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 PDF

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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
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CN
China
Prior art keywords
inspection robot
electricity getting
iron core
annular core
getting device
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Pending
Application number
CN201610833240.9A
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Chinese (zh)
Inventor
杜宗展
宋士平
马伶
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Jinan Shunfeng Technology Co Ltd
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Jinan Shunfeng Technology Co Ltd
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Publication of CN106451698A publication Critical patent/CN106451698A/en
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/02Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
    • H02J7/025
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K7/00Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears

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  • 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

Inspection robot sensing electricity getting device and the electricity getting system with this device
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.
CN201610833240.9A 2016-08-05 2016-09-20 Line patrol robot sensing power-taking apparatus and power-taking system equipped with same Pending CN106451698A (en)

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CN201610634328 2016-08-05
CN2016106343288 2016-08-05

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Cited By (8)

* Cited by examiner, † Cited by third party
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

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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)

* Cited by examiner, † Cited by third party
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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