CN205610091U - A tower guide rail system of charging for transmission line patrols line robot - Google Patents
A tower guide rail system of charging for transmission line patrols line robot Download PDFInfo
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- CN205610091U CN205610091U CN201620455051.8U CN201620455051U CN205610091U CN 205610091 U CN205610091 U CN 205610091U CN 201620455051 U CN201620455051 U CN 201620455051U CN 205610091 U CN205610091 U CN 205610091U
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- inspection robot
- robot
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- battery
- wireless charger
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Abstract
The utility model provides a tower guide rail system of charging for transmission line patrols line robot, installs on and supplies to patrol the wireless charger that the line robot charges including installing the guide rail that patrols the walking of line robot in the confession of the overhead earth wire junction of transmission line shaft tower, in patrolling the line robot, the robot passes through the robot cantilever and is connected with the robot driving ware on the guide rail, in the wireless charger, storage battery is connected with the contravariant module, and the direct current voltage conversion who exports storage battery is alternating voltage, and the contravariant module is connected with wireless charger primary, changes the alternating current into electromagnetic wave, and to patrolling the secondary coil of line robot conveying electric energy, wireless charger battery monitoring module is connected with storage battery. The utility model provides a tower guide rail system of charging for transmission line patrols line robot has facilitated greatly and has patrolled the line robot and cross the shaft tower, has realized again that it charges to patrol the wireless of line robot, the safety and stability, maintains simple and convenient, low in cost.
Description
Technical field
This utility model relates to transmission power line robot wireless charging technical field, a kind of charging for power transmission line inspection robot tower guide track system.
Background technology
Electric power transmission line inspection robot operates on fixed track usage plan ground wire, by airborne equipment patrolling power transmission lines.Inspection robot is equipped with accumulator, uses motor to drive and runs on the aerial earth wire of transmission line of electricity, and inspection robot need to cross over electric force pole tower and connecting position of wires could realize making an inspection tour continuously and detection of circuit；Owing to the technical conditions complexity such as the concrete structure that electric force pole tower and wire connect are various, it is a technical barrier that inspection robot crosses over the obstacle at electric force pole tower, and complicated obstacle detouring technical scheme can cause inspection robot operation complexity, safeguard that inconvenience, reliability are low；Meanwhile, because of be equipped with vast capacity accumulator will cause itself and huger and heavy, the continuous service of inspection robot requires supplementation with electric energy, could realize distance continuation of the journey and patrol and detection, improve make an inspection tour work efficiency.
Summary of the invention
Technical problem to be solved in the utility model be to provide a kind of charging for power transmission line inspection robot tower guide track system, both solve inspection robot and cross a shaft tower obstacle difficult problem, solve again that inspection robot endurance distance is short, cannot realize the technical problem that long distance transmission line is persistently maked an inspection tour, significantly facilitate inspection robot and cross shaft tower, achieve again the wireless charging of inspection robot, safety and stability, easy maintenance, cheap.
For solve above-mentioned technical problem, this utility model be the technical scheme is that a kind of charging for power transmission line inspection robot tower guide track system,
Including being arranged on the aerial earth wire junction of electric power line pole tower, and install along electric power line pole tower outer rim and the fixing guide rail for travelling robot walking, guide rail is provided with the wireless charger for inspection robot charging；
In inspection robot, robot body is connected with the robot driver on guide rail by robot cantilever, inspection robot secondary coil is connected with rectification module, alternating voltage is changed into DC voltage, rectification module is connected with airborne accumulator battery, and for airborne battery charging, inspection robot battery detection module is connected with airborne accumulator battery, for monitoring battery electric quantity, inspection robot battery detection module controls to be connected with communication module with inspection robot；
nullIn wireless charger，Accumulator battery is connected with inversion module，The DC voltage that accumulator battery exports is converted to alternating voltage，Inversion module is connected with wireless charger primary coil，Alternating current is changed into electromagnetic wave，Electric energy is transmitted to inspection robot secondary coil，Wireless charger battery detection module is connected with accumulator battery，To monitor electricity，Switching Power Supply is connected with accumulator battery and solar panel respectively，Solar panel output voltage after Switching Power Supply is changed into battery charging，Wireless charger controls to comprise wireless charger CPU module with communication module、Wireless charger communication module and three parts of PWM driving chip，Wherein，Wireless charger CPU module is connected with PWM driving chip，PWM driving chip is connected with inversion module，Wireless charger communication module sends and controls signal to PWM driving chip，PWM driving chip connects inverter bridge power electronic devices grid G 1 in inversion module respectively、Inverter bridge power electronic devices grid G 2、Inverter bridge power electronic devices grid G 3 and inverter bridge power electronic devices grid G 4，Realize the control to inversion module reversals；Wireless charger CPU module is connected with wireless charger communication module, is connected with the communication of inspection robot setting up wireless charger, it is achieved wireless charger communication function；Wireless charger controls to be connected with battery detection module with the wireless charger CPU module in communication module, obtains accumulator battery electric quantity data, it is achieved electric quantity monitoring function.
In rectification module within inspection robot, diode D1, diode D2, diode D3, diode D4 constitute bridge circuit, after connecting with inductance L1 more in parallel with resistance R2, electric capacity C2, Zener diode D5 respectively；
The CPU module that inspection robot controls with communication module controls to send pwm control signal with the PWM driving chip in communication module to the inverter bridge power electronic devices grid G 1 of inversion module, inverter bridge power electronic devices grid G 2, inverter bridge power electronic devices grid G 3 and inverter bridge power electronic devices grid G 4 by wireless charger, inversion module starts inversion, electric energy accumulator battery stored is converted to high-frequency voltage signal by inversion module, exports high frequency electric.
In the battery detection module of inspection robot, intelligence high-precision lithium battery monitoring chip, field effect transistor F1, F2 constitutes on-board batteries charge and discharge protecting loop with intelligence high-precision lithium battery monitoring chip, intelligence high-precision lithium battery is monitored the various parameters of chip detection battery and stores, DQ is output port, the dump energy of battery is transferred to inspection robot by DQ terminal and controls the CPU module with communication module, when dump energy is less than setting value, inspection robot controls and the CPU module of communication module sends a signal to inspection robot control and the communication module of communication module.
In the Switching Power Supply of wireless charger, solar panel is connected to the input of the Switching Power Supply being made up of power supply chip, the outfan of Switching Power Supply is connected to accumulator battery, each pin of power supply chip is connected to resistance R3, resistance R4, resistance R5-1, resistance R5-2 and resistance R6, electric capacity C3, electric capacity C4, electric capacity C5, electric capacity C6 and electric capacity C7, inductance L2 and diode D6.
Guide rail is located at above electric power line pole tower and transmission line of electricity by many bracing frames, and its gradient and radian meet the requirement of inspection robot.
Described inspection robot is detected set of cells dump energy by battery detection module, when electricity abundance, robot is in normal operating conditions, when battery detection module monitors to airborne accumulator battery dump energy deficiency, inspection robot controls to send charge request signal with communication module, when inspection robot runs to this utility model installed on next shaft tower, inspection robot controls to control inspection robot with communication module and moves to the position of wireless charger on guide rail, achieve a butt joint with the wireless charger installed on shaft tower, and send charge request, after wireless charger receives charge request signal, start charge mode, to the airborne battery charging of inspection robot, after charging complete, inspection robot and wireless charger start normal mode of operation, inspection robot continues to run with, complete line walking operation.
In described wireless charger, the accumulator battery that its electric energy is configured from wireless charger, this accumulator battery is in the normal mode of operation, set of cells dump energy is detected by its battery detection module, when electricity declines, by solar panel by switch power module, it is charged for it and keeps enough electricity.
The beneficial effects of the utility model are as follows:
When inspection robot runs to electric power line pole tower, the obstacle of connection and shaft tower need to be crossed, arrive next section of circuit, proceed line walking.When shaft tower is provided with this utility model, inspection robot adjusts without complexity and shaft tower obstacle can be quickly crossed in operation.When inspection robot arrival guide rail charge position needs charging, can tune to charged state, start charge mode, inspection robot is fixed at guide rail voluntarily, docks with the wireless charger on guide rail, completes as the airborne battery charging of robot.After charging, adjusting inspection robot and wireless charger enters normal condition, inspection robot proceeds next section of circuit line walking work.Wireless charger of the present utility model uses external power supply, uses this renewable charge power supply scheme of solaode, solves the power free technical problem in field.This utility model had both solved inspection robot and had crossed a shaft tower obstacle difficult problem, solve again that inspection robot endurance distance is short, cannot realize the technical problem that long distance transmission line is persistently maked an inspection tour, significantly facilitate inspection robot and cross shaft tower, achieve again the wireless charging of inspection robot, safety and stability, easy maintenance, cheap, cross shaft tower for power transmission line inspection robot and charging provides good solution.
