CN104734291B - Patrol robot charging system and method - Google Patents
Patrol robot charging system and method Download PDFInfo
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- CN104734291B CN104734291B CN201510128951.1A CN201510128951A CN104734291B CN 104734291 B CN104734291 B CN 104734291B CN 201510128951 A CN201510128951 A CN 201510128951A CN 104734291 B CN104734291 B CN 104734291B
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- crusing robot
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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
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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- Power Engineering (AREA)
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention provides a patrol robot charging system which comprises a charging pile base, a patrol robot charging cavity and a foldable telescopic electrode. The outer wall of the charging pile base is provided with an electrode contraction opening. The foldable telescopic electrode is arranged on the charging pile base and located on the upper portion of the electrode contraction opening. The foldable telescopic electrode can rotate around a mounting point and thus can be drawn back and contained in the electrode contraction opening or stretch out of the charging pile base. The foldable telescopic electrode is connected with an electric supply converter arranged on the charging pile base. An electrode plate matched with the foldable telescopic electrode is arranged in the patrol robot charging cavity. According to the patrol robot charging system, the electrode is arranged in the charging pile base, the electrode is designed to be of a telescopic elastic contact type and can be folded and hidden automatically after being used, the butt joint power is supplied by moving of a robot, the complexity of the charging part in the robot is simplified greatly, and meanwhile, the safety and reliability of a device are guaranteed.
Description
Technical field
The invention belongs to battery boosting technology field, is related to a kind of charging system, more particularly to a kind of high reliability power transformation
Stand crusing robot recharging system and charging method.
Background technology
Chinese utility model patent document CN201298629Y《The battery charger of robot》, there is provided a kind of machine
The battery charger of people, including plug mechanism and socket component, the plug mechanism is included on mobile robot
Base plate, is fixedly connected with the support set of axial horizontal positioned on the base plate, have rack bar to pass through in support set, the rack bar
Left end is connected with plug, and the rack bar is engaged with gear, and the gear is installed in the rotating shaft of motor, the motor and base plate
It is fixedly connected, the socket component includes fulcrum bearing, and the fulcrum bearing is provided with socket, on the socket and the rack bar
Plug is oppositely arranged.The utility model can drive telescopic charging plug, outside setting to charge and insert using in robot interior installation
The scheme of seat, this avoid the exposure problem of electrode.But there is following drawback in the utility model：It is scalable by Motor drive
Electrode, motor and retractable electrode are arranged at robot interior can be increased this heavy sensation of the whole body of robot, indoor design and install complicated
Degree and installation volume.
Chinese utility model patent document CN202285342U《Intelligent substation must crusing robot charging device》Charge
Stake internal unit is more, and integrated level is not high, reduces the maintainable and stability of equipment, meanwhile, coordinate with the utility model
Charging plug be must be provided with the body of the robot being charged, similar to aforementioned utility model, the charging plug is necessary for
Telescopic charging plug can be driven, this heavy sensation of the whole body of robot, indoor design is increased and complexity and installation volume is installed.
Chinese utility model patent document CN202495798U《Intelligent Mobile Robot automatic charging mechanism》, there is provided
A kind of Intelligent Mobile Robot automatic charging mechanism, including electric pushrod, electric pushrod is connected with charging device, charging device
It is arranged on fixed front stall, electric pushrod is arranged on fixed back seat, and charging device is connected by guide rail with fixed front stall.Should
Utility model is arranged on electric pushrod and charging device on robot body, drives charging device and charging case by electric pushrod
Connection, after charging electricity, then is retracted charging device by electric pushrod.
The content of the invention
For solving the problems, such as prior art, the present invention provides a kind of crusing robot charging system, electrode is arranged
In charging pile base interior, electrode design is hidden into telescopic elastic contact using complete rear auto-folder, and docking power is by machine
Device people itself movement is provided, and enormously simplify the complexity of robot interior live part, while ensure that equipment safety reliability
Property.
Crusing robot charging system provided by the present invention, it is characterised in that：Including charging pile pedestal, crusing robot
Charging chamber and foldable telescopic electrode；The charging pile base outer wall is provided with electrode contraction mouth；The foldable telescopic electrode
On the charging pile pedestal, the foldable telescopic electrode can be rotated around mount point, so as to take in the electrode contraction mouth
It is interior or stretch out charging pile pedestal；The foldable telescopic electrode is connected with the city's electric transducer being arranged on the charging pile pedestal
Connect；The crusing robot charging within the chamber is provided with the battery lead plate coordinated with the foldable telescopic electrode.Stretch foldable
On charging pile pedestal, the foldable telescopic electrode can be hidden in electrode contraction mouth contracting electrode design when not in use, increase
The safety of charging system, drives the device of foldable telescopic electrode also to be located on charging pile pedestal, alleviates inspection machine
The own wt of people, simplifies the design of crusing robot, increases the reusability of equipment.
The foldable telescopic electrode includes flexible electrode supporting seat, flexible electrode guide rail and flexible electrode；It is described to stretch
One end of contracting electrode supporting seat is arranged on the charging pile pedestal, and the other end is connected with the flexible electrode guide rail；It is described to stretch
Electrode channel is provided with contracting electrode supporting seat, flexible electrode guide rail；The two ends of the flexible electrode are cased with spring, institute respectively
State and on flexible electrode, be provided with the flexible electrode brake hoop that the spring is separated；The flexible electrode is arranged in electrode channel,
Its terminals is connected with city's electric transducer, its contact stretch out electrode channel and with the crusing robot charging chamber on
Battery lead plate coordinate.Two ends are cased with the flexible electrode of spring and are placed in electrode channel, and two springs are separated by the electrode brake hoop that stretches；
Spring, flexible electrode brake hoop and the electrode channel that the front end of flexible electrode is nested with interacts so that electrode is in flexible electrode
There is in guide rail certain elastic strength and flexible surplus；The spring that the rear end of flexible electrode is nested with possesses vibration-damping noise-reducing effect.
As crusing robot is needed with certain seal, battery lead plate can not it is exposed outside, the crusing robot
Charging chamber has charging chamber door-plate, and the upper end of the charging chamber door-plate is arranged on the chamber of the crusing robot charging chamber
On chamber upper wall, and can rotate around mount point；The battery lead plate is arranged on the chamber rear wall of the crusing robot charging chamber,
The chamber rear wall is relative with charging chamber door-plate.When crusing robot needs to charge, robot is moved to charging pile pedestal, can
Folding retractable electrode is withstood on charging chamber door-plate first, and charging chamber door-plate is rotated around mount point, until charging chamber door-plate
It is opened, foldable telescopic electrode is contacted with battery lead plate；When charging complete or receive and leave instruction, robot is round about
Mobile, foldable telescopic electrode is separated with battery lead plate, and foldable telescopic electrode leaves crusing robot charging chamber, charging chamber
Door-plate slowly puts down and closes crusing robot charging chamber.
For further enhancing sealing, it is easy to charging chamber to be automatically obtained sealing, the lower end of charging chamber door-plate is provided with
Door-plate Magnet, due to the effect of door-plate Magnet, charging chamber door-plate and the tight adhesive of chamber lower wall.For strengthening sealing effectiveness, chamber
Threshold can be set on the lower wall of room, door-plate Magnet is also provided with threshold, on the door-plate Magnet on charging chamber door-plate and threshold
The tight adhesive of door-plate Magnet.Charging chamber door-plate can be arranged on chamber upper wall by door-plate rotary joint, and can rotate around door-plate
Articulation, the door-plate Magnet of elastic device, charging chamber door-plate bottom inside the non-charging interval, door-plate rotary joint can
Door-plate is made to reach the closed mode of sealing waterproof.Door-plate rotary joint can be made up of with torsion spring rotary shaft, during charging, foldable
The thrust of flexible electrode is (if the lower end of charging chamber door-plate is also equipped with door-plate Magnet, foldable to stretch greater than during torsion spring torsion
The thrust of contracting electrode should be greater than torsion spring torsion and door-plate Magnet suction sum), charging chamber door-plate is slowly opened, when foldable
After flexible electrode is left from charging chamber, the elastic force of torsion spring makes charging chamber door-plate recover closed mode.
