WO2020156147A1 - 充电承插连接结构、充电桩、机器人及其自动充电系统 - Google Patents
充电承插连接结构、充电桩、机器人及其自动充电系统 Download PDFInfo
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- WO2020156147A1 WO2020156147A1 PCT/CN2020/072021 CN2020072021W WO2020156147A1 WO 2020156147 A1 WO2020156147 A1 WO 2020156147A1 CN 2020072021 W CN2020072021 W CN 2020072021W WO 2020156147 A1 WO2020156147 A1 WO 2020156147A1
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- WIPO (PCT)
- Prior art keywords
- charging
- socket
- elastic
- connection structure
- flexible platen
- Prior art date
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/02—Contact members
- H01R13/20—Pins, blades, or sockets shaped, or provided with separate member, to retain co-operating parts together
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/627—Snap or like fastening
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
- H01R13/631—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
Definitions
- the invention relates to the technical field of robots, in particular to a charging socket connection structure, a charging pile, a robot and an automatic charging system thereof.
- Mobile robots generally include an energy system, a mechanical structure, and a sensing system.
- the sensing system refers to a sensing system composed of sensors, main controllers, actuators, and other accessories on a movable robot; the mechanical structure includes the sensing system for carrying and installing the sensing system.
- the chassis, walking mechanism and protective shell of the mobile robot; the energy system is mainly the power battery, the battery management system and the charging device.
- the charging method of the mobile robot generally adopts the manual operation to charge the robot.
- the manual charging mode not only consumes manpower but also has a low degree of automation, which is not conducive to the continuous work of mobile robots.
- power supply equipment such as charging piles is generally provided, and the power supply terminal of the mobile robot and the power supply equipment is automatically aligned and connected through an automatic docking device, thereby realizing automatic charging operation.
- the most important part of using the charging pile to realize automatic charging is to solve the problem of accurate docking between the charging plug of the mobile robot and the charging pile receiving plate.
- Position matching although the automatic alignment connection can be achieved better, but it will cause difficulties in the position of the charging contact piece, and the unstable contact between the charging contact pieces will cause serious heating of the charging contact piece and cause danger.
- CCD graphic positioning and recognition combined with a three-axis mobile platform to achieve accurate alignment, so that the structure of the automatic alignment device is complicated and the cost is high. Therefore, the existing automatic positioning device needs to be further optimized.
- the technical problem to be solved by the present invention is to provide a charging socket connection structure, a charging pile, a robot and an automatic charging system thereof, aiming to solve the problem that the existing automatic charging mobile robot cannot perform simple and accurate position identification with the charging pile technical problem.
- a charging socket connection structure which includes a support base, a flexible platen, and a socket panel arranged on the flexible platen.
- the platen is mounted on the support seat through a number of evenly distributed elastic members.
- the flexible platen forms an elastic displacement in the circumferential direction perpendicular to the socket direction; the socket panel is provided with sockets, so A number of female through holes are arranged on the socket.
- an automatic charging pile includes at least a mounting box, a PCB function main board arranged in the mounting box, and an electrical connection with the PCB function main board.
- the power conversion module, the charging monitoring module and the network communication module are provided in the installation box; the charging socket connection structure is arranged on the installation box, and the female through hole is correspondingly provided with an elastic contact piece group, the elastic contact piece The group is connected to the output end of the power conversion module through a charging wire.
- a mobile robot including a drive battery assembly, an induction execution system, a frame housing and a mobile wheel set, the induction execution system and the drive battery assembly are installed in the The accommodating space in the rack shell, the sensing execution system at least includes a sensor module, a GPU controller, and an execution drive assembly connected to the mobile wheel set at the bottom of the rack shell; the rack shell
- One end of the body is also provided with a charging interface structure corresponding to the above-mentioned charging socket connection structure.
- the charging interface structure is provided with a socket corresponding to the socket, and the socket corresponds to the female connector.
- the hole is provided with a charging plug, and the charging plug is connected with the driving battery assembly.
