WO2023050949A1 - 一种安全充电结构、充电桩、机器人以及充电系统 - Google Patents

一种安全充电结构、充电桩、机器人以及充电系统 Download PDF

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Publication number
WO2023050949A1
WO2023050949A1 PCT/CN2022/103006 CN2022103006W WO2023050949A1 WO 2023050949 A1 WO2023050949 A1 WO 2023050949A1 CN 2022103006 W CN2022103006 W CN 2022103006W WO 2023050949 A1 WO2023050949 A1 WO 2023050949A1
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WO
WIPO (PCT)
Prior art keywords
charging
contact
safe
robot
structure according
Prior art date
Application number
PCT/CN2022/103006
Other languages
English (en)
French (fr)
Inventor
黄晓庆
黄刚
张敏
高海
Original Assignee
达闼机器人股份有限公司
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Application filed by 达闼机器人股份有限公司 filed Critical 达闼机器人股份有限公司
Publication of WO2023050949A1 publication Critical patent/WO2023050949A1/zh

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Classifications

    • 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
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • 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
    • H01R13/44—Means for preventing access to live contacts
    • H01R13/447—Shutter or cover plate
    • H01R13/453—Shutter or cover plate opened by engagement of counterpart
    • H01R13/4538—Covers sliding or withdrawing in the direction of engagement
    • 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
    • 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
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits

Definitions

  • the embodiments of the present application relate to the technical field of automatic charging of robots, and in particular to a safe charging structure, a charging pile, a robot and a charging system.
  • infrared signal tracking is to find the charging position through the infrared signal sent out, and then dock it; radio frequency wireless tracking is to judge the charging position according to the strength of the radio frequency signal; the image recognition method uses the camera to perform related image processing methods to find the charging position.
  • An embodiment of the present application provides a safe charging structure, including a base, a movable frame movably arranged on the base, and a charging contact and a contact protection mechanism arranged in the movable frame, the base and the movable frame
  • a contact protection mechanism includes a reset member and a baffle that is movably arranged in the movable frame, and the reset member drives the baffle to block the charging Contacts
  • the blocking sheet is provided with a contact surface that drives the blocking sheet to move to expose the charging contact when a force is applied.
  • the blocking piece is provided with a through hole, and the through hole is adjacent to the contact surface. Under the action of the reset member, the contact surface blocks the charging contact, and the contact surface is stressed. After the flap is moved, the charging contact is exposed from the through hole.
  • the movable frame includes a fixed bracket, the charging contact is located in the fixed bracket, the blocking piece is slidably arranged at one end of the fixed bracket, and the reset member is arranged between the blocking piece and the fixed bracket.
  • the elastic piece between the fixing brackets, the elastic piece maintains the blocking piece in the state where the contact surface covers the charging contact, and the blocking piece overcomes the elastic force of the reset piece when the contact surface is stressed Sliding places the through hole opposite the charging contact.
  • the baffle has opposite first and second surfaces, the two ends of the contact surface are respectively fixed to the first and second surfaces of the baffle, and the surface of the contact surface and the baffle
  • the second surface of the second surface forms an included angle, and the included angle is greater than 0° and less than 90°.
  • the safe charging structure also includes a charging base, one side of the charging base is provided with a conductive slot, the slot is used as the charging contact, and the blocking plate is blocked by the opening of the charging base. side of the slot.
  • the slot has a narrow middle part and a wide open end and bottom, and the narrow middle part is used to limit the inserted conductive rod.
  • the movable frame includes a front fixed frame, and the front fixed frame is penetratingly provided with a charging interface aligned with the charging contacts and two pairs of pile grooves located on both sides of the charging interface.
  • chamfering is provided at the opening of the groove of the pair of piles; chamfering is provided at the opening of the charging interface.
  • the elastic buffer structure includes a rear fixing frame, the rear fixing frame is fixed between the base and the front fixing frame, and a transverse A buffer mechanism, a front and rear buffer mechanism is arranged between the rear fixed frame and the front fixed frame; the movable frame transmits the received external force to the front and rear buffer mechanism and the transverse buffer mechanism, Under the action of external force, the charging contact is driven to move back and forth, and the lateral buffer mechanism is driven to move laterally of the charging contact under the action of external force.
  • the front fixed frame is provided with a rear shaft extending toward the rear fixed frame;
  • the front and rear buffer mechanisms include at least a first elastic member, and the first elastic member is sleeved on the rear shaft and located at the between the front fixing frame and the rear fixing frame.
  • the transverse buffer mechanism includes a connecting piece, a second elastic piece and a buffering device, the second elastic piece is sheathed on the connecting piece and is located at both ends of the rear fixing frame and the two ends of the base In between, the buffer device is sheathed on the connecting piece and located at both ends of the rear fixing frame.
  • the cushioning device is made of elastic material.
  • the safe charging structure further includes a charging power module, and the charging power module is electrically connected to the charging contacts.
  • an embodiment of the present application further provides a charging pile, including a casing and a safe charging structure provided on the casing, the safe charging structure being the above-mentioned safe charging structure.
  • the embodiment of the present application also provides a robot, including: a robot body, a safety charging structure and a battery provided on the robot body, the safety charging structure is the same as the above-mentioned safety charging structure, and the battery and the charging contact Point electrical connection.
  • the embodiment of the present application also provides a charging system, including: the above-mentioned safe charging structure; a robot, the robot has a conductive rod, and the conductive rod is used to push against the contact surface and push the blocking piece Contact with the charging contacts forms an electrical connection.
  • the charging system further includes a guiding device, and the guiding device is a laser guiding device or an infrared guiding device.
  • FIG. 1 is a schematic structural diagram of a safe charging structure provided by an embodiment of the present application
  • Fig. 2 is a front view of a safe charging structure provided by an embodiment of the present application.
  • Fig. 3 is a left view of a safe charging structure provided by an embodiment of the present application.
  • Fig. 4 is a top view of a safe charging structure provided by an embodiment of the present application.
  • Fig. 5 is a front view of a charging pile provided by an embodiment of the present application.
  • Fig. 6 is a left view of a charging pile provided by an embodiment of the present application.
  • Fig. 7 is a schematic diagram of the explosive structure of the charging system provided by an embodiment of the present application.
  • Fig. 8 is a schematic cross-sectional structure diagram when the second guide rod is pushed into the groove of the second pair of piles in an embodiment of the present application;
  • Fig. 9 is a schematic cross-sectional structure diagram of a robot provided in an embodiment of the present application when it is connected to a safe charging structure.
  • the embodiment of the present application provides a safe charging structure, a charging pile, a robot and a charging system, which help to solve the problem of inaccurate charging position positioning during the automatic charging process of the robot.
  • the embodiment of the present application provides a safe charging structure, a charging pile, a robot and a charging system.
  • the reset member drives the cover to cover the charging contacts.
  • the charging contact module is in full contact; when charging is not required, the shield protects the charging contact to avoid potential safety hazards; an elastic buffer structure is provided between the base and the movable frame to buffer the movable frame, and the front and rear buffer mechanisms are driven by external forces.
  • the charging contact moves back and forth, and the horizontal buffer mechanism drives the charging contact to move laterally under the action of external force, so as to ensure the successful docking between the charging contact and the conductive rod of the robot, thereby completing the automatic charging of the robot.
  • An embodiment of the present application provides a charging pile.
  • the application market of the charging pile may include but not limited to: charging piles applied to robots, electric vehicles, electric buses, computers, smart phones, and the like.
  • charging piles can be divided into floor-mounted charging piles and wall-mounted charging piles according to the installation method.
  • FIG. 1 is a schematic structural diagram of a safe charging structure provided by an embodiment of the present application
  • Fig. 2 is a front view of a safe charging structure provided by an embodiment of the present application
  • Fig. 3 is a left view of a safe charging structure provided by an embodiment of the present application
  • FIG. 4 is a top view of a safe charging structure provided by an embodiment of the present application.
  • the safe charging structure includes a base 16, a movable frame movably arranged on the base 16, and a charging contact 101 and a contact protection mechanism arranged in the movable frame.
  • the elastic buffer structure for cushioning by the frame.
  • the contact protection mechanism includes a reset piece and a flap 142 that is movable in the movable frame. The reset piece drives the flap 142 to cover the charging contact 101.
  • the sheet 142 is movable to expose the contact surface 143 of the charging contact 101 .
  • the first improvement of some embodiments of the present application is that the contact protection mechanism is designed to protect the charging contact 101 when no charging event occurs, so as not to cause electric shock accidents and increase the safety of electricity use; when a charging event occurs, The contact protection mechanism is removed to ensure that the conductive rod on the robot body is fully in contact with the charging contact 101 .
  • the charging contact 101 includes three contacts of positive pole, negative pole and ground;
  • the catch clip spring 145 ensures a relaxed state so that the catch 142 covers the charging contact 101, thereby protecting the charging contact 101, without It will cause electric shock accidents and increase the safety of electricity use;
  • the clip spring 145 is forced into a compressed state to make the clip 142 slide sideways, thereby ensuring that the conductive rod on the robot body and the charging contact 101 Full contact.
  • the blocking piece 142 is provided with a through hole 146, and the through hole 146 is adjacent to the contact surface 143. Under the action of the reset member, the contact surface 143 blocks the charging contact, and the contact surface 143 is forced to make the blocking piece 142 After the activity, the charging contact 101 is exposed from the through hole 146; the movable frame includes a fixed bracket 141, the charging contact 101 is located in the fixed bracket 141, the blocking piece 142 is slidably arranged on one end of the fixing bracket 141, and the reset member is arranged between the blocking piece 142 and the fixed bracket 141.
  • the blocking piece 142 has a first surface and a second surface opposite to each other, and the two ends of the contact surface 143 are fixed to the first surface and the second surface of the blocking piece 142 respectively.
  • the surface of the contact surface 143 forms an included angle with the second surface of the blocking piece 142, and the included angle is greater than 0° and less than 90°.
  • the movable frame includes a front fixed frame 11, and the front fixed frame 11 is provided with a charging interface 112 aligned with the charging contacts 101 and two pairs of pile grooves 111 on both sides of the charging interface 112;
  • the opening of 111 is provided with a chamfer, so that the pile groove 111 presents a tapered structure with a wider opening and a narrower interior;
  • the opening of the charging interface 112 is provided with a chamfer, and the chamfer can be conical, oblique, Myopia cone or myopia oblique shape, the application does not specifically limit the shape of the chamfer.
  • the orthographic projection of the charging interface 112 on the front fixed frame 11 is larger than the orthographic projection of the charging contact 101 on the front fixed frame 11, which means that there is extra space for the charging connector on the robot to be placed in the charging interface 112. Adjust so that the charging connector of the robot is accurately docked with the charging contact 101.
  • the orthographic projection of the charging contact 101 on the front fixed frame 11 is located at the center of the orthographic projection of the charging interface 112 on the front fixed frame 11, which means that the charging connector on the robot can be in different directions in the charging interface 112. Adjustment is made to expand the error range of the accurate docking of the charging connector of the robot with the charging contact 101 in the case of inaccurate mobile positioning of the robot, so that the charging connector of the robot is accurately docked with the charging contact 101 .
  • the second improvement of some embodiments of the present application lies in the design of the elastic buffer structure, which is used to transmit the external force received by the movable frame to the elastic buffer structure when the robot’s mobile positioning is inaccurate (within the error range).
  • the buffer structure drives the charging contact 101 to move under the action of external force, so that the docking can be accurately docked when there is a deviation in the docking, so that the positive and negative poles of the charging power module can be correctly adapted to the positive and negative poles on the charging connector of the robot, thus completing the robot. automatic charging.
  • the elastic buffer structure includes a rear fixing frame 15, the rear fixing frame 15 is fixed between the base 16 and the front fixing frame 11, and a transverse buffer is provided between the two ends of the rear fixing frame 15 and the two ends of the base 16.
  • Mechanism 18, front and rear buffer mechanisms 17 are arranged between the rear fixed frame 15 and the front fixed frame 11; The charging contact 101 moves forward and backward, and the lateral buffer mechanism 18 drives the charging contact 101 to move laterally under the action of external force.
  • the rear fixing frame 15 includes a contact fixing column 151 , the front fixing frame 11 is fixed on the rear fixing frame 15 through the contact fixing column 151 , and the rear fixing frame 15 can support the front fixing frame 11 .
  • the rear fixing frame 15 further includes a bearing 153 and an anti-loosening connection piece 154 , the combination of the bearing 153 and the anti-loosening connection piece 154 enables the rear fixing frame 15 to be fixed on the base 16 .
  • the front fixed frame 11 is provided with a rear shaft 113 extending toward the rear fixed frame 15;
  • the front and rear buffer mechanisms 17 include at least a first elastic member 171, and the first elastic member 171 is sleeved on the rear shaft 113 and located
  • the front fixing frame 11 and the rear fixing frame 15 it is possible to avoid damage to the charging pile due to excessive force when the robot docks with the charging pile, and it is also possible to adjust the charging contact 101 to move back and forth within a certain range to improve the charging efficiency. Success rate.
  • the transverse buffer mechanism 18 includes a connecting piece 181 , a second elastic piece 182 and a buffer device 183 . Between the two ends, the buffer device 183 is sheathed on the connecting piece and located at the two ends of the rear fixing frame.
  • the buffer device 183 is made of elastic material, and when the conductive rod is adjusted for lateral deviation in the lateral buffer mechanism 18 , the coefficient of friction and noise between the mechanism components can be reduced, thereby prolonging the service life of the mechanism components.
  • the transverse buffer mechanism 18 further includes a hexagonal nut 184 and two locknuts 185.
  • One end of the connector 181 has a helical groove, and the hexagonal nut 184 and the two locknuts 185 respectively have helical grooves with the connector 181.
  • the groove matches the helical groove, the connecting piece 181 is combined with the hex nut 184 and two locknuts 185 to connect the transverse buffer mechanism 18 between the rear fixing frame 15 and the base 16 .
  • the base 16 includes a crimping plate 161, a screw 162 and a nut 163, one end of the screw 162 has a thread groove and the inner wall of the nut 163 has a thread groove matching the thread groove, the screw 162 and the nut 163 are combined to make The back mount is fixed to the base 16.
  • the base 16 is U-shaped, which can not only support the movable frame and the rear fixed frame, but also save materials and reduce costs.
  • the elastic buffer structure further includes an elastic cushion block 152, which is located between the rear fixing frame 15 and the base 16, so as to avoid the problem of damage to the charging pile caused by excessive force when the robot docks with the charging pile;
  • an elastic cushion block 152 which is located between the rear fixing frame 15 and the base 16, so as to avoid the problem of damage to the charging pile caused by excessive force when the robot docks with the charging pile;
  • the material of the elastic pad 152 may be the same as that of the cushioning device 183 . In some other embodiments, the material of the elastic spacer may be different from that of the cushioning device.
  • the safe charging structure further includes a charging base 102, one side of the charging base is provided with a conductive slot, and the slot is used as the charging contact 101, and the blocking piece 142 is shielded from the side of the charging base 102 where the slot is provided;
  • the groove has a narrow middle part and a wide open end and bottom, and the narrow middle part is used to limit the inserted conductive rod.
  • the safe charging structure further includes a charging power module, a charging socket 121 and a charging line 122, the charging power module is electrically connected to the charging contact 101, one end of the charging line 122 is electrically connected to the charging power module, and the other end of the charging line 122 It is electrically connected with the charging socket 121 .
  • the charging socket 121 is fixed on the casing 10 , and the casing 10 exposes the charging socket 121 , and the charging cable 122 is fixed on the base 16 through the wire crimping plate 161 .
  • the safe charging structure further includes a base plate 13, on which the base 16 is fixed, and the base plate has a certain weight so that the bottom surface of the safe charging structure is consistent with the horizontal plane, ensuring smoother automatic charging process of the robot.
  • the embodiment of the present application also provides a charging pile, including a housing 10 and a safe charging structure disposed on the housing 10 , the safe charging structure being the same as the above-mentioned safe charging structure.
  • the main function of the casing 10 of the charging pile is to protect the mechanical components inside the charging pile, and the material of the casing 10 is insulating material, which can effectively avoid potential safety hazards.
  • the embodiment of the present application also provides a robot, including: a robot body, a safety charging structure and a battery disposed on the robot body, the safety charging structure is like the above-mentioned safety charging structure, and the battery is electrically connected to the charging contacts.
  • the embodiment of the present application also provides a charging system, including: the above-mentioned charging pile; a robot body with a conductive rod 21 inside the robot body, and the conductive rod 21 is used to push against the contact surface 143 and push away the blocking piece 142 to connect with the charging contact 101
  • the contacts form an electrical connection.
  • the conductive rod 21 is matched with the charging contact 101 .