Accompanying drawing explanation
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings:
Fig. 1 is structural representation of the present utility model, now inspection robot crossing pole guide rail line walking, battery detection module detects that inspection robot electricity is not enough, and inspection robot controls out of service at charge position with communication module control inspection robot, and docks with wireless charger；
Fig. 2 is top view of the present utility model；
Fig. 3 is the circuit theory diagrams of this utility model inspection robot and wireless charger；
Fig. 4 is that the rectification module circuit of this utility model inspection robot connects and the inversion module circuit connection diagram of wireless charger；
Fig. 5 is the circuit connection diagram of the battery detection module of the battery detection module of this utility model inspection robot and wireless charger.
Fig. 6 is the switching power circuit connection diagram of this utility model wireless charger.
Detailed description of the invention
As depicted in figs. 1 and 2, a kind of charging for power transmission line inspection robot tower guide track system,
Including the aerial earth wire junction being arranged on electric power line pole tower 13; and install along electric power line pole tower 13 outer rim and fixing (to guarantee that robot passes through transmission line of electricity) junction and the guide rail 14 for travelling robot walking of shaft tower obstacle, guide rail 14 is provided with the wireless charger 15 for inspection robot charging；
In inspection robot, robot body 16 is connected with the robot driver 18 on guide rail 14 by robot cantilever 17,
Guide rail 14 supports 19 by many and is set up in above electric power line pole tower 13 and transmission line of electricity 20, and its gradient and radian meet the requirement of inspection robot.
As shown in Figure 3, inspection robot secondary coil 1 is connected with rectification module 2, alternating voltage is changed into DC voltage, rectification module 2 is connected with airborne accumulator battery 3, by converted unidirectional current for charge for airborne accumulator battery 3, inspection robot battery detection module 4 is connected with airborne accumulator battery 3, is used for monitoring battery electric quantity, inspection robot battery detection module 4 controls to be connected with communication module 5 with inspection robot, completes communication and controls function；
nullThe unidirectional current that when wireless charger 15 charges for inspection robot, accumulator battery 8 is connected accumulator battery 8 exports with inversion module 7 is converted to alternating current，Wherein，Accumulator battery 8 is connected with inversion module 7，The DC voltage that accumulator battery exports is converted to alternating voltage，Inversion module 7 is connected with wireless charger primary coil 6，Alternating current is changed into electromagnetic wave，Electric energy is transmitted to inspection robot secondary coil 1，Wireless charger battery detection module 10 is connected with accumulator battery 8，To monitor electricity，Switching Power Supply 11 is connected with accumulator battery 8 and solar panel 12 respectively，Solar panel 12 output voltage charges into accumulator battery 8 after Switching Power Supply 11 is changed，Wireless charger controls to comprise wireless charger CPU module 9-1 with communication module 9、Wireless charger communication module 9-2 and tri-parts of PWM driving chip 9-3，Wherein，Wireless charger CPU module 9-1 is connected with PWM driving chip 9-3，PWM driving chip 9-3 is connected with inversion module 7，Wireless charger communication module 9-2 sends and controls signal to PWM driving chip 9-3，PWM driving chip 9-3 connects inverter bridge power electronic devices grid G 1 in inversion module 7 respectively、Inverter bridge power electronic devices grid G 2、Inverter bridge power electronic devices grid G 3 and inverter bridge power electronic devices grid G 4，Realize the control to inversion module 7 reversals；Wireless charger CPU module 9-1 is connected with wireless charger communication module 9-2, is connected with the communication of inspection robot setting up wireless charger, it is achieved wireless charger communication function；Wireless charger controls to be connected with battery detection module 10 with wireless charger CPU module 9-1 in communication module 9, obtains accumulator battery electric quantity data, it is achieved electric quantity monitoring function.
As shown in Figure 4, in the rectification module 2 within inspection robot, diode D1, diode D2, diode D3, diode D4 constitute bridge circuit, after connecting with inductance L1 more in parallel with resistance R2, electric capacity C2, Zener diode D5 respectively；
CPU module 5-1 that inspection robot controls with communication module 5 controls to send pwm control signal with the PWM driving chip 9-3 in communication module 9 to the inverter bridge power electronic devices grid G 1 of inversion module 7, inverter bridge power electronic devices grid G 2, inverter bridge power electronic devices grid G 3 and inverter bridge power electronic devices grid G 4 by wireless charger, inversion module 7 starts inversion, electric energy accumulator battery 8 stored is converted to high-frequency voltage signal by inversion module 7, exports high frequency electric.
As shown in Figure 5, in the battery detection module 4 of inspection robot, intelligence high-precision lithium battery monitoring chip 4-1, field effect transistor F1, F2 constitutes on-board batteries charge and discharge protecting loop with intelligence high-precision lithium battery monitoring chip 4-1, intelligence high-precision lithium battery monitoring chip 4-1 detects the various parameters of battery and stores, DQ is output port, the dump energy of battery is transferred to inspection robot by DQ terminal and controls CPU module 5-1 with communication module 5, when dump energy is less than setting value, inspection robot controls and CPU module 5-1 of communication module 5 sends a signal to inspection robot control and the communication module 5-2 of communication module 5.
As shown in Figure 6, in the Switching Power Supply 11 of wireless charger, solar panel 12 is connected to the input of the Switching Power Supply 11 being made up of power supply chip 11-1, the outfan of Switching Power Supply 11 is connected to accumulator battery 8, each pin of power supply chip 11-1 is connected to resistance R3, resistance R4, resistance R5-1, resistance R5-2 and resistance R6, electric capacity C3, electric capacity C4, electric capacity C5, electric capacity C6 and electric capacity C7, inductance L2 and diode D6.
During the work of inspection robot normal line walking, next section of transmission line of electricity can be arrived from one section of transmission line of electricity by crossing tower guide rail 14, battery detection module 4 within inspection robot monitors battery electric quantity, when monitoring airborne accumulator battery 3 electricity less than setting value, inspection robot is when arriving next wireless charger position, dead line patrol and detection is worked, at shaft tower 13, inspection robot controls to get in touch with wireless charger with communication module 5 and controls to set up with communication module 9 to contact, realize inspection robot and dock with wireless charger, and send charge request to wireless charger, inspection robot and wireless charger all enter charge mode, start charging；After completing charging, inspection robot and wireless charger start normal mode of operation, inspection robot startup optimization, carry on tour and detection work.Wireless charger declines because of accumulator battery 8 electricity, will be charged standby by solar panel 12 for accumulator battery 8 by controlling Switching Power Supply 11.
Intelligence high-precision lithium battery monitoring chip 4-1 uses the chip DS2762 of MAXIM company, A/D converter and digital temperature sensor is had inside it, automatically voltage, measured temperature can be stored in the corresponding depositor of DS2762, therefore, after CPU has only to wait its sampling, the content of depositor is read.
Power supply chip 11-1 uses TPS55340 power supply chip.
Airborne accumulator battery 3 model: 18650 type lithium batteries, specification: 24V/20Ah；
Solar panel plate 11 model: TPM-40M, 12V/40W；
Accumulator battery 8 model: 18650 type lithium batteries, specification: 24V/30Ah；
Switching Power Supply 12 specification: input 0～24V, exports 24V/2A；
The specification of CPU module and model: ATmega128
The specification of communication module and model: MC55
The specification of PWM driving chip and model: HCPL-316J
Inspection robot controls CPU module 5-1 with communication module 5 and wireless charger controls the CPU module with communication module 9 and uses ATmega128 type single-chip microcomputer, inspection robot controls the communication module with communication module 5 and wireless charger controls the communication module with communication module 9 and uses MC55 type GSM/GPRS mobile communication chip to constitute, and connect and configuration circuit by chip requirement, for a kind of common circuit, superior performance, functionally fully meets requirement.
In addition to using solar panel 12, this utility model also can use the renewable charge power supply schemes such as small-sized wind power generator to solve the power free technical problem in field.
Claims (4)
1. one kind for power transmission line inspection robot charging tower guide track system, it is characterised in that:
Including the aerial earth wire junction being arranged on electric power line pole tower (13), and install and the fixing guide rail (14) for travelling robot walking along electric power line pole tower (13) outer rim, guide rail (14) is provided with the wireless charger (15) for inspection robot charging；
In inspection robot, robot body (16) is connected with the robot driver (18) on guide rail (14) by robot cantilever (17), inspection robot secondary coil (1) is connected with rectification module (2), alternating voltage is changed into DC voltage, rectification module (2) is connected with airborne accumulator battery (3), charge for airborne accumulator battery (3), inspection robot battery detection module (4) is connected with airborne accumulator battery (3), for monitoring battery electric quantity, inspection robot battery detection module (4) controls to be connected with communication module (5) with inspection robot；
In wireless charger (15), accumulator battery (8) is connected with inversion module (7), the DC voltage that accumulator battery exports is converted to alternating voltage, inversion module (7) is connected with wireless charger primary coil (6), alternating current is changed into electromagnetic wave, electric energy is transmitted to inspection robot secondary coil (1), wireless charger battery detection module (10) is connected with accumulator battery (8), to monitor electricity, Switching Power Supply (11) is connected with accumulator battery (8) and solar panel (12) respectively, solar panel (12) output voltage after Switching Power Supply is changed into battery charging.
