CHARGING APPARATUS
First Claim
1. An apparatus for charging a battery mounted on a robot, the robot having a plurality of legs extended from its body and capable of being still or moving in a state of standing on the legs, with operations of the legs controlled by a control system,the apparatus comprising a charging power source, a first connector, a connector driving mechanism which drives the first connector, and a charge control unit which controls an operation of the connector driving mechanism, the first connector having a first charging terminal and a first signal terminal, whereinthe body has a second connector connected to the first connector, the second connector having a second charging terminal and a second signal terminal, and the first and second charging terminals are connected and the first and second signal terminals are connected in a connected state of the first and second connectors, whereas the first and second charging terminals are disconnected and the first and second signal terminals are disconnected in a disconnected state of the first and second connectors, and whereinthe charge control unit causes the connector driving mechanism to drive the first connector forward to attain the connected state of the first and second connectors on the condition that the charge control unit confirms that the robot is standing still on the legs in a predetermined position and at a predetermined posture with the first and second connectors in the disconnected state,the charge control unit allows the battery to be charged with a current output from the charging power source via the first and second charging terminals on the condition that the charge control unit confirms through communication with the control system via the first and second signal terminals that the first and second connectors are in the connected state, andthe charge control unit causes the connector driving mechanism to drive the first connector backward to allow the first and second connectors in the connected state to attain the disconnected state, and the charge control unit restricts an amount by which the first connector is driven backward on the condition that the charge control unit is capable of communicating with the control system via the first and second signal terminals during a time when the first connector is driven backward.
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Accused Products
Abstract
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.
11 Citations
11 Claims
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1. An apparatus for charging a battery mounted on a robot, the robot having a plurality of legs extended from its body and capable of being still or moving in a state of standing on the legs, with operations of the legs controlled by a control system,
the apparatus comprising a charging power source, a first connector, a connector driving mechanism which drives the first connector, and a charge control unit which controls an operation of the connector driving mechanism, the first connector having a first charging terminal and a first signal terminal, wherein the body has a second connector connected to the first connector, the second connector having a second charging terminal and a second signal terminal, and the first and second charging terminals are connected and the first and second signal terminals are connected in a connected state of the first and second connectors, whereas the first and second charging terminals are disconnected and the first and second signal terminals are disconnected in a disconnected state of the first and second connectors, and wherein the charge control unit causes the connector driving mechanism to drive the first connector forward to attain the connected state of the first and second connectors on the condition that the charge control unit confirms that the robot is standing still on the legs in a predetermined position and at a predetermined posture with the first and second connectors in the disconnected state, the charge control unit allows the battery to be charged with a current output from the charging power source via the first and second charging terminals on the condition that the charge control unit confirms through communication with the control system via the first and second signal terminals that the first and second connectors are in the connected state, and the charge control unit causes the connector driving mechanism to drive the first connector backward to allow the first and second connectors in the connected state to attain the disconnected state, and the charge control unit restricts an amount by which the first connector is driven backward on the condition that the charge control unit is capable of communicating with the control system via the first and second signal terminals during a time when the first connector is driven backward.
Specification