CN104734291A - Patrol robot charging system and method - Google Patents
Patrol robot charging system and method Download PDFInfo
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- CN104734291A CN104734291A CN201510128951.1A CN201510128951A CN104734291A CN 104734291 A CN104734291 A CN 104734291A CN 201510128951 A CN201510128951 A CN 201510128951A CN 104734291 A CN104734291 A CN 104734291A
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- electrode
- charging
- crusing robot
- plate
- foldable telescopic
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- 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
Abstract
The invention provides a patrol robot charging system which comprises a charging pile base, a patrol robot charging cavity and a foldable telescopic electrode. The outer wall of the charging pile base is provided with an electrode contraction opening. The foldable telescopic electrode is arranged on the charging pile base and located on the upper portion of the electrode contraction opening. The foldable telescopic electrode can rotate around a mounting point and thus can be drawn back and contained in the electrode contraction opening or stretch out of the charging pile base. The foldable telescopic electrode is connected with an electric supply converter arranged on the charging pile base. An electrode plate matched with the foldable telescopic electrode is arranged in the patrol robot charging cavity. According to the patrol robot charging system, the electrode is arranged in the charging pile base, the electrode is designed to be of a telescopic elastic contact type and can be folded and hidden automatically after being used, the butt joint power is supplied by moving of a robot, the complexity of the charging part in the robot is simplified greatly, and meanwhile, the safety and reliability of a device are guaranteed.
Description
Technical field
The invention belongs to battery boosting technology field, relate to a kind of charging system, particularly relate to a kind of high reliability Intelligent Mobile Robot recharging system and charging method.
Background technology
Chinese utility model patent document CN201298629Y " battery charger of robot ", provide a kind of battery charger of robot, comprise plug mechanism and socket component, described plug mechanism comprises the base plate be located on mobile robot, described base plate is fixedly connected with the support set of axial horizontal positioned, rack bar is had to pass in support set, described rack bar left end is connected with plug, described rack bar and gears meshing, described gear is installed in the rotating shaft of motor, described motor is fixedly connected with base plate, described socket component comprises supporting base, described supporting base is provided with socket, plug on described socket and described rack bar is oppositely arranged.This utility model adopts and can drive telescopic charging plug, the scheme of outer setting charging socket in robot interior installation, this avoid the exposure problem of electrode.But this utility model exists following drawback: drive retractable electrode by motor, motor and retractable electrode are arranged at robot interior can increase the body weight of robot own, indoor design and installation complexity and installation volume.
Chinese utility model patent document CN202285342U " intelligent substation palpus crusing robot charging device " charging pile internal unit is more, integrated level is not high, reduce maintainability and the stability of equipment, simultaneously, coordinate with this utility model on the body carrying out the robot charged and must charging plug be set, similar to aforementioned utility model, this charging plug is necessary for and can drives telescopic charging plug, adds the body weight of robot own, indoor design and installation complexity and installation volume.
Chinese utility model patent document CN202495798U " Intelligent Mobile Robot automatic charging mechanism ", provide a kind of Intelligent Mobile Robot automatic charging mechanism, comprise electric pushrod, electric pushrod is connected with charging device, charging device is arranged on fixing front stall, electric pushrod is arranged on fixing back seat, and charging device is connected by guide rail with fixing front stall.Electric pushrod and charging device are arranged on robot body by this utility model, drive charging device to be connected with charging case by electric pushrod, after charging electricity, then to be retracted charging device by electric pushrod.
Summary of the invention
For solving prior art Problems existing, the invention provides a kind of crusing robot charging system, electrode is arranged on charging pile base interior, electrode design becomes telescopic elastic contact, use rear auto-folder to hide, docking power is moved by robot self and provides, and enormously simplify the complexity of robot interior live part, ensure that equipment safety reliability simultaneously.
Crusing robot charging system provided by the present invention, is characterized in that: comprise charging pile pedestal, crusing robot charging chamber and foldable telescopic electrode; Described charging pile base outer wall is provided with electrode contraction mouth; Described foldable telescopic electrode is arranged on described charging pile pedestal, and this foldable telescopic electrode can rotate around mounting points, thus takes in described electrode contraction mouth or stretch out charging pile pedestal; Described foldable telescopic electrode is connected with the city's electric transducer be arranged on described charging pile pedestal; The battery lead plate coordinated with described foldable telescopic electrode is provided with in described crusing robot charging chamber.By foldable telescopic electrode design on charging pile pedestal, this foldable telescopic electrode can be hidden in when not using in electrode contraction mouth, add the fail safe of charging system, the device of foldable telescopic electrode is driven also to be positioned on charging pile pedestal, alleviate the own wt of crusing robot, simplify the design of crusing robot, increase the reusability of equipment.
Described foldable telescopic electrode comprises flexible electrode supporting seat, flexible electrode guide rail and flexible electrode; One end of described flexible electrode supporting seat is arranged on described charging pile pedestal, and the other end is connected with described flexible electrode guide rail; Electrode channel is provided with in described flexible electrode supporting seat, flexible electrode guide rail; The two ends of described flexible electrode are overlapped respectively and are had spring, described flexible electrode are provided with the flexible electrode braking ring separated by described spring; This flexible electrode is arranged in electrode channel, and its terminals are connected with described city electric transducer, and its contact stretches out electrode channel and coordinates with the battery lead plate that described crusing robot charges on chamber.Two ends cover has the flexible electrode of spring to be placed in electrode channel, and flexible electrode braking ring by two springs separately; Spring, flexible electrode braking ring and electrode channel that the front end of flexible electrode is nested with interact, and make electrode have certain elastic strength and flexible surplus in flexible electrode guide rail; The spring that the rear end of flexible electrode is nested with possesses vibration-damping noise-reducing effect.
Because crusing robot needs to have certain seal, battery lead plate can not be outside exposed, described crusing robot charging chamber has charging chamber door-plate, and the upper end of this charging chamber door-plate is arranged on the chamber upper wall of described crusing robot charging chamber, and can rotate around mounting points; Described battery lead plate is arranged on the chamber rear wall of described crusing robot charging chamber, and this chamber rear wall is relative with charging chamber door-plate.When crusing robot needs charging, robot moves to charging pile pedestal, and first foldable telescopic electrode withstands on charging chamber door-plate, and charging chamber door-plate rotates around mounting points, until charging chamber door-plate is opened, foldable telescopic electrode contacts with battery lead plate; When charging complete or receive and leave instruction, robot moves round about, foldable telescopic electrode is separated with battery lead plate, and foldable telescopic electrode leaves crusing robot charging chamber, and charging chamber door-plate slowly puts down and the chamber that charged by crusing robot is closed.
For strengthening sealing further, being convenient to charging chamber and automatically realizing sealing, the lower end of charging chamber door-plate is provided with door-plate magnet, due to the effect of door-plate magnet, and charging chamber door-plate and the tight adhesive of chamber lower wall.For strengthening sealing effectiveness, chamber lower wall can arrange threshold, threshold also arranges door-plate magnet, the door-plate magnet on charging chamber door-plate and the tight adhesive of door-plate magnet on threshold.Charging chamber door-plate is arranged on chamber upper wall by door-plate rotary joint, and can rotate around door-plate rotary joint, in the non-charging interval, the door-plate magnet bottom the elastic device of door-plate rotary joint inside, the chamber door-plate that charges can make door-plate reach the closed condition of water-tight.Door-plate rotary joint can be made up of rotating shaft and torsion spring, during charging, when the thrust of foldable telescopic electrode is bigger than torsion spring torsion, (if charged, the lower end of chamber door-plate is also provided with door-plate magnet, the thrust of foldable telescopic electrode should be greater than torsion spring torsion and door-plate magnet suction sum), charging chamber door-plate is slowly opened, after foldable telescopic electrode leaves from charging chamber, the elastic force of torsion spring makes charging chamber door-plate recover closed condition.
