CN108199432A - A kind of automatic charge device of mobile robot - Google Patents
A kind of automatic charge device of mobile robot Download PDFInfo
- Publication number
- CN108199432A CN108199432A CN201810016592.4A CN201810016592A CN108199432A CN 108199432 A CN108199432 A CN 108199432A CN 201810016592 A CN201810016592 A CN 201810016592A CN 108199432 A CN108199432 A CN 108199432A
- Authority
- CN
- China
- Prior art keywords
- charging
- mobile robot
- assembly
- charging assembly
- interface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000003032 molecular docking Methods 0.000 claims 1
- 230000008450 motivation Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 229910052751 metal Inorganic materials 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
-
- 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
- H01R13/62933—Comprising exclusively pivoting lever
Abstract
The invention discloses a kind of automatic charge devices of mobile robot, including mobile robot and charging unit, charging guide device is equipped between mobile robot and charging unit, for charging unit and the charging interface of mobile robot bottom to be guided to dock, charging unit includes charging assembly and position adjusting mechanism, charging assembly is arranged on position adjusting mechanism, it can all around move in the horizontal direction, charging assembly is docked with the charging interface of mobile robot, the guide device that charges includes detent mechanism and positioning detection mechanism, positioning detection mechanism detects that detent mechanism makes charging assembly and charging interface when vertical direction is aligned, send a signal to charging unit, charging assembly or charging interface move the charging top electrode of electrode and charging interface under the charging for making charging assembly and are bonded in the vertical direction.It the advantage is that, reduce the requirement to the positioning accuracy of mobile robot, occurring even if charging unit can automatic adjusting position vibrations deviate.
Description
Technical field
The present invention relates to mobile robot technology field more particularly to a kind of automatic charge devices of mobile robot.
Background technology
Robot technology has been widely used for all trades and professions, traditional industrial machine with the continuous development of science and technology
It is fixed on per capita on fixed station, is often configured with independent current source and either stablizes sufficient power supply；Some moveable machines
Device people, working region more very much not have the condition of configuration fixed power source.It works long hours to meet mobile robot with regard to needs
It charges at regular intervals to it, therefore the automatic charging pedestal of mobile robot imitates the stability of its work and work
Rate is particularly important, and automatic charging pedestal should meet that charging is stablized and the function of accurate positioning is with can be complete within the shorter time
The charging work of pairs of mobile robot.Positioning accuracy request of the existing mobile robot charging modes to robot in itself
Height, high to the required precision of charging mechanism, environmental vibration influences greatly, and underaction, limits the position of robot and charger in the dust
It puts, degree of freedom is inadequate, needs to inspect periodically maintenance.In order to improve positioning accuracy, some automatic charging pedestals are provided with multiple biographies
Sensor generating means and reception device, leading to the recharging base, the cost is relatively high, and miscellaneous sensor also increases
Failure rate increases the maintenance maintenance cost of equipment.
Invention content
For overcome the deficiencies in the prior art, the purpose of the present invention is to provide a kind of automatic charging dresses of mobile robot
It puts.
The purpose of the present invention adopts the following technical scheme that realization：
A kind of automatic charge device of mobile robot, including mobile robot and charging unit, the mobile robot
Charging guide device is equipped between the charging unit, for guiding the charging unit and the mobile robot bottom
Charging interface docks, and charging unit includes charging assembly and position adjusting mechanism, and the charging assembly is arranged on the position tune
It on complete machine structure, can all around move in the horizontal direction, the charging assembly and the charging interface pair of the mobile robot
It connects, the charging guide device includes detent mechanism and positioning detection mechanism, and the positioning detection mechanism detects the positioning
Mechanism makes the charging assembly and the charging interface send a signal to the charging unit when vertical direction is aligned, described
Charging assembly or the charging interface move electrode and the charging under the charging for making the charging assembly in the vertical direction
The charging top electrode fitting of mouth.
Further, the detent mechanism includes guiding groove and guide post, in the charging assembly and the charging interface
One of be equipped with guiding groove, another one is equipped with guide post, and the width of the opening of the guiding groove is more than the width of inside,
The inside of the guiding groove is adapted with the guide post.
Further, the side wall of the opening of the guiding groove is equipped with guide surface, and the guide post is guided to described
On the inside of guiding groove.
Further, the positioning detection mechanism includes inductor and triggering block, the charging assembly and the charging
Mouthful one of be equipped with inductor, equipped with triggering block, the detent mechanism makes the charging assembly and described fills another one
Electrical interface is aligned in vertical direction, and the inductor senses triggering block.
Further, the position adjusting mechanism includes vertical adjustment mechanism and horizontal adjusting mechanism, the vertical adjustment
Mechanism is used to adjust the vertical distance of the charging assembly and the charging interface, and the horizontal adjusting mechanism is described for adjusting
The position of charging assembly horizontal direction.
Further, what the vertical adjustment mechanism included being connected with the charging assembly is used to be lifted the charging group
The screw slide unit of part, for driving the screw slide unit driving motor and limit sensors, the screw slide unit is described
The charging assembly is raised to the limit sensors position under the control of driving motor.
Further, the horizontal adjusting mechanism includes sliding back and forth machine for adjust the charging assembly front and back position
Structure, for adjusting the left and right sliding mechanism of the charging assembly or so and mounting base, the front and rear sliding mechanism and the left side
Right sliding equipment is slidably connected, and one of the front and rear sliding mechanism and the left and right sliding mechanism are connected with the charging assembly
It connects, another one is connect with the mounting base, and the front and rear sliding mechanism includes the first guide rail and is set on first guide rail
The first elastic group, the second elastic group that the left and right sliding mechanism includes the second guide rail and is set on second guide rail.
Further, the charging interface is equipped with vertical lifting mechanism, moves down the charging interface, the charging group
The charging top electrode of electrode and the charging interface is bonded under the charging of part.
Further, electrode is connected with the charging assembly by elastic mechanism under the charging, is filled with the charging
The charging cabinet put is connected.
Further, the mobile robot is equipped with laser radar, and the mobile robot passes through the laser radar
It is moved to the charging unit position.
Compared with prior art, the beneficial effects of the present invention are：
By setting charging guide device, even if the charging assembly of the charging interface and charging unit of mobile robot is first
Beginning position does not correspond to, and can also be coordinated by position adjusting mechanism and detent mechanism, adjust its position, right in the vertical direction
Standard then by adjusting the vertical distance of charging assembly and charging interface, makes electrode and charging top electrode alignment fitting under charging,
It charges, reduces the requirement to the positioning accuracy of mobile robot, occurring even if charging unit can be automatic vibrations deviate
Position is adjusted, it is simple in structure, without excessive sensor, cost is reduced, avoids charging unit dislocation to mobile robot
The influence of charging reduces error rate.
Description of the drawings
Fig. 1 is the structure diagram of the automatic charge device of the embodiment of the present invention；
Fig. 2 is the overlooking the structure diagram of the charging unit of the embodiment of the present invention；
Fig. 3 is the side structure schematic view of the charging unit of the embodiment of the present invention；
Fig. 4 is the structure diagram of the charging interface of the embodiment of the present invention.
In figure：10th, charging interface；11st, charge top electrode；12nd, laser radar；20th, charging unit；21st, charging assembly；
22nd, charge lower electrode；23rd, elastic mechanism；24th, charging cabinet；30th, charge guide device；31st, detent mechanism；311st, guiding groove；
312nd, guide post；313rd, opening；314th, guide surface；32nd, positioning detection mechanism；321st, inductor；322nd, triggering block；40th, position
Put adjustment mechanism；41st, vertical adjustment mechanism；411st, screw slide unit；412nd, driving motor；413rd, limit sensors；42nd, it is horizontal to adjust
Complete machine structure；43rd, front and rear sliding mechanism；431st, the first guide rail；432nd, the first elastic group；44th, left and right sliding mechanism；441st, it second leads
Rail；442nd, the second elastic group；45th, sliding block；46th, mounting base.
Specific embodiment
In the following, with reference to attached drawing and specific embodiment, the present invention is described further, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
In the description of the present invention, it should be noted that for the noun of locality, if any term, " " center ", " transverse direction " " are indulged
To ", " length ", " width ", " thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ",
The indicating positions such as " bottom ", " interior ", " outer ", " clockwise ", " counterclockwise " and position relationship are based on orientation shown in the drawings or position
Relationship is put, be for only for ease of the narration present invention and simplifies description rather than instruction or implies that signified device or element are necessary
It constructs and operates with specific orientation, with particular orientation, it is impossible to be interpreted as the specific protection domain of the limitation present invention.
In addition, description purpose is only used for if any term " first ", " second ", and it is not intended that indicating or implying relatively heavy
The property wanted or the implicit quantity for indicating technical characteristic." first " is defined as a result, " second " feature can be expressed or implicit include
One or more this feature, in the present description, " several " are meant that two or more, unless otherwise clearly having
The restriction of body.
In the present invention, except as otherwise clear stipulaties and restriction, should make if any term " assembling ", " connected ", " connection " term
Broad sense goes to understand, for example, it may be being fixedly connected or being detachably connected or be integrally connected；Can also be that machinery connects
It connects；It can be directly connected or be connected by intermediary, can be connected inside two elements.For ability
For the those of ordinary skill of domain, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
As shown in Figs 1-4, a kind of automatic charge device of mobile robot, including mobile robot (not shown) and charging
Device 20 is equipped with charging guide device 30 between mobile robot and charging unit 20, for guiding charging unit 20 and movement
The charging interface 10 of robot bottom docks, and charging unit 20 includes charging assembly 21 and position adjusting mechanism 40, charging assembly
21 are arranged on position adjusting mechanism 40, can all around move in the horizontal direction, charging assembly 21 and mobile robot
Charging interface 10 docks, and charging guide device 30 includes detent mechanism 31 and positioning detection mechanism 32, and positioning detection mechanism 32 is examined
Measuring detent mechanism 31 makes charging assembly 21 and charging interface 10 send a signal to charging unit 20 when vertical direction is aligned,
Charging assembly 21 or charging interface 10 move electrode 22 and charging interface 10 under the charging for making charging assembly 21 in the vertical direction
Charging top electrode 11 be bonded.
By setting charging guide device 30, even if the charging group of the charging interface 10 of mobile robot and charging unit 20
The initial position of part 21 does not correspond to, and can also be coordinated by position adjusting mechanism 40 and detent mechanism 31, adjusts its position, perpendicular
Nogata is aligned upwards, then by adjusting the vertical distance of charging assembly 21 and charging interface 10, is made electrode 22 under charging and is filled
The electric alignment of top electrode 11 fitting, charges, reduces the requirement to the positioning accuracy of mobile robot, even if charging unit 20
Occur vibrations offset also can automatic adjusting position, it is simple in structure, without excessive sensor, reduce cost, avoid charging
Device 20 misplaces the influence charged to mobile robot, reduces error rate.
Mobile robot is equipped with laser radar, and mobile robot is moved to 20 position of charging unit by laser radar,
Charging interface 10 is located at 21 top of charging assembly, and mobile robot slowly travels, then the charged alignment of guide device 30 charging
Interface 10 and charging assembly 21, charge, and after charging complete, charging interface is detached with charging assembly, and mobile robot receives
To signal, slowly retreat.
Detent mechanism 31 includes guiding groove 311 and guide post 312, is set on one of charging assembly 21 and charging interface 10
There is guiding groove 311, another one is equipped with guide post 312, and the width of the opening 313 of guiding groove 311 is more than the width of inside, draws
The inside of guide groove 311 is adapted with guide post 312.As shown in Figs 1-4, in the present embodiment, guiding groove 311 is arranged on charging interface
On 10, guide post 312 is arranged on charging assembly 21, and needle bearing can be selected in guide post 312, is moved along 311 wall of guiding groove, by
It is connected in guide post 312 with charging assembly 21, therefore guide post 312 can drive charging assembly 21 to move, guide post 312 reaches
During 311 deep inside of guiding groove, charging assembly 21 is aligned with charging interface 10.
Enter guiding groove 311 in order to facilitate guide post 312, the side wall of the opening 313 of guiding groove 311 is equipped with guide surface
314, guide post 312 is guided to 311 inside of guiding groove.As shown in figure 4, the opening 313 of guiding groove 311 is V shaped opening groove,
Guide surface 314 is inclined-plane.
