[0037] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.
[0038] Such as Figure 1-5 As shown, a robot stop charging pile structure includes a robot 1, a charging pile 6 and a charging pile shrapnel 8:
[0039] A first chassis charging pole piece 2 and a second chassis charging pole piece 5 are installed at the end of the chassis of the robot 1, and a Hall sensor 4 is also installed at the middle of the chassis tail of the robot 1 through a mounting bracket 3;
[0040] The center of the front cover of the charging pile 6 is equipped with a magnet 9 used for induction by the Hall sensor 4;
[0041] The charging pile shrapnel 8 is rotatably connected to the bottom of the front side of the charging pile 6 through a connecting shaft 81, and the charging pile shrapnel 8 is provided with charging pile electrodes for charging with the first chassis charging pole piece 2 and the second chassis charging pole piece 5 Piece 7.
[0042] The charging pile shrapnel 8 can move in a circular arc around the connecting shaft 81 at the end of the charging pile shrapnel 8 together with the charging pile electrode sheet 7.
[0043] When the robot 1 retreats, at the point where the arc surface at the rear of the chassis meets the arc surface on the front end of the charging pile shrapnel 8, the charging pile shrapnel 8 and the charging pile electrode sheet 7 make a circular arc movement around the end of the charging pile shrapnel 8. It is convenient for the charging pile shrapnel 8 to be pressed in smoothly, which greatly reduces the resistance generated by the person during the recharging process of the robot 1 and ensures that the robot 1 can smoothly climb the charging pile 6 while reducing friction. The chassis charging pole piece 5 and the charging pile electrode piece 7 are protected to prevent the pole piece from turning black and decreasing the conductivity.
[0044] A torsion spring mechanism 82 is sleeved on the connecting shaft 81, and the torsion spring mechanism 82 is used to drive the charging pile shrapnel 8 to move back and forth together with the charging pile electrode sheet 7, so as to drive the charging pile shrapnel 8 and the charging pile electrode sheet 7 to automatically reset.
[0045] The charging post electrode sheet 7 has a planar structure, and the charging post electrode sheet 7 is provided with four bumps.
[0046] The Hall sensor 4 is a magnetic field sensor made according to the Hall effect, and the Hall voltage of the Hall sensor 4 changes with the intensity of the magnetic field. The stronger the magnetic field, the higher the voltage, the weaker the magnetic field, and the lower the voltage. The magnet 9 of the front cover of the charging pile 6 is sensed by the Hall sensor 4.
[0047] By setting the Hall sensor 4 on the robot 1 to sense the magnet 9 on the charging pile 6 in a non-contact manner, mechanical triggering of the micro switch is avoided. Poor contact may occur for a long time, so it can be used reliably for a long time.
[0048] The robot 1 is also provided with a robot control module and a wireless transmitting module, and the input terminals of the robot control module and the wireless transmitting module are electrically connected to the output terminal of the Hall sensor 4.
[0049] The robot control module is used to receive the signal transmitted by the Hall sensor 4 and control the robot 1 to decelerate and stop.
[0050] The wireless transmitting module is used to receive the signal transmitted by the Hall sensor 4 and perform wireless transmission of the signal.
[0051] The charging pile 6 is provided with a wireless receiving module and a charging pile control module, the output terminal of the wireless receiving module is electrically connected with the input terminal of the charging pile control module, and the wireless receiving module is wirelessly connected with the wireless transmitting module.
[0052] The wireless receiving module is used to receive the signal sent by the wireless transmitting module and transmit it to the charging pile control module;
[0053] The charging pile control module is used to receive the signal transmitted by the wireless receiving module and automatically control the power switch of the charging pile 6.
[0054] Working principle: When the robot is in use with the charging pile structure when the robot is stopped, when the robot 1 approaches the charging pile 6 from a distance from a distance according to a certain algorithm, the arc surface of the bottom of the chassis of the robot 1 meets the arc surface on the front end of the charging pile shrapnel 8. The charging pile shrapnel 8 and the charging pile electrode sheet 7 make a circular motion around the end of the charging pile shrapnel 8 so that the charging pile shrapnel 8 is smoothly pressed into the bottom of the charging pole piece of the chassis, the robot 1 continues to move backward, and the Hall sensor 4 senses It will reach the magnet 9 on the charging pile, and then the Hall sensor 4 will transmit the signal to the robot control module. The robot control module controls the robot 1 to stop. At the same time, the Hall sensor 4 will wirelessly transmit the signal through the wireless transmitting module, and then it will be transmitted by the charging pile. The wireless receiving module in 6 receives the signal. After the wireless receiving module receives the signal, it will automatically transmit to the charging pile control module. After receiving the signal, the charging pile control module controls the charging pile 6 to turn on. At this time, the charging pile electrode 7 and the robot The first chassis charging pole piece 2 and the second chassis charging pole piece 5 on 1 have been reliably contacted, and the robot 1 is powered by the charging pile 6, and the first chassis charging pole piece 2 and the second chassis charging pole of the robot 1 The sheet 5 is in good contact with the electrode sheet 7 of the charging pile, and then a wireless signal is sent to notify the charging pile 6 to turn on the power supply, so no sparks are generated, and the safety of charging is improved.
[0055] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific feature, structure, material or characteristic described in combination with the embodiment or example is included in at least the present invention. In one embodiment or example. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner.
[0056] The above are only preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited to this. Anyone familiar with the technical field within the technical scope disclosed by the present invention, according to the technical solution of the present invention Equivalent replacements or changes to its inventive concept should all fall within the protection scope of the present invention.
