201018045 九、發明說明： 【發明所屬之技術領域】 本發明涉及一種充電裴置 【先前技術】201018045 IX. Description of the invention: [Technical field of invention] The present invention relates to a charging device [Prior Art]
移動式機器人通常被用於在一定範圍内完成預定之 =進：器人用設置在機器人内部之充電電池為自身提供 人為摔作上作，但疋目料機11人充電大多數都必須通過 能㈣進行充電。若4中之機器人突然沒 座上充/就會停止卫作，直到使用者將機器人拿到充電 放回工作二然後等機器人充電完畢後’使用者再將機器人 之工作^域内，它才m續工作，這樣將影響機器人 【發明内容】 古雪：ί於此’有必要提供-種可實現移動式機器人自動 充電之充電裝置。 j充電裝置，用於為移動式機H人充電，所述充電 、 外设、兩個傳感裝置、一第一電磁鐵、一插頭 座所、第—彈簧；所述外殼包括一前壁、一後壁及一侧 壁所逃第一電磁鐵固設於前壁上，所述插頭座體通過第 彈酱~Γ伸縮之與後壁相連接，所述兩個傳感裝置分別固 設於侧壁上鄰近所述第一電磁鐵位置處；所述插頭座體包 括一第二電磁鐵、一插頭及一電壓感測器，所述傳感裝置 及電壓感測器分別與第一、第二電磁鐵電性連接，且所述 第一、第二電磁鐵異極相對設置；當機器人接觸到傳感裝 6 201018045 』方吸弓1，使插頭 置後，傳感裝置控制第一、第二電磁鐵相夂 伸出對機器人充電；當所述電壓感測器感》則刻"/ < /μ攄殍人上撥出。 電後控制第一、第二電磁鐵分離，使插頭從機" • 相較於先前技術，所述充電裝置使機器人之 。 Α θ動斷電，從而 -實現自動化，並且可在機器人充完電後，目 匕七也 工作效率’實 防止機器人充電過量，可有效提南機器人 用性強。 【實施方式】 ❹ 以下將結合附圖對本發明作進一步之詳細說月 /〇·々γ鐘充電裝置 如圖1所示，本發明實施方式提供之 100,用於為移動式機器人110充電，所述機器人110包括 兩個輪子111、一本體112及一插座113，所述兩個輪子 111分別可活動之連接在所述本體112之兩端上，所述插 座113固設在本體112之中部。在所述充電裝置100與所 述機器人110上分別設有一信號接收端及一信號發射端’ 當機器人110需要充電時就會發射出一搜尋信號以確定充 ® 電裝置100所在之位置，當充電裝置100接收到由機器人 110發射出之搜尋信號後’發射出一位置信號使機器人110 得知充電裝置100所在之位置，然後機器人11〇通過不斷 之發射出搜尋信號和接收充電裝置100之位置信號逐漸向 充電裝置100靠近。 如圖1所示，所述充電裝置100包括一外殼10、兩個 傳感裝置20、一第一電磁鐵30、一插頭座體40及一第一 彈簧50。 7 201018045 所述外殻10包括一前壁11、一後壁12及一侧壁13， 所述第〆電磁鐵30固設於外殼10之前壁11上，所述插頭 座體40通過第一彈簧50可伸縮地與外殼10之後壁12相 。 連接，所述兩個傳感裝置20分別固設於外彀1〇之側壁13 - 上靠近第〆電磁鐵30之位置處0 如圖3所示’所述傳感裝置20用於感測機器人HQ 是否進入充電位置，所述傳感裝置20可以為限位元開關、 光敏開關及壓敏電阻開關中之一種。在本實施方式中，所 ❻ 述傳感裝置20為限位元開關’其包括一殼體21、一接觸 部22、一導通部23及一第二彈簧24。所述接觸部22通過 所述第二彈簧24與殼體21相連接’所述導通部23相對於 所述接觸部22固設於殼體21之底部。所述導通部23包括 一外圈231及一内芯232 ’且該外圈231及内芯232都採 用金屬製成，在所述外圈231上設有一第一輸入端231a， 且所述第一輸入端231a與一外部電源相連接’在所述内 芯232上設有一第一輸出端232a。在所述接觸部22靠近 ❹ 所述導通部23之位置處設有一層金屬片221。所述接觸部 22受到外力之擠壓向下運動時，第二彈簧24不斷壓縮， 當該接觸部22上之金屬片221接觸到導通部23後，通過 金屬片221之接觸使導通部23之外圈231與内怒232相導 通。 所述第一電磁鐵30固設於外殼1〇之前璧11上，當對 第一電磁鐵3〇之線圈通以電流，所述第一電磁鐵3〇產生 磁性；當對第一電磁鐵3〇之線圈斷開電流，所述第一電磁 鐵30之磁性消失。 8 201018045 如圖1及圜2所示，所述插頭座體40包括—基板41、 一第二電磁鐵42及一插頭43，所述基板41包括一前表面 411及一後表面412,所述第二電磁鐵42及插頭43分別固 '設於所述基板41之前表面411上，且所述第二電磁鐵42 • 位於插頭43周圍’當對第二電磁鐵42之線圈通以電流， 所述第二電磁鐵42產生磁性；當對第二電磁鐵42之線圈 斷開電流，所述第二電磁鐵42之磁性消失。所述第二電磁 鐵42與所述第一電磁鐵30共用同一控制電路，同時產生 ❹ 磁性和失去磁性’且所述第，電磁鐵30與第二電磁鐵42 相對之一側為異極在所述插頭座體40上還設有一電壓咸 測器44，所述電壓感測器44在充電過程中在—定之間隔 時間内切斷充電電壓，然後量測插頭43兩端之電壓，將所 量測到之插頭43兩端之電壓與機器人100之額定電壓進行 比較，以判斷機器人110是否充滿電，當判斷出機器人110 沒有充滿電時’開啟充電電壓繼續對機器人110充電。在 本實施方式中，所述電壓感測器44所採用之型號為 ❹ MC33340或MC33342。所述第一彈簧50之一端與基板41 之後表面412相固接，另一端與外殼1〇之後壁12相連接。 所述傳感裝置20及電壓感測器44分別與第一、第二 電磁鐵30、42相電性連接。當機器人110之兩個輪子in 同時抵持於兩個傳感裝置20之接觸部22後，在輪子m 之抵持力下’所述接觸部22嚮導通部23所在之方向運動， 當所述接觸部22之金屬片221接觸到導通部23上’使導 通部23之外圈231和内芯232相連通，由於外圈231之第 一輸入端231a —直與一外部電源相連接，第一輸入端231a 9 201018045 處於高電平狀態，當外圈231與内芯232相連通後，與内 芯232相連接之第一輸出端232a輸出一高電平。由於所述 兩個傳感裝置20之兩個第一輸出端232a通過電路分別與 ' 第一、第二電磁鐵30、42之線圈相連接，只有當兩個第一 * 輸出端232a同時輸出高電平後，所述第一、第二電磁鐵 30、42之線圈才會得到高電平電壓，並使第一、第二電磁 鐵30、42產生磁性，且由於第一、第二電磁鐵30、42相 對之一側為異極，所述第一電磁鐵30吸引位於插頭座體 ❹ 40上之第二電磁鐵42向第一電磁鐵30方向運動，所述第 二電磁鐵42帶動插頭座體40向外殼10之前壁11方向運 動，從而使插頭43插入到機器人110之插座113内，並對 機器人110進行充電；所述第一彈簧50處於拉伸狀態。位 於插頭座體40上之電壓感測器44通過感測插頭43之回饋 電壓得出機器人110之電壓，當所述移動式機器人110電 壓沒有充滿時，所述電壓感測器44之輸出電壓為低電平； 當所述機器人110電壓充滿後，所述電壓感測器44之輸出 G 電壓為高電平。當電壓感測器44感測到機器人110充滿電 後，輸出一高電平，所述高電平用於控制第一、第二電磁 鐵30、42，並使第一、第二電磁鐵30、42失去磁性。所 述插頭座體40在第一彈簧50之回復力作用下，與機器人 110之插座113斷開停止充電，並回復到原有之狀態。在 本實施方式中，當機器人110之其中一個輪子111抵持於 其中一個傳感裝置20之接觸部22後，其中一個第一輸出 端232a輸出一高電平，而另一個第一輸出端232a卻仍然 為低電平，第一電磁鐵30之線圈就不能得到高電平電壓， 201018045 第一電磁鐵30就不會產生磁性。The mobile robot is usually used to complete the predetermined range within a certain range. The person who uses the rechargeable battery set inside the robot provides the person with the artificial fall, but most of the 11-person charge must pass the energy. (4) Charging. If the robot in 4 suddenly stops charging, it will stop the maintenance, until the user takes the robot to charge and put it back to work 2, and then after the robot is charged, the user will continue to work in the robot. Work, this will affect the robot [invention] Ancient snow: 于此 This is necessary to provide a charging device that can realize automatic charging of mobile robots. a charging device for charging a mobile device H, the charging, the peripheral device, the two sensing devices, a first electromagnet, a plug base, and a first spring; the outer casing includes a front wall, a first electromagnet that escapes from a rear wall and a side wall is fixed on the front wall, and the plug body is connected to the rear wall through the first magazine, and the two sensing devices are respectively fixed on the The side wall is adjacent to the first electromagnet position; the plug body includes a second electromagnet, a plug and a voltage sensor, and the sensing device and the voltage sensor are respectively associated with the first and the first The electromagnets are electrically connected, and the first and second electromagnets are oppositely arranged; when the robot contacts the sensing device 6 201018045, the suction arch 1 is placed, and the sensing device controls the first and the second The two electromagnets are extended to charge the robot; when the voltage sensor is sensed, the "/ < /μ摅殍 person dials out. After the electric control, the first and second electromagnets are separated to make the plug slave. According to the prior art, the charging device makes the robot. Α θ dynamic power off, thus - to achieve automation, and after the robot is fully charged, the target is also efficient. It prevents the robot from overcharging, which can effectively promote the use of robots. [Embodiment] Hereinafter, the present invention will be further described in detail with reference to the accompanying drawings. The charging device of the present invention is shown in FIG. 1. The embodiment of the present invention provides 100 for charging the mobile robot 110. The robot 110 includes two wheels 111, a body 112 and a socket 113. The two wheels 111 are movably connected to the two ends of the body 112, and the socket 113 is fixed in the middle of the body 112. A charging end and a signal transmitting end are respectively disposed on the charging device 100 and the robot 110. When the robot 110 needs to be charged, a search signal is emitted to determine the position of the charging device 