Full-rotation type non-contact power transmission connector device and electric energy transmission method based thereupon

Abstract

To provide a full-rotation type non-contact power transmission connector device.SOLUTION: A full-rotation type non-contact power transmission connector device includes a power supply module a full-bridge inverter module, a primary-side resonance compensation module, a full-rotation type ball connector module, a secondary-side resonance compensation module, and a full-bridge rectification module. The power supply module supplies a supply voltage required for the device. The full-rotation type ball connector module provides radial rotation between a ball head device and a ball seat device, and a receiving coil and a transmitting coil are located in the ball head device and ball seat device, respectively. The primary- and second-side resonance compensation modules include primary- and secondary-side LCC reactive power compensation modules and primary- and secondary-side coil capacitors.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present application relates to the field of wireless power transmission, or wireless power supply technology, and particularly to a full-rotation non-contact power transmission connector device.

Background Art

[0002] In recent years, with the development of global ocean resources, for example, underwater work activities such as ecological surveys and maintenance related to the natural environment of the sea, exploration and detection of ocean resources, etc. have begun to diversify. As a result, the demand for the application and development of underwater electro-mechanical devices is increasing. The energy transmission ability of underwater detection and work platforms is the key to determining their continuous navigation time, working range and functional diversification. The endurance ability of underwater electro-mechanical devices is also cited as a development issue. How to achieve safe and efficient underwater wireless power transmission has become one of the core technologies in the ocean field. In the ocean environment where it is necessary to meet various terrain environments and work requirements, there are more comprehensive and diverse requirements for underwater power transmission devices, and the requirement for higher connection flexibility is increasing. Therefore, such power transmission devices are expected to have wide applicability in fields such as underwater search and rescue, seabed exploration, and military reconnaissance.

[0003] Currently, in moored platforms, underwater buoys, buoys, and cable-type underwater work platforms, waterproof connectors are mainly used for power transmission by cable connection, and it is necessary to use a high-precision underwater wet plug-in connector to connect to the power source. In addition, underwater wireless power transmission (UWPT) has become a new type of underwater power transmission method. It has technical advantages that cannot be achieved by conventional power supply methods, and effectively improves the safety, reliability, convenience and concealment of AUV (Autonomous Underwater Vehicle) charging.

[0004] Based on the above two points, the underwater connector equipped with a wireless power transmission function device has great practical significance. Currently, the connectors used for underwater wired power transmission mainly have the following limitations: (1) Conventional waterproof connectors realize power transmission through cable connection and need to use a high-precision underwater wet plug-in connector to connect to the power source. The waterproof socket connector of the connection cable is extremely easy to be damaged and the cost is high. (2) Since the bending curvature of the connection cable is limited, it also affects the operating performance of the cable-type underwater working platform, and the connection freedom of the underwater working platform is limited. (3) The shape of the conventional coupler occupies a large area. In the underwater platform, the posture and azimuth angle change frequently. The waterproof connector is easily affected by interference that affects its connection speed and has insufficient resistance to the radial offset of the device.

Summary of the Invention

Problems to be Solved by the Invention

[0005] In accordance with the above limitations, the design and application of a new type of underwater connection device with a wireless power transmission function featuring low cost, radial offset resistance, flexibility, and high reliability are urgently needed.

Means for Solving the Problems

[0006] In order to solve the problems in the prior art, the present invention provides a full-rotation non-contact power transmission connector device, a power supply module for supplying a direct current to the full-rotation non-contact power transmission connector device, a full-bridge inverter module that receives the direct current provided by the power supply module and inversely converts the direct current into an alternating current with a high frequency for output, a primary-side resonance compensation module that receives the alternating current output from the full-bridge inverter module, and outputs an alternating current with a resonance frequency after reactive power compensation, A full-rotation ball connector module, including a ball head device, a ball seat device, a receiving coil and a transmitting coil. The ball head device matches with the ball seat device to realize full-direction rotation between the ball head device and the ball seat device. The receiving coil is wound inside the ball head device, and the transmitting coil is wound inside the ball seat device. The transmitting coil receives the alternating current of the resonant frequency output from the primary-side resonant compensation module, generates a resonant magnetic field, and further generates an alternating current in the receiving coil. The receiving coil outputs the alternating current. The primary-side resonant compensation module serves as the compensation module for the transmitting coil, and As the compensation module for the receiving coil, a secondary-side resonant compensation module that receives the alternating current output from the receiving coil and outputs the alternating current of the resonant frequency after reactive power compensation, and A full-bridge rectification module that receives the alternating current transmitted from the secondary-side resonant compensation module and rectifies the alternating current into a direct current for output.

