CN206332465U - Wheeled robot automatic charge device - Google Patents
Wheeled robot automatic charge device Download PDFInfo
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- CN206332465U CN206332465U CN201621242874.9U CN201621242874U CN206332465U CN 206332465 U CN206332465 U CN 206332465U CN 201621242874 U CN201621242874 U CN 201621242874U CN 206332465 U CN206332465 U CN 206332465U
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Abstract
The utility model provides a kind of wheeled robot automatic charge device, cradle includes power supply, control module, detection module, two first electrodes, two first electrodes are set on a mounting board, detection module can detect whether the battery electric quantity in robot is full of, it is the battery charging in robot that control module, which can control power supply, charging head includes two second electrodes, two second electrodes are arranged on the chassis of robot, because the width of first electrode is more than the width of second electrode, so charging head is easily contacted with cradle when robot charges, it is less demanding to the alignment precision of robot, reduce control difficulty, therefore not only when robot charges, charging electrode and cradle alignment precision are less demanding for wheeled robot automatic charge device of the present utility model, easy automatic butt charging, and it is simple in construction, low cost.
Description
Technical field
The utility model belongs to automatic charging technical field, and in particular to a kind of wheeled robot automatic charge device.
Background technology
Existing moving wheeled type robot uses lithium battery power supply, when the battery electric quantity of robot is low or without electricity
When, it is necessary to charged in time, can just rework, but artificial is charged bother very much, it is impossible to reach robot oneself
The purpose of dynamic control work.
Existing robot automatic charging technology uses two arrays of electrodes piece and is inserted into two arrays of electrodes seat mostly, this
Kind charging device needs robot when preparing automatic charging and the straight line and angular error of cradle can not be too big, otherwise machine
The electrode slice of people can not be contacted with the electrode slice in motor cabinet, it is impossible to which completion is charged normal；Some robots utilize vision, magnetic
The positioning methods such as bar carry out auxiliary positioning, and such robot needs to increase corresponding device, therefore the complexity that structure will become, cost
Also it can increase.
Utility model content
The utility model is carried out to solve the above problems, it is therefore intended that charged when providing a kind of robot charging
Electrode and cradle alignment precision are less demanding, easy automatic butt charging, and simple in construction, low cost wheeled robot is certainly
Dynamic charging device.
The utility model provides a kind of wheeled robot automatic charge device, it is characterised in that including：Cradle, bag
Contain：Shell, the power supply in shell, the control module and control module being connected in shell and with power circuit
The detection module being connected with charging circuit and two first electricity being connected installed in the outside of shell and with charging circuit
Pole；
Charging head, comprising：Two second electrodes on the chassis of robot, two second electrodes respectively with machine
The battery circuit connection of people；
Wherein, the width of first electrode is more than the distance between the width of second electrode, and two first electrode center lines
It is equal with the distance between two second electrode center lines.
Further, in the wheeled robot automatic charge device that the utility model is provided, can also have such special
Levy：Wherein, two first electrodes are connected with the positive pole and negative pole of power supply respectively.
Further, in the wheeled robot automatic charge device that the utility model is provided, can also have such special
Levy：Wherein, first electrode and second electrode are copper electrode.
Further, in the wheeled robot automatic charge device that the utility model is provided, can also have such special
Levy：Wherein, the installing plate of " L " shape is provided with shell, two first electrodes are installed on a mounting board, and installing plate is by bakelite plate system
Into.
Further, in the wheeled robot automatic charge device that the utility model is provided, can also have such special
Levy：Wherein, the width of first electrode is more than the width of twice of second electrode.
Further, in the wheeled robot automatic charge device that the utility model is provided, can also have such special
Levy：Wherein, charging head is also included：Two groups of mounting assemblies on chassis, two second electrodes are separately mounted to two groups of peaces
On arrangement, the second electrode can be rotated relative to the chassis of the robot.
Further, in the wheeled robot automatic charge device that the utility model is provided, can also have such special
Levy：Wherein, every group of mounting assembly is included：At least one torsion spring, fixing axle, two compact heaps, mounting blocks, fixed block, fastenings
Part, mounting blocks through-thickness, which is provided with first through hole, the relative two side of mounting blocks, is provided with the first groove, two
The second groove, the two ends of fixing axle and the second groove match are provided with one groove, the width of second electrode is less than described
The width of first through hole, length is less than the length of first through hole, and the one end of second electrode along its length is provided through width
The second through hole, second electrode is provided with the 3rd groove by the both sides that the second through hole runs through, and torsion spring is arranged in the 3rd groove, Gu
Dead axle is fed through after torsion spring and the second through hole, and the two ends of fixing axle are individually positioned in the second groove, and two compact heaps are put respectively
Put in the first groove, fixing axle fixed so that fixing axle can not be rotated, mounting blocks be folded in fixed block and compact heap it
Between, a free end of torsion spring is fixed on fixed block, and another free end is hanging, and fastener by compact heap, mounting blocks and is consolidated successively
Determine block to fix, the 3rd groove causes the torsion spring in free state, surface of the second electrode relative to the mounting blocks
Tilt, the depth of the first groove so that after second electrode is installed, when torsion spring is in free state, the contact surface of second electrode
Minimum point be higher than the surfaces of mounting blocks, when second electrode is contacted with first electrode, second electrode is around fixing axle rotation, torsion spring
Second electrode provides reseting elasticity.
Further, in the wheeled robot automatic charge device that the utility model is provided, can also have such special
Levy：Wherein, the 3rd groove has two sides：First side and the second side intersected with first side, first side with
The contact surface of second electrode is not parallel, and second side is located at first side close to one end of contact surface, the folder between two sides
Angle is equal to the angle between two free ends of torsion spring.
Further, in the wheeled robot automatic charge device that the utility model is provided, can also have such special
Levy：Wherein, the two ends of fixing axle are semicircle, and the second groove is semicircle, and the semicircle face of fixing axle connects with the second groove
Touch, the two ends of fixing axle and the plane of fixing axle diameter parallel form a complete plane with the bottom surface of the first groove.
Further, in the wheeled robot automatic charge device that the utility model is provided, can also have such special
Levy：Wherein, the chassis of mounting blocks and robot is integrally formed.
The utility model has the following advantages that：
Wheeled robot automatic charge device according to involved by the utility model, cradle comprising power supply, control module,
Detection module, two first electrodes, two first electrodes are set on a mounting board, and detection module can detect the electricity in robot
Whether pond electricity is full of, and it is the battery charging in robot that control module, which can control power supply, and charging head includes two second electricity
Pole, two second electrodes are arranged on the chassis of robot, because the width of first electrode is more than the width of second electrode, so
When robot charges, charging head is easily contacted with cradle, less demanding to the alignment precision of robot, reduces control difficult
Degree, therefore wheeled robot automatic charge device of the present utility model not only charging electrode and cradle pair when robot charge
Quasi- required precision is not high, easy automatic butt charging, and simple in construction, low cost.
Brief description of the drawings
Fig. 1 is the front view of wheeled robot automatic charge device in embodiment of the present utility model；
Fig. 2 is the A-A sectional views of Fig. 1 in embodiment of the present utility model；
Fig. 3 is the front view of charging head in embodiment of the present utility model；
Fig. 4 is B-B sectional views when charging head is uncharged in embodiment of the present utility model；
Fig. 5 is B-B sectional views when charging head charges in embodiment of the present utility model；
Fig. 6 is the exploded perspective view of charging head in embodiment of the present utility model；
Fig. 7 is the structural representation of second electrode in embodiment of the present utility model.
Embodiment
In order that technological means, creation characteristic, reached purpose and effect that the utility model is realized are easy to understand, with
Lower embodiment combination accompanying drawing is specifically addressed to wheeled robot automatic charge device of the present utility model.
Wheeled robot automatic charge device 100 facilitates charging electrode to be docked with cradle when robot needs charging,
Alignment precision requirement reduces the requirement to control system difficulty, and simple in construction, low cost than relatively low.
As shown in Figure 1 and Figure 2, wheeled robot automatic charge device 100 is included：Cradle 10 and charging head 20.Charging head
20 are arranged on the chassis 200 of robot, and cradle 10 is contacted with charging head 20, are robot battery charging.
Cradle 10 is included：Shell 11, power supply (not shown), detection module (not shown), control module (figure
In do not show) and two first electrodes 13.Power supply is arranged in shell 11.Detection module connects with control module and charging circuit
Connect, whether the battery for detecting robot is full of.Control module is arranged in shell 11, and is connected with power supply by circuit,
For controlling whether power supply is robot battery charging.Two first electrodes 13 install the outside of shell 11, two first electrodes
13 are connected on charging circuit, and one of first electrode connects positive pole, another first electrode connection negative pole.
In the present embodiment, cradle 10 also includes installing plate, and installing plate 12 is " L " shape, a folding face of installing plate 12
It is fixed on shell 11, two first electrodes 13 are fixed on another folding face of installing plate 12, and installing plate 12 is by bakelite plate system
Into, it is to avoid it short cut with each other between two first electrodes 13.First electrode 13 is copper electrode, and not only electric conductivity is good, price
It is cheap.
Charging head 20 is included：Two second electrodes 21, two second electrodes 21 are installed on the chassis 200 of robot,
The distance between two second electrodes 21 cause a second electrode 21 in corresponding first electrode 13 during any position, another
Individual second electrode 21 is all contacted with another first electrode 13.In the present embodiment, between the center line of two second electrodes 21
Distance it is equal with the distance between the center line of two first electrodes 13.During charging, two second electrodes 21 respectively with each
Corresponding two first electrodes 13 face contact, it is to avoid spark is produced during charging.
The width of first electrode 13 is more than the width of second electrode 21, optimal, and the width of first electrode 13 is more than twice
Second electrode 21 width so that second electrode 21 contacted with first electrode charging when, the scope of alignment is bigger, to accuracy
It is required that reduction.
Optimal, second electrode 21 is copper electrode, and not only electric conductivity is good, and price is also cheap.
In the present embodiment, charging head 20 is also included：Two groups of mounting assemblies 22, two groups of mounting assemblies 22 are arranged on robot
Chassis 200 on, two second electrodes 21 are separately mounted in two groups of mounting assemblies 22, and are arranged on by mounting assembly 22
On the chassis 200 of robot.Mounting assembly 22 enables second electrode 21 to be rotated relative to chassis 200, and in second electrode
21 rotated relative to chassis 200 after provide the power opposite with rotation direction for second electrode 21 so that second electrode 21 and
First electrode 13 is in close contact.
Every group of mounting assembly 22 is included：At least one torsion spring 221, mounting blocks 222, fixing axle 223, two
Compact heap 224, a fixed block 225 and one group of fastener 226.In the present embodiment, torsion spring 221 is two.
In the present embodiment, second electrode 21 is cuboid.Seen with the direction in Fig. 4, Fig. 5, the contact of second electrode 21
Face is top surface.As shown in Fig. 4, Fig. 5, Fig. 6, the one end of second electrode 21 along its length be provided through width second lead to
Hole 211.The opposite of the contact surface of second electrode 21, is seen with the direction in Fig. 4, Fig. 5, and the opposite of the contact surface of second electrode 21 is
For the bottom surface of second electrode 21, the bottom surface of second electrode 21 is provided with screwed hole 212, and screwed hole 212 is located at second electrode 21
The end of second through hole 211.Screwed hole 212 sets wire in and is connected with the battery of robot.
Referring to Fig. 7, the relative two sides of second electrode 21 are provided with the 3rd groove 213, and the two sides are the second through hole 211
The two sides run through.3rd groove 213 can accommodate the torsion spring 221 of free state, and when wheeled robot automatic charging dress
When putting 100 and not charging, i.e., when torsion spring 221 is in free state, torsion spring 221 causes the contact surface of second electrode 21 relative to peace
The surface of dress block 222 is obliquely installed, as shown in Figure 4.
In the present embodiment, the 3rd groove 213 has two sides, first side and second side, second side and first
Side is intersecting, and the angle between first side and second side is equal to the angle between two free ends of torsion spring 221.With Fig. 6
In direction see that first side is upper side, second side is right flank.
Second side is located at one end that the second through hole 211 is provided with second electrode 21, first side and second electrode 21
Top surface it is not parallel, seen with Fig. 4 and Fig. 5 direction, the one end of first side away from the second through hole 211 of the 3rd groove 213 away from
From second electrode 21 top surface farther out.
In the present embodiment, two free ends of torsion spring 221 are in 90 ° of angles, the angle between first side and second side
The angle that two free ends of the torsion spring 221 when degree is with free state are formed is identical, is also 90 °.
Two torsion springs 221 are individually positioned in two the second grooves 213 of second electrode 21, two freedom of torsion spring 221
End is in contact with first side and second side respectively.
Second electrode 21 sets two the 3rd grooves 213, installs two torsion springs 221 so that second electrode 21 is around fixation
Uniform force when axle 223 is rotated.
Certainly, torsion spring 221 can also be 1, can cause second electrode 21 when being rotated around fixing axle 223 to second electrode
21 apply the power opposite with the rotation direction of second electrode 21.When torsion spring 221 is 1, the 3rd groove 213 is also one.
Mounting blocks 222 are provided with rectangular first through hole 2221 in a thickness direction, and the width of first through hole 2221 is big
In the width of second electrode 21, the length of first through hole 2221 is more than the length of second electrode 21.Mounting blocks 222 are in first through hole
Both sides on 2221 width, which are respectively arranged with first groove 2222, each first groove 2222, is provided with
Two grooves 2223.The depth of two the first grooves 2222 so that after second electrode 21 is installed, when torsion spring 221 is in free state,
The minimum point of the contact surface of second electrode 21 is higher than the surface of mounting blocks 222.
In the present embodiment, the chassis 200 of mounting blocks 222 and robot is integrally formed.
Fixing axle 223 is cylindric, is coordinated with the gap of the second through hole 211.When fixing axle 223 is fed through the second through hole 211
Afterwards, fixing axle 223 can be relatively rotated with second electrode 21.The two ends of fixing axle 223 are fixing end, with the phase of the second groove 2223
Matching.
Fixing axle 223 is fed through after two through holes 211 of torsion spring 221 and second, is placed on mounting blocks 222, and fixing axle
224 two ends are located in two the second grooves 2223 respectively, for make it that second electrode 21 is located at the first through hole of mounting blocks 222
In 2221, and second electrode 21 is rotated relative to mounting blocks 222.
Two compact heaps 224 match with two the first grooves 2222 respectively, are placed in the first groove 2222, are used for
Fixing axle 223 is fixed so that fixing axle 223 will not be rotated.
In the present embodiment, with reference to Fig. 6, the two ends of fixing axle 223 are semi-cylindrical, and the second groove 2223 is and fixing axle
The semi-circular recesses that 223 two ends match.When fixing axle 223 is placed on the second groove 2223 on mounting blocks 222, fixing axle
The semicircle face at 223 two ends is in contact with the second groove 2223, two ends and the diameter parallel of fixing axle 223 of fixing axle 223
Plane and the bottom surface of the first groove 2222 form a complete plane, so that when compact heap 224 is placed on the first groove 2222
When interior, fixing axle 223 can be fixed.
Mounting blocks 222 are folded between fixed block 225 and compact heap 224, are seen with the direction in Fig. 6, and compact heap 224 is located at
The top of mounting blocks 222, fixed block 225 is located at the lower section of mounting blocks 222.The free end directed downwardly of torsion spring 221 is fixed on fixed block
On 225, in the present embodiment, in the free end directed downwardly of torsion spring 221 insertion fixed block 225, it is fixedly connected with fixed block 225.Cause
Another free end of this torsion spring 221 can produce moment of torsion with the rotation of second electrode 21, and second electrode 21 is produced and resets bullet
Power so that second electrode 21 is in close contact with first electrode 13.
Compact heap 224, mounting blocks 222 and fixed block 225 are fixed together by fastener 226.In the present embodiment, fasten
Part 27 includes screw and nut.Screw sequentially passes through compact heap 224, mounting blocks 222 and fixed block 225, and nut sleeve is mounted in screw
On three is fixed together.
When robot needs charging, the charging head 20 on chassis 200 is directed at cradle 10 by robot, due to first electrode
13 width is more than the width of second electrode 21, therefore less demanding to the alignment precision of charging head 20 and cradle 10, reduces
The control difficulty of robot.When first electrode 13 is contacted with second electrode 21, the stress of second electrode 21 causes second electrode 21
Rotated around fixing axle 24, first electrode 13 and the plane-plane contact of second electrode 21, the control module in cradle 10 controls the power supply to be
The battery charging of robot, when the battery that detection module detects robot is full of, it is machine that control module, which controls power supply to stop,
Device people is charged, and robot is left, and charging head 20 is separated with cradle 10, completes automatic charging, second electrode 21 is due to being turned round
The reseting elasticity effect of spring 221, returns to original position, and torsion spring 221 affranchises state.
Above-mentioned embodiment is preferred case of the present utility model, is not intended to limit protection domain of the present utility model.
Claims (10)
1. a kind of wheeled robot automatic charge device, it is characterised in that including：
Cradle, comprising：Shell, the power supply in the shell, in the shell and with the power circuit
The control module of connection, the detection module being connected with the control module and charging circuit and installed in the shell
Two first electrodes that are outside and being connected with the charging circuit；
Charging head, comprising：Two second electrodes on the chassis of robot, two second electrodes respectively with machine
The battery circuit connection of people,
Wherein, the width of the first electrode is more than the width of the second electrode, and between two first electrode center lines
Distance is equal with the distance between two second electrode center lines.
2. wheeled robot automatic charge device according to claim 1, it is characterised in that：
Two first electrodes are connected with the positive pole and negative pole of the power supply respectively.
3. wheeled robot automatic charge device according to claim 1, it is characterised in that：
The first electrode and the second electrode are copper electrode.
4. wheeled robot automatic charge device according to claim 1, it is characterised in that：
The installing plate of " L " shape is provided with the shell, two first electrodes are arranged on the installing plate, described to install
Plate is made up of bakelite plate.
5. wheeled robot automatic charge device according to claim 1, it is characterised in that：
The width of the first electrode is more than the width of twice of the second electrode.
6. wheeled robot automatic charge device according to claim 1, it is characterised in that：
The charging head is also included：Two groups of mounting assemblies on the chassis, two second electrodes are respectively mounted
Described in two groups in mounting assembly, the second electrode can be rotated relative to the chassis of the robot.
7. wheeled robot automatic charge device according to claim 6, it is characterised in that：
Mounting assembly described in every group is included：At least one torsion spring, fixing axle, two compact heaps, mounting blocks, fixed block, fastenings
Part,
The mounting blocks through-thickness is provided with first through hole, the relative two side of the mounting blocks that to be provided with first recessed
The second groove, the two ends of the fixing axle and second groove match are provided with groove, two first grooves,
The width of the second electrode is less than the width of the first through hole, and length is less than the length of the first through hole, described
The one end of second electrode along its length is provided through the second through hole of width, and the second electrode is passed through by second through hole
The both sides worn are provided with the 3rd groove,
The torsion spring is arranged in the 3rd groove, and the fixing axle is fed through after the torsion spring and second through hole, institute
The two ends for stating fixing axle are individually positioned in second groove, and two compact heaps are individually positioned in first groove
It is interior, the fixing axle is fixed so that the fixing axle can not be rotated,
The mounting blocks are folded between the fixed block and the compact heap, and a free end of the torsion spring is fixed on described solid
Determine on block, another free end is hanging, and the fastener successively fixes the compact heap, the mounting blocks and the fixed block,
3rd groove causes the torsion spring in free state, and the second electrode is inclined relative to the surface of the mounting blocks
Tiltedly,
The depth of first groove so that after the second electrode is installed, when the torsion spring is in free state, described the
The minimum point of the contact surface of two electrodes is higher than the surface of the mounting blocks,
When the second electrode is contacted with the first electrode, the second electrode is rotated around the fixing axle, and the torsion spring is
The second electrode provides reseting elasticity.
8. wheeled robot automatic charge device according to claim 7, it is characterised in that：
3rd groove has two sides：First side and the second side intersected with the first side, described
One side and the contact surface of the second electrode are not parallel, and the second side is located at the first side close to the contact surface
One end, the angle between two sides is equal to the angle between two free ends of the torsion spring.
9. wheeled robot automatic charge device according to claim 7, it is characterised in that：
The two ends of the fixing axle for semicircle, second groove for semicircle, the semicircle face of the fixing axle with it is described
Second groove is in contact, the two ends of the fixing axle and the plane of fixing axle diameter parallel, and first groove bottom surface shape
Into a complete plane.
10. wheeled robot automatic charge device according to claim 7, it is characterised in that：
The chassis of the mounting blocks and the robot is integrally formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621242874.9U CN206332465U (en) | 2016-11-15 | 2016-11-15 | Wheeled robot automatic charge device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621242874.9U CN206332465U (en) | 2016-11-15 | 2016-11-15 | Wheeled robot automatic charge device |
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| Publication Number | Publication Date |
|---|---|
| CN206332465U true CN206332465U (en) | 2017-07-14 |
Family
ID=59289476
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621242874.9U Active CN206332465U (en) | 2016-11-15 | 2016-11-15 | Wheeled robot automatic charge device |
Country Status (1)
| Country | Link |
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| CN (1) | CN206332465U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106451663A (en) * | 2016-11-15 | 2017-02-22 | 哈工大机器人集团上海有限公司 | Automatic wheeled robot charging device |
| CN109546718A (en) * | 2019-01-17 | 2019-03-29 | 小狗电器互联网科技（北京）股份有限公司 | A kind of sweeping robot charge protection method and device |
-
2016
- 2016-11-15 CN CN201621242874.9U patent/CN206332465U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106451663A (en) * | 2016-11-15 | 2017-02-22 | 哈工大机器人集团上海有限公司 | Automatic wheeled robot charging device |
| CN109546718A (en) * | 2019-01-17 | 2019-03-29 | 小狗电器互联网科技（北京）股份有限公司 | A kind of sweeping robot charge protection method and device |
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