CN106451663A - Automatic wheeled robot charging device - Google Patents

Abstract

The invention provides an automatic charging device for a wheeled robot. The charging base includes a power supply, a control module, a detection module, and two first electrodes. The two first electrodes are arranged on a mounting plate. The detection module can detect the battery power on the robot. Whether it is full or not, the control module can control the power supply to charge the battery on the robot. The charging head contains two second electrodes, and the two second electrodes are installed on the chassis of the robot. Since the width of the first electrode is greater than the width of the second electrode, the When the robot is charging, the charging head is easy to contact with the charging base, and the alignment accuracy of the robot is not high, which reduces the difficulty of control. The requirements are not high, it is easy to automatically dock and charge, and the structure is simple and the cost is low.

Description

Wheeled robot automatic charging device

technical field

The invention belongs to the technical field of automatic charging, and in particular relates to an automatic charging device for a wheeled robot.

Background technique

The existing mobile wheeled robots are powered by lithium batteries. When the battery of the robot is low or out of power, it needs to be charged in time before it can resume work. However, manual charging is very troublesome and cannot achieve the purpose of automatic control of the robot. .

Most of the existing robot automatic charging technologies use two sets of electrode sheets inserted into two sets of electrode holders. This charging device requires that the straight line and angle error between the robot and the charging stand should not be too large when preparing for automatic charging, otherwise the robot’s The electrode piece and the electrode piece in the motor seat cannot be in good contact, and normal charging cannot be completed; some robots use vision, magnetic strips and other positioning methods to assist positioning, so that the robot needs to add corresponding devices, so the structure will become complicated and the cost will be lower. will increase.

Contents of the invention

The present invention is made to solve the above problems, and the purpose is to provide an automatic charging device for wheeled robots that does not require high alignment accuracy between the charging electrode and the charging stand when the robot is charging, is easy to automatically dock and charge, and has a simple structure and low cost.

The invention provides an automatic charging device for a wheeled robot, which is characterized in that it includes: a charging stand, including: a housing, a power supply installed in the housing, a control module installed in the housing and connected to the power supply circuit, and the control module and a detection module connected to the charging circuit, and two first electrodes installed on the outside of the housing and connected to the charging circuit;

The charging head includes: two second electrodes installed on the chassis of the robot, the two second electrodes are respectively connected to the battery circuit of the robot,

Wherein, the width of the first electrode is greater than the width of the second electrode, and the distance between the centerlines of the two first electrodes is equal to the distance between the centerlines of the two second electrodes.

Furthermore, in the automatic charging device for a wheeled robot provided by the present invention, it may also have such a feature: wherein, the two first electrodes are respectively connected to the positive pole and the negative pole of the power supply.

Furthermore, in the automatic charging device for a wheeled robot provided by the present invention, it may also have such a feature: wherein, the first electrode and the second electrode are copper electrodes.

Further, in the automatic charging device for a wheeled robot provided by the present invention, it may also have such a feature: wherein, an "L"-shaped mounting plate is provided on the housing, and the two first electrodes are mounted on the mounting plate, and the mounting plate is composed of Made of bakelite.

Furthermore, in the automatic charging device for a wheeled robot provided by the present invention, it may also have such a feature: wherein, the width of the first electrode is greater than twice the width of the second electrode.

Furthermore, in the wheeled robot automatic charging device provided by the present invention, it may also have such a feature: wherein, the charging head further includes: two sets of mounting components installed on the chassis, and the two second electrodes are respectively mounted on the two sets of mounting components On the assembly, the second electrode can rotate relative to the chassis of the robot.

Further, in the wheeled robot automatic charging device provided by the present invention, it may also have such a feature: wherein, each set of mounting components includes: at least one torsion spring, a fixed shaft, two pressing blocks, a mounting block, a fixing block , fasteners, the mounting block is provided with a first through hole along the thickness direction, the first grooves are provided on the opposite side walls of the mounting block, and the second grooves are provided on the two first grooves, the fixed shaft The two ends of the second electrode are matched with the second groove, the width of the second electrode is smaller than the width of the first through hole, and the length is smaller than the length of the first through hole, and one end of the second electrode along the length direction is provided with a second hole that runs through the width. A through hole, the second electrode is provided with a third groove on both sides penetrated by the second through hole, the torsion spring is installed in the third groove, after the fixed shaft passes through the torsion spring and the second through hole, the two sides of the fixed shaft The ends are respectively placed in the second groove, and the two compression blocks are respectively placed in the first groove to fix the fixed shaft so that the fixed shaft cannot rotate. The installation block is sandwiched between the fixed block and the compression block. One free end of the spring is fixed on the fixed block, and the other free end is suspended in the air. The fasteners fix the pressing block, the mounting block and the fixed block in turn, and the third groove makes the torsion spring in a free state. The two electrodes are inclined relative to the surface of the mounting block, and the depth of the first groove is such that after the second electrode is installed and the torsion spring is in a free state, the lowest point of the contact surface of the second electrode is higher than the surface of the mounting block, When the second electrode is in contact with the first electrode, the second electrode rotates around the fixed axis, and the torsion spring provides a restoring force for the second electrode.

Further, in the wheeled robot automatic charging device provided by the present invention, it may also have such a feature: wherein, the third groove has two sides: a first side and a second side intersecting the first side, the first The side surface is not parallel to the contact surface of the second electrode, the second side surface is located at the end of the first side surface close to the contact surface, and the angle between the two sides is equal to the angle between the two free ends of the torsion spring.

Further, in the wheeled robot automatic charging device provided by the present invention, it may also have such a feature: wherein, the two ends of the fixed shaft are semicircular, the second groove is semicircular, and the semicircular surface of the fixed shaft In contact with the second groove, the two ends of the fixed shaft are parallel to the axis of the fixed shaft and form a complete plane with the bottom surface of the first groove.

Further, in the automatic charging device for a wheeled robot provided by the present invention, it may also have such a feature: wherein, the mounting block is integrally formed with the chassis of the robot.

The present invention has the following advantages:

According to the automatic charging device for wheeled robots involved in the present invention, the charging base includes a power supply, a control module, a detection module, and two first electrodes, the two first electrodes are arranged on the mounting plate, and the detection module can detect the battery power on the robot Whether it is full or not, the control module can control the power supply to charge the battery on the robot. The charging head contains two second electrodes, and the two second electrodes are installed on the chassis of the robot. Since the width of the first electrode is greater than the width of the second electrode, the When the robot is charging, the charging head is easy to contact with the charging base, and the alignment accuracy of the robot is not high, which reduces the difficulty of control. The requirements are not high, it is easy to automatically dock and charge, and the structure is simple and the cost is low.

Description of drawings

Fig. 1 is the front view of the wheeled robot automatic charging device in the embodiment of the present invention;

Fig. 2 is the A-A sectional view of Fig. 1 in the embodiment of the present invention;

Fig. 3 is the front view of charging head in the embodiment of the present invention;

Fig. 4 is a B-B sectional view when the charging head is not charging in an embodiment of the present invention;

Fig. 5 is a B-B sectional view when the charging head is charging in an embodiment of the present invention;

Fig. 6 is an explosion schematic diagram of the charging head in the embodiment of the present invention;

Fig. 7 is a schematic structural diagram of a second electrode in an embodiment of the present invention.

detailed description

In order to make the technical means, creative features, goals and effects of the present invention easy to understand, the following embodiments will specifically describe the automatic charging device for wheeled robots of the present invention in conjunction with the accompanying drawings.

The wheeled robot automatic charging device 100 facilitates the docking of the charging electrode and the charging stand when the robot needs to be charged, requires relatively low alignment accuracy, reduces the difficulty of the control system, and has a simple structure and low cost.

As shown in FIGS. 1 and 2 , an automatic charging device 100 for a wheeled robot includes: a charging stand 10 and a charging head 20 . The charging head 20 is installed on the chassis 200 of the robot, and the charging stand 10 is in contact with the charging head 20 to charge the battery of the robot.

The charging stand 10 includes: a housing 11 , a power supply (not shown in the figure), a detection module (not shown in the figure), a control module (not shown in the figure) and two first electrodes 13 . The power supply is installed in the housing 11. The detection module is connected with the control module and the charging circuit, and is used for detecting whether the battery of the robot is fully charged. The control module is installed in the shell 11, and is connected with the power supply through a circuit, and is used to control whether the power supply charges the battery of the robot. Two first electrodes 13 are installed outside the housing 11, and the two first electrodes 13 are connected to the charging circuit, one of the first electrodes is connected to the positive pole, and the other first electrode is connected to the negative pole.

