201001813 九、發明說明： t 【發明所屬之技術領域】 本發明涉及一種充電裝置，尤其涉及一種移動式機器 人充電裝置。 【先前技術】 移動式機器人通常被用於在一定範圍内完成給定之 任務。移動式機器人用設置在其内部之充電電池為其提供 電源進行工作，但是目前機器人之充電大多數都必須通過 人為操作，不能自動進行充電。若工作中機器人突然沒有 電了，它就會停止工作，直到使用者將機器人拿到充電座 上充電，然後等機器人充電完畢後，使用者再將機器人放 回工作區域内，它才可以繼續工作，這樣非常影響機器人 之工作效率。 【發明内容】 有鑒於此，有必要提供一種為移動式機器人充電之充 電裝置。 一種充電裝置，用於為移動式機器人充電，其包括一 具有電源觸點之充電座。所述機器人外殼之頂部中心位置 設置具有一充電觸點之充電墊片。機器人底部設有至少三 根不在同一條直線上可自動伸縮之支撐柱及至少三個不在 同一條直線上之可帶動機器人運動之輪子。所述機器人外 殼之側壁設有一用來自動檢測所述充電座或工作區域之感 測器。所述機器人内部有一根據所述感測器回饋之位置信 號發出指令，使機器人自動移動到充電座上或工作區域内 6 201001813 之中央處理器。所述中央處理器還可發出指令使所述支樓 柱自動伸出或縮回，使所述機器人在充電座上進行自動充 電或在充電完畢後自動與充電座之電源觸點脫離，移動到 工作區域繼續工作。 本發明之充電裝置’使機器人之充電過程實現自動 化，並且可在機器人充完電後，自動斷電，從而防止機器 人充電過量，可有效提高機器人之工作效率，實用性強。 【實施方式】 請參閱圖1及圖2,為本發明實施方式提供之一種充 電裝置100,用於為移動式機器人11〇充電，所述充電裝 置100包括一具有電源觸點之充電座120。 所述機器人110之橫截面為圓形，其具有一外殼111 及一底部112。 所述機器人110之外殼111之頂部101之中心位置設 有一充電墊片114,所述充電墊片114上具有一充電觸點 115。所述機器人11〇之外殼Π!之側壁1〇2固定有一感測 器170，所述感測器170用來自動檢測所述充電座120或 工作區域之位置。 請參閱圖2，所述機器人11〇之底部112設置有至少 三根不在同一條直線上之可自動伸縮之支撐柱116及至少 二個不在同一條直線上之可帶動機器人110運動之輪子 118。且所述支撐柱伸出機器人；之底部112之高度 大於所述輪子118之高度’從而可以升高機器人11()之高 度。可以理解，所述輪子118也可根據需要帶動機器人11〇 7201001813 IX. Description of the invention: t TECHNICAL FIELD The present invention relates to a charging device, and more particularly to a mobile robot charging device. [Prior Art] Mobile robots are often used to accomplish a given task within a certain range. The mobile robot works with a rechargeable battery set inside it to supply power, but most of the current robot charging must be handled manually and cannot be automatically charged. If the robot suddenly loses power during work, it will stop working until the user takes the robot to the charging stand for charging, and then after the robot is charged, the user can put the robot back into the working area before it can continue working. This greatly affects the efficiency of the robot. SUMMARY OF THE INVENTION In view of the above, it is necessary to provide a charging device for charging a mobile robot. A charging device for charging a mobile robot includes a charging stand having a power contact. A charging pad having a charging contact is disposed at a top center position of the robot housing. The bottom of the robot is provided with at least three support columns that are not automatically retractable on the same line and at least three wheels that are not on the same line to drive the robot. A side wall of the robot housing is provided with a sensor for automatically detecting the charging stand or working area. The inside of the robot has a command according to the position signal fed back by the sensor, so that the robot automatically moves to the central processing unit on the charging stand or in the working area 6 201001813. The central processor may also issue an instruction to automatically extend or retract the branch column, so that the robot automatically charges on the charging stand or automatically disconnects from the power contact of the charging stand after charging, and moves to The work area continues to work. The charging device of the present invention automates the charging process of the robot, and automatically powers off after the robot is fully charged, thereby preventing the robot from overcharging, thereby effectively improving the working efficiency