CN206283060U - A kind of mobile robot omnidirectional charging device - Google Patents
A kind of mobile robot omnidirectional charging device Download PDFInfo
- Publication number
- CN206283060U CN206283060U CN201621407186.3U CN201621407186U CN206283060U CN 206283060 U CN206283060 U CN 206283060U CN 201621407186 U CN201621407186 U CN 201621407186U CN 206283060 U CN206283060 U CN 206283060U
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- Prior art keywords
- contact
- micro
- omnidirectional
- mobile robot
- charging
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model is a kind of mobile robot omnidirectional charging device, is related to robotics, and what is solved is mobile robot and the difficulty of docking of cradle when reducing robot autonomous charging, reduces docking time, improves reliability and security.The device includes omnidirectional's charging socket and micro-contact switch plug, and wherein micro-contact switch plug is integrated on mobile robot chassis.Arrangement one encloses infrared transmitting tube on omnidirectional's charging socket, 360 degree of scopes around cradle is received infrared signal, and mobile robot chassis can be docked from any direction；Have 3 infrared receiving tubes of angled arrangement on the micro-contact switch plug of mobile robot, can detect micro-contact switch plug whether positive alignment omnidirectional charging socket.After the completion of docking, mobile chassis microcontroller detects micro-contact switch action, then sends order opening relay and starts to charge up.
Description
Technical field
The utility model is related to robotics, is related to a kind of mobile robot omnidirectional charging device.
Background technology
At present, during many service robots more and more enter into ordinary people's family life, combined with intelligent family product makes
The life for obtaining people is greatly facilitated.But due to present battery technology bottleneck, the universal run time of service robot
It is shorter, be now accomplished by robot detect electricity it is low when can be automatically found cradle and charged.But in the market
Most of recharging seats and mobile robot need, by infrared sensor precise positioning, then to make mobile robot accurate
Move on the metal electrode film on cradle.This kind of mode needs repeatedly to reconcile mobile robot direction and can accurately dock,
Technical sophistication, anti-interference is weak and security is low.
Had the following disadvantages in the above-mentioned prior art for referring to of analysis, i.e. technical problem to be solved in the utility model：
1st, present battery technology bottleneck, the universal run time of service robot is shorter, is now accomplished by robot and detects
Electricity can be automatically found cradle and be charged when low；
2nd, present recharging seat and mobile robot need, by infrared sensor precise positioning, then to make to move machine
People is accurately moved on the metal electrode film on cradle.This kind of mode needs repeatedly to reconcile mobile robot direction can be accurate
Really dock, technical sophistication, anti-interference is weak and security is low.
Utility model content
The purpose of this utility model is to be related to a kind of mobile robot omnidirectional to charge dress in overcoming the shortcomings of existing technologies
Put, and base height can be reconciled（It is coincide with mobile robot microswitch plug height）, there is preferable versatility and higher
Security.
In order to solve the above-mentioned technical problem, the utility model is provided on a set of omnidirectional's charging socket and mobile robot
Microswitch plug, it is characterised in that：Omnidirectional's charging socket is two parallel circular electrodes and middle brace rod composition
Arrangement one encloses infrared transmitting tube around I-shaped cradle, wherein middle brace rod, and the distance between two circular electrodes are
Fixed, but whole I-shaped cradle can adjust the height with bottom bracket, to adapt to different mobile robot chassis
Height.
Microswitch plug in the mobile robot includes two microswitches and 3 infrared receiving tubes.Two micro-
Dynamic switch contact is located at mobile robot base top and bottom respectively, and when being contacted with omnidirectional charging socket, two microswitches are simultaneously
Action.3 infrared receiving tubes are arranged into special angle, and have baffle plate in the middle of 3 infrared receiving tubes, wherein middle infrared receiver
Pipe is parallel with mobile robot route, and in micro-contact switch plug centre.
The contact of the micro-contact switch is the electrode that electricity is also awarded in detection micromotion for mobile robot.
Omnidirectional of robot charging socket and its recharging method that the utility model is provided, using infrared on cradle
Transmitting tube, produces infrared signal around the cradle, the micro-contact switch charging plug on robot body in the range of 360 degree
On 3 infrared receiving tubes in two reception pipes on side infrared signal is received to judge cradle in mobile robot movement side
To Left or right, rotating in place robot chassis makes 3 infrared receiving tubes to receive infrared signal, when 3 it is red
Outer reception pipe just can determine whether that present robot moving direction is just moved towards omnidirectional's charging socket direction when can receive infrared signal
It is dynamic.Can determine whether to fill when the micro-contact switch plug on robot body is received when upper and lower two microswitches are acted
Electric seat and movable joint are made angry and award plug and fit completely, you can opened and charged.This kind of method docking is simple, can be by any direction pair
Connect.And open each switch UNICOM power supply again after docking completion is judged, it is ensured that security, it is therefore prevented that foreign object is collided and made
Cradle and robot electrode are powered.
Brief description of the drawings
Fig. 1 is omnidirectional of robot charging socket structural representation of the present utility model；
Fig. 2 is mobile robot micro-contact switch plug schematic diagram of the present utility model；
Fig. 3 is omnidirectional of robot charging socket circuit diagram of the present utility model；
Fig. 4 is mobile robot micro-contact switch plug circuit diagram of the present utility model；
Fig. 5 is full structural representation of the present utility model；
Wherein, 9- omnidirectionals charging socket；10- mobile robots chassis；11- micro-contact switch plugs；
9- omnidirectionals charging socket is included：1- tops charging electrode, 2- infrared transmitting tubes, 3- bottoms charging electrode, 4- bases；
11- micro-contact switch plugs are included：5- tops micro-contact switch contact, 6- infrared receiving tubes, 7- bottoms are micro-
Dynamic contact-making switch contact, 8- baffle plates.
Specific embodiment
Embodiment of the present utility model is described in further detail below in conjunction with brief description of the drawings, but the present embodiment is not
It is every to use similar structure of the present utility model and its similar change for limiting the utility model, this practicality all should be listed in new
The protection domain of type.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, the technical solution of the utility model there is provided a set of omnidirectional's charging and insert
Microswitch plug device on seat and mobile robot, including omnidirectional's charging socket 9；Mobile robot chassis 10；Fine motion connects
Touch on-off plug 11；
Wherein omnidirectional's charging socket 9 is included：Top charging electrode 1, infrared transmitting tube 2, bottom charging electrode 3, base 4；
Micro-contact switch plug 11 is included：Top micro-contact switch contact 5；Infrared receiving tube 6；Bottom micro-contact switch contact
7；Baffle plate 8.
As shown in Figure 1, shown in Figure 5, a kind of mobile robot omnidirectional charging socket 9 that the utility model embodiment is provided, bag
Include top charging electrode 1；Infrared transmitting tube 2；Bottom charging electrode 3；Base 4.
It is characterized in that：Omnidirectional's charging socket 9 has top charging electrode 1, and bottom charging electrode 3 can adjust height
The base 4 of degree and the circle infrared transmitting tube 2 around charging electrode connecting shaft, a circle install 18 infrared transmitting tubes, and each is red
Emission pipe allows infrared-ray to spread all over 360 degree of spaces around with 20 degree of distributions.
As shown in figure 3, having microcontroller, wireless communication module, relay group and ACDC modules in omnidirectional's charging socket 9.
Microcontroller receives the order of mobile robot base 10 and controls infrared transmitting tube 2, top charging electrode 1 and bottom charging electricity
The switch of pole 3.
As shown in Fig. 2, Fig. 5, the mobile robot micro-contact switch plug 11 that the utility model embodiment is provided, this is inserted
Head is integrated in 10 on mobile robot base, it is characterised in that：The micro-contact switch plug 11 includes top fretting contact
Switch contact 5, the infrared receiving tube 6 of bottom micro-contact switch contact 7,3, and the baffle plate 8 between 3 infrared receiving tubes 6.
The top micro-contact switch contact 5 and bottom micro-contact switch contact 7 are mechanical limit switch, work as movement
When robot chassis 10 moves to omnidirectional 9 bottom of charging socket, charge on the contact top of top micro-contact switch contact 5 electricity
Pole 1, top micro-contact switch contact 5 is pressed due to contact by top charging electrode 1, and robot detects top fine motion
Contact-making switch contact 5 acts；Similarly bottom micro-contact switch contact 7 contacts bottom charging electrode 3.
As shown in figure 4, mobile robot chassis 10 includes microcontroller, wireless communication module, relay group, battery, electricity
Machine drive module, micro-contact switch（On）And micro-contact switch（Under）.The top micro-contact switch contact 5 and bottom
Micro-contact switch contact 7 is metal material, and be connected with the relay group on mobile robot chassis 10, relay group with it is electric
Pond connects.That is, top micro-contact switch contact 5 and bottom micro-contact switch contact 7 is for detecting mobile robot
Chassis 10 and the contact action of omnidirectional's charging socket 9, are also the electrode charged to battery.
The baffle plate 8 between 3 infrared receiving tubes 6 and 3 infrared receiving tubes 6 on the micro-contact switch plug 11 is constituted
Structure be in order to detect the infrared transmitting tube 2 on omnidirectional's charging socket 9 transmitting infrared-ray.In 3 infrared receiving tubes 6
The infrared receiving tube of left and right two is respectively with 20 degree of angles and middle infrared receiving tube specular.When micro-contact switch plug
11 just to omnidirectional's charging socket when, 3 infrared receiving tubes 6 can receive infrared ray, when micro-contact switch plug 11
When to the left relative to the direction of omnidirectional's charging socket 9, the infrared receiving tube on right side can receive infrared ray in 3 infrared receiving tubes 6；
Similarly, left side infrared receiving tube when to the right only in infrared receiving tube 6 can receive infrared ray.Only work as micro-contact switch
When plug 11 is just to omnidirectional's charging socket 9, the infrared receiving tube of left, center, right three in 3 infrared receiving tubes 6 can just be received
Infrared signal.
Microcontroller on the mobile robot chassis 10 receive can determine whether after 3 signals of infrared receiving tube 6 it is micro-
The direction of the dynamic relatively directional charging socket 9 of contact-making switch plug 11.When the microcontroller on mobile robot chassis 10 is detected
When battery electric quantity is low, you can control mobile robot chassis 10 rotates in place, and adjustment angle makes micro-contact switch plug
11 just to omnidirectional's charging socket 10, and controls mobile robot chassis 10 to be moved to omnidirectional's charging socket 9.When mobile robot bottom
When contact omnidirectional charging socket 9 of disk 10, the microcontroller on mobile robot chassis 10 detects top fretting contact and opens
Close contact 5 and bottom micro-contact switch contact 7 acts, judge that now charging electrode contact is good, just send a signal to omnidirectional
Controller on charging socket 9, makes microcontroller on omnidirectional's charging socket 9 open relay, make top charging electrode 1 and under
The UNICOM's power supply of portion's charging electrode 3, starts to charge up this moment.
When microcontroller on the mobile robot chassis 10 detects battery electric quantity and is full of, send a signal to omnidirectional and fill
Microcontroller on electrical socket 9, disconnects relay group, that is, disconnect the company of top charging electrode 1 and bottom charging electrode 3 and power supply
Connect；Then control mobile robot chassis 10 departs from omnidirectional's charging socket 9 backward, when detecting top micro-contact switch contact
5 and the reply of bottom micro-contact switch contact 7 action after, mobile robot chassis 10 can normal work.
The above is only preferred embodiments of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of the utility model know-why is not departed from, some improvements and modifications can also be made, these change
Enter and retouch also to should be regarded as protection domain of the present utility model.
Claims (3)
1. a kind of mobile robot omnidirectional charging device, it is characterised in that：Including omnidirectional's charging socket（9）, mobile robot bottom
Disk（10）, micro-contact switch plug（11）；
Wherein, omnidirectional's charging socket（9）Comprising：Top charging electrode（1）, infrared transmitting tube（2）, bottom charging electrode（3）, bottom
Seat（4）；
Micro-contact switch plug（11）Comprising：Top micro-contact switch contact（5）；Infrared receiving tube（6）；Bottom fine motion connects
Touch switch contact（7）；Baffle plate（8）；
Its annexation is：Omnidirectional's charging socket（9）Comprising the top charging electrode（1）With the bottom charging electrode
（3）, the base（4）Adjustable-height, around a circle infrared transmitting tube of charging electrode connecting shaft（2）, a circle installation
18 infrared transmitting tubes（2）, each described infrared transmitting tube（2）With 20 degree of distributions, infrared-ray is set to spread all over surrounding
360 degree of spaces；
Omnidirectional's charging socket（9）Inside there are microcontroller, wireless communication module, relay assembly ACDC modules, microcontroller
Receive the mobile robot chassis（10）Order and control the infrared transmitting tube（2）, the top charging electrode（1）With
The bottom charging electrode（3）Switch；
The mobile robot chassis（10）Inside include microcontroller, wireless communication module, relay group, battery, fine motion to connect
Touch switch（On）, micro-contact switch（Under）And motor drive module；
The micro-contact switch plug（11）Comprising the top micro-contact switch contact（5）, the bottom fretting contact
Switch contact（7）, 3 infrared receiving tubes（6）, the baffle plate between 3 infrared receiving tubes（8）；
The top micro-contact switch contact（5）With the bottom micro-contact switch contact（7）It is mechanical limit switch, when
The mobile robot chassis（10）Move to omnidirectional's charging socket（9）When bottom, the top fretting contact is opened
Close contact（5）Contact the top charging electrode（1）, the top micro-contact switch contact（5）By contact is by institute
State top charging electrode（1）Press, the mobile robot chassis（10）On microcontroller detect the top fine motion and connect
Touch switch contact（5）Switch motion；The similarly bottom micro-contact switch contact（7）Contact the bottom charging electrode
（3）；
The top micro-contact switch contact（5）With the bottom micro-contact switch contact（7）It is mechanical limit switch,
Also the relay on mobile robot control plate is connected, the other end of relay connects the electrode of battery, i.e. fretting contact contact
It, for detecting contact action, is also for awarding electrode to battery transmission electric power to be.
2. a kind of mobile robot omnidirectional charging device according to claim 1, it is characterised in that：The fretting contact is opened
Close plug（11）On 3 infrared receiving tubes（6）With 3 infrared receiving tubes（6）Between the baffle plate（8）Composition
Structure is to detect omnidirectional's charging socket（9）On the infrared transmitting tube（2）The infrared-ray of transmitting；Described in 3
Infrared receiving tube（6）In the infrared receiving tube of left and right two respectively with 20 degree of angles with centre infrared receiving tube specular；
When the micro-contact switch plug（11）Just to omnidirectional's charging socket（9）When, 3 infrared receiving tubes（6）
Infrared ray can be received, when the micro-contact switch plug（11）Relative to omnidirectional's charging socket（9）Direction is to the left
When, 3 infrared receiving tubes（6）In only right side infrared receiving tube can receive infrared ray；Similarly, when to the right only
State infrared receiving tube（6）In left side infrared receiving tube can receive infrared ray；Only when the micro-contact switch plug
（11）Just to omnidirectional's charging socket（9）When, 3 infrared receiving tubes（6）Infrared signal can just be received.
3. a kind of mobile robot omnidirectional charging device according to claim 1 and 2, it is characterised in that：The moving machine
Device people chassis（10）On microcontroller receive 3 infrared receiving tubes（6）Signal after can determine whether the mobile machine
People chassis（10）Relative to omnidirectional's charging socket（9）Direction；When the mobile robot chassis（10）In microcontroller
Device detect battery electric quantity it is low when, you can the control mobile robot chassis（10）Rotate in place, adjustment angle, make institute
State micro-contact switch plug（11）Just to omnidirectional's charging socket（9）, and control the mobile robot chassis（10）To
Omnidirectional's charging socket（9）It is mobile；When the micro-contact switch plug（11）Touch omnidirectional's charging socket（9）'s
When, the mobile robot chassis（10）On microcontroller detect the top micro-contact switch contact（5）And institute
State bottom micro-contact switch contact（7）Action, judge that now charging electrode contact is good, just send a signal to the omnidirectional
Charging socket（9）On microcontroller, make omnidirectional's charging socket（9）On microcontroller open relay group, make described
Top charging electrode（1）With the bottom charging electrode（3）UNICOM's power supply, starts to charge up this moment；
The mobile robot chassis（10）On microcontroller when detecting battery electric quantity and being full of, send a signal to the omnidirectional
Charging socket（9）In microcontroller, disconnect relay group, that is, disconnect the top charging electrode（1）Charged with the bottom
Electrode（3）With the connection of power supply；Then the robot chassis is controlled（10）Depart from omnidirectional's charging chassis backward, when detecting
State top micro-contact switch contact（5）With the bottom micro-contact switch contact（7）Reply action after, the moving machine
Device people chassis（10）Can normal work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621407186.3U CN206283060U (en) | 2016-12-21 | 2016-12-21 | A kind of mobile robot omnidirectional charging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621407186.3U CN206283060U (en) | 2016-12-21 | 2016-12-21 | A kind of mobile robot omnidirectional charging device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206283060U true CN206283060U (en) | 2017-06-27 |
Family
ID=59073734
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621407186.3U Expired - Fee Related CN206283060U (en) | 2016-12-21 | 2016-12-21 | A kind of mobile robot omnidirectional charging device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206283060U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106532375A (en) * | 2016-12-21 | 2017-03-22 | 北京灵铱科技有限公司 | Omnidirectional charging base of mobile robot and independent charging method of omnidirectional charging base |
| CN107359664A (en) * | 2017-08-04 | 2017-11-17 | 苏州博众机器人有限公司 | Robot high current automatic charging interface control circuit |
| CN108312882A (en) * | 2018-03-14 | 2018-07-24 | 湖南超能机器人技术有限公司 | The signal record and charging pile position decision method of robot charging technique of alignment |
-
2016
- 2016-12-21 CN CN201621407186.3U patent/CN206283060U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106532375A (en) * | 2016-12-21 | 2017-03-22 | 北京灵铱科技有限公司 | Omnidirectional charging base of mobile robot and independent charging method of omnidirectional charging base |
| CN106532375B (en) * | 2016-12-21 | 2020-10-16 | 苏州睿澎诚科技有限公司 | Omnidirectional charging device for mobile robot |
| CN107359664A (en) * | 2017-08-04 | 2017-11-17 | 苏州博众机器人有限公司 | Robot high current automatic charging interface control circuit |
| CN108312882A (en) * | 2018-03-14 | 2018-07-24 | 湖南超能机器人技术有限公司 | The signal record and charging pile position decision method of robot charging technique of alignment |
| CN108312882B (en) * | 2018-03-14 | 2020-11-17 | 湖南超能机器人技术有限公司 | Signal recording and charging pile position determination method for robot charging alignment technology |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170627 Termination date: 20181221 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |