CN111799859A - Automatic alignment charging device and method - Google Patents
Automatic alignment charging device and method Download PDFInfo
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- CN111799859A CN111799859A CN202010578759.3A CN202010578759A CN111799859A CN 111799859 A CN111799859 A CN 111799859A CN 202010578759 A CN202010578759 A CN 202010578759A CN 111799859 A CN111799859 A CN 111799859A
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000013459 approach Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 239000004809 Teflon Substances 0.000 claims 1
- 229920006362 Teflon® Polymers 0.000 claims 1
- 210000001503 joint Anatomy 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010892 electric spark Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- -1 polytetrafluoroethylene Polymers 0.000 description 1
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 1
- 239000004810 polytetrafluoroethylene Substances 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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- 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
- B25J19/0025—Means for supplying energy to the end effector
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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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
- H01M10/446—Initial charging measures
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses an automatic alignment charging device and method, which comprises a safe charging socket device arranged on a mobile robot body and a charging plug device arranged on a charging pile, wherein the safe charging socket device comprises a charging socket front-end charging module and a charging socket safety module; the charging plug device comprises a charging plug front-end module, a lead screw guide rail module and a rotary table module; sensors are arranged on two sides of the front end module of the charging plug and used for measuring the distance from the charging plug to the rear end of the vehicle body, so that the rotation of the rotary table and the movement of a lead screw on the guide rail lead screw module are controlled, a plug electrode in the front end module of the charging plug is aligned with the center of the safe charging socket device, the plug electrode is in butt joint with a socket electrode unit, and the plug electrode pushes a switch to push a sliding block to drive a swing arm type explosion-proof switch to be closed to start charging; the charging device can realize accurate butt joint in the charging process, and is safe and reliable in the charging process.
Description
Technical Field
The invention belongs to the field of intelligent mobile robots, and particularly relates to a safe and reliable automatic alignment charging device and method of a mobile robot.
Background
With the rapid development of mobile robots in China, the mobile robots are more and more widely applied, but with the support of electric energy, the requirements of the robots on the electric energy are increased with the continuous increase of the functions of the robots, and how to realize the long-time effective power supply of the robots also becomes a research hotspot, so that the realization of the autonomous charging of the mobile robots also becomes a more popular research direction. At present, a plurality of charging modes for the mobile robot exist, and automatic charging of the mobile robot can be basically realized, but some defects still exist.
For example, patent application No. CN 110803050 a discloses an independently fill electric pile for AGV system, including the electric pile box that fills that is used for the device installation carrier and install and fill the electric head subassembly that is used for the power supply to connect at electric pile box front end. On one hand, the charging head in the charging pile and the charging plate of the robot start charging as soon as the charging head and the charging plate contact with each other, electric sparks are possibly generated when the charging head and the charging plate contact with each other, and safety accidents are easily caused. On the other hand, the swing amplitude of the charging head is too small, and the relative requirement on navigation positioning precision is high.
Such as that described in patent publication No. CN 108594822A. The charging of the mobile robot has the following defects: charging plug of charging pile is fixed, and the two-dimensional code of target needs to be identified to realize robot location charging, and the position of the robot that this kind of mode needs to be judged is more complicated, appears positioning error easily, can not guarantee that charging electrode can aim at the interface that charges, causes the contact of charging bad so that reduces charge efficiency easily.
Disclosure of Invention
The invention aims to provide a safe and reliable automatic alignment charging device and a method.
The technical solution for realizing the purpose of the invention is as follows: a safe and reliable automatic alignment charging device comprises a safe charging socket device arranged on a mobile robot body and a charging plug device arranged on a charging pile, wherein the safe charging socket device is arranged on the robot body and comprises a charging socket front-end charging module and a charging socket safety module;
the charging plug device is arranged on a charging pile, the charging pile comprises a charging plug front end module, a lead screw guide rail module and a rotary table module, the upper end of the rotary table module is fixedly connected with the lead screw guide rail module, and the charging plug front end module is fixed to the other end of the lead screw guide rail module. Two groups of socket electrode units are arranged in the charging module at the front end of the charging socket, each group of socket electrode units comprises two socket electrode plates which are symmetrically arranged and are connected with the battery through a lead, a spring door is arranged in a guide groove at the front end of the charging box body, which is far away from the mobile robot body, the upper end of the spring door is connected with a spring, the spring door can move up and down in the guide groove, a charging module at the front end of the charging socket is arranged at the front end of a safety module of the charging socket, a guide rod is arranged on a box body of the charging safety module, a swing arm type explosion-proof switch is also arranged on the lower bottom surface of the box body, a switch pushing slide block is arranged on the guide rod and can slide back and forth on the guide rod to push the swing arm type switch to be closed, the swing arm type explosion-proof switch is connected on a connecting line of a socket electrode plate and a battery, the on-off of the socket electrode plate and the battery circuit is controlled by combining the relay and the triode.
The charging plug front end module is characterized in that a plug electrode is arranged at one end of a plug fixing piece, a guide device is fixed at the other end of the plug fixing piece, the plug fixing piece can drive the plug electrode to move on the guide device, and the guide device is fixed on a guide rail lower bottom plate, the upper end of the guide rail lower bottom plate and fixedly connected with a charging plug box body.
The charging plug front end module is fixedly connected to the lead screw guide rail module through a plug front end fixing piece in the plug front end, the charging plug front end module can move left and right on the lead screw guide rail module, an absolute value encoder is connected to the tail end of the lead screw guide rail module, and the distance between the left and right movement of the plug when the lead screw rotates is recorded. The lower bottom surface of the screw guide rail module is connected with the rotary table, and the rotary table can drive the screw guide rail module to rotate left and right with a charging plug front end assembly connected to the screw guide rail module.
Furthermore, laser ranging sensors are arranged on two sides of the charging plug box body and used for measuring the distance between the two sensors and the rear end face of the vehicle body.
Furthermore, the plug electrode is connected with the charger through a wire, a relay is connected with the wire connected with the charging plug and the charger, the relay is also connected with the control panel through other wires, and the control panel is also connected with the laser ranging sensor, the absolute value encoder, the servo motor driver of the lead screw guide rail module and the turntable servo motor driver.
Furthermore, the parts of the safety charging socket device contacting with the electrode plates are all insulating parts processed by insulating materials, the charging box, the box body and the like are all insulating parts, and a plug electrode fixing part connected with the plug electrode in the charging plug device is also an insulating part processed in an insulating mode.
Compared with the prior art, the invention has the following advantages:
firstly, mobile robot can automatic charging and outage to only can just begin to charge when the butt joint is successful, avoid only the electrode slice local contact of plug electrode and socket to begin to charge the electric current unstability that produces, safe and reliable more.
And secondly, when the socket center and the plug electrode center on the mobile robot are not aligned, and the plug center and the mobile robot center have angular deviation, the charging plug device drives the plug electrode to rotate to adjust the angle, and the plug can move left and right on the guide rail, so that the plug electrode and the socket part are aligned during charging butt joint, and the requirement on the navigation positioning precision of the robot is lowered.
Drawings
Fig. 1 is a general structural view of the safe and reliable self-aligning charging device of the present invention.
Fig. 2 is a sectional view of a charging socket front end module of the safety charging socket device of the present invention.
Fig. 3 is a block diagram of a front end module of a charging socket of the safety charging socket device of the present invention.
Fig. 4 is a schematic structural diagram of the safety charging socket device of the present invention.
Fig. 5 is a schematic side view of the safety charging socket device according to the present invention.
Fig. 6 is a control circuit diagram of the charging receptacle terminal of the safety charging apparatus of the present invention.
Fig. 7 is a block diagram of a front end module of a charging plug in the charging plug device according to the present invention.
Fig. 8 is a perspective view of a charging plug front end module in the charging plug device of the present invention.
Fig. 9 is a structural view of a screw guide module and a turntable module in the charging plug device of the present invention.
Fig. 10 is a schematic diagram of a plug-side control system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are further described below with reference to the drawings in the implementation of the present invention to help understanding the contents of the present invention.
With reference to fig. 1, a safe and reliable automatic alignment charging device comprises a safe charging socket device arranged on a robot body and a charging plug device arranged on a charging pile, wherein the safe charging socket device comprises a charging socket front-end charging module a and a charging socket safety module B, and the charging socket front-end charging module a is fixedly connected with the charging socket safety module B;
the charging plug device comprises a charging plug front-end module C, a screw guide rail module D and a rotary table module E, wherein the rotary table module E is connected with a charging pile, the upper end of the rotary table module E is fixedly connected with the screw guide rail module D, and the other end of the screw guide rail module D is fixedly connected with the charging plug front-end module C.
With reference to fig. 2 and 3, the charging module a at the front end of the charging socket comprises a spring door baffle plate a-1, a spring door a-2, a spring a-3, a support piece fixing plate a-9, a countersunk screw, a charging box body a-12 and a charging box body cover plate a-13;
two groups of socket electrode units are arranged on two sides of the support piece fixing plate A-9, and each group of socket electrode units comprises eight electrode plate springs A-4, two electrode plate fixing plates A-5, two socket electrode plates A-6, a set screw, two support pieces A-8 and a spring guide screw A-10 which are arranged up and down symmetrically;
the charging box body A-12 is fixedly connected with a charging box body cover plate A-13, and the supporting piece fixing plate A-9 is fixed on the inner wall of the charging box body A-12 through a countersunk head screw; in the charging box body A-12, an upper supporting piece A-8 and a lower supporting piece A-8 in each group of socket electrode units are respectively fixed on a charging box body cover plate A-13 and a supporting piece fixing plate A-9, a spring guide screw A-10 penetrates through an electrode plate fixing plate A-5 and is used for fixedly connecting a socket electrode plate A-6 with the electrode plate fixing plate A-5, a charging wire is fixed on the socket electrode plate A-6 through a fastening screw, an electrode plate spring A-4 is sleeved on a screw head of the spring guide screw A-10, one end of the electrode plate spring A-4 is contacted with the electrode plate fixing plate A-5, and the other end of the electrode plate spring A-4 is contacted with the charging box body cover plate A-13 or the; the end part of the support piece A-8 is provided with a bulge for limiting the electrode plate fixing plate A-5;
during charging, the plug electrode C-1 enables the plug fixed electrode plate A-5 to extrude the electrode plate spring A-4 to move by extruding the socket electrode plate A-6, and a gap exists between the inner wall of the supporting piece A-8 and the side edge of the socket electrode plate fixing piece A-5, so that the socket electrode plate A-6 can move downwards in the supporting piece A-8 along with the electrode plate fixing plate A-5 when being extruded.
Furthermore, two spring doors A-2 are symmetrically arranged on the front end face of the charging box body A-12, one ends of the spring doors A-2 are connected with the springs A-3, and a spring door baffle plate A-1 is arranged between the two spring doors A-2 and used for limiting the displacement of the spring doors A-2 and enabling the safe charging socket end to be in a relatively closed state when not being charged, so that the waterproof and dustproof effects are achieved. During charging, the plug electrode C-1 enables the spring A-3 to stretch and contract by pressing the spring door A-2, so that the spring door A-2 is opened. Followed by charging.
With reference to fig. 4-6, the charging socket safety module B comprises a guide rod B-1, a swing arm type explosion-proof switch B-2, a switch pushing slider B-3, a shaft retainer ring B-4, a box body B-5, a battery B-6, a large washer B-6, a screw B-7 and a box body cover plate B-8;
the two guide rods B-1 are parallel to each other and consistent with the movement direction of the plug electrode C-1, one end of each guide rod B-1 is fixed on the box body B-5 through a large gasket B-6 and a screw B-7, one side of each guide rod B-1, which is connected with the box body B-5, is also provided with a shaft check ring B-4 for limiting the displacement of the guide rod B-1, the two guide rods B-1 are provided with a switch pushing slide block B-3, the switch pushing slide block B-3 can slide on the two guide rods B-1, and a swing arm type explosion-proof switch B-2 is arranged in the box body B-5 and can be closed or opened under the pushing of the switch pushing slide block (B-3); the battery B-6 is arranged in a robot body, the plug electrode C-1 pushes the switch to push the sliding block B-3 to move in the charging butt joint process, so that the swing arm type explosion-proof switch B-2 is closed, the base electrode of the triode is input with high level at the moment, the NPN triode is conducted, the relay coil is electrified, the contact is closed, the circuit of the socket electrode plate A-6 and the battery B-6 is conducted at the moment, the socket electrode plate A-6 and the plug electrode C-1 are electrified, and the robot starts to charge. The safety charging socket device comprises the following parts: the support piece A-8, the