Charging for power transmission line inspection robot the most according to claim 1 tower guide track system, it is characterised in that:
In rectification module (2) within inspection robot, diode D1, diode D2, diode D3, diode D4 constitute bridge circuit, after connecting with inductance L1 more in parallel with resistance R2, electric capacity C2, Zener diode D5 respectively；
The CPU module (5-1) that inspection robot controls with communication module (5) controls to send pwm control signal with the PWM driving chip (9-3) in communication module (9) to the inverter bridge power electronic devices grid G 1 of inversion module (7), inverter bridge power electronic devices grid G 2, inverter bridge power electronic devices grid G 3 and inverter bridge power electronic devices grid G 4 by wireless charger, inversion module (7) starts inversion, electric energy accumulator battery (8) stored is converted to high-frequency voltage signal by inversion module (7), exports high frequency electric.
nullCharging for power transmission line inspection robot the most according to claim 1 tower guide track system，It is characterized in that: in the battery detection module (4) of inspection robot，Intelligence high-precision lithium battery monitoring chip (4-1)、Field effect transistor F1、F2 constitutes on-board batteries charge and discharge protecting loop with intelligence high-precision lithium battery monitoring chip (4-1)，Intelligence high-precision lithium battery monitoring chip (4-1) detects the various parameters of battery and stores，DQ is output port，The dump energy of battery is transferred to inspection robot by DQ terminal and controls the CPU module (5-1) with communication module (5)，When dump energy is less than setting value, inspection robot controls and the CPU module (5-1) of communication module (5) sends a signal to inspection robot control and the communication module (5-2) of communication module (5).
Charging for power transmission line inspection robot the most according to claim 1 tower guide track system, it is characterized in that: in the Switching Power Supply (11) of wireless charger, solar panel (12) is connected to the input of the Switching Power Supply (11) being made up of power supply chip (11-1), the outfan of Switching Power Supply 11 is connected to accumulator battery (8), each pin of power supply chip (11-1) is connected to resistance R3, resistance R4, resistance R5-1, resistance R5-2 and resistance R6, electric capacity C3, electric capacity C4, electric capacity C5, electric capacity C6 and electric capacity C7, inductance L2 and diode D6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620455051.8U CN205610091U (en) | 2016-05-18 | 2016-05-18 | A tower guide rail system of charging for transmission line patrols line robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620455051.8U CN205610091U (en) | 2016-05-18 | 2016-05-18 | A tower guide rail system of charging for transmission line patrols line robot |
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| Publication Number | Publication Date |
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| CN205610091U true CN205610091U (en) | 2016-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620455051.8U Expired - Fee Related CN205610091U (en) | 2016-05-18 | 2016-05-18 | A tower guide rail system of charging for transmission line patrols line robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106356790A (en) * | 2016-10-11 | 2017-01-25 | 武汉大学 | Wireless electric energy transmission system installing device |
| CN108711775A (en) * | 2018-05-08 | 2018-10-26 | 中科开创（广州）智能科技发展有限公司 | A kind of charging unit and charging method for overhead transmission line circuit scanning test robot |
-
2016
- 2016-05-18 CN CN201620455051.8U patent/CN205610091U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106356790A (en) * | 2016-10-11 | 2017-01-25 | 武汉大学 | Wireless electric energy transmission system installing device |
| CN108711775A (en) * | 2018-05-08 | 2018-10-26 | 中科开创（广州）智能科技发展有限公司 | A kind of charging unit and charging method for overhead transmission line circuit scanning test robot |
| CN108711775B (en) * | 2018-05-08 | 2019-05-17 | 中科开创（广州）智能科技发展有限公司 | A kind of charging unit and charging method for overhead transmission line circuit scanning test robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160928 Termination date: 20190518 |