CN111969697A - Automatic aligning device that charges of robot - Google Patents
Automatic aligning device that charges of robot Download PDFInfo
- Publication number
- CN111969697A CN111969697A CN202010989231.5A CN202010989231A CN111969697A CN 111969697 A CN111969697 A CN 111969697A CN 202010989231 A CN202010989231 A CN 202010989231A CN 111969697 A CN111969697 A CN 111969697A
- Authority
- CN
- China
- Prior art keywords
- charging
- robot
- ring
- charging head
- charger
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0244—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using reflecting strips
-
- 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
- H01R13/627—Snap or like fastening
-
- 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
-
- 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
- H01R13/64—Means for preventing incorrect coupling
- H01R13/641—Means for preventing incorrect coupling by indicating incorrect coupling; by indicating correct or full engagement
Abstract
The invention belongs to the technical field of robots, and discloses an automatic charging alignment device of a robot, which comprises a receiving and transmitting integrated color sensor, an annular reflection belt, a charging ring anode, a charging ring cathode, a charging head anode and a charging head cathode; the plurality of receiving and transmitting integrated color sensors are positioned on a lower shell of the robot body and distributed on the same circumference; the reflection rates and the diameter sizes of the annular reflection bands are different and are sequentially and coaxially arranged on the upper shell of the charger according to the diameter sizes; the positive pole of the charging ring and the negative pole of the charging ring are coaxially fixed on the lower shell of the robot body and concentric with the circumference where the receiving and sending integrated color sensor is located, and the positive pole of the charging head and the negative pole of the charging head are located on the upper shell of the charger. When the plurality of receiving and transmitting integrated color sensors are simultaneously aligned to the annular reflection belts with the same light reflection rate in the plurality of annular reflection belts, the positive electrode of the charging ring is aligned to the positive electrode of the charging head, and the negative electrode of the charging ring is aligned to the negative electrode of the charging head, so that the guiding alignment between the robot and the charger along any direction is realized.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an alignment device used between a robot and a charger in an automatic recharging process of the robot.
Background
At present, in the automatic charging process of a robot, the guiding alignment of the charging alignment process is mainly completed by means of a matching mode of an infrared device and a guide groove, namely, the robot is guided by an infrared sensor after reaching the vicinity of a charger, and then the alignment and positioning between the robot and the charger are completed by means of the guiding action of the guide groove, so that the guiding alignment before charging is completed.
However, when the robot performs the guiding alignment before charging by the above-mentioned conventional method, the robot and the charger are aligned in a fixed direction due to the directional guiding of the guiding groove, and at this time, the robot needs to be repeatedly guided to accurately perform the guiding alignment between the robot and the charger. Therefore, more time is needed for guiding alignment, which leads to the reduction of the automatic recharging efficiency, and the long-time guiding alignment inevitably needs to consume more electric energy, so that enough electric quantity must be reserved to complete the automatic recharging operation of the robot, the effective working time of the robot is shortened, and the effective working efficiency of the robot is reduced. In addition, the design complexity of the mechanical body can be increased due to the arrangement of the guide groove structure, the manufacturing cost and the forming cost of the mold are improved, and the cost of the whole robot is increased.
Disclosure of Invention
The invention provides an automatic charging alignment device for a robot, aiming at solving the problems existing in the prior robot when the robot adopts a single infrared device and a guide groove to conduct automatic recharging and alignment. The robot automatic charging alignment device is used for guiding alignment between a robot and a charger in the automatic robot recharging process and comprises a plurality of receiving and transmitting integrated color sensors, a plurality of annular reflection belts, a charging ring anode, a charging ring cathode, a charging head anode and a charging head cathode;
the plurality of receiving and transmitting integrated color sensors are positioned on the lower shell of the robot body and are distributed on the same circumference; the light reflection rates and the diameter sizes of the annular reflection bands are different, and the annular reflection bands are sequentially and coaxially arranged on the upper shell of the charger according to the diameter sizes; the positive electrode of the charging ring and the negative electrode of the charging ring are coaxially fixed on a lower shell of a robot body of the robot and are concentric with the circumference where the plurality of transceiving integrated color sensors are located, and the positive electrode of the charging head and the negative electrode of the charging head are located on an upper shell of a charger;
when the plurality of transceiving integrated color sensors are simultaneously aligned to the annular reflection bands with the same light reflection rate in the plurality of annular reflection bands, the positive electrode of the charging ring is aligned to the positive electrode of the charging head, and the negative electrode of the charging ring is aligned to the negative electrode of the charging head.
