WO2023005625A1 - Wireless charging coupling mechanism, and wireless power transmission system and method - Google Patents

Wireless charging coupling mechanism, and wireless power transmission system and method Download PDF

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Publication number
WO2023005625A1
WO2023005625A1 PCT/CN2022/103940 CN2022103940W WO2023005625A1 WO 2023005625 A1 WO2023005625 A1 WO 2023005625A1 CN 2022103940 W CN2022103940 W CN 2022103940W WO 2023005625 A1 WO2023005625 A1 WO 2023005625A1
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WIPO (PCT)
Prior art keywords
coil
coil group
energy
switch
energy receiving
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PCT/CN2022/103940
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French (fr)
Chinese (zh)
Inventor
吴晓锐
肖静
韩帅
尹立群
龚文兰
吴宁
陈绍南
陈卫东
卢健斌
阮诗雅
郭敏
郭小璇
孙乐平
赵立夏
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广西电网有限责任公司电力科学研究院
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Publication of WO2023005625A1 publication Critical patent/WO2023005625A1/en

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    • 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
    • H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
    • 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
    • H02J50/005—Mechanical details of housing or structure aiming to accommodate the power transfer means, e.g. mechanical integration of coils, antennas or transducers into emitting or receiving devices
    • 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
    • H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
    • H02J50/402—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices the two or more transmitting or the two or more receiving devices being integrated in the same unit, e.g. power mats with several coils or antennas with several sub-antennas
    • 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
    • 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

Definitions

  • the invention belongs to the technical field of wireless power transmission, and in particular relates to a wireless charging coupling mechanism, a wireless power transmission system and a method.
  • Robot intelligent inspection has the advantages of good autonomy and high inspection quality, which greatly improves the intelligence level of inspection. It has become a development trend that the robot inspection method replaces the traditional manual inspection method. At present, most of the power supply methods of inspection robots are based on wired charging or manual battery replacement, which have problems such as poor flexibility, low reliability, and low level of intelligence. Wireless charging technology provides an idea to solve the problems existing in the above-mentioned contact power supply or manual battery replacement method. Because it gets rid of the shackles of physical media, it has the advantages of flexibility, reliability, and safety. It is more and more widely used in the field of robot intelligent inspection. .
  • the receiving end of the robot wireless charging system mostly adopts a solenoid coil placed horizontally at the bottom of the robot body, and cooperates with a single double D-shaped transmitting coil to generate a horizontally transmitting magnetic field. See Figure 1.
  • the solenoid coil The coils are coupled to each other with a single dual D-shaped transmit coil.
  • a single double D-type transmitting coil only generates a horizontal magnetic field, and the solenoid-type receiving coil needs to be parallel to the transmitting magnetic field to couple the magnetic field well to receive energy, which requires high docking accuracy at the receiving end.
  • Wireless charging Low degrees of freedom.
  • the present invention provides a wireless charging coupling mechanism, wireless power transmission system and method, and the specific technical solutions are as follows:
  • a wireless charging coupling mechanism including an energy transmitting device and an energy receiving device
  • the energy transmitting device includes an energy transmitting coil; the energy receiving device includes an energy receiving coil;
  • the energy transmitting coil includes a first coil group and a second coil group; the first coil group and the second coil group respectively include two coils that are axisymmetric figures; the symmetry axis of the first coil group is Y axis, the symmetry axis of the second coil group is the X axis; the shape of the first coil group is the same as that of the second coil group;
  • the first coil group generates a magnetic field in the X horizontal direction
  • the second coil group generates a magnetic field in the Y horizontal direction
  • the energy receiving coil When the energy receiving coil is placed along the X-axis direction, the energy receiving coil is coupled to the first coil group; when the energy receiving coil is placed along the Y-axis direction, the energy receiving coil is coupled to the second coil group coupling.
  • the first coil group and the second coil group respectively include two isosceles trapezoidal coils which are axisymmetric to each other; the four isosceles trapezoidal coils are in the same plane, and the upper bases of the four isosceles trapezoidal coils are close to Coordinate origin.
  • the parameters of the four isosceles trapezoidal coils are consistent.
  • the energy transmitting coil includes a transmitting end compensation coil
  • the upper bases of the four isosceles trapezoidal coils are close to the origin and connected to each other at the ends to form a square area without coils;
  • the transmitting end compensation coil is arranged in the square area.
  • the energy emitting device further includes a magnetic core and a magnetic shielding device, both of which are planar square structures, and the magnetic core is arranged between the magnetic shielding device and the energy emitting device. between coils.
  • a wireless power transfer system comprising
  • the primary-side electric energy transmission circuit includes a sequentially connected DC power supply, a full-bridge inverter circuit, a primary-side resonant compensation network, and the energy transmission coil of the wireless charging coupling mechanism;
  • the secondary electric energy receiving circuit includes the energy receiving coil of the wireless charging coupling mechanism according to any one of claims 1 to 5, a secondary resonant compensation network, a rectifying and filtering circuit and a load connected in sequence;
  • the energy receiving coil is a solenoid coil
  • the primary power transmission circuit also includes a first switch and a second switch, the first switch and the second switch are respectively connected to the first coil group and the second coil group, and the first switch and the second switch are respectively used to control the opening and closing of the first coil group and the opening and closing of the second coil group;
  • the first switch When the energy receiving coil is placed along the X-axis direction, the first switch is turned on, the second switch is turned off, and the energy receiving coil is coupled with the first coil group; the energy receiving coil is placed along the Y-axis direction When placed, the first switch is turned off, the second switch is turned on, and the energy receiving coil and the second coil group are mutually coupled.
  • the driving signals of the first switch and the second switch are in opposite phases.
  • the first switch and the second switch include MOSFET tubes.
  • a wireless power transmission method applied to the wireless power transmission system comprising the following steps:
  • the first switch is turned off, the second switch is turned on, and a second output voltage U o2 is obtained;
  • the secondary power receiving end is notified to adjust the placement angle.
  • the present invention generates horizontal magnetic fields in two dimensions along the X-axis direction and the Y-axis direction through two sets of coils, no matter whether the energy receiving coils are placed along the X-axis direction or the Y-axis direction, the energy transmitting coils can realize Wireless power transmission expands one degree of freedom compared with the traditional single double D-shaped coil, and realizes multi-degree-of-freedom wireless charging for the energy receiving end.
  • Fig. 1 is a schematic diagram of mutual coupling between a solenoid coil and a single double D-shaped transmitting coil provided by the prior art
  • Fig. 2 is a schematic diagram of a pair of double D-shaped coils coupled with a pair of double D-shaped coils along the X horizontal direction when a solenoid coil provided in Embodiments 1 and 2 is placed along the X horizontal direction;
  • Fig. 3 is a schematic diagram of mutual coupling with a pair of double D-shaped coils along the Y horizontal direction when a solenoid coil provided in Embodiments 1 and 2 is placed along the Y horizontal direction;
  • FIG. 4 is a schematic diagram of an energy emission device provided in Embodiments 1 and 2;
  • FIG. 5 is a schematic diagram of a wireless power transmission system provided in Embodiment 2.
  • the solenoid coil 11 the first coil group 12 , the second coil group 13 , the transmitter compensation coil 14 , and the magnetic core 15 .