of the robot and being highly practical. [Embodiment] Referring to FIG. 1 and FIG. 2, a charging device 100 for charging a mobile robot 11 is provided according to an embodiment of the present invention. The charging device 100 includes a charging stand 120 having a power contact. The robot 110 has a circular cross section and has a housing 111 and a bottom portion 112. A charging pad 114 is disposed at a center of the top 101 of the housing 111 of the robot 110, and the charging pad 114 has a charging contact 115 thereon. A sensor 170 is fixed to the side wall 1〇2 of the housing 11 of the robot, and the sensor 170 is used to automatically detect the position of the charging stand 120 or the working area. Referring to Fig. 2, the bottom portion 112 of the robot 11 is provided with at least three support columns 116 which are not automatically retractable on the same straight line and at least two wheels 118 which are not in the same straight line and can move the robot 110. And the support post extends out of the robot; the height of the bottom portion 112 is greater than the height of the wheel 118 so that the height of the robot 11 () can be raised. It can be understood that the wheel 118 can also drive the robot 11 〇 7 as needed.
I 201001813 在運動之時候改變方向。 可以理解’所述支撐柱116之伸縮可以有很多種方式 來實現。請參閱圖3及圖4,在本實施方式中，將機器人 11〇之外殼111去掉，就可看到，所述機器人11〇之内部 有一平行於其底部112之升降板113及一垂直固定於其底 部112之升降柱117。所述升降板113有一升降柱117及 下表面140。所述升降板113之上表面130固定有一馬達 109及一轉動軸119，所述轉動軸119可被所述馬達1〇9 帶動實現正反轉，所述轉動軸U9之端部固定有一環狀齒 條160 °所述支撐柱116就固定在該升降板113之下表面 140上。所述升降柱117貫穿所述升降板113之上表面130 及下表面14〇 ’且所述升降柱117之側壁軸向開設有一與 所述轉動軸119之齒條160相嚙合之帶狀齒條150。當轉 動軸119反轉時就可帶動該升降板113下降，將所述支撐 柱116伸出機器人110之底部112。當轉動軸119正轉時 就可帶動該升降板n3上升，將所述支撐柱116縮回所述 機器人110之體内，使機器人110之底部112之輪子118 落在地面上。 所述機器人110内部之升降板113上還固定有一中央 處理器180。所述中央處理器180可根據所述感測器170 回饋之位置信號發出指令，使機器人110自動移動到充電 座120上或工作區域内。所述中央處理器180與所述馬達 109相電連接，所述中央處理器18〇可發出指令使所述馬 達109帶動轉動軸119實現反轉及正轉，從而使所述支撐 8 201001813 柱116自動伸出或縮回，實現所述機器人110在充電座120 上進行充電或在機器人110充電完畢後與充電座120自動 脫離。所述中央處理器wo還可根據感测器回饋之工 作區域之位置信號發出指令，使機器人110自動移動到工 作區域繼續工作。 請參閱圖1，所述充電座120包括—基板121，一擔 板122’一充電板123,兩個固定板124及兩個導引板125。 所述基板121包括一支禮部126及—緩衝部127。所 述支撐部126具有平坦之上表面。所逃緩衝部127且有一 斜面’其連接在支撐部126之一側。機器人可通過缓 衝部127平穩地移動到支撐部126之上表面上。 所述擋板122設置在支撐部126上與緩衝部127對應 之另一側’用以阻擋移動至支撐部126上之機器人11〇繼 續移動。 所述充電板123垂直固定於所述擋板122之上方，並 且與基板121平行放置。所述充電板ι23面對基板ι21之 一側設有一電源觸點128。該電源觸點128與所述擋板122 之間之距離與所述機器人11〇之充電觸點115與所述機器 人110之邊緣側壁間之距離相同，從而使機器人11(3充電 時，其外殼ill上之充電觸點115正好與所述充電板123 之電源觸點128相接觸。可以理解，所述充電板123之内 部可设置一整流器（未圖示），將電源觸點128輸出之電流 轉換為直流電。 所述兩個固定板124平行放置，且均垂直於所述基板 201001813 '121之支撐冑126。所述兩個固定板124之間之腺離等於機 器人110徑向尺寸，當機ϋ人110充電時就一卡在該兩 個固定板124之間。 所述兩個導引板125分別對應連接於所述雨個固定板 之一側，且均垂直於所述基板ΐ2ι之支禕部126。所述 兩個V引板125之間之寬度自遠離固定板124别靠近固定 板124方向逐漸變+。當機器人ιι〇運動到支撐部126之 上表面時，所述兩個導引板125為機器人110之運動軌跡 起導引作用。 一請參閱圖1，當機器人11〇不需要充電時，其底部112 之三根f撐柱116收縮在所述機器人110之體内，機器人 U〇依罪其底部112之三個輪子118在地面上運動，在工 作區域内自動進行工作。 當機器人110需要充電時，機器人110會通過其外殼 I11上設置之感測器17〇自動檢測所述充電座12〇之位 置’所述中央處理器180根據感測器170所回饋之位置信 號’發出指令使機器人110用其三個輪子118朝充電座120 運動。當所述機器人110通過緩衝部127運動到所述支撐 邛126之上表面時，由導引板125引導著機器人11〇逐漸 進入兩個固定板124之間。當機器人110碰到擔板122時， 停止運動。請參閱圖5及圖6,此時機器人1〇上之充電觸 點115正好與所述充電板123之電源觸點128之位置相對 正，其底部112之輪子118自動停止運動。請參閱圖7， 中央處理器180發出指令使轉動軸119反轉，將收縮在機 201001813 器人no體内之三根支撐柱116伸出其底部112，將機器 人110之高度升高，此時所述機器人110上之充電觸點115 與充電板123上之電源觸點128相接觸，使機器人11〇開 始充電。