Robot Charging Connector Stability Control
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Solution Overview
Problem
Existing battery charging apparatuses for robots with multiple legs can cause instability in the robot's posture when connectors are switched, leading to potential tilting or movement, as they apply force during connection and disconnection.
Innovation Solution
A charging apparatus with a connector driving mechanism and charge control unit that ensures stable connection and disconnection by confirming the robot's position and posture before charging, using signal terminals for communication with the control system to prevent unnecessary movement and maintain connector engagement, and adjusts the backward movement of the connector based on tilt sensors to prevent instability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the first connector is moved while the robot is standing still to switch from connected to disconnected state, then the charging operation can be completed, but the robot's posture becomes unstable
Solution Approach 1:
The control unit checks the robot's posture and position before moving the first connector to ensure the robot is in a stable state. This preliminary verification prevents posture instability during connector movement by ensuring the robot is properly positioned beforehand.
Solution Approach 2:
The system continuously monitors the robot's posture and position through sensors and uses this feedback information to control the connector movement. The control unit adjusts connector operations based on real-time posture data, preventing instability by responding to actual robot state.
2Loss of time
If the first connector is driven forward without confirming robot position and posture, then the charging process is faster, but the robot may experience posture instability or tilting
Solution Approach 1:
The control unit performs preliminary checks of the robot's posture and position before initiating connector movement. This ensures the robot is in the correct state before connection, preventing instability while maintaining efficient operation by only verifying necessary conditions.
Solution Approach 2:
The system preemptively prevents posture instability by checking robot state before connector movement and restricting backward movement when communication is possible. This counteracts potential instability before it occurs rather than reacting after the problem arises.
3Ease of operation
If the first connector is driven backward without restriction, then disconnection is achieved, but the robot's posture becomes unstable due to applied force
Solution Approach 1:
The control unit monitors communication status between the charging apparatus and robot during connector movement. When communication is possible (indicating connected state), the control unit restricts backward movement of the first connector to prevent posture instability, while still allowing disconnection when appropriate.
Solution Approach 2:
The system dynamically adjusts the connector driving mechanism's operation based on real-time conditions. The control unit selectively restricts backward movement only when communication is possible, allowing flexible control that balances disconnection capability with posture stability maintenance.
Data Source
AI summary
An apparatus capable of charging a battery mounted on a robot while allowing the robot to remain stably still in the state of standing on its legs is provided. Driving a first connector backward while it is connected with a second connector would cause a body of the robot to tilt as if being pulled by the first connector. However, it is possible to prevent the posture of the robot from becoming unstable by utilizing the fact that the connected state of first signal terminals and second signal terminals is maintained in that state. The backward driving of the first connector is restricted when a charge control unit is capable of communicating with a control system via the first signal terminals and the second signal terminals. This prevents the undesirable event that the posture of the robot becomes unstable due to the first connector being driven backward unconditionally.