CN112467852A - Charging cabin and inspection robot fish matched with same - Google Patents
Charging cabin and inspection robot fish matched with same Download PDFInfo
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- CN112467852A CN112467852A CN201910857532.XA CN201910857532A CN112467852A CN 112467852 A CN112467852 A CN 112467852A CN 201910857532 A CN201910857532 A CN 201910857532A CN 112467852 A CN112467852 A CN 112467852A
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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
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- Computer Networks & Wireless Communication (AREA)
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The application discloses cabin of charging and patrol and examine machine fish that uses with this cabin of charging cooperation, the cabin of should charging is installed on the oiling pipe that oily formula is waited to patrol and examine equipment, should patrol and examine machine fish and wait to patrol and examine equipment from this cabin of charging entering, and this cabin of charging can charge for should patrolling and examining machine fish, it will patrol and examine machine fish and take out from waiting to patrol and examine equipment and charge to have solved needs, the lower technical problem of efficiency of patrolling and examining, realized can making to patrol and examine that the convenient entering of machine fish waits to patrol and examine equipment inside, and under the condition of not taking out and examining machine fish, to patrolling and examining machine fish and charging, the technological effect of efficiency of patr.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a charging cabin and an inspection robot fish matched with the charging cabin.
Background
In order to satisfy the function, some large-scale devices are usually designed to be oil-immersed metal sealing structures, for example, large-scale transformers are usually designed to be metal sealing structures, transformer oil is arranged inside the large-scale devices to immerse components inside the large-scale transformers, and the fault detection of the internal components of the devices such as the transformers is difficult. One possible way is to go inside a transformer or the like for inspection by a robot.
However, in the process of implementing the technical solution in the embodiment of the present application, the inventors of the present application find that the above-mentioned technology has at least the following technical problems:
the inspection robot has limited electric quantity of a battery, and is charged by taking out the inspection robot from the inside of the transformer, so that the inspection process can be interrupted, and the inspection efficiency is lower.
Disclosure of Invention
The embodiment of the application provides a cabin of charging and patrol and examine machine fish with this cabin of charging cooperation use, the cabin of should charging is installed on the oiling pipe that oily formula is waited to patrol and examine equipment, should patrol and examine machine fish and wait to patrol and examine equipment from this cabin of charging entering, and this cabin of charging can charge for should patrolling and examining machine fish, it will patrol and examine machine fish and take out from waiting to patrol and examine equipment and charge to have solved, patrol and examine the lower technical problem of efficiency, realized can making to patrol and examine that the convenient entering of machine fish waits to patrol and examine equipment inside, and under the condition of patrolling and examining machine fish not taking out, to patrolling and examining machine fish and charging, improve the technological effect who patr.
An aspect of the embodiment of the application provides a charging cabin, charging cabin is used for patrolling and examining machine fish and charging and making it waits to patrol and examine equipment to patrol and examine machine fish gets into oily formula, charging cabin includes:
the cabin body is mounted on an oil filling pipe of the oil-immersed equipment to be inspected in a communicating manner;
the exhaust valve is positioned at the top of the cabin body;
the electric energy output device is arranged in the charging cabin and comprises a power supply module, a switch module connected with the power supply module, an inversion module connected with the switch module and an output coil module connected with the inversion module;
the power module is used for providing direct current, the inverter module is used for converting the direct current into alternating current, and the output coil module is used for outputting the alternating current to the inspection robot fish.
According to the embodiment of the disclosure, a first concentric magnetic ring is concentrically arranged with the output coil module, and the output coil module is arranged in a first groove of the first concentric magnetic ring.
According to the embodiment of the disclosure, the electric energy output device further comprises a limiting electromagnet, and the limiting electromagnet is connected with the switch module and used for generating electromagnetic force when being communicated with the power supply module.
According to the embodiment of the present disclosure, the electric energy output device further includes a proximity sensor, and the proximity sensor is connected to the switch module through a control module.
According to the embodiment of the disclosure, the charging cabin further comprises a display module, and the display module is connected with the power supply module.
On the other hand of the embodiment of this application provides a machine fish patrols and examines, it follows to patrol and examine machine fish the electric energy is received to the charging chamber, it includes to patrol and examine machine fish:
inspecting the robotic fish body;
the electric energy receiving device is arranged on the inspection robot fish body and comprises a receiving coil module, a rectifying and filtering module connected with the receiving coil module and a battery module connected with the rectifying and filtering module;
the receiving coil module is used for receiving the alternating current output by the output coil module, and the rectifying and filtering module is used for converting the alternating current into direct current and transmitting the direct current to the battery module.