support piece fixing plate A-9, the switch pushing slide block B-3, the spring door baffle A-2, the charging box body A-12, the upper cover plate and the lower cover plate of the charging box body A-13, the box body B-5 and the upper cover plate and the lower cover plate of the box body B-8 are made of non-conductive polytetrafluoroethylene. With reference to fig. 7 and 8, the charging plug front-end module C includes two plug electrodes C-1, plug electrode fixing members C-2, a laser distance measuring sensor C-3, a laser distance measuring sensor mounting bracket C-4, a countersunk screw C-5, a charging plug box C-6, a plug front-end fixing member C-7, a plug electrode lead C-8, a guide rail lower bottom plate C-9, a guiding device C-10, and a baffle C-11, which are symmetrically distributed;
the plug electrode C-1 is connected with a plug electrode lead C-8, the plug electrode C-1 is fixed at one end of a plug fixing piece C-2, the other end of the plug fixing piece C-2 is provided with a guiding device C-10, the lower end face of the guiding device C-10 is fixedly connected with a lower bottom plate C-9 of a guide rail, the upper end of the lower bottom plate C-9 of the guide rail is fixedly connected with a charging plug box body C-6, a raised baffle C-11 is arranged inside the lower bottom plate C-9 of the guide rail and used for limiting the backward movement displacement of the plug electrode fixing piece C-2 on the guiding device C-10, and a protrusion is arranged on the front end face of the charging plug box body C-6 and used for limiting the forward displacement of the plug;
furthermore, the charging plug box body C is also provided with a laser ranging sensor fixing support C-4, the laser ranging sensor fixing supports C-4 on the two sides are respectively provided with a laser ranging sensor C-3, and a plug front end fixing piece C-7 fixes the plug front end module C on the upper surface of a guide rail slide block upper plate D-12 in the lead screw guide rail module.
With reference to fig. 9, the lead screw guide rail module D includes an absolute value encoder D-1, an encoder fixing bracket D-2, a stroke guide rail lower bottom plate D-3, a guide rail D-4, a guide rail slider D-5, a charger D-6, a lead screw slider D-7, a lead screw D-8, a coupler D-9, a lead screw guide rail servo motor fixing bracket D-10, a lead screw guide rail servo motor D-11, and a guide rail slider upper plate D-12; an absolute value encoder D-1 is fixed on an absolute value encoder bracket D-2, a lead screw servo motor D-11 is fixed on a lead screw servo motor fixing bracket D-10, the absolute value encoder bracket D-2 and the lead screw servo motor fixing bracket D-10 are respectively and fixedly arranged on two sides of a lower bottom plate D-3 of a travel guide rail, two guide rails D-4 are also symmetrically arranged on the lower bottom plate D-3 of the travel guide rail, a guide rail slide block D-5 is respectively arranged on each guide rail D-4, a lead screw D-8 parallel to the two guide rails D-4 is also arranged between the two guide rails D-4, the tail ends of two sides of the lead screw D-8 are respectively connected with an output shaft of the absolute value encoder D-1 and an output shaft of the lead screw servo motor D-11 through two couplings D-9, a screw rod sliding block D-7 is arranged on the screw rod D-8, the upper surface of the screw rod sliding block D-7 is flush with the upper surfaces of the two guide rail sliding blocks D-5, a guide rail sliding block upper plate D-12 is fixedly arranged on the upper surfaces of the screw rod D-8 and the guide rail sliding block D-5, a charger D-6 is arranged on the guide rail sliding block upper plate D-12, the charger D-6 is connected with a plug electrode lead C-8 of the charging plug front-end module C, and the upper surface of the guide rail sliding block upper plate D-12 is fixedly connected with a plug front-end fixing piece C-7 in the charging plug front-end module C, so that the charging plug front-end module C is fixed on the screw rod guide rail;
when the screw guide rail servo motor D-11 rotates, the screw D-8 is driven to rotate through the coupler D-9, so that the screw slider D-7 is driven to move, the screw slider D-7 and the guide rail slider upper plate D-12 fixed on the upper surface of the guide rail slider D-5 move on the guide rail along with the screw slider D-7, the plug front end module C is driven to move in the screw guide rail module D, and the absolute value encoder D-1 is used for recording the position of the screw slider D-7 when moving on the screw D-8.
The rotary table module E comprises a rotary table motor E-1 and a rotary table E-2, an output shaft of a rotary table servo motor E-1 is connected with the rotary table E-2 to drive the rotary table E-2 to rotate in the horizontal direction, the upper surface of the rotary table E-2 is fixedly connected with the lower surface of a guide rail lower bottom plate D-3 in the screw guide rail module D, and when the rotary table E-2 rotates, the screw guide rail module D is driven to rotate to drive the plug front end module C to rotate. With reference to fig. 10, the steps of the automatic alignment charging method are as follows:
taking the distance interval between the two laser ranging sensors C-3 as 450mm and the distance value of the two side surfaces of the box body B-5 as 230mm as an example, the step 1: when the mobile robot detects that the electric quantity of the battery B-6 is insufficient, the mobile robot starts to move to search for the charging pile, when the robot approaches the charging pile, the two laser ranging sensors C-14 in the charging plug device start scanning, the distances from the two laser sensors C-3 to the rear end face of the mobile robot body are respectively measured, the distance values measured by the two sensors are processed, and if the distance values measured by the two sensors are not equal, the electrode plug C-1 is not perpendicular to the rear end surface of the body of the mobile robot, that is, the plug electrode C-1 is not perpendicular to the safety charging socket device, the distance difference deltas of the rear end surface of the mobile robot and the distance between the two sensors are measured from the two sensors to be 450mm, the deflection angle of the plug electrode C-1 can be obtained, wherein the deflection angle refers to an angle A required by the plug electrode C-1 to be deflected to be perpendicular to the safe charging socket;
step 2: then the control board controls a driver of a turntable servo motor E-1 to enable a turntable E-2 to rotate by an angle A, a plug electrode C-1 in the plug device is enabled to be perpendicular to a safe charging socket, then a driver of a lead screw guide rail servo motor D-11 in a lead screw guide rail module D is controlled to move, an upper plate C-12 of a guide rail sliding block is enabled to move leftwards or rightwards on a guide rail D-4 in the lead screw guide rail module, taking the right movement as an example, if a value measured by a left laser ranging sensor D-3 changes greatly when the lead screw guide rail module D-4 moves rightwards, the distance measured by the left laser ranging sensor D-3 at the moment is just the distance to the end face of a box body B-5 in the safe charging socket module, at the moment, the control board controls the driver of the lead screw guide rail servo motor D-11 to drive, at the moment, the plug electrode is completely aligned with the safe charging socket device; and step 3: the mobile robot moves backwards, after the plug electrode C-1 is inserted into the safe charging socket device, the plug electrode C-1 is firstly contacted with a socket electrode plate A-6, then the plug electrode C-1 is continuously pushed to push a sliding block B-3 to slide on a guide rod B-1, so that a swing arm type explosion-proof switch B-2 is closed, at the moment, a triode in a control circuit of a charging socket end is conducted, a relay coil is electrified and is subjected to electric shock suction, a circuit between the socket electrode plate A-6 and a battery B-6 is conducted, the socket electrode plate A-6 and the plug electrode C-1 begin to conduct electricity, and the battery B-6 in the robot begins to charge;
and 4, step 4: after charging is finished, the mobile robot is disconnected from the plug electrode C-1, the electrode fixing plate C-2 is reset at the moment, the controller reads the value of the absolute value encoder D-1 in the guide rail lead screw module, the controller controls the driver of the lead screw guide rail servo motor D-11, the front end module C of the charging plug is restored to the initial position under the driving of the lead screw guide rail servo motor D-11, the rotary table rotates to the initial position, meanwhile, the driver of the rotary table servo motor E-1 is controlled to enable the rotary table to rotate to the initial position, and the resetting of the charging plug device is finished.
The robot automatic alignment charging device has the advantages of small positioning error of the robot, safe and reliable contact of the charging butt joint surface and capability of meeting engineering requirements.
