CN110614926A - 巡检机器人无线充电引导轨座 - Google Patents

巡检机器人无线充电引导轨座 Download PDF

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Publication number
CN110614926A
CN110614926A CN201910921048.9A CN201910921048A CN110614926A CN 110614926 A CN110614926 A CN 110614926A CN 201910921048 A CN201910921048 A CN 201910921048A CN 110614926 A CN110614926 A CN 110614926A
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guide rail
wireless charging
inspection robot
charging coil
rail
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范广良
班静
孙林
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State Grid Corp of China SGCC
State Grid Liaoning Electric Power Co Ltd
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State Grid Corp of China SGCC
State Grid Liaoning Electric Power Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
    • 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
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • 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
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • 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
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

本发明一种巡检机器人无线充电引导轨座，包括导轨、立桩、行程上电开关、无线充电线圈及滑轮组，所述的导轨至少设有一组，每组由两条外侧导轨和一条内侧导轨构成，每条导轨由上下两层轨板构成夹层结构，每条导轨的夹层内安装有水平滑轮组，内侧导轨的上方安装有上电行程开关；导轨的一端设置立桩，立桩上安装有无线充电线圈，无线充电线圈的位置与巡检机器人上的无线充电线圈相对应。本发明设计合理，结构简单，安装固定可靠，降低巡检机器人维护成本，提高无线充电对接效率。

Description

巡检机器人无线充电引导轨座
技术领域
本发明涉及一种巡检机器人工作辅助装置，尤其涉及一种巡检机器人无线充电引导轨座。
背景技术
为解决电力部门人工巡检存在的安全风险和效率低下等问题，电力巡检机器人应运而生，电力巡检机器人可及时发现并处理故障，具备四大创新的技术集成，融合了地图构建、自主定位、视觉导航和激光导航等多项技术，真正实现了机器人自主行走。巡检机器人的主要应用场景如下：变电站、电力隧道、核退役与核辐射、冶金化工等高危环境。支持的巡视监测内容：变电站里各电气设备的温度监测、变电站设备外观巡检（明显放电、污秽、破损等）、各仪表读数采集和各开关状态巡查、变压器等大型设备声音监测与分析、变电站各区域微气象环境信息采集等。
现有的巡检机器人主要应用在有人值守的大型变电站内采用人工插线式充电，现在国家电网系统采用的是变电站无人值守管理模式，所以在巡检机器人充电管理存在水土不服的应用难题。
现有的巡检机器人主要在户外应用，所以巡检机器人有单独的充电室，充电室是为了防止巡检机器人长期暴露在户外受到自然因素影响导至精密的巡视设备发生故障，现有巡检机器人充电室内面积与巡检器机人配套空间比较紧凑，巡检机器人倒车进入充电室时很难准确近入停车位置。
另外，由于充电室空间狭小，巡检机器人壳体上安装的无线充电线圈同充电室内安装的无线充电线圈很难对准，对接效率低。
发明内容
本发明针对上述现有技术中存在的问题，提供了一种巡检机器人无线充电引导轨座，解决了现有技术中入库和无线充电线圈对接效率低的问题。
本发明解决其技术问题所采用的技术方案是：
一种巡检机器人无线充电引导轨座，包括导轨、立桩、行程上电开关、无线充电线圈及滑轮组，所述的导轨至少设有一组，每组由两条外侧导轨和一条内侧导轨构成，每条导轨由上下两层轨板构成夹层结构，每条导轨的夹层内安装有水平滑轮组，内侧导轨的上方安装有上电行程开关；导轨的一端设置立桩，立桩上安装有无线充电线圈，无线充电线圈的位置与巡检机器人上的无线充电线圈相对应。
所述的导轨中的两条外侧轨道的端头为向外张开的弧线结构，内侧导轨的端头为圆弧形，内侧轨道与外侧轨道的端口呈喇叭口形状。
所述的内侧导轨与外侧导轨之间的间隔与巡检机器人两侧车轮之间的间隔相匹配。
本发明的优点效果是，
引导轨座可以正确引导巡检机器人上的无线充电线圈中心对准立柱无线充电线圈的垂直角度和距离，同时采用行程开关触动方式实现自动上电充电功能。
本发明设计合理，结构简单，安装固定可靠，降低巡检机器人维护成本，提高无线充电对接效率。
附图说明
图1是本发明的结构示意图。
图中，1-导轨、2-上电行程开关、3-无线充电线圈、4-巡检机器人、5-车轮、6-滑轮组，7-立桩。
具体实施方式
以下参照附图，结合具体实施例，详细描述本发明。
实施例
如图1所示：一种巡检机器人无线充电引导轨座，包括导轨1、立桩7、行程上电开关2、无线充电线圈3及滑轮组6，所述的导轨至少设有一组，每组由两条外侧导轨和一条内侧导轨构成，每条导轨由上下两层轨板构成夹层结构，每条导轨的夹层内均匀间隔安装多个滑轮轴，滑轮套装在滑轮轴上构成水平滑轮组6，水平滑轮组用于顺利引导巡检机器人准确进入固定位置。内侧导轨的上方安装有上电行程开关，上电行程开关选用正泰行程开关YBLX-19/001；导轨的一端设置立桩7，立桩上安装有无线充电线圈3，无线充电线圈与上电行程开关电连接，当巡检机器移动进入确准位置后可触动行程开关，实现对巡检机器人的无线充电功能。且无线充电线圈的位置与巡检机器上的无线充电线圈相对应，这样可以满足实现无线充电线圈的垂直角度和距离标准。
所述的导轨中的两条外侧轨道的端头为向外张开的弧线结构，内侧导轨的端头为圆弧形，内侧轨道与外侧轨道的端口呈喇叭口形状。向外张开的弧线结构加大了巡检机器人倒车引入导轨角度，内侧导轨为圆弧形设计加大了巡检机器人倒车引入导轨角度。
所述的内侧导轨与外侧导轨之间的间隔与巡检机器人4两侧车轮5之间的间隔相匹配。
充电时，巡检机器人4通过导轨1上的滑轮组6倒车进入固定位置，移动过程中触动安装在导轨上的上电行程开关2，使电路接通，由立桩和巡检机器人上安装的无线充电线圈3配对进行无线充电。

