CN105015508A - Energy supplementing method and mechanism design for battery powered platform - Google Patents
Energy supplementing method and mechanism design for battery powered platform Download PDFInfo
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- CN105015508A CN105015508A CN201510529872.1A CN201510529872A CN105015508A CN 105015508 A CN105015508 A CN 105015508A CN 201510529872 A CN201510529872 A CN 201510529872A CN 105015508 A CN105015508 A CN 105015508A
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Abstract
The invention discloses an energy supplementing method and mechanism design for a battery powered platform, provides a scheme for providing energy for battery powered equipment by directly replacing batteries, and also designs a mechanism for replacing a battery automatically, so that the battery can be automatically replaced. The problems of long charging time and short working time of the battery powered equipment are solved, and the purpose of rapidly replacing batteries for a motion platform is achieved. The mechanism comprises substrates, longitudinal guide tracks, guide track fixing supports, spur racks, longitudinal sliding platforms, horizontal guide tracks, horizontal sliding platforms, battery charging slots, pan-tilts, guide modules, motors and other components. When the batteries of the motion platform are required to be replaced, the motion platform is moved to be in front of a charging station under the guidance of a series of actions and finally stops on the center axes of the substrates, exhausted batteries are taken out through movement of a series of mechanisms and put in the battery charging slots for charging, a well charged battery box is pushed into the motion platform, and a whole set of battery replacement actions are completed. The purposes of rapid energy supplementing and uninterrupted work are achieved.
Description
Technical field
The invention belongs to a kind of design of battery-charging station, be specifically related to a kind of improvement of energy supplement mode to powered battery car and the design of relevant apparatus.
Background technology
At present, at some intelligent vehicles, scout vehicle, warning car, Smart Home, on some motion platforms such as intelligent robot, powered battery obtains a large amount of utilization, use powered battery, a lot of harsh environment and operating needs can be tackled, powered battery has low noise, system response is fast, can the advantage such as quick active, while the above-mentioned advantage of acquisition, also some technical matterss are had to still need solution, such as battery energy storage density is low, the problem of length consuming time of charging, in order to address these problems, in recent years, based on Path Planning Technique, the technological means such as photoelectricity bootstrap technique, achieve automated backhaul charging, Automatic-searching battery-charging station, the functions such as automatic charging, these technology are at some household robots, sweeping robot obtains ripe application, but, in view of the restriction of existing battery technology, the equipment of these operation powers cannot work long hours, need often to return battery-charging station to carry out electric power and supplement, needing the occasion of uninterrupted duty, the multiple equipment alternation of most use, to realize the object of uninterrupted duty or patrol, because the most consumption of current of equipment that the energy storage density of present battery is still not high enough and present is larger, so, multiple devices are often needed to realize permanent patrol, this is the current technical issues that need to address, reduce the platform quantity of alternation, realize uninterrupted duty or patrol.
Summary of the invention
A kind of energy supplement method of powered battery platform and mechanism design, the invention provides a kind ofly provides the scheme of energy supplement for battery supply set, namely directly battery is changed, devise the mechanism of a set of automatic replacing battery simultaneously, realize the automatic replacing of battery, solve battery supply set charging duration long, the problem that work-hours is short, realizes the object of quick-replaceable motion platform battery.