Claims (10)
1. A robot automatic alignment charging device is characterized by comprising a safe charging socket device (1) and a charging plug device (2) arranged on a charging pile;
the safety charging socket device (1) is arranged on a robot body and comprises a charging socket front-end charging module (A) and a charging socket safety module (B), the charging socket safety module (B) is fixed on the robot body, and the charging socket front-end charging module (A) is fixedly connected with the charging socket safety module (B);
charging plug device (2) sets up on filling electric pile, fills electric pile and goes up including charging plug front end module (C), lead screw guide rail module (D) and revolving stage module (E), and wherein revolving stage module (E) links to each other with filling electric pile, and the upper end and the lead screw guide rail module (D) of revolving stage module (E) link firmly mutually, and the other end of lead screw guide rail module (D) links firmly charging plug front end module (C).
2. The robotic self-aligning charging device according to claim 1, wherein the charging socket front end charging module (a) comprises a spring door baffle (a-1), a spring door (a-2), a spring (a-3), a support member fixing plate (a-9), a countersunk screw, a charging cartridge (a-12), a charging cartridge cover plate (a-13);
two groups of socket electrode units are arranged on two sides of the support piece fixing plate (A-9), and each group of socket electrode units comprises eight electrode piece springs (A-4) which are symmetrically arranged up and down, two electrode piece fixing plates (A-5), two socket electrode pieces (A-6) which are symmetrically arranged, a set screw, two support pieces (A-8) and a spring guide screw (A-10);
the charging box body (A-12) is fixedly connected with a charging box body cover plate (A-13), and the supporting piece fixing plate (A-9) is fixed on the inner wall of the charging box body (A-12); in the charging box body (A-12), an upper supporting piece (A-8) and a lower supporting piece (A-8) in each group of socket electrode units are respectively fixed on a charging box body cover plate (A-13) and a supporting piece fixing plate (A-9), a spring guide screw (A-10) penetrates through an electrode plate fixing plate (A-5), the socket electrode plate fixing device is used for fixedly connecting a socket electrode plate (A-6) with an electrode plate fixing plate (A-5), a charging wire is fixed on the socket electrode plate (A-6) through a set screw, an electrode plate spring (A-4) is sleeved on a screw head of a spring guide screw (A-10), one end of the electrode plate spring (A-4) is contacted with the electrode plate fixing plate (A-5), and the other end of the electrode plate spring (A-4) is contacted with a charging box body cover plate (A-13) or a support piece fixing plate (A-9); the end part of the support piece (A-8) is provided with a bulge for limiting the electrode plate fixing plate (A-5).
3. The robot automatic alignment charging device according to claim 2, wherein the front end face of the charging box body (A-12) is symmetrically provided with two spring doors (A-2), one end of each spring door (A-2) is connected with a spring (A-3), and a spring door baffle (A-1) is arranged between the two spring doors (A-2) and used for limiting the displacement of the spring doors (A-2);
during charging, the plug electrode (C-1) enables the spring (A-3) to stretch and contract by pressing the spring door (A-2), so that the spring door (A-2) is opened.
4. The robot automatic alignment charging device according to claim 1, wherein the charging socket safety module (B) comprises a guide rod (B-1), a swing arm type explosion-proof switch (B-2), a switch pushing slider (B-3), a shaft retainer ring (B-4), a box body (B-5), a battery (B-6) and a box body cover plate (B-8);
the two guide rods (B-1) are parallel to each other and consistent with the movement direction of the plug electrode (C-1), the two guide rods (B-1) are provided with switch pushing sliding blocks (B-3), the switch pushing sliding blocks (B-3) can slide on the two guide rods (B-1), and the swing arm type explosion-proof switch (B-2) is arranged in the box body (B-5) and can be closed or opened under the pushing of the switch pushing sliding blocks (B-3).
5. The robot automatic alignment charging device according to claim 1, wherein the charging plug front end module (C) comprises two plug electrodes (C-1) symmetrically distributed, a plug electrode fixing member (C-2), a laser ranging sensor (C-3), a laser ranging sensor mounting bracket (C-4), a countersunk screw, a charging plug box body (C-6), a plug front end fixing member (C-7), a plug electrode lead (C-8), a guide rail lower bottom plate (C-9), a guiding device (C-10) and a baffle plate (C-11);
the plug electrode (C-1) is connected with a plug electrode lead (C-8), the plug electrode (C-1) is fixed at one end of a plug fixing piece (C-2), the other end of the plug fixing piece (C-2) is provided with a guiding device (C-10), the lower end face of the guiding device (C-10) is fixedly connected with a lower guide rail bottom plate (C-9), the upper end of the lower guide rail bottom plate (C-9) is fixedly connected with a charging plug box body (C-6), a raised baffle (C-11) is arranged inside the lower guide rail bottom plate (C-9), used for limiting the displacement of the plug electrode fixing piece (C-2) moving backwards on the guiding device (C-10), the front end surface of the charging plug box body (C-6) is provided with a bulge, for limiting the forward displacement of the plug electrode holder (C-2) on the guide (C-10).
6. The robot automatic alignment charging device according to claim 5, wherein the charging plug box body (C) is further provided with a laser ranging sensor fixing bracket (C-4), the laser ranging sensor fixing brackets (C-4) on two sides are respectively provided with a laser ranging sensor (C-3), and the plug front end fixing member (C-7) fixes the plug front end module (C) on the upper surface of the guide rail slide upper plate (D-12) in the lead screw guide rail module.
7. The robot automatic alignment charging device according to claim 1, wherein the lead screw guide rail module (D) comprises an absolute value encoder (D-1), an encoder fixing bracket (D-2), a stroke guide rail lower bottom plate (D-3), a guide rail (D-4), a guide rail slider (D-5), a charger (D-6), a lead screw slider (D-7), a lead screw (D-8), a coupler (D-9), a lead screw guide rail servo motor fixing bracket (D-10), a lead screw guide rail servo motor (D-11) and a guide rail slider upper plate (D-12);
an absolute value encoder (D-1) is fixed on an absolute value encoder support (D-2), a lead screw servo motor (D-11) is fixed on a lead screw servo motor fixing support (D-10), the absolute value encoder support (D-2) and the lead screw servo motor fixing support (D-10) are respectively fixed on two sides of a stroke guide rail lower base plate (D-3), two guide rails (D-4) are further symmetrically arranged on the stroke guide rail lower base plate (D-3), guide rail sliders (D-5) are respectively arranged on the guide rails (D-4), a lead screw (D-8) parallel to the two guide rails (D-4) is further arranged between the two guide rails (D-4), and the tail ends of two sides of the lead screw (D-8) are respectively connected with an output shaft of the absolute value encoder (D-1) and the lead screw servo motor (D-11) The output shaft of the charging plug front-end module (C) is connected, a lead screw sliding block (D-7) is arranged on the lead screw (D-8), the upper surface of the lead screw sliding block (D-7) is flush with the upper surfaces of the two guide rail sliding blocks (D-5), a guide rail sliding block upper plate (D-12) is fixedly connected to the upper surfaces of the lead screw (D-8) and the guide rail sliding blocks (D-5), a charger (D-6) is arranged on the guide rail sliding block upper plate (D-12), the charger (D-6) is connected with a plug electrode lead (C-8) of the charging plug front-end module (C), and the upper surface of the guide rail sliding block upper plate (D-12) is fixedly connected with a plug front-end fixing piece (C-7) in the charging plug front-end module (C), so that the charging plug front-end;
when the screw guide rail servo motor (D-11) rotates, the screw (D-8) is driven to rotate through the coupler (D-9), so that the screw slider (D-7) is driven to move, the screw slider (D-7) and the guide rail slider (D-5) are driven to move on the guide rail along with the screw slider (D-7) so as to drive the plug front end module C to move in the screw guide rail module (D), and the absolute value encoder (D-1) is used for recording the position of the screw slider (D-7) when moving on the screw (D-8).
8. The robot automatic alignment charging device according to claim 1, wherein the turntable module (E) comprises a turntable motor (E-1) and a turntable (E-2), an output shaft of the turntable servo motor (E-1) is connected to the turntable (E-2) to drive the turntable (E-2) to rotate in the horizontal direction, an upper surface of the turntable (E-2) is fixedly connected to a lower surface of a guide rail lower bottom plate (D-3) in the lead screw guide rail module (D), and when the turntable (E-2) rotates, the lead screw guide rail module (D) is driven to rotate, so that the plug front end module (C) is driven to rotate.
9. The robotic self-aligning charging device of claim 1, wherein the spring door shutter (a-1), the support (a-8), the support retainer plate (a-9), the charging cartridge (a-12), the charging cartridge cover plate (a-13), the switch pushing slider (B-3), the housing (B-5) and the housing cover plate (B-8) in the safety charging socket device are all made of non-conductive teflon.
10. A self-aligning charging method is characterized by comprising the following steps:
step 1: when the robot approaches to a charging pile, two laser ranging sensors (C-14) in a charging plug device start scanning, the distances from the two laser sensors (C-3) to the rear end face of a vehicle body of the mobile robot are respectively measured, the distance values measured by the two sensors are processed, if the distance values measured by the two sensors are not equal, the deflection angle of a plug electrode (C-1) is determined according to the distance difference delta S between the rear end face of the mobile robot and the distance between the two sensors, and the deflection angle refers to the angle A required by the plug electrode (C-1) to deflect to be perpendicular to a safe charging socket;
step 2: the rotary table (E-2) rotates by an angle A to enable a plug electrode (C-1) in the plug device to be perpendicular to the safe charging socket, and then a driver of a lead screw guide rail servo motor (D-11) in the lead screw guide rail module (D) is controlled to drive the lead screw guide rail servo motor (D-11) to move, so that an upper plate (C-12) of a guide rail slide block moves on a guide rail (D-4) in the lead screw guide rail module, and the front end module (C) of the charging plug is driven to move on the guide rail until the plug electrode and the safe charging socket device are completely aligned;
and step 3: the mobile robot moves backwards, after the plug electrode (C-1) is inserted into the safe charging socket device, the plug electrode (C-1) is in contact with the socket electrode plate (A-6), then the switch is continuously pushed to push the sliding block (B-3) to slide on the guide rod (B-1), so that the swing arm type explosion-proof switch (B-2) is closed, at the moment, the socket electrode plate (A-6) and the plug electrode (C-1) start to conduct electricity, and a battery (B-6) in the robot starts to charge;
and 4, step 4: after charging is finished, the mobile robot disengages from the plug electrode (C-1), the electrode fixing plate (C-2) resets at the moment, the charging plug front-end module (C) is restored to the initial position under the driving of the screw guide rail servo motor (D-11), the rotary table rotates to the initial position, and the charging plug device resets completely.
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| CN202010578759.3A CN111799859A (en) | 2020-06-23 | 2020-06-23 | Automatic alignment charging device and method |
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| CN112590578A (en) * | 2020-12-11 | 2021-04-02 | 苏州高之仙自动化科技有限公司 | Interface, charging structure and cleaning device charge |
| CN112611370A (en) * | 2020-11-20 | 2021-04-06 | 上海能辉科技股份有限公司 | Vehicle for carrying truck battery and positioning system thereof |
| CN112813436A (en) * | 2020-12-31 | 2021-05-18 | 上海金属腐蚀与防护技术有限公司 | Intelligent testing pile for pipeline cathode protection |
| CN113422242A (en) * | 2021-06-22 | 2021-09-21 | 苏州赛福德自动化科技有限公司 | Explosion-proof automatic charging connector |
| CN114094679A (en) * | 2022-01-20 | 2022-02-25 | 江西丹巴赫机器人股份有限公司 | Mobile robot charging system |
| CN116404729A (en) * | 2023-06-08 | 2023-07-07 | 太原理工大学 | Non-stop charging system of track type inspection robot and use method |
| CN116455016A (en) * | 2023-03-06 | 2023-07-18 | 重庆赛迪奇智人工智能科技有限公司 | Self-adaptive mechanism, power supply device and power supply system |
| CN118137626A (en) * | 2024-05-08 | 2024-06-04 | 珠海银积科技有限公司 | Robot fills electric pile with remove function |
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| CN116455016A (en) * | 2023-03-06 | 2023-07-18 | 重庆赛迪奇智人工智能科技有限公司 | Self-adaptive mechanism, power supply device and power supply system |
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| CN116404729A (en) * | 2023-06-08 | 2023-07-07 | 太原理工大学 | Non-stop charging system of track type inspection robot and use method |
| CN116404729B (en) * | 2023-06-08 | 2023-08-11 | 太原理工大学 | Non-stop charging system of track type inspection robot and use method |
| CN118137626A (en) * | 2024-05-08 | 2024-06-04 | 珠海银积科技有限公司 | Robot fills electric pile with remove function |
| 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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Application publication date: 20201020 |