CN106451698A - Line patrol robot sensing power-taking apparatus and power-taking system equipped with same - Google Patents
Line patrol robot sensing power-taking apparatus and power-taking system equipped with same Download PDFInfo
- Publication number
- CN106451698A CN106451698A CN201610833240.9A CN201610833240A CN106451698A CN 106451698 A CN106451698 A CN 106451698A CN 201610833240 A CN201610833240 A CN 201610833240A CN 106451698 A CN106451698 A CN 106451698A
- Authority
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- China
- Prior art keywords
- inspection robot
- electricity getting
- iron core
- annular core
- getting device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 238000007689 inspection Methods 0.000 claims description 60
- 230000005611 electricity Effects 0.000 claims description 48
- 238000007600 charging Methods 0.000 claims description 29
- 239000000696 magnetic material Substances 0.000 claims description 3
- 230000035699 permeability Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 210000001138 tear Anatomy 0.000 claims description 3
- 239000004020 conductor Substances 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 7
- 230000005923 long-lasting effect Effects 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 4
- 230000004907 flux Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 229910000976 Electrical steel Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005674 electromagnetic induction Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229910000889 permalloy Inorganic materials 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000004643 material aging Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
-
- H02J7/025—
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a line patrol robot sensing power-taking apparatus and a power-taking system equipped with the same, and belongs to the technical field of a robot. The line patrol robot sensing power-taking apparatus comprises an annular iron core which is constituted by a magnetic conducting material and has a magnetic loop that can be closed, wherein the annular iron core is wound by multiple turns of coils; and an opening-closing control mechanism is arranged below the annular iron core. Compared with the prior art, the line patrol robot sensing power-taking apparatus can ensure long-time and continuous operation of the line patrol robot, improve the line patrolling efficiency and improve the safety.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of inspection robot sensing electricity getting device and there is this dress
The electricity getting system put.
Background technology
It is the major way of distance transmission ＆ distribution electric power using high pressure and super-pressure overhead power transmission line.Power line and shaft tower annex
It is chronically exposed to field, because by lasting mechanical tension, electrically sudden strain of a muscle is ironed, material aging is affected and easily produces stranded, mill
Damage, corrode equivalent damage, such as repair not in time and change, originally small breakage and defect may expand, and ultimately result in serious thing
Therefore, cause large-area power failure and huge economic loss.The development of inspection robot technology, is the inspection work of high voltage transmission line
Provide new technological means, inspection robot can carry out making an inspection tour to circuit, overhaul, be that the normal operation of power system carries
Ensure for effective.
Inspection robot needs to complete the works such as walking, across obstacle, cleaning debris, video and image transmitting on the line
Make, this is accomplished by enough supplies of electric power.In prior art, inspection robot uses common rechargeable battery, such as ni-mh electricity
Pond, lithium battery etc., due to the particularity of inspection robot working environment, itself can not possibly carry very big battery, therefore line walking
Robot often works and is accomplished by for a period of time taking off charging or changes battery, and this carries just to inspection robot long lasting for work
Carry out obstacle, reduced line walking efficiency, and increased danger, these factors can greatly limit extensively making of inspection robot
With.
Content of the invention
The technical problem to be solved in the present invention is to provide one kind both to can guarantee that inspection robot, long lasting for work, improved
Line walking efficiency, can improve the inspection robot sensing electricity getting device of security and the electricity getting system with this device again.
For solving above-mentioned technical problem, the present invention provides technical scheme as follows：
On the one hand, provide a kind of inspection robot sensing electricity getting device, can closed magnetic return including be made up of permeability magnetic material
The annular core on road, described annular core is wrapped the coil of some numbers of turn, and the lower section of described annular core is provided with folding
Controlling organization.
Further, described annular core includes active semi-circular iron core and driven semi-circular iron core.
Further, the end of described driven semi-circular iron core is provided with boss structure, described active semi-circular iron core
End is provided with the groove structure mutually chimeric with described boss structure.
Further, the inner side of described annular core is evenly arranged with for preventing the roller of described coil crust that weares and teares,
Described roller is connected with described annular core by rolling wheel support.