[0007] Furthermore, the primary-side resonant compensation module includes a primary-side LCC reactive power compensation network module. The primary-side LCC reactive power compensation network module includes a transmitting-end compensation inductance connected to the input end of the transmitting coil, a transmitting-coil compensation capacitor connected in series with the transmitting coil, and a compensation capacitor connected in parallel with the transmitting coil. In order for the transmitting coil to reach the resonant frequency, the primary-side resonant compensation module generally shows a resistive state.

[0008] The secondary-side resonant compensation module includes a secondary-side LCC reactive power compensation network module. The secondary-side LCC reactive power compensation network module includes a receiving-end compensation inductance connected to the output end of the receiving coil, a receiving-coil compensation capacitor connected in series with the receiving coil, and a compensation capacitor connected in parallel with the receiving coil. In order for the receiving coil to reach the resonant frequency, the secondary-side resonant compensation module generally shows a resistive state.

[0009] The present invention further provides an electrical energy transmission method based on the above full - rotation non - contact power transmission connector device. The power supply module supplies a direct current to the full - rotation non - contact power transmission connector device. The direct current is inversely converted into an alternating current through a full - bridge inverter module. The alternating current serves as the input of the primary - side resonance compensation module. The primary - side resonance compensation module outputs an alternating current at the resonance frequency after reactive - power compensation. The transmitting coil receives the alternating current at the resonance frequency output from the primary - side resonance compensation module, generates a resonant magnetic field, and further generates an alternating current in the receiving coil. The receiving coil outputs the alternating current to the secondary - side resonance compensation module. The secondary - side resonance compensation module outputs an alternating current at the resonance frequency to the full - bridge rectification module after reactive - power compensation. The full - bridge rectification module rectifies the alternating current into a direct current, and the direct current is output to the external device that needs to be powered.

Advantages of the Invention

[0010] The present invention has the following beneficial effects compared with the prior art.

[0011] (1) In response to the requirements of offset prevention and power transmission stability in an underwater working environment, the present invention utilizes the structural characteristics of a full - rotation - type rotatable connector. In addition to the axial rotation between the ball head and the ball seat, radial rotation is also made possible. There is no direct electrical connection between the transmitting coil and the receiving coil, improving the flexibility of movement and the convenience of use, and having sufficient practical application value.

[0012] (2) The present invention selects reasonable voltage, current, level, and resonance frequency, reduces unnecessary eddy - current loss, uses a high - strength insulation housing to reduce the piezomagnetic effect and parasitic capacitance, and improves the transmission efficiency. A magnetic coupler with a strong offset - prevention ability and an LCC - LCC topology structure is designed to improve the offset - prevention stability. A rigorous electromagnetic compatibility (EMC) design is implemented in the system to ensure that the electromagnetic field generated by the coupling between the primary side and the secondary side does not affect the normal operation of the electronic devices inside the AUV, ensuring the electromagnetic compatibility of the system.

[0013] (3) In the magnetic coupler, the present invention can calculate the mutual inductance between parallel and non-parallel energized wirings by a mechanical structure that can be assembled into an underwater drone, set a specific splitting angle, and approximate a coil with an end angle smaller than the splitting angle to a planar spiral coil. When the start angle is larger than the splitting angle, it may be approximated to an axial spiral coil, select an appropriate combination of coil structures in the design, analyze the self-inductance, mutual inductance, and losses of various magnetic couplers applied to such a mechanical structure, and improve the efficiency of power transmission.

[0014] (4) The present invention designs a set of couplers suitable for underwater wireless power transmission (UWPT) with a transmission power of 1 kW and has a strong offset prevention ability. Also, an LCC-LCC compensated topology UWPT prototype with constant current characteristics is constructed and analyzed to verify that in the operating state where the mutual inductance changes when the magnetic coupler is offset, it is guaranteed that the currents of the primary coil and the secondary coil converge and show a changing trend, preventing excessive current stress from affecting the system, and enabling high-efficiency underwater wireless power transmission even when the offset is large. The present invention can flexibly respond to different task needs compared to the cable transmission method by the conventional method.

