CN109787330A - A kind of desktop machine people recharging device and recharging method - Google Patents
A kind of desktop machine people recharging device and recharging method Download PDFInfo
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- CN109787330A CN109787330A CN201910253914.1A CN201910253914A CN109787330A CN 109787330 A CN109787330 A CN 109787330A CN 201910253914 A CN201910253914 A CN 201910253914A CN 109787330 A CN109787330 A CN 109787330A
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- 210000003298 dental enamel Anatomy 0.000 claims abstract description 32
- 230000005415 magnetization Effects 0.000 claims abstract description 5
- 238000003032 molecular docking Methods 0.000 claims description 28
- 238000009413 insulation Methods 0.000 claims description 7
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- 239000002305 electric material Substances 0.000 claims 1
- 239000002184 metal Substances 0.000 claims 1
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- 230000008859 change Effects 0.000 description 11
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- 238000004590 computer program Methods 0.000 description 2
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- 238000000926 separation method Methods 0.000 description 2
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- 238000002474 experimental method Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052738 indium Inorganic materials 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
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Abstract
It includes the magnetic pole charging contact that magnetic dock cradle and desktop microrobot are equipped with that the present invention, which discloses a kind of desktop machine people recharging device and recharging method, desktop machine people's recharging device,；The magnetic dock cradle includes wireless communication unit and power supply unit；Magnetic dock cradle further includes U-iron body and at least two dock conductive columns, and U-iron body surface face is wound with enamel insulated wire circle, and the power output end of power supply unit is connect with enamel insulated wire circle；Dock conductive column is inserted in the both ends of U-iron body respectively；The charging output end of one end connection power supply unit of dock conductive column, interface of the other end of dock conductive column as the magnetic pole charging contact of desktop microrobot, signal is recharged for what is parsed according to wireless communication unit, the magnetization of current control U-iron body is exported, realizes that the magnetic pole at U-iron body both ends attracts or push open desktop microrobot.
Description
Technical field
The invention belongs to technical fields more particularly to a kind of desktop machine people recharging device and one that robot returns seat charging
Kind recharging method.
Background technique
The mode that recharges of intelligent micro desktop machine people is the important guarantee that intelligent micro desktop machine people continues working, table
Face robot recharge seat identification and contraposition range it is very small, desktop machine people is only recharging a present position very a small range
It could complete to identify and align, be finally completed and recharge work.Wherein, desktop machine people is switched to when recharging mode, due to desktop
Configured with complicated contact to interface in the miniaturization body of robot, so, desktop machine people is in the mistake for recharging docking automatically
Cheng Zhong, the charging contact that miniaturization and micromation are difficult to control under the prior art are docked and are separated with realizing accurate stable.
Summary of the invention
In order to overcome the above technical defects, the present invention proposes following technical scheme:
A kind of desktop machine people recharging device, desktop machine people's recharging device include that magnetic dock cradle and desktop are miniature
The magnetic pole charging contact that robot is equipped with；Magnetic dock cradle includes power output end and U-iron body, U-iron body surface
Face is wound with enamel insulated wire circle, and power output end is connect with the both ends of enamel insulated wire circle；Wherein, under the mode that recharges, U-iron
Body by energization enamel insulated wire circle constitute the magnetic line of force towards desktop microrobot magnetic pole charging contact U-shaped magnetic circuit.
In the technical solution, the docking facilities of robot and pedestal use the magnetic pole docking facilities of convertible magnetic pole, and enhancing recharges docking
Stability and reliability, the robot for being conducive to micromation is easy by magnetic force, steadily connects and separate cradle.
Further, the magnetic dock cradle includes in the presence of the wireless communication unit and power supply list being electrically connected
Member, wireless communication unit are used to recharge signal according to what desktop microrobot issued, change the output of the power output end
Current direction, wherein power supply unit includes the power output end.Change the enamel insulated wire circle by wireless instructions control
Electrical current direction, with realize according to recharge demand change converted magnetic pole, reduce the cost of docking facilities.