  • the positive pole and the negative pole of the conductive rod 21 correspond to the positive pole and the negative pole of the charging contact 101 respectively.
  • the robot body has a first guide rod 22 and a second guide rod 23 located at two ends of the conductive rod 21 respectively.
  • the robot body also includes a power monitoring module, a controller and a navigation module.
  • the power monitoring module is used to monitor the power of the rechargeable battery on the robot in real time.
  • the controller controls the navigation module to start , so that the robot navigates to the location of the charging pile for charging.
  • only the charging connector of the robot is shown in Fig. 7 to Fig. 9 , since other structures are all in the prior art, they will not be repeated here.
  • the charging system further includes a guiding device, which is used to guide the robot to move to the location of the charging pile.
  • the guiding device is a laser guiding device, and the laser guiding device includes a laser transmitter and a laser receiver.
  • One of the charging pile or the robot body, and the laser receiver is located at the other charging pile or the robot body.
  • the guiding device is an infrared guiding device.
  • the robot When the robot needs to be charged, it moves to the front of the charging pile in some embodiments of the present application, docks based on the laser guidance device, and the first guide rod 22 and the second guide rod 23 on the charging joint of the robot move or move with the robot under the control of the controller. Move separately and slide into the two pile grooves 111 respectively.
  • the bell mouth structure at the front end of the pile groove 111 guides the first guide rod 22 and the second guide rod 23.
  • the first guide rod 22 and the second guide rod The rod 23 exerts force on the charging pile at the same time, and the front fixed frame 11 transmits the received external force to the front and rear buffer mechanisms to make the first elastic member 171 expand and contract.
  • the front fixed frame 11 drives The charging contact 101 moves back and forth and docks with the conductive rod 21 to achieve the best charging position; when there is a lateral deviation between the conductive rod 21 and the charging contact 101, the front fixed frame 11 will transmit the received external force to the lateral buffer mechanism to make the second elastic Part 182 expands and contracts.
  • the front fixed frame 11 drives the charging contact 101 to move laterally and connect with the electrode contact 211 to achieve the best charging position; through the elastic adjustment of the two buffer structures, the front The positions of the fixing frame 11 and the charging contact 101 enable the first guide rod 22 and the second guide rod 23 to be smoothly inserted into the inner narrow area of the pile groove 111, and the three conductive rods 21 are also Align with the three charging ports 112 respectively.
  • the conductive rod 21 and the charging contact 101 are adjusted to the best charging position, the conductive rod 21 is further approached to the charging pile, so that the contact surface 143 is pressed by the conductive rod 21 so that the blocking piece 142 can overcome the elastic force of the reset member and slide to make the charging pile
  • the hole 146 is opposite to the charging contact 101, and then the conductive rod 21 continues to approach the charging pile until the conductive rod 21 fully contacts the charging contact 101 on the charging pile; when the robot is fully charged, the conductive rod 21 is separated from the charging interface 112, and the The sheet 142 returns to its original state under the action of the elastic force of the blocking sheet compression spring 145 .
  • the charging joint is located
  • the plane forms an included angle with the plane where the front fixing frame 11 is located, and the included angle is greater than 0°, and the included angle can be 5° or 10°, which can expand the accuracy of the charging connector of the robot and the charging contact 101 in the case of inaccurate mobile positioning of the robot.
  • the margin of error for docking can be 5° or 10°, which can expand the accuracy of the charging connector of the robot and the charging contact 101 in the case of inaccurate mobile positioning of the robot.
  • the lateral buffer mechanism 18 and the front fixed frame 11 act simultaneously to make the charging contact 101 move back and forth, laterally, and up and down within a certain range, improving charging success rate.
  • the charging connector of the robot is separated from the front fixing frame 11 of the charging pile, and the blocking piece 142 returns to its original state.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

一种安全充电结构、充电桩、机器人以及充电系统，一种安全充电结构包括底座(16)、活动设置于底座(16)上的活动架以及设于活动架内的充电触点(101)与触点保护机构，底座(16)与活动架间设有对活动架进行缓冲的弹性缓冲结构，触点保护机构包括复位件与活动设置于活动架中的挡片(142)，复位件驱使挡片(142)遮挡充电触点(101)，挡片(142)上设有受力时驱使挡片(142)活动露出充电触点(101)的接触面(143)，安全充电结构有利于解决机器人自动充电过程中的充电位置定位不准确的问题。

Description

一种安全充电结构、充电桩、机器人以及充电系统
本申请基于申请号为“202111166766.3”、申请日为2021年9月30日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此以引入方式并入本申请。
技术领域
本申请实施例涉及机器人自动充电技术领域，特别涉及一种安全充电结构、充电桩、机器人以及充电系统。
 背景技术
目前，机器人的发展很快，其功能也在不断提高，但机器人在工作时往往会遇到电能不足的问题，使得机器人在工作中的执行受到限制，因此，机器人自动充电的研究已成为机器人发展的一个重要方向。
针对机器人自动充电过程中的充电位置定位，目前的解决方案大概有三种：红外信号追踪、无线网络频射无线网络追踪、图像识别法。红外信号跟踪是通过发出的红外信号找到充电位置，然后将其对接；射频无线跟踪是根据射频信号的强度来判断充电位置；图像识别方法利用摄像头进行相关的图像处理方法来发现充电位置。
然而，机器人自动充电过程中的充电位置定位不准确，导致机器人与充电桩无法正确对接，进而无法完成机器人的自动充电，更严重时，不精确的对接与碰撞将会损坏机器人的充电接口或充电桩，造成额外损失。
 技术解决方案
本申请实施例提供一种安全充电结构，包括底座、活动设置于所述底座上的活动架以及设于所述活动架内的充电触点与触点保护机构，所述底座与所述活动架间设有对所述活动架进行缓冲的弹性缓冲结构，所述触点保护机构包括复位件与活动设置于所述活动架中的挡片，所述复位件驱使所述挡片遮挡所述充电触点，所述挡片上设有受力时驱使所述挡片活动露出所述充电触点的接触面。
另外，所述挡片设有贯穿的通孔，所述通孔与所述接触面相邻设置，在所述复位件作用下所述接触面遮挡所述充电触点，所述接触面受力使所述挡片活动后所述充电触点从所述通孔露出。
另外，所述活动架包括固定支架，所述充电触点位于所述固定支架中，所述挡片滑动设置于所述固定支架的一端，所述复位件是设置于所述挡片与所述固定支架之间的弹性件，所述弹性件将所述挡片维持于所述接触面遮挡所述充电触点的状态，所述接触面受力时所述挡片克服所述复位件的弹力滑动使所述通孔与所述充电触点相对。