[0015] (5) The present invention uses a wireless power transmission method to ensure reliable power transmission, eliminates the need for high-precision underwater wet plug-in connectors that are easily damaged and frequently replaced and high-precision control that must be used in conventional waterproof connectors, and effectively reduces the cost of the power transmission connection device.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying out the Invention

[0017] Hereinafter, the present invention will be further described with reference to the drawings. In the present invention, the technical features of each embodiment can be combined with each other as long as they do not conflict with each other.

[0018] Hereinafter, with reference to the drawings in the embodiments of the present invention, the technical solution means in the embodiments of the present invention will be described in detail. Of course, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative labor are included in the scope of the claims of the present invention.

[0019] As shown in FIG. 1, FIG. 1 shows the positional situation of the transmitting coil and the receiving coil during underwater wireless power transmission. As shown in FIG. 1, the positional situation includes two types: (a) in FIG. 1 where the coils are coaxial and parallel, and (b) in FIG. 1 where the coils are non - coaxial and non - parallel.

[0020] As shown in FIG. 2, FIG. 2 shows four possible combination situations of the receiving coil and the transmitting coil. One splitting angle is set, and the coil with an end angle smaller than the splitting angle is a planar spiral coil, and the coil with a starting angle larger than the splitting angle is an axial spiral coil. As shown in FIG. 2, (a) in FIG. 2 is Model I which is a combination of a transmitting coil and a receiving coil of a coil equivalent to a planar spiral coil, (b) in FIG. 2 is Model II which is a combination of a transmitting coil of a coil equivalent to a planar spiral coil and a receiving coil of a pipe-shaped spiral coil, (c) in FIG. 2 is Model III which is a combination of a transmitting coil of a coil equivalent to a pipe-shaped spiral coil and a receiving coil of a coil equivalent to a planar spiral coil, and (d) in FIG. 2 is Model IV which is a combination of a transmitting coil of a coil equivalent to a pipe-shaped spiral coil and a receiving coil.

[0021] As shown in FIG. 3, FIG. 3 shows the structural design of a full-rotation non-contact power transmission connector device in a specific embodiment of the present invention. As shown in FIG. 3, the structural design includes two parts: a spherical ball head that can rotate fully around the circumference made of an acrylic material and a ball sheet with a spherical recess.

[0022] The ball head device is a spherical device that realizes full-rotation around the circumference. The ball sheet device is a base device with a spherical recess, which realizes full-rotation between the ball head device and the ball sheet device. The receiving coil is wound in the form of a circular spiral coil inside the ball head device, and the transmitting coil is wound in the form of a circular spiral coil inside the ball sheet device.

[0023] As shown in FIG. 4, FIG. 4 shows the coil structure of a full-rotation non-contact power transmission connector device in a specific embodiment of the present invention. As shown in FIG. 4, for the winding angle of the coil on the spherical surface, there are the following four angle parameters under various situations, namely the starting angle α1 and the ending angle β1 of the transmitting coil, and the starting angle α2 and the ending angle β2 of the receiving coil.

[0024] As shown in Fig. 5, Fig. 5 shows the mutual inductance and the ratio curve of the offset angle of combinations of various coil structures. As shown in Fig. 5, the horizontal axis is the offset angle of the receiving coil, and the vertical axis is the ratio of the mutual inductance when the receiving coil is offset to the mutual inductance when the receiving coil is not offset. Here, Model III is the optimal curve because the mutual inductance ratio of the combination of the transmitting coil of a pipe-shaped spiral coil equivalent coil and the receiving coil of a planar spiral coil equivalent coil changes minimally according to the offset angle.

[0025] As shown in Fig. 6, Fig. 6 shows the experimental device of the full-rotation non-contact power transmission connector in a specific embodiment of the present invention. As shown in Fig. 6, the structural device includes a power supply module, a full-bridge inverter module, a primary-side resonance compensation module, a full-rotation ball connector module, a secondary-side resonance compensation module, and a full-bridge rectification module. When the full-rotation ball connector module operates in water, it is loaded in an aluminum housing, thereby reducing the seawater eddy current loss due to the coupling magnetic field and improving the power factor of the full-rotation ball connector module.

[0026] The primary-side and secondary-side LCC reactive power compensation network modules have a bilateral LCC compensation network structure and have strong offset prevention ability and constant current characteristics. The offset prevention ability specifically means that for a loosely coupled device composed of a transmitting coil and a receiving coil, when the mutual inductance changes rapidly in an operating state where the mutual inductance changes, for example, in an extreme case where the coupling is completely broken and the mutual inductance is 0, the current change has a converging tendency, there is no excessive current stress, and compared with other compensation structures, the safe operation of the device can be ensured. The constant current characteristic means that the current of the transmitting coil is a constant current independent of the load and only affected by the parameters of the device by the LCC compensation network, which facilitates the design of the device power.

[0027] Both the full-bridge rectifier module and the full-bridge inverter module are controlled and driven by an STM32 one-chip microcomputer. The operating frequencies of the primary-side resonance compensation module and the secondary-side resonance compensation module are both the natural frequencies of the full-rotation non-contact power transmission connector device, which are determined by the parameters of the full-rotation non-contact power transmission connector device.

[0028] The connection between the transmitting coil and the receiving coil is a wireless connection that is electrically insulated. Electrical energy is transmitted from the transmitting coil to the receiving coil through a resonant magnetic field. The transmitting coil located within the ball head device and the receiving coil located within the ball seat device constitute a loose coupler.

[0029] As shown in FIG. 7, FIG. 7 shows the waveform of the experimental detection of the full-rotation non-contact power transmission connector device in a specific embodiment of the present invention. In the waveform diagram, observe the input power and the output power, and then observe whether the waveform is normal to confirm that the circuit is operating normally. From top to bottom in order, they are the current of the transmitting coil, the DC bus voltage output from the inverter, the current of the receiving coil, and the voltage of the transmitting coil.

[0030] As shown in FIG. 8, FIG. 8 shows the relationship between the experimental coupling coefficient and the offset angle of the full-rotation non-contact power transmission connector device in a specific embodiment of the present invention. When there is no radial angle offset, the measured coupling coefficient is 0.24, and the efficiency of the designed UWPT system can reach about 88%. Even in the case of misalignment, the coupling coefficient is 0.18, and the efficiency can reach 85% or more in all cases.

[0031] The theoretical calculation of the present invention is as follows.

[0032] For a coaxial parallel coil, that is, one without an axial offset and an angular offset between the transmitting coil and the receiving coil, each turn of the transmitting coil and the receiving coil is regarded as a ring-shaped current-carrying wiring. During the charging process, the output characteristics of the system are evaluated by analyzing the change in the coupling coefficient, and the expression is as follows.

[0033]

Number

[0034] Here, c1 and c2 respectively represent two ring-shaped current-carrying wirings, and l1 and l2 respectively represent the lengths of the two ring-shaped current-carrying wirings c1 and c2.

[0035]

Number

[0036] Here, μ0 is the vacuum magnetic permeability, is the mutual inductance between two single-turn ring-shaped current-carrying wirings, R is the center distance between the two ring-shaped current-carrying wirings, a and b are respectively the radii of the two ring-shaped current-carrying wirings, d is the perpendicular distance between the two ring-shaped current-carrying wirings, and φ1 and φ2 are respectively the horizontal offset angles of the micro-elements corresponding to the two ring-shaped current-carrying wirings c1 and c2.

[0037] Introduce the following formula.

Number

[0038] The above formula is shown as follows.

Number

[0039] Since the single-turn current-carrying coil is symmetric about the center of the circle, the above formula may be simplified as follows.

Number

[0040] Here, K(x) is the complete elliptic integral of the first kind, and E(x) is the complete elliptic integral of the second kind.

[0041] For a non - coaxial parallel coil, that is, a coil with an angular offset between the transmitting coil and the receiving coil,

Equation

[0042] Here, μ0 is the vacuum permeability, R is the center distance between the two ring - shaped current - carrying wirings, and R > 0. a and b are the radii of the two ring - shaped current - carrying wirings respectively, d is the vertical distance between the two ring - shaped current - carrying wirings, φ1 and φ2 are the horizontal offset angles of the infinitesimal elements corresponding to the two ring - shaped current - carrying wirings c1 and c2 respectively, θ is the radial offset angle of one of the coils, and d’ indicates the offset distance along the x - axis of the coil with a radial offset angle of θ.

[0043] Introduce the following formula.

Equation

Equation

Equation

Equation

[0044] M ij is shown as follows.

Equation

[0045] Here,

Number

[0046] The receiving coil and the transmitting coil are each a current-carrying wire. Assuming that the wiring of each turn of the coil is a current-carrying wire that conducts a constant current, the mutual inductance value between the two current-carrying wires conducting a constant current is mainly determined by the geometric parameters of the inductance and the relative position between the two, and finally, all these combinations M ij are added to determine the total inductance M, and its equation is as follows.