Further, described folding control mechanism includes base, and described base is provided with horizontally arranged iron core folding
Motor and gear drive.
Further, described gear drive adopts partial gear to be driven.
On the other hand, a kind of inspection robot sensing electricity getting system, including inspection robot, described inspection robot are provided
On be provided with rectification charging module, battery and above-mentioned inspection robot sensing electricity getting device, described inspection robot sensing takes
The output end of the coil of electric installation connects described rectification charging module, the output end of described rectification charging module be connected with for for
The battery that described inspection robot is powered.
The invention has the advantages that：
The inspection robot sensing electricity getting device of the present invention and the electricity getting system with this device, the normal work of inspection robot
When making, annular core closes in the presence of folding control mechanism, forms the magnetic loop of closure, is wrapped in around annular core
Coil, produces sensing alternating current, the alternating current of generation is converted to stable by rectification charging module in the presence of electromagnetic induction
Direct current, is that the battery of inspection robot charges, so that inspection robot is realized long lasting for work, it is to avoid line walking machine
People causes security incident because electricity is too low；When running into barrier, annular core separates in the presence of folding control mechanism and takes off
Offline road, now, is not charged, after clearing the jumps, annular core re-closes in the presence of folding control mechanism, continues
Continue and charge for battery.Meanwhile, the magnetic field of closed-loop path is internally formed loop in annular core, and the field circuit of on-closed-circuit
In atmosphere, the magnetic flux in the magnetic field with iron core as medium is far longer than the magnetic flux in the magnetic field with air as medium, and the former produces
Raw induced-current, also much larger than the latter, can significantly improve charge efficiency.
To sum up, compared with prior art, the present invention both can guarantee that inspection robot long lasting for work, improves line walking effect
Rate, can improve security and the service life of battery again.
Brief description
Fig. 1 be the present invention inspection robot sensing electricity getting device and have this device electricity getting system structural representation
Figure；
Fig. 2 is the inspection robot sensing electricity getting device of the present invention and the theory structure of the electricity getting system with this device shows
It is intended to；
Fig. 3 is the structural representation of magnetic loop in the annular core of inspection robot sensing electricity getting device of the present invention.
Specific embodiment
For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
On the one hand, the present invention provides a kind of inspection robot sensing electricity getting device, as Figure 1-3, including by magnetic conduction material
Material constitute can closed magnetic loop annular core 1, annular core 1 is wrapped the coil 4 of some numbers of turn, annular core 1
Lower section is provided with folding control mechanism 5.
The inspection robot sensing electricity getting device of the present invention, during inspection robot normal work, is wrapped in closed magnetic loop
On coil produce induced-current in the presence of electrical lead primary current, use for inspection robot, so that line walking machine
Device people can realize, long lasting for work, improving line walking efficiency, it is to avoid inspection robot causes security incident because electricity is too low；
Meanwhile, the magnetic field of closed-loop path is internally formed loop in annular core, and the field circuit of on-closed-circuit is in atmosphere, with iron
Core is that the magnetic flux in the magnetic field of medium is far longer than the magnetic flux in the magnetic field with air as medium, the induced-current that the former produces
Much larger than the latter, it is possible to increase charge efficiency.Compared with prior art, the present invention both can guarantee that inspection robot long lasting for
Work, improves line walking efficiency, can improve security again.
Preferably, annular core 1 includes active semi-circular iron core 2 and driven semi-circular iron core 3.Active semi-circular iron core and
Driven semi-circular iron core can be reached the standard grade in the presence of folding control mechanism, offline and across obstacle, and the line between it can
To be designed as helical structure or waveform configuration, prevent annular core from when separating, breaking coil.In addition, active semi-circular iron core 2 He
The winding direction of the coil 4 on driven semi-circular iron core 3 is identical, the identical induced electricity that can prevent of winding direction of coil
Stream is cancelled out each other, and the number of turn that coil is wound around should calculate according to the voltage of transmission line of electricity and charging voltage and determine.Active semi-circular iron
Core 2 and driven semi-circular iron core 3 are all using permeability magnetic material, it is preferred to use the material such as silicon steel sheet, permalloy or magnetic conduction powder.Silicon
Steel disc, permalloy or magnetic conduction powder have good magnetic property.
In order to improve the compatible degree of active annular core and driven annular core, improve the safety of inspection robot itself
Property, the end of driven semi-circular iron core 3 is provided with boss structure, and the end of active semi-circular iron core 2 is provided with and boss structure
The groove structure being mutually fitted together to.
As a modification of the present invention, the inner side of annular core 1 is evenly arranged with for preventing coil 4 crust that weares and teares
Roller 14, roller 14 is connected with annular core 1 by rolling wheel support 15.When running into the transmission line of electricity of big rise and fall, power transmission line
Road can be with roller directly contact, it is to avoid contact coil and annular core, thus protecting the crust of coil, improves the use longevity of coil
Life.In addition, after being wound around coil 4, coil 4 and annular core 1 are encased by also application empire cloth, play rain-proof, the work of protection
With.
Further, folding control mechanism 5 includes base 12, and base 12 is provided with horizontally arranged iron core folding motor
7 and gear drive, gear drive include for drive the driving gear 8 of active semi-circular iron core 2 and be connected with driving gear 8 and
For driving the driven gear 11 of driven semi-circular iron core 3, iron core folding motor 7 drives driving gear 8 by power transmission shaft 6.Tooth
Wheel the kind of drive there is reliable operation, compact conformation, efficiency high and life-span length, it is possible to increase active semi-circular iron core and
The stationarity of the intimate action of driven semi-circular and accuracy.In addition to the above-mentioned embodiment being given, it can also be using this
Various other modes known to skilled person, here is omitted.
In the present invention, gear drive adopts partial gear to be driven, and driving gear 8 and driven gear 11 pass through bolt respectively
13 are fixedly connected with active semi-circular iron core 2 and driven semi-circular iron core 3.Bolt connection has that structure is simple, connect reliable, dress
Unload the advantages of facilitate.It should be noted that the annular core 1 in the present invention can adopt circular, oval, square etc. can be with shape
Become all shapes of closed magnetic loop.
On the other hand, provide a kind of inspection robot sensing electricity getting system, inspection robot is provided with rectification charging mould
Block 9, battery 10 and above-mentioned inspection robot sensing electricity getting device, the output of the coil 4 of inspection robot sensing electricity getting device
End connects rectification charging module 9, and the output end of rectification charging module 9 is connected with the battery 10 for powering for inspection robot.
Further, rectification charging module 9 includes rectification module and Voltage stabilizing module, and wherein, rectification module includes rectification filter
Wave circuit 16 and secondary current rectifying and wave filtering circuit 18, Voltage stabilizing module is half-bridge mu balanced circuit 17, and the output end of coil 4 is filtered by rectification
Wave circuit 16 is connected with half-bridge mu balanced circuit 17, half-bridge mu balanced circuit 17 connecting secondary current rectifying and wave filtering circuit 18.Inspection robot
Sensing electricity getting system also includes charging and enables circuit 20, charging current control circuit 19 and low battery alarm device, and battery 10 is certainly
Body carries low-voltage protection circuit 21.Wherein, charging current control circuit controls charging to enable electricity by obtaining battery information
The switch on road, when the electricity of battery is less than 80%, charges and enables circuit ON for battery charging, meanwhile, battery is self-contained
Low-voltage protection circuit also can open charging enable circuit, when battery is fully charged after charge enable circuit disconnection, when the electricity of battery
Do not charge when amount is between 80%～100%, limit charging times, extend the service life of battery, when running into barrier, ring
Shape iron core separates in the presence of folding control mechanism, now stops charging the battery, if battery electric quantity is too low, low battery is warned
Reporting device alert notice surface personnel, prevents security incident.