A kind of energy supplement method of powered battery platform and mechanism design.By substrate, longitudinal rail, guide rail fixed pedestal, spur rack, longitudinal slide unit, cross slide way, the compositions such as horizontal slide unit, battery charging slot, The Cloud Terrace, bootstrap module, motor.Base main body is one block of rectangle massive plate, being a gentle slope, climbing up platform for allowing motion platform or robot before substrate; Baffle plate is installed at the center line with on the position of the central axes of substrate, the distance on baffle plate distance gentle slope is determined by actual demand, and actual demand is limited to the factors such as the number that needs to change the battery charging slot that the motion platform size of battery and baffle plate arrange below and size of substrate; Baffle plate on substrate and the line of centers between gentle slope are had any different in the colour band of background colour, for providing positioning signal to the sensor on motion platform; Substrate bilateral symmetry, there is the mounting hole of guide rail fixed pedestal every side, two longitudinal rails are installed in side, and on corresponding substrate, there is the mounting hole of four pairs of guide rail fixed pedestals side, have the support bar for fixing spur rack between two longitudinal rail installation sites; Have the symmetrical installing port for installing battery charging slot at the rear of baffle plate, number determines by needing the number of the battery charging slot installed, and only installs 2 here to exemplarily, so there are 8 pairs of battery charging slot mounting holes accordingly.Because whole system is symmetrical, so only introduce side mechanism here, opposite side is symmetrical with it, repeats no more other side here.Longitudinal rail is installed on substrate both sides, side is provided with two longitudinal rails, longitudinal rail is fixed on substrate by guide rail fixed pedestal, longitudinal rail fixed pedestal is provided with clash into and detects micro-switch, two to be positioned at the distance of the longitudinal rail of the same side equal with the distance of two passing hole of longitudinal slide unit.Spur rack is installed on below longitudinal rail, is fixed on the support bar of spur rack on substrate, and the distance of two spur racks of the same side is determined by the mounting position of motor of longitudinal slide unit.Longitudinal slide unit is designed to the shape of a rectangular block based on the hole passed through for longitudinal rail of two located side by side, linear electric motors are had between longitudinal slide unit and longitudinal rail, slide on longitudinal rail for longitudinal slide unit, two motors are respectively installed in the both sides, front and back of rectangular block, for driving longitudinal slide unit at moving on rails, the top of rectangular block has cross slide way to pass through the hole fixed, hollow out in the middle of rectangular block, two motors are each side installed move for driving horizontal slide unit, laser sensor mounting bracket is had above rectangular block, support height is as the criterion with the signal that can receive laser transmitter projects.The main body of horizontal slide unit is a plate-like members, there is the mounting hole installing cross slide way the left and right sides of horizontal slide unit, and cross slide way is connected by linear bearing with longitudinal slide unit, and cross slide way is slided, dull and stereotyped left and right sides has stepped erecting bed, in order to install spur rack, at two motion end points of cross slide way, there are two openings with the position of longitudinal rail side coincident, for providing detection signal for photoelectric switch, prevent motion from exceeding the movable scope of mechanism, damage mechanism, there is a push pedal in the front of cross slide way, push pedal there is the mounting hole for installing electromagnet, a supporting plate is had below push pedal, the situation of the arrangement of supporting plate to be battery charging slot in order to adapt to motion platform be not level, according to the degree of dip of motion platform, supporting plate is arranged to corresponding degree of dip, the width of supporting plate is equal with the below insert port width of battery case, supporting plate is in leading edge, there is respective chamfered corners side, to eliminate position error, here error comprises the position error of motion platform, the position error of longitudinal rail, the height error that motion platform load variations causes, mechanism's Mismachining tolerance etc.There is iron plate at the back side of battery case, battery is held for allowing electromagnet, battery case is the symmetrical side of metal sheet in the wings, namely there is the contact, the two poles of the earth of battery in the front of battery case (batteries of going here and there has two contacts, two batteries of going here and there have three contacts, by that analogy), there are two bar-shaped troughs the both sides of battery case, for stationary battery box.Battery charging slot main body is the cuboid containing cavity of a side opening, cavity is for holding battery case, the below of cavity is an insert port allowing the supporting plate of cross slide way insert, the below of cavity supports, support for adjusting battery charging slot and horizontal angle, support there is installing port, for being connected with substrate, there are two bar-shaped troughs the both sides of battery charging slot, this bar-shaped trough has bearing hole in the bottom near rectangular enclosure, stationary positioned plate while that bearing hole being used for allowing locating plate pivot, locating plate is strip, two ends are porose, the bearing hole in the bar-shaped trough of bar shaped cavity both sides is fixed in one end, one end is connected on steering wheel rocking bar by pull bar, there is the adapter plate installing steering wheel the top of cavity, above cavity, appropriate location has two holes, for installing photoelectric switch, whether be in place for detecting battery case, at the uniform copper contact in the inside of cavity, corresponding with the contact on battery case, make to be fixed in reliable after in battery charging slot connection at battery case.Be provided with The Cloud Terrace above baffle plate, The Cloud Terrace is equipped with bootstrap module, The Cloud Terrace has been prior art, does not describe here, and bootstrap module here employs and guides infrared mixing with super sonic, according to environment for use also other guidance modes replaceable.