- an automatic charging system for a robot at least includes a positioning recognition sensor assembly, an automatic charging pile equipped with the charging socket structure, and the robot corresponding to the A charging interface structure provided with a charging socket structure, the charging interface structure is provided with a socket corresponding to the socket, and the socket is provided with a charging male plug corresponding to the female through hole, the The charging plug is connected with the driving battery assembly.
- the charging socket connection structure, charging pile, robot and its automatic charging system of the embodiment of the present invention are provided with a flexible platform, and the elastic member is used to form a 360-degree circumferential stability on a plane perpendicular to the socket direction.
- the flexible platen can perform a slight displacement in the 360-degree circumferential direction, when the socket is docked, when the automatic charging pile is affected by the unequal ground height, and the automatic positioning of the mobile robot recognizes the positioning of the sensor component itself. Tolerance makes it difficult for sockets and sockets to be successfully docked.
- the flexible platform can increase the tolerance for docking errors, thereby greatly reducing the difficulty of automatic alignment, thereby making the automatic charging system practical and adaptable Significantly increased.
- Figure 1 is a front view of a first charging socket connection structure according to an embodiment of the present invention
- FIG. 2 is a top view of the first charging socket connection structure according to an embodiment of the present invention.
- FIG. 3 is a three-dimensional view of the first charging socket connection structure according to an embodiment of the present invention.
- FIG. 4 is a three-dimensional exploded view 1 of the first charging socket connection structure according to an embodiment of the present invention.
- FIG. 5 is a second three-dimensional exploded view of the first charging socket connection structure according to the embodiment of the present invention.
- Figure 6 is a front view of a second charging socket connection structure according to an embodiment of the present invention.
- FIG. 7 is a front view of a third charging socket connection structure according to an embodiment of the present invention.
- FIG. 8 is a front structural diagram of an automatic charging pile according to an embodiment of the present invention.
- Fig. 9 is a front structural diagram of a mobile robot according to an embodiment of the present invention.
- Fig. 10 is a three-dimensional view 1 of a charging interface structure according to an embodiment of the present invention.
- Fig. 11 is a second three-dimensional view of a charging interface structure according to an embodiment of the present invention.
- FIG. 12 is a schematic structural diagram of an automatic charging system for a robot according to an embodiment of the present invention.
- 100-automatic charging pile 110-charging socket connection structure, 120-installation box, 130-power conversion module, 140-charging monitoring module, 150-network communication module, 160-PCB function main board; 200-mobile robot, 210-charging interface structure, 220-frame shell, 230-drive battery assembly, 240-sensing execution system, 250-mobile wheel set; 241-sensor module 241, 242-GPU controller 242, 243-Execute the drive assembly.
- 113-socket panel 1131-panel housing, 1132-socket, 1133-female through hole, 1134-data line through-hole, 1135-elastic contact piece group, 1136-data contact female terminal, 1137-contact piece installation Holder, 1138- female terminal mounting piece, 1139- wire hole;
- an embodiment of the present invention provides a charging socket connection structure 110, which includes a support base 111, a flexible platform 112, and a socket panel 113 provided on the flexible platform 112.
- the flexible platen 112 is installed on the support base 111 through a number of evenly distributed elastic members.
- the flexible platen 112 forms an elastic displacement in the circumferential direction perpendicular to the socket direction; the socket panel 113 is provided There is a socket 1132, and a plurality of female through holes 1133 are provided on the socket 1132.
- the support base 111 includes a connecting plate 1111 and a vertical mounting plate 1112 perpendicular to the connecting plate 1111.
- a plurality of mounting holes 1113 are evenly provided on the connecting plate 1111, and the vertical mounting plate 1112
- the flexible platen 112 is installed by a number of evenly distributed elastic members, and the flexible platen 112 forms an elastic displacement on the vertical surface.
- the connecting plate 1111 is used to fix the support base 111 to the installation box 120 of the charging pile.
- the support base 111 can be installed at the corresponding station of the installation box 120 by matching the mounting holes 1113 with the corresponding screw holes of the installation box 120.
- the elastic member is a stretch elastic member 1121, one end of the stretch elastic member 1121 is connected to the stretch buckle 1123 provided on the flexible platen 112, and the other end is connected to the
- the fixed terminals 1114 of the vertical mounting plate 1112 are connected; at least four of the tensile elastic members 1121 are evenly distributed on the vertical surface.