  • this embodiment proposes a wireless charging coupling mechanism that can be applied For wireless charging scenarios such as robots, cars, drones, etc., see Figures 2 to 4, a wireless charging coupling mechanism, including an energy transmitting device and an energy receiving device;
  • the energy transmitting device includes an energy transmitting coil; the energy receiving device includes an energy receiving coil;
  • the energy transmitting coil comprises a first coil group 12 and a second coil group 13; the first coil group 12 and the second coil group 13 respectively comprise two coils which are mutually axisymmetric figures; the symmetry axis of the first coil group 12 is the Y axis , the axis of symmetry of the second coil group 13 is the X axis; the shape of the first coil group 12 and the second coil group 13 is the same;
  • the first coil group 12 generates a magnetic field in the X horizontal direction
  • the second coil group 13 generates a magnetic field in the Y horizontal direction
  • the energy receiving coil When the energy receiving coil is placed along the X-axis direction, the energy receiving coil is coupled with the first coil group 12; when the energy receiving coil is placed along the Y-axis direction, the energy receiving coil is coupled with the second coil group 13.
  • the energy transmitting coil formed by the first coil group 12 and the second coil group 13 can generate a horizontal magnetic field in two dimensions of the X horizontal direction and the Y horizontal direction, no matter whether the energy receiving coil is placed along the X axis or the Y axis direction, the energy transmission All the coils can realize wireless energy transmission, which expands one degree of freedom compared with the traditional single double D-shaped coil, and realizes multi-degree-of-freedom wireless charging for the energy receiving end.
  • a solenoid coil 11 is horizontally arranged on the bottom of the robot body, and wireless charging can be realized no matter whether the robot is placed along the X-axis or along the Y-axis.
  • the first coil group 12 and the second coil group 13 respectively include two isosceles trapezoidal coils which are axisymmetric to each other; the four isosceles trapezoidal coils are in the same plane, and the upper The bottom edge is close to the coordinate origin.
  • the parameters of the four isosceles trapezoidal coils are consistent, and the parameters include the number of winding turns, the diameter of the winding wire, and the like.
  • the energy transmitting coil comprises a transmitting end compensating coil 14; the upper bases of the four isosceles trapezoidal coils are close to the origin, and are connected end to end to each other to form a closed square area without winding coils; the transmitting end compensating coil 14 Set in a square area.
  • the transmitter compensation coil 14 is a Q-shaped coil, and the transmitter compensation coil 14 is arranged at the center of the energy transmitter coil, which reduces the volume of the energy transmitter.
  • the compensation coil 14 at the transmitting end and the energy transmitting coil are decoupled from each other, so there is no mutual crosstalk and electromagnetic interference, which can ensure that the compensation network has a constant voltage output function.
  • the energy emitting device further includes a magnetic core 15 and a magnetic shielding device, both of which are planar square structures, and the magnetic core 15 is arranged between the magnetic shielding device and the energy emitting coil.
  • the compensation coil 14 at the transmitting end shares the magnetic core 15 and the magnetic shielding device with the energy transmitting coil, which reduces the volume and weight of the energy transmitting device and saves costs.
  • Magnetic shielding devices include aluminum or copper plates.
  • this embodiment proposes a wireless power transmission system, including the original Side power transmitting circuit, secondary side power receiving circuit;
  • the primary-side power transmitting circuit includes a sequentially connected DC power supply (E in Figure 5), a full-bridge inverter circuit (switching tubes Q 1 , Q 2 , Q 3 , Q 4 in Figure 5 ), and a primary-side resonant compensation network ( The transmitter compensation coil L t in FIG.
  • the first compensation capacitor C t the second compensation capacitor C p
  • the energy transmitter coil of the wireless charging coupling mechanism according to any one of the embodiments (L p1 and L p2 ); in Figure 5, it also includes equivalent internal resistances R P1 , R P2 , Rs; the drains (D poles) of the switch tubes Q 1 and Q 2 are connected to the positive pole of the DC power supply, and the sources of Q 1 and Q 2 ( S poles) are respectively connected to the drains (D poles) of Q 3 and Q 4 , and respectively connected to both ends of the primary side resonant compensation network, and the sources (S poles) of Q 3 and Q 4 are connected to the negative pole of the DC power supply.
  • the gates (G poles) of the four switching tubes can be respectively connected to a 100 kHz square wave driving signal for constant voltage output.
  • M 1 is the mutual inductance between L p1 and L s
  • M 2 is the mutual inductance between L p2 and L s .
  • the secondary power receiving circuit includes the energy receiving coil (L s in Figure 5 ) of the wireless charging coupling mechanism connected in sequence, the secondary resonance compensation network (C s in Figure 5 ), and the rectification and filtering circuit [Four diodes and a capacitor in Figure 5 (the capacitor is in parallel across the load RL )] and the load ( RL in Figure 5).
  • the energy transmitting coil comprises a first coil group 12 and a second coil group 13; the first coil group 12 and the second coil group 13 respectively comprise two mutually axisymmetric coils; the symmetry axis of the first coil group 12 is the Y axis , the axis of symmetry of the second coil group 13 is the X axis; the shape of the first coil group 12 and the second coil group 13 is the same;
  • the first coil group 12 generates a magnetic field in the X horizontal direction
  • the second coil group 13 generates a magnetic field in the Y horizontal direction
  • the energy receiving coil When the energy receiving coil is placed along the X-axis direction, the energy receiving coil is coupled with the first coil group 12; when the energy receiving coil is placed along the Y-axis direction, the energy receiving coil is coupled with the second coil group 13.
  • the energy receiving coil is a solenoid coil 11;
  • the primary side power transmission circuit also includes a first switch (Q 5 , Q 6 in FIG. 5 ) and a second switch (Q 7 , Q 8 in FIG. 5 ), the first switch and the second switch are respectively connected to the first coil group 12.
  • the second coil group 13 is connected, and the first switch and the second switch are respectively used to control the opening and closing of the first coil group 12 and the opening and closing of the second coil group 13;
  • the first switch When the energy receiving coil is placed along the X-axis direction, the first switch is turned on, the second switch is turned off, and the energy receiving coil is coupled with the first coil group 12; when the energy receiving coil is placed along the Y-axis direction, the first switch is turned off, and the second switch When turned on, the energy receiving coil and the second coil group 13 are mutually coupled.
  • the driving signals of the first switch and the second switch are in reverse phase, that is, the driving signals of Q 5 and Q 6 are in reverse phase with the driving signals of Q 7 and Q 8 , so as to ensure that only one group of double D-shaped coils is excited.
  • the first switch and the second switch include MOSFET tubes, that is, the switches Q 5 , Q 6 , Q 7 , and Q 8 are all MOSFET tubes.
  • Two sets of double D-type energy transmitting coils can generate two-dimensional horizontal magnetic fields in the X-axis direction and the Y-axis direction. Regardless of whether the energy receiving coil is placed in the X-axis direction or the Y-axis direction, the energy transmitting coils can realize wireless energy transmission. Compared with the traditional single double D-shaped coil, one degree of freedom is expanded to realize multi-degree-of-freedom wireless charging for the energy receiving end. For example, a solenoid coil 11 is horizontally arranged on the bottom of the robot body, and wireless charging can be realized no matter whether the robot is placed along the X-axis or along the Y-axis.
  • a wireless power transfer method is applied to a wireless power transfer system.
  • the wireless power transfer method in this embodiment is to detect the coupling degree based on the DC output voltage of the secondary side when the wireless power transfer system starts charging, and select A group of double D-type energy transmitting coils that meet the coupling degree requirements are charged, and the specific implementation steps are as follows:
  • the secondary power receiving terminal (the secondary power receiving terminal is equipped with an energy receiving coil) enters the charging area and requests charging;
  • the power module of the primary side is on standby, and communication is established between the primary side and the secondary side;
  • the first output voltage U o1 is less than the preset voltage threshold U set , then turn off the first switch and turn on the second switch to provide the driving signal with the minimum duty ratio to Q 1 -Q 4 to obtain the second output voltage U o2 , comparing the second output voltage U o2 with the preset voltage threshold U set ; the second output voltage U o2 is the voltage across the load in the secondary power receiving circuit when the first switch is closed and the second switch is opened;

Abstract

The present invention relates to the technical field of wireless power transmission, and in particular to a wireless charging coupling mechanism, and a wireless power transmission system and method. The wireless charging coupling mechanism comprises an energy emitting apparatus and an energy receiving apparatus, wherein the energy emitting apparatus comprises an energy emitting coil; the energy receiving apparatus comprises an energy receiving coil; the energy emitting coil comprises a first coil group and a second coil group; the first coil group and the second coil group have the same shape; and the first coil group generates a magnetic field in an X horizontal direction, and the second coil group generates a magnetic field in a Y horizontal direction. In the present invention, horizontal magnetic fields in two dimensions, i.e. in an X-axis direction and in a Y-axis direction, are generated by means of two groups of coils, such that an energy emitting coil can realize wireless power transmission regardless of an energy receiving coil being placed in the X-axis direction or the Y-axis direction. Compared with traditional individual double-D-type coils, one degree of freedom is expanded, thereby realizing multiple-degrees-of-freedom wireless charging for an energy receiving end.

Description

一种无线充电耦合机构、无线电能传输系统及方法A wireless charging coupling mechanism, wireless power transmission system and method 技术领域technical field
本发明属于无线电能传输技术领域，具体涉及一种无线充电耦合机构、无线电能传输系统及方法。The invention belongs to the technical field of wireless power transmission, and in particular relates to a wireless charging coupling mechanism, a wireless power transmission system and a method.
背景技术Background technique
机器人智能巡检具有自主性好、巡检质量高等优点，大幅提升了巡检的智能化水平，机器人巡检方式代替传统的人工巡检方式已成为发展趋势。而目前巡检机器人的供电方式大多基于有线充电或人工换电方式，存在灵活性差、可靠性低、智能化水平低等问题。无线充电技术为解决上述接触式供电或人工换电方式存在的问题提供了思路，由于其摆脱了物理介质的束缚，具有灵活、可靠、安全等优点，在机器人智能巡检领域应用越来越广泛。Robot intelligent inspection has the advantages of good autonomy and high inspection quality, which greatly improves the intelligence level of inspection. It has become a development trend that the robot inspection method replaces the traditional manual inspection method. At present, most of the power supply methods of inspection robots are based on wired charging or manual battery replacement, which have problems such as poor flexibility, low reliability, and low level of intelligence. Wireless charging technology provides an idea to solve the problems existing in the above-mentioned contact power supply or manual battery replacement method. Because it gets rid of the shackles of physical media, it has the advantages of flexibility, reliability, and safety. It is more and more widely used in the field of robot intelligent inspection. .
目前，机器人无线充电系统接收端较多采用螺线管型线圈水平放置于机器人机身底部，配合单个双D型发射线圈产生的水平方向发射磁场，参见图1，图1中，螺线管型线圈与单个双D型发射线圈相互耦合。然而，单个双D型发射线圈只产生一个水平方向的磁场，螺线管型接收线圈需要与发射磁场相互平行才能较好地耦合磁场，以接收能量，这对接收端停靠精度要求高，无线充电自由度低。At present, the receiving end of the robot wireless charging system mostly adopts a solenoid coil placed horizontally at the bottom of the robot body, and cooperates with a single double D-shaped transmitting coil to generate a horizontally transmitting magnetic field. See Figure 1. In Figure 1, the solenoid coil The coils are coupled to each other with a single dual D-shaped transmit coil. However, a single double D-type transmitting coil only generates a horizontal magnetic field, and the solenoid-type receiving coil needs to be parallel to the transmitting magnetic field to couple the magnetic field well to receive energy, which requires high docking accuracy at the receiving end. Wireless charging Low degrees of freedom.
发明内容Contents of the invention
为了解决上述问题，本发明提供了一种无线充电耦合机构、无线电能传输系统及方法，具体技术方案如下：In order to solve the above problems, the present invention provides a wireless charging coupling mechanism, wireless power transmission system and method, and the specific technical solutions are as follows:
一种无线充电耦合机构，包括能量发射装置和能量接收装置；A wireless charging coupling mechanism, including an energy transmitting device and an energy receiving device;
所述能量发射装置包括能量发射线圈；所述能量接收装置包括能量接收线圈；The energy transmitting device includes an energy transmitting coil; the energy receiving device includes an energy receiving coil;
所述能量发射线圈包括第一线圈组和第二线圈组；所述第一线圈组和第二线圈组分别包括两个互为轴对称图形的线圈；所述第一线圈组的对称轴为Y轴，所述第二线圈组的对称轴为X轴；所述第一线圈组和第二线圈组的形状一样；The energy transmitting coil includes a first coil group and a second coil group; the first coil group and the second coil group respectively include two coils that are axisymmetric figures; the symmetry axis of the first coil group is Y axis, the symmetry axis of the second coil group is the X axis; the shape of the first coil group is the same as that of the second coil group;
所述第一线圈组产生X水平方向的磁场，所述第二线圈组产生Y水平方向的磁场；The first coil group generates a magnetic field in the X horizontal direction, and the second coil group generates a magnetic field in the Y horizontal direction;
所述能量接收线圈沿X轴方向放置时，所述能量接收线圈与所述第一线圈组相互耦合；所述能量接收线圈沿Y轴方向放置时，所述能量接收线圈与第二线圈组相互耦合。When the energy receiving coil is placed along the X-axis direction, the energy receiving coil is coupled to the first coil group; when the energy receiving coil is placed along the Y-axis direction, the energy receiving coil is coupled to the second coil group coupling.
优选地，所述第一线圈组和第二线圈组分别包括两个互为轴对称的等腰梯形线圈；四个等腰梯形线圈处于同一平面，并且四个等腰梯形线圈的上底边靠近坐标原点。Preferably, the first coil group and the second coil group respectively include two isosceles trapezoidal coils which are axisymmetric to each other; the four isosceles trapezoidal coils are in the same plane, and the upper bases of the four isosceles trapezoidal coils are close to Coordinate origin.
优选地，所述四个等腰梯形线圈的参数一致。Preferably, the parameters of the four isosceles trapezoidal coils are consistent.
优选地，所述能量发射线圈包括发射端补偿线圈；Preferably, the energy transmitting coil includes a transmitting end compensation coil;
所述四个等腰梯形线圈的上底边靠近原点，且彼此收尾相连，形成一个未绕制线圈的正方形区域；The upper bases of the four isosceles trapezoidal coils are close to the origin and connected to each other at the ends to form a square area without coils;
所述发射端补偿线圈设置在所述正方形区域。The transmitting end compensation coil is arranged in the square area.
优选地，所述能量发射装置还包括磁芯和磁屏蔽器件，所述磁芯和所述磁屏蔽器件均为平面式方形结构，所述磁芯设置在所述磁屏蔽器件和所述能量发射线圈之间。Preferably, the energy emitting device further includes a magnetic core and a magnetic shielding device, both of which are planar square structures, and the magnetic core is arranged between the magnetic shielding device and the energy emitting device. between coils.
一种无线电能传输系统，包括A wireless power transfer system comprising
原边电能发射电路、副边电能接收电路；Primary side power transmitting circuit, secondary side power receiving circuit;
所述原边电能发射电路包括顺序连接的直流电源、全桥逆变电路、原边谐振补偿网络、以及所述的无线充电耦合机构的所述能量发射线圈；The primary-side electric energy transmission circuit includes a sequentially connected DC power supply, a full-bridge inverter circuit, a primary-side resonant compensation network, and the energy transmission coil of the wireless charging coupling mechanism;
所述副边电能接收电路包括顺序连接的如权利要求1至5任一项所述的无线充电耦合机构的所述能量接收线圈、副边谐振补偿网络、整流滤波电路以及负载；The secondary electric energy receiving circuit includes the energy receiving coil of the wireless charging coupling mechanism according to any one of claims 1 to 5, a secondary resonant compensation network, a rectifying and filtering circuit and a load connected in sequence;
所述能量接收线圈为螺线管型线圈；The energy receiving coil is a solenoid coil;
所述原边电能发射电路还包括第一开关和第二开关，所述第一开关和所述第二开关分别与所述第一线圈组、所述第二线圈组连接，所述第一开关和所述第二开关分别用于控制所述第一线圈组的开闭和所述第二线圈组的开闭；The primary power transmission circuit also includes a first switch and a second switch, the first switch and the second switch are respectively connected to the first coil group and the second coil group, and the first switch and the second switch are respectively used to control the opening and closing of the first coil group and the opening and closing of the second coil group;
所述能量接收线圈沿X轴方向放置时，所述第一开关打开，所述第二开关关闭，所述能量接收线圈与所述第一线圈组相互耦合；所述能量接收线圈沿Y轴方向放置时，所述第一开关关闭，所述第二开关打开，所述能量接收线圈与所述第二线圈组相互耦合。When the energy receiving coil is placed along the X-axis direction, the first switch is turned on, the second switch is turned off, and the energy receiving coil is coupled with the first coil group; the energy receiving coil is placed along the Y-axis direction When placed, the first switch is turned off, the second switch is turned on, and the energy receiving coil and the second coil group are mutually coupled.
优选地，所述第一开关和所述第二开关的驱动信号反相。Preferably, the driving signals of the first switch and the second switch are in opposite phases.
优选地，所述第一开关和所述第二开关包括MOSFET管。Preferably, the first switch and the second switch include MOSFET tubes.
一种无线电能传输方法，应用于所述的无线电能传输系统，包括以下步骤：A wireless power transmission method applied to the wireless power transmission system, comprising the following steps:
S1：能量接收线圈进入充电区域时，将所述第一开关打开，所述第二开关关闭，获取第一输出电压U o1； S1: When the energy receiving coil enters the charging area, the first switch is turned on, the second switch is turned off, and the first output voltage U o1 is obtained;
S2：将所述第一输出电压U o1与预设电压阈值U set进行比较；若所述第一输出电压U o1大于等于所述预设电压阈值U set，则通过所述第一线圈组向所述能量接收线圈进行无线传能； S2: Comparing the first output voltage U o1 with a preset voltage threshold U set ; if the first output voltage U o1 is greater than or equal to the preset voltage threshold U set , then send The energy receiving coil performs wireless energy transmission;
若所述第一输出电压U o1小于所述预设电压阈值U set，则将所述第一开关关闭，所述第二开关打开，获取第二输出电压U o2； If the first output voltage U o1 is less than the preset voltage threshold U set , the first switch is turned off, the second switch is turned on, and a second output voltage U o2 is obtained;
S3：将所述第二输出电压U o2与所述预设电压阈值U set进行比较； S3: Comparing the second output voltage U o2 with the preset voltage threshold U set ;
若所述第二输出电压U o2大于等于所述预设电压阈值U set，则通过所述第二 线圈组向所述能量接收线圈进行无线传能； If the second output voltage U o2 is greater than or equal to the preset voltage threshold U set , wireless energy transmission is performed to the energy receiving coil through the second coil group;
若所述第二输出电压U o2小于所述预设电压阈值U set，则通知副边电能接收端调整摆放角度。 If the second output voltage U o2 is lower than the preset voltage threshold U set , the secondary power receiving end is notified to adjust the placement angle.
本发明的有益效果为：本发明通过两组线圈产生沿X轴方向和Y轴方向两个维度的水平磁场，无论能量接收线圈沿X轴方向还是Y轴方向摆放，能量发射线圈均能够实现无线电能传输，较传统的单个双D型线圈扩充了一个自由度，实现为能量接收端进行多自由度无线充电。The beneficial effects of the present invention are: the present invention generates horizontal magnetic fields in two dimensions along the X-axis direction and the Y-axis direction through two sets of coils, no matter whether the energy receiving coils are placed along the X-axis direction or the Y-axis direction, the energy transmitting coils can realize Wireless power transmission expands one degree of freedom compared with the traditional single double D-shaped coil, and realizes multi-degree-of-freedom wireless charging for the energy receiving end.
附图说明Description of drawings
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍。在所有附图中，类似的元件或部分一般由类似的附图标记标识。附图中，各元件或部分并不一定按照实际的比例绘制。In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the specific embodiments or the prior art. Throughout the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, elements or parts are not necessarily drawn in actual scale.
图1为现有技术提供的一种螺线管型线圈与单个双D型发射线圈相互耦合的示意图；Fig. 1 is a schematic diagram of mutual coupling between a solenoid coil and a single double D-shaped transmitting coil provided by the prior art;
图2为实施例一、二提供的一种螺线管型线圈沿X水平方向放置时与沿X水平方向的一对双D型线圈相互耦合的示意图；Fig. 2 is a schematic diagram of a pair of double D-shaped coils coupled with a pair of double D-shaped coils along the X horizontal direction when a solenoid coil provided in Embodiments 1 and 2 is placed along the X horizontal direction;
图3为实施例一、二提供的一种螺线管型线圈沿Y水平方向放置时与沿Y水平方向的一对双D型线圈相互耦合的示意图；Fig. 3 is a schematic diagram of mutual coupling with a pair of double D-shaped coils along the Y horizontal direction when a solenoid coil provided in Embodiments 1 and 2 is placed along the Y horizontal direction;
图4为实施例一、二提供的一种能量发射装置的示意图；Figure 4 is a schematic diagram of an energy emission device provided in Embodiments 1 and 2;
图5为实施例二提供的一种无线电能传输系统的示意图；FIG. 5 is a schematic diagram of a wireless power transmission system provided in Embodiment 2;
其中，螺线管型线圈11、第一线圈组12、第二线圈组13、发射端补偿线圈14、磁芯15。Among them, the solenoid coil 11 , the first coil group 12 , the second coil group 13 , the transmitter compensation coil 14 , and the magnetic core 15 .
