CN105978166A - Modular gravity pressing type power-taking apparatus based on power transmission line induction - Google Patents
Modular gravity pressing type power-taking apparatus based on power transmission line induction Download PDFInfo
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- CN105978166A CN105978166A CN201610430719.8A CN201610430719A CN105978166A CN 105978166 A CN105978166 A CN 105978166A CN 201610430719 A CN201610430719 A CN 201610430719A CN 105978166 A CN105978166 A CN 105978166A
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- 230000005484 gravity Effects 0.000 title claims abstract description 27
- 230000006698 induction Effects 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 230000005611 electricity Effects 0.000 claims description 25
- 238000010073 coating (rubber) Methods 0.000 claims description 2
- 230000009466 transformation Effects 0.000 abstract description 3
- 230000001939 inductive effect Effects 0.000 abstract 1
- 239000013589 supplement Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
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- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
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- 241000276425 Xiphophorus maculatus Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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Abstract
The invention discloses a modular gravity pressing type power-taking apparatus based on power transmission line induction. The modular gravity pressing type power-taking apparatus comprises a power-taking mechanism and a mounting platform, wherein the power-taking mechanism is mounted at the bottom of an unmanned aerial vehicle through the mounting platform; the power-taking mechanism comprise a left clamping rod part and a right clamping rod part; the left clamping rod part and the right clamping rod part have clamping bodies with arc-shaped structures; when the unmanned aerial vehicle flies to the power transmission line which is between the two clamping bodies, the power transmission line is clamped by the inner arc surfaces of the clamping bodies through a bearing pressing rod in a downward-pressing driving connecting rod of the unmanned aerial vehicle; at the moment, alternating current is generated in the inductive coils; the alternating current is transmitted to the unmanned aerial vehicle; then the alternating current is subjected to voltage transformation and rectification to be used as the energy for charging the unmanned aerial vehicle; after the unmanned aerial vehicle is fully charged, the unmanned aerial vehicle is controlled to fly perpendicularly; and the bearing pressing rod is reset to keep the space between the clamping bodies to the opened so as to loosen the cable, so that the unmanned aerial vehicle is released from the power transmission line. The power-taking apparatus adopts the modular design concept, and can satisfy use requirements of the unmanned aerial vehicles of different sizes and different charging power; and meanwhile, the induction power-taking apparatus is compact and concise in structure, so that the structural weight of the power-taking apparatus can be reduced.
Description
Technical field
The invention belongs to mechanical design field, for a kind of power transmission line power taking equipment, be specially a kind of modularity gravity
Compression type power mains induced electricity getting device.
Background technology
VUAV refers to complete to take off vertically the UAS of landing task, generally includes
The unmanned vehicles such as many rotors class, helicopter class, flapping wing class, dirigible class.Owing to this type of unmanned vehicle has
Can the function such as VTOL, hovering, there is the advantages such as good, the adjustable point reconnaissance and surveillance of flying field adaptability.Special
It not that multi-rotor aerocraft is playing increasing effect at civil area.But due to flight theory
Limiting, this type of VUAV also exists, compared to fixed wing airplane, the shortcoming that energy resource consumption is big, the most all
It is faced with cruising time short, the problems such as flying distance is limited, limit the most extensively application.
In this context, manage to improve the flight time of unmanned plane and flying distance is the current focus studied.Right
In the unmanned plane using accumulator to provide the energy, the one-sided capacity improving accumulator can cause battery volume and weight
Amount increase so that flight power consumption increase, aircraft volume also can sharply increase, to the flight time and flight away from
From lifting inconspicuous, and be also not suitable for miniaturization and make.It is thus desirable to design one is applicable to accumulator
There is provided energy unmanned plane can the device of extra electric energy supplement.Current practical electric energy supplement mode has solar-electricity
Pond, by utilizing solar energy to increase aircraft cruising time.But solar battery efficiency is low, weight is big, can only
It is applicable to high aspect ratio fixed wing airplane, is not particularly suited for VUAV as herein described.Therefore, need
The method designing other the supplementary energy.