Preferably, described charging pile pedestal is provided with folding driver, described foldable telescopic electrode is arranged on folding driver, and this folding driver is used for taking in described electrode contraction mouth by described foldable telescopic electrode or stretching out charging pile pedestal.Folding driver realizes by the turbine worm motor that arranges in charging pile pedestal and belt gear.Folding driver is arranged in charging pile pedestal the reusability that effectively can alleviate robot deadweight and increase equipment.
Described charging pile pedestal is the support cabin surrounded by front end panel, rear bearing sheet, left support plate, right support plate and base plate, and wherein, left support plate, right support plate are obliquely installed; Described electrode contraction mouth is arranged on right support plate.It is indoor that city's electric transducer and folding driver can be arranged on this support chamber.This modularized design ease of assembly and in-site installation, it adopts left and right side inclined design to increase impact resistance and the stability of pedestal, left and right supporting bracket forms support mutually, also supporting bracket can be adopted heavy cast iron design, increase impact resistance and stability further.
For flexible electrode contact and crusing robot are charged chamber door-plate contacts time there is suitable frictional force, described contact be band lines hemisphere.
The present invention also provides a kind of crusing robot charging method, comprises the following steps:
(1) when after charging pile base receptacle to charge command, the foldable telescopic electrode be hidden in described charging pile pedestal is stretched out from electrode contraction mouth, until described foldable telescopic electrode arrives horizontal level and keeps;
(2) crusing robot moves to charging pile pedestal direction, until crusing robot charging chamber in battery lead plate and described foldable telescopic electrode contact;
(3) after crusing robot charging complete or receiving and leave the order of charging pile pedestal, crusing robot is movement slowly, until battery lead plate and foldable telescopic electrode separation;
(4) the foldable telescopic electrode be horizontal is taken in described electrode contraction mouth.
Crusing robot charging method provided by the invention, comprises the following steps:
(1) when after charging pile base receptacle to charge command, the foldable telescopic electrode be hidden in described charging pile pedestal stretches out from electrode contraction mouth by folding driver, until described foldable telescopic electrode arrives horizontal level and keeps;
(2) crusing robot moves to appropriate location to charging pile pedestal direction, and the flexible electrode of foldable telescopic electrode is contacted with the charging chamber door-plate on crusing robot; Crusing robot continues move and push up pressure stretch contracting electrode, and the reaction force that flexible electrode produces makes charging chamber door-plate be opened;
(3) when crusing robot moves to appropriate location, the battery lead plate that flexible electrode and the crusing robot of foldable telescopic electrode charge in chamber contacts;
(4) after crusing robot charging complete or receiving and leave the order of charging pile pedestal, crusing robot moves to the direction away from charging pile pedestal, the flexible electrode of foldable telescopic electrode is separated with battery lead plate, charging chamber door-plate cuts out automatically, makes crusing robot charging chamber be in air-tight state;
(5) the foldable telescopic electrode be horizontal is taken in described electrode contraction mouth by folding driver.
Beneficial effect of the present invention is: 1, mechanical structure is simple and reliable, and cost performance is high, is convenient to installation and maintenance; 2, the mechanical structure of design provides larger collecting electrode area and adjustment space, crusing robot location, robot and charging pile disposable docking success during charging; 3, the crusing robot charging chamber in the present invention's design ensures that charging operations electrode is in airtight chamber, can prevent unexpected generation, more meet the first pass requirement of transformer station.4, electrode is arranged on charging pile inside by the present invention, electrode design becomes telescopic elastic contact, uses rear auto-folder and hides, and docking power is retreated by robot self and provides, enormously simplify the complexity of robot interior live part, ensure that equipment safety reliability simultaneously.
Accompanying drawing explanation
Fig. 1 is composition frame chart of the present invention;
Fig. 2 is charging pile structural representation;
Fig. 3 is foldable telescopic electrode composition schematic diagram;
Fig. 4 is charging pile base construction exploded perspective view;
Fig. 5 is crusing robot charging chamber structure schematic diagram.
In figure: 101-charging pile pedestal; 103-foldable telescopic electrode; 110-city electric transducer; 111-folds driver; 113-electrode contraction mouth; 114-left support plate; 115-front end panel; 116-rear bearing sheet; 117-right support plate; 118-base plate; 102-crusing robot charging chamber; 120-storage battery; 121-battery lead plate; 122-robot charging chamber door-plate; 123-door-plate magnet; 124-chamber rear wall; 125-chamber upper wall; 126-door-plate rotary joint; 127-robot tail wall; 130-stretches electrode terminal; 131-stretches electrode front end; 132-stretches electrode braking ring; 133-stretches electrode rear end; 134-stretches electrode contact; 135-stretches electrode supporting seat; 136-stretches electrode guide rail; 137-electrode channel; 138-chamber lower wall; 139-threshold.
Embodiment
As shown in Figure 2, crusing robot charging system provided by the present invention, comprise charging pile pedestal 101, crusing robot charging chamber 102, the outer wall of charging pile pedestal 101 is provided with electrode contraction mouth 113, foldable telescopic electrode 103 is arranged on charging pile pedestal 101, this foldable telescopic electrode can rotate around mounting points, thus income electrode contraction mouth 113 is interior or stretch out charging pile pedestal, foldable telescopic electrode 103 is connected with the city's electric transducer 110 be arranged on charging pile pedestal 101, city's electric transducer is used for civil power being converted to the electric current and voltage mated with crusing robot, crusing robot charging chamber 102 is provided with the battery lead plate 121 coordinated with foldable telescopic electrode 103.Charging system is not when using, and foldable telescopic electrode 103 is hidden in electrode contraction mouth 113; When after charging pile base receptacle to charge command, first the foldable telescopic electrode 103 be hidden in charging pile pedestal 101 is stretched out from electrode contraction mouth 113, until foldable telescopic electrode 103 arrives horizontal level and keeps; Afterwards, crusing robot moves to charging pile pedestal 101 direction, until the battery lead plate 121 in crusing robot charging chamber 102 contacts with foldable telescopic electrode 103, after crusing robot detects normal connection, charging complete is waited in stop motion; After crusing robot charging complete or receiving and leave the order of charging pile pedestal, crusing robot is movement slowly, until battery lead plate and foldable telescopic electrode separation; Finally again the foldable telescopic electrode be horizontal is taken in electrode contraction mouth.
As shown in Fig. 1,2,4, charging pile pedestal 101 is the stable support cabins surrounded by front end panel 115, rear bearing sheet 116, left support plate 114, right support plate 117, base plate 118, supporting bracket can be made of cast iron, left and right supporting bracket is obliquely installed, mutual formation supports, this modularized design ease of assembly and in-site installation, left and right sides inclination and the design of heavy cast iron can increase the stability of shock resistance of charging pile pedestal.Electrode contraction mouth 113 is vertically arranged on right support plate 117.Folding driver 111, city's electric transducer 110 are arranged on and support in cabin, foldable telescopic electrode 103 is arranged on folding driver 111 and mounting points is positioned at the top of electrode contraction mouth 113, to be hidden in electrode contraction mouth or from electrode contraction mouth by foldable telescopic electrode to stretch out by folding driver 111.Folding driver, city's electric transducer, foldable telescopic electrode etc. are arranged in charging pile pedestal the reusability that effectively can alleviate robot deadweight and increase equipment.Electrode contraction mouth 113 also can be horizontally disposed with, the mounting points of foldable telescopic electrode also can adjust as required flexibly, as long as when charging, foldable telescopic electrode can stretch out in electrode contraction mouth, charge for robot, after charging complete, foldable telescopic electrode can be hidden in electrode contraction mouth smoothly.
