CN106252986B - Charging connection device assembly and the robot system for using the charging connection device assembly - Google Patents
Charging connection device assembly and the robot system for using the charging connection device assembly Download PDFInfo
- Publication number
- CN106252986B CN106252986B CN201610609982.3A CN201610609982A CN106252986B CN 106252986 B CN106252986 B CN 106252986B CN 201610609982 A CN201610609982 A CN 201610609982A CN 106252986 B CN106252986 B CN 106252986B
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- Prior art keywords
- contact
- robot
- cradle
- charging
- device assembly
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
- H01R13/631—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only
- H01R13/6315—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only allowing relative movement between coupling parts, e.g. floating connection
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
- H01R13/631—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only
Abstract
The present invention relates to charging connection device assembly and use the robot system of the charging connection device assembly, charging connection device assembly includes the cradle with cradle contact and the robot contact for being set in robot, at least one contact in cradle contact, robot contact be can on perpendicular to robot moving direction elastic floating floating contact, charging connection device assembly further includes for cooperating so that robot contact is moved to the guide structure with the press of cradle contact in robot towards being guided in the cradle moving process with one of contact.The present invention solves the problems, such as that robot has away from cradle direction movement tendency and causes charging process insecure in prior art charging process.
Description
Technical field
The present invention relates to charging connection device assembly and use the robot system of the charging connection device assembly.
Background technique
With the process of automation, robot is more more and more universal, and robot needs to carry out it when electricity is lower
Charging operations.In the past is all manually to plug charging interface, full of when manually separate again, in this way operation one side there is labour
Intensity is big, the not high problem of charge efficiency, on the other hand in some special occasions, such as under the environmental conditions such as high pressure, manually
Operational risk is very big and it is necessary to have that personnel are on duty, thus expend a large amount of manpowers.
Therefore it can be realized the trend that robot automatic charging is just overturn at technology, Chinese patent CN1610208A is disclosed
A kind of mobile robot's charging unit that can be realized robot automatic charging, mobile robot's charging unit
Robot contact including cradle and for being set in robot, in order to avoid robot is towards in cradle moving process
Rigid shock is caused to the cradle contact on cradle to robot contact, cradle contact can be mobile in robot for one
The floating contact of elastic floating on direction, when robot is mobile towards cradle, robot contact and cradle contact
Press is charged with realizing to robot.Existing this mobile robot is had problems in that with charging unit: attached drawing touching
The floating of head is reversely consistent with the moving direction of robot, when cradle contact is contacted with robot contact, cradle contact
It can give robot one opposition, due to the presence of the opposition, robot, which has towards away from cradle direction, to be moved
Dynamic movement tendency leads to contact of the cradle contact with robot contact and unreliable.
Summary of the invention
The purpose of the present invention is to provide a kind of charging connection device assemblies, to solve robot in prior art charging process
Lead to the insecure problem of charging process with cradle direction movement tendency is deviated from；The object of the invention is also to provide one
Kind uses the robot system of the charging connection device assembly.
To solve the above-mentioned problems, the present invention in charging connection device assembly technical solution are as follows:
Charging connection device assembly, including the cradle with cradle contact and the robot for being set in robot
Contact, at least one contact in cradle contact, robot contact is can be floating perpendicular to elasticity on robot moving direction
Dynamic floating contact, charging connection device assembly further include for robot towards in the cradle moving process with wherein one
A contact guidance cooperates so that robot contact is moved to the guide structure with the press of cradle contact.
Cradle contact is floating contact, and robot contact is fixed contact.
Guide structure includes the guidance end of travel that is set on the cradle contact and the cradle contact connects
The lead-in chamfered that contravention connects.
The cradle contact packet insulator and it is set to being electrically connected on insulator for realizing with robot contact
Conductive sheet, guide direction is provided on the pedestal of cradle perpendicular to the pilot hole in robot motion direction, insulator guiding
Movement is assemblied in pilot hole, and top is equipped with the spring for realizing that cradle contact floats between insulator and pedestal.
Robot contact includes vertically arranged conductive pin, and the width of conductive sheet is greater than the width of conductive pin.
Cradle includes cradle contact described at least two, the conductive sheet of each cradle contact along linear type interval
It arranges, the interval between two neighboring conductive sheet is greater than the width of conductive pin.
The pedestal includes the upper pedestal and lower base of two-piece unit setting, and upper and lower pedestal is connected through a screw thread structure can
Tear connection open, the pilot hole is surrounded by upper and lower pedestal.
It is equipped with guide post in spring, spring pilot hole is provided on insulator, spring counterbore is provided on lower base, under
The guide post avoid holes communicated with spring counterbore are additionally provided on pedestal.