Number

[0047] Here, M ij represents the mutual inductance between two current-carrying wires conducting a constant current, n S represents the number of turns of the receiving coil, n P represents the number of turns of the transmitting coil, ρ represents the magnetic permeability, and M represents the mutual inductance between the receiving coil and the transmitting coil.

[0048] Due to the limitations of the mechanical structure, both the transmitting coil and the receiving coil are spiral coils wound around a spherical surface. The structure is relatively complex and difficult to calculate directly. When the relevant parameters are determined, for the winding angles of the coils on the spherical surface, there are the following four angular parameters under various circumstances, namely the start angle and end angle of the transmitting coil, and the start angle and end angle of the receiving coil. Combinations of receiving coils and transmitting coils with different start and end angles have multiple combination forms. By setting a splitting angle, a coil with an end angle smaller than the splitting angle is a planar spiral coil, and a coil with a start angle larger than the splitting angle is an axial spiral coil.

[0049] The present invention functions as follows.

[0050] In this experimental example, a transmitting coil with 20 turns and a radius of 10 cm, and a receiving coil with 10 turns and a radius of 20 cm are selected. The distance between the transmitting and receiving coils is 10 cm, and the wire diameter of the coils is 6 mm.

[0051] For the transmitting coil and the receiving coil, 800 pieces of 0.1 mm 2 Litz wire is used, and the radius of a single turn is 3 mm. The start angle and end angle of the transmitting coil are 0° and 45° respectively, with a total of 21 turns. The start and end angles of the receiving coil are 45° to 135°, with a total of 18 turns. If the end angle of the coil is smaller than 45° in all cases, it can be approximated as a planar spiral coil. If the start angle of the coil is larger than 45°, it can be approximated as an axial spiral coil. The center distance between the two coils varies from 0 cm to 6 cm, but there is no situation where the coils overlap at the same height. Since the magnetic coupler of the UWPT system needs to operate continuously in water for a long time, the integrated design of the power electronic circuit is extremely important. The thickness of the main aluminum plate of the electrical connector is designed to be 5 mm in all cases.

[0052] When the AUV is connected, in the underwater environment, the problem of misalignment of the magnetic coupler always occurs. Due to the influence of potential factors such as ocean currents and marine organisms, the power transmission efficiency fluctuates, and the mechanical capture clamp mechanism cannot cooperate with the magnetic coupler to simultaneously perform underwater detection operations during the charging of the AUV. In order to provide flexibility for AUV underwater operations, considering the transmission stability in the case of a large offset, it is necessary to design a magnetic coupler with a strong anti-offset ability and an LCC-LCC topology structure with constant current characteristics.

[0053] The output power of the UWPT system to be experimentally designed is expected to be 1 kW, and the DC input voltage is designed to be 300 V. Since the UWPT system always operates in the unstable environment of the seabed, it is expected that the system can achieve a power output of 1 kW even when the rotational deviation is 45°. Based on the arc-shaped magnetic coupler provided by the present invention, a 1 kW prototype experimental platform is constructed. The system uses the LCC-LCC circuit topology and selects an operating frequency of 50 kHz. Four PWM signals are generated using the STMicroelectronics microcontroller STM32F407 to drive the SiC MOSFETs in the H-bridge inverter, and the switching frequency is set to 50 kHz to reduce the influence of seawater eddy current loss. The experimental apparatus and detected waveforms are as shown in FIGS. 6 and 7 respectively.

[0054] The change in the coupling coefficient k measured under different radial angle offset operating states of the full-rotation non-contact power transmission connector is as shown in FIG. 8. When there is no radial angle offset, the measured coupling coefficient is 0.24, and the efficiency of the designed UWPT system can reach about 88%. Even in the case of misalignment, the coupling coefficient is 0.18, and the efficiency can reach more than 85% in all cases. According to the experimental results, the designed magnetic coupler has good radial offset prevention ability, and its coupling ability meets the requirements. The provided system has good output characteristics, and the additional loss caused by seawater can be ignored to a certain extent, which conforms to the design prediction.

[0055] According to the relevant simulation experiments, the method of the present invention achieves the above beneficial effects in multiple test scenarios. The method of the present invention can realize electrical insulation and ensure the safety of operation, has excellent offset prevention characteristics and connection flexibility, and the full-rotation non-contact power transmission connector can achieve more efficient and reliable underwater wireless power transmission in the radial offset operating state.

[0056] The operating method of the full-rotation non-contact power transmission connector device described in the present invention is as follows.

[0057] This device uses resonant wireless power transmission. The essence of resonance is the mutual conversion between the electric field energy in the capacitor and the magnetic field energy in the inductance. One increases while the other decreases and they are completely compensated. The sum of the electric field energy and the magnetic field energy is always constant. The power supply only needs to supply the electrical energy consumed by the resistance in the circuit without repeatedly converting energy with the capacitor or inductance. The power supply module supplies a direct current to the full-rotation non-contact power transmission connector device and is inversely converted into an alternating current through a full-bridge inverter module, thereby generating a subsequent alternating resonant magnetic field. The primary-side resonance compensation module of the full-bridge rectification module is connected to the transmitting coil. After measuring the self-inductance parameter of the coil, appropriate inductance and capacitor in the primary-side LCC compensation network are selected, and through the reactive power compensation of the circuit, in-phase current and voltage are output. Thus, the entire circuit shows a resistive state. When the in-phase current and voltage are the same as the natural frequency of the transmitting coil and the receiving coil as a high-frequency power source, the transmitting coil resonates, the current of the transmitting coil is the largest, and the generated alternating resonant magnetic field is the largest. The secondary-side resonance module of the receiving coil is connected to the full-bridge rectification module. Due to the symmetry between the primary coil and the secondary coil, the selection of the parameters of the secondary-side LCC compensation network is consistent with the selection of the primary-side parameters. The magnetic field generated in the primary-side circuit is coupled to the receiving coil. Similarly, the receiving coil also resonates and is further rectified by the full-bridge rectification module and then transmitted to the external load to obtain power with small ripple and high stable reliability.

[0058] As described above, the embodiments of the present invention have been disclosed, but the scope of its claims is not limited thereto. It can be applied to various fields suitable for the present invention and can be easily modified by those skilled in the art. Therefore, the present invention is not limited to the detailed content and the drawings shown and described above as long as it does not depart from the general concept limited to the claims and the equivalent scope.

Claims

1. A full - rotation non - contact power transmission connector device, a power supply module that supplies a direct current to the full - rotation non - contact power transmission connector device, a full - bridge inverter module that receives the direct current provided by the power supply module, inversely converts the direct current into an alternating current of a high frequency, and outputs it, a primary - side resonance compensation module that receives the alternating current output from the full - bridge inverter module, outputs an alternating current of a resonance frequency after reactive power compensation, a full - rotation ball connector module, which includes a ball head device, a ball seat device, a receiving coil and a transmitting coil. The ball head device matches with the ball seat device to realize omnidirectional rotation between the ball head device and the ball seat device. The receiving coil is wound inside the ball head device, the transmitting coil is wound inside the ball seat device, the transmitting coil receives the alternating current of the resonance frequency output from the primary - side resonance compensation module, generates a resonance magnetic field, and further generates an alternating current in the receiving coil. The receiving coil outputs the alternating current, and the primary - side resonance compensation module serves as the compensation module for the transmitting coil, as the compensation module for the receiving coil, a secondary - side resonance compensation module that receives the alternating current output from the receiving coil, outputs an alternating current of a resonance frequency after reactive power compensation, a full - bridge rectifier module that receives the alternating current transmitted from the secondary - side resonance compensation module, rectifies the alternating current into a direct current, and outputs it, the ball head device is a spherical device that realizes full - rotation, the ball seat device is a base device with a spherical recess, realizes full - rotation between the ball head device and the ball seat device, the receiving coil is wound in the form of a circular spiral coil inside the ball head device, and the transmitting coil is wound in the form of a circular spiral coil inside the ball seat device, the transmitting coil and the receiving coil are, For external devices that need to be powered, a space for connection to a full-rotation ball connector is ensured. Based on the external devices that need to be powered, the dimensional parameters and materials of a compatible full-rotation ball connector are designed so that the full-rotation ball connector can accommodate a transmitting coil and a receiving coil. The dimensional parameters of the full-rotation ball connector are optimized to obtain the maximum mutual inductance as the optimization goal by balancing the mutual restrictions of the line spacing and the number of turns under the condition of limited space. Step 1 is to design the transmitting coil and the receiving coil. Based on the transmitting coil and the receiving coil designed in Step 1, Step 2 is to measure the mutual inductance of the receiving coil at different radial offset angles and the mutual inductance of the receiving coil when there is no radial angle offset. Select a receiving coil with different start and end angles and a transmitting coil with different start and end angles, combine the receiving coil and the transmitting coil respectively, and repeat Step 2 until a ratio curve of the mutual inductance and the offset angle under the optimal offset prevention operating state is obtained. The ratio curve of the mutual inductance and the offset angle under the optimal offset prevention operating state is a curve in which the ratio curve of the mutual inductance and the offset angle changes minimally according to the offset angle of the receiving coil. Here, in the ratio curve of the mutual inductance and the offset angle, the horizontal axis is the offset angle of the receiving coil, and the vertical axis is the ratio of the mutual inductance when the receiving coil is offset and the mutual inductance when the receiving coil is not offset. Step 3. In the combined structure of the coils corresponding to the curve in which the ratio curve of the mutual inductance and the offset angle changes minimally according to the offset angle of the receiving coil, Step 4 is to select and implement the start and end angles of the transmitting coil and the receiving coil. The full-rotation non-contact power transmission connector device is designed using the above steps.

2. The primary-side resonance compensation module includes a primary-side LCC reactive power compensation network module. The primary-side LCC reactive power compensation network module includes a transmission-end compensation inductance connected to the input end of the transmission coil, a transmission-coil compensation capacitor connected in series with the transmission coil, and a compensation capacitor connected in parallel with the transmission coil. In order for the transmission coil to reach the resonance frequency, the primary-side resonance compensation module generally exhibits a resistive state. The secondary-side resonance compensation module includes a secondary-side LCC reactive power compensation network module. The secondary-side LCC reactive power compensation network module includes a reception-end compensation inductance connected to the output end of the reception coil, a reception-coil compensation capacitor connected in series with the reception coil, and a compensation capacitor connected in parallel with the reception coil. In order for the reception coil to reach the resonance frequency, the secondary-side resonance compensation module generally exhibits a resistive state. The full-rotation non-contact power transmission connector device according to claim 1, characterized in that.

3. Both the full-bridge rectification module and the full-bridge inverter module are controlled and driven by an STM32 one-chip microcomputer. The operating frequencies of the primary-side resonance compensation module and the secondary-side resonance compensation module are both the natural frequencies of the full-rotation non-contact power transmission connector device and are determined by the parameters of the full-rotation non-contact power transmission connector device. The full-rotation non-contact power transmission connector device according to claim 1, characterized in that.

4. The connection between the transmission coil and the reception coil is an electrically insulated wireless connection. Electrical energy is transmitted from the transmission coil to the reception coil through a resonant magnetic field. The transmission coil and the reception coil constitute a loosely coupled coil. The full-rotation non-contact power transmission connector device according to claim 1, characterized in that.

5. In step 3, the start angle and the end angle of the reception coil are the winding angles of the reception coil on the spherical surface of the ball head device, and the start angle and the end angle of the transmission coil are the winding angles of the transmission coil wound in the ball seat device. The full-rotation non-contact power transmission connector device according to claim 1, characterized in that.

6. In step 3, the ratio curve of the mutual inductance and the offset angle is obtained by the ratio of the mutual inductance when the radial offset angle of the receiving coil is 1° to 45° and the mutual inductance when there is no radial angle offset, respectively. The full-rotation non-contact power transmission connector device according to claim 1, characterized in that.

7. An electric energy transmission method based on the full-rotation non-contact power transmission connector device according to claim 1, wherein the power supply module supplies a direct current to the full-rotation non-contact power transmission connector device, and the direct current is inverted into an alternating current through a full-bridge inverter module. The alternating current is used as the input of the primary-side resonance compensation module. The primary-side resonance compensation module outputs an alternating current at the resonance frequency after reactive power compensation. The transmitting coil receives the alternating current at the resonance frequency output from the primary-side resonance compensation module, generates a resonance magnetic field, and further generates an alternating current in the receiving coil. The receiving coil outputs the alternating current to the secondary-side resonance compensation module. The secondary-side resonance compensation module outputs an alternating current at the resonance frequency to the full-bridge rectifier module after reactive power compensation. The full-bridge rectifier module rectifies the alternating current into a direct current, and the direct current is output to the external device that needs to be powered. A method characterized by that.

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