CN209104851U - Recharging device - Google Patents
Recharging device Download PDFInfo
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- CN209104851U CN209104851U CN201822143801.XU CN201822143801U CN209104851U CN 209104851 U CN209104851 U CN 209104851U CN 201822143801 U CN201822143801 U CN 201822143801U CN 209104851 U CN209104851 U CN 209104851U
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- regulating mechanism
- butt joint
- charging pile
- recharging device
- connection frame
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- 238000009413 insulation Methods 0.000 claims description 5
- 238000003032 molecular docking Methods 0.000 abstract description 26
- 238000000034 method Methods 0.000 abstract description 7
- 230000008859 change Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
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- 238000007906 compression Methods 0.000 description 2
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- 238000012937 correction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
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- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
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- 230000002633 protecting effect Effects 0.000 description 1
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Abstract
The technical issues of the utility model provides a kind of recharging device, is related to robot charging technique field, and the angles and positions of docking mechanism are relatively fixed in the recharging device to solve existing robot.The recharging device includes that cephalomotor regulating mechanism is docked in charging pile, the butt joint being electrically connected with charging pile and driving, and regulating mechanism is installed on charging pile；Regulating mechanism includes the first regulating mechanism and the second regulating mechanism, the output end of first regulating mechanism is connect with butt joint, and butt joint rotation can be driven, the output end of the second regulating mechanism is connect with butt joint, and butt joint can be driven with respect to charging pile reciprocally swinging in perpendicular.The recharging device can be realized the adjusting of butt joint freedom degree in two directions, fast and safely charge use demand to meet robot.
Description
Technical field
The utility model relates to robot charging technique fields, more particularly, to a kind of recharging device.
Background technique
Robot is the automatic installations for executing work, it can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Nowadays, the main task of robot is
The work of the mankind is assisted or replaces, such as: replaced using robot and is accomplished manually dangerous work etc..
Generally, the power resources of robot be convert electrical energy into mechanical energy, thus robot work certain time
Afterwards, it needs to charge to it.
In the charging operations of robot, recharging device is mostly used greatly.However, in the recharging of existing robot
In device, the angles and positions of docking mechanism be it is relatively-stationary, be not easy to butt joint carry out freedom degree adjusting processing, by
It is inconsistent in the charging docking facilities position of robot, this will lead to robot charging docking facilities can not quickly and easily with fill
Electric stake is docked, and then influences the charging operations of robot.
Utility model content
The purpose of this utility model is to provide a kind of recharging devices, to solve the recharging in existing robot
In device, the angles and positions of docking mechanism be it is relatively-stationary, be not easy to butt joint carry out freedom degree adjusting processing
Technical problem.
Recharging device provided by the utility model, including charging pile, the butt joint being electrically connected with the charging pile with
And the driving cephalomotor regulating mechanism of docking, the regulating mechanism are installed on the charging pile.
The regulating mechanism include the first regulating mechanism and the second regulating mechanism, the output end of first regulating mechanism with
The butt joint connection, and the butt joint rotation can be driven, the output end of second regulating mechanism and the butt joint connect
It connects, and the relatively described charging pile of butt joint reciprocally swinging in perpendicular can be driven.
Further, second regulating mechanism is connected to the output end of first regulating mechanism, makes described first to adjust
It saves mechanism and drives second regulating mechanism and the butt joint rotation.
Further, first regulating mechanism includes the connection frame being articulated on the charging pile and the driving connection
The motor of frame rotation.
The motor is installed on the charging pile, and second regulating mechanism is connected on the connection frame.
Further, second regulating mechanism includes electric pushrod, one end of the electric pushrod and the connection frame
Hingedly, the other end and the butt joint are hinged.
The butt joint is rotatably connected on the connection frame by shaft.
Further, the connection frame includes bottom plate and the side plate for being connected to the bottom plate both ends, the electric pushrod
One end and the bottom plate are hinged, and the shaft is connected between two side plates.
Further, it cuts with scissors on the bottom edge of the U-shaped structure of the connection frame, one end of the electric pushrod and the U-shaped structure
It connects, the shaft is connected between the side of the U-shaped structure being oppositely arranged.
Further, pressure sensor is equipped at the center of the butt joint, the pressure sensor connection is for receiving
The controller of pressure information.
