CN209692371U - Mobile robot charging system - Google Patents
Mobile robot charging system Download PDFInfo
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- CN209692371U CN209692371U CN201821857196.6U CN201821857196U CN209692371U CN 209692371 U CN209692371 U CN 209692371U CN 201821857196 U CN201821857196 U CN 201821857196U CN 209692371 U CN209692371 U CN 209692371U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B10/00—Integration of renewable energy sources in buildings
- Y02B10/70—Hybrid systems, e.g. uninterruptible or back-up power supplies integrating renewable energies
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
- Y02B70/30—Systems integrating technologies related to power network operation and communication or information technologies for improving the carbon footprint of the management of residential or tertiary loads, i.e. smart grids as climate change mitigation technology in the buildings sector, including also the last stages of power distribution and the control, monitoring or operating management systems at local level
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S20/00—Management or operation of end-user stationary applications or the last stages of power distribution; Controlling, monitoring or operating thereof
- Y04S20/20—End-user application control systems
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The utility model discloses mobile robot charging systems, including robot running track and charging unit, charging unit includes the charging upper fork part being set in robot and the lower fork that charges, charging unit includes fork under fork and solar recharging under alternating current charging, wherein, along the charging zone of running track arrangement at least two, fork and solar recharging lower fork portion are located at different charging zones under alternating current charging.The utility model is provided simultaneously with solar powered module and AC power supply module, can be automatically switched to alternating current charging when solar energy deficiency；Two kinds of power supplys can carry out free switching, not influence robot work；It can be using solar energy as the energy of robot, energy conservation and environmental protection；Fork under multiple chargings is arranged on motion profile, and robot is facilitated to charge at any time.
Description
Technical field
The utility model relates to mobile robot fields, more specifically, it is related to mobile robot charging system.
Background technique
Following background technique is used to help reader and understands the utility model, and is not construed as the prior art.
Outdoor moving robot is integrated with many new and high technologies, replaces being accomplished manually inspection or work using mobile robot
Industry is the inexorable trend of robot technology and the development of intelligent patrol detection technology.Outdoor rail-type robot has track, track setting
In aerial, mobile robot orbiting progress inspection.
Outdoor robot is generally powered using internal battery when carrying out operation, but robot transports for a long time
It needs frequent progress to charge when row, mostly uses alternating current to charge at present.
Solar energy is a kind of clean reproducible energy, and of all renewable energy sources, distribution of solar energy is most wide, is obtained most
It is easy.It is therefore desirable to develop a kind of intelligent mobile robot that can be carried out charging using the sun, solar energy is made full use of
Advantage, energy conservation and environmental protection.
Currently, solar powered module and AC power supply module are fixed with robot, it is unfavorable for robot traveling, and
Alternating current charging lower fork portion in solar powered module under solar recharging in fork and AC power supply module is located at same
One position is unfavorable for robot and charges at any time.
Summary of the invention
The purpose of this utility model is to provide mobile robot charging systems, are provided simultaneously with solar powered module and friendship
Galvanic electricity power supply module can be automatically switched to alternating current charging when solar energy deficiency；Two kinds of power supplys can carry out free switching, not shadow
Ring robot work；It can be using solar energy as the energy of robot, energy conservation and environmental protection；Multiple chargings are arranged on motion profile
Lower fork, facilitates robot to charge at any time.
The technical scheme adopted by the utility model to solve the technical problem is as follows: mobile robot charging system, including machine
Device people running track and charging unit, charging unit include the charging upper fork part being set in robot and charging lower fork
Portion, charging unit include fork under fork and solar recharging under alternating current charging, wherein along running track arrangement at least two
Charging zone, fork and solar recharging lower fork portion are located at different charging zones under alternating current charging.The running track includes
Track, specific operating path of robot of setting etc..
As a preferred option, fork includes fork and at least one under at least one alternating current charging under the charging
Fork under a solar recharging, track are equipped at least two charging zone, fork and solar recharging under alternating current charging
Lower fork portion is located at the same charging zone.
As a preferred option, fork and solar recharging lower fork portion are located at different charging zones under alternating current charging, hand over
Fork is alternately distributed under the lower fork of galvanic electricity charging and solar recharging.
As a preferred option, charging zone equidistantly distributed.
As a preferred option, charging zone has chamber, and chamber has roof and side wall, and track is located at charging zone side,
Charging lower fork portion is located at chamber lateral wall；Or track is interspersed in charging zone, charging lower fork portion is located at chamber inner sidewall.