Positioning detection mechanism 32 includes inductor 321 and triggering block 322, one of charging assembly 21 and charging interface 10
Inductor 321 is equipped with, another one is equipped with triggering block 322, and detent mechanism 31 makes charging assembly 21 and charging interface 10 perpendicular
For Nogata to alignment, inductor 321 senses triggering block 322, notifies charging unit 20, charging assembly 21 and charging interface 10 are right
Standard can prepare to charge.In the present embodiment, to reduce the cost, metal derby can be selected in triggering block 322, and inductor 321 selects metal
Proximity sensor, when guide post 312 is located at 311 deep inside of guiding groove, the metal approach sensing on charging interface 10
Device senses the metal derby on charging assembly 21, sends charging signals.
When charging assembly 21 and charging interface 10 are when the guiding for the guide device 30 that charges is vertically aligned, can lead to
Crossing lifting charging assembly 21 or charging interface 10 makes electrode 22 and the charging on charging interface 10 under charging on charging assembly 21
Top electrode 11 is bonded.
One embodiment is：Charging interface 10 is equipped with vertical lifting mechanism (not shown), moves down charging interface 10, charges
The charging top electrode 11 of electrode 22 and charging interface 10 is bonded under the charging of component 21.
Another embodiment is：As illustrated in the accompanying drawings from 1 to 3, position adjusting mechanism 40 includes vertical adjustment mechanism 41 and horizontal adjustment
Mechanism 42, vertical adjustment mechanism 41 are used to adjust the vertical distance of charging assembly 21 and charging interface 10, horizontal adjusting mechanism 42
For adjusting the position of 21 horizontal direction of charging assembly, make charging assembly 21 that can be aligned in the vertical direction with charging interface 10.
More specifically, what vertical adjustment mechanism 41 included being connected with charging assembly 21 is used to be lifted charging assembly 21
Screw slide unit 411, the driving motor 412 of screw slide unit 411 and limit sensors 413 for driving, when charging unit 20 connects
After receiving charging signals, charging assembly 21 is raised to limit sensors by screw slide unit 411 under the control of driving motor 412
413 positions are bonded charging top electrode 11 and the lower electrode 22 of charging, start to charge up.There are two limit sensors, limits silk respectively
The lifting position and down position of bar slide unit, after charging complete, mobile robot is transmitted completion signal to charging cabinet, charging assembly
21 decline under driving motor control, and at the limit sensors of limitation down position, robot receives for final stop place
It after limit sensors signal, moves backward, charging assembly and charging interface safe separating.
Horizontal adjusting mechanism 42 is included for adjusting the front and rear sliding mechanism 43 of 21 front and back position of charging assembly, for adjusting
The left and right sliding mechanism 44 of charging assembly 21 or so and mounting base 46, front and rear sliding mechanism 43 are slided with left and right sliding mechanism 44
Connection, one of front and rear sliding mechanism 43 and left and right sliding mechanism 44 are connected with charging assembly 21, another one and mounting base 46
Connection.
More specifically, a kind of embodiment is：Front and rear sliding mechanism 43 includes the first guide rail 431 and is set in first leading
The first elasticity group 432 on rail 431, the first guide rail 431 has two, is separately positioned on the both sides of charging assembly 21, the first guide rail
431 are connected with mounting base 46, and left and right sliding mechanism 44 includes the second guide rail 441 and be set on the second guide rail 441 second
Elasticity group 442, the second guide rail 441 is connected with charging assembly 21, and both ends are equipped with sliding block 45, and sliding block 45 is set in the first guide rail
On 431, the first elasticity is equipped between mounting base 46 and organizes 432, the second guide rail 441 there are two, is separately positioned on charging assembly 21
The second elasticity is equipped on front-end and back-end, between sliding block 45 and charging assembly 21 and organizes 442, corresponding, 45 quantity of sliding block is four,
Sliding block 45 can be moved forward and backward on the first guide rail 431, and the first elasticity of compression group 432, charging assembly 21 is left on the second guide rail 441
It moves right, the second elasticity of compression group 442 realizes the moving freely in the horizontal direction of charging assembly 21 with this.Another kind is implemented
Mode is substantially approximate with the above embodiment, difference lies in, the second guide rail 441 is connected with mounting base 46, the first guide rail 431 with
Charging assembly 21 connects, and both ends are equipped with sliding block 45, and sliding block 45 is set on the second guide rail 441, can be controlled on the second guide rail 441
Mobile, charging assembly 21 is moved forward and backward on the first guide rail 431.First elasticity group 432 and the second elasticity 442 optional bullets of group
Spring.
First elasticity group 432 is act as：Robot might have slight used after receiving limit sensors signal and stopping
Property (be theoretically 0), prevent in different environments this caused slight inertia may exist to charging assembly and hit, with the
One elasticity organizes 432 to play cushioning effect, and the trifle spring that front is located in the first elasticity group 432 is mobile robot charging
Mouth exit after rebound buffering.
The main function of second elasticity group 442 is returns middle effect, and after horizontally slipping, charging assembly needs to revert to centre
Position ensures that next time, charging can be aligned.
When charging interface is docked or detached with charging assembly, by the first elastic group into row buffering, pass through the second elastic group
It carries out alignment correction or returns middle return.
The lower electrode 22 of charging is connected with charging assembly 21 by elastic mechanism 23, for lower electrode 22 and the charging of charging
Upward power is applied to the lower electrode 22 that charges during the fitting of electrode 11, electrode 22 and charging top electrode 11 under charging is made to be bonded tightlier
Close, charging effect is more stable.The top electrode 11 that charges is to be arranged on two copper sheets of 10 both sides of charging interface, and the lower electrode 22 that charges is
Two copper sheets of 312 both sides of guide post are arranged on, electrode 22 and the charging cabinet 24 of charging unit 20 pass through charge cable under charging
It is connected.
The above embodiment is only the preferred embodiment of the present invention, it is impossible to the scope of protection of the invention is limited with this,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed range.
Claims (10)
- A kind of 1. automatic charge device of mobile robot, including mobile robot and charging unit, which is characterized in that the shifting Charging guide device is equipped between mobile robot and the charging unit, for guiding the charging unit and the mobile machine The charging interface docking of people bottom, charging unit include charging assembly and position adjusting mechanism, and the charging assembly is arranged on institute It states on position adjusting mechanism, can all around move in the horizontal direction, the charging assembly is filled with the mobile robot Electrical interface docks, and the charging guide device includes detent mechanism and positioning detection mechanism, and the positioning detection mechanism detects The detent mechanism makes the charging assembly and the charging interface when vertical direction is aligned, and sends a signal to the charging dress It puts, the charging assembly or the charging interface move under the charging for making the charging assembly electrode and described in the vertical direction The charging top electrode fitting of charging interface.
- 2. the automatic charge device of mobile robot as described in claim 1, which is characterized in that the detent mechanism includes drawing Guide groove and guide post, one of the charging assembly and the charging interface are equipped with guiding groove, and another one is equipped with guiding Column, the width of the opening of the guiding groove are more than the width of inside, and the inside of the guiding groove is adapted with the guide post.
- 3. the automatic charge device of mobile robot as claimed in claim 2, which is characterized in that the opening of the guiding groove Side wall be equipped with guide surface, the guide post is guided on the inside of the guiding groove.
- 4. the automatic charge device of mobile robot as described in claim 1, which is characterized in that the positioning detection mechanism packet Inductor and triggering block are included, one of the charging assembly and the charging interface are equipped with inductor, and another one is equipped with Triggering block, the detent mechanism make the charging assembly and the charging interface are aligned in vertical direction, the inductor sensing To triggering block.
- 5. the automatic charge device of mobile robot as described in claim 1, which is characterized in that the position adjusting mechanism packet Vertical adjustment mechanism and horizontal adjusting mechanism are included, the vertical adjustment mechanism is used to adjust the charging assembly and the charging The vertical distance of mouth, the horizontal adjusting mechanism are used to adjust the position of the charging assembly horizontal direction.
- 6. the automatic charge device of mobile robot as claimed in claim 5, which is characterized in that the vertical adjustment mechanism packet Include be connected with the charging assembly for the screw slide unit, the screw slide unit for driving that are lifted the charging assembly Driving motor and limit sensors, the charging assembly is raised to by the screw slide unit under the control of the driving motor The limit sensors position.
- 7. the automatic charge device of mobile robot as claimed in claim 5, which is characterized in that the horizontal adjusting mechanism packet It includes to adjust the front and rear sliding mechanism of the charging assembly front and back position, slide for adjusting the left and right of the charging assembly or so Motivation structure and mounting base, the front and rear sliding mechanism are slidably connected with the left and right sliding mechanism, the front and rear sliding mechanism It is connected with one of the left and right sliding mechanism with the charging assembly, another one is connect with the mounting base, described front and rear The first elastic group that sliding equipment includes the first guide rail and is set on first guide rail, the left and right sliding mechanism include the Two guide rails and the second elastic group being set on second guide rail.
- 8. the automatic charge device of mobile robot as described in claim 1, which is characterized in that the charging interface is equipped with Vertical lifting mechanism moves down the charging interface, the charging of electrode and the charging interface under the charging of the charging assembly Top electrode is bonded.
- 9. the automatic charge device of the mobile robot as described in claim 1-8 any bars, which is characterized in that under the charging Electrode is connected with the charging assembly by elastic mechanism, is connected with the charging cabinet of the charging unit.
- 10. the automatic charge device of the mobile robot as described in claim 1-8 any bars, which is characterized in that the movement Robot is equipped with laser radar, and the mobile robot is moved to the charging unit position by the laser radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810016592.4A CN108199432A (en) | 2018-01-08 | 2018-01-08 | A kind of automatic charge device of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810016592.4A CN108199432A (en) | 2018-01-08 | 2018-01-08 | A kind of automatic charge device of mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108199432A true CN108199432A (en) | 2018-06-22 |
Family
ID=62588608
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810016592.4A Pending CN108199432A (en) | 2018-01-08 | 2018-01-08 | A kind of automatic charge device of mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108199432A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109093648A (en) * | 2018-08-24 | 2018-12-28 | 安徽爱依特科技有限公司 | A kind of robot self charger and its method |
| CN109159704A (en) * | 2018-10-19 | 2019-01-08 | 郭子瑞 | A kind of multifunctional recharging device for electric car |
| CN109532531A (en) * | 2018-11-22 | 2019-03-29 | 西安电子科技大学芜湖研究院 | A kind of adaptive charging system |
| WO2020093745A1 (en) * | 2018-11-06 | 2020-05-14 | 北京海益同展信息科技有限公司 | Data interface device and sliding groove |
| CN112688127A (en) * | 2020-12-17 | 2021-04-20 | 海南电网有限责任公司澄迈供电局 | Power distribution automation communication terminal card plug device |
| CN113224574A (en) * | 2021-04-15 | 2021-08-06 | 无锡全面互链科技有限公司 | Charging base for intelligent robot based on block chain |
| CN114094679A (en) * | 2022-01-20 | 2022-02-25 | 江西丹巴赫机器人股份有限公司 | Mobile robot charging system |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001125641A (en) * | 1999-10-29 | 2001-05-11 | Sony Corp | Charging system for moving robot, method for searching for charging station, moving robot, connector, and electric connection structure |
| EP1819026A2 (en) * | 2006-02-14 | 2007-08-15 | HONDA MOTOR CO., Ltd. | Charging system for legged mobile robot |
| CN103683521A (en) * | 2012-09-21 | 2014-03-26 | 昆山博驭汽车数字化有限公司 | Laser positioning intelligent connection electric vehicle wireless charger and transceiver system |
| CN203800658U (en) * | 2014-03-27 | 2014-08-27 | 宁波韦尔德斯凯勒智能科技有限公司 | Automatic charging device of mobile robot |
| 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 |
| CN106532375A (en) * | 2016-12-21 | 2017-03-22 | 北京灵铱科技有限公司 | Omnidirectional charging base of mobile robot and independent charging method of omnidirectional charging base |
| JP2017147868A (en) * | 2016-02-17 | 2017-08-24 | シャープ株式会社 | Charging device and traveling device charging system |
| CN206485213U (en) * | 2016-12-21 | 2017-09-12 | 中惠创智无线供电技术有限公司 | A kind of chargeable garage |
| CN107303822A (en) * | 2016-04-17 | 2017-10-31 | 司文奎 | Charging inlet is positioned and connection method |
| CN207967974U (en) * | 2018-01-08 | 2018-10-12 | 浙江立石机器人技术有限公司 | A kind of automatic charge device of mobile robot |
-
2018
- 2018-01-08 CN CN201810016592.4A patent/CN108199432A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001125641A (en) * | 1999-10-29 | 2001-05-11 | Sony Corp | Charging system for moving robot, method for searching for charging station, moving robot, connector, and electric connection structure |
| EP1819026A2 (en) * | 2006-02-14 | 2007-08-15 | HONDA MOTOR CO., Ltd. | Charging system for legged mobile robot |