當充電完畢後，所述中央處理器18〇發出指令使 轉動軸U9正轉，將機器人11〇三根支撐柱116縮回，使 其充電觸點115與充電板123上之電源觸點128脫離，防 止機器人no充電過量。此時機器人11〇之輪子118落到 充電座120之支撐部126上，然後機器人11〇之感測器17〇 會自動檢測所述工作區域之位置，所述中央處理器18〇根 據感測ft 17G所回饋之位置信號發出指令，使機器人n〇 用其三個輪子118_所述充電座12〇，朝卫作區域運動。 運動到工作區域後，所述中央處理器18〇會再次發出指令 使機器人110繼續工作。 π可以理解’本發明中之移動式機器人也可以為玩具機 器人。 本&明之充電裝置，使移動式機器人之充電過程實現 化並且可在移動式機器人充完電後，自動斷電，從 而防止機器人充電過量，實用性強。 =上所述，本發明符合發明專利要件，爰依法提 發明:J /上所述者僅為本發明之較佳實施方式 之 ^ 、’不以上述實施方式為限，舉凡熟習本案; 發明之精神所作之等 ，皆 盍於以下申請專利範圍内。 【圖式簡單說明】 11 201001813 係本發明實施方式提供之充電裝置及機器人之分 圖1 解圖； 圖2係圖1之機器人另一視角之示意圖； 圖3係圖1之機器人之支撐柱縮回狀態之内部結構局 部放大圖； 圖4係圖1之機器人之支撐柱伸出狀態之内部結構局 部放大圖； 圖5係圖1之充電裝置與機器人之立體組合圖； 圖6係圖1之充電裝置與機器人充電前之主視圖； 圖7係圖1之充電裝置與機器人充電時之主視圖。 【主要元件符號說明】 充電裝置 100 機器人 110 外殼 111 底部 112 升降板 113 充電墊片 114 充電觸點 115 支撐柱 116 升降柱 117 輪子 118 轉動軸 119 充電座 120 基板 121 擋板 122 充電板 123 固定板 124 導引板 125 支撐部 126 缓衝部 127 電源觸點 128 上表面 130 下表面 140 帶狀齒條 150 環狀齒條 160 感測器 170 中央處理器 180 頂部 101 側壁 102 馬達 109 12I 201001813 Change direction when exercising. It will be appreciated that the telescoping of the support post 116 can be accomplished in a wide variety of ways. Referring to FIG. 3 and FIG. 4, in the embodiment, the outer casing 111 of the robot 11 is removed, and it can be seen that the inside of the robot 11 has a lifting plate 113 parallel to the bottom portion 112 thereof and a vertical fixing member. The lifting column 117 of the bottom portion 112. The lifting plate 113 has a lifting column 117 and a lower surface 140. A motor 109 and a rotating shaft 119 are fixed on the upper surface 130 of the lifting plate 113. The rotating shaft 119 can be rotated forward and reverse by the motor 1〇9, and an end of the rotating shaft U9 is fixed in a ring shape. The rack 160 is fixed to the lower surface 140 of the lift plate 113. The lifting column 117 extends through the upper surface 130 and the lower surface 14 of the lifting plate 113 and the side wall of the lifting column 117 axially defines a strip-shaped rack that meshes with the rack 160 of the rotating shaft 119. 150. When the rotating shaft 119 is reversed, the lifting plate 113 can be lowered, and the supporting column 116 is extended from the bottom 112 of the robot 110. When the rotating shaft 119 rotates forward, the lifting plate n3 can be driven to rise, and the supporting column 116 is retracted into the body of the robot 110, so that the wheel 118 of the bottom 112 of the robot 110 falls on the ground. A central processor 180 is also fixed to the lifting plate 113 inside the robot 110. The central processing unit 180 can issue an instruction according to the position signal fed back by the sensor 170 to automatically move the robot 110 onto the charging base 120 or into the working area. The central processing unit 180 is electrically connected to the motor 109, and the central processing unit 18 can issue an instruction to cause the motor 109 to drive the rotating shaft 119 to perform reverse rotation and forward rotation, so that the support 8 201001813 column 116 The robot 110 is automatically extended or retracted to enable the robot 110 to be charged on the charging stand 120 or automatically detached from the charging stand 120 after the robot 110 is charged. The central processing unit may also issue an instruction according to the position signal of the working area of the sensor feedback, so that the robot 110 automatically moves to the working area to continue working. Referring to FIG. 1, the charging stand 120 includes a substrate 121, a supporting plate 122', a charging plate 123, two fixing plates 124 and two guiding plates 125. The substrate 121 includes a ritual portion 126 and a buffer portion 127. The support portion 126 has a flat upper surface. The escape buffer portion 127 has a sloped surface which is connected to one side of the support portion 126. The robot can be smoothly moved to the upper surface of the support portion 126 by the buffer portion 127. The baffle 122 is disposed on the other side of the support portion 126 corresponding to the buffer portion 127 to block the movement of the robot 11 that is moved to the support portion 126. The charging plate 123 is vertically fixed above the baffle 122 and placed in parallel with the substrate 121. A power contact 128 is disposed on a side of the charging pad ι23 facing the substrate ι21. The distance between the power contact 128 and the baffle 122 is the same as the distance between the charging contact 115 of the robot 11 and the edge of the edge of the robot 110, so that the robot 11 (3 when charging, its outer casing The charging contact 115 on the ill is in contact with the power contact 128 of the charging board 123. It can be understood that a rectifier (not shown) can be disposed inside the charging board 123 to output the current of the power contact 128. The two fixed plates 124 are placed in parallel and are perpendicular to the support 胄 126 of the substrate 201001813 '121. The gland between the two fixed plates 124 is equal to the radial dimension of the robot 110, and the machine is down. The two guiding plates 125 are respectively connected between the two fixing plates 124. The two guiding plates 125 are respectively connected to one side of the rain fixing plate, and are perpendicular to the substrate ΐ2ι The width of the two V-leads 125 is gradually changed from the fixed plate 124 to the fixed plate 124. When the robot moves to the upper surface of the support portion 126, the two guides The guide plate 125 is the motion track of the robot 110 Referring to Figure 1, when the robot 11 does not need to be charged, the three f-struts 116 of the bottom 112 are shrunk within the body of the robot 110, and the robot U swears against the three wheels of the bottom 112 118 moves on the ground and automatically works in the work area. When the robot 110 needs to be charged, the robot 110 automatically detects the position of the charging stand 12 through the sensor 17 provided on the outer casing I11. The processor 180 issues an instruction to cause the robot 110 to move toward the charging base 120 with its three wheels 118 according to the position signal fed back by the sensor 170. When the robot 110 moves to the upper surface of the supporting jaw 126 through the buffer portion 127 At the same time, the robot 11 is guided by the guiding plate 125 to gradually enter between the two fixing plates 124. When the robot 110 hits the supporting plate 122, the movement is stopped. Referring to Fig. 5 and Fig. 6, the robot 1 is now The charging contact 115 is just opposite to the position of the power contact 128 of the charging pad 123, and the wheel 118 of the bottom portion 112 automatically stops moving. Referring to Figure 7, the central processing unit 180 issues an instruction to reverse the rotating shaft 119. The three support columns 116 contracted in the body of the machine 201001813 extend out of the bottom 112 thereof, and raise the height of the robot 110. At this time, the charging contact 115 on the robot 110 and the power contact 128 on the charging plate 123 When the contact is made, the robot 11 starts charging. When the charging is completed, the central processing unit 18 sends a command to rotate the rotating shaft U9 forward, and the robot 11 〇 three support columns 116 are retracted to make the charging contact 115 and The power contact 128 on the charging pad 123 is disengaged to prevent the robot from being overcharged. At this time, the wheel 11 of the robot 11 falls onto the support portion 126 of the charging base 120, and then the sensor 17〇 of the robot 11 automatically detects the position of the working area, and the central processing unit 18〇 according to the sensing ft The position signal fed back by the 17G issues an instruction to cause the robot to use its three wheels 118_the charging seat 12〇 to move toward the guarding area. After moving to the work area, the central processor 18 will again issue an instruction to continue the operation of the robot 110. π can be understood that the mobile robot in the present invention can also be a toy robot. This & Ming charging device enables the charging process of the mobile robot to be realized and automatically powers off after the mobile robot is fully charged, thereby preventing the robot from being overcharged and practical. The invention is in accordance with the invention patent requirements, and the invention is based on the law: J / the above is only the preferred embodiment of the invention, and is not limited to the above embodiments, and is familiar with the present invention; The spirits are all within the scope of the following patent application. [Description of the drawings] 11 201001813 is a schematic diagram of a charging device and a robot provided by an embodiment of the present invention; FIG. 2 is a schematic view of another perspective of the robot of FIG. 1; FIG. 3 is a supporting column of the robot of FIG. FIG. 4 is a partial enlarged view of the internal structure of the support column of the robot of FIG. 1; FIG. 5 is a three-dimensional combination diagram of the charging device and the robot of FIG. 1; FIG. The front view of the charging device and the robot before charging; FIG. 7 is a front view of the charging device of FIG. 1 and the charging of the robot. [Main component symbol description] Charging device 100 Robot 110 Housing 111 Bottom 112 Lifting plate 113 Charging pad 114 Charging contact 115 Support column 116 Lifting column 117 Wheel 118 Rotating shaft 119 Charging base 120 Substrate 121 Baffle 122 Charging plate 123 Fixing plate 124 Guide plate 125 Support portion 126 Buffer portion 127 Power contact 128 Upper surface 130 Lower surface 140 Banded rack 150 Ring rack 160 Sensor 170 Central processor 180 Top 101 Side wall 102 Motor 109 12