As a preferred option, the lower fork that charges includes pedestal, guide rail, sliding block, elastic element and lower fork, and guide rail is installed on
On pedestal, sliding block is moved along guide rail, and lower fork is connect with sliding block, and sliding block two sides pass through elastic element respectively and connect with pedestal；Charging
Upper fork part includes multiple upper forks, and the lower fork that charges includes multiple lower forks, and upper fork is corresponded with lower fork；The lower fork that charges includes fortune
Dynamic device, telecontrol equipment are fixed with pedestal, and telecontrol equipment is electric telescopic rod；The lower fork connects by the way that screw and sliding block are fixed
It connects.
As a preferred option, the charging system includes solar powered module and AC power supply module, solar energy
Power supply module includes multiple solar panels, and solar panel is installed on track by bracket, and bracket is fixed with track,
Solar panel is obliquely fixed with bracket, and solar panel is located at the surface of track.
As a preferred option, the charging system include the robot power supply administrative unit that is all set in robot and
Power battery, the output end for the upper fork part that charges and the input terminal of power battery connect, robot power supply administrative unit and power electric
Pond connection.
As a preferred option, solar powered module includes battery, sun-generated electric power administrative unit and inverter, is stored
The input terminal of battery connects solar panel, and the first output end of battery connects sun-generated electric power administrative unit, battery
Second output terminal and the input terminal of inverter connect, fork connects under the output end and solar recharging of inverter；Alternating current
Power supply module includes 220V AC power source, and fork is connect with 220V AC power source under alternating current charging.
As a preferred option, fork, battery, sun-generated electric power administrative unit, inverter and alternating current supply under charging
Electric module is respectively positioned on inside charging zone.
The utility model has the beneficial effects that
1, the route of track is generally longer, can arrange multiple solar panels along track, so that conversion obtains abundance
Electricity, and robot load reduce, improve machine task efficiency, extend the service life of robot.
2, the track is high-altitude formula framework, and solar panel is installed on track, solar panel is saved
Installation space, and without in addition building supporting member, it cost saved cost.
3, solar panel and robot are divided, and the working condition of robot does not influence the work shape of solar panel
State, even if robot works in the environment of not illumination, or stops working when needing repairing, solar panel still can
Play its effect.
4, for the structure of robot without adjusting, the machine of any structure or model can use solar powered mould per capita
Block is powered.
5, the utility model robot can be using solar energy as the energy of robot, energy conservation and environmental protection.
6, the utility model is provided simultaneously with solar recharging module and alternating current charging module, can be certainly when solar energy deficiency
Turn changes to alternating current charging；Two kinds of power supplys can carry out free switching, not influence robot work.
7, the utility model track is equipped with charging zone, under battery, sun-generated electric power administrative unit, inverter, charging
Fork and AC power supply module are respectively positioned on inside charging zone, be can effectively avoid rainy weather and are caused to charging unit and robot
Destruction.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of rail type mobile robot.
Fig. 2 is the scheme of installation of rail type mobile robot solar panel.
Fig. 3 is the structural schematic diagram of rail type mobile robot charging zone.
Fig. 4 is the structural schematic diagram of another embodiment of rail type mobile robot charging zone.
Fig. 5 is the structural schematic diagram of the mobile robot with motion path.
Fig. 6 is the scheme of installation of the mobile robot solar panel with motion path.
Fig. 7 is the structural schematic diagram of mobile robot AC power supply module.
Fig. 8 is the structural schematic diagram of mobile robot solar powered module.
Fig. 9 is another structural schematic diagram of mobile robot solar powered module.
Figure 10 is the charging flow figure of mobile robot.
Figure 11 is the transition diagram of mobile robot charging source.
Figure 12 is the work block diagram of charging unit.
Figure 13 is the structural schematic diagram of charging upper fork part.
Figure 14 is the structural schematic diagram of fork under charging.
Figure 15 is structural schematic diagram of the lower fork in conjunction with the upper fork part that charges that charge.
It is identified in figure: 1, solar panel；2, charging zone, 201, roof, 202, side wall；3, track；4, robot；
401, robot power supply administrative unit；402, power battery；5, charging unit；501, charge upper fork part, 5011, upper fork；5012,
Upper fork fixing seat；502, charge lower fork, 503, lower fork, 504, sliding block, 505, spring, 506, pedestal, 507, guide rail；508, electric
Dynamic telescopic rod；509, Power Management Unit；5021, fork under alternating current charging；5022, fork under solar recharging；6, it exchanges
Electric power supply module；601,220V AC power source；7, solar powered module；701, sun-generated electric power administrative unit；702, electric power storage
Pond；703, inverter；704, bracket；8, motion path.
Specific embodiment
Below to the utility model relates to structure or technical term used in these be described further.These are said
Bright is only how to realize in such a way that example way is illustrated the utility model, can not be to the utility model
Constitute any limitation.
Outdoor rail-type mobile robot charging system
Embodiment 1
As shown in Figs 1-4, a kind of outdoor rail-type mobile robot charging system, track 3, confession including robot operation
Electric installation and charging unit 5, power supply unit include AC power supply module 6 and solar powered module 7, and charging unit includes setting
The charging upper fork part 501 being placed in robot, and with fork 502 under the charging that is combined of charging upper fork part 501, wherein the sun
Energy power supply module 7 includes multiple solar panels 1, and solar panel 1 is installed on track 3.Robot 4 is transported along track 3
Row, can carry out inspection or specific operation.The alternating current is 220V alternating current.Solar panel 1 is set as dividing along track 3
The form of cloth has many advantages, such as that solar panel 1 first is without being fixed in robot, and the structure of robot is without being suitable
Solar panel 1 is answered to adjust, the machine of any structure or model can use solar powered module 7 per capita and be supplied
Electricity；Secondly, the route of track 3 is generally longer, multiple solar panels 1 can be arranged along the setting of track 3, can guarantee and filled
The electricity of foot, and the load of robot 4 reduces, and improves the working efficiency of robot 4, and extend robot 4 uses the longevity
Life.In addition to this, it is provided simultaneously with solar powered module 7 and AC power supply module 6, it can automatic conversion when solar energy deficiency
To alternating current charging；Two kinds of power supplys can carry out free switching, not influence robot work；And using solar energy as robot
The energy, energy conservation and environmental protection.Further, solar powered module 7 includes multiple solar panels 1, and solar panel 1 passes through
Bracket 704 is installed on right above track 3, is distributed along track 3.The track 3 is installed in the air, and solar panel 1 passes through branch
Frame 704 is installed on track 3, can greatly save installation space, and does not influence the traveling of robot；In addition to this, with
Track 3 is that support facility builds solar panel 1, facilitates the installation of solar panel 1, without additional for installation solar energy
Solar panel builds support facility, saves cost.As specific embodiment, track 3 is arranged along wall periphery or track
Surrounding is equipped with column, and 1 one end of solar panel is fixed on track 3 by bracket 704, and the other end is installed by bracket 704
In the building structure such as column, wall.Solar panel 1 is obliquely fixed with bracket 704, specifically, solar battery
The tilt angle of plate 1 is in 45 °, and 45 ° of setting is that the light application time for receiving solar panel 1 reaches long as far as possible, power generation
It measures as big as possible.
As specific embodiment, the setting angle of solar panel 1 is different.As a specific embodiment party
Formula, depending on the setting angle of solar panel 1 is according to the irradiating angle of illumination, different periods have solar panel 1 to connect
Receive illumination.Moreover, solar panel 1 and robot are divided, the working condition of robot does not influence solar panel 1
Working condition, even if robot works in the environment of not illumination, or stops working when needing repairing, solar panel
1 can still play its effect.
As specific embodiment, the equidistantly distributed on the track 3 of solar panel 1.Point of solar panel 1
Cloth situation is unlimited, and according to depending on place to place, solar panel 1 is generally placed in the region of illumination abundance.
As specific embodiment, as Figure 7-9, the charging system includes the machine being all set in robot
People's Power Management Unit 401 and power battery 402, the output end for the upper fork part 501 that charges and the input terminal of power battery 402 connect
It connects, robot power supply administrative unit 401 is bi-directionally connected with power battery 402, and robot power supply administrative unit 401 for supervising in real time
Survey the information about power of power battery 402.
As specific embodiment, solar powered module 7 includes battery 702, sun-generated electric power administrative unit 701
With inverter 703, the lower fork 502 that charges includes fork 5021 under fork 5022 under solar recharging and alternating current charging；Electric power storage
The input terminal in pond 702 connects solar panel, and the first output end of battery 702 connects sun-generated electric power administrative unit 701,
The second output terminal of battery 702 is connect with the input terminal of inverter 703, under the output end and solar recharging of inverter 703
Fork 5022 connects.Solar panel is for charging to battery 702；Sun-generated electric power administrative unit 701, for supervising
Survey 702 information of battery；Inverter 703, for by the electricity conversion of battery 702 at 220V alternating current.Solar panel
It charges to battery 702, the electricity such as voltage, electric current of 701 real-time monitoring battery 702 of sun-generated electric power administrative unit letter
Breath such as finds that the electricity of battery 702 is full of, stops solar panel by control system and fill to 702 pond of battery
Electricity.Robot is equipped with robot power supply administrative unit 401 and charging upper fork part 501, and the electricity of battery 702 passes through inverter
703 are converted into 220V alternating current, 220V alternating current pass through fork 5022 under solar recharging to the power battery 402 of robot into
Row charging.The information about power such as voltage, the electric current of 401 real-time monitoring of robot power supply administrative unit charging upper fork part 501, such as find
Robot electric quantity is full of, then stops charging.Specifically, robot power supply administrative unit 401 and sun-generated electric power administrative unit 701
It can effectively prevent overshoot, the over-discharge of battery.
As specific embodiment, the AC power supply module and the corresponding orbital position of solar powered module 7
RFID location tags are mounted on, robot is equipped with location tags reading device.When robot enters charging zone 2, it can stop
It is accurately charged in the position where AC power supply module and solar powered module.RFID location tags are radio frequency identification
Label, can be by radio signals reading devices, in the present embodiment, and RFID location tags use model ETAG-T320
RFID tag.
As specific embodiment, the setting shape of track is unlimited, depending on application places, specifically, settable
At "-" type, L-type, U-shaped or annular.
Embodiment 2
The present embodiment is with the difference for implementing 1: the lower fork 502 that charges is arranged along track.Alternating current charging module and
The advantages of solar recharging module is arranged along track is, since robot advances along track, when robot needs to charge, appoints
When between can charge, be not necessarily to offset rail.Specifically, the alternating current that the lower fork 502 that charges includes at least one fills
Fork 5022 under the lower fork 5021 of electricity and the solar recharging of at least one, orbit distribution have at least two charging zone 2.For
The sufficient electricity of guarantee, is generally arranged multiple power batteries 402, and multiple power batteries 402 virtually increase the negative of robot
Weight, will affect the operation and service life of robot, multiple charging zones 2 is arranged, robot is facilitated to charge at any time, mitigate machine
The weight bearing of people, prolongs the service life.
As specific embodiment, under alternating current charging under fork 5021 and solar recharging fork 5022 be located at it is same
A charging zone 2.Positioned at the same charging zone 2, with being conducive to Robot Selection using fork 5021 under alternating current charging or too
The lower fork 5022 that sun can charge charges.
As specific embodiment, fork 5022 is located at difference under fork 5021 and solar recharging under alternating current charging
Charging zone 2, fork 5022 is alternately distributed under fork 5021 and solar recharging under alternating current charging.Length, the shape of track
According to depending on Work places, sometimes operating area is very wide, needs to be arranged longer track, 5021 He of fork under alternating current charging
When fork 5022 is alternately distributed under solar recharging, robot can charge at any time, avoid the occurrence of robot feelings out of power suddenly
Condition.
As specific embodiment, 2 equidistantly distributed of charging zone.Charging zone 2, which is equally spaced, conveniently to be managed it, supervises
Control and maintenance.
As specific embodiment, charging zone 2 has chamber, and chamber has roof and side wall, and track is located at charging zone 2
Side, the lower fork 502 that charges are located at chamber lateral wall；Track is interspersed in charging zone 2, and the lower fork 502 that charges is located on the inside of chamber
Wall.Charging zone 2 is fixed by column and ground, or is fixed by column and track；When track is arranged along wall periphery, charging
Area 2 is fixed by the building structure such as column and wall.Specifically, chamber has bottom plate, bottom when track is located at 2 side of charging zone
Plate is fixed by column and ground, or is fixed by column and wall.Specifically, side wall is logical when track is interspersed in charging zone 2
It crosses column to fix with track, or is fixed by column and ground.
As specific embodiment, battery 702, sun-generated electric power administrative unit 701, inverter 703, charging lower fork
Portion 502 and AC power supply module are respectively positioned on inside charging zone 2, be can effectively avoid rainy weather and are damaged to charging unit.
Outdoor moving robot charging system
Outdoor moving robot charging system and the difference of outdoor rail-type mobile robot charging system are: outdoor shifting
Mobile robot charging system is suitable for the robot with special exercise path, and outdoor rail-type mobile robot charging system is then
Suitable for the robot of orbiting, since the mode that the two is advanced is different, thus to solar panel and charging zone
Setting requirements are different.Moreover, the robot for being applicable in outdoor moving robot charging system can change the shape of motion path at any time
Shape, to also affect the position of solar panel and charging zone.
Embodiment 1
As seen in figs. 5-6, a kind of outdoor moving robot charging system, the motion path 8 including robot, power supply unit
And charging unit, power supply unit include AC power supply module and solar powered module 7, charging unit includes being set to machine
Fork 502 under charging upper fork part 501 on people and the charging combined with charging upper fork part 501, wherein solar powered module
7 include multiple solar panels, and solar panel integrated distribution is in motion path side.Not due to motion path shape
Limit, solar panel concentrated setting is in a certain region close to motion path.The specific motion path operation of Robot, can
It carries out inspection or specific operation, general motion path 8 is set on ground, robot carries out inspection on ground.Along robot
The form of motion path side centralized arrangement solar panel has many advantages, such as that solar panel is without being fixed on first
In robot, the structure of robot is not necessarily to adapt to solar panel and adjusting, and the machine of any structure or model per capita may be used
To be powered using solar powered module；Secondly, multiple solar panels can be simutaneously arranged, guarantee to obtain abundance
Electricity, and the load of robot reduces, and improves machine task efficiency, extends the service life of robot.Third,
Solar panel and robot are divided, and the working condition of robot does not influence the working condition of solar panel, even if machine
Device people works in the environment of not illumination, or stops working when needing repairing, and solar panel can still play its work
With.4th, it by solar panel concentrated setting in 8 side of motion path, is collected because the motion path is set to ground
In be placed in side can be avoided influence ground traffic or pedestrian passage, moreover, the motion path of robot being capable of basis
Handling situations are changed at any time, and centralized arrangement solar panel is conducive to that robot is avoided to hand over solar panel
Collection or collision, to influence the traveling of robot or the operation of robot damages solar panel.In addition to this,
It is provided simultaneously with solar recharging module and alternating current charging module, alternating current charging can be automatically switched to when solar energy deficiency；
Two kinds of power supplys can carry out free switching, not influence robot work；And using solar energy as the energy of robot, energy-saving ring
It protects.
As specific embodiment, solar panel is fixed by bracket and ground, and solar panel is inclined
Shape.Preferably, the tilt angle of solar panel is in 45 °, and 45 ° of setting is the light application time for receiving solar panel
Reach as far as possible long, generated energy is as big as possible.
As specific embodiment, the setting angle of solar panel is different, the setting angle of solar panel
Depending on the irradiating angle of illumination, different periods have solar panel to receive illumination.The distribution of solar panel
Situation is unlimited, and according to depending on place to place, solar panel is generally placed in the region of illumination abundance.Specifically, the sun
Energy solar panel centralized arrangement is conducive to place and monitor, manage and repair.
As specific embodiment, the charging system includes the robot power supply administrative unit being set in robot
401 and power battery 402, the output end of charging upper fork part 501 is connect with the input terminal of power battery 402, robot power supply pipe
Reason unit 401 is connect with power battery 402.
As specific embodiment, as Figure 7-9, solar powered module 7 includes battery 702, solar-electricity
Source control unit 701 and inverter 703；The input terminal of battery 702 connects solar panel, and the first of battery 702 is defeated
Outlet connects sun-generated electric power administrative unit 701, and the second output terminal of battery 702 is connect with the input terminal of inverter 703, inverse
Become fork 5022 under the output end and solar recharging of device 703 to connect；AC power supply module includes 220V AC power source, exchange
Fork 5021 is connect with 220V AC power source under electricity charges.Solar panel is for charging to battery 702；Solar energy
Power Management Unit 701, the information about power such as voltage, electric current for monitoring battery 702 such as find the electricity of battery 702
It is full of, solar panel is stopped by sun-generated electric power administrative unit and is charged to 702 pond of battery；Inverter 703 is used
In by the electricity conversion of battery 702 at 220V alternating current.Robot is equipped with robot power supply administrative unit 401 and power electric
The electricity in pond 402, battery 702 is converted into 220V alternating current by inverter 703, and 220V alternating current passes through under solar recharging
Fork 5022 charges to the power battery 402 of robot.Power management system of robot real-time monitoring power battery 402
The information about power such as voltage, electric current such as find that robot electric quantity is full of, then stops charging.
As specific embodiment, AC power supply module includes 220V AC power source, fork under alternating current charging
5021 input terminal is connect with 220V AC power source, and the output end with power battery 402 of fork 5021 is connect under alternating current charging.
It can be charged by power battery 402 of the 220V AC power source to robot.
As specific embodiment, fork 5022 is corresponding under fork 5021 and solar recharging under the alternating current charging
8 position of motion path be mounted on RFID location tags, robot is equipped with location tags reading device.Robot, which enters, to be filled
When electric area 2, can rest in the position under alternating current charging under fork 5021 and solar recharging where fork 5022 carry out it is accurate
Charging.RFID location tags are RFID tag, can be by radio signals reading devices, in the present embodiment, RFID
Location tags use the RFID tag of model ETAG-T320.