According to the embodiment of the disclosure, the electric energy receiving device further comprises a voltage stabilizing module arranged between the rectifying and filtering module and the battery module.
According to the embodiment of the disclosure, the inspection robot fish body is provided with the limiting module, and the limiting module can be attracted by the limiting electromagnet so that the output coil module and the receiving coil module are tightly attached and transmit electric energy.
According to the embodiment of the disclosure, the electric energy receiving device further comprises a voltage detection module, wherein the voltage detection module is connected with the battery module and wirelessly transmits the electric quantity signal of the battery module to the display module.
According to the embodiment of the disclosure, a second concentric magnetic ring is concentrically arranged with the receiving coil module, and the receiving coil module is arranged in a second groove of the second concentric magnetic ring.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
in the embodiment of the application, the charging cabin is arranged on a filling pipe of the equipment to be inspected, an exhaust valve at the top of the charging cabin is opened, an oil drain valve of the filling pipe is opened, filling oil in the equipment to be inspected flows into the charging cabin, air in the charging cabin is exhausted from the exhaust valve, and when the filling oil is filled in the charging cabin, the exhaust valve is closed; at the moment, the inspection robot fish can conveniently enter the equipment to be inspected from the oil injection pipe; when the robot fish needs to be charged, the robot fish returns to the charging cabin and is close to the electric energy output device of the charging cabin, at the moment, the output coil module of the charging cabin is tightly attached to the receiving coil module of the robot fish and transmits electric energy, and the robot fish is charged by the charging cabin; in the embodiment of the application, can be under the condition that should patrol and examine the machine fish not taking out, carry out wireless charging for should patrol and examine the machine fish, improved and patrolled and examined efficiency.
Drawings
Fig. 1 is a schematic structural diagram of an oil-immersed device to be patrolled and examined in which the charging cabin is installed in the embodiment of the application.
Fig. 2 is a schematic structural diagram of the inspection robot fish placed in the charging cabin in the embodiment of the application.
Fig. 3 is a schematic structural diagram of the charging cabin in the embodiment of the present application.
Fig. 4 is a schematic structural diagram of the inspection robot fish in the embodiment of the application.
Fig. 5 is a schematic structural diagram of the first concentric magnetic ring in the embodiment of the present application.
Fig. 6 is a schematic structural diagram of the output coil module in the embodiment of the present application.
Fig. 7 is a schematic structural diagram of the second concentric magnetic ring in the embodiment of the present application.
Fig. 8 is a schematic structural diagram of the receiving coil module in the embodiment of the present application.
Fig. 9 is a schematic structural diagram of the power output device and the power receiving device in the embodiment of the present application.
Wherein, the reference numbers:
1-oil-immersed equipment to be inspected, 2-oil filling pipe, 3-oil drain valve,
10-a cabin body, 11-an exhaust valve, 12-a flange structure, 13-an electric energy output device, 14-a first concentric magnetic ring, 15-a first groove,
131-a power supply module, 132-a switch module, 133-an inverter module, 134-an output coil module, 135-a proximity sensor, 136-a control module, 137-a limit electromagnet, 138-a display module,
20-an inspection robot fish body, 21-an electric energy receiving device, 22-a second concentric magnetic ring, 23-a second groove, 24-a limiting module, 25-a propelling device,
211-a receiving coil module, 212-a rectifying and filtering module, 213-a voltage stabilizing module, 214-a battery module and 215-a voltage detection module.
Detailed Description
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
The embodiment of the application provides a charging cabin on the one hand, and this charging cabin is used for charging and making this machine fish of patrolling and examining get into oily formula and wait to patrol and examine equipment for patrolling and examining machine fish. Oily formula is waited to patrol and examine equipment as above, this oily formula is waited to patrol and examine equipment inside and is filled the filling oil, and the volume is huge, and the scope that the machine fish was patrolled and examined to the needs is great and operating time is longer, and power consumption is more, and it is less to patrol and examine the machine fish volume, and the battery power of carrying is limited, consequently need charge after working a period.
With reference to fig. 1 and 2, the charging cabin includes a cabin body 10, the cabin body 10 is installed on an oil filling pipe 2 of an oil immersion type device 1 to be inspected, an exhaust valve 11 is arranged at the top of the cabin body 10, an electric energy output device 13 is arranged inside the cabin body 10, and the inspection robot fish is placed in the cabin body 10.
