A kind of self adaptation charging pile
The utility model relates to a kind of from using charging pile, belongs to robot charging technique field.
Chinese invention patent document CN104734291A " crusing robot charging system and charging method " discloses a kind of robot charging method and charging system of practicality, possesses certain advance.This charging system has foldable telescopic electrode, needs robot to have phase inductive charging chamber and higher positioning function, is suitable for comparatively complicated robot device.Some charging devices are arranged on to the robot on arm, mainly there is following problem in this charging method: should not arrange larger charging chamber to receive the collapsible charging electrode of charging pile at its arm end when 1, robot arm is longer, now be arranged in robot arm proper by telescopic electrode.2, charge to there is various error on time, require charging pile automatically to adapt to this error and to robot arm produce sideway torque power little, this charging scheme cannot accomplish this point well.
The charging device that Chinese utility model patent CN203747440U " Intelligent Mobile Robot charging device " discloses is divided into three parts, integrated level is lower, its inside comprises partial electric device, charging unit effectively contacts to use screens portion to ensure, service time, relay arranged the charging interval, and these parts add the unfavorable raising stability of complexity of charging device.
Chinese invention patent CN103236730B " a kind of self adaptation docking automatic charge device " provides a kind of self adaptation docking automatic charge device, comprise charging body and powered main body, described charging body comprises charging base, charging contacts platform, horizontal mobile mechanism, central rotary mechanism, location top guide and two charging contacts, described powered main body comprises powered base, transducer and two are by electric contact, central rotary mechanism is arranged on the upper surface of charging base, horizontal mobile mechanism is arranged on the upper surface of central rotary mechanism, charging contacts stage+module is on horizontal mobile mechanism, location top guide is arranged on the middle part in charging contacts stage+module face, both sides each installation charging contact respectively of location top guide, the middle part of powered base electric power receiving surface has powered location notch, the both sides of powered location notch are respectively provided with one respectively by electric contact, transducer is arranged in powered location notch, two charging contacts on charging body may correspond to be inserted in powered main body corresponding by electric contact, location top guide on charging body can be inserted in the powered location notch on powered base.The charging contact of the charging body of this charging device is arranged on the both sides of location top guide, supporting powered main body is needed to coordinate with it, the powered base of powered main body offers the powered location notch supporting with locating top guide, uses the robot of the retractable electrode mentioned in CN104734291A automatically cannot locate charging; This charging device arranges central rotary mechanism, self adaptation is carried out by rotating, but the anglec of rotation of central rotary mechanism is difficult to control, thus charging device cannot be control effectively to the stretch torque of electrode and robot arm of robot, if moment of torsion is excessive, then easily damage flexible electrode and arm.This charging device charging body adopt move horizontally add horizontally rotate accommodation mode, add the complexity of device to a certain extent, need the angle problem considering to horizontally rotate simultaneously; Adopt the docking tolerance of guide pins guide mode less, and then need the auxiliary docking of transducer; Its powered main body is arranged in robot, and volume ratio is comparatively large, is unfavorable for that it seals by robot well and packs up, reduces deadweight, easily rocks if docking distance is slightly long.
Summary of the invention
For solving prior art Problems existing, the purpose of this utility model is to provide a kind of self adaptation charging pile, when there is deviation in this charging pile between robot and the electrode inlet of charging pile, automatically the electrode position of charging pile can be adjusted to adapt to this butting error, make robot can electrode insertion charging smoothly, simultaneously less to the moment of torsion that the flexible electrode of robot and arm produce.
The self adaptation charging pile that the utility model provides, comprises support column, position adjustment block, electrode module; The upper end of described support column is provided with bottom support plate; Described position adjustment block comprises midfoot support plate, electrode plate, and described midfoot support plate can be arranged in described bottom support plate movably forward and backward, and described electrode plate can movably be arranged on described midfoot support plate; Described electrode module is arranged on described electrode plate.Due to certain deviation may be there is between robot and the electrode slice of electrode module, during charging, the powered position electrode insertion module of robot, charging pile can adjust the position of electrode module automatically, the powered position of robot is fully contacted with the electrode slice of electrode module, specifically, the midfoot support plate of charging pile can move forward and backward in bottom support plate, electrode plate can move left and right on midfoot support plate, and then before electrode module can be carried out, after, left, move right, thus the powered position of robot is contacted accurately and reliably with charging pile internal electrode.
Midfoot support plate moving forward and backward in bottom support plate realizes by following scheme: described bottom support plate is connected by slide mechanism with described midfoot support plate; Also back-moving spring is installed between described bottom support plate and described midfoot support plate.Slide mechanism can use the mode of slide block and guide rail, as described in the upper surface of bottom support plate guide rail is installed, the lower surface of described midfoot support plate is provided with slide block, and the guide rail in described bottom support plate is nested in the slide block on midfoot support plate; Also can by guide rails assembling on midfoot support plate, slide block is arranged on bottom support plate.When being subject to External Force Acting, midfoot support plate can be movable in bottom support plate along guide rail, and after external force disappears, midfoot support plate can set back under action of reset spring.Back-moving spring not only can realize the reset of midfoot support plate, and when there being External Force Acting, back-moving spring can also avoid the violent movement of midfoot support plate.
One end of described back-moving spring is arranged on the middle part, rear end of described bottom support plate, the other end is arranged on the middle part, front end of described midfoot support plate, this setup can effectively utilize back-moving spring to realize the reset of midfoot support plate, uses a back-moving spring to complete.
Electrode plate moving left and right on midfoot support plate realizes by following scheme:
Described midfoot support plate is connected by slide mechanism with described electrode plate; Also back-moving spring is installed between described midfoot support plate and described electrode plate.The mode that slide mechanism can adopt slide block to coordinate with guide rail, as described in the upper surface of midfoot support plate guide rail is installed, the lower surface of described electrode plate is provided with slide block, and the guide rail on described midfoot support plate is nested in the slide block on electrode plate; Also by guide rails assembling on electrode plate, slide block can be arranged on midfoot support plate.When being subject to External Force Acting, electrode plate can move left and right on midfoot support plate along guide rail, and after external force disappears, electrode plate can set back under action of reset spring.Back-moving spring not only can realize the reset of electrode plate, and when there being External Force Acting, back-moving spring can also avoid the violent movement of electrode plate.
Be provided with two back-moving springs between described midfoot support plate and electrode plate, one end of these two back-moving springs is arranged on the centre of described electrode plate, and the other end is arranged on left end middle part and the right-hand member middle part of described midfoot support plate respectively.This mounting means uses two springs to get final product the reset of control electrode base plate.
Described electrode module comprises and is arranged on left, center, right horizontally-guided block on electrode plate and electrode slice; Between the horizontally-guided block of described left, center, right, two electrode guide grooves are left at interval, and described electrode slice is positioned at electrode guide groove rear.The powered position of robot contacts with electrode slice along electrode guide groove, and the displacement of electrode guide groove guided robot power receiving section is moved.
Preferably, along electrode grooves being open to electrode slice direction, described electrode guide groove is wide outside and narrow inside, and electrode grooves being open is comparatively large, and the powered position of robot is pushed ahead from electrode grooves being open optional position, facilitates the powered position of robot to insert.
The utility model has following beneficial effect: (1) adopts mechanical part, and structure is simple, and cost is low; Adopt integral structure, highly integrated, volume is little, reliable contacts, installation site flexibly, be convenient to safeguard.(2) charging pile electrode guide groove is large, the butt junction location error that tolerable is larger, and robot pushes ahead from electrode grooves being open optional position at powered position; Electrode module can all around adjust automatically, to ensure the validity of electrode contact; Little to the torque resistance of robot power receiving section potential electrode.(3) profile easily designs elegant in appearance, the use of more applicable service type robots.
Accompanying drawing explanation
Fig. 1 is the utility model overall schematic;
Fig. 2 is the utility model cut-away view;
Fig. 3 is position adjustment block end view one described in the utility model;
Fig. 4 is position adjustment block end view two described in the utility model.
In figure: 101, electrode module; 110, horizontally-guided block; 111, electrode slice; 112, electrode plate; 113, middle spring mount point; 114, front slider guide; 115, rear rail; 116, left electrode guide groove; 117, right electrode guide groove; 102, position adjustment block; 120, right spring mount point; 121, front spring mount point; 122, right slider guide; 123, left slider guide; 124, right back slider guide; 125, left back slider guide; 126, midfoot support plate; 127, left spring mount point; 128, fromer rail; 103, support column; 131, right guide rail; 132, rear spring mount point; 133, left rail; 134, bottom support plate; 104, chassis.
As shown in Figure 1, 2, 3, the self adaptation charging pile that the utility model provides comprises base 104, support column 103, electrode module 101, position adjustment block 102.The upper end of support column 103 is provided with bottom support plate 134, the lower end of support column is arranged on base 104, the left end of the upper surface of bottom support plate 134, right-hand member install left rail 133, right guide rail 131 respectively, and the centre position on the edge, rear end of bottom support plate 134 is provided with rear spring mount point 132.
As shown in Figure 2,3, 4, position adjustment block 102 comprises rectangular central portion supporting bracket 126, electrode plate 112; The front end edge of midfoot support plate 126, left end arrange front spring mount point 121, left spring mount point 127, right spring mount point 120 respectively along the middle part on, right-hand member edge, the left end rear portion of the lower surface of midfoot support plate 126, right-hand member rear portion install left slider guide 123, right slider guide 122 respectively, left rail 133, right guide rail 131 are nested in left slider guide 123, right slider guide 122 respectively, and left slider guide 123, right slider guide 122 can move forward and backward on left rail 133, right guide rail 131; Be provided with back-moving spring (not shown) between bottom support plate 134 and midfoot support plate 126, the two ends of back-moving spring are hung on rear spring mount point 132, front spring mount point 121.The front end of the upper surface of midfoot support plate 126 is provided with fromer rail 128, and the rear end of the upper surface of midfoot support plate 126 is provided with left back slider guide 125 and right back slider guide 124; The front end of the lower surface of electrode plate, rear end are separately installed with front slider guide 114, rear rail 115, and the middle part of electrode plate lower surface is provided with middle spring mount point 113; Fromer rail 128 on midfoot support plate 126 is nested in the front slider guide 114 on electrode plate 112, and the rear rail 115 on electrode plate 112 is nested in left back slider guide 125 on midfoot support plate 126, right back slider guide 124; Two back-moving spring (not shown)s are mounted with between midfoot support plate 126 and electrode plate 112, wherein the two ends of a back-moving spring are articulated on right spring mount point 120 and middle spring mount point 113 respectively, and the two ends of another root back-moving spring are articulated on left spring mount point 127 and middle spring mount point 113 respectively.
As Figure 1-4, electrode module 101 comprises horizontally-guided block 110 (three pieces, left, center, right) and electrode slice 111 (left electrode slice, right electrode slice), left electrode slice, right electrode slice are arranged on the rear end of electrode plate 112 upper surface respectively, for contacting electric energy transmitting with the traveling electrode of robot; The horizontally-guided block 110 that light wear-resistant plastics are made is arranged on electrode plate 112.Between the horizontally-guided block of left, center, right, electrode guide groove (left electrode guide groove 116, right electrode guide groove 117) is left at interval, and left electrode slice, right electrode slice lay respectively at left electrode guide groove 116, right electrode guide groove 117.Electrode grooves being open is comparatively large, is shape wide outside and narrow inside, for guiding robot traveling electrode by opening to electrode slice direction.
During charging, robot traveling electrode inserts the electrode module of charging pile along electrode guide groove, produce by the external force after forward direction in insertion process, this external force makes the back-moving spring compression be articulated on rear spring mount point 132, front spring mount point 121, electrode module moves backward along with position adjustment block in bottom support plate, when external force disappears, back-moving spring stretches, and position adjustment block resets.The external force of left and right directions also may be produced when robot traveling electrode is inserted, when there being left and right outward force effect, electrode module 101 moves left and right in position adjustment block 102 along guide rail, a velamen compression in two back-moving springs, another velamen draws high, when External Force Acting disappears, electrode module 101 resets.