Wirelessly powered track robot

Abstract

The utility model discloses a wireless power supply track robot, including front and rear wheel connecting plate, the bottom four corners of front and rear wheel connecting plate are provided with the outer cover respectively, and the bottom four corners of outer cover are located the one side of outer cover and are provided with the connecting frame, and the inside of a group outer cover is located the one side of connecting frame and is provided with wireless power receiver rectifier, the utility model discloses through C type power receiver and power cord between not needing physical contact, will not produce the dust impurity of friction wear, avoids the electric spark pollution that can appear in the process of the slide contact wire power taking simultaneously, makes the cleanliness of robot operating environment reached Class100 level, and the application field of robot is expanded, through 2.4GHz frequency band, the stable network roaming of robot when in big space, long distance operation is guaranteed, and 5GHz frequency band ensures the real -time of instruction transmission and state report, effectively solved the problem of slow response of traditional single frequency band communication in big space, long distance scene, and management efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of intelligent logistics technology, specifically to a wirelessly powered track robot. Background Technology

[0002] A robot is a mechanical device that can replace a human in performing certain specific actions. They can be divided into ground robots, which move on the ground, and tracked robots, which move along elevated tracks. Due to their height advantage, tracked robots are primarily used in work environments where there is no space for movement on the ground.

[0003] In the current technology, the mainstream power supply method in the field of track robots is the sliding contact power supply. This technology involves laying a sliding contact line (usually a copper or aluminum guide rail) next to the track and installing carbon brushes or metal current collectors on the robot, so that the carbon brushes / current collectors are in physical contact with the sliding contact line, thereby realizing the transmission of electrical energy from the sliding contact line to the robot.

[0004] However, since the carbon brushes / current collectors and the sliding contact line need to maintain physical contact for a long time, they will generate continuous friction and wear during robot movement. This will not only shorten the lifespan of the carbon brushes / current collectors (which usually need to be replaced every few thousand hours of operation), increasing equipment maintenance costs and downtime, but will also generate a large amount of dust and impurities such as carbon powder and metal shavings. These impurities will diffuse into the robot's operating environment, resulting in a significant decrease in environmental cleanliness. Furthermore, during contact power supply, poor contact between the carbon brushes / current collectors and the sliding contact line (such as reduced contact area due to wear or instantaneous disengagement due to track vibration) can easily generate electric sparks. On the one hand, electric sparks may ignite flammable substances in the environment, posing a safety hazard.

[0005] In light of this, we have launched a wirelessly powered track robot. Utility Model Content

[0006] The purpose of this invention is to provide a wirelessly powered track robot to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a wirelessly powered track robot, comprising: a front and rear wheel connecting plate; An outer cover is provided at the bottom four corners of the front and rear wheel connecting plates. A connecting frame is provided at the bottom four corners of the outer cover on one side of the outer cover. A wireless power rectifier is provided inside the outer cover on one side of the connecting frame. A C-type power rectifier is provided at the bottom of the wireless power rectifier. A power cord is provided at the bottom of the C-type power rectifier. Power is drawn from the power cord by sliding and cutting the magnetic lines of force on the power cord through the C-type power rectifier. The wireless power rectifier outputs a 24VDC voltage to power the robot. Another set of connecting frames is equipped with a drive mechanism on its side. The drive motor of the drive mechanism drives multiple sets of anti-rollover wheels to move, so as to drive the robot to move.

[0008] Preferably, the drive mechanism includes a reducer connected to the side of the connecting frame, and a drive motor connected to one side of the reducer. The anti-rollover wheel is connected to the side of the connecting frame, and the reducer is used to drive the anti-rollover wheel. The reducer adopts a high-efficiency transmission structure, which has the characteristics of high transmission efficiency and low operating noise. Its input end is connected to the drive motor through a flexible connector, which can compensate for the deviation generated during installation. The output end is firmly connected to the anti-rollover wheel shaft to ensure stable torque transmission. At the same time, the internal part is filled with long-lasting lubricating material, so it can operate stably for a long time without frequent maintenance.

[0009] Preferably, the side of the connecting frame located below the reducer is connected to an anti-rollover wheel adjusting block A, and one side of the anti-rollover wheel adjusting block A is connected to an anti-rollover wheel adjusting block B.