- the multiple stretch elastic members 1121 form a uniform tension on the flexible platen 112 in the 360-degree direction of the vertical plane, so that the flexible platen 112 always maintains a stable relative position relative to the vertical mounting plate 1112 when there is no external force on the vertical plane. .
- the stretch elastic member 1121 may be a stretch spring, a rubber band, an elastic rope, an elastic metal reed, and other elastic structural members capable of forming a stretch and contraction force.
- the fixed terminal 1114 can be installed on the vertical mounting plate 1112 by screwing, welding, plugging, or integral stamping sheet metal processing with the vertical mounting plate 1112, or set on the vertical mounting plate 1112.
- the tension buckle 1123 may be a protrusion formed by integral stamping and sheet metal processing on the flexible platen 112, or a connecting structure that is installed on the flexible platen 112 by means of threads, welding, inserting, or the like.
- the elastic member is a compressed elastic member 1126
- one end of the compressed elastic member 1126 is mounted on the vertical mounting plate 1112 through a fixed connection seat, and the other end is through another fixed connection seat.
- Installed on the flexible platen 112 at least four of the compressed elastic members 1126 are evenly distributed on the vertical surface. Similar to the tensile elastic member 1121, the multiple compressed elastic members 1126 form a uniform pressure on the flexible platen 112 in the 360-degree direction of the vertical plane, so that the flexible platen 112 is relative to the vertical mounting plate when there is no external force on the vertical plane. 1112 always maintains a stable relative position.
- the compression elastic member 1126 may be a compression spring, an elastic silica gel column and other elastic structures capable of forming pressure tension.
- the fixed connection seat may be a protrusion formed integrally by stamping on the vertical mounting plate 1112 and the flexible platen 112, or may be threaded, welded, plugged or riveted on the vertical mounting plate 1112 and the flexible plate 112 to connect the structural member.
- the elastic member is an elastic support column 1124, and two ends of a plurality of the elastic support columns 1124 are respectively fixed on the vertical mounting plate 1112 and the vertical mounting plate 1112 and Between the flexible platens 112.
- the elastic support column 1124 can achieve a slight displacement along the horizontal direction and the vertical direction, and can maintain a stable relative position relative to the vertical mounting plate 1112 when there is no external force.
- the elastic support column 1124 can be a variety of elastic structural members capable of stretching and bending, such as springs and elastic silicone.
- the fixed connection seat may be a protrusion formed integrally by stamping on the vertical mounting plate 1112 and the flexible platen 112, or may be threaded, welded, plugged or riveted on the vertical mounting plate 1112 and the flexible plate 112 to connect the structural member.
- the elastic element is a tensile elastic element 1121 or a compression elastic element 1126, and at least four of the tensile elastic elements 1121 or the compression elastic element 1126 are evenly distributed on a vertical surface; on the flexible platen A number of limit support columns 1122 are provided between 112 and the vertical mounting plate 1112; one end of the limit support column 1122 is fixed to the vertical mounting plate 1112, and the other end is in sliding contact with the flexible platen 112, Or, one end of the limit support column 1122 is fixed to the flexible platen 112, and the other end is in sliding contact with the vertical mounting plate 1112.
- the tensile elastic member 1121 or the compressive elastic member 1126 supports the flexible platen 112 in a 360-degree direction of the vertical plane with tension or pressure. In the horizontal direction, the flexible platen 112 can abut the vertical mounting plate 1112 through the extension structure. , Or by setting a limit support column 1122 to form a horizontal support force.
- a ball is provided at the free end of the limit support column 1122, and the ball is used to achieve sliding contact. Further, the ball is installed in the limit support column 1122 through a spring, so that when charging and docking, the impact force in the receiving direction of the part is buffered.
- the socket panel 113 includes a panel housing 1131 covering the flexible platen 112 and the socket 1132 integrally formed on the panel housing 1131.