When motion platform needs to change battery, motion platform sends to battery-charging station and changes battery request, when battery-charging station receives charge request, may be used for if having in standing change battery and charging station system working properly time, send to motion platform and allow response, motion platform is according to self present position, based on GPS or local positioning technology, move to the position within the scope of distance battery-charging station centre distance 10 meters, battery-charging station starting factor module, the infrared calling-on signal 360 degree of scan-types controlled on bootstrap module externally transmit from far near, when motion platform receives infrared calling-on signal, calling-on signal is utilized to move within the scope of battery-charging station front distance battery-charging station centre distance 5 meters, at this moment battery-charging station switching and booting signal, super sonic is used to continue guided-moving platform, final guided-moving Platform movement to battery-charging station just before, until motion platform detects the coloured beacon on substrate, motion platform utilizes coloured beacon to improve precision further, finally be parked in the central axis place of substrate, after motion platform comes to a complete stop, motion platform sends and has come to a complete stop information to battery-charging station, simultaneously, motion platform opens the locating plate of the battery charging slot on motion platform by steering wheel, battery case can be drawn out, the laser beacon on motion platform is opened while opening locating plate.After motion platform opens laser beacon, longitudinal slide unit setting in motion of battery-charging station, the stop motion when the laser beacon of motion platform being detected, when both sides longitudinal slide unit all stop motion time, horizontal slide unit entry into service, move to motion platform, when battery case pushes back in battery charging slot by horizontal slide unit again, the photodiode of the battery charging slot of motion platform detects that battery case playbacks, send the signal that put in place, at this moment horizontal slide unit activates the electromagnet on horizontal slide unit, by the iron plate at the battery case back side, battery case is held, then horizontal slide unit counter motion, battery case is pulled out, after horizontal slide unit retracted position, longitudinal slide unit motion, battery case is sent to empty battery charging slot, repeat above-mentioned action, battery case is pushed battery charging slot, then above-mentioned action is repeated, charged battery case is pushed motion platform, complete a whole set of and change battery action.
After adopting said method and design, make to use the energy supply time of the motion platform of battery greatly to shorten, decrease the berthing time of motion platform, the uninterrupted motion of motion platform is ensured, and mechanism design is reliable, working stability, achieves fast energy supply, ensures the object of motion uninterrupted duty.
Accompanying drawing explanation
Fig. 1 is birds-eye view and the left view of the energy supplement method of this kind of powered battery platform and the substrate of mechanism design.
Fig. 2 is the graphics of the energy supplement method of this kind of powered battery platform and the substrate of mechanism design.
Fig. 3 is the graphics of the energy supplement method of this kind of powered battery platform and longitudinal slide unit of mechanism design.
Fig. 4 is lateral plan and the A-A cutaway view of the energy supplement method of this kind of powered battery platform and the horizontal slide unit of mechanism design.
Fig. 5 is the graphics of the energy supplement method of this kind of powered battery platform and the horizontal slide unit of mechanism design.
Fig. 6 is the graphics of the energy supplement method of this kind of powered battery platform and the battery case of mechanism design.
Fig. 7 is the graphics of the energy supplement method of this kind of powered battery platform and the battery charging slot of mechanism design.
Fig. 8 is the assembly drowing of the energy supplement method of this kind of powered battery platform and longitudinal slide unit of mechanism design and substrate.
Fig. 9 is the assembly of the energy supplement method of this kind of powered battery platform and the horizontal slide unit of mechanism design and longitudinal slide unit.
Figure 10 is that the energy supplement method of this kind of powered battery platform and the battery case pull-out of mechanism design push working process instruction diagram.
Figure 11 is the energy supplement method of this kind of powered battery platform and the assembly drawing of mechanism design.
Illustrate that the present invention will be further described below in conjunction with accompanying drawing
A kind of energy supplement method of powered battery platform and mechanism design.By substrate 1, longitudinal rail 32, guide rail fixed pedestal, spur rack 31, longitudinal slide unit 9, cross slide way 32, the compositions such as horizontal slide unit 16, battery charging slot 26, The Cloud Terrace, bootstrap module, motor 34.Because whole system is symmetrical, only describe side mechanism in detail here, opposite side mechanism then repeats no more here.
As shown in Figure 1 and Figure 2, substrate 1 main body is one block of rectangle massive plate, being a gentle slope 8, climbing up platform for allowing motion platform or robot before substrate 1; Baffle plate is installed at the center line with on the position of the central axes of substrate 1, baffle plate 5 is determined by actual demand apart from the distance on gentle slope 8, and actual demand is limited to the factors such as the number that needs to change the battery charging slot 26 that the motion platform size of battery and baffle plate 5 arrange below and substrate 1 size; Baffle plate 5 on substrate 1 and the line of centers between gentle slope 8 are had any different in the colour band 6 of background colour, for providing positioning signal to the sensor on motion platform; Substrate 1 bilateral symmetry, there is the mounting hole 2 of guide rail fixed pedestal every side, two longitudinal rails 32 are installed in side, and on corresponding substrate 1, there is the mounting hole 2 of four pairs of guide rail fixed pedestals side, have the support bar 3 for fixing spur rack 31 between two longitudinal rail 32 installation sites; Have the symmetrical installing port for installing battery charging slot 26 at the rear of baffle plate 5, number determines by needing the number of the battery charging slot 26 installed, and only installs 2 here to exemplarily, so there are 8 pairs of battery charging slot 26 mounting holes 4 accordingly.
As shown in Figure 3, longitudinal slide unit 9 is designed to the shape of a rectangular block based on the hole 10 passed through for longitudinal rail 32 of two located side by side, two motors 34 are respectively installed in the both sides, front and back of rectangular block, move on guide rail 32 for driving longitudinal slide unit 9, the fixed orifice 12 that the top of rectangular block has cross slide way 32 to pass through, hollow out in the middle of rectangular block, two motors 34 are each side installed move for driving horizontal slide unit 16, have laser sensor mounting bracket above rectangular block, support height is as the criterion with the signal that can receive laser transmitter projects.
As shown in Fig. 4, Fig. 5, Fig. 9, the main body of horizontal slide unit 16 is plate-like members, there is the mounting hole 20 installing cross slide way 32 left and right sides of horizontal slide unit 16, dull and stereotyped left and right sides has stepped erecting bed 19, in order to install spur rack 31, then horizontal slide unit 16 is driven to move by motor 34, at two motion end points of cross slide way 32, there are two openings 22 with the position of longitudinal rail 32 side coincident, for providing detection signal for photoelectric switch, prevent motion from exceeding the movable scope of mechanism, damage mechanism, there is a push pedal 17 in the front of cross slide way 32, push pedal 17 there is the mounting hole 21 for installing electromagnet, a supporting plate 18 is had below push pedal 17, the situation of the arrangement of supporting plate 18 to be battery cases in order to adapt to motion platform be not level, according to the degree of dip of motion platform, supporting plate 18 is arranged to corresponding degree of dip, the width of supporting plate 18 is equal with below insert port 28 width of battery charging slot 26, supporting plate 18 is in leading edge, there is respective chamfered corners side, to eliminate position error, here error comprises the position error of motion platform, the position error of longitudinal rail 32, the height error that motion platform load variations causes, mechanism's Mismachining tolerance etc.
As shown in Figure 6, there is iron plate 39 at the back side of battery case 23, battery case 23 is held for allowing electromagnet 40, battery case 23 is the symmetrical side of metal sheet in the wings, namely there is the contact, the two poles of the earth of battery in the front of battery case 23 (batteries of going here and there has two contacts, and two batteries of going here and there have three contacts, by that analogy), there are two bar-shaped troughs 27 both sides of battery case 23, for stationary battery box 23.
As shown in Figure 7, battery charging slot 26 main body is the cuboid containing cavity of a side opening, cavity is for holding battery case 23, the below of cavity is an insert port 28 allowing the supporting plate 18 of cross slide way 32 insert, the below of cavity supports, support for adjusting battery charging slot 26 and horizontal angle, support there is installing port, for being connected with substrate 1, there are two bar-shaped troughs 27 both sides of battery charging slot 26, this bar-shaped trough 27 has bearing hole in the bottom near rectangular enclosure, stationary positioned plate 37 while that bearing hole being used for allowing locating plate 37 pivot, locating plate 37 is in strip, two ends are porose, the bearing hole in the bar-shaped trough of bar shaped cavity both sides is fixed in one end, one end is connected on steering wheel rocking bar by pull bar 36, there is the adapter plate 30 installing steering wheel the top of cavity, above cavity, appropriate location has two holes, for installing photoelectric switch, whether be in place for detecting battery case 23, at the uniform copper contact in the inside of cavity, corresponding with the contact on battery case 23, make to be fixed in reliable after in battery charging slot 26 connection at battery case 23.
As shown in Figure 8, longitudinal rail 32 is installed on substrate 1 both sides, side is provided with two longitudinal rails 32, longitudinal rail 32 is fixed on substrate 1 by guide rail fixed pedestal, longitudinal rail 32 fixed pedestal is provided with clash into and detects micro-switch, two distances being positioned at the longitudinal rail 32 of the same side are equal with the distance of two passing hole of longitudinal slide unit 9.Spur rack 31 is installed on below longitudinal rail 32, is fixed on the support bar 3 of spur rack 31 on substrate 1, and the distance of two spur racks 31 of the same side is determined by motor 34 installation site of longitudinal slide unit 9.
As Figure 10, shown in Figure 11 when motion platform needs to change battery, motion platform sends to battery-charging station and changes battery request, when battery-charging station receives charge request, may be used for if having in standing change battery and charging station system working properly time, send to motion platform and allow response, motion platform is according to self present position, based on GPS or local positioning technology, move to the position within the scope of distance battery-charging station centre distance 10 meters, battery-charging station starting factor module, the infrared calling-on signal 360 degree of scan-types controlled on bootstrap module externally transmit from far near, when motion platform receives infrared calling-on signal, calling-on signal is utilized to move within the scope of battery-charging station front distance battery-charging station centre distance 5 meters, at this moment battery-charging station switching and booting signal, super sonic is used to continue guided-moving platform, final guided-moving Platform movement to battery-charging station just before, until motion platform detects the coloured beacon on substrate 1, motion platform utilizes coloured beacon to improve precision further, finally be parked in the central axis place of substrate 1, after motion platform comes to a complete stop, motion platform sends and has come to a complete stop information to battery-charging station, simultaneously, motion platform opens the locating plate 37 of the battery charging slot 26 on motion platform by steering wheel, battery case 23 can be drawn out, the laser beacon on motion platform is opened while opening locating plate 37.After motion platform opens laser beacon, longitudinal slide unit 9 setting in motion of battery-charging station, the stop motion when the laser beacon of motion platform being detected, when both sides longitudinal slide unit 9 all stop motion time, horizontal slide unit 16 entry into service, move to motion platform, when battery case 23 pushes back in battery charging slot 26 by horizontal slide unit 16 again, the photodiode of the battery charging slot 26 of motion platform detects that battery case 23 playbacks, send the signal that put in place, at this moment horizontal slide unit 16 activates the electromagnet on horizontal slide unit 16, by the iron plate at battery case 23 back side, battery case 23 is held, then horizontal slide unit 16 counter motion, battery case 23 is pulled out, after horizontal slide unit 16 retracted position, longitudinal slide unit 9 moves, battery case 23 is sent to empty battery charging slot 26, repeat above-mentioned action, battery case 23 is pushed battery charging slot 26, then above-mentioned action is repeated, charged battery case 23 is pushed motion platform, complete a whole set of and change battery action.
It should be pointed out that just a kind of design plan described here, for industry personnel; for the amendment of some details; such as revise the motion connection mode of slide unit and substrate, the connection mode etc. of horizontal slide unit 16 and longitudinal slide unit 9, all will be understood that it is included in protection scope of the present invention.
Claims (7)
1. the energy supplement method of a powered battery platform and mechanism design; Propose a kind of electric power compensation process directly changing battery for powered battery platform; Mechanism by substrate, longitudinal rail, guide rail fixed pedestal, spur rack, longitudinal slide unit, cross slide way, the compositions such as horizontal slide unit, battery charging slot, The Cloud Terrace, bootstrap module, motor; Base main body is one block of rectangle massive plate, is a gentle slope before substrate; Baffle plate is installed at the center line with on the position of the central axes of substrate; the distance on baffle plate distance gentle slope is determined by actual demand, and actual demand is limited to the factors such as the number that needs to change the battery charging slot that the motion platform size of battery and baffle plate arrange below and size of substrate; Baffle plate on substrate and the line of centers between gentle slope are had any different in the colour band of background colour.
2. the energy supplement method of a kind of powered battery platform as claimed in claim 1 and mechanism design, it is characterized in that: substrate bilateral symmetry, there is the mounting hole of guide rail fixed pedestal every side, two longitudinal rails are installed in side, on corresponding substrate, there is the mounting hole of four pairs of guide rail fixed pedestals side, has the support bar for fixing spur rack between two longitudinal rail installation sites.
3. the energy supplement method of a kind of powered battery platform as claimed in claim 1 and mechanism design; it is characterized in that: longitudinal rail is installed on substrate both sides; side is provided with two longitudinal rails; longitudinal rail is fixed on substrate by guide rail fixed pedestal; longitudinal rail fixed pedestal is provided with clash into and detects micro-switch, two to be positioned at the distance of the longitudinal rail of the same side equal with the distance of two passing hole of longitudinal slide unit; Spur rack is installed on below longitudinal rail, is fixed on the support bar of spur rack on substrate, and the distance of two spur racks of the same side is determined by the mounting position of motor of longitudinal slide unit.
4. the energy supplement method of a kind of powered battery platform as claimed in claim 1 and mechanism design, it is characterized in that: longitudinal slide unit is designed to the shape of a rectangular block based on the hole passed through for longitudinal rail of two located side by side, linear electric motors are had between longitudinal slide unit and longitudinal rail, slide on longitudinal rail for longitudinal slide unit, two motors are respectively installed in the both sides, front and back of rectangular block, for driving longitudinal slide unit at moving on rails, the top of rectangular block has cross slide way to pass through the hole fixed, hollow out in the middle of rectangular block, two motors are each side installed move for driving horizontal slide unit, laser sensor mounting bracket is had above rectangular block, support height is as the criterion with the signal that can receive laser transmitter projects.
5. the energy supplement method of a kind of powered battery platform as claimed in claim 1 and mechanism design, it is characterized in that: the main body of horizontal slide unit is a plate-like members, there is the mounting hole installing cross slide way the left and right sides of horizontal slide unit, cross slide way is connected by linear bearing with longitudinal slide unit, cross slide way is slided, dull and stereotyped left and right sides has stepped erecting bed, in order to install spur rack; At two motion end points of cross slide way, there are two openings with the position of longitudinal rail side coincident, for providing detection signal for photoelectric switch; There is a push pedal in the front of cross slide way, push pedal there is the mounting hole for installing electromagnet, a supporting plate is had below push pedal, the situation of the arrangement of supporting plate to be battery charging slot in order to adapt to motion platform be not level, according to the degree of dip of motion platform, is arranged to corresponding degree of dip by supporting plate, the width of supporting plate is equal with the below insert port width of battery case, supporting plate is in leading edge, and there is respective chamfered corners side, to eliminate position error.
6. the energy supplement method of a kind of powered battery platform as claimed in claim 1 and mechanism design, it is characterized in that: there is iron plate at the back side of battery case, battery is held for allowing electromagnet, battery case is the symmetrical side of metal sheet in the wings, namely there is the contact, the two poles of the earth of battery in the front of battery case (batteries of going here and there has two contacts, and two batteries of going here and there have three contacts, by that analogy), there are two bar-shaped troughs the both sides of battery case, for stationary battery box.
7. the energy supplement method of a kind of powered battery platform as claimed in claim 1 and mechanism design, it is characterized in that: battery charging slot main body is the cuboid containing cavity of a side opening, cavity is for holding battery case, the below of cavity is an insert port allowing the supporting plate of cross slide way insert, the below of cavity supports, support for adjusting battery charging slot and horizontal angle, support there is installing port, for being connected with substrate, there are two bar-shaped troughs the both sides of battery charging slot, this bar-shaped trough has bearing hole in the bottom near rectangular enclosure, stationary positioned plate while that bearing hole being used for allowing locating plate pivot, locating plate is strip, two ends are porose, the bearing hole in the bar-shaped trough of bar shaped cavity both sides is fixed in one end, one end is connected on steering wheel rocking bar by pull bar, there is the adapter plate installing steering wheel the top of cavity, above cavity, appropriate location has two holes, for installing photoelectric switch, whether be in place for detecting battery case, at the uniform copper contact in the inside of cavity, corresponding with the contact on battery case, make to be fixed in reliable after in battery charging slot connection at battery case.
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| CN201510529872.1A CN105015508A (en) | 2015-08-26 | 2015-08-26 | Energy supplementing method and mechanism design for battery powered platform |
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| CN201510529872.1A CN105015508A (en) | 2015-08-26 | 2015-08-26 | Energy supplementing method and mechanism design for battery powered platform |
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| CN106887885A (en) * | 2017-01-16 | 2017-06-23 | 温州大学 | Four axle positioning pedestal fixture charging devices and charging method under Internet of Things framework |
| CN108134446A (en) * | 2017-12-18 | 2018-06-08 | 温州大学瓯江学院 | A kind of automatic control system of cognitive radios |
| CN109794882A (en) * | 2019-03-21 | 2019-05-24 | 陆海燕 | It can precise positioning and the automatic installation equipment for replacing shared electromobile battery |
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