[0010] Preferably, a main drive plate is connected to the side of another set of connecting frames, and a supercapacitor plate is provided on the other side of the connecting frame.

[0011] Preferably, a height reader is provided on the inner side of the connecting bracket below the main drive board. The height reader is an industrial-grade identification module with fast identification and data transmission capabilities, supports reading of various common code types, and its installation angle can be finely adjusted by adjusting the bracket.

[0012] Preferably, the bottom side of the front and rear wheel connecting plate is provided with a fixing plate on the surface of the connecting frame. The surface of the fixing plate is provided with a TOF sensor. The fixing plate is made of rigid metal and is firmly connected to the connecting frame by multiple sets of fasteners to ensure stable installation of the TOF sensor.

[0013] Preferably, the surface of the fixing plate is provided with a start button on one side of the TOF sensor. The start button has good protective performance and can resist the intrusion of dust and moisture in the track environment.

[0014] Preferably, the bottom of the outer cover is provided with a bottom cover, which is connected to the outer cover by self-tapping screws.

[0015] Compared with the prior art, the beneficial effects of this utility model are: (1) The non-contact magnetoelectric conversion power supply method has significant advantages. Since there is no physical contact between the C-type power collector and the power line, there will be no dust or impurities caused by friction and wear. At the same time, it avoids the electric spark pollution that may occur during the power supply process of the sliding contact line. This makes the cleanliness of the robot's operating environment reach Class 100 level. This cleanliness level can meet the needs of industries such as pharmaceuticals and electronics that have extremely high requirements for the cleanliness of the production environment, thus expanding the application field of the robot. In addition, the setting of the supercapacitor board realizes the storage and emergency protection of electrical energy, effectively solving the power supply interruption problem that may occur in the traditional power supply method, greatly improving the reliability of the power supply system, ensuring that the robot can operate continuously and stably in complex industrial environments, and reducing production stoppage losses caused by power supply failures. (2) By using a 2.4GHz / 5GHz dual-band industrial WIFI module for the robot, the division of labor and optimization of communication functions are realized. The 2.4GHz band ensures stable network roaming for the robot when it is running in a large space and over a long distance, while the 5GHz band ensures the real-time transmission of instructions and status reporting. This effectively solves the problem of slow response of traditional single-band communication in large space and over a long distance scenarios. The dispatch center can use the dual-band WIFI module to keep track of the robot's running status and location information in real time, which facilitates centralized management and dispatch of the robot, reduces management difficulty, and improves management efficiency. (3) The application of TOF sensors enables real-time monitoring and collision warning of obstacles in front, and can trigger the stop program in time when the robot approaches the obstacle, effectively avoiding collision accidents and ensuring the safety of the robot, surrounding equipment and operators. Attached Figure Description

[0016] Figure 1 This is a first-view structural schematic diagram of the present invention; Figure 2 This is a perspective view of the entire utility model; Figure 3 This is a structural schematic diagram of the present invention from a second perspective; Figure 4 This is a structural schematic diagram of the present invention from a third-view perspective; Figure 5 This is a structural schematic diagram of the present invention from a fourth perspective.

[0017] In the diagram: 1. Wireless power supply rectifier; 2. Type C power supply; 3. Power cord; 4. TOF sensor; 5. Start button; 6. Anti-rollover wheel; 7. Drive motor; 9. Anti-rollover wheel adjustment block B; 10. Anti-rollover wheel adjustment block A; 12. Supercapacitor board; 13. Altitude code reader; 14. Main drive board; 15. Outer cover; 16. Front and rear wheel connecting plate; 17. Connecting frame; 18. Fixing plate; 19. Bottom cover; 20. Reducer. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed", "equipped with", "sleeved with", "connected", etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0020] Please see Figure 1-5 This utility model provides a technical solution: a wirelessly powered track robot, including front and rear wheel connecting plates 16, with outer covers 15 respectively provided at the four bottom corners of the front and rear wheel connecting plates 16, and connecting frames 17 provided at the four bottom corners of the outer covers 15 on one side of the outer covers 15. A wireless power rectifier 1 is provided inside the outer covers 15 on one side of the connecting frames 17, and a C-type power rectifier 2 is provided at the bottom of the wireless power rectifier 1. A power cord 3 is provided at the bottom of the C-type power rectifier 2. Power is drawn from the power cord 3 by sliding and cutting magnetic lines of force through the C-type power rectifier 2, and a 24VDC voltage is output through the wireless power rectifier 1 to drive the robot. Another set of connecting frames 17 is provided with a drive mechanism on its side. The drive motor 7 of the drive mechanism drives multiple sets of anti-rollover wheels 6 to move so as to drive the robot to move.

[0021] The drive mechanism includes a reducer 20 connected to the side of the connecting frame 17, a drive motor 7 connected to one side of the reducer 20, and an anti-rollover wheel 6 connected to the side of the connecting frame 17. The reducer 20 is used to drive the anti-rollover wheel 6, which is made of wear-resistant rubber and has anti-slip texture on its surface to increase friction with the track and prevent slippage during movement.

[0022] The side of the connecting frame 17 is connected to the anti-rollover wheel adjustment block A10 below the reducer 20. The side of the anti-rollover wheel adjustment block A10 is connected to the anti-rollover wheel adjustment block B9. The anti-rollover wheel adjustment block A10 and the anti-rollover wheel adjustment block B9 are block structures made of metal.

[0023] Another set of connecting frames 17 is connected to a main drive board 14 on its side. The main drive board 14 integrates an MCU chip, a communication module, a motor drive module, etc., which can realize centralized control and data processing of various parts of the robot. On the other side of the connecting frame 17, there is a supercapacitor board 12. The supercapacitor board 12 is composed of multiple supercapacitors connected in series. It has the ability to charge and discharge quickly and can provide temporary power to the robot when the power supply of the power line 3 is unstable or briefly interrupted, so as to prevent the robot from stopping work due to power failure and ensure the continuity of operation.

[0024] The inner side of the connecting frame 17, below the main drive board 14, is equipped with a height barcode reader 13. The height barcode reader 13 is a high-speed QR code reader. Its lens corresponds to the preset QR code mark on the track. It can read the QR code information in real time during the operation of the robot and transmit the read position data to the main drive board 14 for the robot's real-time positioning and position calibration.

[0025] The bottom side of the front and rear wheel connecting plate 16 is provided with a fixing plate 18 on the surface of the connecting frame 17. The surface of the fixing plate 18 is provided with a TOF sensor 4. The TOF sensor 4 is a time-of-flight sensor that can detect the distance between the robot and obstacles around the track in real time by emitting and receiving laser signals.

[0026] The surface of the fixed plate 18 is provided with a start button 5 on one side of the TOF sensor 4. The start button 5 is a self-reset button with an indicator light and is electrically connected to the main drive board 14. When the start button 5 is pressed, a start signal can be sent to the main drive board 14 to control the robot to start running, and the button indicator light will light up to indicate that the robot is in working state. When the robot malfunctions or needs to be stopped urgently, the emergency stop function can be triggered by pressing and holding the start button 5.

[0027] The bottom of the outer cover 15 is provided with a bottom cover 19, which is made of the same flame-retardant ABS plastic material as the outer cover 15. A sealing strip is provided between the bottom cover 19 and the outer cover 15 to further improve the protective performance.

[0028] Operating speed: Maximum speed is 2.5 m / s; Positioning accuracy: Repeatability is ±0.3mm; Load capacity: The maximum load of this invention is 70kg; Power supply method: It adopts the principle of magnetoelectric conversion, uses an 80KHz high-frequency power line, and uses a power take-off and rectifier to extract 24VDC power to power the robot; the biggest advantage of the non-contact power supply method is that the cleanliness level reaches Class 100. The system features a map-based vehicle navigation system, intelligent route finding, and real-time location reporting. It utilizes a 2.4GHz / 5GHz dual-band industrial Wi-Fi module, with 2.4GHz for roaming and 5GHz for communication, perfectly addressing the issue of slow communication response in large spaces and over long distances.