100 when charging. After receiving the search signal transmitted by the robot 110, the device 100 'transmits a position signal to make the robot 110 know the location of the charging device 100, and then the robot 11 不断 continuously transmits the search signal and receives the position signal of the charging device 100. Gradually approaching the charging device 100. As shown in FIG. 1, the charging device 100 includes a housing 10, two sensing devices 20, a first electromagnet 30, a plug housing 40, and a first spring 50. 7 201018045 The outer casing 10 includes a front wall 11 , a rear wall 12 and a side wall 13 . The second electromagnet 30 is fixed on the front wall 11 of the outer casing 10 , and the plug body 40 passes through the first spring. 50 is telescopically associated with the rear wall 12 of the outer casing 10. Connecting, the two sensing devices 20 are respectively fixed on the side wall 13 of the outer casing 1 - at a position close to the second electromagnet 30. As shown in FIG. 3, the sensing device 20 is used to sense the robot. Whether the HQ enters the charging position, the sensing device 20 can be one of a limit switch, a photosensitive switch, and a varistor switch. In the present embodiment, the sensing device 20 is a limit switch </ RTI> which includes a housing 21, a contact portion 22, a conductive portion 23 and a second spring 24. The contact portion 22 is connected to the housing 21 via the second spring 24. The conductive portion 23 is fixed to the bottom of the housing 21 with respect to the contact portion 22. The conductive portion 23 includes an outer ring 231 and an inner core 232 ′, and the outer ring 231 and the inner core 232 are made of metal, and a first input end 231 a is disposed on the outer ring 231 , and the first portion An input terminal 231a is coupled to an external power source. A first output terminal 232a is disposed on the inner core 232. A metal piece 221 is provided at a position where the contact portion 22 is close to the conductive portion 23. When the contact portion 22 is pressed downward by the external force, the second spring 24 is continuously compressed. When the metal piece 221 on the contact portion 22 contacts the conductive portion 23, the conductive portion 23 is brought into contact by the contact of the metal piece 221 The outer ring 231 is electrically connected to the inner anger 232. The first electromagnet 30 is fixed on the front cymbal 11 of the outer casing 1 , and when the coil of the first electromagnet 3 通 is energized, the first electromagnet 3 〇 generates magnetism; when the first electromagnet 3 is The coil of the crucible turns off the current, and the magnetism of the first electromagnet 30 disappears. As shown in FIG. 1 and FIG. 2, the plug body 40 includes a substrate 41, a second electromagnet 42 and a plug 43. The substrate 41 includes a front surface 411 and a rear surface 412. The second electromagnet 42 and the plug 43 are respectively fixedly disposed on the front surface 411 of the substrate 41, and the second