Another further aspect, provides a kind of inspection robot to sense the charging method of electricity getting system, including：
Step 1：During inspection robot normal work, annular core 1 closes in the presence of folding control mechanism 5, is formed
The magnetic loop of closure, the induced-current producing in coil 4 is converted into galvanic current through rectification charging module 9, is battery
10 chargings；
Step 2：When running into barrier, annular core 1 in the presence of folding control mechanism 5 separate, now stop to
Battery 10 charges；
Step 3：After clearing the jumps, annular core 1 re-closes in the presence of folding control mechanism 5, forms closure
Magnetic loop, the induced-current producing in coil 4 is converted into galvanic current through rectification charging module 9, now, if battery
10 electricity is less than 80% will be continued to charge, after battery 10 is fully charged, complete charge.
The inspection robot of the present invention senses the charging method of electricity getting system, during inspection robot normal work, actively partly
When annular core and driven semi-circular iron core close in the presence of folding control mechanism, form the magnetic loop of closure, be wrapped in
Coil around annular core, can produce sensing alternating current, the exchange that rectification charging module will produce under electromagnetic induction effect
Electricity is converted to galvanic current, is that the battery of inspection robot charges, so that inspection robot can be realized holding for a long time
Continuous work, improves line walking efficiency, it is to avoid inspection robot causes security incident because electricity is too low；When running into barrier, annular iron
Core separates in the presence of folding control mechanism and departs from circuit, now, is not charged, after clearing the jumps, annular core
Re-close in the presence of folding control mechanism, if the electricity of battery is less than 80%, continues as battery and charge；Electricity when battery
Not charging when amount is between 80%～100%, thus limiting charging times, extending the service life of battery.To sum up, with existing skill
Art is compared, and the present invention both can guarantee that inspection robot, long lasting for work, improved line walking efficiency, can improve security and electricity again
The service life in pond.
The above is the preferred embodiment of the present invention it is noted that for those skilled in the art
For, on the premise of without departing from principle of the present invention, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (7)
1. what a kind of inspection robot sensing electricity getting device it is characterised in that include was made up of permeability magnetic material can closed magnetic loop
Annular core, described annular core is wrapped the coil of some numbers of turn, the lower section of described annular core is provided with folding control
Mechanism processed.
2. inspection robot sensing electricity getting device according to claim 1 is it is characterised in that described annular core includes leading
Dynamic semi-circular iron core and driven semi-circular iron core.
3. inspection robot sensing electricity getting device according to claim 2 is it is characterised in that described driven semi-circular iron core
End be provided with boss structure, the end of described active semi-circular iron core is provided with the groove mutually chimeric with described boss structure
Structure.
4. inspection robot sensing electricity getting device according to claim 1 is it is characterised in that the inner side of described annular core
It is evenly arranged with for preventing the roller of described coil crust that weares and teares, described roller passes through rolling wheel support with described annular core even
Connect.
5. inspection robot sensing electricity getting device according to claim 4 is it is characterised in that described folding control mechanism wraps
Include base, described base is provided with horizontally arranged iron core folding motor and gear drive.
6. inspection robot sensing electricity getting device according to claim 5 is not it is characterised in that described gear drive is using
Gear drive completely.
