism for picking is fixed, trigger mechanism can be coupled from any direction, when trigger mechanism is fixed, mechanism for picking also can rotate freely in three dimensions, allows energy access more convenient, freer.
Accompanying drawing explanation
Fig. 1 is pick-up winding spatial distribution structure schematic diagram of the present invention;
Fig. 2 is the structural representation of mounting framework in specific embodiment;
Fig. 3 is the flux distribution on any rib;
Fig. 4 is flow direction schematic diagram on every bar rib when AB rib rotates;
Fig. 5 is the winding schemes figure of specific embodiment.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described:
As shown in Figure 1, a kind of radio energy transmission system multiple degrees of freedom pick up mechanism, comprise pick-up winding, described pick-up winding is wound on six columniform magnetic cores respectively, described six magnetic cores being wound with pick-up winding are fixed according to the spatial distribution structure of triangular pyramid six ribs, article six, the pick-up winding on magnetic core is connected in series according to the order preset, the magnetic flux not looping that on same plane, three pick-up windings produce.
In the present embodiment, this mechanism for picking is provided with triangular pyramid skeleton as shown in Figure 2, this triangular pyramid skeleton is that non-magnet material is made, its shape is positive triangular pyramid, direction along every bar rib of triangular pyramid skeleton offers groove, groove on every bar rib is identical with the vertex distance at these rib two ends, described six magnetic cores being wound with pick-up winding are separately fixed in the groove on six ribs of triangular pyramid skeleton, groove length on usual each bar rib is identical, article six, magnetic core is measure-alike, article six, on magnetic core, the pick-up winding of coiling adopts same wire segmentation coiling to form.
For understanding operation principle of the present invention and technique effect further, do progressive detailed description in detail below.
Composition graphs 2 and Fig. 3 analysis, if triangular pyramid rib length is l, at distance two endvertex d
1a groove is dug at place, and for placing magnetic core and coiled wire-wound coil, the FERRITE CORE of employing is a kind of cylindrical high frequency permeability magnetic material, and body diameter is d
2, known in conjunction with the groove of triangular pyramid, core length is l-2d
1, the diameter of wire of selected pick-up winding is d
3.
Suppose that primary coil is plane, straight up, then the coil flux on any rib is analyzed as follows magnetic flux B:
Suppose
for the angle of magnetic core and X, Y plane, then perpendicular to the magnetic flux density of coil:
By the magnetic flux at this crest line circle place be:
N is coil turn on every bar rib, and S is every circle coil-winding area, Φ
bArepresent that flow direction points to A by B and holds.
By the magnetic flux on the known every bar rib of formula (2), by the total magnetic flux φ=φ on six ribs when namely triangular pyramid rotates to all angles
aB+ φ
aC+ φ
aD+ φ
bC+ φ
bD+ φ
cD.
Because the coil on triangular pyramid six ribs adopts series system, the electric current namely on every bar rib has both direction, and induction magnetic flux also has both direction, and the magnetic flux of six rib inductions exists the situation mutually strengthening and offset, and the combination of flow direction has 2
6=64 kinds.Sectional area S=the π ((d of coil
2+ 2d
3)/2)
2.When primary current I, turn number N, coil section amass S certain when, due to tetrahedral symmetry, when rotated, 64 kinds of combinations calculate 6 kinds of different flux change.Below respectively with the different flux change citing of 6 classes (AB 1 represents that the magnetic flux of rib AB along rib AB upwards, is that 0 expression is downward along rib AB), concrete compound mode is as shown in table 1.
Table 1: flow direction assembled scheme (former secondary distance is 1cm)
In each scheme, all not only a kind of combination, specifically can see attached list 1.Here adopt scheme one wherein the combination of a kind of magnetic flux as design.Because coil is connected in series, only relevant with direction during coiling, and the order between rib has nothing to do.If but during coiling, the some planes of tetrahedron are connected, induced electricity fails to be convened for lack of a quorum formation annular, the magnetic flux that produces of annular can offset with the magnetic flux that produces on this rib when rotated, so should avoid this situation during coiling, the magnetic flux assembled scheme adopted in this example as shown in Figure 4.
Suppose that electric current is from I
inflow into rib AB, winding sequence is: AB → BC → CD → DA → DB → CA (being connected in series order can change), electric current I
outflow out from rib CA, be then beneficial to pick-up winding that a wire winds up as shown in Figure 5.
By theory analysis, carry out coiling according to the method for winding shown in the magnetic flux combination shown in figure tetra-and Fig. 5 to mechanism for picking, on every bar rib, individual layer is around 25 circles, diameter of wire is 3mm, and under frequency is 40KHz situation, former limit adopts two-layer disk coil, radius is 14cm, and the number of turn is 62 circles, L
p=374uH, R
p=0.26 Ω, secondary L
s=151uH, R
s=0.67 Ω.Experiment adopts S-S structure, and be 10V at input voltage, load is 5 ohm, and when former secondary distance is 0, triangular pyramid can reach 84% when AB rib 360 degree of rotation efficiency are maximum, and minimum is 33.5%.
Finally it should be noted that, above detailed description is only preferred embodiment of the present invention.Should be appreciated that those of ordinary skill in the art just design according to the present invention can make many modifications and variations without the need to creative work.Therefore, all technical staff in the art, all should by the determined protection range of claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Subordinate list 1: flow direction assembled scheme (former secondary distance is 1cm)
Claims (7)
1. a radio energy transmission system multiple degrees of freedom pick up mechanism, comprise pick-up winding, it is characterized in that: described pick-up winding is wound on six columniform magnetic cores respectively, described six magnetic cores being wound with pick-up winding are fixed according to the spatial distribution structure of triangular pyramid six ribs, article six, the pick-up winding on magnetic core is connected in series according to the order preset, the magnetic flux not looping that on same plane, three pick-up windings produce.
2. radio energy transmission system multiple degrees of freedom pick up mechanism according to claim 1, is characterized in that: described six magnetic cores measure-alike.
3. radio energy transmission system multiple degrees of freedom pick up mechanism according to claim 1, is characterized in that: on described six magnetic cores, the pick-up winding of coiling adopts same wire segmentation coiling to form.
4. the radio energy transmission system multiple degrees of freedom pick up mechanism according to claim 1-3 any one, it is characterized in that: also comprise triangular pyramid skeleton, direction along every bar rib of triangular pyramid skeleton offers groove, and described six magnetic cores being wound with pick-up winding are separately fixed in the groove on six ribs of triangular pyramid skeleton.
5. radio energy transmission system multiple degrees of freedom pick up mechanism according to claim 4, is characterized in that: described triangular pyramid skeleton is that non-magnet material is made.
6. radio energy transmission system multiple degrees of freedom pick up mechanism according to claim 4, is characterized in that: described triangular pyramid skeleton is positive triangular pyramid.
7. radio energy transmission system multiple degrees of freedom pick up mechanism according to claim 6, is characterized in that: the groove on described triangular pyramid skeleton every bar rib is identical with the vertex distance at these rib two ends.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106935388B (en) * | 2017-02-23 | 2018-07-20 | 福州大学 | A kind of Multiple coil magnetic coupling receiving coil structure |
| CN106953426B (en) * | 2017-04-21 | 2020-09-11 | 天津工业大学 | Novel wireless power transmission omnidirectional three-dimensional transmitting coil device |
| CN109755007B (en) * | 2018-12-03 | 2020-11-27 | 北京航空航天大学 | Space four-coil system and miniature octopus robot |
| CN109450115A (en) * | 2018-12-29 | 2019-03-08 | 深圳蔚蓝无限科技有限公司 | The transmitting terminal of radio energy emitter and wireless charging |
| CN112865337A (en) * | 2021-01-22 | 2021-05-28 | 华中科技大学 | Multi-degree-of-freedom multi-load wireless electric energy transmission device |
| CN112865325B (en) * | 2021-01-29 | 2023-04-25 | 重庆大学 | Tripolar plane type transmitting mechanism, transmission system thereof and current vector modulation method |
| CN117727542B (en) * | 2023-12-18 | 2024-05-07 | 青岛科技大学 | Butt-joint type magnetic coupling structure for underwater wireless energy transmission |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102005829A (en) * | 2010-12-03 | 2011-04-06 | 重庆大学 | Magnetic field tracking servo mechanism for wireless electric power transmission system |
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| JP5449502B1 (en) * | 2012-10-31 | 2014-03-19 | 三菱電機エンジニアリング株式会社 | Movable part multiplexed transmission system by wireless power transmission |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102005829A (en) * | 2010-12-03 | 2011-04-06 | 重庆大学 | Magnetic field tracking servo mechanism for wireless electric power transmission system |
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| Title |
|---|
| 非接触电能传输系统拾取机构方向性分析;孙跃等;《重庆大学学报(自然科学版)》;20070415;第30卷(第04期);第87-90、112页 * |
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Inventor after: Dai Xin Inventor after: Lin Qiuyang Inventor after: Wang Zhihui Inventor after: Tang Chunsen Inventor after: Sun Yue Inventor after: Su Yugang Inventor before: Dai Xin Inventor before: Wang Zhihui Inventor before: Tang Chunsen Inventor before: Sun Yue Inventor before: Su Yugang |
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Effective date of registration: 20210317 Address after: 400037 room 503-1423, 5th floor, unit B1, No.18, platform road, Tuzhu Town, Shapingba District, Chongqing Patentee after: Chongqing Qianwei radio power transmission Research Institute Co.,Ltd. Address before: 400026 6-1, unit 2, building 1, No. 53, Gangcheng West Road, Jiangbei District, Chongqing (room No. 608) Patentee before: Chongqing aipute Electric Co.,Ltd. Effective date of registration: 20210317 Address after: 5-2, no.66-1, shabin Road, Shapingba District, Chongqing 400030 Patentee after: Wang Zhihui Patentee after: Sun Yue Patentee after: Su Yugang Patentee after: Dai Xin Patentee after: Tang Chunsen Address before: 400044 No. 174 Shapingba street, Shapingba District, Chongqing Patentee before: Chongqing University Effective date of registration: 20210317 Address after: 400026 6-1, unit 2, building 1, No. 53, Gangcheng West Road, Jiangbei District, Chongqing (room No. 608) Patentee after: Chongqing aipute Electric Co.,Ltd. Address before: 5-2, no.66-1, shabin Road, Shapingba District, Chongqing 400030 Patentee before: Wang Zhihui Patentee before: Sun Yue Patentee before: Su Yugang Patentee before: Dai Xin Patentee before: Tang Chunsen |
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Effective date of registration: 20231009 Address after: 400026 6-1, unit 2, building 1, No. 53, Gangcheng West Road, Jiangbei District, Chongqing (room No. 608) Patentee after: Chongqing aipute Electric Co.,Ltd. Address before: 400037 room 503-1423, 5th floor, unit B1, No.18, platform road, Tuzhu Town, Shapingba District, Chongqing Patentee before: Chongqing Qianwei radio power transmission Research Institute Co.,Ltd. |
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