Space nested integrated inductor coil device and magnetic coupling mechanism applied to overhead line type inspection robot wireless power supply system

Abstract

The application provides a spatially nested integrated inductor coil device and a magnetic coupling mechanism thereof applied to a wireless power supply system of a suspended rail type inspection robot. The device comprises a first coil, a second coil, a third coil and a spatially nested integrated inductor coil. The first coil, the second coil and the third coil constitute a combined nested passive shielding coil and are located in a hollow part of a single-pole type receiving coil. The spatially nested integrated inductor coil is nested on the second coil. The application integrates separate compensation inductors into a main coil or integrates multiple separate compensation inductors with each other, thereby reducing the use of a magnetic core, reducing the weight of the system and reducing the installation space of the compensation inductor.

Description

Technical Field

[0001] This invention belongs to the field of dynamic wireless power supply technology for mobile devices, and in particular relates to a spatially nested integrated inductor coil device and its magnetic coupling mechanism for use in wireless power supply systems for rail-mounted inspection robots. Background Technology

[0002] Industrial robots are a crucial strategic technology industry in my country, and inspection robots are an important application of industrial robots. Traditional manual inspection methods suffer from drawbacks such as high labor intensity, low efficiency, and lack of accuracy and timeliness. They also pose significant safety risks in special environments or harsh weather conditions, such as high altitudes, oxygen-deficient areas, and cold climates. In contrast, inspection robots offer advantages such as full autonomy, high efficiency, all-weather inspection capabilities, high inspection accuracy, high safety, and strong environmental adaptability. Therefore, the widespread application of inspection robots has become an urgent need in industrial inspection.

[0003] like Figure 1 As shown, the rail-mounted inspection robot moves suspended below the guide rail, thus requiring low weight. For rail-mounted inspection robots using Wireless Power Transfer (WPT) technology, the battery can be removed to reduce the robot's weight. Simultaneously, to meet the motor's drive requirements, a multi-frequency, multi-coil WPT system is often used. To ensure the WPT system reaches resonance, a resonance compensation network is needed. To avoid using additional switch arrays, the resonance compensation network of a multi-frequency, multi-coil WPT system is typically complex, containing several resonant inductors and capacitors. Even if multiple receivers use series-to-series compensation with a small number of compensation components, a decoupling circuit is still needed to ensure that only one receiver picks up energy at any given time, increasing the number of compensation components. In past WPT system designs, compensation capacitors and inductors were typically discrete components. Since compensation capacitors can be surface-mount, they do not significantly increase size and weight. However, compensation inductors often have PQ or EE geometry ferrite cores, which undoubtedly increase the size and weight of the WPT system. Therefore, lightweight design of compensation inductors for WPT systems used in overhead rail inspection robots is particularly important.

[0004] Consider using magnetic integration to integrate discrete compensation inductors into the main coil or to integrate multiple discrete compensation inductors together, thereby reducing the use of magnetic cores, reducing system weight, and reducing the installation space for compensation inductors. Summary of the Invention

[0005] The purpose of this invention is to solve the problems in the prior art, and to propose a spatially nested integrated inductor coil device and its magnetic coupling mechanism for use in wireless power supply systems for rail-mounted inspection robots.

[0006] This invention is achieved through the following technical solution: This invention proposes a spatially nested integrated inductor coil device for a wireless power supply system of a rail-mounted inspection robot. The device includes a first coil 3, a second coil 4, a third coil 5, and a spatially nested integrated inductor coil 6. The first coil 3, the second coil 4, and the third coil 5 constitute a combined nested passive shielded coil located at the hollow part of the unipolar receiving coil 2. The spatially nested integrated inductor coil 6 is nested on the second coil 4.

[0007] Furthermore, the second coil 4 is a solenoid coil.

[0008] Furthermore, the spatially nested integrated inductor coil 6 is nested on the upper side of the second coil 4.

[0009] Furthermore, the spatially nested integrated inductor coil 6 has a solenoid coil structure.

[0010] Furthermore, the first coil 3 and the third coil 5 have the same structure, both being solenoid coil structures.

[0011] This invention proposes a magnetic coupling mechanism including the aforementioned spatially nested integrated inductor coil device. The magnetic coupling mechanism includes a wireless power supply system transmitting rail 1, a unipolar receiving coil 2, and a spatially nested integrated inductor coil device. The first coil 3 and the third coil 5 of the combined nested passive shielded coil are nested on two opposite sides of the unipolar receiving coil 2. The second coil 4 of the combined nested passive shielded coil is disposed in the hollow part of the unipolar receiving coil 2. The unipolar receiving coil 2 is disposed on one side of the wireless power supply system transmitting rail 1, with its height matching that of the wireless power supply system transmitting rail 1, and a certain transmission distance existing between them.

[0012] Furthermore, the unipolar receiving coil 2 is a rectangular coil.

[0013] The spatial nested integrated inductor coil device and its magnetic coupling mechanism for wireless power supply systems of rail-mounted inspection robots described in this invention integrate discrete compensation inductors into the main coil or integrate multiple discrete compensation inductors with each other, thereby reducing the use of magnetic cores, reducing system weight, and reducing the installation space of compensation inductors. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of a rail-mounted inspection robot;

[0015] Figure 2 This is a schematic diagram of a magnetic coupling mechanism that includes a spatially nested passive shielded coil;

[0016] Figure 3 This is a schematic diagram of orthogonal decoupling;

[0017] Figure 4 This is a schematic diagram showing the magnetic field distribution characteristics of a solenoid coil;

[0018] Figure 5 This is a schematic diagram of a magnetic coupling mechanism that includes a DD-type integrated inductor coil;

[0019] Figure 6 The graph shows the comparison results of the effect of adding an integrated inductor on the shielding performance; (a) without an integrated inductor, (b) with a DD-type integrated inductor, and (c) with a space-nested integrated inductor.

[0020] Explanation of markings in the diagram:

[0021] 1 is the wireless power supply system transmitting rail, 2 is the monopole receiving coil, 3 is the first coil, 4 is the second coil, 5 is the third coil, 6 is the space nested integrated inductor coil, and 7 is the DD type integrated inductor coil. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Combination Figures 1-6 This invention proposes a spatially nested integrated inductor coil device for use in a wireless power supply system for a rail-mounted inspection robot. The device includes a first coil 3, a second coil 4, a third coil 5, and a spatially nested integrated inductor coil 6. The first coil 3, the second coil 4, and the third coil 5 constitute a combined nested passive shielded coil located at the hollow part of the unipolar receiving coil 2. The spatially nested integrated inductor coil 6 is nested on the second coil 4.

[0024] The second coil 4 is a solenoid coil.

[0025] The spatially nested integrated inductor coil 6 is nested on the upper side of the second coil 4.

[0026] The spatially nested integrated inductor coil 6 has a solenoid coil structure.

[0027] The first coil 3 and the third coil 5 have the same structure, both being solenoid coil structures.

[0028] Due to the orthogonality of magnetic flux, spatially nested integrated inductor coils can be decoupled from combined nested passive shielded coils, such as... Figure 3As shown. Furthermore, due to the distribution characteristics of the magnetic field of the solenoid coil, the magnetic flux generated by it entering and exiting the transmitting and receiving coils cancels each other out. Therefore, the spatially nested integrated inductor coil can achieve spatial decoupling from the transmitting and receiving coils.

[0029] The impact of adding a spatially nested integrated inductor coil on the system's shielding performance is analyzed. Due to the magnetic field distribution characteristics of the solenoid coil, the magnetic field it emits mainly exhibits superposition and cancellation with leakage magnetic field in regions A and B. In region C, the magnetic field lines are primarily parallel to the receiving coil plane, with only a small portion perpendicular to the plane. Figure 4 As shown. Therefore, the magnetic field generated by the spatially nested integrated inductor coil does not have a significant impact on the shielding performance.

[0030] This invention proposes a magnetic coupling mechanism including the aforementioned spatially nested integrated inductor coil device. The magnetic coupling mechanism includes a wireless power supply system transmitting rail 1, a unipolar receiving coil 2, and a spatially nested integrated inductor coil device. The first coil 3 and the third coil 5 of the combined nested passive shielded coil are nested on two opposite sides of the unipolar receiving coil 2. The second coil 4 of the combined nested passive shielded coil is disposed in the hollow part of the unipolar receiving coil 2. The unipolar receiving coil 2 is disposed on one side of the wireless power supply system transmitting rail 1, with its height matching that of the wireless power supply system transmitting rail 1, and a certain transmission distance existing between them.

[0031] The unipolar receiving coil 2 is a rectangular coil.

[0032] The spatially nested integrated inductor coil proposed in this invention is compared with the DD-type integrated inductor coil. The DD-type integrated inductor coil utilizes spatial decoupling between a bipolar coil and a unipolar coil to achieve decoupling from the transmitting coil, the receiving coil, and the solenoid coil in the middle of the nested passive shielding coil. Furthermore, by placing it in the hollow position of the receiving coil, it is on the same plane as the solenoid coils 3 and 5 on both sides of the nested passive shielding coil. Therefore, the magnetic field generated by the DD coil will not pass through the solenoid coils on both sides, thus achieving spatial self-decoupling from the solenoid coils on both sides. The model of the DD-type integrated inductor coil built in MAXWELL software is shown below. Figure 5 As shown.

[0033] Figure 5 1 is the WPT system transmitting rail, 2 is the monopole receiving coil, 3, 4 and 5 form a combined nested passive shielded coil located in the hollow part of the receiving coil, and 7 is a DD type integrated inductor coil.

[0034] Comparative analysis of the impact of adding an integrated inductor coil on shielding performance, such as Figure 6As shown in the diagram. According to simulation results, after adding a DD-type integrated inductor, the shielding performance changes at the position directly opposite the DD-type integrated inductor, while remaining essentially unchanged at other positions. Specifically, at the position directly opposite the DD-type integrated inductor, leakage flux increases on the left and decreases on the right. This is because the magnetic field direction on the left side of the DD-type integrated inductor is the same as the incident magnetic field direction, while the magnetic field direction on the right side is opposite to the incident magnetic field direction. The spatially nested integrated inductor proposed in this invention solves the leakage flux shielding problem caused by the superposition of magnetic fields from the DD-type integrated inductor.

[0035] The spatial nested integrated inductor coil device and its magnetic coupling mechanism for use in the wireless power supply system of a rail-mounted inspection robot, as proposed in this invention, have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A space-nested integrated inductor coil device for use in a wireless power supply system for a rail-mounted inspection robot, characterized in that, The device comprises a first coil (3), a second coil (4), a third coil (5) and a spatially nested integrated inductance coil (6); the first coil (3), the second coil (4) and the third coil (5) constitute a combined nested passive shielding coil, located in the hollow of a monopole receiving coil (2); the spatially nested integrated inductance coil (6) is nested on the second coil (4); The second coil (4) is a solenoid coil. The spatially nested integrated inductance coil (6) is nested on the upper side length of the second coil (4).

2. The apparatus of claim 1, wherein, The spatially nested integrated inductance coil (6) is a solenoid coil structure.

3. The apparatus of claim 2, wherein, The first coil (3) and the third coil (5) are of the same structure, both being solenoid coil structures.

4. A magnetic coupling mechanism comprising the spatially nested integrated inductor coil arrangement of any one of claims 1-3, characterized in that, The magnetic coupling mechanism comprises a wireless power supply system transmission rail (1), a monopole receiving coil (2) and a spatially nested integrated inductance coil device; the first coil (3) and the third coil (5) in the combined nested passive shielding coil are nested on two opposite sides of the monopole receiving coil (2), the second coil (4) in the combined nested passive shielding coil is arranged in the hollow of the monopole receiving coil (2), the monopole receiving coil (2) is arranged on one side of the wireless power supply system transmission rail (1), the height of the monopole receiving coil (2) is consistent with that of the wireless power supply system transmission rail (1), and there is a certain transmission distance between the monopole receiving coil (2) and the wireless power supply system transmission rail (1).

5. The magnetic coupling mechanism of claim 4, wherein, The monopole receiving coil (2) is a rectangular coil.

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