CN207475219U - The automatic charging equipment of mobile robot - Google Patents
The automatic charging equipment of mobile robot Download PDFInfo
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- CN207475219U CN207475219U CN201721207282.8U CN201721207282U CN207475219U CN 207475219 U CN207475219 U CN 207475219U CN 201721207282 U CN201721207282 U CN 201721207282U CN 207475219 U CN207475219 U CN 207475219U
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- mobile robot
- robot
- automatic charging
- conductive head
- guideway
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Abstract
The utility model provides a kind of automatic charging equipment of mobile robot, the equipment includes mobile robot, conductive head, flexible adaptation mechanism, exposure mechanism, power conversion module, controller, control device, robot detection device, the live part of wherein mobile robot is contacted with conductive head, conductive head is located at flexible adapt in mechanism, flexibility adapts to mechanism and is located in exposure mechanism, controller is located at the side of exposure mechanism, and power conversion module, robot detection device and control device pass through cable connection with controller.The utility model can be applied to robot automatic charging, and success rate is high, adaptable, effectively reduces cost of labor.
Description
Technical field
The utility model is related to robot fields, and in particular, to a kind of automatic charging equipment of mobile robot.
Background technology
Since 21 century, with the marked improvement of artificial intelligence and sensor technology, Autonomous Mobile Robot amusement,
The fields such as housekeeping, public arena all play an increasingly important role.However it is limited by battery capacity, mobile robot
Stream time often there was only several hours, the effect of long-time utonomous working is not achieved, need people it is manual participate in be
It charges, and affects its working efficiency, also increases artificial burden.Therefore it is desirable to mobile robots to have recharging
Ability.
Mobile robot battery mainly has automatic charging currently on the market, manual powered, replaces three kinds of battery.Wherein manually
Charging usually requires people and charging head is inserted into robot charge port, replaces battery and is generally also required to manually participate in, and need standard
Standby more battery backups, and automatic charging technology is the important charging technique route of mobile robot development.
A kind of charging modes of non-conductive formula, Bu Guoyou are described in the United States Patent (USP) of Patent No. US20040201361
It is higher in the required distance for charging head and charging pile, so the same design charging head of a set of flexibility, but the program
Middle conductive head moves together to be whole, thus can activity degree of freedom not as good as the utility model it is more, in addition, due to conductive head not
With the mechanism moved forward and backward, the status requirement stopped to robot is higher.
The United States Patent (USP) of Patent No. US6859010 provides a kind of charging system for sweeping robot, similarly
The system charging mechanism does not have stretching motion, more demanding to robot stop position.When participating in work for multirobot,
Only rely on infrared signal can not judge locate robot whether in place, can not also confirm the information such as the number of robot, this practicality
Scanner is increased in novel on charging pile, the number and whether in place of robot can be effectively judged, then open and fill again
Power supply, securely and reliably.
The Chinese patent of Patent No. CN201611014436 provides a kind of wheeled robot automatic charge device, contains
Whether the battery capacity that detection module can be detected in robot is full of, control module can power conversion module in robot
Battery charging, devise two charging electrode structures, charging head is easily contacted with cradle when robot charges, to robot
Alignment precision it is of less demanding, reduce control difficulty.
The Chinese patent of Patent No. CN201610935438 discloses a kind of robot based on automatic charging and charging
Automatic positioning method between stake carries out the power supply of robot electric power detection, and will detection including the use of Power Management Unit
Electricity and the minimum amount of power of setting compare, when charging, positions robot using bluetooth module.It charges in utility model
Stake there is no detection robot whether in place, and control electricity export ability, while to robot in place after positioning accuracy
It is more demanding.
Automatic charging equipment is needed to have to robot charge position serious forgiveness height, and robot can be numbered and be judged,
Whether robot is judged in place, output electricity is controllable, the features such as charging success rate height.
Utility model content
For the defects in the prior art, the purpose of this utility model is to provide a kind of automatic charging of mobile robot and sets
It is standby.
One side according to the present utility model provides a kind of automatic charging equipment of mobile robot, which is characterized in that
It detects and sets including mobile robot, conductive head, flexible mechanism, exposure mechanism, power conversion module, controller, the robot of adapting to
Standby, the live part of wherein mobile robot is contacted with conductive head, and conductive head is located in flexible adaptation mechanism, and flexibility adapts to mechanism
In exposure mechanism, controller is located at the side of exposure mechanism, and power conversion module, robot detection device are and controller
Pass through cable connection.
Preferably, the robot detection device be dimensional code scanner or one-dimension code scanner or infrared detection equipment or
Laser detection equipment.
