CN206185887U - Automatically, dock charging system based on arm - Google Patents
Automatically, dock charging system based on arm Download PDFInfo
- Publication number
- CN206185887U CN206185887U CN201621274508.1U CN201621274508U CN206185887U CN 206185887 U CN206185887 U CN 206185887U CN 201621274508 U CN201621274508 U CN 201621274508U CN 206185887 U CN206185887 U CN 206185887U
- Authority
- CN
- China
- Prior art keywords
- charging
- mechanical arm
- stepper motor
- cradle
- system based
- 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.)
- Expired - Fee Related
Links
Abstract
The utility model discloses an automatically, dock charging system based on arm, including electronic linear guide, arm, charging seat support and electrical platform, electronic linear guide's left end is equipped with a step motor, and electronic linear guide's inner chamber middle part is equipped with the slider, and the side from the top down of quarter butt installs vision sensor, infrared distance measuring sensor and microprocessor in proper order, the top of charging seat support is equipped with the charging seat, and the bottom of charging seat side is equipped with and connects the corresponding power plug in the two poles of the earth with charging, the top of charging seat is equipped with the slotted hole, and is equipped with the shell fragment in the slotted hole. An automatically, dock charging system based on arm reduced the cost, signal interference can not take place between charging station and the charging station moreover yet, improve work efficiency, convenient to use automatically charges.
Description
Technical field
The utility model is related to the automatic butt charging system field based on mechanical arm, specially a kind of based on mechanical arm
Automatic butt charging system.
Background technology
Existing automatic butt charging device, majority uses ultrasonic wave or infrared ray and charging station as sweeping robot
Two-way communication is carried out, after robot is aligned with charging station, charging station is directly driven towards, makes the contact with robot and charging station
Connection, but the mode of this dependence intercommunication docking need can transmission signal charging station, charging station is in itself one multiple
Miscellaneous mechanism, can increase many costs when multiple placements are needed, and robot and docking system are an entirety, docking
System needs to transfer robot, accesses the control system of robot movement, and system loses flexibility so that it is difficult to right
The existing automatic charging equipment that is unable to is upgraded.And this docking charging system docking efficiency is low, to the structure of charging station more
It is extremely complex, it is necessary to arrange that the cost of multiple charging stations is big in than larger space, and between charging station and charging station
Signal interference can also occur.
Utility model content
1. problem to be solved in the utility model
The purpose of this utility model is to provide a kind of automatic butt charging system based on mechanical arm, to solve the above-mentioned back of the body
The problem proposed in scape technology, system flexibility is not enough so that it is difficult to the existing automatic charging equipment that is unable to is upgraded, and
This docking charging system docking efficiency is low, and the structure to charging station is even more extremely complex, it is necessary to cloth in than larger space
The cost for putting multiple charging stations is big, and signal interference can also occur between charging station and charging station.
2. technical scheme
To achieve the above object, the utility model provides following technical scheme：A kind of automatic butt based on mechanical arm is filled
Electric system, including electric linear guide rail, mechanical arm, charging seat support and electric platform, the top of the electric platform is provided with electricity
Dynamic line slideway, the left end of the electric linear guide rail is provided with the first stepper motor, and the inner chamber middle part of electric linear guide rail sets
The top for having sliding block, the sliding block is provided with quarter butt, and the side of quarter butt is sequentially installed with vision sensor, infrared survey from top to bottom
Away from sensor and microprocessor, the lower end side of the quarter butt is provided with rotating shaft, and rotating shaft and is provided with the second stepper motor, described turn
Axle is provided with mechanical arm, and the top of the mechanical arm is provided with charging connector the two poles of the earth, and the microprocessor is respectively by wire and the
One stepper motor, vision sensor, infrared distance sensor, charging connector the two poles of the earth, electric platform and the second stepper motor are electrical
Connection, and the first stepper motor is respectively by wire and sliding block and mechanical arm electric connection；
The top of the charging seat support is provided with cradle, and the bottom side of cradle is provided with and charging connector the two poles of the earth phase
Corresponding attaching plug, the top of the cradle is provided with and shell fragment is provided with slotted eye, and slotted eye, the inter-process of the cradle
Device is electrically connected with shell fragment and attaching plug respectively by wire.
Preferably, the side of described cradle is provided with the first color lump and the second color lump, and cradle internal processor
It is electrically connected with the first color lump and the second color lump respectively by wire, the first color lump and the second color lump are available for vision sensor 7 to enter
Row data acquisition, determines the exact position of cradle, and being easy to be exactly found cradle carries out charging operations, and worked convenience is carried
High workload efficiency.
Preferably, described vision sensor is PixyCMUcam vision sensors, can accurately read bat in camera
The coordinate data of designated color object and pixel size data in picture are taken the photograph, is easy to lookup charging station to be charged.
Preferably, the displacement of described sliding block be 200 millimeters to 800 millimeters between, i.e., in larger adjustable range
It is interior, ensure that vision sensor is operated in reliable working range again.
Preferably, the first described stepper motor is 57 stepper motors, and the second stepper motor is 48 stepper motors, can be expired
Foot straps dynamic load rotates required torque, and not waste of resource.
3. beneficial effect
Compared with prior art, the beneficial effects of the utility model are：（1）Described is a kind of automatic right based on mechanical arm
Connect charging system and charging is docked with the cradle in charging station by mechanical arm, the structure to charging station is even more very simple, only
Have pure mechanical structure, this in than larger space, it is necessary to arrange multiple charging stations in the case of be significantly reduced
Signal interference will not also occur between cost, and charging station and charging station.
（2）A kind of described automatic butt charging system based on mechanical arm by microprocessor and vision sensor with it is red
Outer distance measuring sensor makes mechanical arm charge docking more accurately, can be docked with 360 degree of rotating mechanical arms by electric platform
Operation, improves operating efficiency, and automatic charging is easy to use.
（3）A kind of described automatic butt charging system based on mechanical arm is an independent device, can be to existing
Mobile device directly upgraded, without access mobile device master controller in, this mode can give smart machine band
Carry out greater flexibility.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is electric linear guide rail structure schematic diagram of the present utility model；
Fig. 3 is workflow diagram of the present utility model.
In figure：1st, electric linear guide rail, 2, microprocessor, 3, sliding block, the 4, first stepper motor, 5, quarter butt, 6, vision passes
Sensor, 7, infrared distance sensor, 8, rotating shaft, 9, mechanical arm, the 10, second stepper motor, 11, electric platform, 12, charging connector
The two poles of the earth, 13, charging seat support, 14, cradle, 15, slotted eye, 16, shell fragment, the 17, first color lump, the 18, second color lump, 19, power supply
Plug.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of the utility model protection.
Fig. 1-3 are referred to, the utility model provides a kind of technical scheme：A kind of automatic butt Charging based on mechanical arm
System, including electric linear guide rail 1, mechanical arm 9, charging seat support 13 and electric platform 11, the top of the electric platform 11 sets
There is an electric linear guide rail 1, the left end of the electric linear guide rail 1 is provided with the first stepper motor 4, and electric linear guide rail 1 is interior
Chamber middle part is provided with sliding block 3, and the top of the sliding block 3 is provided with quarter butt 5, and the side of quarter butt 5 is sequentially installed with vision from top to bottom
Sensor 6, infrared distance sensor 7 and microprocessor 2, the lower end side of the quarter butt 5 are provided with rotating shaft 8, and rotating shaft 8 and are provided with
Second stepper motor 10, the rotating shaft 8 is provided with mechanical arm 9, and the top of the mechanical arm 9 is provided with charging connector the two poles of the earth 12, institute
State microprocessor 2 and pass through wire and the first stepper motor 4, vision sensor 6, infrared distance sensor 7, charging connector two respectively
Pole 12, the stepper motor 10 of electric platform 11 and second are electrically connected with, and the first stepper motor 4 respectively by wire and sliding block 3 and
Mechanical arm 9 is electrically connected with；
The top of the charging seat support 13 is provided with cradle 14, and the bottom side of cradle 14 is provided with and charging connector
The corresponding attaching plug 19 in the two poles of the earth 12, the top of the cradle 14 is provided with slotted eye 15, and slotted eye 15 and is provided with shell fragment 16, institute
The internal processor for stating cradle 14 is electrical with shell fragment 16 and attaching plug 19 respectively by wire, and the side of cradle 14 is provided with
First color lump 17 and the second color lump 18, and cradle 14 internal processor by wire respectively with the first color lump 17 and the second color
Block 18 is electrically connected with, and vision sensor 6 is PixyCMUcam5 vision sensors, and the displacement of sliding block 3 is 200 millimeters to 800
Between millimeter, the first stepper motor 4 is 57 stepper motors, and the second stepper motor 10 is 48 stepper motors.