Further, the magnetic dock cradle includes dock conductive column, and the power supply unit includes that charging is defeated
Outlet；Dock conductive column is inserted in the both ends of the U-iron body respectively；One end of dock conductive column connects the power supply list
The charging output end of member, the interface of the other end of dock conductive column as the magnetic pole charging contact of desktop microrobot,
Signal is recharged for what is parsed according to wireless communication unit, the magnetization of current control U-iron body is exported, by U-iron body
Both ends plug conductive column to cooperate magnetic adsorptive power, so that the charging of desktop microrobot is completed, it compared with prior art, will
Magnetic element is separated with conductive terminal is docked, and the requirement to conductive terminal material is reduced, to realize the conducting end of various specifications
It can be inserted in the U-iron body.
Further, the interior current direction to circulate of the enamel insulated wire circle is controllable, so that the magnetic dock
The magnetic pole at the U-iron body both ends of cradle be it is changeable, simplify the existing structure feature for recharging system, reduce device at
This.
Further, it is described recharge mode under, exist in the magnetic pole of the magnetic pole charging contact and the U-iron body pair
The magnetic pole for connecing one end of relationship is the docking for the dock conductive column that the end plugs on the contrary, in the U-iron body
It completes to dock charging with the magnetic pole charging contact under opposite pole active force in face.
Further, in the case where the desktop microrobot does not need to recharge, the magnetic of the magnetic pole charging contact
Pole in the U-iron body there are the magnetic pole of one end of opposite joining relation be it is identical, in the U-iron body, institute which plugs
The interface for stating dock conductive column disconnects and the opposite joining relation of the magnetic pole charging contact under like pole active force.
Further, the dock conductive column is conductive metal material, and the surface package of the dock conductive column is exhausted
Edge enamel-cover avoids the current loss of the charging output end of the power supply unit excessive to open with U-iron body isolation.
A kind of recharging method, the recharging method are suitable for the desktop machine people recharging device, which includes: to work as
The wireless communication unit receives when recharging signal, controls the power supply unit adjustment output to the enamel insulated wire circle
Current direction, so that the magnetic pole charging contact of the magnetic pole of the interface of the dock conductive column and the desktop microrobot
Magnetic pole it is opposite；Completing to dock to recharge and send charging to the wireless communication unit when the desktop microrobot terminates to refer to
After order, the current direction that the power supply unit changes output to the enamel insulated wire circle is controlled, so that the dock is conductive
The magnetic pole of the interface of column is identical as the magnetic pole of magnetic pole charging contact of the desktop microrobot.The technical program passes through control
The coil current of system output generates attraction and retentivity, realizes the fast of microrobot and the cradle that has magnetic pole adsorption capacity
Speed docking and separation, improve the convenience for recharging docking.
Further, the recharging method further include: when the wireless communication unit, which receives, recharges refusal signal, control
Power supply unit adjustment output to the enamel insulated wire circle current direction so that the both ends magnetic pole of the U-iron body with
The magnetic pole of the corresponding magnetic pole charging contact of the desktop microrobot is identical；Wherein, recharging refusal signal includes the magnetic pole
The magnetic pole information of charging contact.Recharging method control robot is docked under the premise of meeting the requirements, and be not inconsistent
It closes and refuses docking in the case where requiring, improve the efficiency for recharging docking.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of desktop machine people recharging device provided in an embodiment of the present invention.
Appended drawing reference:
101, dock conductive column；102, U-iron body；103, magnetic pole charging contact；104, enamel insulated wire circle；105, desktop is micro-
Humanoid robot.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is retouched in detail
It states.
The embodiment of the present invention provides a kind of desktop machine people recharging device, as shown in Figure 1, desktop machine people's recharging device
The magnetic pole charging contact 103 being equipped with including magnetic dock cradle and desktop microrobot 105.The charging of magnetic dock
Seat includes power output end and U-iron body 102, and 102 surface of U-iron body is wound with enamel insulated wire circle 104, provides in the present embodiment
Two power output ends, connect with the both ends of enamel insulated wire circle 104 respectively, magnetize U-iron body for exporting electric current
102, specifically, the magnetic pole charging contact 103 of absorption docking desktop microrobot 105 under the mode that recharges, and in non-refill
Push the magnetic pole charging contact 103 of desktop microrobot 105 under mode open.Meeting to control desktop microrobot 105
It is docked under the premise of it is required that, and refuses docking in the case where undesirable.Wherein, Fig. 1 is corresponding recharges mode, U
Shape iron body 102 charges by the magnetic pole that the enamel insulated wire circle 104 of energization constitutes the magnetic line of force towards desktop microrobot 105 and touches
The U-shaped magnetic circuit of point 103.
