CN109093648B - Robot self-charging device and method thereof - Google Patents
Robot self-charging device and method thereof Download PDFInfo
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- CN109093648B CN109093648B CN201810974652.3A CN201810974652A CN109093648B CN 109093648 B CN109093648 B CN 109093648B CN 201810974652 A CN201810974652 A CN 201810974652A CN 109093648 B CN109093648 B CN 109093648B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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
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Abstract
The invention provides a robot self-charging device and a method thereof, wherein the robot self-charging device comprises a bottom plate, a charging pile, a robot, conveying mechanisms, a fork plate and a correcting mechanism, wherein the two conveying mechanisms are oppositely arranged on the bottom plate, each conveying mechanism comprises a vertical conveying mechanism, a horizontal conveying mechanism and a motor, the fork plate is fixedly arranged between the two horizontal conveying mechanisms, the two correcting mechanisms are oppositely arranged on the bottom plate, each correcting mechanism comprises a support, a hydraulic cylinder, a correcting plate and a roller, the supports are fixedly arranged on the bottom plate, the correcting plates are movably arranged on the supports through the two hydraulic cylinders, and a plurality of rollers are rotatably arranged on the correcting plates. The robot that will charge through conveying mechanism is automatic carry to fill electric pile on to charge, and then the robot only need move to the fork board can, simplified the robot and look for and fill electric pile and then can be quick charge, adjust the position of robot through mechanism of reforming, and then the alignment that the robot can be accurate mouthful that charges.
Description
Technical Field
The invention relates to the technical field of automatic robot charging, in particular to a robot self-charging device and a robot self-charging method.
Background
With the development of science and technology, more and more robots enter the field of view of the public, such as banks, restaurants, hospitals and the like can see their shadows, most robots are powered by storage batteries, and therefore in daily use, when the electric quantity of the robots is exhausted or will be exhausted, the robots need to be moved back to a charging place and charged, the robots are charged repeatedly every day, the use experience of the robots is greatly reduced, and the automatic charging function of the robots is very necessary.
Publication No. CN106720289A discloses a grain drying equipment, this device is patrolled and examined the robot through explosion-proof wheeled and is moved to charging by the contact device and the end of charging is aimed at with the contact device that charges, and then the contact device that charges need set up a plurality of sensor generating device and receiving arrangement, and the cost that leads to this charging base is higher relatively, and the fault rate has also been increased to the sensor of a great variety to and need the robot self to carry out the regulation of position when the location, and then can't be quick aligns and charge.
Disclosure of Invention
The present invention is directed to a robot self-charging device and a method thereof, which solve the problems set forth in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a robot is from charging device, includes the bottom plate, fills electric pile, robot, conveying mechanism, fork board and mechanism of reforming, fill electric pile fixed mounting on the bottom plate, be equipped with the bolt on filling electric pile, be equipped with the plug on the robot, wherein:
two conveying mechanism opposition is installed on the bottom plate, and conveying mechanism includes vertical conveying mechanism, horizontal conveyance mechanism and motor, vertical conveying mechanism installs on the bottom plate, horizontal conveyance mechanism movable mounting is on vertical conveying mechanism, fork board fixed mounting is two between the horizontal conveyance mechanism, two mechanism opposition of reforming is installed on the bottom plate, mechanism of reforming includes support, pneumatic cylinder, returning board and roller, support fixed mounting is on the bottom plate, returning board is through two pneumatic cylinder movable mounting is on the support, and is a plurality of the roller rotates to be installed on returning the board.
Preferably, the two hydraulic cylinders are respectively and fixedly installed on the support, the power output ends of the two hydraulic cylinders penetrate through the support, and the correcting plate is fixedly connected with one ends of the two hydraulic cylinders penetrating through the support through connecting flanges.
Preferably, vertical conveying mechanism includes support frame I, support frame II and ball screw I, support frame I and support frame II are respectively through bolt fixed mounting on the bottom plate, I both ends of ball screw are respectively through the bearing install inside I support frame, and fixed mounting has the motor on the support frame I, wherein the one end fixed connection of motor and ball screw I.
Preferably, horizontal conveyor includes guide rail, slider, ball II, little band pulley, belt and big band pulley, the both ends of guide rail are movable mounting respectively in support frame I and support frame II, the slider agrees with on the guide rail, the inside and the slider that runs through at the guide rail is installed through the bearing respectively at the both ends of ball II, wherein forms screw thread transmission between slider and the ball II, ball II is connected with the motor power of installing on the guide rail through little band pulley, belt and big band pulley.
Preferably, two ends of the fork plate are respectively welded on the sliding blocks in the two oppositely placed horizontal conveying mechanisms.
Preferably, the two ends of the guide rail are respectively provided with a guide block, the guide blocks are respectively and movably matched in the support frame I and the support frame II, and the ball screw I penetrates through the guide block at one end of the guide rail and forms thread transmission with the guide block.
Preferably, the guide rail is fixedly provided with a motor, the power output end of the guide rail is fixedly sleeved with a small belt wheel, the large belt wheel is fixedly sleeved at one end of the ball screw II, and the belt sleeve is arranged on the small belt wheel and the large belt wheel to form belt transmission.
A method of charging a self-charging device for a robot, comprising the steps of:
s1, the robot determines the position of the charging pile through the sensor, and at the moment, the robot moves to the fork plate under the guidance of the positioning signal;
s2, rotating a motor installed on the support frame I to drive the ball screw I to rotate, wherein the ball screw I and a guide block on the guide rail form thread transmission, the ball screw I drives the guide rail to move along the support frame I and the support frame II in a direction away from the bottom plate, a slide block on the guide rail drives a fork plate to move in a direction away from the bottom plate, the fork plate lifts the robot, and the motor stops moving when the central line of a plug on the robot and the central line of a plug on the charging pile are located at the same height;
s3, the motor mounted on the guide rail starts to rotate, power is transmitted to the ball screw II through the small belt wheel, the belt and the large belt wheel, the sliding block which forms thread transmission with the ball screw II in the rotating process of the ball screw II moves along the guide rail, and the fork plate is driven to move towards the direction close to the charging pile;
s4, the fork plate drives the robot to move to the side of the righting mechanism under the transportation of the step S3, the two righting mechanisms synchronously move to adjust the position of the robot in the horizontal direction at the moment, so that the robot is positioned in the center of the fork plate, then the motor arranged on the guide rail stops rotating after the plug on the robot is inserted into the plug on the charging pile, and the charging is started at the moment;
s5, after charging is completed, the motor on the support frame I starts to rotate reversely, the robot is driven to move in the direction far away from the charging pile, then the motor on the guide rail starts to rotate reversely, the robot is driven to move in the direction close to the bottom plate, and when the robot moves to the initial position, the robot moves out of the device.
Preferably, S4 specifically is that, the power take off end of pneumatic cylinder is synchronous to the direction motion of keeping away from the cylinder body, and the pneumatic cylinder promotes to return the board to the direction motion of being close to the robot this moment, exerts pressure to the robot when the roller contacts the side of robot, and the promotion robot moves on the fork board this moment, and the side of robot is in parallel state with the side of filling the electric pile under the mechanism effect of returning that the opposition was laid, and the back pneumatic cylinder that returns to the completion drives and returns the board and move to initial position.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the charging robot is automatically conveyed to the charging pile for charging through the conveying mechanism, and then the robot only needs to move to the fork plate, so that the step of searching for the charging pile by the robot is simplified, and the charging can be rapidly carried out.
2. According to the invention, the position of the robot is adjusted through the correcting mechanism, so that the robot can be accurately aligned with the charging port.
Drawings
FIG. 1 is a three-dimensional schematic view of the overall structure of the present invention;
FIG. 2 is a three-dimensional schematic view of the overall structure of the robot of the present invention moving onto the fork plate;
FIG. 3 is a three-dimensional schematic view of the delivery mechanism of the present invention;
FIG. 4 is a front view of the vertical feed mechanism of the present invention;
FIG. 5 is a three-dimensional schematic view of a guide rail according to the present invention;
fig. 6 is a three-dimensional schematic view of the reforming mechanism of the present invention.