Operation principle：A kind of described automatic butt charging system based on mechanical arm operationally, the work of microprocessor 2
Make, vision sensor 6 and infrared distance sensor 8 work, vision sensor 7 uses a PixyCMUcam5 vision sensor
6, the coordinate data and pixel size data of designated color object in shooting picture in camera can be read,
PixyCMUcam5 vision sensors 6 are more suitable for a kind of automatic butt charging system based on mechanical arm, vision sensor 6
Microprocessor 2 is sent to 7 information for collecting of infrared distance sensor, the STM32F103 single-chip microcomputers of microprocessor 2 are single
The data sampling and processing program to vision sensor 6 is contained in piece machine, is contained to electric platform 11, mechanical arm 9 and electronic
The control program of line slideway 1, is contained to mechanical arm 9 and charging station orientation, the computational algorithm of distance, and wherein algorithm is relied on and regarded
Feel the data of the collection of sensor 7 and the size of mechanical arm 9, carry out Pythagorean theorem computing and cosine law computing, microprocessor 2 leads to
The steering wheel crossed in polygon control survey electric platform 11, makes electric platform 11 rotate the cradle 14 for finding docking, and control first improves
Motor 4 is slided with movable slider 3 on electric linear guide rail 1, so that driving mechanical arm 9 is moved forward, now the second progress motor
10 work drive rotating shaft 8 to go to, and now mechanical arm 9 is adjusted height and angle as needed, the charging on mechanical arm 9
Head the two poles of the earth 12 are plugged in slotted eye 15, and charging connector the two poles of the earth 12 contact with the shell fragment 16 in slotted eye 15, so that mechanical arm 9 is filled
Electricity, the color lump 18 of corresponding first color lump 17 and second works.
The above, only the utility model preferably specific embodiment, but protection domain of the present utility model is not
Be confined to this, any one skilled in the art in the technical scope that the utility model is disclosed, according to this practicality
New technical scheme and its improvement design is subject to equivalent or change, should all cover in protection domain of the present utility model
It is interior.
Claims (5)
1. a kind of automatic butt charging system based on mechanical arm, including electric linear guide rail（1）, mechanical arm（9）, cradle branch
Frame（13）And electric platform（11）, it is characterised in that：The electric platform（11）Top be provided with electric linear guide rail（1）, institute
State electric linear guide rail（1）Left end be provided with the first stepper motor（4）, and electric linear guide rail（1）Inner chamber middle part be provided with cunning
Block（3）, the sliding block（3）Top be provided with quarter butt（5）, and quarter butt（5）Side be sequentially installed with visual sensing from top to bottom
Device（6）, infrared distance sensor（7）And microprocessor（2）, the quarter butt（5）Lower end side be provided with rotating shaft（8）, and rotating shaft
（8）Inside it is provided with the second stepper motor（10）, the rotating shaft（8）It is provided with mechanical arm（9）, the mechanical arm（9）Top be provided with
Charging connector the two poles of the earth（12）, the microprocessor（2）Pass through wire and the first stepper motor respectively（4）, vision sensor（6）、
Infrared distance sensor（7）, charging connector the two poles of the earth（12）, electric platform（11）With the second stepper motor（10）It is electrically connected with, and
First stepper motor（4）Pass through wire and sliding block respectively（3）And mechanical arm（9）It is electrically connected with；
The charging seat support（13）Top be provided with cradle（14）, and cradle（14）Bottom side be provided with and charging
Head the two poles of the earth（12）Corresponding attaching plug（19）, the cradle（14）Top be provided with slotted eye（15）, and slotted eye（15）It is interior
It is provided with shell fragment（16）, the cradle（14）Internal processor by wire respectively with shell fragment（16）And attaching plug（19）Electricity
Property connection.
2. a kind of automatic butt charging system based on mechanical arm according to claim 1, it is characterised in that：Described fills
Electric seat（14）Side be provided with the first color lump（17）With the second color lump（18）, and cradle（14）Internal processor pass through wire
Respectively with the first color lump（17）With the second color lump（18）It is electrically connected with.
3. a kind of automatic butt charging system based on mechanical arm according to claim 1, it is characterised in that：Described regards
Feel sensor（6）It is PixyCMUcam5 vision sensors.
4. a kind of automatic butt charging system based on mechanical arm according to claim 1, it is characterised in that：Described cunning
Block（3）Displacement between 200 millimeters to 800 millimeters.