In this embodiment, the charging stand 10 also includes a mounting plate, the mounting plate 12 is "L" shaped, one folded surface of the mounting plate 12 is fixed on the casing 11, and the two first electrodes 13 are fixed on the other of the mounting plate 12 On the folded surface, the mounting board 12 is made of Bakelite board, which avoids the mutual short circuit between the two first electrodes 13 . The first electrode 13 is a copper electrode, which not only has good conductivity, but also is cheap.

The charging head 20 includes: two second electrodes 21, the two second electrodes 21 are installed on the chassis 200 of the robot, the distance between the two second electrodes 21 is such that one second electrode 21 is on the corresponding first electrode 13 At any position, the other second electrode 21 is in contact with the other first electrode 13 . In this embodiment, the distance between the centerlines of the two second electrodes 21 is equal to the distance between the centerlines of the two first electrodes 13 . During charging, the two second electrodes 21 are respectively in surface contact with the corresponding two first electrodes 13 to avoid sparks during charging.

The width of the first electrode 13 is greater than the width of the second electrode 21. Optimally, the width of the first electrode 13 is greater than twice the width of the second electrode 21, so that when the second electrode 21 contacts and charges with the first electrode, it is aligned. The larger the range, the lower the accuracy requirement.

Optimally, the second electrode 21 is a copper electrode, which not only has good conductivity, but also has low price.

In this embodiment, the charging head 20 also includes: two sets of mounting components 22, the two sets of mounting components 22 are mounted on the chassis 200 of the robot, the two second electrodes 21 are respectively mounted on the two sets of mounting components 22, and through the installation The assembly 22 is mounted on the chassis 200 of the robot. The mounting assembly 22 enables the second electrode 21 to rotate relative to the chassis 200, and after the second electrode 21 rotates relative to the chassis 200, it provides the second electrode 21 with a force opposite to the direction of rotation, so that the second electrode 21 is aligned with the first electrode 13. Close contact.

Each set of mounting components 22 includes: at least one torsion spring 221 , one mounting block 222 , one fixing shaft 223 , two pressing blocks 224 , one fixing block 225 and a set of fasteners 226 . In this embodiment, there are two torsion springs 221 .

In this embodiment, the second electrode 21 is a cuboid. Seen from the direction in FIG. 4 and FIG. 5 , the contact surface of the second electrode 21 is the top surface. As shown in FIG. 4 , FIG. 5 , and FIG. 6 , one end of the second electrode 21 along the length direction is provided with a second through hole 211 extending through the width. The opposite side of the contact surface of the second electrode 21, viewed from the direction in Fig. 4 and Fig. 5, the opposite side of the contact surface of the second electrode 21 is the bottom surface of the second electrode 21, and the bottom surface of the second electrode 21 is provided with a threaded hole 212 , the threaded hole 212 is located at the end of the second through hole 211 of the second electrode 21 . The threaded hole 212 is used to connect the built-in wire with the battery of the robot.

Referring to FIG. 7 , third grooves 213 are provided on opposite sides of the second electrode 21 , which are the sides through which the second through hole 211 penetrates. The third groove 213 can accommodate the torsion spring 221 in a free state, and when the automatic charging device 100 for a wheeled robot is not charging, that is, when the torsion spring 221 is in a free state, the torsion spring 221 makes the contact surface of the second electrode 21 relative to the mounting block The surface of 222 is inclined, as shown in FIG. 4 .

In this embodiment, the third groove 213 has two sides, a first side and a second side, the second side intersects the first side, and the angle between the first side and the second side is equal to that of the torsion spring 221. The angle between the two free ends. Seen from the direction in Fig. 6, the first side is the upper side, and the second side is the right side.

The second side is located at the end where the second through hole 211 is provided on the second electrode 21, and the first side is not parallel to the top surface of the second electrode 21. Viewed from the direction of FIG. 4 and FIG. 5, the first side of the third groove 213 One end of one side away from the second through hole 211 is farther away from the top surface of the second electrode 21 .

In this embodiment, the two free ends of the torsion spring 221 form an included angle of 90°, and the angle between the first side and the second side is the same as the angle formed by the two free ends of the torsion spring 221 in the free state. is 90°.

The two torsion springs 221 are respectively placed in the two second grooves 213 of the second electrode 21 , and the two free ends of the torsion springs 221 are in contact with the first side and the second side respectively.

The second electrode 21 is provided with two third grooves 213 and installed with two torsion springs 221 so that the second electrode 21 is evenly stressed when rotating around the fixed shaft 223 .

Certainly, there may be only one torsion spring 221 , so that when the second electrode 21 rotates around the fixed shaft 223 , it only needs to apply a force opposite to the rotation direction of the second electrode 21 to the second electrode 21 . When there is one torsion spring 221 , there is also one third groove 213 .

The mounting block 222 is provided with a rectangular first through hole 2221 in the thickness direction, the width of the first through hole 2221 is greater than the width of the second electrode 21 , and the length of the first through hole 2221 is greater than the length of the second electrode 21 . The mounting block 222 is respectively provided with a first groove 2222 on both sides of the first through hole 2221 in the width direction, and each first groove 2222 is provided with a second groove 2223 . The depth of the two first grooves 2222 is such that after the second electrode 21 is installed and the torsion spring 221 is in a free state, the lowest point of the contact surface of the second electrode 21 is higher than the surface of the mounting block 222 .

In this embodiment, the mounting block 222 is integrally formed with the chassis 200 of the robot.

The fixed shaft 223 is cylindrical, and fits loosely with the second through hole 211 . After the fixed shaft 223 passes through the second through hole 211 , the fixed shaft 223 and the second electrode 21 can rotate relative to each other. Both ends of the fixed shaft 223 are fixed ends, matching with the second groove 2223 .

After passing through the two torsion springs 221 and the second through hole 211, the fixed shaft 223 is placed on the mounting block 222, and the two ends of the fixed shaft 224 are respectively located in the two second grooves 2223, so that the second electrode 21 is located in the first through hole 2221 of the mounting block 222 and enables the second electrode 21 to rotate relative to the mounting block 222 .

The two pressing blocks 224 respectively match with the two first grooves 2222 and are placed in the first grooves 2222 for fixing the fixed shaft 223 so that the fixed shaft 223 will not rotate.

In this embodiment, referring to FIG. 6 , both ends of the fixed shaft 223 are semi-cylindrical, and the second groove 2223 is a semicircular groove matching the two ends of the fixed shaft 223 . When the fixed shaft 223 is placed in the second groove 2223 on the mounting block 222, the semicircular surfaces of the two ends of the fixed shaft 223 are in contact with the second groove 2223, and the two ends of the fixed shaft 223 are parallel to the axis of the fixed shaft 223. It forms a complete plane with the bottom surface of the first groove 2222 , so that when the pressing block 224 is placed in the first groove 2222 , the fixing shaft 223 can be fixed.

The mounting block 222 is interposed between the fixing block 225 and the pressing block 224 . Viewed from the direction in FIG. The downward free end of the torsion spring 221 is fixed on the fixing block 225 . In this embodiment, the downward free end of the torsion spring 221 is inserted into the fixing block 225 and fixedly connected with the fixing block 225 . Therefore, the other free end of the torsion spring 221 can generate torque along with the rotation of the second electrode 21 , and generate a reset elastic force on the second electrode 21 , so that the second electrode 21 is in close contact with the first electrode 13 .

The fasteners 226 fix the pressing block 224, the mounting block 222 and the fixing block 225 together. In this embodiment, the fasteners 27 comprise screws and nuts. The screws pass through the pressing block 224, the mounting block 222 and the fixing block 225 in sequence, and the nuts are sleeved on the screws to fix the three together.

When the robot needs to be charged, the robot aligns the charging head 20 on the chassis 200 with the charging stand 10. Since the width of the first electrode 13 is greater than the width of the second electrode 21, the alignment accuracy between the charging head 20 and the charging stand 10 is not high. , reducing the difficulty of robot control. When the first electrode 13 is in contact with the second electrode 21, the second electrode 21 is forced to make the second electrode 21 rotate around the fixed shaft 24, the first electrode 13 and the second electrode 21 are in surface contact, and the control module in the charging base 10 Control the power supply to charge the battery of the robot. When the detection module detects that the battery of the robot is full, the control module controls the power supply to stop charging the robot, the robot leaves, the charging head 20 is separated from the charging stand 10, and the automatic charging is completed. The return elastic force of the torsion spring 221 returns to the initial position, and the torsion spring 221 returns to a free state.

The above embodiments are preferred examples of the present invention, and are not intended to limit the protection scope of the present invention.

Claims (10)

1. a kind of wheeled robot automatic charge device, it is characterised in that include：

Cradle, comprising：Shell, installed in the inside the shell power supply, installed in the inside the shell and with the power circuit Detection module that the control module of connection is connected with the control module and charging circuit and installed in the shell Two first electrodes that are outside and being connected with the charging circuit；

Charging head, comprising：Two second electrodes on the chassis of robot, two second electrodes respectively with machine The battery circuit connection of people,

Wherein, the width of the first electrode is more than the width of the second electrode, and between two first electrode centrages The distance between distance and two second electrode centrages are equal.

2. wheeled robot automatic charge device according to claim 1, it is characterised in that：

Two first electrodes are connected with the positive pole of the power supply and negative pole respectively.

3. wheeled robot automatic charge device according to claim 1, it is characterised in that：

The first electrode and the second electrode are copper electrode.

4. wheeled robot automatic charge device according to claim 1, it is characterised in that：

The installing plate of " L " shape is provided with the shell, and two first electrodes are arranged on the installing plate, the installation Plate is made up of bakelite plate.

5. wheeled robot automatic charge device according to claim 1, it is characterised in that：

The width of the first electrode is more than the width of the second electrode of twice.

6. wheeled robot automatic charge device according to claim 1, it is characterised in that：

The charging head also includes：Two groups of mounting assembly on the chassis, two second electrodes are respectively mounted In mounting assembly described in two groups, the second electrode can be rotated relative to the chassis of the robot.

7. wheeled robot automatic charge device according to claim 6, it is characterised in that：

All include per the mounting assembly is organized：At least one torsion spring, fixing axle, two compact heaps, mounting blocks, fixed block, fastenings Part,

The mounting blocks through-thickness is provided with first through hole, is provided with first recessed on the relative two side of the mounting blocks Groove, is provided with the second groove, the two ends of the fixing axle and second groove match on two first grooves,

The width of the second electrode is less than the width of the first through hole, and length is less than the length of the first through hole, described Second electrode one end along its length is provided through the second through hole of width, and the second electrode is passed through by second through hole The both sides that wears are provided with the 3rd groove,

The torsion spring is arranged in the 3rd groove, after the fixing axle is fed through the torsion spring and second through hole, institute The two ends for stating fixing axle are individually positioned in second groove, and two compact heaps are individually positioned in first groove Interior, the fixing axle is fixed so that the fixing axle can not be rotated,

The mounting blocks are folded between the fixed block and the compact heap, and a free end of the torsion spring is fixed on described solid Determine on block, another free end is hanging, and the compact heap, the mounting blocks and the fixed block are fixed by the securing member successively,

3rd groove causes the torsion spring in free state, and the second electrode is inclined with respect to the surface of the mounting blocks Tiltedly,

The depth of first groove so that after the second electrode is installed, the torsion spring in free state when, described the The minimum point of the contact surface of two electrodes is higher than the surface of the mounting blocks,

When the second electrode is contacted with the first electrode, the second electrode is rotated around the fixing axle, and the torsion spring is The second electrode provides reseting elasticity.

8. wheeled robot automatic charge device according to claim 7, it is characterised in that：

3rd groove with two sides：First side and the second side for intersecting with the first side, described One side is not parallel with the contact surface of the second electrode, and the second side is close to the contact surface positioned at the first side One end, the angle between two sides be equal to the torsion spring two free ends between angle.

9. wheeled robot automatic charge device according to claim 7, it is characterised in that：

The two ends of the fixing axle for semicircle, second groove for semicircle, the semicircle face of the fixing axle with described Second groove contacts, the plane of the two ends of the fixing axle and fixing axle diameter parallel, and the bottom surface of first groove Form a complete plane.

10. wheeled robot automatic charge device according to claim 7, it is characterised in that：

The mounting blocks are integrally formed with the chassis of the robot.