Preferably, the positive pole of the charging ring is located at the circle center of the circumference where the plurality of transceiving integrated color sensors are located, and the negative pole of the charging ring is sleeved on the outer side of the positive pole of the charging ring.
Further preferably, the positive electrode of the charging head is located at the center of the annular reflection band, and the distance between the negative electrode of the charging head and the positive electrode of the charging head is equal to the radius of the negative electrode of the charging ring.
Further preferably, the robot automatic charging alignment device further comprises a charging head positive electrode spring and a charging head negative electrode spring; two ends of the charging head positive pole spring are respectively connected with the charging head positive pole and the shell of the charger so as to drive the charging head positive pole to move upwards relative to the upper shell of the charger; two ends of the charging head negative electrode spring are respectively connected with the charging head negative electrode and the shell of the charger to drive the charging head negative electrode to move upwards relative to the upper shell of the charger.
Further preferably, the robot automatic charging alignment device further comprises a plurality of charging head cathodes, and the plurality of charging head cathodes are uniformly distributed on the same circumference.
Preferably, the plurality of the transceiver integrated color sensors are uniformly distributed on the same circumference.
Preferably, the annular reflecting belts are sequentially and coaxially arranged according to the light reflection rate.
Preferably, the lower surface of the lower shell of the robot body is provided with an annular clamping groove for embedding and fixing the positive pole of the charging ring and the negative pole of the charging ring.
Preferably, the robot automatic charging alignment device further comprises a charging integration PCB expansion board; the integrated PCB expansion board that charges with the fuselage inferior valve fixed connection of robot, a plurality of receiving and dispatching integral type color sensor and charge the ring positive pole with charge the ring negative pole respectively with the integrated PCB expansion board lug connection that charges.
Preferably, the robot automatic charging alignment device further comprises a charger PCB; the charger PCB is fixedly connected with the upper shell of the charger, and the positive pole of the charging head and the negative pole of the charging head are respectively connected with the positive pole and the negative pole of the charger PCB.
Compared with the conventional method for guiding and aligning in the automatic robot recharging process, when the automatic robot charging alignment device provided by the invention is adopted, the plurality of receiving and transmitting integrated color sensors and the plurality of annular reflection belts with different light reflection rates are arranged, the plurality of receiving and transmitting integrated color sensors are fixed on the same circumference of the lower body shell of the robot, the plurality of annular reflection belts with different light reflection rates are sequentially and coaxially arranged on the upper shell of the charger according to the diameter size, and when the plurality of receiving and transmitting integrated color sensors are aligned to the same annular reflection belt along the vertical direction, the positive electrode of the charging ring and the negative electrode of the charging ring positioned on the lower body shell of the robot are respectively aligned to the positive electrode of the charging head and the negative electrode of the charging head positioned on the upper shell of the charger along the vertical direction. At this time, by means of the signals sent by the plurality of transceiver-integrated color sensors and the received reflection signals reflected by the annular reflection bands with different light reflection rates, the position relationship between the plurality of transceiver-integrated color sensors and the plurality of annular reflection bands can be determined according to the intensity of the received reflection signals between the different transceiver-integrated color sensors, so that the position relationship between the robot and the charger can be positioned. Like this, not only can make the robot remove to the charger top and accomplish the guide alignment before charging from arbitrary direction, avoided the injecing of guide way structure to robot moving direction among the current mode to shorten the time of guide alignment process and occupy, improve the electric quantity utilization ratio of robot, improve the work efficiency of robot, but also can simplify the fuselage inferior valve structural design of robot and the upper shell structural design of charger, reduce the complexity and the cost of manufacturing.