Preferably, the flexible mechanism that adapts to includes elastic element, the first guideway, the second guideway, fixed plate,
Wherein conductive head elasticity of compression device, elastic element can provide lasting pressure to conduction backward after mobile robot is touched
Head, conductive head are moved along the first guideway, the second guideway, and the first guideway, the second guideway are all fixed on
In fixed plate, elastic element is located between two fixed plates.
Preferably, the exposure mechanism includes stretching out power device, guide rail, locking mechanism, flexible restoring organ, stretches out dynamic
Power device end is connect with fixed plate, and guide rail is connect for guiding mechanism and with fixed plate, and locking mechanism, which is located at, stretches out power device
Lower section, locking mechanism stretches out when exposure mechanism is retracted, and hooks fixed plate；It is dynamic with stretching out that flexible restoring organ is located at fixed plate
Between power device, flexible restoring organ provides thrust when exposure mechanism is stretched out, while exposure mechanism is also made to keep certain flexibility.
Preferably, the stretching power device be electromagnet or linear motor or cylinder or ball-screw or rack-and-pinion,
Belt.
Preferably, the power conversion module includes 220V can be converted into the transformer and relay of direct current 48V, transformation
Device is connected with relay.
Compared with prior art, the utility model has following advantageous effect：One, it is suitable using exposure mechanism and flexibility
Mechanism is answered, it is high to robot charge position serious forgiveness；Two, by robot detection device, robot can be numbered and judged,
Whether robot is judged in place, prevents the maloperation in the case of no robot, securely and reliably, and is able to record
Robot charge information；Three, output electricity is controllable, and electricity output is controlled by controller and control device, is charged to
Power is high.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon：
Fig. 1 is the device overall structure diagram of the utility model.
Fig. 2 is conductive head part and flexible adaptation mechanism detailed construction schematic diagram.
Fig. 3 is exposure mechanism schematic diagram.
Fig. 4 is utility model works flow and method schematic diagram.
In figure：Mobile robot 1, conductive head 2, flexibility adapt to mechanism 3, exposure mechanism 4, power conversion module 5, control
Device 6, control device 7, robot detection device 8, elastic element 301, the first guideway 302, the second guideway 303, Gu
Fixed board 304 stretches out power device 401, guide rail 402, locking mechanism 403, flexible restoring organ 404.
Specific embodiment
The utility model is described in detail with reference to specific embodiment.Following embodiment will be helpful to this field
Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that ability
For the those of ordinary skill in domain, without departing from the concept of the premise utility, various modifications and improvements can be made.
These belong to the scope of protection of the utility model.
As shown in Figure 1, the automatic charging equipment of the utility model mobile robot include mobile robot 1, conductive head 2,
Flexibility adapts to mechanism 3, exposure mechanism 4, power conversion module 5, controller 6, wherein robot detection device 8, mobile robot
1 live part is contacted with conductive head 2, and conductive head 2 is located in flexible adaptation mechanism 3, and flexibility adapts to mechanism 3 and is located at stretching machine
On structure 4, controller 6 is located at the side of exposure mechanism 4, and power conversion module 5, robot detection device 8 pass through with controller 6
Cable connection.Controller 6 can also be connect with a control device 7.
Power conversion module 5 includes 220V can be converted into the transformer and relay of direct current 48V, transformer and relay
Connection, can be converted into alternating current the available charge power supply of battery, and power conversion module can be exported only in the case that loaded
Electric current.
Controller 6 can select PLC or one-chip computer module, for handling sensor signal and realizing charging system
Control logic.
Control device 7 includes multiple relays, wire connection terminal, switch and diode, it is therefore an objective to perform the control of controller
Instruction controls the input and output of electric current and signal.
Robot detection device 8 can be dimensional code scanner or one-dimension code scanner or infrared detection equipment or laser inspection
Measurement equipment, for judging whether robot in place and judges the number of robot.
Conductive head includes but not limited to spherical surface, plane and the conical surface with the shape that the live part of mobile robot 1 contacts,
The charge contact shape of spherical surface can ensure that when robot and charging pile are not parallel live part can also be kept connecing with robot
It touches.
The material of conductive head includes but not limited to copper, reduces cost in this way.
The global shape of conductive head includes but not limited to cylindrical shape, when conductive head rotates, does not influence charging effect
Fruit.
As shown in Fig. 2, flexible in the utility model adapt to mechanism 3 include elastic element 301, the first guideway 302,
Second guideway 303, fixed plate 304, wherein conductive head 2 can elasticity of compression devices backward after mobile robot 1 is touched
301, elastic element 301 provides lasting pressure to conductive head 2, and conductive head 2 is along the first guideway 302, the second guiding axis
303 movement of set, the first guideway 302, the second guideway 303 are all fixed in fixed plate 304, and elastic element 301 is located at
Between two fixed plates 304.The mechanism can ensure that charging mechanism can also contact when robot stop position is equipped with certain deviation
To robot, while certain pressure is generated, reduce contact resistance.Elastic element 301 can be spring or rubber or plastics or
Elastic string or pneumatic spring or hydraulic spring grease cup etc..
As shown in figure 3, the exposure mechanism 4 in the utility model includes stretching out power device 401, guide rail 402, locking mechanism
403rd, flexible restoring organ 404, wherein it can be electromagnet or linear motor or cylinder or ball-screw to stretch out power device 401
Or rack-and-pinion, belt etc., it stretches out 401 end of power device and is connect with fixed plate 304, guide rail 402 is for guiding mechanism and with consolidating
Fixed board 304 connects, and locking mechanism 403 is located at the lower section for stretching out power device 401, and locking mechanism 403 is when exposure mechanism is retracted
It stretches out, hooks fixed plate 304, flexible restoring organ 404 is located at fixed plate 304 and stretches out between power device 401, and elasticity is multiple
Position mechanism 404 provides thrust when exposure mechanism is stretched out, while also makes exposure mechanism that certain flexibility be kept to be withdrawn when charging mechanism
And after powering off, locking mechanism, which can lock charging mechanism, does not allow it to stretch out.
Locking mechanism 403 can be an electromagnet or small machine, after charging mechanism is withdrawn and is powered off, locking mechanism
Charging mechanism, which can be lockked, does not allow it to stretch out.
Flexible restoring organ 404 includes the spring outside guide rail and guide rail, and when charging mechanism is retracted, spring has generation
Toward the elastic force of extrapolation.
Since localization for Mobile Robot precision is usually in Centimeter Level, stop position is all less identical during charging every time,
The above-mentioned flexible mechanism 3 that adapts to can be fault-tolerant to robot stop position progress in multiple degree of freedom.It is adaptable, entirely
Charging process full-automation is completed, and without manual intervention, effectively reduces cost of labor.
The utility model can be applied to robot automatic charging, and success rate is high, adaptable, effectively reduce manually into
This.
As shown in figure 4, the application method of the automatic charging equipment of the utility model mobile robot includes the following steps：
Step 1, mobile robot stop after being moved to charge position；
In place simultaneously whether step 2, the coding in robot detection device scanning mobile robot determine mobile robot
Recorder people numbers；
Step 3, robot detection device transfer information to controller；
Step 4, controller control exposure mechanism are stretched out；
Conductive head is touched mobile robot by step 5, exposure mechanism；
Step 6, flexibility, which adapts to mechanism, ensures that conductive head is completely attached to mobile robot；
Step 7, controller open control device, and conductive head is made to generate voltage；
After mobile robot detects voltage, mobile robot power supply is connected in step 8, and charging starts；
Step 9, after battery is full of, mobile robot is cut off the power；
Step 10, control device detect notification controller after no voltage；
Step 11, controller deenergization simultaneously withdraw exposure mechanism；
Step 12, mobile robot leave charge position.
The utility model is high to robot charge position serious forgiveness using exposure mechanism and flexible adaptation mechanism；Pass through
Robot detection device can number robot and judge whether robot is judged in place, is prevented in no machine
Maloperation in the case of people securely and reliably, and is able to record robot charge information；It is controllable to export electricity, passes through controller
Electricity output is controlled with control device, charging success rate is high.
Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims,
This has no effect on the substantive content of the utility model.
Claims (6)
1. the automatic charging equipment of a kind of mobile robot, which is characterized in that including mobile robot, conductive head, flexible adaptation
Mechanism, exposure mechanism, power conversion module, controller, robot detection device, wherein the live part of mobile robot is with leading
Dateline contacts, and conductive head is located in flexible adaptation mechanism, and flexibility adapts to mechanism and is located in exposure mechanism, and controller is located at stretching machine
The side of structure, power conversion module, robot detection device pass through cable connection with controller.
2. the automatic charging equipment of mobile robot according to claim 1, which is characterized in that the robot detection is set
Standby is dimensional code scanner or one-dimension code scanner or infrared detection equipment or laser detection equipment.
3. the automatic charging equipment of mobile robot according to claim 1, which is characterized in that the flexible adaptation mechanism
Including elastic element, the first guideway, the second guideway, fixed plate, wherein conductive head is after mobile robot is touched
Elasticity of compression device, elastic element lasting pressure can be provided to conductive head, conductive head is along the first guideway, second backward
Guideway moves, and the first guideway, the second guideway are all fixed in fixed plate, and elastic element is located at two fixed plates
Between.
4. the automatic charging equipment of mobile robot according to claim 3, which is characterized in that the exposure mechanism includes
Power device, guide rail, locking mechanism, flexible restoring organ are stretched out, power device end is stretched out and is connect with fixed plate, guide rail is leads
It is connect to mechanism and with fixed plate, locking mechanism is located at the lower section for stretching out power device, and locking mechanism is when exposure mechanism is retracted
It stretches out, hooks fixed plate；Flexible restoring organ is located at fixed plate and stretches out between power device, and flexible restoring organ is stretching out machine
Structure provides thrust when stretching out, while exposure mechanism is also made to keep certain flexibility.
5. the automatic charging equipment of mobile robot according to claim 4, which is characterized in that the stretching power device
It is electromagnet or linear motor or cylinder or ball-screw or rack-and-pinion, belt.
6. the automatic charging equipment of mobile robot according to claim 1, which is characterized in that the power conversion module
Transformer and relay including 220V can be converted into direct current 48V, transformer are connected with relay.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721207282.8U CN207475219U (en) | 2017-09-19 | 2017-09-19 | The automatic charging equipment of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721207282.8U CN207475219U (en) | 2017-09-19 | 2017-09-19 | The automatic charging equipment of mobile robot |
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| Publication Number | Publication Date |
|---|---|
| CN207475219U true CN207475219U (en) | 2018-06-08 |
Family
ID=62269391
Family Applications (1)
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| CN201721207282.8U Active CN207475219U (en) | 2017-09-19 | 2017-09-19 | The automatic charging equipment of mobile robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107591857A (en) * | 2017-09-19 | 2018-01-16 | 上海悦合自动化技术有限公司 | The automatic charging equipment and its application method of mobile robot |
| CN109249823A (en) * | 2018-10-12 | 2019-01-22 | 享奕自动化科技（上海）有限公司 | The flexible automatic charge device and automatic charging system of adaptive pose variation |
| CN109301591A (en) * | 2018-10-18 | 2019-02-01 | 蔚来汽车有限公司 | Charging interface guard assembly and electric car |
| CN109866641A (en) * | 2019-03-19 | 2019-06-11 | 上海电气集团股份有限公司 | A kind of full-automatic charging system of electric car and its working method |
| CN110323807A (en) * | 2019-07-30 | 2019-10-11 | 苏州博众机器人有限公司 | Robot charging unit |
| CN110989574A (en) * | 2019-11-08 | 2020-04-10 | 成都图灵时代科技有限公司 | Method for realizing automatic charging of mobile robot |
| WO2023019429A1 (en) * | 2021-08-17 | 2023-02-23 | 深圳市大疆创新科技有限公司 | Charging module, charging platform, and charging method |
-
2017
- 2017-09-19 CN CN201721207282.8U patent/CN207475219U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107591857A (en) * | 2017-09-19 | 2018-01-16 | 上海悦合自动化技术有限公司 | The automatic charging equipment and its application method of mobile robot |
| CN109249823A (en) * | 2018-10-12 | 2019-01-22 | 享奕自动化科技（上海）有限公司 | The flexible automatic charge device and automatic charging system of adaptive pose variation |
| CN109301591A (en) * | 2018-10-18 | 2019-02-01 | 蔚来汽车有限公司 | Charging interface guard assembly and electric car |
| CN109301591B (en) * | 2018-10-18 | 2020-10-23 | 蔚来(安徽)控股有限公司 | Interface protection component and electric automobile charge |
| CN109866641A (en) * | 2019-03-19 | 2019-06-11 | 上海电气集团股份有限公司 | A kind of full-automatic charging system of electric car and its working method |
| CN110323807A (en) * | 2019-07-30 | 2019-10-11 | 苏州博众机器人有限公司 | Robot charging unit |
| CN110323807B (en) * | 2019-07-30 | 2021-01-05 | 苏州博众机器人有限公司 | Charging device for robot |
| CN110989574A (en) * | 2019-11-08 | 2020-04-10 | 成都图灵时代科技有限公司 | Method for realizing automatic charging of mobile robot |
| WO2023019429A1 (en) * | 2021-08-17 | 2023-02-23 | 深圳市大疆创新科技有限公司 | Charging module, charging platform, and charging method |
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