As shown in Figure 2,3, foldable telescopic electrode 103 comprises flexible electrode supporting seat 135, flexible electrode guide rail 136 and flexible electrode; One end of flexible electrode supporting seat 135 is arranged on charging pile pedestal 101, if be provided with folding driver, then flexible electrode supporting seat 135 is directly installed on folding driver; The other end of flexible electrode supporting seat 135 is connected with flexible electrode guide rail 136; The electrode channel 137 can taking flexible electrode in is all provided with in flexible electrode supporting seat 135, flexible electrode guide rail 136.Flexible electrode is provided with flexible electrode braking ring 132, and flexible electrode is divided into flexible electrode front end 131 and flexible electrode rear end 133 by this braking ring.On flexible electrode front end 131, flexible electrode rear end 133, cover has spring respectively, flexible electrode is installed in electrode channel 137, the flexible electrode terminal 130 of flexible electrode is connected with the terminals of city's electric transducer 110, and flexible electrode contact 134 stretches out electrode channel 137, coordinates with battery lead plate 121.The spring that flexible electrode front end 131 is set with, flexible electrode braking ring 132 and electrode channel 137 interact and make electrode in electrode guide rail, have certain elastic strength and flexible surplus, and the spring on flexible electrode rear end 132 possesses vibration-damping noise-reducing effect.Flexible electrode contact 134 is the dome-type of band lines, to charge when chamber door-plate 122 contacts with robot have suitable frictional force.
As shown in Fig. 1,2,5, crusing robot charging chamber 102 is arranged on the afterbody of crusing robot, as required, also can be arranged on other positions.Crusing robot charging chamber 102 has tilting charging cavity door-plate 122, the upper end of this charging chamber door-plate is arranged on by door-plate rotary joint 126 on the chamber upper wall 125 of crusing robot charging chamber 102, and can rotate around door-plate rotary joint, battery lead plate 121 is arranged on the chamber rear wall 124 of crusing robot charging chamber 102.The bottom of charging chamber door-plate 122 is provided with door-plate magnet 123; In non-charging interval section, the elastic device of door-plate rotary joint 126 inside and door-plate magnet 123 can make charging chamber door-plate 122 reach the closed condition of water-tight, tightly closed because of the suction of door-plate magnet 123 between charging chamber door-plate 122 and the chamber lower wall of charging chamber.Storage battery 120 can be arranged on crusing robot charging chamber 102, and is equipped with power supervisor 121 for it.As can see from Figure 5, door-plate rotary joint 126 is positioned at chamber upper wall 125 and robot tail wall 127 joint portion; The chamber lower wall 138 of charging chamber is provided with threshold 139, and when the chamber door-plate 122 that charges resets, charging chamber door-plate and threshold 139 are fitted, and realize water-tight; Except charging chamber door-plate 122 is provided with except door-plate magnet, threshold 139 is also provided with door-plate magnet, and the magnetic pole of two blocks of door-plate magnet is attracting, the tightness degree of intensified charging chamber door-plate and threshold 139.
Composition graphs 2,3, the chamber rear wall 124 of crusing robot charging chamber 102 is equidistantly distributed with three copper electrode plates, battery lead plate size 23.3 × 155.2 × 123.3 × 155.2 × 1mm, spacing 25.3mm, electrode arranges even grain, correspondingly, flexible electrode supporting seat 135, flexible electrode guide rail 136 are provided with three strip electrode passages 137, three flexible electrodes are as in electrode channel, the diameter of flexible electrode contact 134 is 10mm, this makes flexible electrode and battery lead plate disposablely in a big way can complete docking charging, improves charging docking reliability.
Be arranged on the afterbody of crusing robot for crusing robot charging chamber 102, adopt retrusive Mobile Method close to charging pile pedestal during crusing robot charging, introduce charging process in detail.
Crusing robot utilizes the automatic positioning navigation system chamber door-plate 122 that charged by robot to aim at the foldable telescopic electrode 103 stretched out in charging pile pedestal 101, utilizing crusing robot to retreat provides power to make foldable telescopic electrode 103 push robot charging chamber door-plate 122 open, flexible electrode contact 137 is finally made to touch strip electrode plate 121 on chamber rear wall 124, thus carry out charging operations, the concrete steps of charging method are:
(1), when crusing robot enters charging house, charging instruction is sent by radio communication to background system.After folding driver 111 in charging pile pedestal 101 receives background system order, the foldable telescopic electrode 103 be hidden in charging pile pedestal 101 stretches out by folding driver 111 from electrode contraction mouth 113, until arrive horizontal level and keep.
(2) crusing robot moves to appropriate location by automatic positioning navigation system, and the electrode of the top in flexible electrode guide rail 136 and the robot chamber door-plate 122 that charges is contacted.
(3) robot relies on self power slowly to retreat, and makes residue two electrodes contact robot charging chamber door-plate 122 successively.
(4) robot slowly retreats top pressure three electrodes, the reaction force that electrode produces overcomes the acting force of the spring in the suction of door-plate magnet 123 of robot charging chamber door-plate 122 lower edge and door-plate rotary joint 126, and robot charging chamber door-plate 122 is along door-plate rotary joint 126 Unscrew.
(5) robot retreats enough distances three electrodes is contacted with the copper electrodes plate 121 be positioned on chamber rear wall 124, and crusing robot detects that charging normal rear stop motion waits for charging complete.
(6) crusing robot detects charging complete or receives and leaves signal, and robot slowly moves ahead, and departs from foldable telescopic electrode 103, and crusing robot charging chamber door-plate 122 cuts out automatically.
(7) when crusing robot leaves charging house, charge completion signal is sent to folding driver to background system, after folding driver 111 in charging pile pedestal 101 receives signal, the foldable telescopic electrode 103 being in level is folded up along the electrode contraction mouth 113 in charging pile pedestal 101 by folding driver 111, is hidden in electrode contraction mouth 113.
Claims (10)
1. a crusing robot charging system, is characterized in that: comprise charging pile pedestal, crusing robot charging chamber and foldable telescopic electrode; Described charging pile base outer wall is provided with electrode contraction mouth; Described foldable telescopic electrode is arranged on described charging pile pedestal, and this foldable telescopic electrode can rotate around mounting points, thus takes in described electrode contraction mouth or stretch out charging pile pedestal; Described foldable telescopic electrode is connected with the city's electric transducer be arranged on described charging pile pedestal; The battery lead plate coordinated with described foldable telescopic electrode is provided with in described crusing robot charging chamber.
2. crusing robot charging system as claimed in claim 1, is characterized in that: described foldable telescopic electrode comprises flexible electrode supporting seat, flexible electrode guide rail and flexible electrode; One end of described flexible electrode supporting seat is arranged on described charging pile pedestal, and the other end is connected with described flexible electrode guide rail; Electrode channel is provided with in described flexible electrode supporting seat, flexible electrode guide rail; The two ends of described flexible electrode are overlapped respectively and are had spring, described flexible electrode are provided with the flexible electrode braking ring separated by described spring; This flexible electrode is arranged in electrode channel, and its terminals are connected with described city electric transducer, and its contact stretches out electrode channel and coordinates with the battery lead plate that described crusing robot charges on chamber.
3. crusing robot charging system as claimed in claim 1, it is characterized in that: described crusing robot charging chamber has charging chamber door-plate, the upper end of this charging chamber door-plate is arranged on the chamber upper wall of described crusing robot charging chamber, and can rotate around mounting points; Described battery lead plate is arranged on the chamber rear wall of described crusing robot charging chamber, and this chamber rear wall is relative with charging chamber door-plate.
4. the crusing robot charging system as described in claim 1,2 or 3, it is characterized in that: described charging pile pedestal is provided with folding driver, described foldable telescopic electrode is arranged on folding driver, and this folding driver is used for taking in described electrode contraction mouth by described foldable telescopic electrode or stretching out charging pile pedestal.
5. the crusing robot charging system as described in claim 1,2 or 3, it is characterized in that: described charging pile pedestal is the support cabin surrounded by front end panel, rear bearing sheet, left support plate, right support plate and base plate, wherein, left support plate, right support plate are obliquely installed; Described electrode contraction mouth is arranged on right support plate.
6. crusing robot charging system as claimed in claim 2, is characterized in that: described contact is the hemisphere of band lines.
7. crusing robot charging system as claimed in claim 3, is characterized in that: the lower end of described charging chamber door-plate is provided with door-plate magnet.
8. crusing robot charging system as claimed in claim 3, is characterized in that: described charging chamber door-plate is arranged on chamber upper wall by door-plate rotary joint, and can rotate around door-plate rotary joint.
9. a crusing robot charging method, is characterized in that, comprises the following steps:
(1) when after charging pile base receptacle to charge command, the foldable telescopic electrode be hidden in described charging pile pedestal is stretched out from electrode contraction mouth, until described foldable telescopic electrode arrives horizontal level and keeps;
(2) crusing robot moves to charging pile pedestal direction, until crusing robot charging chamber in battery lead plate and described foldable telescopic electrode contact;
(3) after crusing robot charging complete or receiving and leave the order of charging pile pedestal, crusing robot is movement slowly, until battery lead plate and foldable telescopic electrode separation;
(4) the foldable telescopic electrode be horizontal is taken in described electrode contraction mouth.
10. a crusing robot charging method, is characterized in that, comprises the following steps:
(1) when after charging pile base receptacle to charge command, the foldable telescopic electrode be hidden in described charging pile pedestal stretches out from electrode contraction mouth by folding driver, until described foldable telescopic electrode arrives horizontal level and keeps;
(2) crusing robot moves to appropriate location to charging pile pedestal direction, and the flexible electrode of foldable telescopic electrode is contacted with the charging chamber door-plate on crusing robot; Crusing robot continues move and push up pressure stretch contracting electrode, and the reaction force that flexible electrode produces makes charging chamber door-plate be opened;
(3) when crusing robot moves to appropriate location, the battery lead plate that flexible electrode and the crusing robot of foldable telescopic electrode charge in chamber contacts;
(4) after crusing robot charging complete or receiving and leave the order of charging pile pedestal, crusing robot moves to the direction away from charging pile pedestal, the flexible electrode of foldable telescopic electrode is separated with battery lead plate, charging chamber door-plate cuts out automatically, makes crusing robot charging chamber be in air-tight state;
(5) the foldable telescopic electrode be horizontal is taken in described electrode contraction mouth by folding driver.
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| CN201510128951.1A CN104734291B (en) | 2015-03-23 | 2015-03-23 | Patrol robot charging system and method |
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| CN201510128951.1A CN104734291B (en) | 2015-03-23 | 2015-03-23 | Patrol robot charging system and method |
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| CN104734291B CN104734291B (en) | 2017-03-22 |
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| CN105656151A (en) * | 2016-03-29 | 2016-06-08 | 亿嘉和科技股份有限公司 | Telescopic charging device |
| CN105811507A (en) * | 2016-04-19 | 2016-07-27 | 哈尔滨工大服务机器人有限公司 | Robot charging mechanism, robot employing same and charging method |
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| CN111839316A (en) * | 2020-07-31 | 2020-10-30 | 四川凯润电器有限公司 | Intelligent body drying machine with infrared and automatic charging functions |
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