In embodiments of the present invention, the magnetic dock cradle include in the presence of be electrically connected wireless communication unit and
Power supply unit, wireless communication unit are used to recharge signal according to what the desktop microrobot issued, change the power supply list
The current direction of the power output end of member；Wireless communication unit includes modulation-demodulation circuit (not shown), is connect for demodulating
What is received recharges signal or recharges refusal signal, and modulates and to be launched recharge response signal；Power supply unit includes power supply output
End and charging output end, power supply unit is conventional use of electric power management circuit, for being changed according to the instruction of wireless communication unit
The current direction of power transformation source output terminal, and the control charging output end output charging electricity after the current direction for determining power output end
Stream supplies power supply for the desktop microrobot after docking.The embodiment of the present invention passes through described in wireless instructions control change
The electrical current direction of enamel insulated wire circle changes converted magnetic pole according to the demand that recharges to realize, reduces the cost of docking facilities.
It should be noted that the power output end that power supply unit includes is the power output end of magnetic dock cradle,
The charging output end that power supply unit includes is the charging output end of magnetic dock cradle.
As shown in Figure 1, the magnetic dock cradle includes U-iron body 102 and two dock conductive columns 101, U-shaped
102 surface of iron body is wound with enamel insulated wire circle 104, two power output ends of the power supply unit respectively with enamel insulated wire circle
104 both ends are connected to be formed into a loop, and are created conditions for the magnetic effect of electric current.Two dock conductive columns 101 are inserted in U respectively
The both ends of shape iron body 102, wherein one end of dock conductive column 101 connects the charging output end of the power supply unit, dock
Interface of the other end of conductive column 101 as the magnetic pole charging contact 103 of desktop microrobot, for according to described wireless
Communication unit parsing recharges signal output current, since there are electric currents for enamel insulated wire circle 104, so being imitated according to the magnetic of electric current
U-iron body 102 should be can control to magnetize, then dock conductive column 101 docks magnetic pole charging contact 103 by magnetic-adsorption to pass
Electrically conductive signal.Specifically, the magnetic pole at the both ends after U-iron body 102 magnetizes under the mode that recharges and desktop microrobot 105
The magnetic pole of magnetic pole charging contact 103 is on the contrary, to control the magnetic dock cradle absorption docking desktop microrobot
105, the docking face contact magnetic pole charging contact 103 of dock conductive column 101, then conduct and charge for desktop microrobot 105
Current signal；The magnetic pole at the both ends after U-iron body 102 magnetizes under non-refill mode and the magnetic pole of desktop microrobot 105
The magnetic pole of charging contact 103 is identical, so that controlling the magnetic dock cradle pushes desktop microrobot 105 open, docking
The interface of formula conductive column 101 no longer contacts magnetic pole charging contact 103, cannot be the conduction charging electricity of desktop microrobot 105
Flow signal.Compared with prior art, the embodiment of the present invention separates magnetic element with conductive terminal is docked, because of insulation enamel-cover
In the state that coil 104 is not powered on, the U-iron body 102 does not generate magnetism, is not required to consider the interference of magnetic factor, reduces
Requirement to conductive terminal material, to realize that the conducting end of various specifications can be inserted in the U-iron body.
It should be noted that the magnetic pole adsorption capacity of two dock conductive columns 101 can be improved in U-shaped magnetic circuit, make connection more
Add stabilization, and U type magnetic circuit can also reduce the magnetic flux into desktop microrobot 105, reduce to desktop micro computer
The interference of device people 105.Particularly, do not have magnetic adsorbability in two dock conductive columns 101 of the present embodiment itself, but borrow
The magnetic force completion for helping the U-iron body 102 for being wound with enamel insulated wire circle 104 to be incuded is mutually butted with magnetic pole charging contact 103,
Then the U-shaped magnetic circuit on two dock conductive columns 101 forms the closed magnetic circuit of O shape, eliminates to desktop microrobot 105
Interference, and the mutual attractive force between two dock conductive columns 101 and corresponding magnetic pole charging contact 103 can be enhanced.Its
In, U-shaped magnetic circuit is compared with the magnetic circuit of bar magnet, and under conditions of equal material, U-shaped magnetic circuit can provide bigger magnetic
Power, to increase the reliability and stability of connection, U-shaped magnetic circuit is compared with the magnetic circuit of bar magnet, in equal magnetic attraction
Under conditions of, U-shaped magnetic circuit needs less material, is conducive to the micromation of connector and reduces cost.