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
应当理解，当在本说明书和所附权利要求书中使用时，术语“包括”和“包含”指示所描述特征、整体、步骤、操作、元素和/或组件的存在，但并不排除一个或多个其它特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。It should be understood that when used in this specification and the appended claims, the terms "comprising" and "comprises" indicate the presence of described features, integers, steps, operations, elements and/or components, but do not exclude one or Presence or addition of multiple other features, integers, steps, operations, elements, components and/or collections thereof.
还应当理解，在本发明说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本发明。如在本发明说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。It should also be understood that the terminology used in the description of the present invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the present invention. As used in this specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural referents unless the context clearly dictates otherwise.
还应当进一步理解，在本发明说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。It should also be further understood that the term "and/or" used in the description of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations .
实施例一：Embodiment one:
为了解决现有技术中，单个双D型发射线圈只产生一个水平方向的磁场，对接收端停靠精度要求高，无线充电自由度低的问题，本实施例提出一种无线充电耦合机构，可以应用于机器人、汽车、无人机等的无线充电场景，参见图2至图4，一种无线充电耦合机构，包括能量发射装置和能量接收装置；In order to solve the problems in the prior art that a single double D-type transmitting coil only generates a magnetic field in a horizontal direction, which requires high docking accuracy at the receiving end and low degree of freedom in wireless charging, this embodiment proposes a wireless charging coupling mechanism that can be applied For wireless charging scenarios such as robots, cars, drones, etc., see Figures 2 to 4, a wireless charging coupling mechanism, including an energy transmitting device and an energy receiving device;
能量发射装置包括能量发射线圈；能量接收装置包括能量接收线圈；The energy transmitting device includes an energy transmitting coil; the energy receiving device includes an energy receiving coil;
能量发射线圈包括第一线圈组12和第二线圈组13；第一线圈组12和第二线圈组13分别包括两个互为轴对称图形的线圈；第一线圈组12的对称轴为Y 轴，第二线圈组13的对称轴为X轴；第一线圈组12和第二线圈组13的形状一样；The energy transmitting coil comprises a first coil group 12 and a second coil group 13; the first coil group 12 and the second coil group 13 respectively comprise two coils which are mutually axisymmetric figures; the symmetry axis of the first coil group 12 is the Y axis , the axis of symmetry of the second coil group 13 is the X axis; the shape of the first coil group 12 and the second coil group 13 is the same;
第一线圈组12产生X水平方向的磁场，第二线圈组13产生Y水平方向的磁场；The first coil group 12 generates a magnetic field in the X horizontal direction, and the second coil group 13 generates a magnetic field in the Y horizontal direction;
能量接收线圈沿X轴方向放置时，能量接收线圈与第一线圈组12相互耦合；能量接收线圈沿Y轴方向放置时，能量接收线圈与第二线圈组13相互耦合。When the energy receiving coil is placed along the X-axis direction, the energy receiving coil is coupled with the first coil group 12; when the energy receiving coil is placed along the Y-axis direction, the energy receiving coil is coupled with the second coil group 13.
如图2所示，能量接收线圈沿X轴方向放置时，能量接收线圈与第一线圈组12相互耦合，从图2中也能看出，能量接收线圈沿X轴方向放置时，第一线圈组12有磁场，而第二线圈组13没有磁场。As shown in Figure 2, when the energy receiving coil is placed along the X-axis direction, the energy receiving coil and the first coil group 12 are mutually coupled, and it can also be seen from Figure 2 that when the energy receiving coil is placed along the X-axis direction, the first coil Group 12 has a magnetic field, while second coil group 13 has no magnetic field.
如图3所示，能量接收线圈沿Y轴方向放置时，能量接收线圈与第二线圈组1313相互耦合，从图3中也能看出，能量接收线圈沿Y轴方向放置时，第二线圈组13有磁场，而第一线圈组12没有磁场。As shown in Figure 3, when the energy receiving coil is placed along the Y-axis direction, the energy receiving coil and the second coil group 1313 are mutually coupled, and it can also be seen from Figure 3 that when the energy receiving coil is placed along the Y-axis direction, the second coil Group 13 has a magnetic field, whereas first coil group 12 has no magnetic field.
通过第一线圈组12和第二线圈组13构成的能量发射线圈可以产生X水平方向和Y水平方向两个维度的水平磁场，无论能量接收线圈沿X轴方向还是Y轴方向摆放，能量发射线圈均能够实现无线电能传输，较传统的单个双D型线圈扩充了一个自由度，实现为能量接收端进行多自由度无线充电。例如机器人机身底部上水平设置螺线管型线圈11，机器人无论沿X轴方向摆放还是沿Y轴方向摆放，都可以实现无线充电。The energy transmitting coil formed by the first coil group 12 and the second coil group 13 can generate a horizontal magnetic field in two dimensions of the X horizontal direction and the Y horizontal direction, no matter whether the energy receiving coil is placed along the X axis or the Y axis direction, the energy transmission All the coils can realize wireless energy transmission, which expands one degree of freedom compared with the traditional single double D-shaped coil, and realizes multi-degree-of-freedom wireless charging for the energy receiving end. For example, a solenoid coil 11 is horizontally arranged on the bottom of the robot body, and wireless charging can be realized no matter whether the robot is placed along the X-axis or along the Y-axis.
如图4所示，第一线圈组12和第二线圈组13分别包括两个互为轴对称的等腰梯形线圈；四个等腰梯形线圈处于同一平面，并且四个等腰梯形线圈的上底边靠近坐标原点。四个等腰梯形线圈的参数一致，参数包括绕线匝数、绕线线径等。As shown in Figure 4, the first coil group 12 and the second coil group 13 respectively include two isosceles trapezoidal coils which are axisymmetric to each other; the four isosceles trapezoidal coils are in the same plane, and the upper The bottom edge is close to the coordinate origin. The parameters of the four isosceles trapezoidal coils are consistent, and the parameters include the number of winding turns, the diameter of the winding wire, and the like.
如图4所示，能量发射线圈包括发射端补偿线圈14；四个等腰梯形线圈的 上底边靠近原点，且彼此首尾相连，形成一个未绕制线圈的封闭正方形区域；发射端补偿线圈14设置在正方形区域。发射端补偿线圈14为Q型线圈，将发射端补偿线圈14设置在能量发射线圈中心处，缩小了能量发射装置的体积。发射端补偿线圈14与能量发射线圈相互解耦，不存在相互串扰及电磁干扰等问题，可以保证补偿网络具有恒压输出功能。As shown in Figure 4, the energy transmitting coil comprises a transmitting end compensating coil 14; the upper bases of the four isosceles trapezoidal coils are close to the origin, and are connected end to end to each other to form a closed square area without winding coils; the transmitting end compensating coil 14 Set in a square area. The transmitter compensation coil 14 is a Q-shaped coil, and the transmitter compensation coil 14 is arranged at the center of the energy transmitter coil, which reduces the volume of the energy transmitter. The compensation coil 14 at the transmitting end and the energy transmitting coil are decoupled from each other, so there is no mutual crosstalk and electromagnetic interference, which can ensure that the compensation network has a constant voltage output function.
如图4所示，能量发射装置还包括磁芯15和磁屏蔽器件，磁芯15和磁屏蔽器件均为平面式方形结构，磁芯15设置在磁屏蔽器件和能量发射线圈之间。发射端补偿线圈14与能量发射线圈共用磁芯15及磁屏蔽器件，缩小了能量发射装置的体积和重量，节约成本。磁屏蔽器件包括铝板或铜板。As shown in FIG. 4 , the energy emitting device further includes a magnetic core 15 and a magnetic shielding device, both of which are planar square structures, and the magnetic core 15 is arranged between the magnetic shielding device and the energy emitting coil. The compensation coil 14 at the transmitting end shares the magnetic core 15 and the magnetic shielding device with the energy transmitting coil, which reduces the volume and weight of the energy transmitting device and saves costs. Magnetic shielding devices include aluminum or copper plates.
实施例二：Embodiment two:
为了解决现有技术中，单个双D型发射线圈只产生一个水平方向的磁场，对接收端停靠精度要求高，无线充电自由度低的问题，本实施例提出一种无线电能传输系统，包括原边电能发射电路、副边电能接收电路；In order to solve the problem in the prior art that a single double D-type transmitting coil only generates a magnetic field in a horizontal direction, which requires high docking precision at the receiving end and low degree of freedom in wireless charging, this embodiment proposes a wireless power transmission system, including the original Side power transmitting circuit, secondary side power receiving circuit;
原边电能发射电路包括顺序连接的直流电源(图5中的E)、全桥逆变电路(图5中的开关管Q 1、Q 2、Q 3、Q 4)、原边谐振补偿网络(图5中的发射端补偿线圈L t、第一补偿电容C t、第二补偿电容C p)、以及如实施例一任一项的无线充电耦合机构的能量发射线圈(图5中的L p1和L p2)；图5中，还包括等效内阻R P1、R P2、Rs；开关管Q 1与Q 2漏极(D极)均接直流电源正极，Q 1、Q 2的源极(S极)分别与Q 3、Q 4的漏极(D极)相连，并分别接入原边谐振补偿网络两端，Q 3、Q 4的源极(S极)接直流电源负极。其中四个开关管的栅极(G极)可以分别接入100kHz的方波驱动信号进行恒压输出。M 1为L p1与L s的互感，M 2为L p2与L s的互感。 The primary-side power transmitting circuit includes a sequentially connected DC power supply (E in Figure 5), a full-bridge inverter circuit (switching tubes Q 1 , Q 2 , Q 3 , Q 4 in Figure 5 ), and a primary-side resonant compensation network ( The transmitter compensation coil L t in FIG. 5 , the first compensation capacitor C t , the second compensation capacitor C p ), and the energy transmitter coil of the wireless charging coupling mechanism according to any one of the embodiments (L p1 and L p2 ); in Figure 5, it also includes equivalent internal resistances R P1 , R P2 , Rs; the drains (D poles) of the switch tubes Q 1 and Q 2 are connected to the positive pole of the DC power supply, and the sources of Q 1 and Q 2 ( S poles) are respectively connected to the drains (D poles) of Q 3 and Q 4 , and respectively connected to both ends of the primary side resonant compensation network, and the sources (S poles) of Q 3 and Q 4 are connected to the negative pole of the DC power supply. The gates (G poles) of the four switching tubes can be respectively connected to a 100 kHz square wave driving signal for constant voltage output. M 1 is the mutual inductance between L p1 and L s , and M 2 is the mutual inductance between L p2 and L s .
副边电能接收电路包括顺序连接的如实施例一任一项的无线充电耦合机构 的能量接收线圈(图5中的L s)、副边谐振补偿网络(图5中的C s)、整流滤波电路[图5中的四个二极管和一个电容(该电容并联在负载R L两端)]以及负载(图5中的R L)。 The secondary power receiving circuit includes the energy receiving coil (L s in Figure 5 ) of the wireless charging coupling mechanism connected in sequence, the secondary resonance compensation network (C s in Figure 5 ), and the rectification and filtering circuit [Four diodes and a capacitor in Figure 5 (the capacitor is in parallel across the load RL )] and the load ( RL in Figure 5).
能量发射线圈包括第一线圈组12和第二线圈组13；第一线圈组12和第二线圈组13分别包括两个互为轴对称图形的线圈；第一线圈组12的对称轴为Y轴，第二线圈组13的对称轴为X轴；第一线圈组12和第二线圈组13的形状一样；The energy transmitting coil comprises a first coil group 12 and a second coil group 13; the first coil group 12 and the second coil group 13 respectively comprise two mutually axisymmetric coils; the symmetry axis of the first coil group 12 is the Y axis , the axis of symmetry of the second coil group 13 is the X axis; the shape of the first coil group 12 and the second coil group 13 is the same;
第一线圈组12产生X水平方向的磁场，第二线圈组13产生Y水平方向的磁场；The first coil group 12 generates a magnetic field in the X horizontal direction, and the second coil group 13 generates a magnetic field in the Y horizontal direction;
能量接收线圈沿X轴方向放置时，能量接收线圈与第一线圈组12相互耦合；能量接收线圈沿Y轴方向放置时，能量接收线圈与第二线圈组13相互耦合。When the energy receiving coil is placed along the X-axis direction, the energy receiving coil is coupled with the first coil group 12; when the energy receiving coil is placed along the Y-axis direction, the energy receiving coil is coupled with the second coil group 13.
能量接收线圈为螺线管型线圈11；The energy receiving coil is a solenoid coil 11;
原边电能发射电路还包括第一开关(图5中的Q 5、Q 6)和第二开关(图5中的Q 7、Q 8)，第一开关和第二开关分别与第一线圈组12、第二线圈组13连接，第一开关和第二开关分别用于控制第一线圈组12的开闭和第二线圈组13的开闭； The primary side power transmission circuit also includes a first switch (Q 5 , Q 6 in FIG. 5 ) and a second switch (Q 7 , Q 8 in FIG. 5 ), the first switch and the second switch are respectively connected to the first coil group 12. The second coil group 13 is connected, and the first switch and the second switch are respectively used to control the opening and closing of the first coil group 12 and the opening and closing of the second coil group 13;
能量接收线圈沿X轴方向放置时，第一开关打开，第二开关关闭，能量接收线圈与第一线圈组12相互耦合；能量接收线圈沿Y轴方向放置时，第一开关关闭，第二开关打开，能量接收线圈与第二线圈组13相互耦合。When the energy receiving coil is placed along the X-axis direction, the first switch is turned on, the second switch is turned off, and the energy receiving coil is coupled with the first coil group 12; when the energy receiving coil is placed along the Y-axis direction, the first switch is turned off, and the second switch When turned on, the energy receiving coil and the second coil group 13 are mutually coupled.