electromagnet 42 is located around the plug 43. When the coil of the second electromagnet 42 is energized, The second electromagnet 42 generates magnetism; when the coil of the second electromagnet 42 is disconnected from current, the magnetism of the second electromagnet 42 disappears. The second electromagnet 42 and the first electromagnet 30 share the same control circuit, and at the same time generate magnetism and lose magnetism, and the first side of the electromagnet 30 and the second electromagnet 42 are opposite poles. The plug body 40 is further provided with a voltage detector 44. The voltage sensor 44 cuts off the charging voltage during the charging process, and then measures the voltage across the plug 43. The voltage across the plug 43 is measured and compared with the rated voltage of the robot 100 to determine whether the robot 110 is fully charged. When it is determined that the robot 110 is not fully charged, the charging voltage is continued to continue charging the robot 110. In the present embodiment, the voltage sensor 44 is of the type ❹ MC33340 or MC33342. One end of the first spring 50 is fixed to the rear surface 412 of the substrate 41, and the other end is connected to the rear wall 12 of the outer casing 1 . The sensing device 20 and the voltage sensor 44 are electrically connected to the first and second electromagnets 30 and 42, respectively. When the two wheels in the robot 110 simultaneously abut against the contact portions 22 of the two sensing devices 20, the contact portion 22 moves in the direction in which the contact portion 23 is located under the abutting force of the wheel m, when The metal piece 221 of the contact portion 22 contacts the conductive portion 23 to make the outer ring 231 of the conductive portion 23 communicate with the inner core 232. Since the first input end 231a of the outer ring 231 is directly connected to an external power source, the first The input end 231a 9 201018045 is in a high state. When the outer ring 231 is in communication with the inner core 232, the first output end 232a connected to the inner core 232 outputs a high level. Since the two first output terminals 232a of the two sensing devices 20 are respectively connected to the coils of the first and second electromagnets 30 and 42 through the circuit, only when the two first* output terminals 232a are simultaneously output high. After the level, the coils of the first and second electromagnets 30, 42 get a high level voltage, and the first and second electromagnets 30, 42 are magnetic, and because of the first and second electromagnets. 30, 42 opposite one side is a different pole, the first electromagnet 30 attracts the second electromagnet 42 located on the plug body ❹ 40 to move toward the first electromagnet 30, and the second electromagnet 42 drives the plug The seat body 40 is moved toward the front wall 11 of the outer casing 10, thereby inserting the plug 43 into the socket 113 of the robot 110 and charging the robot 110; the first spring 50 is in a stretched state. The voltage sensor 