Summary of the invention
Supplement the needs of the energy for unmanned plane above-mentioned, the present invention proposes a kind of employing modularized design
Gravity pressure compact form power mains induced electricity getting device, it is possible to achieve unmanned plane land on power transmission line while supplement
Electric energy.The present invention uses the thought of modularized design, can meet different size, different charge power demand without
Man-machine use.Meanwhile, present configuration compact, be conducive to reducing the construction weight of electricity getting device.
One modularity gravity pressure compact form power mains induced electricity getting device of the present invention, including electricity-fetching mechanism and erecting bed.
Described electricity-fetching mechanism includes left clamping rod member and right clamping rod member, and left clamping rod member has with right clamping rod member
Arcuate structure cramping body, by pressing down the carrying depression bar in drive link to realize between cramping body intrados power transmission line
Clamping.Above-mentioned cramping body intrados is slotted, and installs induction coil in groove.The input of carrying depression bar is installed on
On erecting bed, erecting bed is installed on bottom unmanned plane.
When being provided with the unmanned plane during flying of electricity-fetching mechanism to after power transmission line overhead, according to the electromagnetic signal of power transmission line
Determine target power transmission line particular location with video image, adjust unmanned plane during flying attitude subsequently, make electricity-fetching mechanism
The axis of clamping axle and target power transmission line is in same vertical guide；Now control unmanned plane to begin slowly along vertical
Decline, after the cramping body of left clamping rod member Yu right clamping rod member touches power transmission line, under being continued by unmanned plane
Fall, by pressing carrying depression bar under the gravity of unmanned plane, makes the left clamping rod member cramping body with right clamping rod member by transmission of electricity
Line stabilization clamps, and then makes unmanned plane fixing relative between power transmission line, it is achieved unmanned plane on target power transmission line
Land.Due on power transmission line by there being alternating current, around power transmission line, produce the annular alternation magnetic with it as the center of circle
, the plane of induction coil is perpendicular to alternating magnetic field, now produces alternating current, this electric current in induction coil
It is delivered to unmanned plane by wire, can supplement for unmanned plane as the energy through transformation and rectification.When unmanned plane fills
After electricity completes, control unmanned plane and directly take off along vertical, now by between carrying depression bar and right clamping rod member
Torque spring effect, make left clamping rod member open with the cramping body of right clamping rod member, taken off by unmanned plane
Lift can directly drive electricity-fetching mechanism automatically to unclamp power transmission line, makes unmanned plane depart from power transmission line.
It is an advantage of the current invention that:
1, modularity gravity pressure compact form power mains induced electricity getting device of the present invention, it is achieved that unmanned plane is by transmission of electricity
Line supplements the function of the energy；
2, modularity gravity pressure compact form power mains induced electricity getting device of the present invention, it is achieved that unmanned plane is at power transmission line
While supplementing the energy, the function that airborne task system can normally work；
3, modularity gravity pressure compact form power mains induced electricity getting device of the present invention, electricity-fetching mechanism is mechanical self-latching,
Without the external energy or drives, compression action blends with UAV Landing and take-off process with the action that gets loose,
Reliability is high；
4, modularity gravity pressure compact form power mains induced electricity getting device of the present invention, uses modularized design, meets
Different unmanned plane body sizes and power taking power demand；
5, modularity gravity pressure compact form power mains induced electricity getting device of the present invention, compact overall structure, succinct,
Be conducive to alleviating weight, improve reliability, it is easy to processing.
Accompanying drawing explanation
Fig. 1 is electricity getting device structural representation of the present invention；
Fig. 2 is electricity-fetching mechanism structural representation in electricity getting device of the present invention；
Fig. 3 is electricity-fetching mechanism structural blast figure；
Fig. 4 is torque spring mounting means figure in electricity-fetching mechanism；
Fig. 5 is the clamping axle setting position schematic diagram of electricity-fetching mechanism in electricity getting device of the present invention；
Fig. 6 is that two electricity-fetching mechanisms are applied in combination assembly relation schematic diagram；
Fig. 7 is that three electricity-fetching mechanisms are applied in combination assembly relation schematic diagram；
Fig. 8 is electricity-fetching mechanism upper limit axle installation site schematic diagram.