| CN103683521A (en) * | 2012-09-21 | 2014-03-26 | 昆山博驭汽车数字化有限公司 | Laser positioning intelligent connection electric vehicle wireless charger and transceiver system |
| CN203800658U (en) * | 2014-03-27 | 2014-08-27 | 宁波韦尔德斯凯勒智能科技有限公司 | Automatic charging device of mobile robot |
| 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 |
| JP2017147868A (en) * | 2016-02-17 | 2017-08-24 | シャープ株式会社 | Charging device and traveling device charging system |
| CN107303822A (en) * | 2016-04-17 | 2017-10-31 | 司文奎 | Charging inlet is positioned and connection method |
| CN106532375A (en) * | 2016-12-21 | 2017-03-22 | 北京灵铱科技有限公司 | Omnidirectional charging base of mobile robot and independent charging method of omnidirectional charging base |
| CN206485213U (en) * | 2016-12-21 | 2017-09-12 | 中惠创智无线供电技术有限公司 | A kind of chargeable garage |
| CN207967974U (en) * | 2018-01-08 | 2018-10-12 | 浙江立石机器人技术有限公司 | A kind of automatic charge device of mobile robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109093648A (en) * | 2018-08-24 | 2018-12-28 | 安徽爱依特科技有限公司 | A kind of robot self charger and its method |
| CN109159704A (en) * | 2018-10-19 | 2019-01-08 | 郭子瑞 | A kind of multifunctional recharging device for electric car |
| WO2020093745A1 (en) * | 2018-11-06 | 2020-05-14 | 北京海益同展信息科技有限公司 | Data interface device and sliding groove |
| CN109532531A (en) * | 2018-11-22 | 2019-03-29 | 西安电子科技大学芜湖研究院 | A kind of adaptive charging system |
| CN112688127A (en) * | 2020-12-17 | 2021-04-20 | 海南电网有限责任公司澄迈供电局 | Power distribution automation communication terminal card plug device |
| CN113224574A (en) * | 2021-04-15 | 2021-08-06 | 无锡全面互链科技有限公司 | Charging base for intelligent robot based on block chain |
| CN113224574B (en) * | 2021-04-15 | 2022-06-14 | 无锡全面互链科技有限公司 | Charging base for intelligent robot based on block chain |
| CN114094679A (en) * | 2022-01-20 | 2022-02-25 | 江西丹巴赫机器人股份有限公司 | Mobile robot charging system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108199432A (en) | A kind of automatic charge device of mobile robot | |
| CN207967974U (en) | A kind of automatic charge device of mobile robot | |
| CN207233567U (en) | Automatic pendulum disk mechanism | |
| CN210375032U (en) | Crane track smoothness detection device | |
| WO2020130162A1 (en) | Autonomous wireless charging system and method based on power loss tracking | |
| CN202912303U (en) | Linear module with structure modified | |
| CN212258458U (en) | Robot charging and docking device | |
| CN210943757U (en) | Automatic connection device and connection system thereof | |
| CN209372011U (en) | A kind of measuring device and measurement calibrator (-ter) unit | |
| CN217403305U (en) | Shaft workpiece machining precision detection device | |
| CN110867916B (en) | Wireless charging system of transformer substation discharge source positioning robot | |
| CN213231369U (en) | High-precision small-stroke Z-axis lifting mechanism | |
| CN212432023U (en) | Long shaft straightness detection device | |
| CN210000153U (en) | kinds of charging side charging device | |
| CN203304970U (en) | Stepping type conveying mechanism | |
| CN220271519U (en) | Detection equipment | |
| CN208939062U (en) | Battery pack interface docking facilities | |
| CN111981959A (en) | Long shaft straightness detection device | |
| CN110967100A (en) | Online weight detection device | |
| CN208075775U (en) | A kind of three-dimensional laser sensor measuring apparent size | |
| CN206936622U (en) | A kind of horizontal laser cutting machine lathe of quick regulation | |
| CN215934989U (en) | Follow-up adjusting mechanism for CCD positioning detection camera depth of field | |
| CN220501902U (en) | Overturning and discharging mechanism of lithium battery detection line | |
| CN105674933B (en) | A kind of lithium battery thickness measurement system | |
| CN211400818U (en) | Blank positioning structure for heating furnace cold-charging rack |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |