CN210852110U

CN210852110U - Charging device and system

Info

Publication number: CN210852110U
Application number: CN201921908555.0U
Authority: CN
Inventors: 肖军
Original assignee: Beijing Kuangshi Robot Technology Co Ltd
Current assignee: Beijing Kuangshi Robot Technology Co Ltd
Priority date: 2019-11-06
Filing date: 2019-11-06
Publication date: 2020-06-26
Anticipated expiration: 2029-11-06

Abstract

The utility model provides a charging device and a system, wherein the device comprises a charging device and an actuating mechanism; the actuating mechanism comprises a plurality of battery grabbing units; a charging interface is arranged on the battery grabbing unit; the battery grabbing unit is used for grabbing a battery to be charged and charging the battery to be charged through the charging interface; the battery grabbing unit is also used for installing the charged battery to the object to be charged corresponding to the battery to be charged; the charging device is used for charging the battery to be charged through the charging interface. The utility model discloses a plurality of batteries snatch the unit and will treat rechargeable battery of charging object and take out, will have installed rechargeable battery to treating the charging object, charge for treating rechargeable battery through the interface that charges simultaneously, can continue work after treating the charging object change battery, need not to wait to charge to charging efficiency and the utilization ratio of treating the charging object have been improved.

Description

Charging device and system

Technical Field

The utility model belongs to the technical field of battery system technique and specifically relates to a battery charging outfit and system are related to.

Background

Currently, AGVs (Automated Guided vehicles) (also called mobile robots) and intelligent automation devices are widely used in the fields of e-commerce, intelligent factories, and the like. Generally charge for mobile robot AGV through filling electric pile among the correlation technique, specifically adopt one-to-one charge mode, fill electric pile once and charge for an AGV promptly, it needs 1 to 2 hours to charge at every turn, when a plurality of AGVs need charge or fill electric pile less, the AGV still needs the waiting of lining up of longer time, leads to AGV's charge efficiency low, influences AGV's utilization ratio.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a battery charging outfit and system to improve charge efficiency, thereby improve equipment's utilization ratio.

In a first aspect, an embodiment of the present invention provides a charging device, which includes: a charging device and an actuator; the actuating mechanism comprises a plurality of battery grabbing units; a charging interface is arranged on the battery grabbing unit; the charging interface is connected with a charging device; the battery grabbing unit is used for grabbing a battery to be charged and charging the battery to be charged through the charging interface; the battery grasping unit is also used for carrying a charged battery; the charging device is used for charging the battery to be charged through the charging interface.

In an optional embodiment, when the object to be charged reaches the designated position, the executing mechanism takes out the battery to be charged from the object to be charged through the battery grasping unit in the idle state among the plurality of battery grasping units, and charges the battery to be charged through the charging device by using the charging interface arranged on the battery grasping unit in the idle state; the actuating mechanism controls the battery grabbing units carrying the charged batteries in the plurality of battery grabbing units to reach the corresponding positions of the designated positions, and the charged batteries are installed on the object to be charged.

In an alternative embodiment, the actuator further comprises a drive unit; the plurality of battery grabbing units are arranged on the driving unit; the driving unit is used for driving the battery grabbing unit to move.

In an alternative embodiment, the driving unit includes a driving rail and a supporting rail; the driving track is fixedly connected with the battery grabbing unit; the supporting track is connected with the battery grabbing unit in a sliding mode; the driving track is used for driving the battery grabbing unit to move; the support rail is used for supporting the battery grabbing unit.

In an alternative embodiment, the driving rail and the supporting rail are both circular rails; the driving track and the supporting track are arranged concentrically; the charging device is arranged at the circle center positions of the driving track and the supporting track.

In an alternative embodiment, the plurality of battery grasping units are equally spaced around the charging device.

In an alternative embodiment, the driving rail is provided with a driving wheel; the driving wheel is provided with a hub motor; the hub motor is used for providing driving force and driving the driving wheel to rotate.

In an alternative embodiment, the support rail includes an inner rail and an outer rail concentrically disposed; the radius of the inner track is smaller than that of the outer track; the drive rail is disposed between the inner rail and the outer rail.

In an alternative embodiment, the battery grasping unit includes a grasping arm and a battery holder; the charging interface is arranged on the battery holder; the grabbing arm is used for taking the battery to be charged out of the object to be charged and placing the battery to be charged on the battery seat; the grabbing arm is connected with a charging device; the gripper arm is also used to mount the charged battery in the object to be charged.

In an alternative embodiment, the grabber arm and the battery holder are arranged along a direction perpendicular to the extending direction of the rail.

In an alternative embodiment, the gripper arm is a retractable mechanism; one end of the telescopic mechanism is fixedly connected with the charging device, and the other end of the telescopic mechanism is a free end; the free end of the telescopic mechanism is used for connecting with a battery to be charged or a charged battery.

In an alternative embodiment, one end of the grabbing arm is movably connected with the charging device, and the other end of the grabbing arm is a free end; an accommodating space is arranged in the charging device and used for placing the grabbing arm; the free end of the gripping arm is connected to a battery to be charged or a charged battery.

In an alternative embodiment, the free end of the gripping arm is provided with an electromagnetic device or a snap.

In an alternative embodiment, a limiting mechanism is arranged at the free end of the grabbing arm; the limiting mechanism is used for aligning the grabbing arm with the battery to be charged.

In an alternative embodiment, the battery holder is provided with a limiting mechanism; the limiting mechanism is used for aligning the charging interface on the battery seat with the charging interface of the battery to be charged.

In an alternative embodiment, the apparatus further comprises a display screen; the display screen is used for displaying the working states of the plurality of battery grabbing units and the electric quantity of the charged battery.

In a second aspect, an embodiment of the present invention provides a charging system, which includes an object to be charged and the above charging device; the charging device is used for taking out a battery to be charged of an object to be charged, charging the battery to be charged, and mounting the charged battery to the object to be charged.

In an alternative embodiment, the object to be charged includes a mobile robot.

The embodiment of the utility model provides a following beneficial effect has been brought:

the utility model provides a charging device and a system, wherein the charging device comprises a charging device and an actuating mechanism; the actuating mechanism comprises a plurality of battery grabbing units; a charging interface is arranged on the battery grabbing unit; the battery grabbing unit grabs the battery to be charged and installs the charged battery to the object to be charged corresponding to the battery to be charged through the battery grabbing unit carrying the charged battery; the charging device charges the battery to be charged through the charging interface. The utility model discloses a plurality of batteries snatch the unit and will treat rechargeable battery of charging object and take out, will have installed rechargeable battery to treating the charging object, charge for treating rechargeable battery through the interface that charges simultaneously, can continue work after treating the charging object and changing the battery, need not to wait in battery charging process to charging efficiency and the utilization ratio of treating the charging object have been improved.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic view of a charging scene in the related art according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a charging device according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of another charging device according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of another charging device according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a battery holder according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a charging system according to an embodiment of the present invention.

Icon: 001-charging pile; 002-AGV; 10-a charging device; 11-an actuator; 110-a battery grasping unit; 111-a charging interface; 20-a drive unit; 200-a drive rail; 201-a support rail; 30-a driving wheel; 31-an inner track; 32-outer rail; 33-a gripper arm; 34-a battery holder; 35-a display screen; 40-a wire; 50-a charging object; 51-charging device.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

For easy understanding, the present embodiment first provides a charging scenario in the related art, as shown in fig. 1, in the scenario, an AGV002 is charged through a charging pile 001, a one-to-one charging mode is adopted, but when there are a plurality of objects to be charged that need to be charged or the charging pile 001 is less, the objects to be charged need to wait in a queue for a long time, so that the charging efficiency of the objects to be charged is low, and the utilization rate of the objects to be charged is affected. Based on this, the embodiment of the utility model provides a charging equipment and system, this technique can be applied to in the battery charging or the battery change scene of various charging object, especially in the scene of charging of mobile robot AGV, it is following right the embodiment of the utility model provides a detailed introduction is carried out.

The first embodiment is as follows:

the present embodiment provides a charging apparatus; as shown in fig. 2, the charging apparatus includes: a charging device 10 and an actuator 11; the actuator 11 includes a plurality of battery grasping units 110; the battery grasping unit 110 is provided with a charging interface 111; the charging interface 111 is connected to the charging device 10.

The battery grasping unit 110 is configured to grasp a battery to be charged, and charge the battery to be charged through the charging interface 111; the battery grasping unit 110 is also used for placing a charged battery;

the charging device 10 is used for charging a battery to be charged through the charging interface 111.

The charging device 10 can convert the commercial power into the charging voltage and the charging current matched with the battery to be charged, and is used for providing electric energy for the battery to be charged. The charging device 10 may be a charging pile, which may be fixed on the ground and installed in public buildings (public buildings, shopping malls, public parking lots, etc.) and residential parking lots or charging stations.

The actuator 11 may take out a battery to be charged of an object to be charged and mount the charged battery in the object to be charged; the object to be charged may be an electric vehicle, a mobile robot, a floor sweeping robot, or the like. Wherein the actuator 11 comprises a plurality of battery grasping units 110. For example, the battery grabbing unit 110 may be an electromagnetic attraction type device or a snap-in type device, and when the battery grabbing unit 110 is an electromagnetic attraction type device, the battery to be charged may be taken out from the object to be charged by electromagnetic attraction; when the battery grasping unit 110 is a clip-on device, the battery grasping unit can be connected to the battery to be charged by a clip so as to pull the battery to be charged out of the object to be charged. It should be understood that the battery grabbing unit 110 may also be other devices capable of grabbing and placing the battery, such as a mechanical arm having a function of grabbing and placing the battery, and the embodiment of the present invention is not limited thereto.

When the object to be charged reaches a designated position while the charging apparatus is in use, the actuator 11 takes out the battery to be charged from the object to be charged by the battery grasping unit 110 in an idle state among the plurality of battery grasping units 110, and charges the battery to be charged by the charging device 10 using the charging interface 111 provided on the battery grasping unit 110 in a space state. The executing mechanism 11 controls the battery grasping units carrying the charged batteries among the plurality of battery grasping units to reach corresponding positions of the designated positions, and the charged batteries are mounted on the object to be charged. In the mode, the battery to be charged is taken out, and the charged battery is installed on the object to be charged, so that the time that the object to be charged needs to stay beside the charging equipment to wait for charging the battery in the prior art is greatly reduced.

In some embodiments, at least one of the battery grasping units 110 is in an idle state, i.e., at least one of the battery grasping units 110 does not carry a charged battery. Each battery grasping unit 110 is provided with a charging interface 111, and the charging interface 111 can be connected with the charging device 10 through a plurality of wires (for example, 3 wires), so that the charging device 10 can supply electric energy to the charging interface 111 through the plurality of wires to charge the battery to be charged.

The charged battery may be a battery that has been charged for a certain period of time but is not fully charged, or may be a fully charged battery. The charging interface 111 may be used to charge not only a battery to be charged but also a charged battery that is not fully charged.

The above-mentioned specified position may be a position adjacent to the actuator 11 of the charging device. For example, the designated location may be a specific location defined on the ground, and the specific location may be provided with a specific identifier, for example, the specific identifier may be a two-dimensional code, a box, or a region of a specific color (e.g., a yellow region), and the like. The object to be charged can find the designated position according to the specific identification. The battery grasping unit 110 in the idle state may be aligned with a corresponding position of the designated position, and when the object to be charged reaches the designated position, the grasping unit in the idle state will grasp the battery to be charged, take the battery to be charged out of the object to be charged, and charge the battery to be charged through the charging interface 111. The corresponding position of the above-mentioned designated position may refer to a position where a battery to be charged is placed in the object to be charged.

After the battery to be charged is taken out, the actuator 11 controls the plurality of battery grasping units 110 to move, so as to move the battery grasping unit that takes out the battery to be charged to another position, move the battery grasping unit that carries the charged battery to a corresponding position of the designated position, and mount the charged battery carried on the object to be charged. One or more battery grabbing units carrying charged batteries can be provided; when a plurality of battery grabbing units with charged batteries exist, the battery grabbing unit closest to the battery grabbing unit for taking out the batteries to be charged can be selected from the plurality of battery grabbing units, the battery grabbing unit with the charged batteries in a full-charge state can be selected, any one of the plurality of battery grabbing units with the charged batteries can also be selected, and the charged batteries carried on the selected battery grabbing unit are installed in the objects to be charged.

The utility model provides a charging device, which comprises a charging device and an actuating mechanism; the actuating mechanism comprises a plurality of battery grabbing units; a charging interface is arranged on the battery grabbing unit; when the object to be charged reaches the designated position, the executing mechanism controls the first battery grabbing unit in the idle state to take out the battery to be charged from the object to be charged, so that a charging interface on the first battery grabbing unit charges the battery to be charged through the charging device; then, the actuating mechanism controls the second battery grabbing unit carrying the charged battery to reach a corresponding position of the designated position, and the charged battery is installed on the object to be charged. The utility model discloses a plurality of batteries snatch the unit and will treat rechargeable battery of charging object and take out, will have installed rechargeable battery to treating the charging object, charge for treating rechargeable battery through the interface that charges simultaneously, can continue work after treating the charging object and changing the battery, need not to wait in battery charging process to charging efficiency and the utilization ratio of treating the charging object have been improved.

Example two:

the present embodiment provides another charging device, which is implemented on the basis of the charging device shown in fig. 2; as shown in fig. 3, the charging apparatus includes a charging device 10 and an actuator 11; the actuator 11 includes a plurality of battery grasping units 110; the battery grasping unit 110 is provided with a charging interface 111; the charging interface 111 is connected to the charging device 10.

Specifically, the actuator 11 further includes a drive unit 20; a plurality of battery grasping units 110 are provided on the driving unit 20; the driving unit 20 is used for driving the battery grasping unit 110 to move.

The driving unit 20 may generally move the battery grasping unit 110, which takes out the battery to be charged, away from the corresponding position of the designated position, and at the same time, move the battery grasping unit 110, which carries the charged battery, to the corresponding position of the designated position, so that the battery grasping unit 110, which carries the charged battery, may place the charged battery into the object to be charged.

Further, the above-mentioned driving unit 20 includes a driving rail 200 and a supporting rail 201; the driving rail 200 is fixedly connected with the battery grasping unit 110; the support rail 201 is slidably connected to the battery grasping unit 110; the driving rail 200 is used for driving the battery grasping unit 110 to move; the support rail 201 is used to support the battery grasping unit 110.

The lower surface of the support rail 201 is generally fixed to the ground, and the upper surface is generally slidably connected to all the battery grasping units 110 to support the battery grasping units 110; the driving rail 200 has all the battery grasping units 110 fixed on the upper surface thereof, and is generally provided with wheels or braking means on the lower surface thereof, so that the driving rail 200 can be rotated or moved, thereby rotating or moving the battery grasping units 110. The driving rail 200 and the supporting rail 201 may be circular rails, long-strip rails (e.g., belt rails), or rectangular rails.

In some embodiments, the driving rail 200 is provided with a driving wheel; the driving wheel is provided with a hub motor; the hub motor is used for providing driving force and driving the driving wheel to rotate. The wheel hub motor is usually a motor arranged in a wheel, and has the biggest characteristic that power, transmission and braking devices are integrated into a wheel hub, so that the mechanical part of an electric vehicle can be greatly simplified, and meanwhile, a plurality of complex driving modes can be easily realized. The in-wheel motor can provide driving force to drive the driving wheel to rotate after the battery grabbing unit 110 takes out the to-be-charged battery of the to-be-charged object, so that the battery grabbing unit 110 carrying the charged battery moves to the corresponding position of the designated position.

In the charging device, after the battery grabbing unit in the idle state takes out the battery to be charged from the object to be charged, the driving unit drives the battery grabbing unit carrying the charged battery to move to the corresponding position of the specified position, and the charged battery is installed on the object to be charged. The device can control the replacement time of the battery within several minutes, greatly reduces the time for queuing and charging the object to be charged, and can improve the utilization rate of the object to be charged.

Example three:

the present embodiment provides another charging device, which is implemented on the basis of the charging device shown in fig. 3; as shown in fig. 4, the charging apparatus includes a charging device 10 and an actuator 11; the actuator 11 includes a plurality of battery grasping units 110; the battery grasping unit 110 is provided with a charging interface 111; the charging interface 111 is connected to the charging device 10.

Specifically, the driving rail 200 and the supporting rail 201 are both circular rails; the driving rail 200 and the supporting rail 201 are concentrically disposed; the charging device 10 is disposed at the center of the driving rail 200 and the supporting rail 201.

The concentric arrangement means that the driving rail 200 and the supporting rail 201 rotate around the same center of circle, which is the position of the charging device 10. In a specific implementation, the driving rail 200 is provided with a driving wheel 30; the driving wheel 30 is provided with a hub motor; the hub motor provides a driving force to rotate the driving wheel 30. The driving wheel 30 is usually in contact with the ground, but the driving rail 200 is not in contact with the ground, and the driving wheel 30 can drive the driving rail 200 to rotate and can also drive the battery grabbing unit on the driving rail 200 to rotate.

Further, the support rail 201 includes an inner rail 31 and an outer rail 32 concentrically disposed; the radius of the inner track 31 is smaller than that of the outer track 32; the driving rail 200 is disposed between the inner rail 31 and the outer rail 32. In some embodiments, the driving rail 200 is not in contact with the inner rail 31 and the outer rail 32, and the inner rail 31 and the outer rail 32 may limit the rotation range of the driving rail 200, i.e., limit the rotation range of the driving rail 200 between the inner rail 31 and the outer rail 32. The inner rail 31 and the outer rail 32 may both support the battery grasping unit 110 to make the arrangement of the battery grasping unit 110 more stable.

In some embodiments, the charging device is in the form of a ring, and the plurality of battery grasping units are equally spaced around the charging device as shown in fig. 4. The mode can adopt a circular ring-shaped structure, and is favorable for reducing the space occupied by the charging equipment.

The battery grasping unit 110 includes a grasping arm 33 and a battery holder 34; the charging interface 111 is arranged on the battery holder 34; the grasping arm 33 is connected to the charging device 10; the gripper arm 33 is used for taking out the battery to be charged from the object to be charged and placing the battery to be charged on the battery holder 34; the gripper arm 33 is also used to mount the charged battery on the battery holder in the object to be charged. The battery holder 34 is typically fixedly attached to the drive rail 200.

The above-mentioned gripper arm 33 may be brought into contact with a battery to be charged in an object to be charged, typically by means of electromagnetic attraction and a snap, to take out the battery to be charged and place it on the battery holder 34. The rectangular parallelepiped in fig. 4 is a battery, wherein the battery being pulled is a battery to be charged, and the battery placed on the battery holder is a charged battery. In fig. 4, the gripper arm is in contact with the battery to be charged and is pulled in the direction of the charging device 10 to take out the battery to be charged from the object to be charged. The battery holder 34 is provided with a charging interface 111, the charging interface 111 can be connected with the charging device 10 through a plurality of wires 40 on the battery holder 34, as shown in fig. 5, the battery holder 34 is configured as an "L" shape, wherein the charging interface 111 is disposed on a short side of the battery holder 34, and the grasping arm 33 can pass through a vacant position on the short side of the "L" shape of the battery holder.

The number of the grabbing arms is generally the same as that of the battery holders, that is, the grabbing arms and the battery holders have a one-to-one correspondence relationship, as shown in fig. 4, the charging device is provided with 8 battery holders and 8 grabbing arms; in some embodiments, one or more battery holders and gripping arms in an idle state are reserved on the charging device for taking out the battery to be charged from the object to be charged. When reserving a plurality of battery holders that are in idle state and snatching the arm simultaneously on battery charging outfit, can be simultaneously for a plurality of objects of waiting to charge change the battery, greatly promoted battery charging outfit's utilization ratio. As shown in fig. 4, a battery holder in an idle state is reserved, and the other 7 battery holders have charged batteries placed thereon.

In a specific implementation, the grabbing arm 33 and the battery holder 34 are disposed along a direction perpendicular to the extending direction of the rail, that is, the grabbing arm 33 and the battery holder 34 are disposed perpendicular to a tangent line of the rail. This mode of setting can save the occupation space of equipment, also conveniently snatchs arm 33 and snatchs the battery of waiting to charge from waiting to charge the equipment.

Optionally, the grabbing arm 33 is a telescopic mechanism; one end of the telescopic mechanism is fixedly connected with the charging device 10, and the other end of the telescopic mechanism is a free end; the free end of the telescopic mechanism is used for connecting with a battery to be charged or a charged battery. When the battery holder 34 carries a charged battery, the grabber arm is in a retracted state; when the gripper arms are in the idle state, the gripper arms are in the extended state.

The controller of the actuating mechanism 11 is disposed in the charging device 10, and can control the grasping arm 33 to move, that is, when the device to be charged moves to a specific position, the controller controls the free end of one grasping arm 33 in an idle state to extend to the battery to be charged of the device to be charged, when the grasping arm 33 is connected or in contact with the battery to be charged, the controller controls the grasping arm to retract so as to take out the battery to be charged and place the battery on the battery holder 34, and when the charging interface of the battery to be charged is in contact with the charging interface 111 on the battery holder 34, the charging interface 111 charges the battery to be charged through the electric energy transmitted by the charging device.

When the battery to be charged is completely placed on the battery seat 34, the in-wheel motor on the driving wheel 30 provides driving force for the driving wheel 30, so that the driving wheel 30 drives the battery seat 34 on the rotation driving track 200 to rotate, the grabbing arm 33 which is closest to the grabbing arm 33 grabbing the battery to be charged and carries the charged battery and is full of the charged battery is rotated to a specified position, the controller drives the grabbing arm 33 at the specified position to push the full of the charged battery into the object to be charged, so that the object to be charged can normally work, and at this time, the charging device completes the replacement of the battery of the object to be charged and waits for the next object to be charged to reach the specified position.

In some embodiments, the charging device may replace the batteries for a plurality of objects to be charged at the same time, for example, when two battery grabbing units in an idle state are provided on the charging device, and at least two battery grabbing units carry the charged batteries, the batteries can be replaced for two objects to be charged at the same time, so that the utilization rate of the charging device can be greatly improved.

In some embodiments, one end of the grasping arm is movably connected with the charging device, and the other end of the grasping arm is a free end; an accommodating space is arranged in the charging device, the accommodating space is used for placing a grabbing arm, and the free end of the grabbing arm is used for being connected with a battery to be charged or a charged battery. The controller can control the movable end of the grabbing arm to push the grabbing arm, for example, the grabbing arm in an idle state is pushed out of the accommodating space of the charging device so as to be connected with the battery to be charged; dragging the grabbing arm towards the charging device, and placing the battery to be charged on the battery seat; when the battery to be charged is attached to the charging interface on the battery seat, the grabbing arm stops being dragged, and the grabbing arm stays in the accommodating space; when the charged battery is installed in the object to be charged, the grabbing arm is pushed out of the accommodating space of the charging device, so that the charged battery on the charging seat is pushed into the object to be charged through the grabbing arm.

The free end of the gripping arm 33 is provided with an electromagnetic device or a catch. When the gripper arm 33 is provided with an electromagnetic device, the battery to be charged can be taken out of the object to be charged by electromagnetic attraction; when the gripper arm 33 is provided with a clip, the clip can be used to connect with a battery to be charged so as to pull the battery to be charged out of the object to be charged.

In some embodiments, the free end of the grasping arm 33 is provided with a limiting mechanism; the spacing mechanism is used to align the grabber arm 33 with the battery to be charged. The limiting mechanism arranged on the grabbing arm can be a convex part or a groove, and the convex part and the groove are matched with the groove or the convex part at the end part of the battery, so that the grabbing arm 33 can be accurately aligned with the battery to be charged of the object to be charged.

The battery holder 34 may also be provided with a limiting mechanism; the limiting mechanism is used for aligning the charging interface 111 on the battery holder 34 with the charging interface of the battery to be charged. The limiting mechanism may be a protruding part disposed on two side edges of the battery holder 34, and the protruding part can limit the battery to be charged right at the central position of the battery holder 34, so that the charging interface of the battery to be charged can be aligned with the charging interface 111 of the battery holder 34.

Further, the device may further include a display screen 35; the display screen 35 is connected with the actuating mechanism 11; the display screen 35 is used for displaying the working states of the plurality of battery grasping units 110 and the electric quantity of the charged battery; the display 35 is also used to receive a trigger signal for controlling the actuator 11. The display screen can display which battery grabbing units carry charged batteries in the plurality of battery grabbing units 110 and which battery grabbing units are in an idle state, and can also display the electric quantity of the charged batteries carried on the battery grabbing units. In some embodiments, the display screen 35 is a touch display screen, and a user can click a trigger option of a human-computer interaction interface in the touch display screen according to personal needs, select a certain battery grasping unit in an idle state to grasp a battery to be charged, or select a certain battery grasping unit carrying a charged battery to install the charged battery carried by the battery grasping unit in an object to be charged.

The battery of the charging equipment of this embodiment charges and changes for waiting to charge the object's battery, both can realize that the multiunit battery charges simultaneously, can treat again that the object's of charging battery carries out quick replacement to queuing waiting time in the traditional charging mode has been reduced greatly, the idle problem of object of waiting to charge in the charging process has also been avoided, this charging equipment's integrated level is high, easily arrange, can save space resources simultaneously, and improve the availability factor of waiting to charge the object.

Example four:

corresponding to the embodiment of the above-described charging apparatus, the present embodiment provides a charging system, as shown in fig. 6, including an object to be charged 50 and the above-described charging apparatus 51; the charging device 51 is used to take out a battery to be charged of an object to be charged, charge the battery to be charged, and attach a charged battery to the object to be charged.

Further, the object to be charged 50 includes a mobile robot.

The mobile robot may be a robot equipped with an automatic guidance device such as an electromagnetic, optical, or visual device, capable of traveling along a navigation path, and having safety protection and movement functions. The mobile robot can be a mobile robot belonging to the mobile modes of wheel type, crawler type, jumping type, leg type, snake type, jumping type, composite type and the like. The mobile robot may also be a transport vehicle having various functions of transferring or carrying articles, such as an AGV. For example, the travel route and behavior of the AGV may be controlled by a control system or server, or may also be directed using a two-dimensional code, color bar, electromagnetic track, etc. provided on the ground.

The embodiment of the utility model provides a pair of charging system has the same technical characteristic with the battery charging outfit that above-mentioned embodiment provided, so also can solve the same technical problem, reach the same technological effect.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the technical solution of the present invention, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: those skilled in the art can still modify or easily conceive of changes in the technical solutions described in the foregoing embodiments or make equivalent substitutions for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A charging device, characterized in that the device comprises: a charging device and an actuator; the actuating mechanism comprises a plurality of battery grabbing units; a charging interface is arranged on the battery grabbing unit; the charging interface is connected with the charging device;

the battery grabbing unit is used for grabbing a battery to be charged and charging the battery to be charged through the charging interface; or the battery grabbing unit is used for carrying a charged battery;

the charging device is used for charging the battery to be charged through the charging interface.

2. The apparatus of claim 1,

when the object to be charged reaches the designated position, the executing mechanism takes out the battery to be charged from the object to be charged through the battery grabbing unit in the idle state in the plurality of battery grabbing units, and charges the battery to be charged through the charging device by using the charging interface arranged on the battery grabbing unit in the idle state;

and the actuating mechanism controls the battery grabbing units carrying the charged batteries in the plurality of battery grabbing units to reach the corresponding positions of the specified positions, and the charged batteries are installed on the object to be charged.

3. The apparatus of claim 2, wherein the actuator further comprises a drive unit; the plurality of battery grasping units are arranged on the driving unit;

the driving unit is used for driving the battery grabbing unit to move.

4. The apparatus of claim 3, wherein the drive unit comprises a drive rail and a support rail; the driving rail is fixedly connected with the battery grabbing unit; the supporting rail is connected with the battery grabbing unit in a sliding mode;

the driving rail is used for driving the battery grabbing unit to move; the support rail is used for supporting the battery grabbing unit.

5. The apparatus of claim 4, wherein the drive rail and the support rail are both endless rails; the driving track and the supporting track are concentrically arranged;

the charging device is arranged at the circle center positions of the driving rail and the supporting rail.

6. The apparatus of claim 5, wherein the plurality of battery grasping units are equally spaced around the charging device.

7. The apparatus of claim 4 or 5, wherein the drive rail has a drive wheel mounted thereon; a hub motor is arranged on the driving wheel;

the hub motor is used for providing driving force and driving the driving wheel to rotate.

8. The apparatus of claim 5, wherein the support track comprises an inner track and an outer track arranged concentrically; the radius of the inner track is smaller than that of the outer track; the drive rail is disposed between the inner rail and the outer rail.

9. The apparatus of claim 2, wherein the battery grasping unit comprises a grasping arm and a battery holder; the charging interface is arranged on the battery holder; the grabbing arm is connected with the charging device; the grabbing arm is used for taking the battery to be charged out of the object to be charged and placing the battery to be charged on the battery seat; the gripper arm is also used to mount the charged battery in the object to be charged.

10. The apparatus of claim 9, wherein the grabber arm and the battery holder are arranged along a direction perpendicular to a direction of extension of the rail.

11. The apparatus of claim 10, wherein the grasping arm is a telescoping mechanism; one end of the telescopic mechanism is fixedly connected with the charging device, and the other end of the telescopic mechanism is a free end;

the free end of the telescopic mechanism is used for being connected with the battery to be charged or the charged battery.

12. The apparatus of claim 10, wherein one end of the grabber arm is movably connected to the charging device, and the other end of the grabber arm is a free end; an accommodating space is formed in the charging device and used for placing the grabbing arm;

the free end of the grabbing arm is used for being connected with the battery to be charged or the charged battery.

13. Device according to claim 12, characterized in that the free end of the gripper arm is provided with an electromagnetic means or a snap.

14. The apparatus according to claim 13, wherein a stop mechanism is provided on the free end of the gripper arm; the limiting mechanism is used for aligning the grabbing arm with the battery to be charged.

15. The apparatus of claim 9, wherein the battery holder is provided with a limit mechanism; the limiting mechanism is used for aligning the charging interface on the battery seat with the charging interface of the battery to be charged.

16. The device of claim 1, further comprising a display screen;

the display screen is used for displaying the working states of the battery grabbing units and the electric quantity of the charged battery.

17. An electric charging system characterized by comprising an object to be charged and the charging apparatus according to any one of claims 1 to 16; the charging equipment is used for taking out the battery to be charged of the object to be charged, charging the battery to be charged and installing the charged battery to the object to be charged.

18. The system of claim 17, wherein the object to be charged comprises a mobile robot.