The technical solution of robot system in the present invention are as follows:
Robot system, including robot, further include charging connection device assembly, and charging connection device assembly includes having charging
The cradle and robot contact for being set in robot of seat contact, in cradle contact, robot contact at least
One contact be can on perpendicular to robot moving direction elastic floating floating contact, charging connection device assembly further includes using
In robot towards in the cradle moving process with the guidance cooperation of one of contact so that robot contact is moved to
With the guide structure of cradle contact press.
Cradle contact is floating contact, and robot contact is fixed contact.
Guide structure includes the guidance end of travel that is set on the cradle contact and the cradle contact connects
The lead-in chamfered that contravention connects.
The cradle contact packet insulator and it is set to being electrically connected on insulator for realizing with robot contact
Conductive sheet, guide direction is provided on the pedestal of cradle perpendicular to the pilot hole in robot motion direction, insulator guiding
Movement is assemblied in pilot hole, and top is equipped with the spring for realizing that cradle contact floats between insulator and pedestal.
Robot contact includes vertically arranged conductive pin, and the width of conductive sheet is greater than the width of conductive pin.
Cradle includes cradle contact described at least two, the conductive sheet of each cradle contact along linear type interval
It arranges, the interval between two neighboring conductive sheet is greater than the width of conductive pin.
The pedestal includes the upper pedestal and lower base of two-piece unit setting, and upper and lower pedestal is connected through a screw thread structure can
Tear connection open, the pilot hole is surrounded by upper and lower pedestal.
It is equipped with guide post in spring, spring pilot hole is provided on insulator, spring counterbore is provided on lower base, under
The guide post avoid holes communicated with spring counterbore are additionally provided on pedestal.
The invention has the benefit that because at least one contact in charging contacts and robot contact is perpendicular to machine
The floating contact of elastic floating on device people's moving direction, therefore work as floating contact in a free state, charging contacts and machine
People's contact has overlapping region on the moving direction of robot, and when robot needs to charge, robot is moved towards cradle
Dynamic, when robot is moved to by cradle, guide structure and the guidance of one of contact cooperate, Lai Shiying charging contacts and machine
Difference in height between device people's contact is moved to robot contact smoothly and contacts position with charging contacts, due to floating
The floating direction of moving contact is vertical with the moving direction of robot, therefore floating contact will not be to one court, robot away from charging
The mobile opposition in seat direction, robot does not have towards the mobile trend mobile away from cradle direction, therefore can protect
Demonstrate,prove the reliable contacts of charging contacts and robot contact.
Detailed description of the invention
Fig. 1 is that the process that robot contact is moved on charging contacts in the embodiment 1 of robot system in the present invention is shown
It is intended to；
Fig. 2 is that state when robot contact is contacted with charging contacts in the embodiment 1 of robot system in the present invention is shown
It is intended to；
Fig. 3 is the cooperation schematic diagram of Tu2Zhong robot Yu robot contact；
Fig. 4 is the structural schematic diagram of cradle in Fig. 2；
Fig. 5 is the D-D of Fig. 4 to cross-sectional view；
Fig. 6 is the left view of Fig. 4；
Fig. 7 is the structural schematic diagram of Tu2Zhong robot contact；
Fig. 8 is the top view of Fig. 7；
Fig. 9 is the structural schematic diagram of charging contacts in the embodiment 2 of robot system in the present invention.
Specific embodiment
The embodiment 1 of robot system is as shown in Fig. 1 ~ 8: including robot 9 and charging connection device assembly, charge its component
Including cradle and the robot contact being set in robot.
The specific structure of robot contact is as shown in Fig. 7 ~ 8: robot contact includes vertically arranged conductive pin 8, conductive
The lower end of needle 8 is the pyramidal structure that platform is cut with plane, and conductive pin 8 is set on installation shell 3, installs and be provided on shell 3
Mounting screw 11, mounting screw 11 is connected with the cabinet chassis 10 of robot when use.The upper end of shell 3 is installed in conductive pin
Periphery is provided with annular installation set 14, and becket 13 is provided in annular installation set 14, and the threaded upper ends of conductive pin 8 are connected with spiral shell
Busbar 11 can be arranged in mother 12, when use between nut 12 and becket 13, and busbar 11 is connected with the power supply of robot.
To guarantee sealing, becket and installation shell are provided with inner seal pad 16, and the periphery of annular installation set is provided with outer side seal
Circle 15.