Claims (3)

1.一种巡检机器人无线充电引导轨座，其特征在于包括导轨、立桩、行程上电开关、无线充电线圈及滑轮组，所述的导轨至少设有一组，每组由两条外侧导轨和一条内侧导轨构成，每条导轨由上下两层轨板构成夹层结构，每条导轨的夹层内安装有水平滑轮组，内侧导轨的上方安装有上电行程开关；导轨的一端设置立桩，立桩上安装有无线充电线圈，无线充电线圈的位置与巡检机器人上的无线充电线圈相对应。
2.根据权利要求1所述的一种巡检机器人无线充电引导轨座，其特征在于所述的导轨中的两条外侧轨道的端头为向外张开的弧线结构，内侧导轨的端头为圆弧形，内侧轨道与外侧轨道的端口呈喇叭口形状。
3.根据权利要求1所述的一种巡检机器人无线充电引导轨座，其特征在于所述的内侧导轨与外侧导轨之间的间隔与巡检机器人两侧车轮之间的间隔相匹配。
CN201910921048.9A 2019-09-27 2019-09-27 巡检机器人无线充电引导轨座 Pending CN110614926A (zh)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112617695A (zh) * 2020-12-21 2021-04-09 正从科技(上海)有限公司 适用于人工智能清洗机器人的维护方法及系统

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JP2001178000A (ja) * 1999-12-16 2001-06-29 Yasumasa Akazawa 車両用充電装置
CN102931711A (zh) * 2012-11-28 2013-02-13 山东电力集团公司电力科学研究院 机器人自动充电系统及其充电方法
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CN110011392A (zh) * 2019-03-31 2019-07-12 国家电网有限公司 一种巡检机器人无线充电系统及方法
CN210912051U (zh) * 2019-09-27 2020-07-03 国网辽宁省电力有限公司盘锦供电公司 巡检机器人无线充电引导轨座

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001178000A (ja) * 1999-12-16 2001-06-29 Yasumasa Akazawa 車両用充電装置
CN102931711A (zh) * 2012-11-28 2013-02-13 山东电力集团公司电力科学研究院 机器人自动充电系统及其充电方法
WO2018040546A1 (zh) * 2016-08-31 2018-03-08 中铁第四勘察设计院集团有限公司 一种中低速磁悬浮救援机器人
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CN210912051U (zh) * 2019-09-27 2020-07-03 国网辽宁省电力有限公司盘锦供电公司 巡检机器人无线充电引导轨座

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112617695A (zh) * 2020-12-21 2021-04-09 正从科技(上海)有限公司 适用于人工智能清洗机器人的维护方法及系统

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