另外，所述挡片具有相对的第一面以及第二面，所述接触面两端分别固定于所述挡片的第一面以及第二面，所述接触面的表面与所述挡片的第二面形成夹角，所述夹角大于0°且小于90°。
另外，所述安全充电结构还包括充电座，所述充电座的一面设有可导电的插槽，所述插槽作为所述充电触点，所述挡片遮挡于所述充电座开设所述插槽的一面。
另外，所述插槽呈中部较窄而开口端与底部较宽的结构，其较窄的中部用于对插入的导电杆进行限位。
另外，所述活动架包括前固定架，所述前固定架贯穿地设有对齐所述充电触点的充电接口以及位于所述充电接口两侧的两对桩凹槽。
另外，所述对桩凹槽的开口处设有倒角；所述充电接口的开口处设有倒角。
另外，所述弹性缓冲结构包括后固定架，所述后固定架固定于所述底座与所述前固定架间，所述后固定架的两端与所述底座的两端之间设有横向缓冲机构，所述后固定架与所述前固定架之间设有前后缓冲机构；所述活动架将受到的外力传递至所述前后缓冲机构以及所述横向缓冲机构上，所述前后缓冲机构在外力的作用下带动所述充电触点前后移动，所述横向缓冲机构在外力的作用下带动所述充电触点横向移动。
另外，所述前固定架上设置有朝向所述后固定架延伸的后轴；所述前后缓冲机构至少包括第一弹性件，所述第一弹性件套设于所述后轴上且位于所述前固定架与所述后固定架之间。
另外，所述横向缓冲机构包括连接件、第二弹性件以及缓冲装置，所述第二弹性件套设于所述连接件上且位于所述后固定架的两端与所述底座的两端之间，所述缓冲装置套设于所述连接件上且位于所述后固定架的两端。
另外，所述缓冲装置由弹性材料制成。
另外，所述安全充电结构还包括充电电源模块，所述充电电源模块与所述充电触点电连接。
相应地，本申请实施例还提供一种充电桩，包括壳体与设于所述壳体的安全充电结构，所述安全充电结构如上述所述的安全充电结构。
本申请实施例还提供一种机器人，包括：机器人本体及设于所述机器人本体的安全充电结构与电池，所述安全充电结构如上述所述的安全充电结构，所述电池与所述充电触点电性连接。
本申请实施例还提供一种充电系统，包括：如上述所述的安全充电结构；机器人，所述机器人具有导电杆，所述导电杆用于抵顶所述接触面推开所述挡片后与所述充电触点接触形成电连接。
另外，所述充电系统还包括引导装置，所述引导装置为激光引导装置或者红外引导装置。
 附图说明
图1为本申请一实施例提供的安全充电结构的结构示意图；
图2为本申请一实施例提供的安全充电结构的正视图；
图3为本申请一实施例提供的安全充电结构的左视图；
图4为本申请一实施例提供的安全充电结构的俯视图；
图5为本申请一实施例提供的充电桩的正视图；
图6为本申请一实施例提供的充电桩的左视图；
图7为本申请一实施例提供的充电系统爆炸结构示意图；
图8为本申请一实施例中将第二导向杆顶入到第二对桩凹槽中时的剖面结构示意图；
图9为本申请一实施例提供的机器人与安全充电结构连接时的剖面结构示意图。
 本发明的实施方式
本申请实施例提供一种安全充电结构、充电桩、机器人以及充电系统，有利于解决机器人自动充电过程中的充电位置定位不准确的问题。
本申请实施例提供一种安全充电结构、充电桩、机器人以及充电系统，复位件驱使挡片遮挡充电触点，需要充电时，挡片移开以保证机器人本体上的导电杆与供电装置上的充电触点模块充分接触；不需要充电时，挡片保护充电触点，避免产生安全隐患；底座与活动架间设有对活动架进行缓冲的弹性缓冲结构，前后缓冲机构在外力的作用下带动充电触点前后移动，横向缓冲机构在外力的作用下带动充电触点横向移动，以保证充电触点与机器人的导电杆对接成功，从而完成机器人的自动充电。
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合附图对本申请的各实施例进行详细的阐述。然而，本领域的普通技术人员可以理解，在本申请各实施例中，为了使读者更好地理解本申请而提出了许多技术细节。但是，即使没有这些技术细节和基于以下各实施例的种种变化和修改，也可以实现本申请所要求保护的技术方案。
本申请一实施例提供一种充电桩，该种充电桩的应用市场可以包括但不限于：应用于机器人、电动汽车、电动公交车、电脑、智能手机等的充电桩。其中，充电桩按照安装方式可以分为落地式充电桩、挂壁式充电桩。
以下将结合附图对本申请一实施例提供的充电桩进行详细说明。图1为本申请一实施例提供的安全充电结构的结构示意图；图2为本申请一实施例提供的安全充电结构的正视图；图3为本申请一实施例提供的安全充电结构的左视图；图4为本申请一实施例提供的安全充电结构的俯视图。
参考图1至图4，安全充电结构包括底座16、活动设置于底座16上的活动架以及设于活动架内的充电触点101与触点保护机构，底座16与活动架间设有对活动架进行缓冲的弹性缓冲结构，触点保护机构包括复位件与活动设置于活动架中的挡片142，复位件驱使挡片142遮挡充电触点101，挡片142上设有受力时驱使挡片142活动露出充电触点101的接触面143。
本申请一些实施例改进的第一地方在于，设计了触点保护机构，在未发生充电事件时保护充电触点101，不会造成触电事故，增加了用电安全性；在发生充电事件时，触点保护机构移开以保证机器人本体上的导电杆与充电触点101充分接触。
在一些实施例中，充电触点101包括正极、负极和接地三个触点；复位件包括两根钢针144以及两个挡片压簧145，两个挡片压簧145分别套设于两根钢针144上且位于挡片142与活动架之间，在未发生充电事件时，挡片压簧145保证松懈状态以使挡片142遮挡充电触点101，从而保护充电触点101，不会造成触电事故，增加了用电安全性；在发生充电事件时，挡片压簧145受力变成压缩状态以使挡片142侧滑，从而保证机器人本体上的导电杆与充电触点101充分接触。
在一些实施例中，挡片142设有贯穿的通孔146，通孔146与接触面143相邻设置，在复位件作用下接触面143遮挡充电触点，接触面143受力使挡片142活动后充电触点101从通孔146露出；活动架包括固定支架141，充电触点101位于固定支架141中，挡片142滑动设置于固定支架141的一端，复位件是设置于挡片142与固定支架141之间的弹性件，弹性件将挡片142维持于接触面143遮挡充电触点101的状态，接触面143受力时挡片142克服复位件的弹力滑动使通孔146与充电触点101相对。
在一些实施例中，触点保护机构内具有至少一个接触面143；挡片142具有相对的第一面以及第二面，接触面143两端分别固定于挡片142的第一面以及第二面，接触面143的表面与挡片142的第二面形成夹角，夹角大于0°且小于90°。
在一些实施例中，活动架包括前固定架11，前固定架11贯穿地设有对齐充电触点101的充电接口112以及位于充电接口112两侧的两对桩凹槽111；对桩凹槽111的开口处设有倒角，使对桩凹槽111呈现开口端较宽而内部较窄的渐缩结构；充电接口112的开口处设有倒角，倒角可以是锥形、斜形、近视锥形或者近视斜形，本申请对倒角的形状不做具体限制。