The cabin 10 can be a square cabin, for example, one end of the cabin 10 is provided with a flange structure 12 matched with the oil filling pipe 2, the cabin 10 is installed on the oil filling pipe 2 of the oil immersion type equipment to be inspected 1 through the flange structure 12, then the exhaust valve 11 at the top of the cabin 10 is opened, the oil drain valve 3 of the oil filling pipe 2 is opened, at the moment, filling oil of the equipment to be inspected flows into the cabin 10 of the charging cabin, meanwhile, the filling oil exhausts air in the cabin 10 from the exhaust valve 11, when the filling oil fills the cabin 10 of the charging cabin, the exhaust valve 11 is closed, at the moment, the inspection robot fish can conveniently enter the equipment to be inspected from the cabin 10 through the oil filling pipe 2, and the internal components of the equipment to be inspected are inspected; when charging is needed, the inspection robot fish returns to the cabin body of the charging cabin and is close to the electric energy output device of the charging cabin for charging; in this application embodiment, treat the equipment of patrolling and examining with the cabin body and oily formula as an organic whole through oiling pipe UNICOM, the cabin body gets into the buffering space and the space of charging of waiting to patrol and examine equipment as patrolling and examining the machine fish, can be under the condition that patrols and examines the machine fish and do not take out, carries out wireless charging for this patrolling and examining the machine fish, has improved and has patrolled and examined efficiency.
With reference to fig. 3 and 9, the electric energy output device 13 is disposed inside the cabin 10 of the charging cabin, and includes a power module 131, a switch module 132, an inverter module 133, and an output coil module 134; the power module 131 is connected with the switch module 132, the switch module 132 is connected with the inverter module 133, and the inverter module 133 is connected with the output coil module 134; wherein, this power module 131 can be direct current power supply for example, and switch module 132 controls the switch of power module 131, and contravariant module 133 is used for turning into the alternating current with power module 131's direct current, then transmits this alternating current to output coil module 134, and output coil module 134 transmits this alternating current to patrolling and examining the robotic fish through wireless mode, accomplishes the charging of patrolling and examining the robotic fish.
Specifically, in conjunction with fig. 9, the power output device 13 further includes a proximity sensor 135, and the proximity sensor 135 is connected to the switch module 132 through a control module 136; when needs charge, patrol and examine the robot fish and return the cabin body and be close to electric energy output device, at this moment, proximity sensor detects patrolling and examining being close to of robot fish, can send the signal to control module, and control module can control switch module after receiving this signal and open, and at this moment, power module's direct current turns into the alternating current through the contravariant module to transmit for patrolling and examining the robot fish through output coil module.
Specifically, with reference to fig. 2 and 3, the electric energy output device 13 further includes a limit electromagnet 137, the limit electromagnet 137 is connected to the switch module 132, when the switch module 132 is turned on, the limit electromagnet 137 is connected to the power module to generate a magnetic field and generate an electromagnetic force, the electromagnetic force can attract the limit module 24 on the inspection robot fish, which is matched with the limit electromagnet 137, for example, the limit module at a corresponding position on the inspection robot fish is made of an iron-containing material, and the limit electromagnet can attract the limit module; and then make and patrol and examine the machine fish and hug closely electric energy output device, reduced the magnetic leakage of output coil module, improved wireless efficiency of charging.
Specifically, referring to fig. 3, 5 and 6, a first concentric magnetic ring 14 is disposed concentrically with the output coil module 134, and the output coil module 134 is disposed in a first groove 15 of the first concentric magnetic ring 14; the first concentric magnetic ring 14 can provide a low reluctance path for the magnetic field of the output coil module 134, and at the same time, the magnetic leakage of the output coil module is reduced, thereby improving the wireless charging efficiency.
Specifically, with reference to fig. 9, the charging cabin further includes a display module 138, the display module 138 is connected to the power module 131, and the display module 138 can receive an electric quantity signal sent by the robot fish for inspection and display the electric quantity signal in real time, so as to conveniently control the timing when the robot fish for inspection returns to charge; for convenience of illustration, the display module 138 may be disposed at an end of the nacelle 10.
The charging chamber of the embodiment of the application is described above, and the inspection robot fish used in cooperation with the charging chamber will be described below.
In another aspect, the embodiment of the present application provides an inspection robot fish, which can be placed in a cabin 10 of a charging cabin and receive electric energy from the charging cabin, with reference to fig. 2 and 4; specifically, the robot fish for inspection includes a robot fish body 20 for inspection, an electric energy receiving device 21 is disposed on the robot fish body 20 for inspection, and with reference to fig. 9, the electric energy receiving device 21 includes a receiving coil module 211, a rectifying and filtering module 212 and a battery module 214, the rectifying and filtering module 212 is connected to the receiving coil module 211, and the battery module 214 is connected to the rectifying and filtering module 212; wherein, it can be understood that the receiving coil module 211 is matched with the output coil module 134 of the charging cabin to receive the alternating current output by the output coil module 134, and then the alternating current is converted into direct current by the rectifying and filtering module 212 and transmitted to the battery module 214 to complete the charging of the inspection robot fish.
Specifically, referring to fig. 9, the power receiving device 21 further includes a voltage stabilizing module 213 disposed between the rectifying and filtering module 212 and the battery module 214; the voltage stabilizing module 213 can stabilize the dc power fluctuating in a certain voltage range converted by the rectifying and filtering module 212 to a fixed voltage, and then transmit the dc power to the battery module, thereby improving the charging efficiency.
Specifically, referring to fig. 4, the inspection robot fish body 20 is provided with a limit module 24, and the limit module 24 can be attracted by the limit electromagnet 137 of the charging cabin so that the output coil module 134 is attached to the receiving coil module 211 of the inspection robot fish and transmits electric energy.
Specifically, referring to fig. 9, the power receiving device 21 further includes a voltage detecting module 215, the voltage detecting module 215 is connected to the battery module 214, and wirelessly transmits the electric quantity signal of the battery module 214 to the display module 138 of the charging cabin, so that the display module 138 displays the electric quantity of the battery module 214 in real time, and the timing of returning the robot fish to be charged is conveniently controlled.
Specifically, referring to fig. 7 and 8, a second concentric magnetic ring 22 is disposed concentrically with the receiving coil module 211, and the receiving coil module 211 is disposed in a second groove 23 of the second concentric magnetic ring 22; the second concentric magnetic ring 22 can provide a low reluctance path for the magnetic field of the receiving coil module 211, and at the same time, the magnetic leakage of the receiving coil module is reduced, thereby improving the wireless charging efficiency.
Specifically, referring to fig. 4, the inspection robot fish body is provided with a propulsion device 25, for example, the propulsion device 25 may be a propeller propulsion device, and the propulsion device may control the advancing direction and the advancing speed of the inspection robot fish.
It should be noted that, the charging cabin of the embodiment of the present application is used in cooperation with the robot fish for inspection, and the charging cabin can charge the robot fish for inspection, wherein the size and the position of the electric energy output device of the charging cabin are matched with the size and the position of the electric energy receiving device of the robot fish for inspection, for example, as shown in fig. 1 and 2, the electric energy output device of the charging cabin can be arranged on the bottom surface of the cabin body, and the electric energy receiving device is arranged at the bottom of the robot fish for inspection in order to facilitate charging; or the electric energy output device can be arranged on the side wall of the cabin body, and the electric energy receiving device is arranged on the side part of the inspection robot fish for charging conveniently.
The cabin of charging and the cooperation of patrolling and examining the machine fish of this application embodiment, the electro-magnet that at first utilizes the cabin of charging will patrol and examine the spacing module of machine fish iron material and catch, make output coil module and receiving coil module to it and hug closely, then the cabin of charging utilizes electromagnetic induction's principle to patrol and examine the machine fish and carry out wireless charging, need aim at the operation of the mouth that charges when having avoided wired charging, has improved charge efficiency.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides a charging cabin, its characterized in that, charging cabin is used for patrolling and examining the machine fish and charging and make it waits to patrol and examine equipment (1) to patrol and examine the machine fish entering oil-immersed formula, charging cabin includes:
the cabin body (10), the cabin body (10) is mounted on the oil filling pipe (2) of the oil-immersed equipment to be inspected (1) in a communicating manner;
the exhaust valve (11) is positioned at the top of the cabin body (10);
the electric energy output device (13) is arranged inside the cabin body (10), and the electric energy output device (13) comprises a power supply module (131), a switch module (132) connected with the power supply module (131), an inverter module (133) connected with the switch module (132), and an output coil module (134) connected with the inverter module (133);
the power module (131) is used for providing direct current, the inverter module (133) is used for converting the direct current into alternating current, and the output coil module (134) is used for outputting the alternating current to the inspection robot fish.
2. Charging chamber according to claim 1, characterized in that a first concentric magnetic ring (14) is arranged concentrically with the output coil module (134), the output coil module (134) being arranged in a first groove (15) of the first concentric magnetic ring (14).
3. The charging bay according to claim 1, wherein the power output device (13) further comprises a limit electromagnet (137), the limit electromagnet (137) being connected to the switch module (132) for generating an electromagnetic force when communicating with the power module (131).
4. The charging bay according to claim 1, wherein the power output device (13) further comprises a proximity sensor (135), the proximity sensor (135) being connected to the switch module (132) via a control module (136).
5. The charging bay according to claim 1, further comprising a display module (138), the display module (138) being connected to the power module (131).
6. The utility model provides an inspection robot fish, its characterized in that, inspection robot fish follows the electric energy is received to the cabin of charging, inspection robot fish includes:
a robot fish body (20) is inspected;
the electric energy receiving device (21) is arranged on the inspection robot fish body (20), and the electric energy receiving device (21) comprises a receiving coil module (211), a rectifying and filtering module (212) connected with the receiving coil module (211), and a battery module (214) connected with the rectifying and filtering module (212);
the receiving coil module (211) is used for receiving the alternating current output by the output coil module (134), and the rectifying and filtering module (212) is used for converting the alternating current into direct current and transmitting the direct current to the battery module (214).
7. The inspection robot fish according to claim 6, wherein the power receiving device (21) further includes a voltage stabilization module (213) disposed between the rectifier and filter module (212) and the battery module (214).
8. The inspection robot fish according to the claim 6, wherein the inspection robot fish body (20) is provided with a limiting module (24), and the limiting module (24) can be attracted by the limiting electromagnet (137) so that the output coil module (134) can be attached to the receiving coil module (211) and transmit electric energy.
9. The inspection robot fish according to claim 6, wherein the power receiving device (21) further comprises a voltage detection module (215), and the voltage detection module (215) is connected with the battery module (214) and wirelessly transmits the power signal of the battery module (214) to the display module (138).
10. The inspection robot fish according to claim 6, wherein a second concentric magnetic ring (22) is disposed concentrically with the receive coil module (211), and the receive coil module (211) is disposed in a second groove (23) of the second concentric magnetic ring (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910857532.XA CN112467852A (en) | 2019-09-09 | 2019-09-09 | Charging cabin and inspection robot fish matched with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910857532.XA CN112467852A (en) | 2019-09-09 | 2019-09-09 | Charging cabin and inspection robot fish matched with same |
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| Publication Number | Publication Date |
|---|---|
| CN112467852A true CN112467852A (en) | 2021-03-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910857532.XA Pending CN112467852A (en) | 2019-09-09 | 2019-09-09 | Charging cabin and inspection robot fish matched with same |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4942352A (en) * | 1988-09-09 | 1990-07-17 | Toppan Moore Co., Ltd. | Non-contacting power supplying system |
| CN101771283A (en) * | 2008-12-29 | 2010-07-07 | 鸿富锦精密工业（深圳）有限公司 | Charging system |
| CN102723791A (en) * | 2012-07-09 | 2012-10-10 | 长沙理工大学 | Wireless charging system of watercourse illegal pollution discharge detection robot fish |
| CN106685105A (en) * | 2017-03-24 | 2017-05-17 | 国网电力科学研究院武汉南瑞有限责任公司 | Wireless power supply system and method for intelligent substation inspection robot based on resonance magnetic coupling |
| CN208158158U (en) * | 2018-04-02 | 2018-11-27 | 青岛森科特智能仪器有限公司 | A kind of underwater cleaning robot charging unit |
| CN109283363A (en) * | 2018-08-08 | 2019-01-29 | 国网辽宁省电力有限公司葫芦岛供电公司 | Transformer detection robot exempts to tear lossless injection device open |
-
2019
- 2019-09-09 CN CN201910857532.XA patent/CN112467852A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4942352A (en) * | 1988-09-09 | 1990-07-17 | Toppan Moore Co., Ltd. | Non-contacting power supplying system |
| CN101771283A (en) * | 2008-12-29 | 2010-07-07 | 鸿富锦精密工业（深圳）有限公司 | Charging system |
| CN102723791A (en) * | 2012-07-09 | 2012-10-10 | 长沙理工大学 | Wireless charging system of watercourse illegal pollution discharge detection robot fish |
| CN106685105A (en) * | 2017-03-24 | 2017-05-17 | 国网电力科学研究院武汉南瑞有限责任公司 | Wireless power supply system and method for intelligent substation inspection robot based on resonance magnetic coupling |
| CN208158158U (en) * | 2018-04-02 | 2018-11-27 | 青岛森科特智能仪器有限公司 | A kind of underwater cleaning robot charging unit |
| CN109283363A (en) * | 2018-08-08 | 2019-01-29 | 国网辽宁省电力有限公司葫芦岛供电公司 | Transformer detection robot exempts to tear lossless injection device open |
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Application publication date: 20210309 |
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