In the figure: the automatic charging device comprises a base plate 1, a charging pile 2, a robot 3, a conveying mechanism 4, a fork plate 5, a correcting mechanism 6, a bolt 21, a plug 31, a vertical conveying mechanism 41, a horizontal conveying mechanism 42, a motor 43, a supporting frame I411, a supporting frame II 412, a ball screw I413, a guide rail 421, a slider 422, a ball screw II 423, a small belt wheel 424, a belt 425, a large belt wheel 426, a 4211 guide block, a support 61, a hydraulic cylinder 62, a correcting plate 63 and a roller 64.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
referring to fig. 1 to 6, the present invention provides a technical solution:
the utility model provides a robot is from charging device, includes bottom plate 1, fills electric pile 2, robot 3, conveying mechanism 4, fork board 5 and mechanism 6 of reforming, wherein:
the charging pile 2 is fixedly installed on the bottom plate 1 through bolts, the plug pins 21 are arranged on the charging pile 2, the plug pins 31 are arranged on the robot 3, the plug pins 31 are matched with the plug pins 21, the number of the plug pins is consistent, the position information transmitter is arranged in the charging pile 2, and the position information receiver is arranged in the robot 3;
two conveying mechanisms 4 are oppositely arranged on a bottom plate 1, each conveying mechanism 4 comprises a vertical conveying mechanism 41, a horizontal conveying mechanism 42 and a motor 43, each vertical conveying mechanism 41 comprises a support frame I411, a support frame II 412 and a ball screw I413, the support frames I411 and II 412 are respectively fixedly arranged on the bottom plate 1 through bolts, the support frames I411 and II 412 are on the same straight line, two ends of each ball screw I413 are respectively arranged in the support frames I411 through bearings, the ball screw I413 can rotate in the support frames I411, a motor 43 is fixedly arranged on each support frame I411 through bolts, a power output end of each motor 43 is fixedly connected with one end of each ball screw I413 through a coupler, each horizontal conveying mechanism 42 comprises a guide rail 421, a sliding block 422, a ball screw II 423, a small belt pulley 424, a belt 425 and a large belt pulley 426, two ends of each guide rail 421 are respectively provided with guide blocks 4211, the guide block 4211 is respectively matched and installed in grooves of the support frame I411 and the support frame II 412 to form a moving pair, the ball screw I413 penetrates through the guide block 4211 at one end of the guide rail 421, wherein thread transmission is formed between the ball screw I413 and the guide block 4211, the sliding block 422 is matched on the guide rail 421 to form a moving pair on the guide rail 421, two ends of the ball screw II 423 are respectively installed inside the guide rail 421 through bearings and penetrate through the sliding block 422, wherein thread transmission is formed between the sliding block 422 and the ball screw II 423, the guide rail 421 is fixedly provided with a motor 43 through bolts, a power output end of the motor 43 installed on the guide rail 421 is fixedly sleeved with the small belt wheel 424, the large belt wheel 426 is fixedly sleeved at one end of the ball screw II 423, and the belt 425 is sleeved on the small belt wheel 424 and the large belt wheel;
the two ends of the fork plate 5 are respectively welded on the sliding blocks 422 in the two oppositely placed horizontal conveying mechanisms 42, so that the fork plate 5 can move along with the sliding blocks 422;
two mechanisms 6 of reforming are opposite to be installed on bottom plate 1, mechanism 6 of reforming includes support 61, pneumatic cylinder 62, plate 63 and roller 64, support 61 passes through bolt fixed mounting on bottom plate 1, two pneumatic cylinders 62 pass through bolt fixed mounting respectively on support 61, the power take off end of pneumatic cylinder 62 passes through support 61, plate 63 of reforming passes through the one end fixed connection that support 61 was passed through with two pneumatic cylinders 62 through flange, the both ends of a plurality of rollers 64 are passed through the bearing rotation respectively and are installed on plate 63 of reforming.
A method of charging a self-charging device for a robot, comprising the steps of:
s1, the robot 3 determines the position of the charging pile 2 through the position receiver, and at the moment, the robot 3 moves to the fork plate 5 under the guidance of the positioning signal, wherein the bottom of the robot 3 is higher than the fork plate 5;
s2, then the motor 43 installed on the support frame I411 rotates to drive the ball screw I413 to rotate, the ball screw I413 and the guide block 4211 on the guide rail 421 form thread transmission, the ball screw I413 drives the guide rail 421 to move towards the direction far away from the bottom plate 1 along the support frame I411 and the support frame II 412, the slide block 422 on the guide rail 421 drives the fork plate 5 to move towards the direction far away from the bottom plate 1, at the moment, the fork plate 5 lifts the robot 3, and when the central line of the plug 31 on the robot 3 and the central line of the plug 21 on the charging pile 2 are located at the same height, the motor 43 stops moving;
s3, the motor 43 mounted on the guide rail 421 starts to rotate, power is transmitted to the ball screw II 423 through the small belt pulley 424, the belt 425 and the large belt pulley 426, the sliding block 422 which forms thread transmission with the ball screw II 423 in the rotating process of the ball screw II 423 moves along the guide rail 421, and the fork plate 5 is driven to move towards the direction close to the charging pile 2;
s4, the transport lower fork plate 5 drives the robot 3 to move to the side of the righting mechanism 6 after the step S3, at the moment, the two righting mechanisms 6 synchronously move to adjust the position of the robot 3 in the horizontal direction, specifically, the power output end of the hydraulic cylinder 62 synchronously moves in the direction far away from the cylinder body, at the moment, the hydraulic cylinder 62 pushes the righting plate 63 to move in the direction close to the robot 3, when the roller 64 contacts the side of the robot 3, pressure is applied to the robot 3, which pushes the robot 3 to move on the fork 5, under the action of the oppositely arranged righting mechanism 6, the side surface of the robot 3 is parallel to the side surface of the charging pile 2, after the righting is finished, the hydraulic cylinder 62 drives the righting plate 63 to move to the initial position, then, when the plug 31 of the robot 3 is inserted into the motor 43 of the charging pile 2, which is provided with the plug 21 and the guide rail 421, stops rotating, the charging is started.
S5, after charging, the motor 43 on the support frame I411 starts to rotate reversely, the robot 3 is driven to move in the direction far away from the charging pile 2, then the motor 43 on the guide rail 421 starts to rotate reversely, the robot 3 is driven to move in the direction close to the bottom plate 1, tires of the robot 3 contact the ground when the robot 3 moves to the initial position, and the robot 3 moves out of the device.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a robot is from charging device, includes bottom plate (1), fills electric pile (2), robot (3), conveying mechanism (4), fork board (5) and mechanism (6) of reforming, fill electric pile (2) fixed mounting on bottom plate (1), be equipped with bolt (21) on filling electric pile (2), be equipped with plug (31) on robot (3), its characterized in that:
two conveying mechanism (4) are installed on bottom plate (1) opposedly, and conveying mechanism (4) include vertical conveying mechanism (41), horizontal conveying mechanism (42) and motor (43), vertical conveying mechanism (41) are installed on bottom plate (1), vertical conveying mechanism (41) are including support frame I (411), support frame II (412) and ball screw I (413), bolt fixed mounting is passed through respectively on bottom plate (1) in support frame I (411) and support frame II (412), ball screw I (413) both ends are installed inside support frame I (411) through the bearing respectively, and fixed mounting has motor (43) on support frame I (411), and wherein motor (43) and the one end fixed connection of ball screw I (413), horizontal conveying mechanism (42) movable mounting is on vertical conveying mechanism (41), horizontal conveying mechanism (42) include guide rail (421), The novel automatic thread-cutting machine comprises a sliding block (422), a ball screw II (423), a small belt wheel (424), a belt (425) and a large belt wheel (426), wherein two ends of a guide rail (421) are movably mounted in a support frame I (411) and a support frame II (412) respectively, two ends of the guide rail (421) are provided with guide blocks (4211) respectively, the guide blocks (4211) are movably matched in the support frame I (411) and the support frame II (412) respectively, the ball screw I (413) penetrates through the guide block (4211) at one end of the guide rail (421) and forms thread transmission with the guide block (4211), the sliding block (422) is engaged with the guide rail (421), two ends of the ball screw II (423) are mounted in the guide rail (421) through bearings respectively and penetrate through the sliding block (422), the thread transmission is formed between the sliding block (422) and the ball screw II (423), and the ball screw II (423) is connected with the small belt wheel (424), Belt (425) and big band pulley (426) are connected with motor (43) power of installing on guide rail (421), fork board (5) fixed mounting is two between horizontal conveyor (42), the both ends of fork board (5) are welded respectively on slider (422) in two horizontal conveyor (42) that the opposition was laid, two mechanism (6) opposition of reforming is installed on bottom plate (1), mechanism (6) of reforming includes support (61), pneumatic cylinder (62), plate (63) and roller (64), support (61) fixed mounting is on bottom plate (1), plate (63) of reforming is through two pneumatic cylinder (62) movable mounting is on support (61), and is a plurality of roller (64) rotate and install on plate (63) of reforming.
2. A robotic self-charging device as claimed in claim 1, wherein: two pneumatic cylinder (62) fixed mounting is on support (61) respectively, and its power take off end runs through support (61), return to positive board (63) through flange and two pneumatic cylinder (62) run through the one end fixed connection of support (61).
3. A robotic self-charging device as claimed in claim 1, wherein: the guide rail (421) is fixedly provided with a motor (43), the power output end of the motor is fixedly sleeved with a small belt wheel (424), the large belt wheel (426) is fixedly sleeved at one end of the ball screw II (423), and the belt (425) is sleeved on the small belt wheel (424) and the large belt wheel (426) to form belt transmission.