In figure:
1-electricity-fetching mechanism 2-erecting bed 3-limit shaft
101-carries depression bar 102-connecting rod 103-left clamping rod member
The 104-right clamping rod member 105-left induction coil of torque spring 106-
107-right induction coil 108-cramping body 109-drive rod
110-clamps axle 111-limit shaft
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail.
Modularity gravity pressure compact form power mains induced electricity getting device of the present invention, including electricity-fetching mechanism 1 and erecting bed 2,
As shown in Figure 1.
Described electricity-fetching mechanism 1 includes carrying depression bar 101, connecting rod 102, left clamping rod member 103, right supporting rod
Part 104, torque spring 105, left induction coil 106 and right induction coil 107, as shown in Figure 2 and Figure 3.
Wherein, left clamping rod member 103 is identical with right clamping rod member 104 structure, is cramping body 108 and drive rod
109 integrative-structures constituted；Cramping body 108 is arc platy structure；Drive rod 109 is shaft-like, one end with
Cramping body 108 end connects, and makes have certain interval between two drive rods 109；And right clamping rod member 104
In the gap width that is smaller than in left clamping rod member 103 between two drive rods 109 of two drive rods 109.
Above-mentioned left clamping rod member 103 is oppositely arranged with cramping body 108 intrados in right clamping rod member 104, makes right clamping
After in rod member 104, two drive rods 109 are by passing between two drive rods 109 in left clamping rod member 103, pass through
Bolt is through two drive rods 109 in left clamping rod member 103 and right clamping rod member 104 and cramping body 108
After the through hole that connecting position is offered, will be connected between left clamping rod member 103 with right clamping rod member 104, formed and rotate
Secondary A.In electricity-fetching mechanism 1, left clamping rod member 103 is used for coordinating clamping power transmission line with right clamping rod member 104, left
In clamping rod member 103 and right clamping rod member 104, cramping body 108 intrados scribbles soft anti-slip rubber coating, and
Offering mounting groove, inside is separately installed with the left induction coil 106 and the right line of induction being wrapped on coil rack
Circle 107.
Described connecting rod 102 is arranged in left clamping rod member 103 between two drive rods 109, connecting rod 102 end
It is connected by bolt with two drive rod 109 ends in right clamping rod member 104, forms revolute pair B；Connecting rod 102
It is connected by bolt between the other end with carrying depression bar 101 one end, forms revolute pair C.
Described carrying depression bar 101 is for transmitting the weight of unmanned plane to left clamping rod member 103 and right clamping rod member
104.Carrying depression bar 101 is arranged in left clamping rod member 103 between two drive rods 109, carries depression bar 101
It is connected by bolt between two drive rod 109 ends with left clamping rod member 103, forms revolute pair D, connect
It is located proximate at revolute pair C.Between carrying depression bar 101 and left clamping rod member 103, torque spring 105 is installed,
Torque spring 105 one end is fixed on carrying depression bar 101, and the other end is fixed in left clamping rod member 103
On root drive rod 109, as shown in Figure 4；And make the center of rotation of torque spring 105 and the rotation of revolute pair D
Dead in line.The cramping body 108 of left clamping rod member 103 and right clamping rod member 104 is made by torque spring 105
Between keep certain opening angle.The input of carrying depression bar 101 is installed on erecting bed 2, erecting bed 2
It is installed on bottom unmanned plane, it is achieved the installation between electricity-fetching mechanism 1 and unmanned plane.Above-mentioned carrying depression bar 101 defeated
Enter end and there is clamping rod member 103 angle of inclination to the left, thus when UAV Landing is on target power transmission line, logical
Cross power transmission line between the cramping body 108 of left clamping rod member 103 and right clamping rod member 104, pass through nothing subsequently
Press under man-machine gravity carrying depression bar 101, make carrying depression bar 101 rotate counterclockwise, pull connecting rod 102 towards
Right clamping rod member 104 moves, and is pulled drive rod 109 up time of right clamping rod member 104 further by connecting rod 102
Pin rotates, the final cramping body 108 cramping body towards left clamping rod member 103 driving right clamping rod member 104
108 move, and make to close, by power transmission line between the cramping body 108 of left clamping rod member 103 and right clamping rod member 104
Clamping.