Cradle includes pedestal 7 and cradle contact, and pedestal includes the upper pedestal 7-1 and lower base 7- of two-piece unit setting
2, upper and lower pedestal is connected through a screw thread structure releasable connection, and screw connection structure includes attachment screw 18 and spinning in connection spiral shell
The attaching nut nailed on.Three pilot holes along linear type sequence arrangement are provided in pedestal, the guide direction of pilot hole is along upper
Lower direction extends, and pilot hole is surrounded by upper and lower pedestal, and the number and pilot hole of cradle contact correspond, cradle contact
Including the insulator 17 cooperated with pilot hole guiding movement and it is set to the conductive sheet 2 of 17 upper end of insulator, the upper table of conductive sheet
Face forms the contact jaw of cradle contact, and spring 19 is provided between insulator 17 and pedestal, is equipped with guide post in spring 19
21, guide post 21 is hollow structure, is provided with spring pilot hole 30 on insulator 17, spring counterbore is provided on lower base 7-2
The guide post avoid holes 20 communicated with spring counterbore 22 are additionally provided on 22, lower base 7-2.By the setting of spring 19, so that
Cradle contact becomes a relocatable floating contact in the up-down direction, and the width of conductive sheet 2 is greater than the width of conductive pin 8
Degree, while the interval between two neighboring conductive sheet is greater than the width of conductive pin 8.Charging connection device assembly further includes in machine
For device people towards the guide structure in cradle moving process with conductive pin guidance cooperation, guide structure includes being set to cradle touching
Lead-in chamfered 5 on insulator on head.Power interface 1 is provided on pedestal, the contact of power interface 1 is by conducting wire and respectively
Conductive sheet electrical connection is powered by charging plug to power interface when use.
When robot electric quantity deficiency, robot is mobile towards cradle, in moving process, can by infrared induction or
The position of the conductive sheet 2 on cradle is found in laser acquisition accurately, is then constantly being directed towards cradle movement, when conductive pin 8 and guidance are oblique
When face 5 contacts, conductive pin is rigid structure, and by the guidance of lead-in chamfered 5, entire cradle contact floats downwards, until
Conductive pin 8 is moved to the position (the solid line present position of conductive pin in Fig. 1) contacted with conductive sheet 2, at this time in the work of spring 19
Under, conductive pin 8 and 2 reliable contacts of conductive sheet to robot, it can be achieved that charge, while the masterpiece between conductive pin and conductive sheet
, will not be to the reaction force on one moving direction of robot with along the vertical direction, further ensure that charging process can
By property.The plane of pyramidal structure, which cuts 6, can guarantee to come into contact in a large area with conductive sheet, and the spherical surface of pyramidal structure can then be protected
Card preferably cooperates with lead-in chamfered；The width of conductive sheet, length are all larger than the diameter of conductive pin, consider guidance deviations,
Width, length direction are respectively provided with deviation redundancy, preferred conductive sheet width, length direction 30mm(at least big compared with conductive pin ±
15mm deviation)；The interval between conductive sheet is greater than the diameter of conductive pin simultaneously, can prevent from charging in the case of wrong plug, right
Robot and equipment are protected.
In other embodiments of the invention: the number of charging contacts can also be selected as needed, such as one
A, two, four or other numbers, the number of corresponding robot contact also change correspondingly；Robot contact can also use
Floating contact structure, such as robot contact uses pogo-pin structure, charging contacts can be fixed at this time；Guidance
Structure can also be set in the robot where robot contact；Lead-in chamfered can also be guided spherical surface, guidance cambered surface etc.
Other guide structures replace；The screw connection structure for realizing upper and lower pedestal releasable connection can not also include attaching nut, at this time
The correspondence bolt penetration hole of upper pedestal or lower base is threaded hole.
The embodiment 2 of robot system is as shown in Figure 9: embodiment 2 unlike the first embodiment, no setting is required cylindricality bullet
A resiliently overhanged elastic slice 32 is arranged in spring on cradle 7, and conductive sheet 2 is integrally formed at the projecting end of elastic slice 32, elastic slice
Upper surface is constituted for the lead-in chamfered 5 with conductive pin guidance cooperation.In other embodiments of the invention, elastic slice 32 and conduction
Piece 2 can be with split settings, and conductive sheet can be fixed on the projecting end of elastic slice by screw at this time, and elastic slice can be by plastics etc.
Isolation material is made.
The implementation of charging connection device assembly is for example shown in Fig. 1 ~ 9: the specific structure of charging connection device assembly and above-mentioned each machine
Charging connection device assembly described in device people's system embodiment is identical, and this will not be detailed here.
Claims (5)
1. charging connection device assembly, the robot touching including the cradle with cradle contact and for being set in robot
Head, it is characterised in that: cradle contact be can on perpendicular to robot moving direction elastic floating floating contact, charging connect
Connect device assembly further include for cooperating in robot towards being guided with one of contact in the cradle moving process so that
Robot contact is moved to the guide structure with the press of cradle contact；Robot contact is fixed contact；The charging
Seat contact include insulator and be set on insulator for realizing the conductive sheet being electrically connected with robot contact, charging
Guide direction is provided with perpendicular to the pilot hole in robot motion direction on the pedestal of seat, and insulator guiding movement is assemblied in guiding
Kong Zhong, top is equipped with the spring for realizing that cradle contact floats between insulator and pedestal；The pedestal includes two-piece unit setting
Upper pedestal and lower base, upper and lower pedestal is connected through a screw thread structure releasable connection, and the pilot hole is surrounded by upper and lower pedestal；
It is equipped with guide post in spring, spring pilot hole is provided on insulator, spring counterbore is provided on lower base, is gone back on lower base
It is provided with the guide post avoid holes communicated with spring counterbore.
2. charging connection device assembly according to claim 1, it is characterised in that: guide structure includes being set to the charging
The lead-in chamfered that guidance end of travel on seat contact connects with the contact jaw of the cradle contact.
3. charging connection device assembly according to claim 1, it is characterised in that: robot contact includes vertically arranged leads
Acusector, the width of conductive sheet are greater than the width of conductive pin.
4. charging connection device assembly according to claim 3, it is characterised in that: cradle includes filling described at least two
The interval between linear type arranged for interval, two neighboring conductive sheet of electric seat contact, the conductive sheet of each cradle contact is greater than
The width of conductive pin.
5. robot system, including robot, it is characterised in that: further include the charging as described in claim 1 ~ 4 any one
Connector assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610609982.3A CN106252986B (en) | 2016-07-29 | 2016-07-29 | Charging connection device assembly and the robot system for using the charging connection device assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610609982.3A CN106252986B (en) | 2016-07-29 | 2016-07-29 | Charging connection device assembly and the robot system for using the charging connection device assembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106252986A CN106252986A (en) | 2016-12-21 |
| CN106252986B true CN106252986B (en) | 2019-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610609982.3A Active CN106252986B (en) | 2016-07-29 | 2016-07-29 | Charging connection device assembly and the robot system for using the charging connection device assembly |
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| CN (1) | CN106252986B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109309323A (en) * | 2017-07-27 | 2019-02-05 | 中航光电科技股份有限公司 | Charging socket and the connector with the charging socket, robot assembly |
| CN108365370B (en) * | 2018-02-06 | 2019-05-14 | 苏州功业肆点零智能科技有限公司 | A kind of device for facilitating robot to charge |
| CN108598756A (en) * | 2018-03-23 | 2018-09-28 | 安费诺科技(珠海)有限公司 | A kind of high current elastomeric connector for allowing mismatch error big |
| CN109921495B (en) * | 2019-04-22 | 2024-04-02 | 杭州慧仓信息科技有限公司 | Charging system based on clutch guide component |
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| CN2726134Y (en) * | 2004-09-07 | 2005-09-14 | 洋通工业股份有限公司 | Automatic charging socket for self-propelled machine |
| JP2014184529A (en) * | 2013-03-25 | 2014-10-02 | Toyota Motor Corp | Charge system |
| CN204216311U (en) * | 2014-10-08 | 2015-03-18 | 昆明七零五所科技发展总公司 | The automatic butt charging device of a kind of mobile robot |
| CN205355412U (en) * | 2016-01-27 | 2016-06-29 | 江苏风雷光电科技有限公司 | A connector for connecting rechargeable battery and charging device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7332890B2 (en) * | 2004-01-21 | 2008-02-19 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
| JP4776903B2 (en) * | 2004-09-01 | 2011-09-21 | 本田技研工業株式会社 | Biped walking robot charging system |
| CN204481184U (en) * | 2015-03-17 | 2015-07-15 | 天津朗誉科技发展有限公司 | Clamped-in style AGV charging inlet |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2726134Y (en) * | 2004-09-07 | 2005-09-14 | 洋通工业股份有限公司 | Automatic charging socket for self-propelled machine |
| JP2014184529A (en) * | 2013-03-25 | 2014-10-02 | Toyota Motor Corp | Charge system |
| CN204216311U (en) * | 2014-10-08 | 2015-03-18 | 昆明七零五所科技发展总公司 | The automatic butt charging device of a kind of mobile robot |
| CN205355412U (en) * | 2016-01-27 | 2016-06-29 | 江苏风雷光电科技有限公司 | A connector for connecting rechargeable battery and charging device |
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| CN106252986A (en) | 2016-12-21 |
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