- the front end of the socket 1132 is provided with a The female through hole 1133, the female through hole 1133 is provided with an elastic contact piece group 1135 correspondingly, and the elastic contact piece group 1135 is respectively connected to the corresponding charging wire;
- a data line through hole 1134 is provided, and a data contact female terminal 1136 is correspondingly provided in the data line through hole 1134.
- the front end of the socket 1132 is provided with three female through-holes 1133, the three female through-holes 1133 are distributed in a square or triangular shape, and the three female through-holes 1133 are all provided with an elastic contact piece group 1135, The elastic contact piece group 1135 is fixed in the socket 1132 through a contact piece mounting seat 1137.
- the three female through holes 1133 can correspond to the live wire, the neutral line and the ground wire during AC charging, and one of the female through holes 1133 can be used as a guide hole during DC charging.
- the front end of the socket 1132 is provided with two data line through holes 1134 on the lower side of the three female through holes 1133, and each data line through hole 1134 is provided with a data contact female terminal 1136 through which the data contact female terminal 1136 passes
- a female terminal mounting piece 1138 is arranged in the socket 1132 and located on the lower side of the contact piece mounting seat 1137.
- a wire hole 1139 for placing charging wires and data wires is provided on one side of the panel housing 1131.
- an embodiment of the present invention also provides an automatic charging pile 100.
- the charging pile includes at least a mounting box 120, a PCB function mainboard arranged in the mounting box 120, and a PCB function.
- the mainboard is electrically connected to the power conversion module 130, the charging monitoring module 140, and the network communication module 150;
- the installation box 120 is provided with the charging socket connection structure 110 of Embodiment 1, and the female through hole 1133
- An elastic contact piece group 1135 is correspondingly provided, and the elastic contact piece group 1135 is connected to the output end of the power conversion module 130 through a charging wire.
- the support base 111 of the charging socket connection structure 110 is generally installed outside the circumferential side wall of the installation box 120, or the support base 111 is installed at the upper and lower ends of the installation box 120 according to the usage scenario.
- the charging interface structure 210 of the mobile robot 200 will also be correspondingly changed and arranged on the side or upper and lower ends of the mobile robot 200; thus, the automatic charging pile 100 and the mobile robot 200 have corresponding docking stations.
- the data contact female terminal 1136 of the charging socket connection structure 110 uploads the driving battery assembly 230 on the mobile robot 200, especially the relevant parameters of the battery management system, to the automatic charging pile 100 through the data line, and the automatic charging pile 100 can be monitored in real time.
- the automatic charging pile 100 adjusts the output voltage and output current according to these data, and automatically cuts off the charging power source after the battery is charged to protect the battery of the mobile robot 200.
- an embodiment of the present invention provides a mobile robot 200, including a driving battery assembly 230, an induction execution system 240, a frame housing 220, and a mobile wheel set 250.
- the induction execution system 240 and the driving The battery assembly 230 is installed in the accommodating space in the rack housing 220, and the sensing execution system 240 includes at least a sensor module 241, a GPU controller 242, and the moving wheels at the bottom of the rack housing 220.
- the executive drive assembly 243 connected to the group 250; one end of the rack housing 220 is also provided with a charging interface structure 210 corresponding to the charging socket connection structure 110 of Embodiment 1, and the charging interface structure 210 is provided with
- the socket 1132 corresponds to the mating socket 212, and the socket 212 is provided with a charging male head 213 corresponding to the female through hole 1133, and the charging male head 213 is connected to the driving battery assembly 230.
- the charging interface structure 210 includes a receiving panel 211, a socket 212 corresponding to the socket 1132 provided on the receiving panel 211, and a socket 212 corresponding to the female through hole 1133.
- the charging male head 213 of the battery and the corresponding data line through hole 1134 are provided with a data male head 214.
- the data male head 214 is fixed on the back of the socket 212 by the data male head mounting piece 215.
- the data male head 214 cooperates with the data contact female terminal 1136 to transmit the data of the driving battery assembly 230 of the robot to the automatic charging pile 100.
- the charging male head 213 corresponds to the elastic contact piece set 1135.
- the charging male head 213 can be a metal conductor post with a circular or directional cross section.
- the flexible contact piece group 1135 is a symmetrical arrangement of two metal pieces with certain elasticity.
- the metal conductor post It is arranged between the metal sheets to maintain close contact through elasticity, or a piece of elastic metal sheet is bent to form a two-end contact structure, preferably a copper sheet.
- a plurality of panel pillars 216 are evenly arranged on the back of the receiving panel 211, and panel screw holes 217 are evenly arranged on the edge of the receiving panel 211.
- the receiving panel 211 is supported and fixed in the battery case through the panel pillars 216 and the panel screw holes 217.
- the upper part makes the socket 212 and the socket direction consistent.
- the width of the groove body of the socket 212 decreases from the slot to the bottom of the groove, and the cross section of the corresponding socket 1132 increases from the end surface to the bottom.
- the socket 212 may be a trapezoidal groove or any other structure in which the width of the groove body decreases sequentially from the slot to the bottom of the groove, and the socket 1132 is vice versa.
- the inner wall of the socket 212 can be smooth.
- the two joints of the inner surfaces of the trapezoidal groove are in an arc shape.
- the socket 212 preferably adopts trapezoidal grooves and similar shapes. This cross-sectional shape has a better positioning effect than a circular or tapered shape. It can only be realized when the direction between the socket 212 and the socket 1132 is correct. Alignment connection avoids reverse insertion and poor contact due to rotation.
- an embodiment of the present invention also provides an automatic charging system for a robot.
- the charging system includes at least a positioning recognition sensor assembly, an automatic charging post 100 installed with the charging socket structure in Embodiment 1, and the The robot corresponds to the charging interface structure 210 provided in the charging socket structure.
- the charging interface structure 210 is provided with a socket 212 corresponding to the socket 1132, and the socket 212 corresponds to the female connector.
- the hole 1133 is provided with a charging male head 213 which is connected to the driving battery assembly 230 in the robot.
- the specific positioning recognition sensor component is used to identify the position of the automatic charging pile 100.
- the automatic charging pile 100 and the mobile robot 200 can exchange data through wireless communication, such as WiFi, Bluetooth, etc., when the mobile robot 200 has insufficient power and needs to be charged , Search for the position of the automatic charging pile 100 through WiFi, Bluetooth, etc., so as to reach the vicinity of the automatic charging pile 100; or preset the position of the automatic charging pile 100 in the mobile robot 200, and the mobile robot 200 will reach the vicinity of the automatic charging pile 100 according to the preset path;
- multiple methods such as CCD image recognition, infrared induction, radar guidance, laser guidance, etc. can be used to enter the correct insertion direction, thereby performing quick insertion.
- the charging socket connection structure, the automatic charging pile and the robot automatic charging system of the embodiment of the present invention are provided with a flexible platform, and an elastic member is used to form a 360-degree circumferential stable limit on a plane perpendicular to the socket direction. Due to the function of the elastic member , The flexible platform can carry out a small displacement in the 360-degree circumferential direction.
- the automatic charging pile is affected by the unequal ground height, and the positioning tolerance of the mobile robot automatic alignment recognition sensor component itself makes the socket and the bearing
- the flexible platen can increase the tolerance for docking errors, thereby greatly reducing the difficulty of automatic alignment, so that the practicability and adaptability of the automatic charging system are significantly improved. Therefore, it has industrial applicability.
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Abstract
Description
Claims (10)
- 一种充电承插连接结构(110),所述结构(110)包括支撑座(111)、柔性台板(112)以及设置在所述柔性台板(112)上的承插面板(113),所述柔性台板(112)通过若干周向均匀分布的弹性件安装在所述支撑座(111)上,所述柔性台板(112)在与承插方向垂直的周向形成弹性位移量;所述承插面板(113)上设置有承插座(1132),所述承插座(1132)上设置有若干母头通孔(1133)。
- 根据权利要求1所述的充电承插连接结构,其中,所述支撑座(111)包括连接板(1111)以及与所述连接板(1111)相互垂直的竖直安装板(1112),所述连接板(1111)上均匀设置有若干安装孔(1113),所述竖直安装板(1112)上通过若干周向均匀分布的弹性件安装所述柔性台板(112),所述柔性台板(112)在竖直面形成弹性位移量。
- 根据权利要求2所述的充电承插连接结构,其中,所述弹性件是拉伸弹性件(1121),所述拉伸弹性件(1121)的一端与设置在所述柔性台板(112)上的拉伸扣(1123)连接,另一端与设置在所述竖直安装板(1112)的固定端子(1114)连接;至少四个所述拉伸弹性件(1121)在竖直面上均匀分布。
- 根据权利要求2所述的充电承插连接结构,其中,所述弹性件是压缩弹性件(1126),所述压缩弹性件(1126)一端通过固定连接座(1125)安装在所述竖直安装板(1112)上,另一端通过另一固定连接座(1125)安装在所述柔性台板(112),至少四个所述压缩弹性件(1126)在竖直面上均匀分布。
- 根据权利要求2所述的充电承插连接结构,其中,所述弹性件是拉伸弹性件(1121)或者压缩弹性件(1126),至少四个所述拉伸弹性件(1121)或者所述压缩弹性件(1126)在竖直面上均匀分布;在所述柔性台板(112)和所述竖直安装板(1112)之间设置有若干限位支撑柱(1122);所述限位支撑柱(1122)一端固定在所述竖直安装板(1112),另一端与所述柔性台板(112)滑动接触,或者所述限位支撑柱(1122)一端固定在所述柔性台板(112),另一端与所述竖直安装板(1112)滑动接触。
- 根据权利要求2所述的充电承插连接结构,其中,所述弹性件是弹性支撑柱(1124),若干所述弹性支撑柱(1124)的两端通过一固定连接座(1125)沿着水平方向分别固定在所述竖直安装板(1112)和所述柔性台板(112)之间。
- 根据权利要求2所述的充电承插连接结构,其中,所述承插面板(113)包括罩设所述柔性台板(112)的面板壳体(1131)和一体成型在所述面板壳体(1131)上的所述承插座(1132),所述承插座(1132)的前端设置所述母头通孔(1133),所述母头通孔(1133)内对应设置有弹性接触片组(1135),所述弹性接触片组(1135)分别与对应的充电导线连接;在所述母头通孔(1133)一侧还设置有数据线通孔(1134),在所述数据线通孔(1134)内对应设置有数据接触母端子(1136)。
- 一种自动充电桩(100),所述充电桩(100)至少包括安装箱体(120)、设置在所述安装箱体(120)内的PCB功能主板(160)和与所述PCB功能主板(160)电性连接的电源转换模组(130)、充电监控模组(140)及网络通讯模组(150);所述安装箱体(120)上设置如权利要求1-7任意一项的充电承插连接结构(110),母头通孔(1133)内对应设置有弹性接触片组(1135),所述弹性接触片组(1135)通过充电导线与所述电源转换模组(130)的输出端连接。
- 一种移动机器人(200),所述移动机器人(200)包括驱动电池组件(230)、感应执行系统(240)、机架壳体(220)和移动轮组(250),所述感应执行系统(240)和所述驱动电池组件(230)安装在所述机架壳体(220)内的容置空间,所述感应执行系统(240)至少包括传感器模组(241)、GPU控制器(242)以及与所述机架壳体(220)底部的所述移动轮组(250)连接的执行驱动组件(243);所述机架壳体(220)一端还设置有与如权利要求1-7任意一项的充电承插连接结构(110)对应配合的充电接口结构(210),所述充电接口结构(210)上设置有与承插座(1132)对应配合的承插槽(212),所述承插槽(212)对应母头通孔(1133)设置有充电公头(213),所述充电公头(213)与所述驱动电池组件(230)连接。
- 一种机器人自动充电系统,所述充电系统至少包括定位识别传感器组件(260)、安装有如权利要求1-7任意一项的充电承插连接结构(110)的自动充电桩(100),以及所述机器人(200)对应所述充电承插结构(110)设置的充电接口结构(210),所述充电接口结构(210)上设置有与所述承插座(1132)对应配合的承插槽(212),所述承插槽(212)对应所述母头通孔(1133)设置有充电公头(213),所述充电公头(213)与所述机器人(200)内的驱动电池组件(230)连接。
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