在一些实施例中，充电接口112在前固定架11上的正投影大于充电触点101在前固定架11上的正投影，相当于机器人上的充电接头在充电接口112内有多余的空间进行调整，使得机器人的充电接头与充电触点101准确对接。
在一些实施例中，充电触点101在前固定架11上的正投影位于充电接口112在前固定架11上的正投影的中央，相当于机器人上的充电接头在充电接口112内可以不同方向进行调整，在机器人移动定位不准确的情况下，扩大机器人的充电接头与充电触点101准确对接的误差范围，使得机器人的充电接头与充电触点101准确对接。
本申请一些实施例改进的第二地方在于，设计了弹性缓冲结构，用于在机器人移动定位不准确的情况下（在误差范围内），活动架将受到的外力传递至弹性缓冲结构上，弹性缓冲结构在外力的作用下发生带动充电触点101移动，使得对接存在偏差的情况下准确对接，以便充电电源模块的正极和负极能够与机器人充电接头上的正极和负极正确适配，从而完成机器人的自动充电。
在一些实施例中，弹性缓冲结构包括后固定架15，后固定架15固定于底座16与前固定架11之间，后固定架15的两端与底座16的两端之间设有横向缓冲机构18，后固定架15与前固定架11之间设有前后缓冲机构17；活动架将受到的外力传递至前后缓冲机构17以及横向缓冲机构18上，前后缓冲机构17在外力的作用下带动充电触点101前后移动，横向缓冲机构18在外力的作用下带动充电触点101横向移动。
在一些实施例中，后固定架15包括触点固定柱151，前固定架11通过触点固定柱151固定于后固定架15上，后固定架15可以对前固定架11起到支撑作用。
在一些实施例中，后固定架15还包括轴承153以及防松连接件154，轴承153以及防松连接件154相组合以使后固定架15固定于底座16上。
在一些实施例中，前固定架11上设置有朝向后固定架15延伸的后轴113；前后缓冲机构17至少包括第一弹性件171，第一弹性件171套设于后轴113上且位于前固定架11与后固定架15之间，可以避免机器人与充电桩对接时力度过大而造成充电桩损坏的情况，也可以使充电触点101在一定范围内前后移动进行调整，提高充电的成功率。
在一些实施例中，横向缓冲机构18包括连接件181、第二弹性件182以及缓冲装置183，第二弹性件182套设于连接件181上且位于后固定架15的两端与底座16的两端之间，缓冲装置183套设于连接件上且位于后固定架的两端。
在一些实施例中，缓冲装置183由弹性材料制成，当导电杆在横向缓冲机构18进行横向偏差调整时，降低机构件之间的摩擦系数以及噪声，从而延长机构件的使用寿命。
在一些实施例中，横向缓冲机构18还包括六角螺母184以及两个防松螺母185，连接件181一端具有螺旋槽，六角螺母184以及两个防松螺母185内分别具有与连接件181的螺旋槽相匹配的螺旋凹槽，连接件181与六角螺母184以及两个防松螺母185相组合以使横向缓冲机构18连接于后固定架15与底座16之间。
在一些实施例中，底座16包括压线板161、螺钉162以及螺母163，螺钉162一端具有螺纹槽以及螺母163内壁具有与螺纹槽相匹配的螺纹凹槽，螺钉162以及螺母163相组合以使后固定架与底座16相固定。
此外，底座16为U型，既能起到对活动架以及后固定架的支撑作用，又能节约材料，降低成本。
在一些实施例中，弹性缓冲结构还包括弹性垫块152，弹性垫块152位于后固定架15与底座16之间，可以避免机器人与充电桩对接时力度过大造成充电桩损坏的问题；当导电杆在前后缓冲机构17进行前后偏差调整时，降低机构件之间的摩擦系数以及噪声，从而延长机构件的使用寿命。
在一些实施例中，弹性垫块152的材料可以与缓冲装置183的材料可以相同。在另一些实施例中，弹性垫块的材料可以与缓冲装置的材料可以不相同。
在一些实施例中，安全充电结构还包括充电座102，充电座的一面设有可导电的插槽，插槽作为充电触点101，挡片142遮挡于充电座102开设插槽的一面；插槽呈中部较窄而开口端与底部较宽的结构，其较窄的中部用于对插入的导电杆进行限位。
在一些实施例中，安全充电结构还包括充电电源模块、充电插座121以及充电线122，充电电源模块与充电触点101电连接，充电线122一端与充电电源模块电连接，充电线122另一端与充电插座121电连接。充电插座121固定于壳体10上，且壳体10暴露出充电插座121，充电线122通过压线板161固定于底座16上。
在一些实施例中，安全充电结构还包括底板13，底座16固定于底板13上，底板具有一定重量，以使安全充电结构的底面与水平面保证一致，保证机器人自动充电过程更加顺畅。
相应地，参考图5以及图6，本申请实施例还提供一种充电桩，包括壳体10与设于壳体10的安全充电结构，安全充电结构如上述的安全充电结构。
在一些实施例中，充电桩的壳体10主要作用是保护充电桩内部的机构件，壳体10的材料为绝缘材料，有效避免安全隐患。
本申请实施例还提供一种机器人，包括：机器人本体及设于机器人本体的安全充电结构与电池，安全充电结构如上述的安全充电结构，电池与充电触点电性连接。
本申请实施例还提供一种充电系统，包括：上述的充电桩；机器人本体，机器人本体内具有导电杆21，导电杆21用于抵顶接触面143推开挡片142后与充电触点101接触形成电连接。导电杆21与充电触点101相匹配，充电时，导电杆21的正极和负极分别对应充电触点101的正极和负极。
在一些实施例中，机器人本体内具有第一导向杆22以及第二导向杆23，第一导向杆22以及第二导向杆23分别位于导电杆21两端。
在一些实施例中，机器人本体还包括电量监测模块、控制器以及导航模块，电量监测模块用于实时监测机器人上的充电电池的电量，当电量低于预设值时，控制器控制导航模块启动，使机器人导航到充电桩的位置进行充电。在一些实施例中，图7至图9中只显示了机器人的充电接头，由于其他结构都是现有技术，不再赘述。
在一些实施例中，充电系统还包括引导装置，引导装置用于引导机器人移动到充电桩所在位置，引导装置为激光引导装置，激光引导装置包括激光发射器以及激光接收器，激光发射器位于充电桩或者机器人本体的一者，激光接收器位于充电桩或者机器人本体的另一者。在另一些实施例中，引导装置为红外引导装置。
参考图8以及图9，对机器人充电系统的工作原理进行更为详细的说明。
机器人需要充电时，移动到本申请一些实施例的充电桩前方，基于激光引导装置进行对接，机器人充电接头上的第一导向杆22以及第二导向杆23在控制器的控制下随机器人移动或单独移动并分别滑入两个对桩凹槽111，对桩凹槽111前端的喇叭口结构对第一导向杆22以及第二导向杆23起到导向作用，第一导向杆22以及第二导向杆23同时对充电桩施加作用力，前固定架11将受到的外力传递至前后缓冲机构以使第一弹性件171发生伸缩，在第一弹性件171的弹性力作用下，前固定架11带动充电触点101前后移动与导电杆21对接以达到最佳充电位置；当导电杆21与充电触点101存在横向偏差时，前固定架11将受到的外力传递至横向缓冲机构以使第二弹性件182发生伸缩，在第二弹性件182的弹性力作用下，前固定架11带动充电触点101横向移动与电极触点211对接以达到最佳充电位置；通过两个缓冲结构的弹性调整前固定架11以及充电触点101的位置，使得第一导向杆22以及第二导向杆23能够顺利插入到对桩凹槽111的内部较窄的区域，在此过程中三个导电杆21也就分别与三个充电接口112对齐。当导电杆21与充电触点101调整为最佳充电位置后，导电杆21进一步向充电桩靠近，以使接触面143受到导电杆21挤压以使挡片142克服复位件的弹力滑动使通孔146与充电触点101相对，然后导电杆21继续向充电桩靠近直至导电杆21与充电桩上的充电触点101充分接触；当机器人充完电后，导电杆21脱离充电接口112，挡片142在挡片压簧145的弹性力作用下恢复到初始状态。
需要说明的是，在机器人充电接头上的第一导向杆22以及第二导向杆23在控制器的控制下随机器人移动或单独移动并分别滑入两个对桩凹槽111时，充电接头所在平面与前固定架11所在平面形成夹角，夹角大于0°，夹角可以为5°、10°，可以扩大在机器人移动定位不准确的情况下，机器人的充电接头与充电触点101准确对接的误差范围。
机器人充电时，通过前后缓冲机构17、横向缓冲机构18和前固定架11三者中的一个、两个或三者同时作用，使得充电触点101在一定范围内前后、横向、上下移动，提高充电的成功率。当机器人充电完成后，机器人的充电接头与充电桩的前固定架11分离，挡片142恢复到初始状态。
本领域的普通技术人员可以理解，上述各实施方式是实现本申请的具体实施例，而在实际应用中，可以在形式上和细节上对其作各种改变，而不偏离本申请的精神和范围。任何本领域技术人员，在不脱离本申请的精神和范围内，均可作各自更动与修改，因此本申请的保护范围应当以权利要求限定的范围为准。

Claims (17)

  1. 一种安全充电结构，包括底座（16）、活动设置于所述底座（16）上的活动架以及设于所述活动架内的充电触点（101）与触点保护机构，所述底座（16）与所述活动架间设有对所述活动架进行缓冲的弹性缓冲结构，所述触点保护机构包括复位件与活动设置于所述活动架中的挡片（142），所述复位件驱使所述挡片（142）遮挡所述充电触点（101），所述挡片上设有受力时驱使所述挡片（142）活动露出所述充电触点（101）的接触面（143）。
  2. 根据权利要求1所述的安全充电结构，其中，所述挡片（142）设有贯穿的通孔（146），所述通孔（146）与所述接触面（143）相邻设置，在所述复位件作用下所述接触面（143）遮挡所述充电触点（101），所述接触面（143）受力使所述挡片（142）活动后所述充电触点（101）从所述通孔（146）露出。
  3. 根据权利要求2所述的安全充电结构，其中，所述活动架包括固定支架（141），所述充电触点（101）位于所述固定支架（141）中，所述挡片（142）滑动设置于所述固定支架（141）的一端，所述复位件是设置于所述挡片（142）与所述固定支架（141）之间的弹性件，所述弹性件将所述挡片（142）维持于所述接触面（143）遮挡所述充电触点（101）的状态，所述接触面（143）受力时所述挡片（142）克服所述复位件的弹力滑动使所述通孔（146）与所述充电触点（101）相对。
  4. 根据权利要求1所述的安全充电结构，其中，所述挡片（142）具有相对的第一面以及第二面，所述接触面（143）两端分别固定于所述挡片（142）的第一面以及第二面，所述接触面（143）的表面与所述挡片（142）的第二面形成夹角，所述夹角大于0°且小于90°。
  5. 根据权利要求1所述的安全充电结构，其中，所述安全充电结构还包括充电座，所述充电座的一面设有可导电的插槽，所述插槽作为所述充电触点（101），所述挡片（142）遮挡于所述充电座开设所述插槽的一面。
  6. 根据权利要求5所述的安全充电结构，其中，所述插槽呈中部较窄而开口端与底部较宽的结构，其较窄的中部用于对插入的导电杆进行限位。
  7. 根据权利要求1所述的安全充电结构，其中，所述活动架包括前固定架（11），所述前固定架（11）贯穿地设有对齐所述充电触点（101）的充电接口（112）以及位于所述充电接口（112）两侧的两对桩凹槽（111）。
  8. 根据权利要求7所述的安全充电结构，其中，所述对桩凹槽（111）的开口处设有倒角；所述充电接口（112）的开口处设有倒角。
  9. 根据权利要求7所述的安全充电结构，其中，所述弹性缓冲结构包括后固定架（15），所述后固定架（15）固定于所述底座（16）与所述前固定架（11）间，所述后固定架（15）的两端与所述底座（16）的两端之间设有横向缓冲机构（18），所述后固定架（15）与所述前固定架（11）之间设有前后缓冲机构（17）；所述活动架将受到的外力传递至所述前后缓冲机构（17）以及所述横向缓冲机构（18）上，所述前后缓冲机构（17）在外力的作用下带动所述充电触点（101）前后移动，所述横向缓冲机构（18）在外力的作用下带动所述充电触点（101）横向移动。
  10. 根据权利要求9所述的安全充电结构，其中，所述前固定架（11）上设置有朝向所述后固定架（15）延伸的后轴（113）；所述前后缓冲机构（17）至少包括第一弹性件（171），所述第一弹性件（171）套设于所述后轴（113）上且位于所述前固定架（11）与所述后固定架（15）之间。
  11. 根据权利要求9所述的安全充电结构，其中，所述横向缓冲机构（18）包括连接件（181）、第二弹性件（182）以及缓冲装置（183），所述第二弹性件（182）套设于所述连接件（181）上且位于所述后固定架（15）的两端与所述底座（16）的两端之间，所述缓冲装置（183）套设于所述连接件（181）上且位于所述后固定架（15）的两端。
  12. 根据权利要求11所述的安全充电结构，其中，所述缓冲装置（183）由弹性材料制成。
  13. 根据权利要求1所述的安全充电结构，其中，所述安全充电结构还包括充电电源模块，所述充电电源模块与所述充电触点（101）电连接。
  14. 一种充电桩，包括壳体（10）与设于所述壳体（10）的安全充电结构，所述安全充电结构如权利要求1-13任一项所述的安全充电结构。
  15. 一种机器人，包括机器人本体及设于所述机器人本体的安全充电结构与电池，所述安全充电结构如权利要求1-13任一项所述的安全充电结构，所述电池与所述充电触点（101）电性连接。
  16. 一种充电系统，其特征在于，包括：
    如权利要求1-13任一项所述的安全充电结构；
    机器人，所述机器人具有导电杆（21），所述导电杆（21）用于抵顶所述接触面（143）推开所述挡片（142）后与所述充电触点（101）接触形成电连接。
  17. 根据权利要求16所述的充电系统，其特征在于，所述充电系统还包括引导装置，所述引导装置为激光引导装置或者红外引导装置。
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