CN105141013B - A kind of adaptive charging pile - Google Patents
A kind of adaptive charging pile Download PDFInfo
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- CN105141013B CN105141013B CN201510680858.1A CN201510680858A CN105141013B CN 105141013 B CN105141013 B CN 105141013B CN 201510680858 A CN201510680858 A CN 201510680858A CN 105141013 B CN105141013 B CN 105141013B
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- charging pile
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Abstract
The present invention provides a kind of adaptive charging pile, including support column, position adjustment block, electrode module；The upper end of the support column is equipped with bottom support plate；The position adjustment block includes midfoot support plate, electrode plate, and the midfoot support plate can be mounted in the bottom support plate movably forward and backward, and the electrode plate can be movably mounted on the midfoot support plate；The electrode module is mounted on the electrode plate.The present invention between robot and the electrode inlet of charging pile there are deviation in the case of, it can be with the electrode position of adjust automatically charging pile to adapt to this butting error, it allows the robot to smoothly be inserted into electrode charge, while the torque that telescopic electrode to robot and arm generate is smaller.
Description
Technical field
The present invention relates to a kind of from using charging pile, belong to robot charging technique field.
Background technology
Chinese invention patent document CN104734291A《Crusing robot charging system and charging method》Disclose one kind
Practical robot charging method and charging system, have certain advance.The charging system has foldable telescopic electrode,
Robot is needed to have phase inductive charging chamber and higher positioning function, is suitable for more complicated robot device.For some
Charging unit is mounted on the robot on arm, and this charging method is primarily present problems with：1st, when robot arm is longer
Larger charging chamber should not be set in its arm end to receive the foldable charging electrode of charging pile, it at this time will be telescopic
Electrode is arranged on proper in robot arm.2nd, there are various errors during charging alignment, it is desirable that charging pile adapts to this automatically
The sideway torque power planted error and generated to robot arm is small, and this charging scheme can not accomplish this point well.
Chinese utility model patent CN203747440U《Intelligent Mobile Robot charging unit》The charging dress disclosed
It puts and is divided into three parts, integrated level is internal comprising partial electric device than relatively low, ensures that charging unit effectively connects using screens portion
It touches, in the usage time relay setting charging time, these components increase the unfavorable raising stability of complexity of charging unit.
Chinese invention patent CN103236730B《A kind of adaptive docking automatic charge device》It provides a kind of adaptive
Automatic charge device is docked, including charging body and by electric main body, the charging body includes charging base, charging contacts are put down
Platform, horizontal mobile mechanism, central rotary mechanism, positioning top guide and two charging contacts, it is described by electric main body include by electric pedestal,
Sensor and two are mounted on by electric contact, central rotary mechanism on the upper surface of charging base, and horizontal mobile mechanism is mounted on
On the upper surface of central rotary mechanism, on horizontal mobile mechanism, positioning top guide is mounted on charging and touches charging contacts stage+module
The middle part in head stage+module face positions both sides difference one charging contact of each installation of top guide, by the middle part of electric pedestal electric power receiving surface
It is provided with by electric locating slot, is distinguished each installation there are one by electric contact by the both sides of electric locating slot, sensor is mounted on and is positioned by electricity
In slot, two charging contacts on charging body, which can correspond to, to be inserted by corresponding by the master that in electric contact, charges in electric main body
Positioning top guide on body can be inserted by electric pedestal by electric locating slot.The charging contact of the charging body of the charging unit
The both sides of positioning top guide are arranged on, need mating matched by electric main body, is opened up and positioned by electric pedestal by electric main body
Top guide is mating by electric locating slot, and it is automatically fixed to be carried out using the robot for the retractable electrode mentioned in CN104734291A
Position charging；The charging unit sets central rotary mechanism, is carried out adaptively by rotating, but the rotation angle of central rotary mechanism
It is difficult to control, so that charging unit can not carry out the torque of robot telescopic electrode and robot arm effectively
Control, if torque is excessive, is easily damaged telescopic electrode and arm.The charging body of the charging unit is used and is moved horizontally
Add the accommodation mode of horizontal rotation, increase the complexity of device to a certain extent, while need to consider what is rotated horizontally
Angle problem；It is smaller using the docking tolerance of guide pins guide mode, and then need sensor auxiliary docking；It is by electric main body
In robot, volume is bigger, is unfavorable for robot and seals it well packing up, reducing dead weight, if docking distance
It is slightly long easily to shake.
Invention content
Of the existing technology to solve the problems, such as, the purpose of the present invention is to provide a kind of adaptive charging pile, the chargings
Stake between robot and the electrode inlet of charging pile there are deviation in the case of, can be with the electrode position of adjust automatically charging pile
To adapt to this butting error so that robot can smoothly be inserted into electrode charge, while to the telescopic electrode and hand of robot
The torque that arm generates is smaller.
Adaptive charging pile provided by the invention, including support column, position adjustment block, electrode module；The support column
Upper end bottom support plate is installed；The position adjustment block includes midfoot support plate, electrode plate, the midfoot support plate
It can be mounted in the bottom support plate movably forward and backward, the electrode plate can movably be mounted on the midfoot support
On plate；The electrode module is mounted on the electrode plate.Due to that may be deposited between robot and the electrode slice of electrode module
In certain deviation, charging, electrode module is inserted into the power receiving section position of robot, and charging pile can be with adjust automatically electrode module
Position so that the electrode slice of robot power receiving section position and electrode module comes into full contact with, specifically, the midfoot support plate of charging pile
Can be moved forward and backward in bottom support plate, electrode plate can move left and right on midfoot support plate so that electrode module can
Front, rear, left and right movement is carried out, so as to which robot power receiving section position and charging pile internal electrode be made accurately and reliably to contact.
Back-and-forth motion of the midfoot support plate in bottom support plate can be achieved by the following scheme：The bottom support plate with
The midfoot support plate is connected by sliding equipment；It is also equipped with resetting between the bottom support plate and the midfoot support plate
Spring.The mode of sliding block and guide rail can be used in sliding equipment, and the upper surface of such as bottom support plate is equipped with guide rail, in described
The lower surface of portion's support plate is equipped with sliding block, and the guide rail in the bottom support plate is nested in the sliding block on midfoot support plate；
Guide rail can also be mounted on midfoot support plate, sliding block is mounted on bottom support plate.When being acted on by external force, midfoot support
Plate can be moved forward and backward along guide rail in bottom support plate, and after external force disappears, midfoot support plate can be extensive under action of reset spring
Restore position.Resetting spring can not only realize the reset of midfoot support plate, and in the case where there is external force effect, resetting spring may be used also
To avoid the violent movement of midfoot support plate.
One end of the resetting spring is mounted on position among the rear end of the bottom support plate, and the other end is mounted on described
Position among the front end of midfoot support plate, this setup can efficiently use resetting spring and realize answering for midfoot support plate
Position, can be completed using a resetting spring.
Electrode plate moving left and right on midfoot support plate can be achieved by the following scheme：
The midfoot support plate is connect with the electrode plate by sliding equipment；The midfoot support plate and the electrode
Resetting spring is also equipped between bottom plate.Sliding block and the mode of guide rail cooperation, such as the midfoot support plate can be used in sliding equipment
Upper surface guide rail is installed, the lower surface of the electrode plate is equipped with sliding block, and the guide rail on the midfoot support plate is nested
In sliding block on electrode plate；Guide rail can also be mounted on electrode plate, sliding block is mounted on midfoot support plate.When
When being acted on by external force, electrode plate can be moved left and right along guide rail on midfoot support plate, and after external force disappears, electrode plate can
It sets back under action of reset spring.Resetting spring can not only realize the reset of electrode plate, in the feelings for having external force to act on
Under condition, resetting spring can also avoid the violent movement of electrode plate.
Two resetting springs are installed, one end peace of two resetting springs between the midfoot support plate and electrode plate
Mounted in the centre of the electrode plate, the other end is separately mounted to position and right end among the left end of the midfoot support plate
Intermediate position.This mounting means using two springs can coordination electrode bottom plate reset.
The electrode module includes the left, center, right horizontally-guided block and electrode slice that are mounted on electrode plate；The left side,
In, interval is stayed there are two electrode guide groove between right horizontally-guided block, the electrode slice is located at electrode guide groove rear.Robot is by electricity
Position is contacted along electrode guide groove with electrode slice, and electrode guide groove guided robot power receiving section displacement is moved.
Preferably, be open along electrode guide groove to electrode slice direction, the electrode guide groove is wide outside and narrow inside, electrode guide groove opening compared with
Greatly, robot power receiving section position is pushed ahead from electrode guide groove opening any position, and robot power receiving section position is facilitated to be inserted into.
The invention has the advantages that：(1) it is simple in structure using mechanical part, it is at low cost；Using integral type knot
Structure, highly integrated, small, reliable contacts, installation site flexibly, convenient for safeguard.(2) charging pile electrode guide groove is big, tolerable
Larger butt junction location error, robot power receiving section position are pushed ahead from electrode guide groove opening any position；Electrode module
Can all around adjust automatically, to ensure the validity of electrode contact；It is small to the torque resistance of robot power receiving section position electrode.
(3) shape is easily designed beautiful and generous, the use of some applicable service humanoid robots.
Description of the drawings
Fig. 1 is overall schematic of the present invention；
Fig. 2 is internal structure chart of the present invention；
Fig. 3 is position adjustment block side view one of the present invention；
Fig. 4 is position adjustment block side view two of the present invention.
In figure：101st, electrode module；110th, horizontally-guided block；111st, electrode slice；112nd, electrode plate；113rd, middle spring is hung
Loading point；114th, preceding slider guide；115th, rear rail；116th, left electrode guide groove；117th, right electrode guide groove；102nd, position adjustment block；
120th, right spring mount point；121st, preceding spring mount point；122nd, right slider guide；123rd, left slider guide；124th, slider guide behind the right side；
125th, left back slider guide；126th, midfoot support plate；127th, left spring mount point；128th, fromer rail；103rd, support column；131st, the right side is led
Rail；132nd, rear spring mount point；133rd, left rail；134th, bottom support plate；104th, chassis.
Specific embodiment
As shown in Figure 1, 2, 3, adaptive charging pile provided by the invention includes pedestal 104, support column 103, electrode module
101st, position adjustment block 102.The upper end of support column 103 is equipped with bottom support plate 134, the lower end of support column is mounted on pedestal
On 104, left end, the right end of the upper surface of bottom support plate 134 install left rail 133, right guide rail 131, bottom support plate respectively
The centre position on 134 rear end edge is equipped with rear spring mount point 132.
As shown in Figure 2,3, 4, position adjustment block 102 includes rectangular central portion support plate 126, electrode plate 112；Middle part branch
It is spring mount point 121 before the middle part of the front end of fagging 126 along, left end along, right end edge is set respectively, left spring mount point 127, right
Left slider guide 123, the right side are installed in spring mount point 120, left end rear portion, the right end rear portion of the lower surface of midfoot support plate 126 respectively
Slider guide 122, left rail 133, right guide rail 131 are respectively nested in left slider guide 123, in right slider guide 122, left slider guide 123,
Right slider guide 122 can be moved forward and backward on left rail 133, right guide rail 131；Between bottom support plate 134 and midfoot support plate 126
Resetting spring (not shown) is installed, the both ends of resetting spring are hung in rear spring mount point 132, preceding spring mount point
On 121.The front end of the upper surface of midfoot support plate 126 is equipped with fromer rail 128, the rear end of the upper surface of midfoot support plate 126
Left back slider guide 125 and slider guide 124 behind the right side are installed；Front end, the rear end of the lower surface of electrode plate are separately installed with leading
Sliding block 114, rear rail 115, the intermediate position of electrode plate lower surface are provided with middle spring mount point 113；Midfoot support plate 126
On fromer rail 128 be nested in the preceding slider guide 114 on electrode plate 112, rear rail on electrode plate 112 115 is nested
After left back slider guide 125, the right side on midfoot support plate 126 in slider guide 124；Midfoot support plate 126 and electrode plate 112 it
Between be mounted with two resetting spring (not shown)s, wherein the both ends of a resetting spring are articulated in right spring mount point respectively
120 and middle spring mount point 113 on, the both ends of another resetting spring are articulated in left spring mount point 127 and middle spring respectively
On mount point 113.
As shown in Figs 1-4, electrode module 101 includes horizontally-guided block 110 (three pieces of left, center, right) and electrode slice 111 is (left
Electrode slice, right electrode slice), left electrode slice, right electrode slice are separately mounted to the rear end of 112 upper surface of electrode plate, are used for and machine
The traveling electrode contact transmission electric energy of device people；Horizontally-guided block 110 made of light wear-resistant plastics is mounted on electrode plate 112
On.There are electrode guide groove (left electrode guide groove 116, right electrode guide groove 117), left electrodes at interval between the horizontally-guided block of left, center, right
Piece, right electrode slice are located at left electrode guide groove 116, right electrode guide groove 117 respectively.Electrode guide groove opening is larger, from opening to electrode
Piece direction is in shape wide outside and narrow inside, for guiding robot traveling electrode.
During charging, robot traveling electrode along electrode guide groove be inserted into charging pile electrode module, insertion process generate by
External force after forward direction, the external force to be articulated in rear spring mount point 132, the resetting spring compression on preceding spring mount point 121,
Electrode module is moved backward with position adjustment block in bottom support plate, when external force disappears, resetting spring stretching, extension, and position
Adjustment module resets.It is also possible to generate the external force of left and right directions when robot traveling electrode is inserted into, when there is left and right outward force
During effect, electrode module 101 is moved left and right along guide rail in position adjustment block 102, and one in two resetting springs is pressed
Contracting, another is drawn high, and when external force event resolves, electrode module 101 resets.
Claims (4)
1. a kind of adaptive charging pile, it is characterised in that：Including pedestal, support column, position adjustment block, electrode module；It is described
The upper end of support column is equipped with bottom support plate, and support column lower end is mounted on pedestal；The position adjustment block includes middle part
Support plate, electrode plate, the midfoot support plate can be mounted in the bottom support plate movably forward and backward, the electrode plate
It can movably be mounted on the midfoot support plate；The electrode module is mounted on the electrode plate；The electrode
Module includes the left, center, right horizontally-guided block and electrode slice that are mounted on electrode plate；The left, center, right horizontally-guided block it
Between interval stay there are two electrode guide groove, the electrode slice is located at electrode guide groove rear；The bottom support plate and the middle part branch
Fagging is connected by sliding equipment；Resetting spring is also equipped between the bottom support plate and the midfoot support plate；It is described
One end of resetting spring is mounted on position among the rear end of the bottom support plate, and the other end is mounted on the midfoot support plate
Position among front end.
2. adaptive charging pile as described in claim 1, it is characterised in that：The midfoot support plate leads to the electrode plate
Cross sliding equipment connection；Resetting spring is also equipped between the midfoot support plate and the electrode plate.
3. adaptive charging pile as claimed in claim 2, it is characterised in that：Pacify between the midfoot support plate and electrode plate
Equipped with two resetting springs, one end of two resetting springs is mounted on the centre of the electrode plate, other end difference
The position among position among the left end of the midfoot support plate and right end.