Drawings
Fig. 1 is an exploded view of the robot automatic charging alignment device of the present embodiment connected to a robot and a charger, respectively;
FIG. 2 is a schematic diagram of an external structure of the robot automatic charging alignment device of the present embodiment installed on a robot part;
fig. 3 is a schematic diagram of an external structure of the robot automatic charging alignment device of the embodiment installed on a charger part.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to the accompanying drawings and embodiments.
With reference to fig. 1 to 3, the automatic robot charging alignment device of the present embodiment can be used for guiding and aligning between the robot 1 and the charger 2 during the automatic recharging process of the crawling robot, and includes six transceiver color sensors 3, five annular reflective belts 4, a charging ring anode 5a, a charging ring cathode 5b, a charging head anode 6a, and three charging head cathodes 6 b.
The six transceiver color sensors 3 are located on the lower surface of the lower shell 11 of the robot body in the robot 1 and are distributed on the same circumference along the circumferential direction. The five annular reflection bands 4 are different in light reflection rate and diameter size, and the five annular reflection bands 4 are coaxially fixed on the upper surface of the upper case 21 in the charger 2 in sequence according to the diameter size. The charging ring positive electrode 5a and the charging ring negative electrode 5b are coaxially fixed on the lower body shell 11 of the robot 1, and are concentric with the circumference where the six transceiving integrated color sensors 3 are located, while the charging head positive electrode 6a and the charging head negative electrode 6b are located on the upper surface of the upper shell 21 of the charger 2. When the six transceiver-integrated color sensors 3 are simultaneously aligned with the annular reflection bands having the same light reflection rate in the five annular reflection bands 4, the charging ring positive electrode 5a and the charging head positive electrode 6a are vertically aligned, and the charging ring negative electrode 5b and the charging head negative electrode 6b are vertically aligned.
When the robot automatic charging alignment device provided by the embodiment is used for realizing the guiding alignment between the robot and the charger in the automatic robot recharging process, the specific process is as follows:
first, when the robot needs to be charged, the robot may be moved to the vicinity of the charger based on the vision or radar provided in the robot itself, or the robot may be moved to the vicinity of the charger directly by manual guidance.
Then, through signal sending, signal reflection and signal receiving relations formed between the six transceiving integrated color sensors and the five annular reflection belts, the robot moves along any direction and adjusts the position relation between the robot and the charger, and therefore alignment between the positive pole of the charging ring and the positive pole of the charging head along the vertical direction and alignment between the negative pole of the charging ring and the negative pole of the charging head along the vertical direction are completed.
Wherein, after the robot moves to the vicinity of the charger, the sending and receiving modes of the six receiving and dispatching integrated color sensors are started, when the robot moves to one or more of the receiving and dispatching integrated color sensors at the position vertically above the annular reflection band, the signals sent by the receiving and dispatching integrated color sensors form reflection signals through the reflection action of the annular reflection band, the corresponding receiving and dispatching integrated color sensors receive the reflection signals, and because different annular reflection bands have different reflection rates, the reflection signals with different light intensities can be formed after the reflection of different annular reflection bands, so that the robot can calculate and judge the current position relationship between the robot and the charger according to the difference between the reflection signals received by the six receiving and dispatching integrated color sensors, thereby controlling the robot to accurately move, until the six receiving and transmitting integrated color sensors all receive the reflected signals and the reflected signals are the same, the six receiving and transmitting integrated color sensors are positioned at the vertical upper position of the same annular reflection belt, namely, the positive electrode of the charging ring is positioned at the vertical upper position of the positive electrode of the charging head, and the negative electrode of the charging ring is positioned at the vertical upper position of the negative electrode of the charging head, so that the position adjustment between the robot and the charger is completed.
The robot can then stop moving and begin lowering the height, bringing the charge ring positive into contact with the charge head positive, and the charge ring negative into contact with the charge head negative, thereby completing the guided alignment between the robot and the charger and beginning the charging operation.
Referring to fig. 1 to 3, in this embodiment, a charging ring anode 5a is fixed at a circle center position of a circumference where six transceiver color sensors 3 are located, a charging ring cathode 5b is fixed at an outer position around the charging ring anode 5a, a charging head anode 6a is fixed at a center position of an annular reflective belt 4, and three charging head cathodes 6b are fixed on a circumference around the charging head anode 6a and having the same diameter as the charging ring cathode 5b, that is, a distance between the charging head cathode 6b and the charging head anode 6a is equal to a radius of the charging ring cathode 5 b.
At this moment, according to the position relation that six receiving and dispatching integral type color sensors are in the vertical top position of same annular reflection band, just can directly accomplish the alignment of charging ring positive pole and the first positive pole that charges along vertical direction and the alignment of charging ring negative pole and the first negative pole that charges along vertical direction, save the demand to other position restraints to can accomplish the guide of robot and charger fast and aim at, reduce the control complexity of this process.
Similarly, in other embodiments, a set of corresponding transceiver color sensors and reflection bands may be additionally added according to the shape of the lower housing of the robot and the shape of the upper housing of the charger to achieve the guiding alignment between the robot and the charger along a specific direction, so that the layout position relationship between the charging ring anode, the charging ring cathode, the charging head anode and the charging head cathode may be adjusted, and when all the transceiver color sensors respectively receive the reflection signals of the corresponding reflection bands, the alignment between the charging ring anode and the charging head anode along the vertical direction and the alignment between the charging ring cathode and the charging head cathode along the vertical direction are completed.
Preferably, in this embodiment, the six transceiver color sensors are uniformly distributed on the same circumference along the circumferential direction, that is, two adjacent transceiver color sensors are arranged along the circumferential direction at a central angle of 60 degrees. Therefore, when the six receiving and transmitting integrated color sensors are positioned above different annular reflecting belts, the position relation between the robot and the charger can be processed and determined by utilizing triangulation positioning, and the positioning precision and efficiency are improved. Similarly, in other embodiments, the number of the transceiver color sensors may be adjusted according to specific situations, for example, three transceiver color sensors are selected and adjacent transceiver color sensors are arranged at a central angle of 120 degrees in the circumferential direction.
Preferably, in the embodiment, five annular reflecting belts with different light reflectivities and different diameter sizes are arranged on the upper shell of the charger, and are coaxially arranged from inside to outside in sequence according to the light reflectivities. Therefore, after the reflected signals received by different transceiving integrated color sensors are obtained, the position relation among the plurality of transceiving integrated color sensors can be quickly determined according to the intensity of the reflected signals and the positions of the five annular reflecting belts, so that the positioning between the robot and the charger is completed, and the efficiency of adjusting the position between the robot and the charger is improved.
Similarly, in other embodiments, according to the size of the upper shell of the charger and the control requirement, the number of the annular reflection bands with different light reflection rates and the coverage area of the annular reflection bands, even the width of each annular reflection band, can be adjusted, so that the accuracy of the annular reflection bands on signal reflection is improved, and the accuracy of the position adjustment between the robot and the charger is improved.
Further, the lower surface of the fuselage inferior valve of this embodiment still is equipped with ring groove for inlay and fix the positive pole of charging ring and the negative pole of charging ring. Like this, can make the lower surface of whole fuselage inferior valve keep the plane effect, avoid charging the ring positive pole and form protrudingly and lead to the robot operation to glue debris or dirty dirt in its bottom to reduce the influence of charging to charging the ring positive pole and the ring negative pole of charging, guarantee follow-up normal clear and efficiency of charging.