5. a kind of automatic butt charging system based on mechanical arm according to claim 1, it is characterised in that：Described
One stepper motor（4）It is 57 stepper motors, and the second stepper motor（10）It is 48 stepper motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621274508.1U CN206185887U (en) | 2016-11-25 | 2016-11-25 | Automatically, dock charging system based on arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621274508.1U CN206185887U (en) | 2016-11-25 | 2016-11-25 | Automatically, dock charging system based on arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206185887U true CN206185887U (en) | 2017-05-24 |
Family
ID=58725098
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621274508.1U Expired - Fee Related CN206185887U (en) | 2016-11-25 | 2016-11-25 | Automatically, dock charging system based on arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206185887U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107302166A (en) * | 2017-06-17 | 2017-10-27 | 修玉辉 | Harbour refrigerating box is powered automatic plug system |
| CN108448674A (en) * | 2018-03-30 | 2018-08-24 | 五邑大学 | A kind of automatic charging system and method based on mechanical arm |
| CN108621826A (en) * | 2018-03-26 | 2018-10-09 | 浙江大学 | A kind of more charging interface automatic charge devices |
| CN111614146A (en) * | 2019-02-22 | 2020-09-01 | 江苏美的清洁电器股份有限公司 | Charging device and method |
| CN111618835A (en) * | 2020-06-12 | 2020-09-04 | 山东科曼智能科技有限公司 | Intelligent charging robot system for port shore power and operation method |
-
2016
- 2016-11-25 CN CN201621274508.1U patent/CN206185887U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107302166A (en) * | 2017-06-17 | 2017-10-27 | 修玉辉 | Harbour refrigerating box is powered automatic plug system |
| CN107302166B (en) * | 2017-06-17 | 2019-04-23 | 修玉辉 | Harbour refrigerating box power supply automatic plug system |
| CN108621826A (en) * | 2018-03-26 | 2018-10-09 | 浙江大学 | A kind of more charging interface automatic charge devices |
| CN108621826B (en) * | 2018-03-26 | 2020-07-07 | 浙江大学 | Automatic charging device with multiple charging interfaces |
| CN108448674A (en) * | 2018-03-30 | 2018-08-24 | 五邑大学 | A kind of automatic charging system and method based on mechanical arm |
| CN111614146A (en) * | 2019-02-22 | 2020-09-01 | 江苏美的清洁电器股份有限公司 | Charging device and method |
| CN111618835A (en) * | 2020-06-12 | 2020-09-04 | 山东科曼智能科技有限公司 | Intelligent charging robot system for port shore power and operation method |
| CN111618835B (en) * | 2020-06-12 | 2021-11-26 | 山东科曼智能科技有限公司 | Intelligent charging robot system for port shore power and operation method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206185887U (en) | Automatically, dock charging system based on arm | |
| CN205736996U (en) | A kind of electric motor car automatic charging mechanical arm | |
| CN103862457B (en) | Service robot with visual system | |
| CN206883638U (en) | Robot control system and robot | |
| CN107818693A (en) | A kind of berth lock that can be navigated under without network condition | |
| CN206200973U (en) | A kind of intelligent barrier avoiding detects robot | |
| CN107414783A (en) | A kind of modularization wheeled pipe robot | |
| CN109484214A (en) | A kind of new energy vehicle charging robot | |
| CN102176626A (en) | Automatic battery replacement device for indoor security-maintaining robot | |
| CN206302499U (en) | Based Intelligent Control dollying monitoring system | |
| CN106909158A (en) | A kind of all-around mobile environment VR image detection cars | |
| CN206195908U (en) | Multi -functional intelligent camera | |
| CN205992176U (en) | A kind of scavenging machine of remote control | |
| CN109828563A (en) | A kind of robot system for inspection | |
| CN203993892U (en) | A kind of intelligent robot structure | |
| CN205615602U (en) | Spherical pipeline detection robot | |
| CN205343106U (en) | General base of service robot | |
| CN207759676U (en) | A kind of small-sized household transfer robot | |
| CN106790847A (en) | Movable-type intelligent handset mounting | |
| CN202257269U (en) | Wide-angle type binocular vision recognition and positioning device for service robot | |
| CN109227546A (en) | A kind of wired home robot system that can remotely monitor based on P2P | |
| CN205968985U (en) | Portable investigation robot based on intelligent Mobile Terminal control | |
| CN210444407U (en) | Novel wheel-leg hybrid unmanned inspection device | |
| CN107817405A (en) | A kind of electronic unmanned plane real-time energy efficiency data acquisition and track record device | |
| CN204054037U (en) | A kind of service robot with vision system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170524 Termination date: 20171125 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |