CN205489695U - Electricity charging system - Google Patents
Electricity charging system Download PDFInfo
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- CN205489695U CN205489695U CN201620240739.4U CN201620240739U CN205489695U CN 205489695 U CN205489695 U CN 205489695U CN 201620240739 U CN201620240739 U CN 201620240739U CN 205489695 U CN205489695 U CN 205489695U
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- charging
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Abstract
The utility model discloses an electricity charging system, including charging device and docking mechanism, charging device includes charge piece and backup pad, and the front end of the piece that charges passes through the fixed axle to be installed in the backup pad, and the piece that charges can wind fixed axis rotation admittedly, installation one or more extension spring in the backup pad, extension spring one end joint support board, a rear end of charging is connected to the other end, charge the piece including two float electrodes that link to each other with the positive negative pole of charger respectively, docking mechanism installs on the movable platform that needs charge, installs the fixed electrode piece that corresponds with the float electrode on it. The utility model discloses a structural design of extension spring can realize flexible butt joint, spring application is passed through to the float electrode, the condition of virtual contact can not appear, firing pin on -off mechanism's design makes the charging process safer, a design of rear end arc surface of charging can realize spacingly, prevents that float electrode and fixed electrode break away from, and the charging process is more reliable and more stable.
Description
Technical field
This utility model belongs to charging technique field, particularly relates to a kind of succinct recharging system reliably, for mobile platform
Automatic charging, it is ensured that charging docking operation reliability and stability, give the docking tolerance that charging process is bigger.
Background technology
Autonomous mobile robot is applied to various occasion more and more widely, as entertained, carry, cleaning, security personnel etc..At this
The application of a little different occasions is required for robot and adapts to residing environment, either open environment or closed environment, nothing
Opinion is indoor environment or outdoor environment.
At present, mobile robot is all to use high-quality airborne chargeable storage group to come to power itself, but the most only
Can maintain several hours, owing to airborne power supply holds quantitative limitation, once electric energy exhausts, it is necessary to be charged to robot.
Robot has two ways, and the first, when mobile robot electric power deficiency, sends cue, can be by operator
The electrical equipment manually completed between robot with charger is connected, and is then carried out charging；The second, is sought by robot autonomous navigation
Look for charging place, it is achieved the recharging of robot, this charging modes meet robot for a long time in the case of unmanned the interference from
This requirement of main work so that robot realizes long-term autonomous function.
When selecting recharging pattern, it is desirable to have the charging station and being arranged in robot for robot charging docks with charging station
Mechanism, the quality of charging station design and the design of charging station docking mechanism directly affects the performance of recharging, including docking
The reliability and stability of process, the safety of docking, and charging security etc..
Summary of the invention
The purpose of this utility model is for the deficiencies in the prior art, it is provided that a kind of charging system.
The purpose of this utility model is achieved through the following technical solutions: a kind of charging system, including charging mechanism and docking
Mechanism, described charging mechanism includes charging lump and gripper shoe, and the front end of charging lump is installed on the supporting plate by fixing axle, charging
Block can be around solid fixed-axis rotation；Installing one or more extension spring in described gripper shoe, extension spring one end connects gripper shoe, and the other end connects
Charging lump rear end；Described charging lump includes two float electrodes being connected respectively with charger both positive and negative polarity；Described docking mechanism is installed
On the moveable platform needing charging, it is provided with the fixed electrode film corresponding with float electrode.
Further, described extension spring is two, and one end of two extension springs is separately fixed at gripper shoe both sides, another of two extension springs
End is connected with charging lump rear end respectively, makes charging lump and two extension springs form mobilizable hub-and-spoke configuration.
Further, the front end of described charging lump has oblique angle, and the rear end of charging lump is wider than front end.
Further, described charging lump includes cradle and float electrode module, and float electrode module is arranged on cradle, lives
Moving electrode module includes that substrate, float electrode are symmetricly set on substrate both sides, and the middle part outwardly convex of float electrode stretches out cradle.
Further, described float electrode module also includes electrode spring, and the left and right sides of substrate is arranged with electrode gathering sill,
Two electrode gathering sills have opening at respectively, and the middle part of float electrode is protruding from opening part stretches out cradle, and two ends buckle into electricity
Pole gathering sill opening, electrode spring one end is fixed on bottom electrode gathering sill, and the other end supports float electrode.
Further, described float electrode module also includes the guide plate being arranged between electrode spring and float electrode；Guide plate
Length is more than electrode gathering sill Opening length, and guide plate is connected in electrode spring drive electrode spring by upright post sleeve and does stretching motion,
Strut length is less than the length of electrode spring non-compressed state.
Further, described charging lump also includes striker and microswitch, and float electrode is located close to charging lump front position, hits
Pin is located close to charging lump back-end location, the outwardly cradle of described striker, can do the most outside flexible fortune in cradle
Dynamic, during striker inward, contact microswitch contravention roller, trigger microswitch and connect charger and float electrode module,
Charging mechanism is made to power to docking mechanism.
Further, described cradle also includes striker gathering sill, installs firing pin spring, edge, striker one end bottom striker gathering sill
Striker gathering sill press-in cradle, the other end protrudes cradle from striker guiding slot port.
Further, described docking mechanism includes that gathering sill, fixed electrode film are fixed on inside gathering sill, and gathering sill is towards charging
Shape outside the shape of block and charging lump adapts.
Further, the rear end of described charging lump is sector, and its arc surface radius of curvature is more than docking mechanism gathering sill front end curvature
Radius.
The beneficial effects of the utility model: cradle is directly linked by extension spring with gripper shoe, can have bigger in docking operation
The rotation of scope, charging lump has chamfering near float electrode one end, if position has one when docking mechanism gathering sill enters charging lump
Determining deviation, charging lump suitably can rotate with gathering sill, docking operation position self-adjusting, it is achieved flexible docking, reduces because of right
Connect the infringement that precision causes；Cradle powers on extremely float electrode, and by spring compression, in charging process, float electrode is at bullet
Contact keeping stable with the fixed electrode on docking mechanism under the restoring force effect of spring, do not have the situation that virtual connection is touched；Movable
Guide plate and spring is had, when this structure can ensure that float electrode by pressure that docking mechanism is oblique between electrode and electrode base
The motion of inward compression, simple and compact for structure；Equipped with striker switch mechanism on cradle, in non-mated condition, switch cuts out,
To not have voltage in float electrode, during docking, float electrode just powers on, and makes charging process safer；Charging lump rear end circular arc
Curvature radius is more than gathering sill front end radius of curvature, after gathering sill entrance certain depth contacts with charging lump arc surface, and will be several
What is spacing, it is impossible to go successively to, it is achieved spacing, prevents float electrode from departing from fixed electrode, and charging process is more reliable and more stable.
Accompanying drawing explanation
Fig. 1 is this utility model charging system overall structure schematic diagram；
Fig. 2 is charging mechanism structural representation；
Fig. 3 is extension spring and charging lump connection diagram；
Fig. 4 is the installing component structural representation on cradle；
Fig. 5 is that float electrode module forms schematic diagram；
Fig. 6 is docking mechanism structural representation；
Fig. 7 is fixed electrode box structural representation；
In figure, charging mechanism 1, docking mechanism 2, gathering sill 21, fixed electrode cassette holder 221, fixed electrode film 222, fixing electricity
Pole lid 223, charging lump 3, cradle 31, striker 32, firing pin spring 33, microswitch 34, gripper shoe 4, fixing axle 5,
Extension spring 6, hanging ring screw 7, float electrode module 8, substrate 81, guide plate 82, electrode spring 83, float electrode 84.
Detailed description of the invention
The purpose of this utility model is a kind of succinct recharging system reliably of design, for the automatic charging of mobile platform,
Ensure the reliability and stability of charging docking operation, give the docking tolerance that charging process is bigger.
As shown in Figure 1, 2, a kind of charging system for moveable platform recharging that this utility model provides, including charging
Mechanism 1 and docking mechanism 2, described charging mechanism 1 includes that charging lump 3 and gripper shoe 4, described docking mechanism 2 are arranged on needs charging
Moveable platform on.
As shown in figs 2-4, the front end of charging lump 3 is arranged in gripper shoe 4 by fixing axle 5, and charging lump 3 can be around fixing axle 5 weeks
To rotation.Gripper shoe 4 is provided with one or more extension spring 6.When using an extension spring 6, one end of extension spring 6 is fixed on support
On plate 4, the other end is connected with the rear end of charging lump 3, and during initial position, extension spring 6 and charging lump 3 are in straight line, when external force is from side
When face acts on charging lump 3, charging lump 3 rotates and drives extension spring 6 to stretch, and after external force eliminates, extension spring 6 drives charging lump 3 to return to
Initial position.When using two extension springs 6, as it is shown on figure 3, one end of two extension springs 6 is separately fixed at gripper shoe 4 both sides, two
The other end of individual extension spring 6 is connected with the rear end of charging lump 3, after hanging ring screw 7 is fixed on charging lump 3 by hanging ring screw 7 respectively
End, charging lump 3 and two extension springs 6 form mobilizable hub-and-spoke configuration.Two symmetrical extension springs 6 can be arranged or at an angle in one
Bar line is arranged.Two extension spring 6 initial pretension amounts identical with ensure charging lump 3 in the centre position of two extension springs 6, when charging lump 3
Under external force when fixing axle 5 rotates, side extension spring 6 amount of tension will increase, and the amount of tension of opposite side extension spring 6 will reduce, outward
After power is removed, two extension springs 6 return to the initial position that amount of tension is identical, make extension spring 6 reach balance with the system of charging lump 3 composition
State, it is achieved automatically reset.With in docking mechanism 2 docking operation, the motion of docking mechanism 2 it cannot be guaranteed that accurately, position without
The docking of deviation, the connection of charging lump 3 and extension spring 6 makes can be with docking mechanism 2 in charging mechanism 1 and docking mechanism 2 docking operation
Gathering sill rotate, there is large range of rotation, therefore, position deviation had bigger tolerance, has in docking operation
Buffering effect, it is achieved charging mechanism 1 and the flexible docking of docking mechanism 2.
The front end of charging lump 3 has bigger bevel angle α, and preferred bevel angle α angle is 45 ° 60 °, such as Fig. 4, right to ensure
The docking of connection mechanism 2 gathering sill has relatively big shearing tolerance when entering, and the rear end of charging lump 3 is wider than the front end of charging lump 3, in the present embodiment
There is larger arc face charging lump 3 rear end, and in sector, its arc surface radius of curvature is more than docking mechanism 2 gathering sill front end radius of curvature,
When docking mechanism 2 docks, after gathering sill entrance certain depth is contacted with charging lump 3 rear end arc surface, spacing by geometry, no
Can go successively to, prevent float electrode 84 from departing from fixed electrode film 222.
As shown in Figure 4, charging lump 3 includes cradle 31, float electrode module 8, striker 32, firing pin spring 33 and microswitch 34.
Cradle 31 uses insulant, as installation activity electrode module 8, striker 32, firing pin spring 33 and microswitch 34
Carrier；Float electrode module 8 includes two float electrodes 84, and said two float electrode 84 can be symmetrical arranged, middle part convex
Rise and stretch out cradle 31, can do the most outside stretching motion in cradle 31, two float electrodes 84 by wire respectively with
The both positive and negative polarity of charger is connected, charger power；Float electrode module 8 is near charging lump 3 front position, and striker 32 is near filling
Electricity block 3 back-end location, the described outwardly cradle of striker 32 31, can do the most outside stretching motion in cradle 31, hit
During pin 32 inward, microswitch 34 triggers, and connects charger and powers to charging lump 3.
Float electrode module 8 can be realized by specific embodiment as shown in Figure 5, including substrate 81, guide plate 82, electrode spring 83 and
Float electrode 84.
Substrate 81 uses insulant, is used for installing guide plate 82, electrode spring 83 and float electrode 84, and by float electrode mould
Block 8 is fixed on charging lump 3.
The left and right sides of substrate 81 has electrode gathering sill symmetrically, and electrode gathering sill is rectangle, and electrode gathering sill has at one to be opened
Mouthful, the middle part of float electrode 84 is protruding, and from opening part stretches out cradle 31, the two ends of float electrode 84 buckle into gathering sill opening,
Electrode spring 83 one end is fixed on bottom electrode gathering sill, and the other end supports float electrode 84, can be by float electrode during external force 84
Do inside and outside stretching motion in electrode gathering sill, meanwhile, drive float electrode 84 to do the most outside flexible fortune in cradle 31
Dynamic, in charging process, this external force is that docking mechanism 2 is mated with, the pressure that when gathering sill enters, Compressive activities electrode 84 produces,
Making electrode spring 83 be in inward compression state all the time, in whole charging process, float electrode 84 float electrode 84 is in the recovery of spring
By spring compression under power effect, support the fixed electrode film 222 on docking mechanism 2 all the time, keep reliable and stable contact, will not
Occurring that void is touched, after charging terminates, when docking mechanism 2 exits, float electrode 84 will return to initial position under the action of the spring；?