44 located on the plug body 40 obtains the voltage of the robot 110 by sensing the feedback voltage of the plug 43. When the voltage of the mobile robot 110 is not full, the output voltage of the voltage sensor 44 is Low level; when the voltage of the robot 110 is full, the output G voltage of the voltage sensor 44 is high. When the voltage sensor 44 senses that the robot 110 is fully charged, it outputs a high level for controlling the first and second electromagnets 30, 42 and the first and second electromagnets 30. 42, lost magnetic. The plug base 40 is disconnected from the socket 113 of the robot 110 by the restoring force of the first spring 50 to stop charging, and returns to the original state. In the present embodiment, when one of the wheels 111 of the robot 110 is held against the contact portion 22 of one of the sensing devices 20, one of the first output terminals 232a outputs a high level, and the other first output terminal 232a. However, it is still at a low level, and the coil of the first electromagnet 30 cannot obtain a high level voltage, and the first electromagnet 30 does not generate magnetism in 201018045.
❹ 如圖4所示，記電壓感測器44輸出之電壓為’兩 個傳感裝置20輸出之電壓為V2、V3，用於控制第一電磁 鐵30磁性之電壓為V4。電路中包括一反向器Rl ’ 一第一 及閘R2及一第二及閘R3 ;所述反向器Rl型號為 74HC04D，所述第一及閘R2及第二及閘R3之型號為 74HC08N。所述電壓感測器44與反向器R1之輸入端相 連，所述兩個傳感裝置20與第一及閘R2之兩個輪入端相 連，所述反向器R1及第一及閘R2之輸出端與第二及閘 R3之兩個輸入端相連。當移動式機器人110之輪子U1只 與其中之一個傳感裝置20相抵觸時，電壓V2、V3其中一 個為高電平，另一個為低電平，第一及閘R2之輸出為低 電平，則第二及閘R3之輸出V4始終為低電平’第一、第 二電磁鐵30、42就不會產生磁性。當移動式機器人 之兩個輪子m都抵觸於傳感裝置2〇上後，電壓V2、V3 都為高電平’第-及閘R2之輪出就 機器人110沒有充滿電時，電壓 馬冋電平，虽移動式 為低電平，經過反向器R1後轉'則器44之輪出VI始終 閘R3之兩個輸入端都為高電平化為鬲電平，由於第二及 一、第二電磁鐵30、42就會產貝丨輪出V4為高電平，第 插座113内，對移動式機器人罐性’使插頭43插入到 感測到移動式機器人110充滿110充電。當電壓感測器44 電平，經過反向器R1後轉化後，輸出之電壓VI為高 之兩個輸入端一個為高電平，民電平，由於第二及閘R3 閘 R3之輸出電壓V4為低另〜個為低電平，則第二及 ~电平，笼 ^ 昂一、第二電磁鐵30、 u 201018045 42就會失去磁性’第一彈簧s〇使插頭43與插座113斷開， 停止充電。 可以理解，本發明中之移動式機器人也可以為玩具機 器人。 本發明之充電裝置’使移動式機器人之充電過程實現 自動化，並且可在移動式機器人充完電後，自動斷電，從 而防止機器人充電過量，實用性強。❹ As shown in FIG. 4, the voltage outputted by the voltage sensor 44 is 'the voltages output by the two sensing devices 20 are V2 and V3, and the voltage for controlling the magnetic force of the first electromagnetic iron 30 is V4. The circuit includes an inverter R1', a first gate R2 and a second gate R3; the inverter R1 is 74HC04D, and the first gate R2 and the second gate R3 are 74HC08N . The voltage sensor 44 is connected to the input end of the inverter R1, and the two sensing devices 20 are connected to the two wheel terminals of the first and the gate R2, the inverter R1 and the first gate The output of R2 is connected to the two inputs of the second AND gate R3. When the wheel U1 of the mobile robot 110 only interferes with one of the sensing devices 20, one of the voltages V2 and V3 is a high level, the other is a low level, and the output of the first and the gate R2 is a low level. Then, the output V4 of the second AND gate R3 is always low level 'The first and second electromagnets 30, 42 will not generate magnetism. When the two wheels m of the mobile robot are in contact with the sensing device 2, the voltages V2 and V3 are both high. When the wheel of the first and the gate R2 is out, the robot 110 is not fully charged, and the voltage is stable. Flat, although the mobile type is low level, after the inverter R1 is turned, then the wheel of the device 44 is always turned on. The two inputs of the R3 are all raised to the 鬲 level, due to the second and the first. The second electromagnets 30, 42 will produce a beak rotation V4 at a high level, and in the first socket 113, the mobile robot can be inserted into the sensed mobile robot 110 to be fully charged 110. When the voltage sensor 44 level is converted by the inverter R1, the output voltage VI is high, and the two input terminals are at a high level, and the output level of the second and gate R3 gates R3 is V4 is low and the other is low level, then the second and ~ levels, the cage ^ Ang, the second electromagnet 30, u 201018045 42 will lose the magnetic 'first spring s〇, the plug 43 and the socket 113 are broken On, stop charging. It will be understood that the mobile robot of the present invention may also be a toy robot. The charging device of the present invention automates the charging process of the mobile robot, and automatically powers off after the mobile robot is fully charged, thereby preventing the robot from being overcharged and practical.
綜上所述，本發明符合發明專利要件，爰依法提出專 利申請。惟，以上所述者僅為本發明之較佳實施方式，本 發明之範圍並不以上述實施方式為限，舉凡熟悉本案技藝 之人士援依本發明之精相叙等效修飾或_，皆應涵 蓋於以下申請專利範圍内。 【圖式簡單說明】 圖1係本發明實施方式提供之充電裝置及機器人之俯 視圖； 圖2係圖1中充電装置之右視圖· 圖3係圖1中充電裝置之傳感裝置之剖祝圖; 圖4係圖1中充電I置之電路控制示意圖。 【主要組件符號說明】 充電裝置 100 輪子 111 插座 113 傳感裝置 20 插頭座體 40 機器人 no 本體 112 外殼 10 第一電磁鐵 30 第一彈簧 50 12 201018045 前壁 11 後壁 12 侧壁 13 基板 41 前表面 411 後表面 412 第二電磁鐵 42 插頭 43 電壓感測器 44 殼體 21 接觸部 22 導通部 23 第二彈簧 24 外圈 231 内芯 232 第一輸入端 231a 第一輸出端 232a 金屬片 221 13In summary, the present invention complies with the requirements of the invention patent and submits a patent application according to law. However, the above-mentioned embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited to the above embodiments, and those skilled in the art can rely on the equivalent modification or _ of the present invention. It should be covered by the following patent application. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a plan view of a charging device and a robot provided by an embodiment of the present invention; FIG. 2 is a right side view of the charging device of FIG. 1 and FIG. 3 is a cross-sectional view of the sensing device of the charging device of FIG. Figure 4 is a schematic diagram of the circuit control of the charging I in Figure 1. [Main component symbol description] Charging device 100 Wheel 111 Socket 113 Sensing device 20 Plug housing 40 Robot no Body 112 Housing 10 First electromagnet 30 First spring 50 12 201018045 Front wall 11 Rear wall 12 Side wall 13 Substrate 41 Front Surface 411 Rear surface 412 Second electromagnet 42 Plug 43 Voltage sensor 44 Housing 21 Contact portion 22 Conduction portion 23 Second spring 24 Outer ring 231 Inner core 232 First input end 231a First output end 232a Metal piece 221 13