Above-mentioned electricity-fetching mechanism 1, when carrying out power taking, concrete mode is as follows:
When being provided with the unmanned plane during flying of electricity-fetching mechanism 1 to after power transmission line overhead, believe according to the electromagnetism of power transmission line
Number and video image determine target power transmission line particular location, adjust unmanned plane during flying attitude subsequently, make electricity-fetching mechanism
The clamping axle 110 of 1 and the axis of target power transmission line are in same vertical guide；The clamping axle of described electricity-fetching mechanism 1
110 clamp cylindrical cutting for the left clamping rod member 103 recorded in advance with cramping body 108 in right clamping rod member 104
After the electric wire of face, the axis of electric wire, as shown in Figure 5.Now control unmanned plane to begin slowly to decline along vertical,
After the cramping body 108 of left clamping rod member 103 with right clamping rod member 104 touches power transmission line, pass through unmanned plane
Continue to decline, by pressing carrying depression bar 101 under the gravity of unmanned plane, make left clamping rod member 103 and right clamping rod member
The cramping body 108 of 104 is by power transmission line stable holding, and then makes unmanned plane fixing relative between power transmission line, it is achieved nothing
Man-machine landing on target power transmission line.Due on power transmission line 12 by there being alternating current I, at power transmission line 12
Around produce the annular alternating magnetic field with it as the center of circle, left induction coil 106 and the plane of right induction coil 107
It is perpendicular to alternating magnetic field B, now in left induction coil 106 with right induction coil 107, produces alternating current i,
This electric current is delivered to unmanned plane by wire, can supplement for unmanned plane as the energy through transformation and rectification, mend
While charging energy, on unmanned plane, other airborne equipments can also normally work.When, after unmanned plane charging complete, controlling
Unmanned plane processed directly takes off along vertical, now by the torsion between carrying depression bar 101 and right clamping rod member 104
Power spring 105 acts on, and makes left clamping rod member 103 open with the cramping body 108 of right clamping rod member 104, right folder
Holding rod member 104 and gradually recover initial position, the lift taken off from there through unmanned plane can directly drive power taking machine
Structure 1 unclamps power transmission line automatically, makes unmanned plane depart from power transmission line.
In the present invention, when electricity-fetching mechanism 1 is when being used alone, the carrying depression bar 101 of electricity-fetching mechanism 1 is fixed
It is installed on erecting bed 2, as it is shown in figure 1, electricity-fetching mechanism 1 is installed on bottom unmanned plane vertical by erecting bed 2
In the plane of symmetry.The center of gravity of unmanned plane is made to be positioned at electricity-fetching mechanism 1 by the installation site adjusting erecting bed 2
Clamping axle 110 directly near.
When using two electricity-fetching mechanisms 1, the carrying depression bar 101 of electricity-fetching mechanism 1 is fixedly installed in erecting bed
On 2, as shown in Figure 6, erecting bed 2 installation site is adjusted, by the plane of symmetry and nothing in the middle part of 2 electricity-fetching mechanisms 1
Overlap in longitudinally asymmetric of man-machine bottom, and the center of gravity of unmanned plane is positioned near directly over clamping axle 110.This
Time two electricity-fetching mechanisms 1 in left clamping rod member 103 use the mode installed in the same direction, i.e. with right clamping rod member 104
Carrying depression bar 101 incline direction is identical, and carrying depression bar 101 is equal with erecting bed 2 bottom surface angle, and two take
The clamping axle 110 of motor structure 1 is coaxial.
When being two or more when using electricity-fetching mechanism 1, by whole electricity-fetching mechanisms 1 by hinged seat and erecting bed 2
Bottom surface is hinged, as it is shown in fig. 7, by the position adjusting erecting bed 2 so that the clamping axle of electricity-fetching mechanism 1
110 are positioned at bottom unmanned plane longitudinally asymmetric, and the center of gravity of unmanned plane is positioned at the clamping axle of electricity-fetching mechanism 1
Near directly over 110.Erecting bed 2 needs to ensure that the clamping axle 110 of whole electricity-fetching mechanism 1 is coaxial.All take
In motor structure 1, adjacent electricity-fetching mechanism 1 is separately positioned on erecting bed 2 to side position, oppositely arranged, i.e. holds
Carry depression bar 101 relative tilt to arrange；And left clamping rod member 103 and right clamping rod member in adjacent electricity-fetching mechanism 1
The cramping body 108 of 104 is in being perpendicular to the projection clamping in plane A of axle 110, and top has lap.
Clamping axle 110 in order to ensure the electricity-fetching mechanism 1 on erecting bed 2 is coaxial, at each electricity-fetching mechanism in the present invention
Carry depression bar 101 in 1 and limit shaft 111 is installed, such as Fig. 7, Fig. 8 institute below the jointed shaft of erecting bed 2
Show, limit carrying depression bar 101 by limit shaft 111 and rotate, make when without External Force Acting, each electricity-fetching mechanism
Carrying depression bar 101 in 1 is equal with erecting bed 2 bottom surface angle.
Left induction coil 106 on each electricity-fetching mechanism 1 above-mentioned and right induction coil 107 can by connecting or
Mode in parallel combines, or uses multiple power taking motor structure 1 to carry out the power taking of power transmission line, unmanned with satisfied difference
Machine is to voltage or current needs.Left induction coil 106 on electricity-fetching mechanism 1 can be torn open with right induction coil 107
Under, it is used for alleviating weight, pulls down the electricity-fetching mechanism after left induction coil 106 and right induction coil 107 and be only used as
Hold down gag.
Tests prove that modularity gravity pressure compact form power mains induced electricity getting device of the present invention can rely on deadweight
Stable holding, on the power transmission line of a diameter of 15mm, meets the demand of power transmission line power taking.
Claims (7)
1. a modularity gravity pressure compact form power mains induced electricity getting device, it is characterised in that: include power taking machine
Structure and erecting bed；
Described electricity-fetching mechanism includes left clamping rod member and right clamping rod member, and left clamping rod member has with right clamping rod member
Arcuate structure cramping body, by pressing down the carrying depression bar in drive link to realize between cramping body intrados power transmission line
Clamping；Above-mentioned cramping body intrados is slotted, and installs induction coil in groove；The input of carrying depression bar is installed on
On erecting bed, erecting bed is installed on bottom unmanned plane.
2. a kind of modularity gravity pressure compact form power mains induced electricity getting device, its feature
Be: described left clamping rod member with have clamping member structure identical, including cramping body and drive rod；Drive rod is
Two, one end connects with cramping body end；In right clamping rod member, two drive rods are driven by left clamping rod member two
After passing between lever, by bolt through two drive rods in left clamping rod member and right clamping rod member and cramping body
After the through hole that connecting position is offered, will be connected between left clamping rod member with right clamping rod member, form revolute pair A；?
Left clamping rod member arranges between two drive rods connecting rod, interlinking lever end and two driving rod ends in right clamping rod member
Portion is connected by bolt, forms revolute pair B；It is connected by bolt between the connecting rod other end with carrying depression bar one end,
Form revolute pair C；Carrying depression bar is arranged in left clamping rod member between two drive rods, carrying depression bar and left folder
Holding in rod member and be connected by bolt between two drive rod ends, form revolute pair D, link position is near revolute pair
At C；Being provided with torque spring between carrying depression bar and left clamping rod member, carrying pressure is fixed in torque spring one end
On bar, the other end is fixed on a drive rod in left clamping rod member.
3. a kind of modularity gravity pressure compact form power mains induced electricity getting device, its feature
Being: when electricity-fetching mechanism is one, carrying depression bar is fixedly installed on erecting bed.
4. a kind of modularity gravity pressure compact form power mains induced electricity getting device, its feature
It is: when electricity-fetching mechanism is two, the carrying depression bar of electricity-fetching mechanism is fixedly installed on erecting bed；Now two
The clamping axle of individual electricity-fetching mechanism is coaxial.
5. a kind of modularity gravity pressure compact form power mains induced electricity getting device, its feature
It is: when electricity-fetching mechanism is two or more, whole electricity-fetching mechanisms are hinged with erecting bed bottom surface by hinged seat；
Adjacent electricity-fetching mechanism is separately positioned on erecting bed to side position, and the clamping axle of whole electricity-fetching mechanisms is coaxial.
6. a kind of modularity gravity pressure compact form power mains induced electricity getting device, its feature
It is: electricity-fetching mechanism carries depression bar and below the jointed shaft of erecting bed, limit shaft is installed.
7. a kind of modularity gravity pressure compact form power mains induced electricity getting device, its feature
It is: cramping body intrados scribbles soft anti-slip rubber coating.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610430719.8A CN105978166B (en) | 2016-06-16 | 2016-06-16 | A kind of modularization gravity pressure compact form power mains induced electricity getting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610430719.8A CN105978166B (en) | 2016-06-16 | 2016-06-16 | A kind of modularization gravity pressure compact form power mains induced electricity getting device |
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| Publication Number | Publication Date |
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| CN105978166A true CN105978166A (en) | 2016-09-28 |
| CN105978166B CN105978166B (en) | 2018-09-28 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110391695A (en) * | 2019-06-21 | 2019-10-29 | 国网江苏省电力有限公司泰州供电分公司 | A kind of online electricity getting device of outdoor study |
| CZ309375B6 (en) * | 2020-02-10 | 2022-10-19 | Vysoká škola báňská - Technická univerzita Ostrava Fakulta elektrotechniky a informatiky | Unmanned aerial vehicle with induction power supply |
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| DE102013004881A1 (en) * | 2013-03-07 | 2014-09-11 | Daniel Dirks | Landing and (battery) charging station - with contact or contactless - for single or multiple remote controlled or autonomous flying drones with rotary blades (UAVs / flying robots / multicopter) |
| CN105098914A (en) * | 2015-08-24 | 2015-11-25 | 王秋临 | Charging system of quadcopter suitable for high voltage line patrolling |
| CN204886436U (en) * | 2015-08-31 | 2015-12-16 | 李烨 | Unmanned vehicles follows power transmission line induction electricity -taking device |
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- 2016-06-16 CN CN201610430719.8A patent/CN105978166B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102013004881A1 (en) * | 2013-03-07 | 2014-09-11 | Daniel Dirks | Landing and (battery) charging station - with contact or contactless - for single or multiple remote controlled or autonomous flying drones with rotary blades (UAVs / flying robots / multicopter) |
| CN103872795A (en) * | 2014-03-17 | 2014-06-18 | 王洋 | Charging system for unmanned aircraft |
| CN105098914A (en) * | 2015-08-24 | 2015-11-25 | 王秋临 | Charging system of quadcopter suitable for high voltage line patrolling |
| CN204886436U (en) * | 2015-08-31 | 2015-12-16 | 李烨 | Unmanned vehicles follows power transmission line induction electricity -taking device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110391695A (en) * | 2019-06-21 | 2019-10-29 | 国网江苏省电力有限公司泰州供电分公司 | A kind of online electricity getting device of outdoor study |
| CN110391695B (en) * | 2019-06-21 | 2022-07-08 | 国网江苏省电力有限公司泰州供电分公司 | Online power-taking device for outdoor operation |
| CZ309375B6 (en) * | 2020-02-10 | 2022-10-19 | Vysoká škola báňská - Technická univerzita Ostrava Fakulta elektrotechniky a informatiky | Unmanned aerial vehicle with induction power supply |
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| CN105978166B (en) | 2018-09-28 |
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