4. A charging method of a robot self-charging device, comprising the steps of:
s1, the robot (3) determines the position of the charging pile (2) through a sensor, and at the moment, the robot (3) moves onto the fork plate (5) under the guidance of a positioning signal;
s2, then, a motor (43) installed on a support frame I (411) rotates to drive a ball screw I (413) to rotate, the ball screw I (413) and a guide block (4211) on a guide rail (421) form thread transmission, the ball screw I (413) drives the guide rail (421) to move along the support frame I (411) and a support frame II (412) in a direction far away from a bottom plate (1), a sliding block (422) on the guide rail (421) drives a fork plate (5) to move in a direction far away from the bottom plate (1), the fork plate (5) lifts the robot (3), and the motor (43) stops moving when the central line of a plug charging pile (31) on the robot (3) and the central line of a plug (21) on a plug (2) are located at the same height;
s3, then, a motor (43) installed on the guide rail (421) starts to rotate, power is transmitted to the ball screw II (423) through a small belt wheel (424), a belt (425) and a large belt wheel (426), a sliding block (422) forming thread transmission with the ball screw II (423) moves along the guide rail (421) in the rotating process of the ball screw II (423), and then the fork plate (5) is driven to move towards the direction close to the charging pile (2);
s4, the fork plate (5) drives the robot (3) to move to the side of the righting mechanism (6) under the transportation of the step S3, the two righting mechanisms (6) synchronously move at the moment to adjust the position of the robot (3) in the horizontal direction, so that the robot (3) is located at the center of the fork plate (5), then the motor (43) installed on the guide rail (421) stops rotating after the plug (31) on the robot (3) is inserted into the plug (21) on the charging pile (2), and the charging is started at the moment;
s5, after charging is completed, the motor (43) on the support frame I (411) starts to rotate reversely, the robot (3) is driven to move towards the direction far away from the charging pile (2), then the motor (43) on the guide rail (421) starts to rotate reversely, the robot (3) is driven to move towards the direction close to the bottom plate (1), and when the robot (3) moves to the initial position, the robot (3) moves out of the device.
5. The charging method of a robot self-charging device according to claim 4, characterized in that: s4 specifically comprises a power output end of a hydraulic cylinder (62) moves towards a direction far away from a cylinder body synchronously, the hydraulic cylinder (62) pushes a correcting plate (63) to move towards a direction close to a robot (3), when a roller (64) contacts the side face of the robot (3), pressure is applied to the robot (3), the robot (3) is pushed to move on a fork plate (5), the side face of the robot (3) and the side face of a charging pile (2) are in a parallel state under the action of oppositely placed correcting mechanisms (6), and the hydraulic cylinder (62) drives the correcting plate (63) to move to an initial position after correcting is completed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810974652.3A CN109093648B (en) | 2018-08-24 | 2018-08-24 | Robot self-charging device and method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810974652.3A CN109093648B (en) | 2018-08-24 | 2018-08-24 | Robot self-charging device and method thereof |
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| CN109093648A CN109093648A (en) | 2018-12-28 |
| CN109093648B true CN109093648B (en) | 2020-07-28 |
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| CN201810974652.3A Active CN109093648B (en) | 2018-08-24 | 2018-08-24 | Robot self-charging device and method thereof |
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| CN118137626B (en) * | 2024-05-08 | 2024-07-05 | 珠海银积科技有限公司 | Robot fills electric pile with remove function |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4418381B2 (en) * | 2005-02-23 | 2010-02-17 | 三菱重工業株式会社 | Charging station for autonomous mobile robot |
| DE102011005386B4 (en) * | 2011-03-10 | 2023-03-09 | Compleo Charging Solutions Ag | Load module and method of operating the same |
| CN202384806U (en) * | 2011-12-30 | 2012-08-15 | 李建立 | Parallelable automation charging device for storage batteries |
| CN204277838U (en) * | 2014-11-13 | 2015-04-22 | 深圳大宇精雕科技有限公司 | A kind of novel locating device |
| CN205544401U (en) * | 2016-01-29 | 2016-08-31 | 南京航空航天大学 | Automatic charging device of three degree of freedom electric automobile |
| CN106026313A (en) * | 2016-08-03 | 2016-10-12 | 安徽钰龙信息科技有限公司 | Charging device of shipborne unmanned aerial vehicle |
| CN106696747B (en) * | 2017-01-22 | 2019-11-08 | 厦门大学 | A kind of automatic charging system for electric vehicle and its control method |
| CN206922447U (en) * | 2017-05-03 | 2018-01-23 | 北京克路德人工智能科技有限公司 | Suitable for the charging pile of high-power charging equipment |
| CN108199432A (en) * | 2018-01-08 | 2018-06-22 | 浙江立石机器人技术有限公司 | A kind of automatic charge device of mobile robot |
| CN108288796A (en) * | 2018-03-08 | 2018-07-17 | 靳文勇 | Stereo garage automatic charger |
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