# US 12,224,600 B2 · Robot charging apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,224,600 B2 - Document ID: US12224600B2 - Status: Granted - Kind: B2 - Application number: 17/502,674 - Filed: 2021-10-15 - Published: 2022-05-05 - Granted: 2025-02-11 - Earliest claimed: 2020-11-03 - Assignees: Electronics and Telecommunications Research Institute - Applicants: Electronics and Telecommunications Research Institute - Inventors: Jung Ick Moon; Sang-Won Kim; Seong-Min Kim; In Kui Cho - Web page: https://patentgrep.com/patent/US12224600B2 ## CPC - H02J 50/90: involving detection or optimisation of position, e.g. alignment - B60L 53/126: Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver - B60L 53/30: Constructional details of charging stations - B60L 53/38: specially adapted for charging by inductive energy transfer - H02J 50/005: {Mechanical details of housing or structure aiming to accommodate the power transfer means, e.g. mechanical integration of coils, antennas or transducers into emitting or receiving devices} - H02J 50/10: using inductive coupling - H02J 50/40: using two or more transmitting or receiving devices (H02J50/50 takes precedence) - B60L 2260/32: Auto pilot mode - Y02T 10/70: Energy storage systems for electromobility, e.g. batteries - Y02T 10/7072: Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors - Y02T 90/12: Electric charging stations - Y02T 90/14: Plug-in electric vehicles - H02J: ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract Provided is a robot charging apparatus to wirelessly charge a robot capable of walking, which includes a plurality of receiving coils fixed to legs of a robot and a transmitting coil moved and provided according to a position of the robot and wirelessly charges the robot in such a manner that the transmitting coil is provided between the plurality of receiving coils and coupled to the receiving coils by a magnetic field output from the transmitting coil. ## Claims ### Claim 1 A robot charging apparatus comprising: a first receiving coil fixed to a first leg of a robot capable of walking; a second receiving coil fixed to a second leg of the robot spaced apart from the first leg of the robot and coupled to the first receiving coil; and a transmitting coil installed in a charging body that interacts with the robot and moved and provided according to a position of the robot to which the first receiving coil and the second receiving coil are fixed, wherein the transmitting coil is installed inside or outside a wall constituting a space that allows wireless charging of the robot, and moved and provided according to the position of the robot between the first receiving coil and the second receiving coil fixed to the first leg and the second leg of the robot, respectively. ### Claim 2 (depends on 1) The robot charging apparatus of claim 1, wherein the transmitting coil outputs a magnetic field according to a separation distance between the first receiving coil and the second receiving coil. ### Claim 3 (depends on 1) The robot charging apparatus of claim 1, wherein the transmitting coil is moved and provided according to the position of the robot when the first receiving coil and the second receiving coil fixed to the first leg and the second leg of the robot, respectively, approach within a chargeable range based on the wall on which the charging body is installed. ### Claim 4 (depends on 1) The robot charging apparatus of claim 1, wherein the transmitting coil is provided sliding to a point at which the first receiving coil and the second receiving coil fixed to the first leg and the second leg of the robot, respectively, are present, along a rail installed on a floor of the space. ### Claim 5 A robot charging apparatus comprising: a first receiving coil fixed to a first leg of a robot capable of walking; a second receiving coil fixed to a second leg of the robot spaced apart from the first leg of the robot and coupled to the first receiving coil; and a transmitting coil installed in a charging body that interacts with the robot and moved and provided according to a position of the robot to which the first receiving coil and the second receiving coil are fixed, wherein the transmitting coil is installed inside or outside a wall constituting a space that allows wireless charging of the robot, and moved and provided according to the position of the robot, and wherein the transmitting coil is provided extending horizontally from the wall to a point at which the first receiving coil and the second receiving coil fixed to the first leg and the second leg of the robot, respectively, are present, with a length of a coil support coupled to the charging body being adjusted. ### Claim 6 A robot charging apparatus comprising: a first receiving coil fixed to a first leg of a robot capable of walking; a second receiving coil fixed to a second leg of the robot spaced apart from the first leg of the robot and coupled to the first receiving coil; and a transmitting coil installed in a charging body that interacts with the robot and moved and provided according to a position of the robot to which the first receiving coil and the second receiving coil are fixed, wherein the transmitting coil is installed inside or outside a floor constituting a space that allows wireless charging of the robot, and moved and provided according to the position of the robot between the first receiving coil and the second receiving coil fixed to the first leg and the second leg of the robot, respectively. ### Claim 7 (depends on 6) The robot charging apparatus of claim 6, wherein the transmitting coil induces a magnetic field to be coupled to the first receiving coil and the second receiving coil. ### Claim 8 (depends on 6) The robot charging apparatus of claim 6, wherein the transmitting coil is moved and provided to be perpendicular to the floor when the first receiving coil and the second receiving coil fixed to the first leg and the second leg of the robot, respectively, approach within a chargeable range that allows wireless charging. ### Claim 9 (depends on 8) The robot charging apparatus of claim 8, wherein the transmitting coil is moved and provided to be perpendicular to the floor as one side of the transmitting coil is fixed to the charging body and an angle of inclination of the transmitting coil is formed by a spring provided to another side of the transmitting coil to which the charging body is not fixed. ### Claim 10 (depends on 8) The robot charging apparatus of claim 8, wherein the transmitting coil is moved from the floor to a point at which the first receiving coil and the second receiving coil are fixed to the first leg and the second leg of the robot, respectively, are present, rotating in a horizontal direction by a first rotating member provided on the floor and then, moved and provided between the first leg and the second leg of the robot, rotating in a direction perpendicular to a direction of rotation of the first rotating member by a second rotating member connected to the first rotating member. ### Claim 11 A robot charging apparatus comprising: a first receiving coil fixed to a first leg of a robot capable of walking; a second receiving coil fixed to a second leg of the robot spaced apart from the first leg of the robot and coupled to the first receiving coil; and a transmitting coil installed in a charging body that interacts with the robot and moved and provided according to a position of the robot to which the first receiving coil and the second receiving coil are fixed, wherein the transmitting coil is moved from a first wall to a second wall of the second wall of a space that allows wireless charging of the robot according to a position of the robot that moves the space, and wherein the transmitting coil is moved and provided between the first receiving coil and the second receiving coil fixed to the first leg and the second leg of the robot, respectively. ### Claim 12 (depends on 11) The robot charging apparatus of claim 11, wherein the transmitting coil outputs a magnetic field according to a separation distance between the first receiving coil and the second receiving coil. ### Claim 13 (depends on 11) The robot charging apparatus of claim 11, wherein the transmitting coil is moved and provided rotating from the first wall to the second wall by a coil support coupled to the charging body, depending on whether the robot enters the space. ### Claim 14 (depends on 13) The robot charging apparatus of claim 13, wherein the transmitting coil that is moved and provided is provided at a desired interval from the second wall to be inserted between the first receiving coil and the second receiving coil fixed to the first leg and the second leg of the robot, respectively.