CN105811507A - Robot charging mechanism, robot employing same and charging method - Google Patents
Robot charging mechanism, robot employing same and charging method Download PDFInfo
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- CN105811507A CN105811507A CN201610243068.1A CN201610243068A CN105811507A CN 105811507 A CN105811507 A CN 105811507A CN 201610243068 A CN201610243068 A CN 201610243068A CN 105811507 A CN105811507 A CN 105811507A
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- charging
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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
Abstract
The invention provides a robot charging mechanism, a robot employing the same and a charging method. The charging mechanism comprises a charging post module and a charging pile module, wherein the charging post module is arranged in a robot body, and the whole charging post module is moved out of the robot body or moved to the robot body by a linear motor. With the robot charging mechanism and the charging method according to the invention, the reliability of a stretching position during charging is ensured, and the safety and the stability during charging are improved.
Description
Technical field
The present invention relates to a kind of charging mechanism, particularly to a kind of robot charging mechanism.
Background technology
At present, robot field, the charging of robot battery relies on contact charger to carry out.
Such as patent documentation 1:CN207725007U, this publication disclose a kind of intelligent mobile charging system charging docking facilities, it includes feeder ear and electricity consumption end, feeder ear includes charging column, it is arranged on the male end base on charging column and the positive high voltage male end being arranged on male end base, ground protection male end and negative high voltage male end, electricity consumption end includes shell, it is arranged on the guide post on shell, female end base on the guide bar and three female ends being arranged on female end base are installed, female end includes conductive plate, insulating sheath and be arranged on the spring between conductive plate and insulating sheath.Device disclosed in this patent documentation can the relative position of self-regulation patch panel male and female end, make high voltage connect reliable, it is possible to effective to transmit big electric current, and this device have the advantages such as flexible operation, simple in construction and difficulty of processing are low.But, disclosed in above-mentioned patent documentation 1, the feeder ear of intelligent mobile charging system charging docking facilities is larger in size, is unfavorable for charger miniaturization, and does not have buffer structure, affects bigger on the impact of equipment.
And for example patent documentation 2:CN103441376A, this publication disclose a kind of automatic travelling device flexibility charging docking mechanism, including guiding mechanism, compliant mechanism and docking mechanism, described guiding mechanism is provided with docking mechanism, described guiding mechanism includes at least one pair of guide I, II cooperated, wherein guide I is arranged on automatic traveling mechanism, and guide II is arranged on compliant mechanism.Disclosed in this patent documentation, automatic travelling device is after the electric quantity consumption of its cells, automatically will go charging to charging pile, when not having human intervention, the charge circuit of charging pile be accessed automatic travelling device accurately and reliably.But, in above-mentioned patent documentation, the guidance quality of charging device is poor, it does not have buffer unit, is unfavorable for that the long-life of charger uses.
In consideration of it, prior art urgently needs a kind of technological means, it is possible to favourable offer one robot charger, with realize robot device quickly, stable, charge efficiently.
Summary of the invention
Present invention aims to the drawbacks described above of prior art, it is proposed to a kind of robot charging mechanism, including robot and the charging method of this mechanism, accurately controlled by linear electric motors to stretch out electrode column, when, after moving contact, touching travel switch, it is provided that feedback.This mechanism not only simplify robot interior and stretches out structure, and the reliability of extended position when can guarantee that charging, safety when improving charging, stability.Meanwhile, flexible concealed structure also can improve the attractive in appearance of robot and safety.
For achieving the above object, the present invention provides following technical scheme:
A kind of robot charging mechanism, including charging column module and charging pile module.
Wherein, charging column module includes: electrode column, travel switch, electrode column support, base and linear electric motors.
Charging pile module includes: electrode slice and limited block.
Wherein, described base being provided with linear electric motors, submounts is connected with electrode column support.
Described electrode column is arranged on electrode column support, and described travel switch is also disposed on electrode column support.
Travel switch arranges contact chip, sends signal when contact chip contacts with limited block, make charging column module no longer move to charging pile module, it is achieved to be accurately positioned.