As specific embodiment, the robot has certain motion path 8, the setting of the motion path 8
Shape is unlimited, can also change the shape of motion path 8 at any time according to Work places or job requirements, can be set to "-" type, L
The shape of the rule such as type, U-shaped, annular, also can be set into irregular shape.
Embodiment 2
The present embodiment is with the difference for implementing 1: the lower fork 502 that charges is along the arrangement of motion path 8, as shown in Figure 5.It will fill
The advantages of lower fork 502 of electricity is arranged along motion path 8 is, since robot advances along specific motion path 8, to work as robot
It when needing to charge, can charge any time, be not necessarily to offset rail.Specifically, 5021 He of fork under alternating current charging
Fork 5022 is respectively provided at least one under solar recharging.For the sufficient electricity of guarantee, generally it is arranged in robot multiple dynamic
Power battery 402, multiple power batteries 402 virtually increase the weight bearing of robot, will affect the operation and use of robot
Service life is arranged fork 502 under multiple chargings, robot is facilitated to charge at any time, mitigates the weight bearing of robot, prolong the service life.
As specific embodiment, the lower fork 502 that charges include under at least one alternating current charging fork 5021 with
And fork 5022 under the solar recharging of at least one, motion path 8 are equipped at least two charging zone 2, alternating current charging
Fork 5022 is located at the same charging zone 2 under lower fork 5021 and solar recharging.Fork 5021 and the sun under alternating current charging
The lower fork 5022 that can charge is set to the same position of motion path 8, uses alternating current charging with being conducive to Robot Selection
Fork 5022 charges under lower fork 5021 or solar recharging.As another specific embodiment, fork under alternating current charging
5021 and solar recharging under fork 5022 be located at different charging zones 2, fork 5021 and solar recharging under alternating current charging
Lower fork 5022 is alternately distributed.According to depending on Work places, sometimes operating area is very wide, will for the length of motion path 8, shape
To be set to the different location of motion path 8 longer to adapt to for fork 5022 under fork 5021 and solar recharging under alternating current charging
Motion path 8, when fork 5022 is located at different location under fork 5021 and solar recharging under alternating current charging, robot energy
It is enough to charge at any time, avoid the occurrence of robot situation out of power suddenly.
As specific embodiment, charging zone 2 is located at the ipsilateral of motion path 8 with solar panel.By charging zone 2
The same side of motion path 8 is concentrated on solar panel, is connected conducive to the wiring between charging zone 2 and solar panel
It connects, and convenient for centralized management.
As specific embodiment, 2 equidistantly distributed of charging zone.Specifically, charging zone 2 has chamber, chamber has
Roof and side wall, motion path 8 are located at 2 side of charging zone, and the lower fork 502 that charges is located at chamber lateral wall；Or motion path 8
It is interspersed in charging zone 2, the lower fork 502 that charges is located at chamber inner sidewall.Specifically, charge lower fork 502, battery 702, the sun
Energy Power Management Unit 701, inverter 703 and AC power supply module are respectively positioned on inside charging zone 2, can effectively avoid rainy days
Gas damages charging unit.
Charging unit
Wireless charging mode can be used in fork 5022 under fork 5021 and solar recharging under alternating current charging, can also be used
Wired charging method then uses wired charging method in the present embodiment.
As shown in figs. 12-15, charging unit, including charging upper fork part 501 and the lower fork 502 that charges, when charging in charging
Fork 501 and the lower fork 502 that charges combine, and the lower fork 502 that charges includes pedestal 506, guide rail 507, sliding block 504, elastic element
With lower fork 503, guide rail 507 is installed on pedestal 506, and sliding block 504 is moved along guide rail 507, and lower fork 503 is connect with sliding block 504, sliding
504 two sides of block pass through elastic element respectively and connect with pedestal 506.The charging unit can be applied to fork under alternating current charging
5021 and solar recharging under fork 5022.
Preferably, elastic element uses the material with elastic characteristic to be made, for example, spring.Preferably, the lower fork
503 are fixedly connected by screw with sliding block 504.Preferably, pedestal 506 uses U-shaped bottom seat 506.The lower fork 502 that charges is to float
Formula structure, by the position error of the adjustable robot of elastic element such as spring in the horizontal plane, to the positioning accurate of robot
Degree requires lower.
The upper fork part 501 that charges includes multiple upper forks 5011, and the lower fork 502 that charges includes multiple lower forks 503, upper fork 5011 with
Lower fork 503 corresponds.Preferably, upper fork 5011 and lower fork are equally spaced.Preferably, upper fork 5011 and lower fork 503 wrap
It is three groups identical to include structure.Multiple upper 5011, lower forks 503 of pitching are arranged can meet multiple robots chargings simultaneously, or to one
Multiple batteries of a robot charge, and improve charge efficiency.Upper fork 5011 and lower fork 503 are arranged in equal spacing with conducive to upper fork
5011 are bonded with the dislocation of lower fork 503.
The charging unit includes Power Management Unit 509, and charging upper fork part 501 passes through conducting wire and Power Management Unit
509 connections.The charging unit includes charging upper fork part 501, charge lower fork 502 and Power Management Unit 509, is pitched in charging
Portion 501 and Power Management Unit 509 are both secured in robot, and charging upper fork part 501 passes through conducting wire and Power Management Unit 509
Connection, 220V AC power source are connect with the lower fork 502 that charges, and the lower fork 502 that charges is located at indoor, tunnel or other occasions, Gu
It is positioned at a certain position or can move.When robot is charged, charging upper fork part 501 and lower 502 knot of fork that charges
It closes.The Power Management Unit 509 is robot power supply administrative unit 401.
The lower fork 502 that charges includes telecontrol equipment, and telecontrol equipment one end and pedestal 506 are fixed, the other end and fixed bracket
It is fixed.Specifically, telecontrol equipment can be electric telescopic rod 508.The lower fork 502 that charges can with the top of charging zone 2, ground or
Wall is fixed, or can be moved.By taking telecontrol equipment is electric telescopic rod 508 as an example, the lower fork 502 that charges is located at charging zone 2
When top, mobile robot is run to lower 502 lower section of fork of charging, and electric telescopic rod 508 drives the lower fork for the lower fork 502 that charges
503 carry out descending motion, until being combined with the upper fork 5011 in robot.The lower fork 502 that charges is located on the wall of charging zone 2
When, lower fork 503 can the side-to-side movement under the drive of electric telescopic rod 508, i.e., when mobile robot is run to the lower fork that charges
When 502 position, lower fork 503 is stretched out to be combined with upper fork 5011.Alternatively, to avoid charging from influencing the traveling of other robot,
When robot is run to 2 inside of charging zone, charged rail is equipped between track and charging unit.In the present embodiment, the electricity
Dynamic telescopic rod 508 is fixed on the ground by fixed bracket.The electric telescopic rod 508, which has the function of to be hampered, stops, in electricity
In dynamic 508 uphill process of telescopic rod, when the electric current of electric telescopic rod 508 is greater than preset electric current Imax, electric telescopic rod 508
Stop motion, 508 current value of electric telescopic rod when wherein Imax is upper fork, lower fork 503 fits closely.
The upper fork part 501 that charges includes upper fork 5011 and upper fork fixing seat 5012, and upper fork 5011 is fixed on fork fixing seat
On 5012.Specifically, the upper fork 5011 is fixedly connected by screw with upper fork fixing seat 5012.The robot and upper fork are solid
Reservation 5012 is fixed, and in the present embodiment, the upper fork fixing seat 5012 is fixedly connected by screw with robot.Specifically, institute
Fork fixing seat 5012 is stated using the insulating material with some strength.Specifically, it is described it is upper fork 5011 using electric conductivity compared with
Good brass material.Upper fork fixing seat 5012 with some strength is required to support upper fork 5011.
By taking the lower fork 502 of charging is fixed with ground, telecontrol equipment is electric telescopic rod 508 as an example, the work of charging unit
Process is: when being charged, robot is moved to the position for the lower fork 502 that charges；Robot in place after, it is electronic
Telescopic rod 508 drives the lower fork 503 for the lower fork 502 that charges to carry out ascending motion, until being combined with upper fork 5011.In cohesive process
In, if robot localization precision is there are error, elastic element can carry out the floating in horizontal space, it is ensured that in conjunction with complete.Work as electricity
When the current of electric of dynamic telescopic rod 508 reaches preset value, 508 stop motion of electric telescopic rod is upper at this time to pitch 5011 and lower fork 503
It is tightly combined, Power Management Unit issues charging instruction, and robot charges under Power Management Unit control.
Charging method
As shown in figs. 10-11, charging method, comprising the following steps:
The information about power of step 1, robot power supply administrative unit real-time monitoring power battery, if the electricity of power battery
Lower than secure threshold, robot enters charging zone and carries out automatic charging；If the electricity of power battery is higher than secure threshold, machine
Device people executes task along motion path without charging, continuation；
Step 2, when robot needs to charge, robot and robot power supply administrative unit communicate, and read current electric power storage
The state of charge in pond；If accumulator electric-quantity is higher than power threshold, robot is rested under solar recharging corresponding to fork
RFID location tags position, fork is in conjunction with charging upper fork part under solar recharging；If accumulator electric-quantity is lower than electricity threshold
Value, then robot rests in RFID location tags position corresponding to fork under alternating current charging, under alternating current charging fork with
The upper fork part that charges combines；
The information about power of step 3, robot power supply administrative unit real-time monitoring charging upper fork part, if it find that robot is electric
Amount is full of, then stops charging.
Above-mentioned charging method is suitable for outdoor moving robot charging system and outdoor rail-type mobile robot Charging
System.
In the case where lacking any element specifically disclosed herein, limitation, may be implemented illustrated and described herein
Utility model.Used terms and expressions method is used as the term of explanation rather than limits, and is not intended in these terms
Any equivalent of shown and described feature or part thereof with exclusion in the use of representation, and should be realized that various change
Type is all feasible in the scope of the utility model.It is therefore to be understood that although passing through various embodiments and optional feature
The utility model is specifically disclosed, but the modifications and variations of concept as described herein can be by those of ordinary skill in the art institute
Using, and think that these modifications and variations are fallen within the scope of the utility model of the appended claims restriction.
It is described herein or record article, patent, patent application and every other document and can electronically obtain
The content of information to a certain extent in full include herein by reference, just as each individual publication by specific and single
Solely point out by reference.Applicant retains from any of any this article, patent, patent application or other documents
And all material and information are incorporated into the right in the application.
Claims (8)
1. mobile robot charging system, it is characterised in that: including robot running track and charging unit, charging unit packet
Include the charging upper fork part being set in robot and the lower fork that charges, charging unit includes fork and the sun under alternating current charging
Can charge lower fork, wherein fork and solar recharging under the charging zone of running track arrangement at least two, alternating current charging
Lower fork portion is located at different charging zones.
2. mobile robot charging system according to claim 1, it is characterised in that: fork and the sun under alternating current charging
The lower fork that can charge is alternately distributed.
3. mobile robot charging system according to claim 2, it is characterised in that: charging zone equidistantly distributed.
4. mobile robot charging system according to claim 3, it is characterised in that: charging zone has chamber, chamber tool
There are roof and side wall, running track is located at charging zone side, and charging lower fork portion is located at chamber lateral wall；Or running track is interspersed
In charging zone, lower fork portion of charging is located at chamber inner sidewall.
5. mobile robot charging system according to claim 4, it is characterised in that: the lower fork that charges includes pedestal, leads
Rail, sliding block, elastic element and lower fork, guide rail are mounted on the base, and sliding block is moved along guide rail, and lower fork is connect with sliding block, sliding block two
Side passes through elastic element respectively and connect with pedestal；The upper fork part that charges includes multiple upper forks, and the lower fork that charges includes multiple lower forks, on
Fork is corresponded with lower fork.
6. mobile robot charging system according to claim 5, it is characterised in that: the lower fork that charges includes sportswear
It sets, telecontrol equipment is fixed with pedestal, and telecontrol equipment is electric telescopic rod；The lower fork is fixedly connected with a slide block by screw.
7. mobile robot charging system according to claim 6, it is characterised in that: the charging system includes being set to
Robot power supply administrative unit in robot and the upper fork part that charges, are pitched in the input terminal of robot power supply administrative unit and charging
The output end in portion connects.
8. mobile robot charging system according to claim 7, it is characterised in that: the charging system includes for Denso
It sets, power supply unit includes AC power supply module and solar powered module, and AC power supply module includes 220V AC power source,
Fork is connect with 220V AC power source under alternating current charging；Solar powered module includes solar panel, battery, the sun
Energy Power Management Unit and inverter, the input terminal of battery connect solar panel, the first output end connection of battery
The input terminal of sun-generated electric power administrative unit, the second output terminal of battery and inverter connects, the output end of inverter with too
Fork connection under sun can charge.
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| CN201821857196.6U CN209692371U (en) | 2018-11-12 | 2018-11-12 | Mobile robot charging system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821857196.6U CN209692371U (en) | 2018-11-12 | 2018-11-12 | Mobile robot charging system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110165765A (en) * | 2018-11-12 | 2019-08-23 | 浙江大学山东工业技术研究院 | Outdoor moving robot charging system and charging method |
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2018
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110165765A (en) * | 2018-11-12 | 2019-08-23 | 浙江大学山东工业技术研究院 | Outdoor moving robot charging system and charging method |
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