CN105634079A - Charging system - Google Patents
Charging system Download PDFInfo
- Publication number
- CN105634079A CN105634079A CN201610178359.7A CN201610178359A CN105634079A CN 105634079 A CN105634079 A CN 105634079A CN 201610178359 A CN201610178359 A CN 201610178359A CN 105634079 A CN105634079 A CN 105634079A
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- Prior art keywords
- electrode
- charging
- guide path
- mobile
- charging lump
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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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a charging system, which comprises a charging mechanism and a docking mechanism, wherein the charging mechanism comprises a charging block and a support plate; the front end of the charging block is arranged on the support plate through a fixed shaft; the charging block can rotate around the fixed shaft; the support plate is provided with one or more tension springs; one end of each tension spring is connected with the support plate and the other end is connected to the rear end of the charging block; the charging block comprises two movable electrodes which are connected with a positive electrode and a negative electrode of a charger respectively; and the docking mechanism is arranged on a to-be-charged movable platform and is provided with fixed electrode plates which correspond to the movable electrodes. Flexible docking can be achieved through the structural design of the tension springs; the movable electrodes are pressed through the springs and do not generate the condition of a virtual contact; the design of a firing pin switch mechanism makes the charging process safer; the arc surface design at the rear end of the charging block can achieve limiting and prevent the movable electrodes from being broken away from fixed electrodes; and the charging process is more stable and safer.
Description
Technical field
The invention belongs to charging technique field, particularly relate to a kind of succinct recharging system reliably, for the automatic charging of mobile platform, ensure that charging is to the reliability and stability of termination process, gives the docking tolerance that process of charging is bigger.
Background technology
Autonomous mobile robot is applied to various occasion more and more widely, such as amusement, carrying, cleaning, security personnel etc. Application in these different occasions all needs robot can adapt to residing environment, no matter is open environment or closed environment, no matter is indoor environment or outdoor environment.
At present, mobile apparatus people uses high-quality machine load chargeable storage group to come to power itself, but generally also can only maintain several hours, owing to airborne power supply holds quantitative limitation, once electric energy exhausts, it is necessary to charge to robot.
Robot has two kinds of modes, and the first, when mobile apparatus people's electric power is not enough, sends prompting signal, and the electrical equipment that manually can complete between robot with charger by operator is connected, and then implements charging; 2nd kind, finding charging place by robot autonomous navigation, it is achieved the recharging of robot, this kind of charging modes meets robot independently this requirement of work when unmanned interference for a long time so that robot realizes long-term autonomous function.
When selecting recharging pattern, need the charging station for robot charging and be arranged in robot the mechanism docked with charging station, the quality of charging station design and charging station docking mechanism design directly affects the performance of recharging, comprise the security of the reliability and stability to termination process, docking, and charging security etc.
Summary of the invention
It is an object of the invention to for the deficiencies in the prior art, it is provided that a kind of charge system.
It is an object of the invention to be achieved through the following technical solutions: a kind of charge system, comprise charging mechanism and docking mechanism, described charging mechanism comprises charging lump and back up pad, and the front end of charging lump is installed on the supporting plate by stationary shaft, and charging lump can rotate around stationary shaft; Installing one or more extension spring in described back up pad, extension spring one end connects back up pad, and the other end connects charging lump rear end; Described charging lump comprises two mobile electrodes being connected respectively with charger positive and negative electrode; Described docking mechanism is arranged on the removable platform needing charging, and it is provided with the fixed electrode film corresponding with mobile electrode.
Further, described extension spring is two, and one end of two extension springs is separately fixed at back up pad both sides, and the other end of two extension springs is connected with charging lump rear end respectively, makes charging lump and two extension springs form mobilizable hub-and-spoke configuration.
Further, the front end of described charging lump has oblique angle, and the rear end of charging lump is wider than front end.
Further, described charging lump comprises cradle and mobile electrode module, and mobile electrode module is arranged on cradle, and mobile electrode module comprises substrate, and mobile electrode is symmetricly set on substrate both sides, and the middle part outwardly convex of mobile electrode stretches out cradle.