4. adaptive charging pile as described in claim 1, it is characterised in that：It is open along electrode guide groove to electrode slice direction, institute
It is wide outside and narrow inside to state electrode guide groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510680858.1A CN105141013B (en) | 2015-10-19 | 2015-10-19 | A kind of adaptive charging pile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510680858.1A CN105141013B (en) | 2015-10-19 | 2015-10-19 | A kind of adaptive charging pile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105141013A CN105141013A (en) | 2015-12-09 |
| CN105141013B true CN105141013B (en) | 2018-06-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510680858.1A Active CN105141013B (en) | 2015-10-19 | 2015-10-19 | A kind of adaptive charging pile |
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| CN (1) | CN105141013B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205429794U (en) * | 2016-02-17 | 2016-08-03 | 北京进化者机器人科技有限公司 | Take guiding device's electric pile that fills |
| CN105811507B (en) * | 2016-04-19 | 2018-09-07 | 哈尔滨工大服务机器人有限公司 | A kind of robot charging mechanism, using the robot and charging method of the mechanism |
| CN206878503U (en) * | 2017-04-19 | 2018-01-12 | 深圳市神州云海智能科技有限公司 | A kind of charging pile and charging system |
| CN109995099B (en) * | 2017-12-29 | 2023-02-03 | 沈阳新松机器人自动化股份有限公司 | Indoor automatic cleaning robot charging equipment |
| CN109787321B (en) * | 2019-03-07 | 2020-12-11 | 北京旷视机器人技术有限公司 | Multi freedom resetting means and fill electric pile |
| CN109910655B (en) * | 2019-04-17 | 2021-07-02 | 台州闻涛科技有限公司 | Self-adaptive adjusting automobile charging head |
| CN112003072B (en) * | 2020-07-14 | 2024-08-06 | 宁波大学 | Charging device of automatic guiding transport vehicle |
| CN116913055B (en) * | 2023-09-06 | 2023-11-10 | 深圳汇能新能源科技有限公司 | Intelligent alarm device of charging pile |
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|---|---|---|---|---|
| CN203747482U (en) * | 2014-03-31 | 2014-07-30 | 华北电力大学 | Automatic charger for inspection machine at transformer station |
| CN204538734U (en) * | 2015-03-23 | 2015-08-05 | 宁波韦尔德斯凯勒智能科技有限公司 | The automatic charging pedestal of a kind of mobile robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011079215A2 (en) * | 2009-12-23 | 2011-06-30 | Proterra Inc. | Charging stations for electric vehicles |
| CN103236730B (en) * | 2013-04-28 | 2014-12-10 | 哈尔滨工业大学 | Self-adaptive butt-joint automatic charger |
| CN103915720A (en) * | 2014-04-08 | 2014-07-09 | 东北电力大学 | Automatic charging large-tolerance docking system of household security robot |
| CN204992715U (en) * | 2015-10-19 | 2016-01-20 | 江苏亿嘉和信息科技有限公司 | Self -adaptation stake of charging |
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2015
- 2015-10-19 CN CN201510680858.1A patent/CN105141013B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203747482U (en) * | 2014-03-31 | 2014-07-30 | 华北电力大学 | Automatic charger for inspection machine at transformer station |
| CN204538734U (en) * | 2015-03-23 | 2015-08-05 | 宁波韦尔德斯凯勒智能科技有限公司 | The automatic charging pedestal of a kind of mobile robot |
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| Publication number | Publication date |
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| CN105141013A (en) | 2015-12-09 |
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Address after: 210012 Yuhuatai Ande District, Nanjing, No. 5 main street, building No. 1, building 8, floor to floor, building 57 Applicant after: YIJIAHE TECHNOLOGY CO., LTD. Address before: 210012 1-8 building, No. 57, Ande street, Yuhuatai District, Jiangsu, Nanjing, China Applicant before: JIANGSU YUJIAHE INFORMATION & TECHNOLOGY CO., LTD. |
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