7. a kind of inspection robot senses electricity getting system, including inspection robot it is characterised in that setting on described inspection robot
It is equipped with rectification charging module, battery and the arbitrary described inspection robot sensing electricity getting device of claim 1-6, described line walking machine
The output end of the coil of device people's sensing electricity getting device connects described rectification charging module, and the output end of described rectification charging module is even
It is connected to the battery for powering for described inspection robot.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610634328 | 2016-08-05 | ||
| CN2016106343288 | 2016-08-05 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106451698A true CN106451698A (en) | 2017-02-22 |
Family
ID=58165827
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610833240.9A Pending CN106451698A (en) | 2016-08-05 | 2016-09-20 | Line patrol robot sensing power-taking apparatus and power-taking system equipped with same |
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| CN (1) | CN106451698A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106253421A (en) * | 2016-09-14 | 2016-12-21 | 济南舜风科技有限公司 | Inspection robot sensing electricity getting system |
| CN108258781A (en) * | 2018-02-01 | 2018-07-06 | 华南理工大学 | A kind of the automatic sensing charging unit and method of winged gliding style inspection robot |
| CN108789355A (en) * | 2017-05-05 | 2018-11-13 | 中国科学院沈阳自动化研究所 | A kind of stranded repair robot mechanism being adapted to long range operation |
| CN109896012A (en) * | 2019-04-22 | 2019-06-18 | 华北电力大学（保定） | Double-deck more rotor power transmission line inspection devices |
| CN110588355A (en) * | 2019-09-05 | 2019-12-20 | 深圳供电局有限公司 | Rail robot and power supply device |
| CN111799892A (en) * | 2020-06-17 | 2020-10-20 | 哈尔滨工业大学 | Movable non-contact induction electricity taking control system and method of high-voltage inspection robot |
| CN113628810A (en) * | 2021-10-12 | 2021-11-09 | 南通市东风特种电线有限公司 | Intelligent manufacturing device for cable cores |
| CN113675954A (en) * | 2021-07-12 | 2021-11-19 | 上海置信智能电气有限公司 | Induction electricity-taking and energy-supplying device based on transformer magnetic leakage |
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| CN201167024Y (en) * | 2008-03-12 | 2008-12-17 | 山东大学 | Self-generation device of a robot for polling a high tension power line |
| 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 |
| CN105529838A (en) * | 2016-01-30 | 2016-04-27 | 国家电网公司 | Automatic assembly and disassembly type mutual inductance power supply device of high-voltage overhead line |
| CN105811311A (en) * | 2016-05-18 | 2016-07-27 | 三峡大学 | Guide rail system used for inspection robot for power transmission line with functions of charging inspection robot and enabling inspection robot to pass through tower |
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2016
- 2016-09-20 CN CN201610833240.9A patent/CN106451698A/en active Pending
Patent Citations (4)
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|---|---|---|---|---|
| CN201167024Y (en) * | 2008-03-12 | 2008-12-17 | 山东大学 | Self-generation device of a robot for polling a high tension power line |
| 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 |
| CN105529838A (en) * | 2016-01-30 | 2016-04-27 | 国家电网公司 | Automatic assembly and disassembly type mutual inductance power supply device of high-voltage overhead line |
| CN105811311A (en) * | 2016-05-18 | 2016-07-27 | 三峡大学 | Guide rail system used for inspection robot for power transmission line with functions of charging inspection robot and enabling inspection robot to pass through tower |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106253421A (en) * | 2016-09-14 | 2016-12-21 | 济南舜风科技有限公司 | Inspection robot sensing electricity getting system |
| CN108789355A (en) * | 2017-05-05 | 2018-11-13 | 中国科学院沈阳自动化研究所 | A kind of stranded repair robot mechanism being adapted to long range operation |
| CN108258781A (en) * | 2018-02-01 | 2018-07-06 | 华南理工大学 | A kind of the automatic sensing charging unit and method of winged gliding style inspection robot |
| CN109896012A (en) * | 2019-04-22 | 2019-06-18 | 华北电力大学（保定） | Double-deck more rotor power transmission line inspection devices |
| CN110588355A (en) * | 2019-09-05 | 2019-12-20 | 深圳供电局有限公司 | Rail robot and power supply device |
| CN111799892A (en) * | 2020-06-17 | 2020-10-20 | 哈尔滨工业大学 | Movable non-contact induction electricity taking control system and method of high-voltage inspection robot |
| CN111799892B (en) * | 2020-06-17 | 2024-04-09 | 哈尔滨工业大学 | Movable non-contact induction power taking control system and method of high-voltage line inspection robot |
| CN113675954A (en) * | 2021-07-12 | 2021-11-19 | 上海置信智能电气有限公司 | Induction electricity-taking and energy-supplying device based on transformer magnetic leakage |
| CN113628810A (en) * | 2021-10-12 | 2021-11-09 | 南通市东风特种电线有限公司 | Intelligent manufacturing device for cable cores |
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