CN207530587U - A kind of mobile robot charging unit - Google Patents
A kind of mobile robot charging unit Download PDFInfo
- Publication number
- CN207530587U CN207530587U CN201721690707.5U CN201721690707U CN207530587U CN 207530587 U CN207530587 U CN 207530587U CN 201721690707 U CN201721690707 U CN 201721690707U CN 207530587 U CN207530587 U CN 207530587U
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- electrode
- plug
- charging
- socket
- mobile robot
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Abstract
The utility model proposes a kind of mobile robot charging units,Including the charging plug device of installation on the ground and the charging socket device on robot body,The charging plug device includes plug electrode,One end is used to install the plug electrode installed part of plug electrode,Enable to the director element and vertically arranged pedestal support plate that plug electrode installed part realization level is moved forward and backward,Director element is mounted in pedestal support plate,Through-hole is offered in pedestal support plate,Director element passes across through-hole and level can swing in through-holes,The charging socket device includes electrode mounting box and horn mouth,Plug can enter socket by the collective effect of horn mouth and plug rotary freedom,Realize electrode docking,So as to increase the tolerance of electrode docking,Reduce requirement of the robot to navigation and positioning accuracy,The charging unit has simple in structure,The advantages that docking is reliable and big to navigation and positioning accuracy tolerance.
Description
Technical field
The utility model belongs to robot field, and in particular to a kind of mobile robot charging unit.
Background technology
With the attention of National Macroscopic strategy, the research of China's mobile robot comes into the period of unprecedented hot topic.Greatly
Multiple mobile robot's power supply is all by battery powered and is manual powered.Therefore, movement is realized by way of automatic charging
The charging of robot is an important directions of research in recent years.In the prior art, it is more for mobile robot automatic charging mode
Kind is various, has substantially met automatic charging function, but still has come with some shortcomings.
Such as Intelligent Mobile Robot disclosed in the utility model patent that number of patent application is CN202495798U is automatic
Charging mechanism, program charging are electrode slice to be driven to be inserted into cradle realization charging by being fixed on robot body telescopic rod.
But this scheme is very high to the requirement of the navigation and positioning accuracy of robot body, robot slightly wanders off the electrode of telescopic rod drive
Piece cannot succeed to be docked with cradle.And telescopic rod needs electric energy to provide for motor drive, increases the load of battery.
Such as a kind of mobile robot disclosed in the utility model patent that number of patent application is CN106374257A is autonomous
Charging unit, program charging unit include cradle and charging contact.The first elastic component spring in one side cradle
Amplitude of fluctuation is smaller, more demanding so as to reduce the tolerance of electrode docking when charging is docked to navigation and positioning accuracy.It is another
Aspect, charging contacts cannot contact in face well with charging contact when robot wanders off.
Utility model content
In view of prior art and device there are the defects of, the purpose of this utility model is to provide for a kind of robot charging dress
It puts, which has many advantages, such as that simple in structure, docking is reliable and big to navigation and positioning accuracy tolerance.
To achieve the above object, the technical solution adopted in the utility model is：A kind of mobile robot charging unit, including
Charging plug device on the ground and the charging socket device on robot body, the charging plug device are installed
The contact electrode of electrode and the charging socket device can charge, the charging plug device includes plug electricity
Pole, one end are used to install the plug electrode installed part of plug electrode, enable to the horizontal front and rear shifting of plug electrode installed part realization
Dynamic director element and vertically arranged pedestal support plate, the director element are mounted in the pedestal support plate, the bottom
Through-hole is offered on seat supports plate, the director element passes across the through-hole and level can swing in the through-hole,
The through-hole is used to limit its swing angle.
Preferably, the director element includes upper guide groove, lower guide channel, flange shaft, the first elastic component, pinboard and block,
The upper guide groove and lower guide channel are connected, and the other end positioned at the plug electrode installed part of the upper guide groove head end is consolidated with pinboard
Even, the pinboard is connect with one end of the flange shaft, and the flange shaft other end is with being installed in the upper guide groove tail end
Block connects, and first elastic component is sheathed in the flange shaft and is set between the pinboard and the block, described
Plug electrode installed part can make horizontal be moved forward and backward along the upper guide groove and lower guide channel.
Preferably, locating piece is installed on the director element, for being limited to the movement of plug electrode.
Preferably, the director element is respectively equipped with the second elastic component close to the both sides of pedestal support plate（13）, it is preferable that
Second elastic component is connected between the director element and pedestal support plate.
Preferably, the upper and lower ends of the director element are separately installed with vertical axis pin, and each axis pin is with consolidating
Corresponding L-type fixed plate in pedestal support plate is located to be connected.
Preferably, the charging socket device includes electrode mounting box and horn mouth, is provided in the electrode mounting box
The socket electrode contacted with the plug electrode face, it is close to be set on the electrode mounting box for small outer big and inner end in the horn mouth
On described charging plug device one end.
Preferably, several groups of socket electrode units, every group of socket electrode unit packet are provided in the charging socket device
Two socket electrodes being oppositely arranged are included, gap is equipped between two socket electrodes being oppositely arranged for being inserted into the plug electricity
Pole, side of each socket electrode far from the gap are connected with corresponding cushion block, and the cushion block is far from corresponding socket electricity
The side of pole is equipped with third elastic component.
Preferably, each cushion block is equipped with corresponding securing supports close to the side of corresponding socket electrode, described solid
Determine support element to be packed on the electrode mounting box, there are gaps between each cushion block and corresponding securing supports to cause cushion block
It moves up and down and squeezes third elastic component.
Preferably, the third elastic component is shrapnel or leaf spring.
Preferably, each plug electrode thickness is more than the gap between corresponding two socket electrodes.
Compared with prior art, advantage is the utility model：
（1）The kinetic energy of present apparatus charging is moved backward by robot to be provided, and is not needed to external kinetic energy, is saved energy.
（2）The present apparatus uses two-freedom plug device, is detached mounted on ground with robot.Wherein rotary freedom can
With realize rotary motion with improve electrode docking tolerance, flexible degree of freedom can realize plug electrode move forward and backward with absorb
The shock and realization plug electrode generated in robot charging motion process enters socket.
（3）Socket device includes horn mouth, and when there is less offset in robot, plug can pass through horn mouth and plug
The collective effect of rotary freedom enters socket, electrode docking is realized, so as to increase the tolerance of electrode docking, so as to reduce machine
Requirement of the device people to navigation and positioning accuracy.
（4）Socket device is mounted on robot body, and there are four socket electrodes.There are four have pretightning force to each electrode respectively
Shrapnel support, wherein each two electrode slice respective socket a electrode slice, plug electrode thickness is more than between socket electrode
Gap.During docking, the shrapnel of socket electrode on piece carries out compression plug electrode.So as to fulfill charging process plug and socket electricity
Reliable docking between pole.
Description of the drawings
Fig. 1 is a kind of mobile robot charging unit entirety graphics of the utility model.
Fig. 2 is a kind of two-freedom charging plug structure drawing of device of mobile robot of the utility model.
Fig. 3 is a kind of charging socket device structure chart of mobile robot of the utility model.
Fig. 4 is a kind of charging socket device B-B sectional views of mobile robot of the utility model.
Specific embodiment
With reference to the accompanying drawings of the specification, the utility model is further described.
As shown in Figs. 1-2, a kind of mobile robot charging unit, including installing charging plug device and peace on the ground
Charging socket device on robot body, the charging plug device is in contact with the charging socket device can be into
Row charging, the charging plug device include plug electrode 1, one end be used for install plug electrode 1 plug electrode installed part 2,
Enable to the director element and vertically arranged pedestal support plate 14 that 2 realization level of plug electrode installed part is moved forward and backward, institute
Director element is stated in the pedestal support plate 14, through-hole, the director element are offered in the pedestal support plate 14
It passes across the through-hole and level can swing in the through-hole, the through-hole is used to limit its swing angle.
Wherein charging plug device is two-freedom charging plug device.Plug electrode in two-freedom charging plug device
2 width of installed part is 2.5cm.
The director element includes upper guide groove 3 and the lower guide channel 4 being connected with upper guide groove 3, positioned at 3 head end of upper guide groove
The other end of plug electrode installed part 2 is connected with pinboard 5, and pinboard 5 is connect with one end of flange shaft 6, the flange shaft other end
It is connect with the block 11 for being installed in 3 tail end of upper guide groove, first elastic component is sheathed in the flange shaft 6 and set on institute
It states between pinboard 5 and the block 11.Locating piece 10 is installed on the director element, for the movement to plug electrode 1
It is limited.Preferably, locating piece 10 is installed on lower guide channel 4, the block 11 is preferably U-shaped block.
The director element is respectively equipped with the second elastic component 13 close to the both sides of pedestal support plate 14, and the second elastic component 13 is set
Between the director element and pedestal support plate 14.Preferably, the second elastic component is spring hook.
The upper and lower ends of the director element are separately installed with vertical axis pin 8, and each axis pin 8 is with being installed in bottom
Corresponding L-type fixed plate 9 is connected on seat supports plate 14.The axis pin 8 preferably flanged axis pin.
The wherein described plug electrode 1 is the positive and negative anodes that upper and lower 2 are charging, on plug electrode installed part 2.It inserts
There are holes at tip electrode 1 rear, for installing charging wire, are compressed after charging wire installation with handle.Plug electrode installed part 2
It is fixed with pinboard 5, above-mentioned pinboard 5 and 2 material of plug electrode installed part are conductive not with plug electrode 1 for engineering plastics.Method
Blue axis 6 is connected with pinboard, and the tail portion of flange shaft 6 is placed in the hole of link stopper 11, and the diameter of axle is gap-matched with hole.First elasticity
7 front end of part is placed in the flange deep gouge of flange shaft 6, and 7 rear end of the first elastic component is placed in the deep gouge of link stopper 11, the first elasticity of limitation
Part 7 can only be moved forward and backward.Upper guide groove 3 is connected with lower guide channel 4, is detachable up and down, the part in guide groove is facilitated to install, separately
There is baffle arrangement to make plug electrode installed part 2 that can only move backward in front of outer upper guide groove.
One degree of freedom is elastic moving of the plug electrode 1 along 6 axis of flange shaft.The acquisition process of the degree of freedom
For：Tip electrode 1 is pushed and plugged backward, since plug electrode 1, plug electrode installed part 2, pinboard 5, flange shaft 6 are fixed together, institute
It can be moved right together with above-mentioned part.The first elastic component 7 is squeezed in moving process makes it obtain the elastic force of bigger.Due to
The presence of locating piece 10 makes to be unlikely in above-mentioned part moving process beyond locating piece 10, carries out mechanical position limitation.It is acted on when removing
In the backward thrust of plug electrode 1, since the elastic force of the first elastic component 7 storage can return plug electrode 1 and its connected part
To initial position.Further, since plug device have flexible degree of freedom can realize plug electrode 1 move forward and backward absorb machine
The shock generated in people's charging motion process.
Wherein described flanged axis pin 8 is connected with L-shaped fixed plate 9 and forms revolute pair with upper guide groove, can be along flanged pin
The axis of axis 8 rotates and is upper and lower two groups, so that plug device rotation is reliable.L-shaped connecting plate 12 and link stopper 11 are fixed on and lead
On slot 3.It is linked between 2 L-shaped fixed plates with the second elastic component 13, and is two groups of left and right.
Second degree of freedom is rotation fortune of all parts between upper and lower flanged axis pin 8 around rotation secondary axis direction
Dynamic, rotational angle is limited by opening rectangular opening in pedestal support plate 14.The acquisition process of the degree of freedom is：Assuming that in plug
Apply angled power at electrode 1, all parts between flanged axis pin 8 are around the rotation in rotation secondary axis direction up and down
It moves, the range of rotary motion can be limited by holding rectangular opening in pedestal support plate 14.Due to depositing for the second elastic component 13 of both sides 2
When removing the power for acting on the application of plug electrode 1, above-mentioned all parts up and down between flanged axis pin 8 will be automatic
Playback.
Wherein described pedestal support plate 14 is connected with pedestal 15, and foundation bolt may be used in reserving installation hole on pedestal 15
Or swell fixture is fixed on cement flooring or screw is used to be fixed on steel construction to ensure the steady of entire charging plug device
It is fixed.
As shown in Figure 3-4, the charging socket device includes electrode mounting box 17 and horn mouth 16, the electrode mounting box
The socket electrode 22 contacted with 1 face of plug electrode is provided in 17, the inner small outer big and inner end of horn mouth 16 is set on institute
Electrode mounting box 17 is stated on described charging plug device one end, the big mouth in the front of horn mouth 16 is width 14cm, rear osculum
Width 5cm.
Several groups of socket electrode units are provided in the charging socket device, every group of socket electrode unit includes opposite set
Two socket electrodes 22 put are equipped with gap between two socket electrodes 22 being oppositely arranged for being inserted into the plug electrode 1,
Each side of the socket electrode 22 far from the gap is connected with corresponding cushion block 19, and the cushion block 19 is far from corresponding socket
The side of electrode 22 is equipped with third elastic component 18.
Each cushion block 19 is equipped with corresponding securing supports 20, the fixation close to the side of corresponding socket electrode 22
Support element 20 is packed on the electrode mounting box 17, and there are gaps between each cushion block 19 and corresponding securing supports 20 to make
It obtains the up and down motion of cushion block 19 and squeezes third elastic component 18.The third elastic component is preferably shrapnel or leaf spring.
Preferably, wherein the third elastic component 18, cushion block 19, securing supports 20, holding screw 21, socket electrode
About 22 totally 4 groups.Electrode mounting box 17 is attached, and connect with middle fixing plate 23 with upper and lower 2 securing supports 20.In
Between fixed plate is each about 23 fixes 2 securing supports 20.Cushion block 19 is fixed with socket electrode 22.19 top of cushion block is placed with preload
The third elastic component 18 of power since cushion block 19 and securing supports 20 can move up and down extrusion elastic there are gap, generates bullet
Power.The wherein described holding screw 21 is used to tighten charging wire.Wherein described electrode mounting box 17, cushion block 19, fixed support
Part 20, middle fixing plate 23,16 material of horn mouth are that engineering plastics are non-conductive.
The wherein described horn mouth 16 is stuck in electrode mounting box 17, the shape shape big for the small outside in the inside, main to use
The tolerance docked between increase socket electrode 22 and plug electrode 1.
Wherein described 23 upper section of middle fixing plate, has 2 socket electrodes 22 to correspond to two-freedom charging plug
Just, 2 socket electrodes of 23 section below of middle fixing plate correspond to two-freedom charging plug to an electrode above device
An electrode below device is born.Also, the thickness of electrode of each plug is more than the gap between socket electrode so that plug
Electrode can be fitted close with the electrode of socket when contacting.
The difference of charging process combination robot positioning accuracy makees analysis below：（1）When robot setback displacement misses
When difference is less than 5cm, the osculum inside horn mouth limits two-freedom charging plug device rotary motion at this time, plug electricity
Pole 1 overcomes the frictional force formed on socket electrode by 18 elastic force of third elastic component, and positive and negative electrode is respectively by 2 sockets
Electrode 22 squeezes to realize reliable face contact.（2）When robot setback position error is more than 5cm and less than 14cm
When, due to cradle have one degree of freedom and with second degree of freedom, upper and lower plug electrode 1 connects with 16 medial surface of horn mouth
When touching, upper and lower plug electrode 1 can be contacted with 16 medial surface of horn mouth always, until upper and lower plug electrode moves to electrode mounting box
In 17, plug electrode 1 squeezes 2 socket electrodes up and down up and down at this time, overcomes the elastic force due to third elastic component 18 in socket electricity
Frictional force is formed on extremely, positive and negative electrode is squeezed to realize reliable face contact respectively by 2 socket electrodes 22.
The utility model device patient robot position error not less than ± 5cm, charging interface contact can
It leans on, is fully able to meet engine request.
The basic principle, main features and advantages of the utility model have been shown and described above.The technical staff of the industry
It should be appreciated that the present utility model is not limited to the above embodiments, the above embodiments and description only describe this
The principle of utility model, on the premise of not departing from the spirit and scope of the utility model, the utility model also has various change
And improvement, these various changes and improvements fall within the scope of the claimed invention.The utility model requires protection scope
It is defined by the appending claims and its equivalent thereof.
Claims (10)
1. a kind of mobile robot charging unit, including installing charging plug device on the ground and mounted on robot body
On charging socket device, the electrode of the charging plug device can carry out with the contact electrode of the charging socket device
Charging, which is characterized in that the charging plug device includes plug electrode（1）, one end is for installing plug electrode（1）Plug
Electrode mount（2）, enable to plug electrode installed part（2）Realize the horizontal director element being moved forward and backward and vertically arranged
Pedestal support plate（14）, the director element is mounted on the pedestal support plate（14）On, the pedestal support plate（14）On open
Equipped with through-hole, the director element passes across the through-hole and level can swing in the through-hole, and the through-hole is used for
Limit its swing angle.
2. mobile robot charging unit according to claim 1, which is characterized in that the director element includes upper guide groove
（3）, lower guide channel（4）, flange shaft（6）, the first elastic component（7）, pinboard（5）And block（11）, the upper guide groove（3）It is led under
Slot（4）It is connected, positioned at the upper guide groove（3）The plug electrode installed part of head end（2）The other end and pinboard（5）It is connected, institute
State pinboard（5）With the flange shaft（6）One end connection, the flange shaft other end and be installed in the upper guide groove（3）Tail
The block at end（11）Connection, first elastic component（7）It is sheathed on the flange shaft（6）It goes up and is set on the pinboard（5）With
The block（11）Between, the plug electrode installed part（2）It can be along the upper guide groove（3）And lower guide channel（4）Make horizontal
It is moved forward and backward.
3. mobile robot charging unit according to claim 1, which is characterized in that it is fixed to be installed on the director element
Position block（10）, for plug electrode（1）Movement limited.
4. mobile robot charging unit according to claim 1, which is characterized in that the director element is close to pedestal branch
Fagging（14）Both sides be respectively equipped with the second elastic component（13）, the second elastic component（13）It is connected to the director element and pedestal branch
Fagging（14）Between.
5. mobile robot charging unit according to claim 1, which is characterized in that the upper and lower ends of the director element
It is separately installed with vertical axis pin（8）, each axis pin（8）With being installed in pedestal support plate（14）Upper corresponding L-type is consolidated
Fixed board（9）It is connected.
6. mobile robot charging unit according to claim 1, which is characterized in that the charging socket device includes electricity
Pole mounting box（17）And horn mouth（16）, the electrode mounting box（17）It is inside provided with and the plug electrode（1）Face contact
Socket electrode（22）, the horn mouth（16）In small outer big and inner end be set on the electrode mounting box（17）It is inserted close to the charging
On head device one end.
7. mobile robot charging unit according to claim 6, which is characterized in that set in the charging socket device
There are several groups of socket electrode units, every group of socket electrode unit includes two socket electrodes being oppositely arranged（22）, it is oppositely arranged
Two socket electrodes（22）Between be equipped with gap for being inserted into the plug electrode（1）, each socket electrode（22）Far from institute
State the side in gap with corresponding cushion block（19）It is connected, the cushion block（19）Far from corresponding socket electrode（22）Side set
There is third elastic component（18）.
8. mobile robot charging unit according to claim 7, which is characterized in that each cushion block（19）Close to corresponding
Socket electrode（22）Side be equipped with corresponding securing supports（20）, the securing supports（20）It is packed in the electrode
Mounting box（17）On, each cushion block（19）With corresponding securing supports（20）Between there are gaps to cause cushion block（19）Fortune up and down
It is dynamic to squeeze third elastic component（18）.
9. mobile robot charging unit according to claim 7, which is characterized in that the third elastic component for shrapnel or
Leaf spring.
10. mobile robot charging unit according to claim 7, which is characterized in that each plug electrode（1）
Thickness is more than corresponding two socket electrodes（22）Between gap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721690707.5U CN207530587U (en) | 2017-12-07 | 2017-12-07 | A kind of mobile robot charging unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721690707.5U CN207530587U (en) | 2017-12-07 | 2017-12-07 | A kind of mobile robot charging unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207530587U true CN207530587U (en) | 2018-06-22 |
Family
ID=62578230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721690707.5U Expired - Fee Related CN207530587U (en) | 2017-12-07 | 2017-12-07 | A kind of mobile robot charging unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207530587U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107979132A (en) * | 2017-12-07 | 2018-05-01 | 南京理工大学 | A kind of mobile robot charging unit |
| CN110901442A (en) * | 2019-11-26 | 2020-03-24 | 安徽凌坤智能科技有限公司 | AGV robot fills electric pile with automatically, look for positive function |
-
2017
- 2017-12-07 CN CN201721690707.5U patent/CN207530587U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107979132A (en) * | 2017-12-07 | 2018-05-01 | 南京理工大学 | A kind of mobile robot charging unit |
| CN110901442A (en) * | 2019-11-26 | 2020-03-24 | 安徽凌坤智能科技有限公司 | AGV robot fills electric pile with automatically, look for positive function |
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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: 20180622 Termination date: 20201207 |
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| CF01 | Termination of patent right due to non-payment of annual fee |