Described coil tension spring one end contacts with end cap or middle baffle plate with electrode shoe contact, the other end.
Middle baffle plate is arranged on the center of charging pile module, and its two ends are embedded in charging pile modular substrate, corresponding limited block outside its one end.
Described electrode slide block is resetted by flexible realization of coil tension spring in charging pile modular substrate inside cavity；
Described electrode slide block arranges described electrode slice.
Meanwhile, present invention also offers the charging method of a kind of robot charging mechanism, comprise the following steps:
The first step, robot moves to charging pile near modules, and wherein robot body is built-in with charging column module, and charging column module entirety is removed robot body by linear electric motors；
Second step, electrode column is inserted in electrode slice；
3rd step, sends signal, makes charging column module no longer move to charging pile module, start simultaneously at charging when the contact chip that travel switch is arranged contacts with the limited block in charging pile module；
4th step, after charging terminates, charging column module entirety is moved into robot body by linear electric motors, leaves charging pile module after robot is fully charged.
Meanwhile, present invention also offers a kind of robot, applied robot's charging mechanism, wherein, the charging column module of described robot charging mechanism is set in robot body.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the robot charging mechanism of the present invention.
Fig. 2 is the intelligent mobile charging system charging docking facilities schematic diagram of patent documentation 1.
Fig. 3 is the automatic travelling device flexibility charging docking mechanism schematic diagram of patent documentation 2.
(note: the shown structure in accompanying drawing, simply to illustrate that the signal of feature of present invention, is not intended to according to structure shown in accompanying drawing.)
Detailed description of the invention
As it is shown in figure 1, according to robot of the present invention charging mechanism, including charging column module and charging pile module.
Wherein, charging column module includes: electrode column 201, travel switch 202, electrode column support 203, base 204 and linear electric motors 205.
Wherein, charging column module is placed in robot body, and charging column module entirety is removed robot body or shift-in robot body by linear electric motors 205.
Being provided with on linear electric motors 205 on described base 204, base 204 is connected with electrode column support 203 above.Described electrode column 201 is arranged on electrode column support 203, and described travel switch 202 is also disposed on electrode column support 203.
Travel switch 202 arranges contact chip 2021, sends signal when contact chip 2021 contacts with limited block 108, make charging column module no longer move to charging pile module, it is achieved to be accurately positioned.
As it is shown in figure 1, accurately control to stretch out electrode column 201 by linear electric motors 205, when, after moving contact, touching travel switch 202, it is provided that feedback.This mechanism not only simplify robot interior and stretches out structure, and the reliability of extended position when can guarantee that charging, safety when improving charging, stability.Flexible concealed structure therein can improve the attractive in appearance of robot and safety.Further, electrode column 201 has guide function, and electrode column support 203 has square opening, it is prevented that automatic rotation after electrode column 201 is fixing.
Furthermore, charging column module includes: end cap 101, coil tension spring 102, electrode slide block 103, electrode slice 104, middle baffle plate 105, charging pile modular substrate 106, balustrade deching 107 and limited block 108.
As it is shown in figure 1, described charging pile modular substrate 106 is internal includes end cap 101, coil tension spring 102, electrode slide block 103, electrode slice 104, middle baffle plate 105；There are balustrade deching 107 and limited block 108 in outside.
Further, described coil tension spring 102 one end contacts with electrode slide block 103, the other end contacts with end cap 101 or middle baffle plate 105.Wherein, middle baffle plate 105 is arranged on the center of charging pile module, and its two ends are embedded in charging pile modular substrate 106, corresponding limited block 108 outside its one end.
Described electrode slide block 103 is resetted by flexible realization of coil tension spring 102 in charging pile modular substrate 106 inside cavity.Described electrode slide block 103 arranges described electrode slice 104.
Further, electrode slice 104 occurs in pairs, 104 one-tenth Y types of pair of electrodes sheet, the head of bootable electrode column 201 inserts, owing to robot car body is motion, electrode column 201 has deviation when inserting, but this structure allows robot car to have deviation also can be charged smoothly when inserting.
Present invention also offers a kind of robot, application, according to robot of the present invention charging mechanism, wherein, arranges the charging column module of described robot charging mechanism in robot body.
According to robot of the present invention charging mechanism, charging method comprises the following steps:
The first step, robot moves to charging pile near modules, and wherein robot body is built-in with charging column module, and charging column module entirety is removed robot body by linear electric motors 205；
Second step, electrode column 201 is inserted in electrode slice 104；
3rd step, sends signal, makes charging column module no longer move to charging pile module, start simultaneously at charging when the contact chip 2021 that travel switch 202 is arranged contacts with the limited block 108 in charging pile module；
4th step, after charging terminates, charging column module entirety is moved into robot body by linear electric motors 205, leaves charging pile module after robot is fully charged.
In sum, according to robot of the present invention charging mechanism, have the advantage that
(1) by the guiding of the precise motion of linear electric motors and electrode stigma, electrode contact is made；
(2) travel switch is passed through, it is ensured that the stability of device, reliability.
The above, be only presently preferred embodiments of the present invention, is not intended to limit protection scope of the present invention, all any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within protection scope of the present invention.
Claims (6)
1. a robot charging mechanism, it is characterised in that:
Including charging column module and charging pile module；
Wherein, charging column module includes: electrode column (201), travel switch (202), electrode column support (203), base (204) and linear electric motors (205)；
Charging pile module includes: electrode slice (104) and limited block (108)；
Wherein, described base (204) being provided with linear electric motors (205), submounts is connected with electrode column support (203)；
Described electrode column (201) is arranged on electrode column support (203), and described travel switch (202) is also disposed on electrode column support (203)；
Travel switch (202) arranges contact chip (2021), sends signal when contact chip (2021) contacts with limited block (108), make charging column module no longer move to charging pile module, it is achieved to be accurately positioned；
Described electrode slice (104) and described electrode column (201) are correspondingly arranged, and realize being electrically connected when described electrode slice (104) contacts with described electrode column (201).
2. robot according to claim 1 charging mechanism, it is characterised in that: charging pile module also includes end cap (101), coil tension spring (102), electrode slide block (103), middle baffle plate (105), charging pile modular substrate (106) and balustrade deching (107)；Described coil tension spring (102) one end contacts with electrode slide block (103), the other end contacts with end cap (101) or middle baffle plate (105)；
Middle baffle plate (105) is arranged on the center of charging pile module, and its two ends are embedded in charging pile modular substrate (106), corresponding limited block (108) outside its one end；
Described electrode slide block (103) is resetted by flexible realization of coil tension spring (102) in charging pile modular substrate (106) inside cavity；
Described electrode slide block (103) arranges described electrode slice (104).
3. robot according to claim 1 charging mechanism, it is characterised in that:
Charging column module is placed in robot body, and charging column module entirety is removed robot body or shift-in robot body by linear electric motors (205).
4. robot according to claim 1 charging mechanism, it is characterised in that:
Electrode slice (104) occurs in pairs, and pair of electrodes sheet (104) becomes Y type, and the head of bootable electrode column (201) inserts.
5. the charging method of the robot charging mechanism according to any one of claim 1-4, it is characterised in that comprise the following steps:
The first step, robot moves to charging pile near modules, and wherein robot body is built-in with charging column module, and charging column module entirety is removed robot body by linear electric motors (205)；
Second step, electrode column (201) is inserted in electrode slice (104)；
3rd step, travel switch (202) the upper contact chip (2021) arranged sends signal when contacting with the limited block (108) in charging pile module, makes charging column module no longer move to charging pile module, starts simultaneously at charging；
4th step, after charging terminates, charging column module entirety is moved into robot body by linear electric motors (205), leaves charging pile module after robot is fully charged.
6. a robot, application robot charging mechanism according to any one of claim 1-4, it is characterised in that: the charging column module of described robot charging mechanism is set in robot body.