The butt joint is equipped with multiple pairs of jointing holes, multiple described equal along the circumferential direction of the pressure sensor to jointing holes
Even laying.
Further, the outer surface of the butt joint is pasted with insulation sleeve.
Further, the controller includes central processing unit, and the central processing unit is electrically connected with the pressure sensor
It connects, the inside of the charging pile is arranged in the central processing unit.
The inside of the charging pile is equipped with for providing the charging module of electric energy.
Further, the surface of the charging pile is equipped with ceiling, and strut is equipped between the charging pile and the ceiling,
One end of the strut is connected with the charging pile, and the other end is connected with the ceiling.
Recharging device provided by the utility model the utility model has the advantages that
In the recharging device, charging pile is electrically connected with butt joint, when needing using the recharging device (with
For mobile robot charging), only the charging docking facilities of mobile robot need to be inserted into butt joint can be realized to moving machine
The charging operations of device people.Before carrying out charging operations to mobile robot, since butt joint is connected with for driving its movement
The first regulating mechanism and the second regulating mechanism, according to mobile robot charge docking facilities position difference, starting first adjust
Mechanism is saved, so that it is driven butt joint rotation, to change the horizontal docking angle of butt joint；Start the second regulating mechanism, makes pair
Connector is with respect to charging pile reciprocally swinging in perpendicular, to change the vertical docking angle of butt joint.
From the foregoing it will be appreciated that controlling butt joint and adjusted respectively using the first regulating mechanism and the second regulating mechanism
Operation passes through butt joint rotation and changes the inclination width of butt joint to realize the adjusting of butt joint freedom degree in two directions
Degree fast and safely charges use demand to meet mobile robot.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the structural schematic diagram of recharging device provided by the embodiment of the utility model；
Fig. 2 is the overlooking structure diagram of the butt joint junction in recharging device shown in Fig. 1；
Fig. 3 is the side structure schematic view of the butt joint in recharging device shown in Fig. 1, wherein pressure is shown in figure
Force snesor；
Fig. 4 is the schematic diagram of internal structure of the charging pile in recharging device shown in Fig. 1.
Icon:
100- charging pile；200- butt joint；300- connection frame；400- motor；500- electric pushrod；600- shaft；700-
Pressure sensor；800- ceiling；900- strut；
110- central processing unit；120- charging module；130- pedestal；
210- is to jointing holes；220- insulation sleeve；
310- bottom plate；320- side plate.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill all other embodiment obtained without making creative work belongs to practical
Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the mechanism of indication or suggestion meaning or element must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection of two component internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
Present embodiments provide a kind of recharging device, as shown in Figure 1, the recharging device include charging pile 100,
The regulating mechanism that the butt joint 200 and driving butt joint 200 being electrically connected with charging pile 100 move, regulating mechanism, which is installed on, to be filled
In electric stake 100；Regulating mechanism includes the first regulating mechanism and the second regulating mechanism, the output end of the first regulating mechanism and butt joint
200 connections, and can drive 200 rotation of butt joint, and the output end of the second regulating mechanism is connect with butt joint 200, and can drive pair
Connector 200 is with respect to the reciprocally swinging in perpendicular of charging pile 100.
In the recharging device, charging pile 100 is electrically connected with butt joint 200, when needing to fill using the recharging
When setting (by taking mobile robot charges as an example), only the charging of mobile robot need to be set insertion pair to tipping (such as: charging plug)
The charging operations to mobile robot can be realized in connector 200.Before carrying out charging operations to mobile robot, due to docking
First 200 are connected with the first regulating mechanism and the second regulating mechanism for driving it to move, are charged and are docked according to mobile robot
The difference of setting position starts the first regulating mechanism, so that it is driven 200 rotation of butt joint, to change the level of butt joint 200
Docking angle；Start the second regulating mechanism, makes the opposite charging pile 100 of butt joint 200 reciprocally swinging in perpendicular, to change
Become the vertical docking angle of butt joint 200.
From the foregoing it will be appreciated that controlling butt joint 200 respectively using the first regulating mechanism and the second regulating mechanism and being carried out to it
Operation is adjusted, to realize the adjusting of the freedom degree in two directions of butt joint 200, passes through 200 rotation of butt joint and changes pair
The magnitude of inclination of connector 200 is made with increasing the docking area of charging docking to meet mobile robot and fast and safely charge
Use demand.