Guide plate 82 is installed between electrode spring 83 and float electrode 84, when docking mechanism 2 is tilted into, makes float electrode 84 two ends exist
Uniform force in motor process, an inward compression motion, simple and compact for structure, guide plate 82 length is more than electrode gathering sill opening
Length, make guide plate 82 can only slide in electrode gathering sill, can prevent electrode spring 83 from deviating from compression process, simultaneously
Also make float electrode 84 movable in the range of electrode gathering sill, it is ensured that the safety of charging.Guide plate 82 is by guide plate column
Being socketed in electrode spring 83 and spring can be driven to do stretching motion, strut length, less than the length of spring non-compressed state, makes compression
During keep spring uniform-compression.
Including a striker gathering sill on cradle 31, install firing pin spring 33 bottom striker gathering sill, striker 32 one end is led along striker
Being pressed into cradle 31 to groove, the other end protrudes cradle 31 from striker guiding slot port, and striker 33 is at external force and the work of firing pin spring 33
In striker gathering sill, the most outside stretching motion is made, so that striker 32 possesses reset function under of.Microswitch 34 is installed to
On cradle 31, when striker 32 is pressed into by external force, microswitch 34 contravention roller and striker 32 side contact of incline plane, fine motion
Switch 34 rollers by compression switch triggering, connect charger and float electrode module 8, make the charging mechanism 1 can be to docking mechanism 2
Power supply.Striker 32 is positioned at cradle 3 back-end location, and in non-mated condition, switch cuts out, float electrode 84 will not have voltage.
During docking, first and charging docking mechanism 2 the fixed electrode film 222 of float electrode 84 contacts, and then gathering sill just can compress striker 32,
Triggering microswitch 34 to power on to float electrode 84, prevent from producing in docking operation spark, non-charged state bottom electrode does not has voltage,
Safety is higher.
Docking mechanism 2 is made up of, as shown in Figure 6 gathering sill 21 and fixed electrode box 22.Towards the shape of charging lump 3 inside gathering sill 21
Shape outside shape and charging lump 3 adapts.
Fixed electrode box 22 includes fixed electrode film 222, is positioned at the gathering sill 21 medial surface towards charging lump 3, makes charging dock
Time, the position of fixed electrode film 222 position correspondence float electrode 84.In specific embodiment, fixed electrode box 22 is by fixing electricity
Pole cassette holder 221, fixed electrode film 222 and fixed electrode lid 223 form, and fixed electrode film 222 is installed to fixed electrode box
On seat 221, being compressed by fixed electrode lid 223, fixed electrode film 222 is exposed at fixed electrode box 22 surface, fixing electricity
Pole cassette holder 221 and fixed electrode lid 223 are insulant.For symmetrical float electrode 84, fixed electrode box 22 is symmetrical
Being installed on gathering sill 21, meanwhile, the position of the corresponding float electrode 84 that fixed electrode film 222 exposed face is symmetrical, during docking
Can be energized.
Claims (10)
1. a charging system, it is characterised in that include that charging mechanism and docking mechanism, described charging mechanism include charging lump and support
Plate, by the installation of fixing axle on the supporting plate, charging lump can be around solid fixed-axis rotation in the front end of charging lump；Install in described gripper shoe
One or more extension springs, extension spring one end connects gripper shoe, and the other end connects charging lump rear end；Described charging lump includes two difference
The float electrode being connected with charger both positive and negative polarity；Described docking mechanism is arranged on the moveable platform needing charging, and it is installed
There is the fixed electrode film corresponding with float electrode.
2. charging system as claimed in claim 1, it is characterised in that described extension spring is two, and one end of two extension springs is fixed respectively
In gripper shoe both sides, the other end of two extension springs is connected with charging lump rear end respectively, makes charging lump and two extension springs be formed movable
Hub-and-spoke configuration.
3. charging system as claimed in claim 1, it is characterised in that the front end of described charging lump has oblique angle, the rear end of charging lump
Wider than front end.
4. charging system as claimed in claim 1, it is characterised in that described charging lump includes cradle and float electrode module, lives
Moving electrode module is arranged on cradle, and float electrode module includes that substrate, float electrode are symmetricly set on substrate both sides, movable
The middle part outwardly convex of electrode stretches out cradle.
5. charging system as claimed in claim 4, it is characterised in that described float electrode module also includes electrode spring, substrate
The left and right sides is arranged with electrode gathering sill, and two electrode gathering sills have opening at respectively, and the middle part of float electrode is protruding from opening
Stretching out at Kou outside cradle, two ends buckle into electrode gathering sill opening, and electrode spring one end is fixed on bottom electrode gathering sill, another
End supports float electrode.
6. charging system as claimed in claim 5, it is characterised in that described float electrode module also include being arranged on electrode spring with
Guide plate between float electrode；Guide plate length is more than electrode gathering sill Opening length, and guide plate is connected on electrode by upright post sleeve
Driving electrode spring to do stretching motion in spring, strut length is less than the length of electrode spring non-compressed state.
7. charging system as claimed in claim 4, it is characterised in that described charging lump also includes striker and microswitch, flexible lamp
Pole is located close to charging lump front position, and striker is located close to charging lump back-end location, and the outwardly cradle of described striker can
In cradle, do the most outside stretching motion, during striker inward, contact microswitch contravention roller, trigger fine motion and open
Close and connect charger and float electrode module.
8. charging system as claimed in claim 7, it is characterised in that described cradle also includes striker gathering sill, striker gathering sill
Firing pin spring is installed in bottom, and striker one end is pressed into cradle along striker gathering sill, and the other end protrudes cradle from striker guiding slot port.
9. charging system as claimed in claim 1, it is characterised in that described docking mechanism includes that gathering sill, fixed electrode film are fixed
Inside gathering sill, gathering sill adapts towards the shape outside shape and the charging lump of charging lump.
10. charging system as claimed in claim 9, it is characterised in that the rear end of described charging lump is sector, its arc surface curvature half
Footpath is more than docking mechanism gathering sill front end radius of curvature.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620240739.4U CN205489695U (en) | 2016-03-25 | 2016-03-25 | Electricity charging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620240739.4U CN205489695U (en) | 2016-03-25 | 2016-03-25 | Electricity charging system |
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| Publication Number | Publication Date |
|---|---|
| CN205489695U true CN205489695U (en) | 2016-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620240739.4U Active CN205489695U (en) | 2016-03-25 | 2016-03-25 | Electricity charging system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105634079A (en) * | 2016-03-25 | 2016-06-01 | 杭州南江机器人股份有限公司 | Charging system |
| CN109391014A (en) * | 2018-12-20 | 2019-02-26 | 福建（泉州）哈工大工程技术研究院 | A kind of mobile robot recharging device |
| CN113417608A (en) * | 2021-08-24 | 2021-09-21 | 山东高原油气装备有限公司 | Oil-submersible screw pump equipment convenient for tripping operation and operation method thereof |
-
2016
- 2016-03-25 CN CN201620240739.4U patent/CN205489695U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105634079A (en) * | 2016-03-25 | 2016-06-01 | 杭州南江机器人股份有限公司 | Charging system |
| CN105634079B (en) * | 2016-03-25 | 2018-05-11 | 杭州南江机器人股份有限公司 | Charging system |
| CN109391014A (en) * | 2018-12-20 | 2019-02-26 | 福建（泉州）哈工大工程技术研究院 | A kind of mobile robot recharging device |
| CN109391014B (en) * | 2018-12-20 | 2023-09-08 | 福建（泉州）哈工大工程技术研究院 | Autonomous charging device of mobile robot |
| CN113417608A (en) * | 2021-08-24 | 2021-09-21 | 山东高原油气装备有限公司 | Oil-submersible screw pump equipment convenient for tripping operation and operation method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220414 Address after: Room 101-110, 1st floor, building 8, Jinsheng Industrial Park, 611 Dongguan Road, Binjiang District, Hangzhou, Zhejiang 310000 Patentee after: HANGZHOU IPLUS TECH CO.,LTD. Address before: 310051 229, room 1, No. 475 Changhe Road, Changhe street, Binjiang District, Hangzhou, Zhejiang Patentee before: HANGZHOU NANJIANG ROBOTICS Co.,Ltd. |