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| CN201610243068.1A CN105811507B (en) | 2016-04-19 | 2016-04-19 | A kind of robot charging mechanism, using the robot and charging method of the mechanism |
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| CN201610243068.1A CN105811507B (en) | 2016-04-19 | 2016-04-19 | A kind of robot charging mechanism, using the robot and charging method of the mechanism |
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| CN107294182A (en) * | 2017-08-21 | 2017-10-24 | 福州安辛达环保科技有限公司 | A kind of high-end intelligent robot charging equipment |
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| CN107414889A (en) * | 2017-08-10 | 2017-12-01 | 桂林市兴美智能科技有限公司 | A kind of high-end intelligent robot equipment |
| CN107443423A (en) * | 2017-09-06 | 2017-12-08 | 王世美 | A kind of high-end intelligent robot equipment |
| CN107658604A (en) * | 2017-10-12 | 2018-02-02 | 广州市君望机器人自动化有限公司 | Multiple degrees of freedom charging structure and electric robot |
| CN107871959A (en) * | 2017-08-21 | 2018-04-03 | 广州念泽环保科技有限公司 | A kind of Intelligent Robot charging equipment |
| CN107871994A (en) * | 2017-08-21 | 2018-04-03 | 广州念泽环保科技有限公司 | A kind of modified intelligent robot charging equipment |
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| CN107979132A (en) * | 2017-12-07 | 2018-05-01 | 南京理工大学 | A kind of mobile robot charging unit |
| CN107979143A (en) * | 2017-12-30 | 2018-05-01 | 广州新烨数码科技有限公司 | A kind of charging unit of educational robot |
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| CN107979132A (en) * | 2017-12-07 | 2018-05-01 | 南京理工大学 | A kind of mobile robot charging unit |
| CN109995099A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | Indoor automatic cleaning machine people's charging equipment |
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| CN108365370B (en) * | 2018-02-06 | 2019-05-14 | 苏州功业肆点零智能科技有限公司 | A kind of device for facilitating robot to charge |
| CN108365370A (en) * | 2018-02-06 | 2018-08-03 | 苏州功业肆点零智能科技有限公司 | A kind of device for facilitating robot to charge |
| CN108110463A (en) * | 2018-02-07 | 2018-06-01 | 广州市君望机器人自动化有限公司 | Charging docking facilities and electrical equipment |
| CN108988434A (en) * | 2018-08-16 | 2018-12-11 | 芜湖星途机器人科技有限公司 | A kind of mobile chassis charging unit |
| CN108879886A (en) * | 2018-08-16 | 2018-11-23 | 芜湖星途机器人科技有限公司 | A kind of mobile chassis charge protection structure |
| CN109217022A (en) * | 2018-08-24 | 2019-01-15 | 享奕自动化科技（上海）有限公司 | Flexibility charging pipette tips and automatic charge device |
| CN109394087A (en) * | 2018-11-26 | 2019-03-01 | 墨宝股份有限公司 | A kind of intelligent robot facilitating charging |
| CN109394087B (en) * | 2018-11-26 | 2021-03-26 | 滕州道智盛智能科技有限公司 | Intelligent robot convenient to charge |
| CN109921495A (en) * | 2019-04-22 | 2019-06-21 | 杭州慧仓信息科技有限公司 | A kind of charging system based on clutch guiding parts |
| CN109921495B (en) * | 2019-04-22 | 2024-04-02 | 杭州慧仓信息科技有限公司 | Charging system based on clutch guide component |
| CN112087029A (en) * | 2020-09-09 | 2020-12-15 | 宁波奇亚园林工具有限公司 | Flexible contact charging mechanism of intelligent mower |
| CN113043886A (en) * | 2021-03-30 | 2021-06-29 | 深圳市优必选科技股份有限公司 | Charging pile and charging system applied to robot |
| CN116388342B (en) * | 2023-05-23 | 2023-10-27 | 江苏三里盛鑫工程技术有限公司 | Service type robot charging device |
| CN116388342A (en) * | 2023-05-23 | 2023-07-04 | 江苏三里盛鑫工程技术有限公司 | Service type robot charging device |
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| CN105811507B (en) | 2018-09-07 |
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