Further, described mobile electrode module also comprises electrode spring, the left and right sides of substrate is arranged with electrode guide path, two electrode guide paths have place's opening respectively, the middle part projection of mobile electrode is stretched out outside cradle from opening, two ends buckle into electrode guide path opening, and electrode spring one end is fixed on bottom electrode guide path, and the other end supports mobile electrode.
Further, described mobile electrode module also comprises the guide plate being arranged between electrode spring and mobile electrode; Guide plate length is greater than electrode guide path opening length, and guide plate is connected in electrode spring by upright post sleeve to drive electrode spring to do flexible motion, and strut length is less than the length of electrode spring non-compressed state.
Further, described charging lump also comprises striker and vernier switch, mobile electrode is positioned at end position before charging lump, striker is positioned near charging lump back-end location, and the outwardly cradle of described striker can do inwardly outer flexible motion in cradle, during striker inward, contact vernier switch contravention roller, triggers vernier switch and connects charger and mobile electrode module, and charging mechanism is powered to docking mechanism.
Further, described cradle also comprises striker guide path, installs firing pin spring bottom striker guide path, and striker one end is pressed into cradle along striker guide path, and the other end protrudes cradle from striker guiding slot port.
Further, described docking mechanism comprises guide path, and fixed electrode film is fixed on inside guide path, and the shape of guide path outside the shape and charging lump of charging lump adapts.
Further, the rear end of described charging lump is in fan-shaped, and its circular arc curvature radius is greater than docking mechanism's guide path front end radius-of-curvature.
The useful effect of the present invention: cradle is directly linked by extension spring with back up pad, rotation in a big way can be had in termination process, charging lump has chamfering near mobile electrode one end, if there is certain deviation position when docking mechanism guide path enters charging lump, charging lump suitably can rotate with guide path, to the self aligning of termination process position, it is achieved flexible docking, reduce the infringement caused because of merging precision; Cradle powers on very mobile electrode, and by spring application, in process of charging, mobile electrode contact keeping stable with the fixed electorde in docking mechanism under the restorer effect of spring, the situation that there will not be virtual connection tactile; Having guide plate and spring between mobile electrode and electrode base, when this structure can ensure that mobile electrode is subject to docking mechanism's oblique pressure, an inward compression motion, simple and compact for structure; Striker switch mechanism is housed on cradle, and in non-mated condition, switch cuts out, and mobile electrode will not have voltage, and during docking, mobile electrode just powers on, and makes process of charging safer; Charging lump rear end circular arc curvature radius is greater than guide path front end radius-of-curvature, and guide path enters after certain depth contacts with charging lump circular arc face, will be spacing by geometry, can not continue to enter, realizing spacing, prevent mobile electrode and fixed electorde from departing from, process of charging is more reliable and more stable.
Accompanying drawing explanation
Fig. 1 is charge system one-piece construction schematic diagram of the present invention;
Fig. 2 is charging mechanism structural representation;
Fig. 3 is extension spring and charging lump connection diagram;
Fig. 4 is the installation parts structural representation on cradle;
Fig. 5 is mobile electrode module composition schematic diagram;
Fig. 6 is docking mechanism structural representation;
Fig. 7 is fixed electorde box structural representation;
In figure, charging mechanism 1, docking mechanism 2, guide path 21, fixed electorde cassette holder 221, fixed electrode film 222, fixed electorde lid 223, charging lump 3, cradle 31, striker 32, firing pin spring 33, vernier switch 34, back up pad 4, stationary shaft 5, extension spring 6, hanging ring screw 7, mobile electrode module 8, substrate 81, guide plate 82, electrode spring 83, mobile electrode 84.
Embodiment
It is an object of the invention to a kind of succinct recharging system reliably of design, for the automatic charging of mobile platform, ensure that charging is to the reliability and stability of termination process, gives the docking tolerance that process of charging is bigger.
As shown in Figure 1, 2, a kind of charge system for removable platform recharging provided by the invention, comprising charging mechanism 1 and docking mechanism 2, described charging mechanism 1 comprises charging lump 3 and back up pad 4, and described docking mechanism 2 is arranged on the removable platform needing charging.
As shown in figs 2-4, the front end of charging lump 3 is arranged in back up pad 4 by stationary shaft 5, and charging lump 3 can rotate around stationary shaft 5 circumference. Back up pad 4 is provided with one or more extension spring 6. When adopting an extension spring 6, one end of extension spring 6 is fixed in back up pad 4, the other end is connected with the rear end of charging lump 3, during starting position, extension spring 6 and charging lump 3 are in a straight line, when external force is from side action in charging lump 3, charging lump 3 rotates and drives extension spring 6 to stretch, and after external force is eliminated, extension spring 6 drives charging lump 3 to return to starting position. When adopting two extension springs 6, as shown in Figure 3, one end of two extension springs 6 is separately fixed at back up pad 4 both sides, the other end of two extension springs 6 is connected with the rear end of charging lump 3 by hanging ring screw 7 respectively, hanging ring screw 7 is fixed on the rear end of charging lump 3, and charging lump 3 and two extension springs 6 form mobilizable hub-and-spoke configuration. Two symmetrical extension springs 6 can arrange at an angle or arrange in a line. Two initial preliminary draft amounts of extension spring 6 are identical to ensure the mid-way of charging lump 3 two extension springs 6, when charging lump 3 rotates around stationary shaft 5 under external force, side extension spring 6 amount of tension will increase, the amount of tension of another side extension spring 6 will reduce, after external force is removed, two extension springs 6 return to the identical starting position of amount of tension, and the system that extension spring 6 and charging lump 3 are formed reaches equilibrium state, it is achieved automatically reset. With dock mechanism 2 in termination process, the motion of docking mechanism 2 can not ensure accurately, the docking of position zero deflection, charging lump 3 makes charging mechanism 1 with the connection of extension spring 6, and mechanism 2 can rotate with the guide path of docking mechanism 2 in termination process with docking, there is rotation in a big way, therefore, position deviation there is is bigger tolerance, in termination process, there is buffering effect, it is achieved charging mechanism 1 and the flexible docking docking mechanism 2.
The front end of charging lump 3 has bigger bevel angle ��, preferred bevel angle �� angle is 45 �� 60 ��, such as Fig. 4, relatively big shearing tolerance is had during to ensure that the guide path docking of docking mechanism 2 enters, the rear end of charging lump 3 is wider than the front end of charging lump 3, in the present embodiment, there is relatively great circle cambered surface charging lump 3 rear end, in fan-shaped, its circular arc curvature radius is greater than docking mechanism 2 guide path front end radius-of-curvature, when docking mechanism 2 and dock, guide path is entered after certain depth contacts with circular arc face, charging lump 3 rear end, spacing by geometry, can not continue to enter, prevent mobile electrode 84 and fixed electrode film 222 from departing from.
As shown in Figure 4, charging lump 3 comprises cradle 31, mobile electrode module 8, striker 32, firing pin spring 33 and vernier switch 34.
Cradle 31 adopts insulating material, as the carrier installing mobile electrode module 8, striker 32, firing pin spring 33 and vernier switch 34; Mobile electrode module 8 comprises two mobile electrodes 84, described two mobile electrodes 84 can be symmetrical arranged, middle part outwardly convex stretches out cradle 31, inwardly outer flexible motion can be done in cradle 31, two mobile electrodes 84 are connected with the positive and negative electrode of charger respectively by wire, power by charger; Mobile electrode module 8 is end position before charging lump 3, striker 32 near charging lump 3 back-end location, the outwardly cradle 31 of described striker 32, inwardly outer flexible motion can be done in cradle 31, during striker 32 inward, vernier switch 34 triggers, and connects charger and powers to charging lump 3.
Mobile electrode module 8 can be realized by specific embodiment as shown in Figure 5, comprises substrate 81, guide plate 82, electrode spring 83 and mobile electrode 84.
Substrate 81 adopts insulating material, for installing guide plate 82, electrode spring 83 and mobile electrode 84, and mobile electrode module 8 is fixed on charging lump 3.
The left and right sides of substrate 81 has electrode guide path symmetrically, electrode guide path is rectangle, electrode guide path has place's opening, the middle part projection of mobile electrode 84 is stretched out outside cradle 31 from opening, the two ends of mobile electrode 84 buckle into guide path opening, electrode spring 83 one end is fixed on bottom electrode guide path, the other end supports mobile electrode 84, inside and outside flexible motion can be done in electrode guide path by mobile electrode during external force 84, simultaneously, mobile electrode 84 is driven to do inwardly outer flexible motion in cradle 31, in process of charging, this external force is docked with it for docking mechanism 2, the pressure that when guide path enters, Compressive activities electrode 84 produces, electrode spring 83 is made to be in inward compression state all the time, in whole process of charging mobile electrode 84 mobile electrode 84 under the restorer effect of spring by spring application, all the time the fixed electrode film 222 in docking mechanism 2 is supported, keep reliable and stable contact, there will not be empty touching, after charging terminates, when docking mechanism 2 exits, mobile electrode 84 will return to starting position under the action of the spring, guide plate 82 is installed between electrode spring 83 and mobile electrode 84, when docking mechanism 2 and tilt to enter, make mobile electrode 84 two ends uniform force in moving process, the motion of inward compression, simple and compact for structure, guide plate 82 length is greater than the length of electrode guide path opening, guide plate 82 can only be slided in electrode guide path, can prevent electrode spring 83 from deviating from compression process, also make mobile electrode 84 movable within the scope of electrode guide path simultaneously, ensure that the security of charging. guide plate 82 is connected in electrode spring 83 by guide plate upright post sleeve spring can be driven to do flexible motion, and strut length is less than the length of spring non-compressed state, makes keep-spring uniform-compression in compression process.
Cradle 31 comprises a striker guide path, firing pin spring 33 is installed bottom striker guide path, striker 32 one end is pressed into cradle 31 along striker guide path, the other end protrudes cradle 31 from striker guiding slot port, striker 33 does inwardly outer flexible motion under the effect of external force and firing pin spring 33 in striker guide path, so that striker 32 possesses reset function. Vernier switch 34 is installed on cradle 31, when striker 32 is pressed into by external force, vernier switch 34 contravention roller and striker 32 side contact of incline plane, vernier switch 34 roller is compressed formula switch triggering, connect charger and mobile electrode module 8, charging mechanism 1 can be powered to docking mechanism 2. Striker 32 is positioned at cradle 3 back-end location, and in non-mated condition, switch cuts out, and mobile electrode 84 will not have voltage. During docking, the fixed electrode film 222 that mobile electrode 84 first docks mechanism 2 with charging contacts, and then guide path just can compress striker 32, trigger vernier switch 34 to power on to mobile electrode 84, preventing producing spark in termination process, non-charging state lower electrode does not have voltage, and security is higher.
Docking mechanism 2 is made up of guide path 21 and fixed electorde box 22, as shown in Figure 6. Adapt towards the shape outside the shape of charging lump 3 and charging lump 3 inside guide path 21.
Fixed electorde box 22 comprises fixed electrode film 222, is positioned at the side of guide path 21 towards charging lump 3, when charging is docked, and the position of the corresponding mobile electrode 84 in fixed electrode film 222 position. In specific embodiment, fixed electorde box 22 is made up of fixed electorde cassette holder 221, fixed electrode film 222 and fixed electorde lid 223, fixed electrode film 222 is installed on fixed electorde cassette holder 221, compressed by fixed electorde lid 223, being exposed at fixed electorde box 22 surface outside fixed electrode film 222, fixed electorde cassette holder 221 and fixed electorde lid 223 are insulating material. For the mobile electrode 84 of symmetry, fixed electorde box 22 symmetry is installed on guide path 21, and meanwhile, fixed electrode film 222 exposes the position of the corresponding mobile electrode 84 of face symmetry, can be energized during docking.
Claims (10)
1. a charge system, it is characterised in that, comprise charging mechanism and docking mechanism. Described charging mechanism comprises charging lump and back up pad, and the front end of charging lump is installed on the supporting plate by stationary shaft, and charging lump can rotate around stationary shaft. Installing one or more extension spring in described back up pad, extension spring one end connects back up pad, and the other end connects charging lump rear end. Described charging lump comprises two mobile electrodes being connected respectively with charger positive and negative electrode. Described docking mechanism is arranged on the removable platform needing charging, and it is provided with the fixed electrode film corresponding with mobile electrode.
2. charge system as claimed in claim 1, it is characterized in that, described extension spring is two, and one end of two extension springs is separately fixed at back up pad both sides, the other end of two extension springs is connected with charging lump rear end respectively, makes charging lump and two extension springs form mobilizable hub-and-spoke configuration.
3. charge system as claimed in claim 1, it is characterised in that, the front end of described charging lump has oblique angle, and the rear end of charging lump is wider than front end.
4. charge system as claimed in claim 1, it is characterized in that, described charging lump comprises cradle and mobile electrode module, mobile electrode module is arranged on cradle, mobile electrode module comprises substrate, mobile electrode is symmetricly set on substrate both sides, and the middle part outwardly convex of mobile electrode stretches out cradle.
5. charge system as claimed in claim 4, it is characterized in that, described mobile electrode module also comprises electrode spring, the left and right sides of substrate is arranged with electrode guide path, two electrode guide paths have place's opening respectively, and the middle part projection of mobile electrode is stretched out outside cradle from opening, and two ends buckle into electrode guide path opening, electrode spring one end is fixed on bottom electrode guide path, and the other end supports mobile electrode.
6. charge system as claimed in claim 5, it is characterised in that, described mobile electrode module also comprises the guide plate being arranged between electrode spring and mobile electrode; Guide plate length is greater than electrode guide path opening length, and guide plate is connected in electrode spring by upright post sleeve to drive electrode spring to do flexible motion, and strut length is less than the length of electrode spring non-compressed state.
7. charge system as claimed in claim 4, it is characterized in that, described charging lump also comprises striker and vernier switch, and mobile electrode is positioned at end position before charging lump, and striker is positioned near charging lump back-end location, the outwardly cradle of described striker, inwardly outer flexible motion can be done in cradle, during striker inward, contact vernier switch contravention roller, trigger vernier switch and connect charger and mobile electrode module, charging mechanism is powered to docking mechanism.
8. charge system as claimed in claim 7, it is characterised in that, described cradle also comprises striker guide path, installs firing pin spring bottom striker guide path, and striker one end is pressed into cradle along striker guide path, and the other end protrudes cradle from striker guiding slot port.
9. charge system as claimed in claim 1, it is characterised in that, described docking mechanism comprises guide path, and fixed electrode film is fixed on inside guide path, and the shape of guide path outside the shape and charging lump of charging lump adapts.
10. charge system as claimed in claim 9, it is characterised in that, the rear end of described charging lump is in fan-shaped, and its circular arc curvature radius is greater than docking mechanism's guide path front end radius-of-curvature.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610178359.7A CN105634079B (en) | 2016-03-25 | 2016-03-25 | Charging system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610178359.7A CN105634079B (en) | 2016-03-25 | 2016-03-25 | Charging system |
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| CN105634079A true CN105634079A (en) | 2016-06-01 |
| CN105634079B CN105634079B (en) | 2018-05-11 |
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| CN201610178359.7A Active CN105634079B (en) | 2016-03-25 | 2016-03-25 | Charging system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106899057A (en) * | 2017-03-06 | 2017-06-27 | 上海悦合自动化技术有限公司 | Recharging system and its method of work |
| CN106972567A (en) * | 2017-04-12 | 2017-07-21 | 杭州南江机器人股份有限公司 | Charging mechanism and charging pile and charging system built in a kind of electrode |
| CN109245219A (en) * | 2018-10-10 | 2019-01-18 | 杭州迦智科技有限公司 | A kind of self-adapting type cradle and its charging system |
| CN109346889A (en) * | 2018-10-26 | 2019-02-15 | 洛阳视距智能科技有限公司 | A kind of high-tension overhead line waterproof charging docking facilities |
| CN109391014A (en) * | 2018-12-20 | 2019-02-26 | 福建（泉州）哈工大工程技术研究院 | A kind of mobile robot recharging device |
| CN111700345A (en) * | 2020-06-28 | 2020-09-25 | 歌尔科技有限公司 | Connecting assembly and electronic equipment with same |
| CN113036483A (en) * | 2019-12-24 | 2021-06-25 | 沈阳新松机器人自动化股份有限公司 | Robot charging electrode contact device |
| CN114559843A (en) * | 2022-03-17 | 2022-05-31 | 安徽合力股份有限公司 | Charging butt joint self-adaptive adjusting structure |
| CN114633645A (en) * | 2022-03-28 | 2022-06-17 | 山东智航智能装备有限公司 | Unmanned aerial vehicle contact clamping device and contact charging device that charge |
| CN117650391A (en) * | 2024-01-26 | 2024-03-05 | 天津德沃尔人工智能有限公司 | Robot charging seat with liftable machine charging contact |
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| CN204967379U (en) * | 2015-09-22 | 2016-01-13 | 北京云迹科技有限公司 | Screens electrode integral type charging device |
| CN204967376U (en) * | 2015-09-22 | 2016-01-13 | 北京云迹科技有限公司 | Screens formula side charging device |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106899057A (en) * | 2017-03-06 | 2017-06-27 | 上海悦合自动化技术有限公司 | Recharging system and its method of work |
| CN106899057B (en) * | 2017-03-06 | 2023-08-11 | 上海悦合自动化技术有限公司 | Autonomous charging system and working method thereof |
| CN106972567A (en) * | 2017-04-12 | 2017-07-21 | 杭州南江机器人股份有限公司 | Charging mechanism and charging pile and charging system built in a kind of electrode |
| CN109245219A (en) * | 2018-10-10 | 2019-01-18 | 杭州迦智科技有限公司 | A kind of self-adapting type cradle and its charging system |
| CN109346889B (en) * | 2018-10-26 | 2023-12-29 | 洛阳视距智能科技有限公司 | Waterproof charging docking device for high-voltage overhead line |
| CN109346889A (en) * | 2018-10-26 | 2019-02-15 | 洛阳视距智能科技有限公司 | A kind of high-tension overhead line waterproof charging docking facilities |
| CN109391014A (en) * | 2018-12-20 | 2019-02-26 | 福建（泉州）哈工大工程技术研究院 | A kind of mobile robot recharging device |
| CN109391014B (en) * | 2018-12-20 | 2023-09-08 | 福建（泉州）哈工大工程技术研究院 | Autonomous charging device of mobile robot |
| CN113036483A (en) * | 2019-12-24 | 2021-06-25 | 沈阳新松机器人自动化股份有限公司 | Robot charging electrode contact device |
| CN111700345A (en) * | 2020-06-28 | 2020-09-25 | 歌尔科技有限公司 | Connecting assembly and electronic equipment with same |
| CN114559843A (en) * | 2022-03-17 | 2022-05-31 | 安徽合力股份有限公司 | Charging butt joint self-adaptive adjusting structure |
| CN114559843B (en) * | 2022-03-17 | 2023-08-25 | 安徽合力股份有限公司 | Charging docking self-adaptive adjusting structure |
| CN114633645A (en) * | 2022-03-28 | 2022-06-17 | 山东智航智能装备有限公司 | Unmanned aerial vehicle contact clamping device and contact charging device that charge |
| CN114633645B (en) * | 2022-03-28 | 2023-09-26 | 山东智航智能装备有限公司 | Unmanned aerial vehicle contact clamping device that charges and contact charging device |
| CN117650391A (en) * | 2024-01-26 | 2024-03-05 | 天津德沃尔人工智能有限公司 | Robot charging seat with liftable machine charging contact |
| CN117650391B (en) * | 2024-01-26 | 2024-04-19 | 天津德沃尔人工智能有限公司 | Robot charging seat with liftable machine charging contact |
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| CN105634079B (en) | 2018-05-11 |
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