Preferably, folding driver is provided with the charging pile pedestal, and the foldable telescopic electrode is arranged on and folds
In driver, the folding driver is for taking in the foldable telescopic electrode in the electrode contraction mouth or stretch out charging pile
Pedestal.Fold turbine worm motor and belt gear realization that driver can be arranged in passing through charging pile pedestal.Fold and drive
Dynamic device is arranged in charging pile pedestal the reusability that can effectively mitigate robot deadweight and increase equipment.
The charging pile pedestal is the support surrounded by front end panel, rear bearing sheet, left support plate, right support plate and base plate
Cabin, wherein, left support plate, right support plate are obliquely installed；The electrode contraction mouth is arranged in right support plate.City's electric transducer
The support within the chamber can be arranged on driver is folded.This modularized design ease of assembly and in-site installation, which adopts
Increasing impact resistance and the stability of pedestal, left and right gripper shoe mutually constitutes support to left and right side inclined design, can also be by
Gripper shoe is designed using heavy cast iron, further to increase impact resistance and stability.
It is with appropriate frictional force during for making flexible electrode contact contact with crusing robot charging chamber door-plate, described to touch
Head is the hemispherical with lines.
The present invention also provides a kind of crusing robot charging method, comprises the following steps：
(1) after charging pile base receptacle is to charge command, would fit snugly within the foldable telescopic in the charging pile pedestal
Electrode is stretched out from electrode contraction mouth, until the foldable telescopic electrode reaches horizontal level and keeps；
(2) crusing robot to charging pile pedestal direction move, until crusing robot charging within the chamber battery lead plate with
The foldable telescopic electrode contact；
(3) when crusing robot charging complete or receive leave charging pile pedestal order after, crusing robot is slowly moved
It is dynamic, until battery lead plate and foldable telescopic electrode separation；
(4) the foldable telescopic electrode being horizontal is taken in the electrode contraction mouth.
The crusing robot charging method that the present invention is provided, comprises the following steps：
(1) after charging pile base receptacle is to charge command, fold driver and would fit snugly within the charging pile pedestal
Foldable telescopic electrode is stretched out from electrode contraction mouth, until the foldable telescopic electrode reaches horizontal level and keeps；
(2) crusing robot is moved to appropriate location to charging pile pedestal direction so that foldable telescopic electrode it is flexible
Electrode is contacted with the charging chamber door-plate on crusing robot；Crusing robot is continued to move to and the flexible electrode of top pressure, and stretch electricity
The counteracting force that pole produces causes charging chamber door-plate to be opened；
(3) when crusing robot is moved to appropriate location, flexible electrode and the crusing robot of foldable telescopic electrode fill
The battery lead plate contact of electric within the chamber；
(4) when crusing robot charging complete or receive leave charging pile pedestal order after, crusing robot to away from
The direction movement of charging pile pedestal, the flexible electrode of foldable telescopic electrode are separated with battery lead plate, and charging chamber door-plate is closed automatically
Close, make crusing robot charging chamber be in air-tight state；
(5) fold driver to take in the foldable telescopic electrode being horizontal in the electrode contraction mouth.
The beneficial effects of the present invention is：1st, frame for movement is simple and reliable, and cost performance is high, is easily installed maintenance；2nd, design
Frame for movement larger receiving electrode area and crusing robot positioning adjustment space, robot and charging pile during charging are provided
Disposably dock successfully；3rd, the crusing robot charging chamber in present invention design ensures that charging operations electrode is in airtight chamber
It is interior, unexpected generation can be prevented, the first pass for more conforming to transformer station requires.4th, the present invention is arranged on electrode inside charging pile, electricity
Pole is designed to telescopic elastic contact, is hidden using complete rear auto-folder, and docking power is retreated by robot itself and provided, greatly
The complexity of robot interior live part is simplified greatly, while ensure that equipment safety reliability.
Description of the drawings
Fig. 1 is composition frame chart of the present invention；
Fig. 2 is charging pile structural representation；
Fig. 3 is foldable telescopic electrode composition schematic diagram；
Fig. 4 is charging pile base construction exploded perspective view；
Fig. 5 is crusing robot charging chamber structure schematic diagram.
In figure：101- charging pile pedestals；103- foldable telescopic electrodes；110- cities electric transducer；111- folds driver；
113- electrode contraction mouths；114- left support plates；115- front end panels；116- rear bearing sheets；117- right support plates；118- base plates；
102- crusing robot charging chambers；120- accumulator；121- battery lead plates；122- robots charging chamber door-plate；123- door-plates
Magnet；124- chamber rear walls；125- chamber upper walls；126- door-plate rotary joints；127- robots tail wall；The flexible electrodes of 130- connect
Line end；131- stretches electrode front end；The flexible electrode brake hoops of 132-；133- stretches electrode rear end；134- stretches electrode contact；
The flexible electrode supporting seats of 135-；The flexible electrode guide rails of 136-；137- electrode channels；138- chamber lower walls；139- thresholds.
Specific embodiment
As shown in Fig. 2 crusing robot charging system provided by the present invention, including charging pile pedestal 101, inspection machine
People's charging chamber 102, is provided with electrode contraction mouth 113 on the outer wall of charging pile pedestal 101, foldable telescopic electrode 103 is installed
On charging pile pedestal 101, the foldable telescopic electrode can be rotated around mount point, so as to taking in electrode contraction mouth 113 or stretching
Go out charging pile pedestal, foldable telescopic electrode 103 is connected with the city's electric transducer 110 on charging pile pedestal 101, civil power
Transducer is for being converted into the voltage x current matched with crusing robot by civil power；Arrange on crusing robot charging chamber 102
There is the battery lead plate 121 coordinated with foldable telescopic electrode 103.Charging system when not in use, hide by foldable telescopic electrode 103
In electrode contraction mouth 113；After charging pile base receptacle is to charge command, first would fit snugly within charging pile pedestal 101 can
Folding retractable electrode 103 is stretched out from electrode contraction mouth 113, until foldable telescopic electrode 103 reaches horizontal level and keeps；It
Afterwards, crusing robot is moved to 101 direction of charging pile pedestal, until the battery lead plate 121 in crusing robot charging chamber 102 with
Foldable telescopic electrode 103 is contacted, and stop motion after crusing robot detects normal connection waits charging complete；Work as survey monitor
Device people charging complete or after receiving and leaving charging pile pedestal order, crusing robot is slowly moved, until battery lead plate with can roll over
Folded flexible electrode separation；It is last to take in the foldable telescopic electrode being horizontal in electrode contraction mouth again.
As shown in Fig. 1,2,4, charging pile pedestal 101 is by front end panel 115, rear bearing sheet 116, left support plate 114, the right side
The stable support cabin that gripper shoe 117, base plate 118 are surrounded, gripper shoe can be made of cast iron, and left and right gripper shoe is obliquely installed,
Support, this modularized design ease of assembly and in-site installation is mutually formed, left and right sides is inclined and heavy cast iron design can increase
Plus the stability of shock resistance of charging pile pedestal.Electrode contraction mouth 113 is vertically arranged in right support plate 117.Fold driver
111st, city's electric transducer 110 be arranged on support cabin in, foldable telescopic electrode 103 be arranged on fold driver 111 on, and
Mount point is located at the top of electrode contraction mouth 113, and foldable telescopic electrode is hidden in electrode contraction mouth by driver 111 is folded
It is interior or stretch out from electrode contraction mouth.Driver, city's electric transducer, foldable telescopic electrode etc. will be folded and be arranged on charging pile pedestal
It is interior effectively to mitigate robot deadweight and increase the reusability of equipment.Electrode contraction mouth 113 can also be horizontally disposed with, foldable
The mount point of flexible electrode can also be adjusted flexibly as needed, as long as when charging, foldable telescopic electrode can be from electrode
Stretch out in contraction mouth, charge for robot and use, after charging complete, foldable telescopic electrode can smoothly be hidden in electrode contraction
In mouthful.
As shown in Figure 2,3, foldable telescopic electrode 103 include flexible electrode supporting seat 135, flexible electrode guide rail 136 with
And flexible electrode；One end of flexible electrode supporting seat 135 is arranged on charging pile pedestal 101, if being provided with folding driver,
The electrode supporting seat 135 that then stretches is directly installed in folding driver；The other end of flexible electrode supporting seat 135 and flexible electrode
Guide rail 136 connects；The electrode for being provided with taking in flexible electrode in flexible electrode supporting seat 135, flexible electrode guide rail 136 leads to
Road 137.Flexible electrode brake hoop 132 is provided with flexible electrode, and flexible electrode is divided into flexible electrode front end 131 by the brake hoop
With flexible electrode rear end 133.Spring is cased with respectively on flexible electrode front end 131, flexible electrode rear end 133, and flexible electrode is pacified
Put in electrode channel 137, the flexible electrode terminal 130 of flexible electrode is connected with the terminals of city's electric transducer 110, is stretched
Electrode contact 134 stretch out electrode channel 137, and battery lead plate 121 coordinate.The spring that is set with flexible electrode front end 131, flexible electricity
Pole brake hoop 132 and electrode channel 137 interact and electrode is had certain elastic strength in electrode guide rail and is stretched
Surplus, the spring on flexible electrode rear end 132 possess vibration-damping noise-reducing effect.Flexible electrode contact 134 is the dome-type with lines,
With appropriate frictional force during to contact with robot charging chamber door-plate 122.
As shown in Fig. 1,2,5, crusing robot charging chamber 102 is arranged on the afterbody of crusing robot, as needed,
Other positions can be arranged on.Crusing robot charging chamber 102 has tilting charging cavity door-plate 122, the charging chamber
The upper end of door-plate is arranged on the chamber upper wall 125 of crusing robot charging chamber 102 by door-plate rotary joint 126, and can
Rotate around door-plate rotary joint, battery lead plate 121 is arranged on the chamber rear wall 124 of crusing robot charging chamber 102.Charging chamber
The bottom of room door-plate 122 is provided with door-plate Magnet 123；In non-charging interval section, the elastic device inside door-plate rotary joint 126
Charging chamber door-plate 122 can be made to reach the closed mode of sealing waterproof, charging chamber door-plate 122 and charging with door-plate Magnet 123
Tightly close because of the suction of door-plate Magnet 123 between the chamber lower wall of chamber.Accumulator 120 may be installed crusing robot and fill
Electric chamber 102, and power supervisor 121 is equipped with for it.From fig. 5, it is seen that 126 wall on the chamber of door-plate rotary joint
125 with 127 joint portion of robot tail wall；Threshold 139 is provided with the chamber lower wall 138 of charging chamber, when charging chamber door-plate
During 122 reset, charging chamber door-plate is fitted with threshold 139, realizes sealing waterproof；Except being provided with charging chamber door-plate 122
Outside door-plate Magnet, on threshold 139, also be provided with door-plate Magnet, the magnetic pole of two blocks of door-plate Magnet is attracting, intensified charging chamber door-plate with
The tightness degree of threshold 139.
With reference to Fig. 2,3, three copper electrode plates are equidistantly distributed with the chamber rear wall 124 of crusing robot charging chamber 102,
Electrode 23.3 × 155.2 × 123.3 × 155.2 × 1mm of board size, spacing 25.3mm arrange even grain, accordingly on electrode
Ground, flexible electrode supporting seat 135, flexible electrode guide rail 136 are provided with three strip electrode passages 137, and three flexible electrodes are as electricity
In the passage of pole, a diameter of 10mm of the electrode contact 134 that stretches, this allows flexible electrode and battery lead plate in a big way interior one
Secondary property completes docking and charges, and improves charging docking reliability.
So that crusing robot charging chamber 102 is arranged on the afterbody of crusing robot as an example, crusing robot is adopted when charging
It is close with retrusive movement normal direction charging pile pedestal, charging process is discussed in detail.
Robot charging chamber door-plate 122 is directed at charging pile pedestal using automatic positioning navigation system by crusing robot
The foldable telescopic electrode 103 stretched out in 101, retreats offer power using crusing robot and causes foldable telescopic electrode 103
Push robot charging chamber door-plate 122 open, finally make flexible electrode contact 137 touch the strip electrode on chamber rear wall 124
Plate 121, so as to being charged operation, charging method is concretely comprised the following steps：
(1), when crusing robot enters charging house, charging instruction is sent to background system by radio communication.Charging pile foundation
After folding driver 111 in seat 101 receives background system order, fold driver 111 and will be hidden in charging pile pedestal 101
Foldable telescopic electrode 103 stretch out from electrode contraction mouth 113, until it reaches horizontal level simultaneously keeps.
(2) crusing robot moves to appropriate location by automatic positioning navigation system so that in flexible electrode guide rail 136
The electrode of the top is contacted with robot charging chamber door-plate 122.
(3) robot is slowly retreated by self power, makes remaining two electrodes contact robot charging chamber door successively
Plate 122.
(4) robot slowly retreats top pressure each of three electrodes, and the counteracting force that electrode is produced overcomes robot charging chamber door
Acting force of the spring in the suction and door-plate rotary joint 126 of the door-plate Magnet 123 of 122 lower edge of plate, robot charging chamber
Door-plate 122 is along 126 Unscrew of door-plate rotary joint.
(5) robot retreats distance enough so that each of three electrodes and the copper electrodes plate 121 on chamber rear wall 124 connect
Touch, crusing robot is detected and charges normal rear stop motion wait charging complete.
(6) crusing robot detects charging complete or receives and leaves signal, and robot slowly moves ahead, with foldable telescopic
Electrode 103 departs from, and crusing robot charging chamber door-plate 122 is automatically switched off.
(7) when crusing robot leaves charging house, charge completion signal is sent to background system to driver is folded, charge
After folding driver 111 in pile foundation seat 101 receives signal, driver 111 is folded by the foldable telescopic in horizontality
Electrode 103 is folded up along the electrode contraction mouth 113 in charging pile pedestal 101, is hidden in electrode contraction mouth 113.
Claims (10)
1. a kind of crusing robot charging system, it is characterised in that：Including charging pile pedestal, crusing robot charging chamber and can
Folding retractable electrode；The charging pile base outer wall is provided with electrode contraction mouth；The foldable telescopic electrode is arranged on described filling
On electric pile foundation seat, the foldable telescopic electrode can be rotated around mount point, so as to taking in the electrode contraction mouth or stretching out charging
Pile foundation seat；The foldable telescopic electrode is connected with the city's electric transducer on the charging pile pedestal；The survey monitor
Device people's charging within the chamber is provided with the battery lead plate coordinated with the foldable telescopic electrode.
2. crusing robot charging system as claimed in claim 1, it is characterised in that：The foldable telescopic electrode includes stretching
Contracting electrode supporting seat, flexible electrode guide rail and flexible electrode；One end of the flexible electrode supporting seat is arranged on the charging
On pile foundation seat, the other end is connected with the flexible electrode guide rail；It is respectively provided with the flexible electrode supporting seat, flexible electrode guide rail
There is electrode channel；The two ends of the flexible electrode are cased with spring respectively, be provided with and separate the spring on the flexible electrode
Flexible electrode brake hoop；The flexible electrode is arranged in electrode channel, and its terminals is connected with city's electric transducer, and which touches
Head is stretched out electrode channel and is coordinated with the battery lead plate on the crusing robot charging chamber.
3. crusing robot charging system as claimed in claim 1, it is characterised in that：The crusing robot charging chamber tool
There is charging chamber door-plate, the upper end of the charging chamber door-plate is arranged on the chamber upper wall of the crusing robot charging chamber,
And can rotate around mount point；The battery lead plate is arranged on the chamber rear wall of the crusing robot charging chamber, after the chamber
Wall is relative with charging chamber door-plate.
4. the crusing robot charging system as described in claim 1,2 or 3, it is characterised in that：Set on the charging pile pedestal
Be equipped with folding driver, the foldable telescopic electrode is arranged on and folds in driver, the folding driver be used for by it is described can
Folding retractable electrode is taken in the electrode contraction mouth or stretches out charging pile pedestal.
5. the crusing robot charging system as described in claim 1,2 or 3, it is characterised in that：The charging pile pedestal be by
The support cabin that front end panel, rear bearing sheet, left support plate, right support plate and base plate are surrounded, wherein, left support plate, right support
Plate is obliquely installed；The electrode contraction mouth is arranged in right support plate.
6. crusing robot charging system as claimed in claim 2, it is characterised in that：The contact is the hemisphere with lines
Shape.
7. crusing robot charging system as claimed in claim 3, it is characterised in that：The lower end peace of the charging chamber door-plate
Equipped with door-plate Magnet.
8. crusing robot charging system as claimed in claim 3, it is characterised in that：The charging chamber door-plate passes through door-plate
Rotary joint is arranged on chamber upper wall, and can rotate around door-plate rotary joint.
9. a kind of crusing robot charging method, it is characterised in that comprise the following steps：
(1) after charging pile base receptacle is to charge command, would fit snugly within the foldable telescopic electrode in the charging pile pedestal
Stretch out from electrode contraction mouth, until the foldable telescopic electrode reaches horizontal level and keeps；
(2) crusing robot to charging pile pedestal direction move, until crusing robot charging within the chamber battery lead plate with it is described
Foldable telescopic electrode contact；
(3) when crusing robot charging complete or receive leave charging pile pedestal order after, crusing robot is slowly moved, directly
To battery lead plate and foldable telescopic electrode separation；
(4) the foldable telescopic electrode being horizontal is taken in the electrode contraction mouth.
10. a kind of crusing robot charging method, it is characterised in that comprise the following steps：
(1) after charging pile base receptacle is to charge command, fold driver and would fit snugly within rolling in the charging pile pedestal
Folded flexible electrode is stretched out from electrode contraction mouth, until the foldable telescopic electrode reaches horizontal level and keeps；
(2) crusing robot is moved to appropriate location to charging pile pedestal direction so that the flexible electrode of foldable telescopic electrode
Contact with the charging chamber door-plate on crusing robot；Crusing robot is continued to move to and the flexible electrode of top pressure, and the electrode that stretches is produced
Raw counteracting force causes charging chamber door-plate to be opened；
(3) when crusing robot is moved to appropriate location, flexible electrode and the crusing robot charging chamber of foldable telescopic electrode
Indoor battery lead plate contact；
(4) when crusing robot charging complete or receive leave charging pile pedestal order after, crusing robot is to away from charging
The direction movement of pile foundation seat, the flexible electrode of foldable telescopic electrode are separated with battery lead plate, and charging chamber door-plate is automatically switched off, and makes
Crusing robot charging chamber is in air-tight state；
(5) fold driver to take in the foldable telescopic electrode being horizontal in the electrode contraction mouth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510128951.1A CN104734291B (en) | 2015-03-23 | 2015-03-23 | Patrol robot charging system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510128951.1A CN104734291B (en) | 2015-03-23 | 2015-03-23 | Patrol robot charging system and method |
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| Publication Number | Publication Date |
|---|---|
| CN104734291A CN104734291A (en) | 2015-06-24 |
| CN104734291B true CN104734291B (en) | 2017-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510128951.1A Active CN104734291B (en) | 2015-03-23 | 2015-03-23 | Patrol robot charging system and method |
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| CN105656151B (en) * | 2016-03-29 | 2017-03-01 | 亿嘉和科技股份有限公司 | A kind of flexible charging device |
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