In addition, as shown in fig. 1 to 3, the robot automatic charging alignment device of the present embodiment further includes a charging integration PCB expansion board 7 and a charger PCB board 8.
The charging integrated PCB expansion board 7 is located inside the robot 1 and detachably and fixedly connected with the lower machine body shell 11 through screws, the six receiving and transmitting integrated color sensors 3 are directly welded and fixed on the charging integrated PCB expansion board 7 through a surface mounting method, and the end portions of the six receiving and transmitting integrated color sensors extend out of the lower machine body shell 11 so as to be convenient for accurate sending and receiving of signals, and meanwhile, the charging ring anode 5a and the charging ring cathode 5b are fixed on the lower machine body shell 11 after being welded and connected with the charging integrated PCB expansion board 7 through leads. At the moment, signals can be directly sent and received and controlled through the charging integrated PCB expansion board, and electric energy transmission and transmission are controlled, meanwhile, the movement of the robot can be controlled according to the signals received by the six receiving and transmitting integrated color sensors through connection of other control components in the robot and the charging integrated PCB expansion board, and therefore the robot and the charger are guided and aligned.
The charger PCB board 8 is located at the charger end and fixed inside the upper case 21 of the charger 2 by screws, and the charging head positive electrode 6a and the charging head negative electrode 6b are connected with the positive and negative electrode welding points of the charger PCB board 8 by welding cables, respectively, and extend out of the upper case 21 of the charger 2. At this time, the charger PCB board introduces electric energy by means of the external wire 10a and the plug 10b and transmits the electric energy to the robot through the charging head anode 6a and the charging head cathode 6b after completing voltage and current regulation.
Preferably, as shown in fig. 1 to 3, a charging head positive electrode spring 9a and a charging head negative electrode spring 9b are further provided in the robot automatic charging alignment device of the present embodiment, and the charging head positive electrode 6a and the charging head negative electrode 6b are respectively movably connected to the upper case 21 of the charger 2. One end of the charging head positive electrode spring 9a is fixedly connected with the upper shell 21 of the charger 2, and the other end of the charging head positive electrode spring is fixedly connected with the charging head positive electrode 6a so as to drive the charging head positive electrode 6a to move upwards relative to the upper shell 21 of the charger 2; one end of the charging head positive electrode spring 9b is fixedly connected with the upper case 21 of the charger 2, and the other end is fixedly connected with the charging head positive electrode 6b to drive the charging head positive electrode 6b to move upward relative to the upper case 21 of the charger 2.
Therefore, after the robot moves to a position aligned with the charger along the vertical direction, and the height of the robot starts to be reduced along the vertical direction, the height of the robot can be continuously reduced to form pre-pressure on the charging head anode spring and the charging head cathode spring after the charging ring anode is in contact with the charging head anode and the charging ring cathode is in contact with the charging head cathode, so that the charging head anode and the charging head cathode are respectively formed with the charging ring anode and the charging ring cathode and are kept in a close contact state by means of the pre-pressure formed by the charging head anode spring and the charging head cathode spring, and the stability and reliability of the charging process are guaranteed.
Claims (10)
1. A robot automatic charging alignment device is used for guiding alignment between a robot and a charger in the automatic robot recharging process and is characterized by comprising a plurality of receiving and transmitting integrated color sensors, a plurality of annular reflection belts, a charging ring anode, a charging ring cathode, a charging head anode and a charging head cathode;
the plurality of receiving and transmitting integrated color sensors are positioned on the lower shell of the robot body and are distributed on the same circumference; the light reflection rates and the diameter sizes of the annular reflection bands are different, and the annular reflection bands are sequentially and coaxially arranged on the upper shell of the charger according to the diameter sizes; the positive electrode of the charging ring and the negative electrode of the charging ring are coaxially fixed on a lower shell of a robot body of the robot and are concentric with the circumference where the plurality of transceiving integrated color sensors are located, and the positive electrode of the charging head and the negative electrode of the charging head are located on an upper shell of a charger;
when the plurality of transceiving integrated color sensors are simultaneously aligned to the annular reflection bands with the same light reflection rate in the plurality of annular reflection bands, the positive electrode of the charging ring is aligned to the positive electrode of the charging head, and the negative electrode of the charging ring is aligned to the negative electrode of the charging head.
2. The automatic robot charging alignment device of claim 1, wherein the positive electrode of the charging ring is located at a center of a circle where the plurality of transceiver-integrated color sensors are located, and the negative electrode of the charging ring is sleeved outside the positive electrode of the charging ring.
3. The robotic automatic charging alignment device of claim 2, wherein the charging head positive pole is located at a center position of the endless reflective belt, and a distance dimension between the charging head negative pole and the charging head positive pole is equal to a radius dimension of the charging ring negative pole.
4. The robotic automatic charging alignment device of claim 3, further comprising a charging head positive spring and a charging head negative spring; two ends of the charging head positive pole spring are respectively connected with the charging head positive pole and the shell of the charger so as to drive the charging head positive pole to move upwards relative to the upper shell of the charger; two ends of the charging head negative electrode spring are respectively connected with the charging head negative electrode and the shell of the charger to drive the charging head negative electrode to move upwards relative to the upper shell of the charger.
5. The robotic automatic charging alignment device of claim 3, further comprising a plurality of charging head cathodes, and wherein the plurality of charging head cathodes are evenly distributed on a same circumference.
6. The robotic automatic charging alignment device of claim 1, wherein the plurality of transceiver-integrated color sensors are evenly distributed on the same circumference.
7. The automatic charging and aligning device of a robot as claimed in claim 1, wherein the plurality of annular reflection bands are coaxially arranged in sequence according to the magnitude of the light reflection rate.
8. The automatic robot charging alignment device of claim 1, wherein a lower surface of a lower housing of the robot body is provided with a ring-shaped slot for fixedly mounting the positive electrode of the charging ring and the negative electrode of the charging ring.
9. The robotic automatic charging alignment device of any of claims 1-8, further comprising a charging integrated PCB expansion board; the integrated PCB expansion board that charges with the fuselage inferior valve fixed connection of robot, a plurality of receiving and dispatching integral type color sensor and charge the ring positive pole with charge the ring negative pole respectively with the integrated PCB expansion board lug connection that charges.
10. The robotic automatic charging alignment device of any of claims 1-8, further comprising a charger PCB board; the charger PCB is fixedly connected with the upper shell of the charger, and the positive pole of the charging head and the negative pole of the charging head are respectively connected with the positive pole and the negative pole of the charger PCB.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010989231.5A CN111969697A (en) | 2020-09-18 | 2020-09-18 | Automatic aligning device that charges of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010989231.5A CN111969697A (en) | 2020-09-18 | 2020-09-18 | Automatic aligning device that charges of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111969697A true CN111969697A (en) | 2020-11-20 |
Family
ID=73387129
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010989231.5A Pending CN111969697A (en) | 2020-09-18 | 2020-09-18 | Automatic aligning device that charges of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111969697A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4679152A (en) * | 1985-02-20 | 1987-07-07 | Heath Company | Navigation system and method for a mobile robot |
| US6764373B1 (en) * | 1999-10-29 | 2004-07-20 | Sony Corporation | Charging system for mobile robot, method for searching charging station, mobile robot, connector, and electrical connection structure |
| US20160280087A1 (en) * | 2013-11-06 | 2016-09-29 | Honda Motor Co., Ltd. | Contact charging method and contact charging system for electric vehicle |
| CN206287147U (en) * | 2016-11-04 | 2017-06-30 | 上海工程技术大学 | A kind of automatic charging lift robot system |
| CN108733048A (en) * | 2018-04-08 | 2018-11-02 | 深圳乐动机器人有限公司 | A kind of indoor mobile robot recharges control method, apparatus and system |
| CN109895641A (en) * | 2019-03-21 | 2019-06-18 | 南京康尼新能源汽车零部件有限公司 | The radical occlusion device and its occlusion method of electric car radio charging equipment |
| CN213461163U (en) * | 2020-09-18 | 2021-06-15 | 奇弩(中国)有限公司 | Automatic aligning device that charges of robot |
-
2020
- 2020-09-18 CN CN202010989231.5A patent/CN111969697A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4679152A (en) * | 1985-02-20 | 1987-07-07 | Heath Company | Navigation system and method for a mobile robot |
| US6764373B1 (en) * | 1999-10-29 | 2004-07-20 | Sony Corporation | Charging system for mobile robot, method for searching charging station, mobile robot, connector, and electrical connection structure |
| US20160280087A1 (en) * | 2013-11-06 | 2016-09-29 | Honda Motor Co., Ltd. | Contact charging method and contact charging system for electric vehicle |
| CN206287147U (en) * | 2016-11-04 | 2017-06-30 | 上海工程技术大学 | A kind of automatic charging lift robot system |
| CN108733048A (en) * | 2018-04-08 | 2018-11-02 | 深圳乐动机器人有限公司 | A kind of indoor mobile robot recharges control method, apparatus and system |
| CN109895641A (en) * | 2019-03-21 | 2019-06-18 | 南京康尼新能源汽车零部件有限公司 | The radical occlusion device and its occlusion method of electric car radio charging equipment |
| CN213461163U (en) * | 2020-09-18 | 2021-06-15 | 奇弩(中国)有限公司 | Automatic aligning device that charges of robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208608760U (en) | A kind of position autoregistration wireless charging device and mobile device | |
| CN107402574B (en) | Autonomous charging system and method for robot | |
| US7636621B2 (en) | Path guidance method for autonomous mobile device | |
| CN213461163U (en) | Automatic aligning device that charges of robot | |
| CN109066930B (en) | Multichannel unmanned aerial vehicle non-contact wireless broadband charging device and charging method thereof | |
| EP2966528A1 (en) | Self-mobile robot laser-guided travel operating system and control method therefor | |
| CN110928307B (en) | Automatic recharging method and system based on infrared laser, robot and charging dock | |
| CN108973746A (en) | A kind of unmanned plane wireless charging system and its charge control method | |
| CN108161889B (en) | Industrial robot based on AGV | |
| CN205791621U (en) | The cradle of a kind of robot and automatic charging system | |
| CN105539186A (en) | Automobile wireless charging alignment matching system and method | |
| CN103683521A (en) | Laser positioning intelligent connection electric vehicle wireless charger and transceiver system | |
| KR102111055B1 (en) | Wireless charging station for drone | |
| CN108390441B (en) | Charging seat, mobile robot and automatic charging system | |
| CN105958578A (en) | Charging socket for robot, automatic charging system and automatic charging method | |
| TWI462427B (en) | Charging device for automatically charging mobile carrier and charging system having the same | |
| CN105553116A (en) | Landing capture device for unmanned aerial vehicle | |
| CN112208366A (en) | Wireless charging system, device and charging method for underwater vehicle | |
| CN111969697A (en) | Automatic aligning device that charges of robot | |
| CN210985081U (en) | Automatic docking mechanism that charges of mobile robot | |
| CN106125736B (en) | Robot navigation method, robot and system | |
| CN205334245U (en) | Full -automatic alignment device that charges that electric automobile is wireless | |
| CN107225995B (en) | Self-addressing charging system for charging pile | |
| CN112821489A (en) | Robot autonomous charging device and autonomous charging method thereof | |
| US20110316474A1 (en) | Charging apparatus for mobile body |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |