Underwater equipment array type energy-gathering wireless charging primary coil structure and coil device

Abstract

The invention provides an underwater equipment array type energy-gathering wireless charging primary coil structure and a coil device. In the primary coil structure, a plurality of primary coil unit arrays are mounted on a substrate. Each primary coil unit comprises a primary coil assembly, a coil translation assembly and a coil rotation assembly, the coil translation assembly is used for enabling the primary coil to translate along the axis of the primary coil, and the coil rotation assembly is used for enabling the primary coil to rotate around two directions perpendicular to each other in a plane perpendicular to the axis of the coil; therefore, the three-degree-of-freedom movement of the primary coils is realized, and the orientation of each primary coil is adjusted. The position and orientation of each primary coil in the coil array can be adjusted for underwater equipment with different volumes, positions and corresponding power requirements, so that the magnetic fields of the coils are superposed at the position of the secondary coil, the magnetic field intensity reaches the maximum, the energy gathering effect is realized, the wireless charging efficiency is improved, and the wireless charging cost is reduced. Therefore, efficient charging of different underwater devices can be ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of wireless charging coil structures, and in particular relates to an array-type energy-gathering wireless charging primary coil structure for underwater equipment and an energy-gathering wireless charging coil device for underwater equipment comprising the primary coil structure. Background Art

[0002] Underwater equipment such as underwater vehicles have many applications such as hydrological collection, seabed topography detection, and resource exploration. Currently, the charging of electric-powered underwater vehicles mainly includes manual charging and underwater docking charging. Underwater docking charging installs fixed / floating charging stations on the seabed, sea surface, or other locations. The vehicle can return to these charging stations for charging during the mission, which has the advantages of convenience, speed, and high degree of automation.

[0003] Wireless charging is an underwater docking charging technology that transfers energy through the mutual coupling between the secondary coil on the vehicle and the primary coil at the charging station. It has the advantages of no physical connection, avoiding corrosion and damage to the connecting elements, and reducing the risk of leakage. However, in conventional wireless charging coil devices, the position of the primary coil is fixed. When the secondary coil is far away or smaller or larger than the primary coil, the magnetic field coupling strength is low, resulting in low power transmission efficiency, and cannot adapt to the efficient charging of underwater equipment of different sizes and positions and corresponding power requirements. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the wireless charging coil device in the prior art cannot adapt to the efficient charging of different underwater equipment, and to provide an array-type energy-gathering wireless charging primary coil structure for underwater equipment and a coil device including the primary coil structure. The present invention installs the primary coil on a three-degree-of-freedom platform to form a coil array, and can control the position of each primary coil for underwater equipment of different volumes and positions and corresponding power requirements, thereby maximizing the magnetic field strength and ensuring efficient charging of different underwater equipment.

[0005] To achieve the above purpose, the technical solution provided by the present invention is:

[0006] One aspect of the present invention provides an array-type energy-gathering wireless charging primary coil structure for underwater equipment, comprising a substrate and a plurality of primary coil units;

[0007] The plurality of primary coil units are mounted on the substrate and arranged in a plurality of rows and columns at equal intervals;

[0008] Each primary coil unit includes a primary coil assembly, a coil translation assembly and a coil rotation assembly. The primary coil assembly includes a magnetic core and a primary coil laid on the magnetic core. The coil translation assembly is used to translate the primary coil along the axis of the primary coil. The coil rotation assembly is used to rotate the primary coil in two directions perpendicular to each other in a plane perpendicular to the coil axis, thereby realizing three-degree-of-freedom movement of the primary coil and adjusting the orientation of each primary coil.

[0009] Furthermore, the coil translation assembly includes a screw motor structure and a slide rail mechanism; the screw motor structure includes a motor body, a screw and a screw flange, the screw flange is installed to the base plate so that the screw passes through the base plate with its axis parallel to the axis of the primary coil; the slide rail mechanism includes a slider and a slide rail, the slider is fixed to the base plate, the slide rail is parallel to the screw and can slide along the slideway on the slider, and the slide rail and the motor body are both connected to the coil rotation assembly to drive the coil rotation assembly and the primary coil to translate along the coil axis.

