CN204216311U - The automatic butt charging device of a kind of mobile robot - Google Patents
The automatic butt charging device of a kind of mobile robot Download PDFInfo
- Publication number
- CN204216311U CN204216311U CN201420576825.3U CN201420576825U CN204216311U CN 204216311 U CN204216311 U CN 204216311U CN 201420576825 U CN201420576825 U CN 201420576825U CN 204216311 U CN204216311 U CN 204216311U
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- mobile robot
- charging device
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Abstract
The utility model discloses the automatic butt charging device of a kind of mobile robot, aim to provide one and dock automatic butt charging device accurately and reliably.It comprises the socket assembly and plug assembly that are used in conjunction with each other; Described socket assembly comprises socket mounting base, the socket cushion block be arranged on socket mounting base, be fixedly installed in socket on socket cushion block and at least two to extension bar; Described socket cushion block is arranged on socket mounting base by linear moving mechanism and straight-line guidance resetting device; Described plug assembly comprise be fixedly connected with mobile robot plug mount pad, be arranged at plug cushion block on plug mount pad and with the plug be fixedly installed on plug cushion block; Described plug cushion block is provided with the butt hole for inserting extension bar to the position corresponding to extension bar, the entrance of described butt hole is taper.Described plug cushion block can vertically to move and along arranging with the mode of the vertical direction movement of plug direction of insertion by opposing plug mount pad.
Description
Technical field
The utility model relates to mobile robot's charging device technical field, especially relates to the automatic butt charging device of a kind of mobile robot.
Background technology
Mobile robot is applied to various occasion more and more widely, as amusement, carrying, clean, security personnel etc., which includes automatic walking robot, along the vehicle of the vehicle of rail running, remote controlled travelling, vehicle that someone drives and independently travels etc.
At present, mobile robot uses high-quality airborne chargeable storage group to come to power itself, because airborne power supply holds quantitative limitation, the operating time of robot is restricted, generally can only maintain several hours, once electric energy exhausts, the mode of manual intervention must be adopted to charge to robot.Namely when mobile robot's electric power is not enough, send cue, the electrical equipment manually completed between robot with charger by operating personnel is connected, and then implementing charging, is also manually depart from connecting circuit after completing.Be characterized in safe and reliable, simple, but need special messenger to keep an eye on, waste of manpower, and also this also makes the automation of robot, intelligent imperfect.If adopt artificial charging, so robot is just in a kind of discrete task ring, which prevent the long-term autonomy of robot.If realize long-term autonomy truly, robot must can teaching display stand support in residing environment, realizes continuous duty ring.Once operation, robot just enters continuous duty ring, namely no longer needs the help of people, in such a system, starts and stop automatically being completed by robot.
When mobile robot needs supplementary electric power, automatically can drive towards and specify charging zone, electric interfaces and charging device is had in charged area, in order to ensure that the electric interfaces of mobile robot and charging device correctly docks, at charged area shaping-orientation device, correctly docked by the electric interfaces of guider guiding mobile robot and charging device.Meanwhile, the requirement that the docking of charging device demand fulfillment is high with precision accurately and reliably.Vehicle-mounted charge connector and ground charging system automatically realize being electrically connected and implement to charge.After charging complete, robot automatically disengages charging system, drives towards service area or district's normal operation input of awaiting orders.Because common mobile robot's power source mainly relies on the airborne batteries of high-quality, how to allow robot prosthetic intervene safe and reliable under environment, automatically to realize charging be quickly and efficiently realize a unattended key technology.
Utility model content
The utility model overcomes shortcoming of the prior art, provides a kind of rational in infrastructure, the automatic butt charging device that docking accurately and reliably, precision is high.
In order to solve the problems of the technologies described above, the utility model is achieved through the following technical solutions: the automatic butt charging device of a kind of mobile robot, comprises the socket assembly and plug assembly that are used in conjunction with each other;
Described socket assembly comprises socket mounting base, the socket cushion block be arranged on socket mounting base, be fixedly installed in socket on socket cushion block and at least two to extension bar; Described socket cushion block is arranged on socket mounting base by linear moving mechanism and straight-line guidance resetting device;
Described plug assembly comprise be fixedly connected with mobile robot plug mount pad, be arranged at plug cushion block on plug mount pad and with the plug be fixedly installed on plug cushion block; Described plug cushion block is provided with the butt hole for inserting extension bar to the position corresponding to extension bar, the entrance of described butt hole is taper.Described plug cushion block can vertically to move and along arranging with the mode of the vertical direction movement of plug direction of insertion by opposing plug mount pad.
Preferably, described linear moving mechanism comprises at least two guide rails, described socket mounting base is provided with the groove for mounting guide rail, described socket cushion block is provided with and embeds with guide rail the dovetail groove coordinated.
Preferably, the described straight-line guidance resetting device elastic reset part that comprises at least two guide rods be fixedly connected with socket mounting base and be set on guide rod; Described socket cushion block is provided with the through hole passed for guide rod, and guide rod end arranges locating part.
Preferably, described plug cushion block is provided with at least one slot, is connected with plug mount pad through slot by least two stop screws.
Preferably, described slot is two, and it is respectively connected with plug mount pad by a stop screw.
Preferably, described extension bar to be threadedly connected with socket cushion block.
Preferably, described is two to extension bar, lays respectively at the both sides of socket.
Preferably, described plug is fixedly connected with plug cushion block by screw.
Preferably, described socket is fixedly connected with socket cushion block by screw.
Preferably, described plug mount pad is provided with rib close to one end of socket assembly, and rib offers the hole for passing extension bar with the relevant position of the butt hole on plug cushion block, the size in this hole is not less than the porch size of butt hole.
Automatic butt charging device of the present utility model possesses following functions:
Automatic butt charging device has automatic butt function, by extension bar, guide rail, screw and corresponding slot, in docking operation, plug and socket can be made to complete docking accurately and reliably;
Automatic butt charging device has automatic charging function, after plug and socket completes docking, can be equipment charge automatically;
Automatic butt charging device has buffering protection function, in the docking operation of plug and socket, by the cushioning effect power of elastic reset part, and protection charging device;
Automatic butt charging device has position limitation protection function, and after equipment completes charging, plug and socket completes in the process of separation, and socket can be followed plug and be moved, and by locating part, the displacement of restriction socket, guarantees plug and socket reliable separation;
Automatic butt charging device has installs adjustable function, plug mount pad offers slot, can regulate the installation site relative to mobile robot of plug mount pad neatly.
Compared with prior art, the utility model tool has the following advantages:
Mobile robot, after the power consumption of its cells, will go charging to charge position automatically, and when nobody intervenes, the charge circuit of charge position being accessed accurately and reliably mobile robot is exactly the problem that this patent will make great efforts to solve.This device just can automatic butt charge without the need to carrying out strict navigation and locating, and without the need to artificial intervention, can realize the automation connected of charging, save manpower, minimizing human intervention, increases work efficiency, be applicable to unattended operational environment.Relatively low relative to the position accuracy demand of charge position for mobile robot, the existence of position deviation can be tolerated within the specific limits, reduce Mobile Robotics Navigation precision and the requirement travelling precision, thus can reduce the manufacturing cost of mobile robot.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the utility model automatic charge device; Wherein, 1-socket assembly, 2-plug assembly;
Fig. 2 is the structural representation of the utility model automatic charge device socket assembly;
Fig. 3 is the structural representation of the utility model automatic charge device plug assembly;
Fig. 4 is the cutaway view of the utility model automatic charge device compliant mechanism;
Fig. 5 is schematic diagram before the docking of the utility model automatic charge device;
Fig. 6 is that the utility model automatic charge device has docked rear schematic diagram;
Wherein, 1-socket assembly, 2-plug assembly, 3-socket mounting base, 3a-groove, 4-guide rod, 5-elastic reset part, 6-socket cushion block, 6a-dovetail groove, 7-guide rail, 8-locating part, 9-are to extension bar, 10-socket, 11-through hole, 12-plug mount pad, 12a-butt hole, 13-plug cushion block, 13a-butt hole, 14-plug, 15-screw, 16-stop screw.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not paying the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
The automatic butt charging device of mobile robot shown in Fig. 1-6, comprises the socket assembly 1 and plug assembly 2 that are used in conjunction with each other; Described socket assembly 1 is installed on the ground, and described plug assembly 2 is arranged on mobile robot by plug mount pad 12;
Described socket assembly 1 comprises socket mounting base 3, the socket cushion block 6 be arranged on socket mounting base 3, be fixedly installed in socket 10 on socket cushion block 6 and two to extension bar 9; Described socket cushion block 6 is arranged on socket mounting base 3 by linear moving mechanism and straight-line guidance resetting device;
Described plug assembly 2 comprise be fixedly connected with mobile robot plug mount pad 12, be arranged at plug cushion block 13 on plug mount pad 12 and with the plug 14 be fixedly installed on plug cushion block 13; Described plug cushion block 13 is provided with the butt hole 13a for inserting extension bar 9 to the position corresponding to extension bar 9, the entrance of described butt hole 13a is taper.Described plug cushion block 13 can vertically to move and along arranging with the mode of the vertical direction movement of plug 14 direction of insertion by opposing plug mount pad 12.
Socket mounting base 3 is the basic framework and the shell that support socket 10, socket 10 afterbody is connected with charging cable, for the mobile robot being loaded with plug assembly 2 provides charging power, plug mount pad 12 is the basic framework and the shell that support plug 14, plug assembly 2 is installed on mobile robot, the afterbody of plug 14 is connected with the electrokinetic cell on mobile robot by charging cable, by the docking of plug 14 and socket 10, the electrokinetic cell that the electric power of charging station is flowed to mobile robot contained charges.
Shown in Fig. 2, described linear moving mechanism comprises two guide rails 7, and its quantity can increase in right amount, described socket mounting base 3 is provided with the groove 3a for mounting guide rail 7, described socket cushion block 6 is provided with and embeds with guide rail 7 the dovetail groove 6a coordinated.The elastic reset part 5 that described straight-line guidance resetting device comprises two guide rods 4 be fixedly connected with socket mounting base 3 and is set on guide rod 4, elastic reset part 5 adopts spring, obviously can also be rubber bush; Described socket cushion block 6 is provided with the through hole 11 passed for guide rod 4, and guide rod 4 end arranges locating part 8, for the connection of socket cushion block 6, locating part 8 adopts nut, by realizing connecting in guide rod 4 end machining screw, obvious locating part 8 can also be also snap ring, pin etc.Describedly threadedly be connected with socket cushion block 6 extension bar 9, being connected on the lug of socket cushion block 6 in figure to extension bar 9, obviously can also be clamping, welding etc.Be two to extension bar 9 quantity, lay respectively at the both sides of socket 10, its quantity can increase in right amount.Described plug mount pad 12 is provided with rib close to one end of socket 10 assembly 1; rib offers the hole 12a for passing extension bar 9 with the relevant position of the butt hole 13a on plug cushion block 13; the size of this hole 12a is not less than the porch size of butt hole 13a; do not disturb the docking to extension bar 9; rib can form available protecting to plug 14, prevents from damaging because touching in robot ride process.
Shown in Fig. 3, described butt hole 13a is arranged on the lug of plug cushion block 13.Described plug cushion block 13 is provided with two slots, it is respectively connected with plug mount pad 12 by a stop screw 16, after described stop screw 16 connects, leaves plug cushion block 13 and vertically to move and along the space of slot length direction movement.As shown in Figure 4, described stop screw 16 in the axial direction thereof, have certain gap a between head of screw lower surface and plug cushion block 13 upper surface, described stop screw 16 diametrically (length direction of slot) and plug cushion block 13 has certain gap (b-c).Certain plug cushion block 13 is not limited to the structure shown in Fig. 3 with the connection of plug mount pad 12, and can also be the slot that a length is longer, arrange the form of two stop screws 16 in it, can also be the form that plural slot etc. combinationally uses.
Wherein, described plug 14 is fixedly connected with plug cushion block 13 by screw 15, and described socket 10 is fixedly connected with socket cushion block 6 by screw 15.Obviously can also be bolt, bonding etc. other be suitable for be fixedly connected with mode.
Automatic butt charging device basic technical indicator is as follows:
Overall dimension: (long min ~ max × wide × height) (200mm ~ 260mm) × 145mm × 62mm;
Plug/socket plug force of the breath: ≈ 80N;
Elastic reset part compression travel >=30mm;
Automatic butt course of action: mobile robot sails charging goods yard into after receiving charge command, plug assembly on vehicle body is plugged into automatically with the socket assembly installed on charging goods yard, before plug assembly contacts with socket assembly, when two parts do not overlap to axis, when there is certain position deviation, be installed in butt hole extension bar being inserted on plug assembly on socket assembly, because the plug cushion block on plug assembly longitudinally with laterally can have certain movement clearance, therefore by the effect to extension bar and butt hole, make the socket automatic alignment on the plug and socket assembly on plug assembly, mobile robot continues to move forward, promote socket and the retrogressing of socket cushion block, elastic reset part is compressed, when the elastic force of elastic reset part is greater than the contact engaging and separating force of plug and socket, plug insertion socket, trigger the circuit contact be installed on guiding mechanism, start as mobile robot's charging, battery reaches auto-breaking after full state, mobile robot sails out of charge position, plug drives socket to follow mobile robot together and moves forward, after socket cushion block contacts with locating part, locating part restriction socket and socket cushion block no longer move forward, and mobile robot continues to move forward, under the reaction force of locating part, plug and socket departs from, and mobile robot is sailed out of charge position and put into operation.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection range of the present utility model.
Claims (10)
1. a mobile robot's automatic butt charging device, is characterized in that: comprise the socket assembly and plug assembly that are used in conjunction with each other;
Described socket assembly comprises socket mounting base, the socket cushion block be arranged on socket mounting base, be fixedly installed in socket on socket cushion block and at least two to extension bar; Described socket cushion block is arranged on socket mounting base by linear moving mechanism and straight-line guidance resetting device;
Described plug assembly comprise be fixedly connected with mobile robot plug mount pad, be arranged at plug cushion block on plug mount pad and with the plug be fixedly installed on plug cushion block; Described plug cushion block is provided with the butt hole for inserting extension bar to the position corresponding to extension bar, the entrance of described butt hole is taper, and described plug cushion block can vertically to move and along arranging with the mode of the vertical direction movement of plug direction of insertion by opposing plug mount pad.
2. the automatic butt charging device of mobile robot according to claim 1, it is characterized in that: described linear moving mechanism comprises at least two guide rails, described socket mounting base is provided with the groove for mounting guide rail, described socket cushion block is provided with and embeds with guide rail the dovetail groove coordinated.
3. the automatic butt charging device of mobile robot according to claim 2, is characterized in that: the elastic reset part that described straight-line guidance resetting device comprises at least two guide rods be fixedly connected with socket mounting base and is set on guide rod; Described socket cushion block is provided with the through hole passed for guide rod, and guide rod end arranges locating part.
4. the automatic butt charging device of mobile robot according to claim 1, is characterized in that: described plug cushion block is provided with at least one slot, is connected through slot by least two stop screws with plug mount pad.
5. the automatic butt charging device of mobile robot according to claim 4, is characterized in that: described slot is two, and it is respectively connected with plug mount pad by a stop screw.
6. the automatic butt charging device of mobile robot according to claim 1, is characterized in that: be describedly threadedly connected with socket cushion block extension bar.
7. the automatic butt charging device of mobile robot according to claim 1, is characterized in that: described is two to extension bar, lays respectively at the both sides of socket.
8. the automatic butt charging device of mobile robot according to claim 1, is characterized in that: described plug is fixedly connected with plug cushion block by screw.
9. the automatic butt charging device of mobile robot according to claim 1, is characterized in that: described socket is fixedly connected with socket cushion block by screw.
10. the automatic butt charging device of mobile robot according to claim 1, it is characterized in that: described plug mount pad is provided with rib close to one end of socket assembly, rib offers the hole for passing extension bar with the relevant position of the butt hole on plug cushion block, the size in this hole is not less than the porch size of butt hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420576825.3U CN204216311U (en) | 2014-10-08 | 2014-10-08 | The automatic butt charging device of a kind of mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420576825.3U CN204216311U (en) | 2014-10-08 | 2014-10-08 | The automatic butt charging device of a kind of mobile robot |
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| CN204216311U true CN204216311U (en) | 2015-03-18 |
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| CN201420576825.3U Active CN204216311U (en) | 2014-10-08 | 2014-10-08 | The automatic butt charging device of a kind of mobile robot |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105119352A (en) * | 2015-10-08 | 2015-12-02 | 华北电力大学（保定） | Automatic charging apparatus for tracking robot |
| CN106025711A (en) * | 2016-07-31 | 2016-10-12 | 青岛整流器制造有限公司 | Charging automatic butt-joint device and application thereof |
| CN106159561A (en) * | 2016-07-08 | 2016-11-23 | 捷星显示科技（福建）有限公司 | A kind of male female interface of angle that can automatically adjust is from inserting mechanism |
| CN106252986A (en) * | 2016-07-29 | 2016-12-21 | 中航光电科技股份有限公司 | Charge connector assembly and use the robot system of this charge connector assembly |
| CN106486824A (en) * | 2016-11-25 | 2017-03-08 | 天津华宁电子有限公司 | A kind of underground coal mine crusing robot automatic charge device |
| CN106785678A (en) * | 2016-12-02 | 2017-05-31 | 西安电子科技大学 | A kind of AGV works online docking electric supply installation |
| CN106785657A (en) * | 2017-02-24 | 2017-05-31 | 武汉浩宏科技有限公司 | A kind of charging pile with socket protection cover |
| CN106992399A (en) * | 2017-03-28 | 2017-07-28 | 福建捷联电子有限公司 | A kind of signaling interface autopatching device |
| CN107039812A (en) * | 2017-04-18 | 2017-08-11 | 深圳市神州云海智能科技有限公司 | A kind of charging device |
| CN107891772A (en) * | 2017-10-11 | 2018-04-10 | 安徽合力股份有限公司 | A kind of automatic charge device for automatic guide vehicle |
| CN107979132A (en) * | 2017-12-07 | 2018-05-01 | 南京理工大学 | A kind of mobile robot charging unit |
| CN108199432A (en) * | 2018-01-08 | 2018-06-22 | 浙江立石机器人技术有限公司 | A kind of automatic charge device of mobile robot |
| CN109217414A (en) * | 2018-09-04 | 2019-01-15 | 南京理工大学 | A kind of automatic charge device and charging method for Intelligent Mobile Robot |
| CN109301625A (en) * | 2018-11-15 | 2019-02-01 | 北京旷视科技有限公司 | Charging unit and charging station |
| CN109524844A (en) * | 2018-11-06 | 2019-03-26 | 北京京东尚科信息技术有限公司 | DIU data interface unit and sliding slot |
| CN109986983A (en) * | 2019-05-08 | 2019-07-09 | 无锡恺韵来机器人有限公司 | It is a kind of that adaptive AGV automatic charge device is adjusted |
| CN110212382A (en) * | 2019-05-13 | 2019-09-06 | 河南天利热工装备股份有限公司 | A kind of car type furnace conduction insert row installation fixed structure |
| CN111426901A (en) * | 2020-04-30 | 2020-07-17 | 国网河北省电力有限公司电力科学研究院 | On-site line protection device test platform |
| CN114013305A (en) * | 2021-09-23 | 2022-02-08 | 北京星航机电装备有限公司 | A adjust structure and automatic charging system well for AGV is automatic to be charged |
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Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105119352A (en) * | 2015-10-08 | 2015-12-02 | 华北电力大学（保定） | Automatic charging apparatus for tracking robot |
| CN106159561B (en) * | 2016-07-08 | 2018-08-10 | 捷星显示科技（福建）有限公司 | It is a kind of can adjust automatically angle male connector female interface from insert mechanism |
| CN106159561A (en) * | 2016-07-08 | 2016-11-23 | 捷星显示科技（福建）有限公司 | A kind of male female interface of angle that can automatically adjust is from inserting mechanism |
| CN106252986B (en) * | 2016-07-29 | 2019-06-07 | 中航光电科技股份有限公司 | Charging connection device assembly and the robot system for using the charging connection device assembly |
| CN106252986A (en) * | 2016-07-29 | 2016-12-21 | 中航光电科技股份有限公司 | Charge connector assembly and use the robot system of this charge connector assembly |
| CN106025711A (en) * | 2016-07-31 | 2016-10-12 | 青岛整流器制造有限公司 | Charging automatic butt-joint device and application thereof |
| CN106025711B (en) * | 2016-07-31 | 2018-08-10 | 青岛整流器制造有限公司 | A kind of charging automatic butt jointing device and stereo garage charging unit |
| CN106486824B (en) * | 2016-11-25 | 2018-09-11 | 天津华宁电子有限公司 | A kind of underground coal mine crusing robot automatic charge device |
| CN106486824A (en) * | 2016-11-25 | 2017-03-08 | 天津华宁电子有限公司 | A kind of underground coal mine crusing robot automatic charge device |
| CN106785678A (en) * | 2016-12-02 | 2017-05-31 | 西安电子科技大学 | A kind of AGV works online docking electric supply installation |
| CN106785657A (en) * | 2017-02-24 | 2017-05-31 | 武汉浩宏科技有限公司 | A kind of charging pile with socket protection cover |
| CN106992399A (en) * | 2017-03-28 | 2017-07-28 | 福建捷联电子有限公司 | A kind of signaling interface autopatching device |
| CN107039812A (en) * | 2017-04-18 | 2017-08-11 | 深圳市神州云海智能科技有限公司 | A kind of charging device |
| CN107039812B (en) * | 2017-04-18 | 2024-04-05 | 深圳市神州云海智能科技有限公司 | Charging device |
| CN107891772A (en) * | 2017-10-11 | 2018-04-10 | 安徽合力股份有限公司 | A kind of automatic charge device for automatic guide vehicle |
| CN107891772B (en) * | 2017-10-11 | 2024-01-09 | 安徽合力股份有限公司 | Automatic charging device for automatic guided vehicle |
| CN107979132A (en) * | 2017-12-07 | 2018-05-01 | 南京理工大学 | A kind of mobile robot charging unit |
| CN108199432A (en) * | 2018-01-08 | 2018-06-22 | 浙江立石机器人技术有限公司 | A kind of automatic charge device of mobile robot |
| CN109217414A (en) * | 2018-09-04 | 2019-01-15 | 南京理工大学 | A kind of automatic charge device and charging method for Intelligent Mobile Robot |
| CN109217414B (en) * | 2018-09-04 | 2022-10-14 | 南京理工大学 | Automatic charging device and charging method for transformer substation inspection robot |
| CN109524844A (en) * | 2018-11-06 | 2019-03-26 | 北京京东尚科信息技术有限公司 | DIU data interface unit and sliding slot |
| CN109301625A (en) * | 2018-11-15 | 2019-02-01 | 北京旷视科技有限公司 | Charging unit and charging station |
| CN109986983A (en) * | 2019-05-08 | 2019-07-09 | 无锡恺韵来机器人有限公司 | It is a kind of that adaptive AGV automatic charge device is adjusted |
| CN110212382A (en) * | 2019-05-13 | 2019-09-06 | 河南天利热工装备股份有限公司 | A kind of car type furnace conduction insert row installation fixed structure |
| CN111426901A (en) * | 2020-04-30 | 2020-07-17 | 国网河北省电力有限公司电力科学研究院 | On-site line protection device test platform |
| CN114013305A (en) * | 2021-09-23 | 2022-02-08 | 北京星航机电装备有限公司 | A adjust structure and automatic charging system well for AGV is automatic to be charged |
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