The magnetic effect of electric current involved in the embodiment of the present invention derives from H. C. Oersted Experiment, specifically around electrified wire
There are magnetic fields, the referred to as magnetic effect of electric current.The phenomenon was found in physicist's oersted by Denmark in 1820.The phenomenon is said
Bright: there are magnetic fields around electrified wire, and magnetic field is related with sense of current.The magnetic of energization solenoid in the prior art
: the magnetic field of energization solenoid is as the magnetic field of bar magnet.The polarity at its both ends is related with current direction, current direction with
Relationship between magnetic pole can be judged by Ampere's law.
In embodiments of the present invention, the desktop microrobot 105 and the magnetic dock cradle to tipping
The magnetic pole docking facilities using convertible magnetic pole are set, enhancing recharges the stability and reliability of docking, is conducive to the machine of micromation
Device people is easy by magnetic force, steadily connects and separate cradle；Meanwhile the desktop machine people recharging device is because electromagnetism is dry
It disturbs less, makes it easier to position；And the improvement of the embodiment of the present invention is to change U-iron body by the magnetic effect of electric current
The magnetic pole at 102 both ends, rely primarily on the curent change of enamel insulated wire circle 104 change the magnetic pole at 102 both ends of U-iron body with
Achieve the purpose that attraction or repel the desktop microrobot 105, simplify structure, raising recharges efficiency.
Preferably, the interior current direction to circulate of the enamel insulated wire circle is controllable, in the power supply of the power supply unit
Under the current regulation effect of output end, the U-iron body 102 is magnetized, its both ends is made to generate magnetic pole and with power output end
Curent change and change, complete to attract or repel the work of the desktop microrobot 105, simplify the existing system that recharges
Structure feature reduces the cost of device.
Preferably, the dock conductive column 101 is conductive metal material, the surface packet of the dock conductive column 101
Insulation enamel-cover is wrapped up in, to open with the U-iron body 102 isolation.If the dock conductive column 101 and the U-iron body 102
It does not insulate out, then during the electric current of the charging output end of the power supply unit flows through the dock conductive column 101,
Since the cross-sectional area of conductor becomes larger, so the internal resistance of conductor increases, so that the current loss of charging output end increases.Therefore it needs
In the surface of the dock conductive column 101 package insulation enamel-cover.
Based on previous desktop robot recharging device, the embodiment of the present invention provides a kind of recharging method, the recharging method packet
Include: when the wireless communication unit receive from the desktop microrobot 105 issue when recharging signal, it is described wireless
Communication unit parsing recharges signal, controls the current direction of the power supply unit adjustment output to the enamel insulated wire circle 104,
So that the magnetic pole charging contact 103 of the magnetic pole of the interface of the dock conductive column 101 and the desktop microrobot 105
Magnetic pole on the contrary, then the magnetic pole charging contact 103 of the desktop microrobot 105 docks the dock conductive column 101
Interface is to conduct electric signal.It completes to dock when the desktop microrobot 105 and recharges and sent out to the wireless communication unit
After sending charging END instruction, the current direction that the power supply unit changes output to the enamel insulated wire circle 104 is controlled, so that
The magnetic of the magnetic pole charging contact 103 of the magnetic pole of the interface of the dock conductive column 101 and the desktop microrobot 105
Extremely identical, then the interface of the dock conductive column 101 leaves the magnetic pole charging contact of the desktop microrobot 105
103。
Receive it is described recharge signal before, the magnetic pole charging contact 103 of the desktop microrobot 105 with it is described
The interface of dock conductive column 101 not in contact with, the wireless communication unit receive it is described recharge signal after, described in control
Power supply unit adjustment outputs current to the enamel insulated wire circle 104, magnetizes U-iron body 102 according to the magnetic effect of electric current, specifically
Ground, the magnetic pole at the both ends after U-iron body 102 magnetizes under the mode that recharges and the magnetic pole charging contact of desktop microrobot 105
103 magnetic pole on the contrary, to control the magnetic dock cradle absorption docking desktop microrobot 105, lead by dock
The docking face contact magnetic pole charging contact 103 of electric column 101 conducts charging current signal for desktop microrobot 105.
Completing to dock to recharge and send charging to the wireless communication unit when the desktop microrobot 105 terminates to refer to
After order, the current direction that the power supply unit changes output to the enamel insulated wire circle 104 is controlled, so that the dock is led
The magnetic pole of the interface of electric column 101 is identical as the magnetic pole of magnetic pole charging contact 103 of the desktop microrobot 105, then exists
Under repulsive force effect, the magnetic pole charging contact of the interface of the dock conductive column 101 and the desktop microrobot 105
103 separation.
Before the wireless communication unit receives the charging END instruction, controls the power supply unit and change output
To the current direction of the enamel insulated wire circle 104, according to the polarity at energization solenoid both ends in the magnetic effect of electric current with electric current
The relationship in direction is it is found that the magnetic pole at the both ends after the magnetization of U-iron body 102 and the magnetic pole charging contact of desktop microrobot 105
103 magnetic pole is identical, so that controlling the magnetic dock cradle pushes desktop microrobot 105, dock conductive column open
101 interface leaves magnetic pole charging contact 103 under repulsive force effect, no longer conducts and charges for desktop microrobot 105
Current signal.
Therefore, the recharging method generates attraction and retentivity by the coil current of control output, realizes micro computer
It device people and the rapid abutting joint of the cradle that has magnetic pole adsorption capacity and separates, improves the convenience for recharging docking.The side of recharging
Method completes docking charging by magnetic force, suitable for the mobile robot product of miniaturization, so that the mobile robot of miniaturization
Be easy to the magnetic pole charging contact 103 of positioning charging block, also reduce the complexity of cradle product, reduce whole docking facilities at
This.
Preferably, the recharging method further include: when the wireless communication unit, which receives, recharges refusal signal, control
The power supply unit adjustment output receives described to the current direction of the enamel insulated wire circle in the wireless communication unit
Before recharging refusal signal, the magnetic pole charging contact 103 of the desktop microrobot 105 and the dock conductive column 101
Interface may be not in contact with either contact, receive recharge refusal signal after, according to recharge refusal signal in
The magnetic pole information of the included magnetic pole charging contact 103 controls the power supply unit adjustment output to the insulation enamel-cover
The current direction of coil 104, so that the magnetic pole of the magnetic pole and desktop microrobot 105 at the both ends after the magnetization of U-iron body 102 fills
The magnetic pole of electric contact 103 is identical, deposits between the magnetic dock cradle and the desktop microrobot 105 to control
In the effect of repulsive force, guarantee that the interface of dock conductive column 101 does not contact magnetic pole charging contact 103.The recharging method
It controls the desktop microrobot 105 to be docked under the premise of meeting the requirements, and is refused in the case where undesirable
Absolutely connect.To improve the efficiency for recharging docking.
Specifically, it is described recharge mode under, deposited in the magnetic pole of the magnetic pole charging contact 103 and the U-iron body 102
Magnetic pole in one end of opposite joining relation is the dock conductive column 101 that the end plugs on the contrary, in the U-iron body 102
Interface complete to dock charging with the magnetic pole charging contact 103 under opposite pole active force；When the desktop micro computer
Device people does not need in the case where recharging, the magnetic pole of the magnetic pole charging contact 103 in the U-iron body 102 exist dock pass
The magnetic pole of one end of system be it is identical, in the U-iron body 102, the interface for the dock conductive column 101 which plugs
Under like pole active force with the holding exclusion relations of the magnetic pole charging contact 103.This recharging method quickly, it is easy,
Stablize, be easily isolated, uses to control the contact interactive interface for the complexity that desktop microrobot 105 is equipped with, it can be ensured that
Accurate contact docking.
All parts embodiment of the invention can be implemented in hardware, or to transport on one or more processors
Capable software module is realized, or is implemented in a combination thereof.In this system, PC is by realizing internet to equipment or device
Long-range control, the step of accurately controlling equipment or device each operation.The present invention is also implemented as executing here
Some or all device or device programs of described method are (for example, computer program and computer program produce
Product).Program of the invention, which is achieved, can store on a computer-readable medium, and the file or document tool that program generates
There is statistics available property, generates data report etc..It should be noted that above embodiment the present invention will be described rather than to this
Invention is limited, and those skilled in the art can be designed replacement without departing from the scope of the appended claims
Embodiment.In the claims, any reference symbol between parentheses should not be configured to limitations on claims.
Word "comprising" does not exclude the presence of element or step not listed in the claims.Word " one " located in front of the element or " one
It is a " do not exclude the presence of multiple such elements.The present invention can by means of include several different elements hardware and by
It is realized in properly programmed computer.If in the unit claim for listing dry systems, several in these systems
It can be and be embodied by the same item of hardware.The use of word first, second, and third does not indicate any suitable
Sequence.These words can be construed to title.
Claims (9)
1. a kind of desktop machine people recharging device, which is characterized in that desktop machine people's recharging device includes that magnetic dock is filled
The magnetic pole charging contact that electric seat and desktop microrobot are equipped with；
Magnetic dock cradle includes power output end and U-iron body, and U-iron body surface face is wound with enamel insulated wire circle, power supply
Output end is connect with enamel insulated wire circle；Wherein, under the mode that recharges, U-iron body is constituted by the enamel insulated wire circle of energization
The magnetic line of force towards desktop microrobot magnetic pole charging contact U-shaped magnetic circuit.
2. desktop machine people recharging device according to claim 1, which is characterized in that the magnetic dock cradle includes
There are the wireless communication unit of electric connection and power supply unit, what wireless communication unit was used to be issued according to desktop microrobot
Signal is recharged, the output current direction of the power output end is changed, wherein power supply unit includes the power output end.
3. desktop machine people recharging device according to claim 2, which is characterized in that the magnetic dock cradle includes
Dock conductive column, the power supply unit include charging output end；Dock conductive column is inserted in the two of the U-iron body respectively
End；One end of dock conductive column connects the charging output end of the power supply unit, and the other end of dock conductive column is as table
The interface of the magnetic pole charging contact of face microrobot recharges signal, output electricity for what is parsed according to wireless communication unit
The magnetization of flow control U-iron body.
4. desktop machine people recharging device according to claim 3, which is characterized in that circulate in the enamel insulated wire circle
Current direction is controllable.
5. desktop machine people recharging device according to claim 1, which is characterized in that it is described recharge mode under, the magnetic
The magnetic pole of pole charging contact with there are the magnetic pole of one end of opposite joining relation be opposite in the U-iron body.
6. desktop machine people recharging device according to claim 1, which is characterized in that be not required in the desktop microrobot
In the case where recharging, there are the magnetic poles of one end of opposite joining relation in the magnetic pole of the magnetic pole charging contact and the U-iron body
It is identical.
7. desktop machine people recharging device according to claim 1, which is characterized in that the dock conductive column is that metal is led
Electric material, the surface package insulation enamel-cover of the dock conductive column.
8. a kind of recharging method of desktop machine people, which is characterized in that the recharging method is suitable for any one of claim 2 to 7
The desktop machine people recharging device, the recharging method include:
When the wireless communication unit, which receives, recharges signal, the power supply unit adjustment output is controlled to the insulation enamel-cover
The current direction of coil, so that the magnetic pole of the interface of the dock conductive column and the magnetic pole of the desktop microrobot fill
The magnetic pole of electric contact is opposite；
After the desktop microrobot, which completes docking, to be recharged and send charging END instruction to the wireless communication unit, control
The current direction that the power supply unit changes output to the enamel insulated wire circle is made, so that the docking of the dock conductive column
The magnetic pole in face is identical as the magnetic pole of magnetic pole charging contact of the desktop microrobot.
9. recharging method according to claim 8, which is characterized in that the recharging method further include:
When the wireless communication unit, which receives, recharges refusal signal, the power supply unit adjustment output is controlled to the insulation
The current direction of enameled wire loop, so that the both ends magnetic pole of U-iron body magnetic pole corresponding with the desktop microrobot fills
The magnetic pole of electric contact is identical；Wherein, the magnetic pole information that refusal signal includes the magnetic pole charging contact is recharged.
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| CN104733230A (en) * | 2015-04-10 | 2015-06-24 | 福州大学 | Permanent magnet intelligent contactor having electromagnetic controllable counterforce and capable of guaranteeing normal switching-off |
| CN106426182A (en) * | 2016-11-28 | 2017-02-22 | 湖南同冈科技发展有限责任公司 | Robot welding production line |
| CN209593037U (en) * | 2019-03-30 | 2019-11-05 | 珠海市一微半导体有限公司 | A kind of desktop machine people recharging device |
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