In addition, the application range of the recharging device is wider, and such as: the recharging device can be used for a variety of moving machines
Device people, such as: lottery machine people.
It should be noted that the first regulating mechanism drives 200 rotation of butt joint to refer in the embodiment, first adjusts machine
Structure drives butt joint 200 to rotate around first axle (axis for being equal to the output shaft of motor 400), which sets
It sets；Second regulating mechanism drives butt joint 200 to swing refers in perpendicular, the drive butt joint 200 of the second regulating mechanism around
Second axis (axis for being equal to the shaft 600 being subsequently noted) rotation, the second axis is horizontally disposed, and with first axle phase
It is vertically arranged.
In one embodiment, the first regulating mechanism and the second regulating mechanism are independently arranged, that is, the first regulating mechanism drives
Rotation is realized in butt joint 200, and the second regulating mechanism drives butt joint 200 to realize and swings, and the first regulating mechanism and second is adjusted
The movement of both mechanisms is not limited mutually by another one.
In another embodiment, the second regulating mechanism is connected to the output end of the first regulating mechanism, makes the first adjusting machine
Structure drives the second regulating mechanism and 200 rotation of butt joint.In this kind of structure type, the work of the first regulating mechanism will drive pair
200 rotation of connector also drives the second regulating mechanism to rotate at the same time, after the first regulating mechanism stops working, can start the
Two regulating mechanisms, the second regulating mechanism will drive butt joint 200 to realize wobbling action at this time, which will not adjust machine to first
Structure has an impact.
In the embodiment, a kind of way of realization of the first regulating mechanism is, as shown in Fig. 2, the first regulating mechanism includes pivot
The motor 400 that the connection frame 300 and drive connection frame 300 being connected on charging pile 100 rotate；Motor 400 is installed on charging pile 100
On, the second regulating mechanism is connected on connection frame 300.
The course of work of first regulating mechanism are as follows: motor 400 is rotated by being drivingly connected frame 300, drives second to adjust
Mechanism and butt joint 200 rotate, to change the horizontal docking angle of butt joint 200.
Specifically, charging pile 100 is equipped with axis hole, is provided with bearing at axis hole, the output shaft of motor 400 by bearing with
Axis hole rotation connection；Alternatively, bearing is not provided at axis hole, the output shaft and axis hole clearance fit of motor 400.
In the embodiment, motor 400 be can be selected as servo motor.
Please continue to refer to Fig. 2, the second regulating mechanism includes electric pushrod 500, one end of electric pushrod 500 and connection frame
300 is hinged, and the other end and butt joint 200 are hinged；Butt joint 200 is rotatably connected on connection frame 300 by shaft 600.
The course of work of second regulating mechanism are as follows: electric pushrod 500 is mobile by being drivingly connected frame 300, drives docking
First 200 600 rotations around the shaft, to change the vertical docking angle of butt joint 200.
It should be noted that in order to realize 600 rotation around the shaft of butt joint 200, butt joint 200 and 500 phase of electric pushrod
End face even, the connecting portion of the two be located at butt joint 200 center is on the upper side or position that center is on the lower side.
In the embodiment, as shown in Fig. 2, connection frame 300 includes bottom plate 310 and the side plate for being connected to 310 both ends of bottom plate
320, one end of electric pushrod 500 and bottom plate 310 are hinged, and shaft 600 is connected between two side plates 320.
In another embodiment, the U-shaped structure of connection frame 300, one end of electric pushrod 500 and the bottom edge of U-shaped structure are cut with scissors
It connects, shaft 600 is connected between the side of U-shaped structure being oppositely arranged.
It should be noted that the structure type of connection frame 300 there are also very much, is not limited to above-mentioned specific constructive form,
Certainly, as long as the technical solution that can satisfy the use demand of connection frame 300 both is within the protection scope of the present invention.
In the embodiment, as shown in figure 3, being equipped with pressure sensor 700, pressure sensor 700 at the center of butt joint 200
Connect the controller for receiving pressure information；Butt joint 200 is equipped with multiple pairs of jointing holes 210, multiple pairs of 210 edges of jointing holes
The circumferential direction of pressure sensor 700 is uniformly distributed.
Please continue to refer to Fig. 3, multiple pairs of jointing holes 210 are set as three altogether, three to jointing holes 210 in a ring and isogonism
Spend structure distribution.
Referring once again to Fig. 3, the outer surface of butt joint 200 is pasted with insulation sleeve 220, plays a certain protective role.Its
In, the cross section of charging pile 100 is hollow annular construction, and correspondingly, the section of insulation sleeve 220 is also in hollow annular structure.
In the embodiment, controller includes central processing unit 110, and central processing unit 110 is electrically connected with pressure sensor 700
It connects, the inside of charging pile 100 is arranged in central processing unit 110.The working principle of the central processing unit 110 are as follows: when robot
Charging plug be inserted into butt joint 200 in jointing holes 210 when, charging plug is by squeeze pressure sensor 700, pressure sensing
Device 700 collects pressure information, and sends the pressure information to central processing unit 110, and central processing unit 110 receives the pressure
Information, and realized according to the size of the pressure information (that is: the pressure size of the compression degree of pressure sensor 700) to butt joint
The monitoring effect of elasticity is docked in 200 junctions, even avoids occurring at 200 docking of butt joint loosening or falling off to reduce
Situation, thus the stability that intensified charging plug is docked with butt joint 200, and then achieve the effect that docking dislocation error correction.
In one embodiment, the model of pressure sensor 700 can be selected as SBT761A, the model of central processing unit 110
It can be selected as AVR.
As shown in figure 4, the inside of charging pile 100 is equipped with for providing the charging module 120 of electric energy.
In one embodiment, charging module 120 includes rectifier, transformer, battery, breaker and timer, with
A specific charging system is formed, fast and safely charging process is carried out to robot；Alternatively, the charging module 120 uses
Existing charging technique, is not described in detail herein.
In the embodiment, as shown in Figure 1, the surface of charging pile 100 is equipped with ceiling 800, charging pile 100 and ceiling 800
Between be equipped with strut 900, one end of strut 900 is connected with charging pile 100, and the other end is connected with ceiling 800；Wherein, strut 900
It is settable one or more, can play a supporting role to ceiling 800, the specific constructive form of strut 900 can not do any limit
System.
Wherein, ceiling 800 is in inverted V type structure, and the benefit of V-structure setting is on the one hand can to rise to charging pile 100
To rain-proof and dust-proof protecting effect, on the other hand also avoiding the upper surface of ceiling 800, there is a phenomenon where dust rain water-harvestings.
Please continue to refer to Fig. 1, the bottom end of charging pile 100 is provided with pedestal 130, can be by charging pile 100 by the pedestal 130
It is mounted on job site.
For charging to mobile robot, the course of work of the recharging device are as follows: when needing to mobile robot
When charging, according to the difference of charging docking location, starts servo motor (or motor 400), servo motor is made to be drivingly connected frame 300
Rotation drives butt joint 200 to rotate, to change the horizontal docking angle of butt joint 200；Start electric pushrod 500, electric pushrod
500 output elongate axis pushes 600 rotations (or the swing) around the shaft of butt joint 200, to change the vertical docking of butt joint 200
Angle, later, make the charging plug of mobile robot be inserted into butt joint 200 in jointing holes 210, according to pressure sensing
The collected compression information (or pressure information) of device 700, i.e., the charging plug reflected indirectly dock the pine at place with butt joint 200
Tightness is fed back to central processing unit 110 and carries out dislocation correction process；Finally, by charging module 120 to mobile robot
Carry out charging process.
It should be noted that the job order of servo motor and electric pushrod 500 can be carried out according to the above-mentioned course of work；
It is of course also possible to the job order of the two be exchanged, the course of work after exchange are as follows: starting electric pushrod 500 first, electricity
The output elongate axis of dynamic push rod 500 pushes 600 rotations (or the swing) around the shaft of butt joint 200, to change the perpendicular of butt joint 200
To docking angle；Then restart servo motor (or motor 400), so that servo motor is drivingly connected frame 300 and rotate, drive docking
First 200 rotation, to change the horizontal docking angle of butt joint 200.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of recharging device, which is characterized in that including charging pile (100), pair being electrically connected with the charging pile (100)
Connector (200) and the regulating mechanism of driving butt joint (200) movement, the regulating mechanism are installed on the charging pile
(100) on；
The regulating mechanism include the first regulating mechanism and the second regulating mechanism, the output end of first regulating mechanism with it is described
Butt joint (200) connection, and can drive the butt joint (200) rotation, the output end of second regulating mechanism with it is described right
Connector (200) connection, and the relatively described charging pile (100) of the butt joint (200) reciprocally swinging in perpendicular can be driven.
2. recharging device according to claim 1, which is characterized in that second regulating mechanism is connected to described
The output end of one regulating mechanism makes first regulating mechanism drive second regulating mechanism and the butt joint (200) certainly
Turn.
3. recharging device according to claim 2, which is characterized in that first regulating mechanism includes being articulated in institute
State the connection frame (300) on charging pile (100) and the motor (400) of driving connection frame (300) rotation；
The motor (400) is installed on the charging pile (100), and second regulating mechanism is connected to the connection frame
(300) on.
4. recharging device according to claim 3, which is characterized in that second regulating mechanism includes electric pushrod
(500), hingedly, the other end and the butt joint (200) are cut with scissors for one end Yu the connection frame (300) of the electric pushrod (500)
It connects；
The butt joint (200) is rotatably connected on the connection frame (300) by shaft (600).
5. recharging device according to claim 4, which is characterized in that the connection frame (300) includes bottom plate (310)
With the side plate (320) for being connected to the bottom plate (310) both ends, one end and the bottom plate (310) of the electric pushrod (500) are cut with scissors
It connects, the shaft (600) is connected between two side plates (320).
6. recharging device according to claim 4, which is characterized in that the U-shaped structure of the connection frame (300), institute
The one end for stating electric pushrod (500) and the bottom edge of the U-shaped structure are hinged, and the shaft (600) is connected to the U-shaped structure
Between the side being oppositely arranged.
7. recharging device according to claim 1-6, which is characterized in that in the butt joint (200)
Pressure sensor (700) are equipped at the heart, the pressure sensor (700) connects the controller for receiving pressure information；
The butt joint (200) be equipped with multiple pairs of jointing holes (210), it is multiple it is described to jointing holes (210) along the pressure pass
The circumferential direction of sensor (700) is uniformly distributed.
8. recharging device according to claim 7, which is characterized in that paste the outer surface of the butt joint (200)
There are insulation sleeve (220).
9. recharging device according to claim 7, which is characterized in that the controller includes central processing unit
(110), the central processing unit (110) is electrically connected with the pressure sensor (700), central processing unit (110) setting
In the inside of the charging pile (100)；
The inside of the charging pile (100) is equipped with for providing the charging module (120) of electric energy.
10. recharging device according to claim 1-6, which is characterized in that the charging pile (100) is just
Top is equipped with ceiling (800), is equipped with strut (900) between the charging pile (100) and the ceiling (800), the strut
(900) one end is connected with the charging pile (100), and the other end is connected with the ceiling (800).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822143801.XU CN209104851U (en) | 2018-12-19 | 2018-12-19 | Recharging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822143801.XU CN209104851U (en) | 2018-12-19 | 2018-12-19 | Recharging device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209104851U true CN209104851U (en) | 2019-07-12 |
Family
ID=67163066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822143801.XU Expired - Fee Related CN209104851U (en) | 2018-12-19 | 2018-12-19 | Recharging device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209104851U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111308243A (en) * | 2020-03-06 | 2020-06-19 | 上海电气集团股份有限公司 | Intelligent charging test device and test method |
| CN112183524A (en) * | 2020-08-31 | 2021-01-05 | 深圳市优必选科技股份有限公司 | Robot wired network docking method, system, terminal device and storage medium |
| CN112904839A (en) * | 2021-01-11 | 2021-06-04 | 深圳拓邦股份有限公司 | Robot charging docking detection method and device and autonomous charging robot |
-
2018
- 2018-12-19 CN CN201822143801.XU patent/CN209104851U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111308243A (en) * | 2020-03-06 | 2020-06-19 | 上海电气集团股份有限公司 | Intelligent charging test device and test method |
| CN112183524A (en) * | 2020-08-31 | 2021-01-05 | 深圳市优必选科技股份有限公司 | Robot wired network docking method, system, terminal device and storage medium |
| CN112904839A (en) * | 2021-01-11 | 2021-06-04 | 深圳拓邦股份有限公司 | Robot charging docking detection method and device and autonomous charging robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190712 |