[0010] Furthermore, the coil rotation assembly includes a bracket assembly and an X-axis reduction motor and a Y-axis reduction motor, the bracket assembly includes a first bracket, a second bracket, a rotating shaft and a connecting piece; the slide rail and the motor body are fixedly connected to the first bracket, and the magnetic core is fixedly connected to the second bracket; the base of the Y-axis reduction motor is fixed to the first bracket, and the output shaft drives the rotating shaft mounted thereon to rotate, and the rotating shaft is rotatably supported by the first bracket; the connecting piece is mounted on the rotating shaft and can rotate with the rotating shaft together with the second bracket, thereby realizing the rotation of the primary coil around the Y-axis; the X-axis reduction motor is perpendicular to the Y-axis reduction motor, and the base is fixed to the second bracket, and the output shaft is fixedly connected to the connecting piece, thereby realizing the rotation of the primary coil around the X-axis.

[0011] Furthermore, two slide rail mechanisms are symmetrically arranged about the axis of the screw rod.

[0012] Furthermore, each primary coil unit also includes a mounting plate, which is used to realize the installation of the primary coil unit on the substrate; the mounting plate is fixedly connected to the substrate, the screw rod passes through the mounting plate and the screw rod flange is installed to the mounting plate, and the slider is connected to the mounting plate.

[0013] Furthermore, each primary coil unit also includes an electromagnetic shielding layer attached to the magnetic core facing the substrate, which is used to prevent the electromagnetic field generated by the primary coil from interfering with the movement and control of the coil translation assembly and the coil rotation assembly.

[0014] Furthermore, there are nine primary coil units arranged in three rows and three columns at equal intervals.

[0015] Another aspect of the present invention provides an underwater equipment energy-gathering wireless charging coil device, comprising the above-mentioned underwater equipment array energy-gathering wireless charging primary coil structure, and also comprising a secondary coil structure for being arranged on the underwater equipment.

[0016] The advantages of the present invention are:

[0017] 1. The underwater equipment array-type energy-gathering wireless charging primary coil structure of the present invention comprises multiple primary coils in multiple primary coil units installed on a three-degree-of-freedom platform to form a coil array. Each of the primary coils arranged in the array can translate along the coil axis and rotate in two directions perpendicular to each other in a plane perpendicular to the coil axis. For underwater equipment of different volumes, positions and corresponding power requirements, the position and orientation of each primary coil in the coil array can be adjusted so that the magnetic fields of each coil are superimposed at the position of the secondary coil, the magnetic field strength reaches the maximum, the energy-gathering effect is achieved, and the wireless charging efficiency is improved, thereby ensuring efficient charging of different underwater equipment.

[0018] 2. Compared with the existing wireless charging coil device, the underwater equipment energy-gathering wireless charging coil device of the present invention has a maximum magnetic field strength because the magnetic fields of the coils arranged in an array in the primary coil structure are superimposed at the secondary coil position, thereby achieving an energy-gathering effect and improving the wireless charging efficiency. The device can be adapted to the efficient charging of underwater equipment of different volumes and positions and corresponding power requirements, and has strong applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or other features and advantages of the present invention will become more easily understood through the following description with reference to the accompanying drawings, which are not drawn to scale and some features are exaggerated or reduced to show details of specific components. In the accompanying drawings:

[0020] Figure 1 It is a schematic three-dimensional diagram of the underwater equipment array type energy-gathering wireless charging primary coil structure of the present invention;

[0021] Figure 2 The working principle of the underwater equipment array type energy-gathering wireless charging primary coil structure of the present invention is Figure 1 ;

[0022] Figure 3 The working principle of the underwater equipment array type energy-gathering wireless charging primary coil structure of the present invention is Figure 2 ;

[0023] Figure 4 is a schematic three-dimensional diagram of a primary coil unit in the present invention;

[0024] Figure 5 is a schematic front view of the primary coil unit of the present invention;

[0025] Figure 6 It is a schematic exploded perspective view of the coil rotating assembly in the primary coil unit of the present invention.

[0026] In the figure: 1-substrate; 2-primary coil unit, 21-primary coil assembly, 211-magnetic core, 212-primary coil, 22-coil translation assembly, 221-screw motor structure, 2211-motor body, 2212-screw, 2213-screw flange, 222-slide rail mechanism, 2221-slider, 2222-slide rail, 23-coil rotation assembly, 231-first bracket, 232-second bracket, 233-rotating shaft, 234-connector, 235-X-axis reduction motor, 236-Y-axis reduction motor, 237-bearing, 24-three-degree-of-freedom mechanism, 25-mounting plate; 100-underwater equipment, 101-secondary coil. DETAILED DESCRIPTION

[0027] The present invention will be described in detail below with reference to the accompanying drawings by means of exemplary embodiments of the present invention. It should be noted that the following detailed description of the present invention is only for the purpose of illustration, and is not intended to limit the present invention.

[0028] The present invention provides an array-type energy-gathering wireless charging primary coil structure for underwater equipment and an energy-gathering wireless charging coil device for underwater equipment including the primary coil structure. The primary coil structure can be connected to an underwater wireless charging base station to dock with underwater equipment that needs to be supplied with electric energy, and wireless charging is performed through magnetic field coupling between the primary coil and the secondary coil on the equipment. In order to adapt to the secondary coils of various equipment, the present invention adopts the method of installing the primary coil on a small three-degree-of-freedom platform to form a coil array, and maximizing the magnetic field strength in a specific area by controlling the orientation of each coil, thereby realizing energy-gathering charging and improving the efficiency of wireless charging.

[0029] First, the underwater equipment array-type energy-gathering wireless charging primary coil structure provided by the present invention is described.

[0030] Reference Figures 1 to 3 As an exemplary embodiment of the present invention, the underwater equipment array-type energy-gathering wireless charging primary coil structure includes a substrate 1 and a plurality of primary coil units 2, wherein the substrate 1 is used to provide support for the primary coil unit 2, and the primary coil unit 2 includes a primary coil and a motion mechanism that enables the primary coil to perform three-degree-of-freedom motion, wherein the three-degree-of-freedom motion is translation along the Z axis and rotation around the X axis and the Y axis, wherein the Z axis is the axial direction of the primary coil.

[0031] like Figure 1 As shown, a plurality of primary coil units 2 are mounted on a substrate 1, and the substrate 1 is roughly rectangular, but this is only an example, and the substrate may also be of other shapes. The primary coil units 2 are arranged in multiple rows and columns at equal intervals. In a specific embodiment, there are nine primary coil units 2, and they are arranged in three rows and three columns at equal intervals. This arrangement allows the primary coil structure to adapt not only to underwater equipment in the shape of a rotating body, but also to equipment in the shape of a box, such as Figure 2and Figure 3 As shown, Figure 2 The underwater equipment 100 is in the shape of a rotating body. Figure 3 The underwater equipment 100 is box-shaped.

[0032] Combination Figure 4 and Figure 5 Each primary coil unit 2 includes a primary coil assembly 21, a coil translation assembly 22 and a coil rotation assembly 23. The coil translation assembly 22 and the coil rotation assembly 23 constitute a three-degree-of-freedom mechanism 24 for realizing the movement of the primary coil assembly 21, and are installed between the substrate 1 and the primary coil assembly 21. The primary coil assembly 21 includes a magnetic core 211 and a primary coil 212 laid on the magnetic core 211. The magnetic core 211 is a ferrite core, and the primary coil 212 can be annularly wound on the magnetic core. The coil translation assembly 22 is used to translate the primary coil 212 along the axis of the primary coil 212, and the coil rotation assembly 23 is used to rotate the primary coil 212 in two directions perpendicular to each other in a plane perpendicular to the coil axis, thereby realizing the three-degree-of-freedom movement of the primary coil 212, thereby adjusting the orientation of each primary coil 212.

[0033] Each primary coil unit 2 may also include an electromagnetic shielding layer attached to the magnetic core 211 facing the substrate 1, which is used to prevent the electromagnetic field generated by the primary coil 212 from interfering with the movement and control of the coil translation assembly 22 and the coil rotation assembly 23, thereby improving the accuracy of the three-degree-of-freedom movement of the primary coil.

[0034] In an exemplary embodiment of the present invention, the coil translation assembly 22 includes a screw motor structure 221 and a slide rail mechanism 222. The screw motor structure 221 is used to provide translational movement of the primary coil along the Z axis, and the slide rail mechanism 222 is used to guide the movement.

[0035] The screw motor structure 221 includes a motor body 2211, a screw 2212 and a screw flange 2213. The screw flange 2213 is installed to the substrate 1 so that the screw 2212 passes through the substrate 1 in a manner that the axis is parallel to, especially colinear with, the axis of the primary coil 212. The motor body 2211 is connected to the coil rotating assembly 23, and the coil rotating assembly 23 is connected to the primary coil assembly 21. Therefore, when the screw motor structure 221 is powered on, the screw 2212 rotates around its own axis, and the motor body 2211 translates along the screw, thereby driving the coil rotating assembly 23 and the primary coil assembly 21 to translate along the Z axis, that is, the axis of the primary coil.

[0036] The slide rail mechanism 222 includes a slider 2221 and a slide rail 2222. The slider 2221 is fixedly connected to the base plate 1 and is used to provide a slideway for the slide rail 2222. Two slide rail mechanisms 222 can be symmetrically arranged about the axis of the lead screw 2212. The slide rail 2222 is parallel to the lead screw 2212 and can slide along the slideway on the slider 2221. The slide rail 2222 is connected to the coil rotating assembly 23 to provide guidance for the translation of the coil rotating assembly 23 and the primary coil 212, thereby ensuring the accuracy and stability of the movement of the primary coil.

[0037] Recombination Figure 6 The coil rotating assembly 23 includes a bracket assembly, which includes a first bracket 231, a second bracket 232, a rotating shaft 233 and a connecting piece 234. The coil rotating assembly 23 also includes an X-axis reduction motor 235 and a Y-axis reduction motor 236. The first bracket 231 and the second bracket 232 can both be in a "U" shape, and include a connecting plate and two lugs extending in parallel from both ends of the connecting plate. The slide rail 2222 and the motor body 2211 are fixedly connected to the first bracket 231, especially to the connecting plate of the first bracket 231, so as to realize the stable translation movement of the first bracket 231, and the magnetic core 211 is fixedly connected to the second bracket 232, especially to the connecting plate of the second bracket 232, so as to move with the first bracket 231.

[0038] The base of the Y-axis reduction motor 236 is fixed to the first bracket 231, specifically one of the lugs of the first bracket 231. The output shaft is sleeved with a rotating shaft 233, which can drive the rotating shaft 233 to rotate. The rotating shaft 233 is rotatably supported by the first bracket 231, and optionally supported on the two lugs of the first bracket 231 through two bearings 237. The connecting member 234 can be in the shape of a hollow box, with the lower end sleeved on the rotating shaft 233 and can rotate with the rotating shaft 233 together with the second bracket 232, thereby realizing the rotation of the primary coil 212 around the Y axis. In some embodiments, in order to facilitate the installation of the rotating shaft 233 on the connecting member 234, the connecting member 234 can be provided with an axial opening leading to the rotating shaft mounting hole at the connection with the rotating shaft 233, so that the rotating shaft can enter the mounting hole, and then the rotating shaft can be fastened to the connecting member 234 by passing bolts perpendicular to the rotating shaft through the holes on both sides of the opening of the connecting member 234. With this structure, when the Y-axis reduction motor 236 is powered on, its base remains fixed, the output shaft rotates and drives the rotating shaft 233 to rotate around the Y-axis, and the rotating shaft 233 in turn causes the connecting member 234 to rotate around the Y-axis.

[0039] The X-axis reduction motor 235 is perpendicular to the Y-axis reduction motor 236. The base of the X-axis reduction motor 235 is fixed to the second bracket 232, especially one of the lugs of the second bracket 232. The output shaft is fixed to the upper end of the connecting member 234. The connecting member 234 can be located in the U-shaped second bracket 232. The output shaft of the X-axis reduction motor 235 passes through the lug of the second bracket and the upper end of the connecting member. With this structure, when the X-axis reduction motor 235 is powered on, its output shaft and the connecting member 234 remain fixed, and the base drives the second bracket 232 to rotate around the X-axis, thereby realizing the rotation of the primary coil 212 around the X-axis. In addition, when the Y-axis reduction motor 236 is working, the connecting member 234 is driven to rotate around the Y-axis, and the second bracket 232 rotates around the Y-axis at the same time, thereby realizing the rotation of the primary coil 212 around the Y-axis. As a result, the three-degree-of-freedom mechanism 24 realizes the translation of the primary coil 212 along the coil axis and the rotation of two directions perpendicular to each other in a plane perpendicular to the coil axis.

[0040] In order to modularize the primary coil structure and facilitate the connection and fixation of the coil unit to the substrate, in other embodiments of the present invention, each primary coil unit 2 further includes a mounting plate 25, which is used to realize the installation of the primary coil unit 2 on the substrate 1. The mounting plate 25 is fixedly connected to the substrate 1 and may be in a rectangular shape smaller than the substrate 1. The screw 2212 passes through the mounting plate 25 and the screw flange 2213 is mounted to the mounting plate 25. The slider 2221 is connected to the mounting plate 25.

[0041] According to the present invention, a detection device can be set to monitor the model, shape and specific position of the equipment to be charged, and the position of the secondary coil 101 in the equipment can be calculated by using a control loop, and the position and orientation control of each primary coil can be achieved by adjusting the lead screw motor, the X-axis reduction motor and the Y-axis reduction motor, so that the magnetic field of the primary coil is superimposed at the position of the equipment secondary coil to reach the maximum, and a set of primary coils can be adapted to the effect of the secondary coil of underwater equipment with different volumes and positions and corresponding power requirements. After adjusting the orientation of the primary coil, the base station starts to emit high-frequency alternating current, and transmits electric energy to the underwater equipment through the divergent magnetic field coupling of the primary coil and the secondary coil. After the energy transmission is completed, the equipment drives away, and the receiving end is separated from the primary coil structure. At the same time, the motor can be controlled to restore the orientation of the primary coil. From then on, the work of the primary coil structure is completed, and the base station enters the standby state.

[0042] Therefore, as described above, in the underwater equipment array-type energy-gathering wireless charging primary coil structure of the present invention, multiple primary coils in multiple primary coil units are installed on a three-degree-of-freedom platform to form a coil array, and each of the primary coils arranged in the array can translate along the coil axis and rotate in two directions perpendicular to each other in a plane perpendicular to the coil axis. For underwater equipment of different volumes and positions and corresponding power requirements, the position and orientation of each primary coil in the coil array can be adjusted so that the magnetic fields of each coil are superimposed at the secondary coil position, the magnetic field strength reaches the maximum, the energy gathering effect is achieved, and the wireless charging efficiency is improved, thereby ensuring efficient charging of different underwater equipment.

[0043] Next, the underwater equipment energy-gathering wireless charging coil device provided by the present invention is described.

[0044] As an exemplary embodiment of the present invention, the underwater equipment energy-gathering wireless charging coil device includes the above-mentioned underwater equipment array energy-gathering wireless charging primary coil structure, and also includes a secondary coil structure for being set on the underwater equipment. The secondary coil structure includes a secondary coil that is docked with the primary coil array in the primary coil structure for wireless power transmission. The relevant structure, advantages, and working process of the coil device can be found in the above description of the primary coil structure, which will not be repeated here.

[0045] Compared with the existing wireless charging coil device, the underwater equipment energy-gathering wireless charging coil device of the present invention has a maximum magnetic field strength because the magnetic fields of the coils arranged in an array in the primary coil structure are superimposed at the secondary coil position, thereby achieving an energy-gathering effect and improving the wireless charging efficiency. The device can be adapted to the efficient charging of underwater equipment of different volumes and positions and corresponding power requirements, and has strong applicability.

[0046] Finally, it should be noted that the features mentioned and / or shown in the above description of the exemplary embodiments of the present invention may be combined in the same or similar manner into one or more other embodiments, combined with the features in other embodiments or substituted for the corresponding features in other implementations. The technical solutions obtained by these combinations or substitutions shall also be deemed to be included in the protection scope of the present invention.

Claims

1. An array-type energy-gathering wireless charging primary coil structure for underwater equipment, characterized in that: comprising a substrate and a plurality of primary coil units; The plurality of primary coil units are mounted to the substrate and are arranged in a plurality of rows and columns at equal intervals; Each primary coil unit includes a primary coil assembly, a coil translation assembly and a coil rotation assembly. The primary coil assembly includes a magnetic core and a primary coil laid on the magnetic core. The coil translation assembly is used to translate the primary coil along the axis of the primary coil. The coil rotation assembly is used to rotate the primary coil in two directions perpendicular to each other in a plane perpendicular to the coil axis, thereby realizing three-degree-of-freedom movement of the primary coil, thereby adjusting the orientation of each primary coil.

2. The underwater equipment array type energy-gathering wireless charging primary coil structure according to claim 1 is characterized in that: The coil translation assembly includes a screw motor structure and a slide rail mechanism; The lead screw motor structure comprises a motor body, a lead screw and a lead screw flange, wherein the lead screw flange is mounted to the base plate so that the lead screw passes through the base plate in a manner that the axis thereof is parallel to the axis of the primary coil; The slide rail mechanism includes a slider and a slide rail, the slider is fixed to the base plate, the slide rail is parallel to the lead screw and can slide along the slideway on the slider, the slide rail and the motor body are connected to the coil rotating assembly to drive the coil rotating assembly and the primary coil to translate along the coil axis.

3. The underwater equipment array type energy-gathering wireless charging primary coil structure according to claim 2 is characterized in that: The coil rotating assembly includes a bracket assembly and an X-axis reduction motor and a Y-axis reduction motor, and the bracket assembly includes a first bracket, a second bracket, a rotating shaft and a connecting piece; The slide rail and the motor body are fixedly connected to the first bracket, and the magnetic core is fixedly connected to the second bracket; The base of the Y-axis reduction motor is fixed to the first bracket, and the output shaft drives the rotating shaft mounted thereon to rotate, and the rotating shaft is rotatably supported by the first bracket; the connecting piece is mounted on the rotating shaft and can rotate with the rotating shaft together with the second bracket, thereby realizing the rotation of the primary coil around the Y-axis; the X-axis reduction motor is perpendicular to the Y-axis reduction motor, and the base is fixed to the second bracket, and the output shaft is fixedly connected to the connecting piece, thereby realizing the rotation of the primary coil around the X-axis.

4. The underwater equipment array type energy-gathering wireless charging primary coil structure according to claim 2 or 3, characterized in that: The slide rail mechanisms are arranged in two symmetrical manners with respect to the axis of the screw rod.

5. The underwater equipment array type energy-gathering wireless charging primary coil structure according to claim 2 or 3, characterized in that: Each primary coil unit further comprises a mounting plate, wherein the mounting plate is used to realize the mounting of the primary coil unit on the substrate; The mounting plate is fixedly connected to the base plate, the screw rod passes through the mounting plate and the screw rod flange is mounted to the mounting plate, and the slider is connected to the mounting plate.

6. The underwater equipment array type energy-gathering wireless charging primary coil structure according to claim 1 or 2, characterized in that: Each primary coil unit further includes an electromagnetic shielding layer attached to the magnetic core facing the substrate, for preventing the electromagnetic field generated by the primary coil from interfering with the movement and control of the coil translation assembly and the coil rotation assembly.

7. The underwater equipment array type energy-gathering wireless charging primary coil structure according to claim 1 or 2, characterized in that: There are nine primary coil units arranged in three rows and three columns at equal intervals.

8. An underwater equipment energy-gathering wireless charging coil device, characterized in that: It comprises the underwater equipment array type energy-concentrating wireless charging primary coil structure as described in any one of claims 1 to 7, and also comprises a secondary coil structure for being arranged on the underwater equipment.

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