第一开关和第二开关的驱动信号反相，即Q 5、Q 6的驱动信号与Q 7、Q 8的驱动信号反相，以保证只激励其中一组双D型线圈。例如机器人机身上的螺线管型线圈11沿X轴方向摆放时，Q 5、Q 6均打开，Q 7、Q 8均关闭，实现第一线圈组12工作，对机器人进行无线充电，而第二线圈组13不工作；机器人机身上的 螺线管型线圈11沿Y轴方向摆放时，Q 5、Q 6均关闭，Q 7、Q 8均打开，实现第二线圈组13工作，对机器人进行无线充电，而第一线圈组12不工作。第一开关和第二开关包括MOSFET管，即开关Q 5、Q 6、Q 7、Q 8均为MOSFET管。 The driving signals of the first switch and the second switch are in reverse phase, that is, the driving signals of Q 5 and Q 6 are in reverse phase with the driving signals of Q 7 and Q 8 , so as to ensure that only one group of double D-shaped coils is excited. For example, when the solenoid coil 11 on the robot body is placed along the X-axis direction, Q 5 and Q 6 are both turned on, and Q 7 and Q 8 are turned off to realize the operation of the first coil group 12 and wirelessly charge the robot. And the second coil group 13 does not work; when the solenoid coil 11 on the robot body is placed along the Y - axis direction, Q5 , Q6 are all closed, Q7, Q8 are all opened, and the second coil group 13 is realized. Work, wirelessly charge the robot, and the first coil set 12 does not work. The first switch and the second switch include MOSFET tubes, that is, the switches Q 5 , Q 6 , Q 7 , and Q 8 are all MOSFET tubes.
通过两组双D型能量发射线圈可以产生X轴方向和Y轴方向两个维度的水平磁场，无论能量接收线圈沿X轴方向还是Y轴方向摆放，能量发射线圈均能够实现无线电能传输，较传统的单个双D型线圈扩充了一个自由度，实现为能量接收端进行多自由度无线充电。例如机器人机身底部上水平设置螺线管型线圈11，机器人无论沿X轴方向摆放还是沿Y轴方向摆放，都可以实现无线充电。Two sets of double D-type energy transmitting coils can generate two-dimensional horizontal magnetic fields in the X-axis direction and the Y-axis direction. Regardless of whether the energy receiving coil is placed in the X-axis direction or the Y-axis direction, the energy transmitting coils can realize wireless energy transmission. Compared with the traditional single double D-shaped coil, one degree of freedom is expanded to realize multi-degree-of-freedom wireless charging for the energy receiving end. For example, a solenoid coil 11 is horizontally arranged on the bottom of the robot body, and wireless charging can be realized no matter whether the robot is placed along the X-axis or along the Y-axis.
如图5所示，一种无线电能传输方法，应用于无线电能传输系统，本实施例的无线电能传输方法，是在无线电能传输系统开始充电时基于副边直流输出电压进行耦合度检测，选择满足耦合度要求的一组双D型能量发射线圈进行充电，具体实现步骤如下：As shown in Figure 5, a wireless power transfer method is applied to a wireless power transfer system. The wireless power transfer method in this embodiment is to detect the coupling degree based on the DC output voltage of the secondary side when the wireless power transfer system starts charging, and select A group of double D-type energy transmitting coils that meet the coupling degree requirements are charged, and the specific implementation steps are as follows:
包括以下步骤：Include the following steps:
S1、副边电能接收端(副边电能接收端上设置有能量接收线圈)进入充电区域，请求充电；S1. The secondary power receiving terminal (the secondary power receiving terminal is equipped with an energy receiving coil) enters the charging area and requests charging;
S2、原边功率模块待机，原边副边建立通信；S2. The power module of the primary side is on standby, and communication is established between the primary side and the secondary side;
S3、将第一开关(Q 5、Q 6)打开，第二开关(Q 7、Q 8)关闭，提供给Q 1-Q 4最小占空比的驱动信号； S3. Turn on the first switch (Q 5 , Q 6 ), turn off the second switch (Q 7 , Q 8 ), and provide a driving signal with a minimum duty ratio to Q 1 -Q 4 ;
S4、获取第一输出电压U o1，将第一输出电压U o1与预设电压阈值U set进行比较；第一输出电压U o1为第一开关打开且第二开关关闭时副边电能接收电路中的负载两端的电压； S4. Obtain the first output voltage U o1 and compare the first output voltage U o1 with the preset voltage threshold U set ; the first output voltage U o1 is in the secondary power receiving circuit when the first switch is turned on and the second switch is turned off The voltage across the load;
S5、若第一输出电压U o1大于等于预设电压阈值U set，则通过第一线圈组12向能量接收线圈进行无线传能； S5. If the first output voltage U o1 is greater than or equal to the preset voltage threshold U set , wirelessly transmit energy to the energy receiving coil through the first coil group 12;
S6、若第一输出电压U o1小于预设电压阈值U set，则将第一开关关闭，第二开关打开，提供给Q 1-Q 4最小占空比的驱动信号，获取第二输出电压U o2，将第二输出电压U o2与预设电压阈值U set进行比较；第二输出电压U o2为第一开关关闭且第二开关打开时副边电能接收电路中的负载两端的电压； S6. If the first output voltage U o1 is less than the preset voltage threshold U set , then turn off the first switch and turn on the second switch to provide the driving signal with the minimum duty ratio to Q 1 -Q 4 to obtain the second output voltage U o2 , comparing the second output voltage U o2 with the preset voltage threshold U set ; the second output voltage U o2 is the voltage across the load in the secondary power receiving circuit when the first switch is closed and the second switch is opened;
S7、若第二输出电压U o2大于等于预设电压阈值U set，则通过第二线圈组13向能量接收线圈进行无线传能。 S7. If the second output voltage U o2 is greater than or equal to the preset voltage threshold U set , wirelessly transmit energy to the energy receiving coil through the second coil group 13 .
S8、若第二输出电压U o2小于预设电压阈值U set，充电失败，则通知副边电能接收端调整摆放角度。 S8. If the second output voltage U o2 is lower than the preset voltage threshold U set , and charging fails, then notify the secondary power receiving end to adjust the placement angle.
本发明不局限于以上具体实施方式，以上仅为本发明的较佳实施案例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。The present invention is not limited to the above specific implementation methods, the above are only preferred implementation examples of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, etc., All should be included within the protection scope of the present invention.

Claims (9)

  1. 一种无线充电耦合机构，其特征在于：包括能量发射装置和能量接收装置；所述能量发射装置包括能量发射线圈；所述能量接收装置包括能量接收线圈；A wireless charging coupling mechanism, characterized in that it includes an energy transmitting device and an energy receiving device; the energy transmitting device includes an energy transmitting coil; the energy receiving device includes an energy receiving coil;
    所述能量发射线圈包括第一线圈组(12)和第二线圈组(13)；所述第一线圈组(12)和第二线圈组(13)分别包括两个互为轴对称图形的线圈；所述第一线圈组(12)的对称轴为Y轴，所述第二线圈组(13)的对称轴为X轴；所述第一线圈组(12)和第二线圈组(13)的形状一样；The energy transmitting coil comprises a first coil group (12) and a second coil group (13); the first coil group (12) and the second coil group (13) respectively comprise two mutually axisymmetric coils The axis of symmetry of the first coil group (12) is the Y axis, and the axis of symmetry of the second coil group (13) is the X axis; the first coil group (12) and the second coil group (13) the same shape;
    所述第一线圈组(12)产生X水平方向的磁场，所述第二线圈组(13)产生Y水平方向的磁场；The first coil group (12) generates a magnetic field in the X horizontal direction, and the second coil group (13) generates a magnetic field in the Y horizontal direction;
    所述能量接收线圈沿X轴方向放置时，所述能量接收线圈与所述第一线圈组(12)相互耦合；所述能量接收线圈沿Y轴方向放置时，所述能量接收线圈与第二线圈组(13)相互耦合。When the energy receiving coil is placed along the X-axis direction, the energy receiving coil is coupled to the first coil group (12); when the energy receiving coil is placed along the Y-axis direction, the energy receiving coil is coupled to the second coil group (12). The coil sets (13) are coupled to each other.
  2. 根据权利要求1所述的一种无线充电耦合机构，其特征在于：所述第一线圈组(12)和第二线圈组(13)分别包括两个互为轴对称的等腰梯形线圈；四个等腰梯形线圈处于同一平面，并且四个等腰梯形线圈的上底边靠近坐标原点。A wireless charging coupling mechanism according to claim 1, characterized in that: the first coil group (12) and the second coil group (13) respectively include two mutually axisymmetric isosceles trapezoidal coils; The four isosceles trapezoidal coils are in the same plane, and the upper bases of the four isosceles trapezoidal coils are close to the coordinate origin.
  3. 根据权利要求2所述的一种无线充电耦合机构，其特征在于：所述四个等腰梯形线圈的参数一致。The wireless charging coupling mechanism according to claim 2, wherein the parameters of the four isosceles trapezoidal coils are consistent.
  4. 根据权利要求2所述的一种无线充电耦合机构，其特征在于：所述能量发射线圈包括发射端补偿线圈(14)；A wireless charging coupling mechanism according to claim 2, characterized in that: the energy transmitting coil comprises a transmitting end compensation coil (14);
    所述四个等腰梯形线圈的上底边靠近原点，且彼此收尾相连，形成一个未绕制线圈的正方形区域；The upper bases of the four isosceles trapezoidal coils are close to the origin and connected to each other at the ends to form a square area without coils;
    所述发射端补偿线圈(14)设置在所述正方形区域。The transmitting end compensation coil (14) is arranged in the square area.
  5. 根据权利要求1所述的一种无线充电耦合机构，其特征在于：所述能量发射装置还包括磁芯(15)和磁屏蔽器件，所述磁芯和所述磁屏蔽器件均为平面式 方形结构，所述磁芯(15)设置在所述磁屏蔽器件和所述能量发射线圈之间。A wireless charging coupling mechanism according to claim 1, characterized in that: the energy transmitting device also includes a magnetic core (15) and a magnetic shielding device, and the magnetic core and the magnetic shielding device are both planar square structure, the magnetic core (15) is arranged between the magnetic shielding device and the energy transmitting coil.
  6. 一种无线电能传输系统，其特征在于：包括A wireless power transmission system, characterized in that: comprising
    原边电能发射电路、副边电能接收电路；Primary side power transmitting circuit, secondary side power receiving circuit;
    所述原边电能发射电路包括顺序连接的直流电源、全桥逆变电路、原边谐振补偿网络、以及如权利要求1至5任一项所述的无线充电耦合机构的所述能量发射线圈；The primary-side electric energy transmission circuit includes a sequentially connected DC power supply, a full-bridge inverter circuit, a primary-side resonant compensation network, and the energy transmission coil of the wireless charging coupling mechanism according to any one of claims 1 to 5;
    所述副边电能接收电路包括顺序连接的如权利要求1至5任一项所述的无线充电耦合机构的所述能量接收线圈、副边谐振补偿网络、整流滤波电路以及负载；The secondary electric energy receiving circuit includes the energy receiving coil of the wireless charging coupling mechanism according to any one of claims 1 to 5, a secondary resonant compensation network, a rectifying and filtering circuit and a load connected in sequence;
    所述能量接收线圈为螺线管型线圈；The energy receiving coil is a solenoid coil;
    所述原边电能发射电路还包括第一开关和第二开关，所述第一开关和所述第二开关分别与所述第一线圈组(12)、所述第二线圈组(13)连接，所述第一开关和所述第二开关分别用于控制所述第一线圈组(12)的开闭和所述第二线圈组(13)的开闭；The primary power transmission circuit also includes a first switch and a second switch, the first switch and the second switch are respectively connected to the first coil group (12) and the second coil group (13) , the first switch and the second switch are respectively used to control the opening and closing of the first coil group (12) and the opening and closing of the second coil group (13);
    所述能量接收线圈沿X轴方向放置时，所述第一开关打开，所述第二开关关闭，所述能量接收线圈与所述第一线圈组(12)相互耦合；所述能量接收线圈沿Y轴方向放置时，所述第一开关关闭，所述第二开关打开，所述能量接收线圈与所述第二线圈组(13)相互耦合。When the energy receiving coil is placed along the X-axis direction, the first switch is turned on, the second switch is turned off, and the energy receiving coil is coupled with the first coil group (12); When placed in the Y-axis direction, the first switch is closed, the second switch is opened, and the energy receiving coil and the second coil group (13) are mutually coupled.
  7. 根据权利要求6所述的一种无线电能传输系统，其特征在于：所述第一开关和所述第二开关的驱动信号反相。The wireless power transmission system according to claim 6, wherein the driving signals of the first switch and the second switch are in opposite phases.
  8. 根据权利要求6所述的一种无线电能传输系统，其特征在于：所述第一开关和所述第二开关包括MOSFET管。The wireless power transmission system according to claim 6, wherein the first switch and the second switch include MOSFET tubes.
  9. 一种无线电能传输方法，其特征在于：应用于如权利要求6至8任一项所述 的无线电能传输系统，包括以下步骤：A wireless power transmission method, characterized in that: applied to the wireless power transmission system according to any one of claims 6 to 8, comprising the following steps:
    S1：能量接收线圈进入充电区域时，将所述第一开关打开，所述第二开关关闭，获取第一输出电压U o1； S1: When the energy receiving coil enters the charging area, the first switch is turned on, the second switch is turned off, and the first output voltage U o1 is obtained;
    S2：将所述第一输出电压U o1与预设电压阈值U set进行比较；若所述第一输出电压U o1大于等于所述预设电压阈值U set，则通过所述第一线圈组(12)向所述能量接收线圈进行无线传能； S2: Comparing the first output voltage U o1 with a preset voltage threshold U set ; if the first output voltage U o1 is greater than or equal to the preset voltage threshold U set , passing through the first coil group ( 12) performing wireless energy transmission to the energy receiving coil;
    若所述第一输出电压U o1小于所述预设电压阈值U set，则将所述第一开关关闭，所述第二开关打开，获取第二输出电压U o2； If the first output voltage U o1 is less than the preset voltage threshold U set , the first switch is turned off, the second switch is turned on, and a second output voltage U o2 is obtained;
    S3：将所述第二输出电压U o2与所述预设电压阈值U set进行比较； S3: Comparing the second output voltage U o2 with the preset voltage threshold U set ;
    若所述第二输出电压U o2大于等于所述预设电压阈值U set，则通过所述第二线圈组(13)向所述能量接收线圈进行无线传能； If the second output voltage U o2 is greater than or equal to the preset voltage threshold U set , wireless energy transmission is performed to the energy receiving coil through the second coil group (13);
    若所述第二输出电压U o2小于所述预设电压阈值U set，则通知副边电能接收端调整摆放角度。 If the second output voltage U o2 is lower than the preset voltage threshold U set , the secondary power receiving end is notified to adjust the placement angle.
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