[0029] The core of the power supply for the wireless power-powered track robot lies in the non-contact magnetoelectric conversion technology. Its specific working process is as follows: First, the C-type power collector 2, which is installed inside the outer casing 15 and on one side of the connecting frame 17, slides closely against the power line 3 (80KHz, 600VAC, LIZI wire specification) at the bottom. During the sliding process, the C-type power collector 2 obtains energy by cutting the magnetic lines of force generated by the power line 3. This process completely eliminates the dependence on physical contact in traditional sliding contact power collection, and avoids the wear and pollution problems caused by contact friction from the root. The acquired electrical energy is immediately transmitted to the wireless power rectifier 1 connected to it. This rectifier has a high-efficiency power conversion function, which can accurately convert the high-frequency AC power obtained from the power line 3 into a stable 24VDC power. The converted DC power directly provides real-time power support for the robot's core working components such as the drive motor 7 and the main drive board 14, ensuring the normal operation of the robot. On the other hand, it charges the supercapacitor plate 12 set on the other side of the connecting frame 17. The supercapacitor plate 12 plays the role of power storage and emergency protection. When the power supply system experiences a brief fluctuation or the power line 3 experiences local signal instability, the supercapacitor plate 12 can quickly release electrical energy to ensure that the robot will not stop working due to power interruption and maintain the continuity and stability of operation. The drive mechanism is the key part that propels the robot to move. Its operation is coordinated and orderly. Two sets of drive mechanisms are symmetrically arranged on the connecting frames 17 on both sides of the front and rear wheel connecting plates 16 of the robot. Each set of drive mechanisms consists of a drive motor 7, a reducer 20 and an anti-rollover wheel 6. When the robot receives the running command, the main drive plate 14 sends a start signal to the drive motor 7. The drive motor 7 then starts and outputs high-speed power. Since the speed output by the drive motor 7 is too high, it is not suitable to directly drive the anti-rollover wheel 6. Therefore, the speed needs to be adjusted by the reducer 20. The reducer 20 is connected to the drive motor 7 and can reduce the high speed output by the drive motor 7 to the speed that meets the operating requirements of the anti-rollover wheel 6. At the same time, it increases the torque to ensure that the anti-rollover wheel 6 obtains sufficient driving force. The power adjusted by the reducer 20 is transmitted to the anti-rollover wheel 6, which drives the anti-rollover wheel 6 to rotate, thereby driving the entire robot to move along the track. During the operation of the drive mechanism, the anti-rollover wheel adjustment block A10 and anti-rollover wheel adjustment block B9 located on the side of the connecting frame 17 and below the reducer 20 play an important auxiliary role. These two adjustment blocks can make fine adjustments to the position and angle of the anti-rollover wheel 6 according to the actual situation of the track and the posture changes of the robot during operation. Through adjustment, it can be ensured that the anti-rollover wheel 6 is always in close contact with the track, avoiding the robot from rolling over during high-speed operation or turning, and improving the stability and safety of the robot operation. The robot's positioning and navigation system mainly relies on the coordinated work of the height barcode reader 13, the main drive board 14, and the dual-band industrial WIFI module to achieve precise positioning and intelligent navigation. The height barcode reader 13 is installed inside the connecting frame 17 and below the main drive board 14. Its height matches the position of the QR code on the track, enabling it to read the QR code information set on the track surface in real time during robot operation. The read QR code information is transmitted to the main drive board 14 in real time. The main drive board stores complete map data of the robot's operating area. The main drive board 14 compares and analyzes the real-time QR code information transmitted by the height barcode reader 13 with the internally stored map data. By calculating the coordinate position corresponding to the QR code, the precise position of the robot is determined. At the same time, the main drive board 14 will also plan the best running route based on the robot's target position and the map data, and adjust the robot's running direction and speed according to the real-time positioning information to ensure that the robot can move accurately to the target position along the planned route. During the positioning and navigation process, the 2.4GHz / 5GHz dual-band industrial WIFI module plays a crucial communication role. The 2.4GHz band is mainly used for network AP switching and roaming when the robot is running in large spaces and over long distances, ensuring that the robot maintains a stable network connection during movement and will not lose its positioning and navigation capabilities due to network interruptions. The 5GHz band is dedicated to the transmission of instructions and status reporting between the robot and the dispatch center. The dispatch center can send target location instructions to the robot through the 5GHz band, and the robot will also provide real-time feedback on its operating status and location information to the dispatch center. This dual-band division of labor in communication greatly reduces communication pressure and latency, ensures timely transmission and response of positioning and navigation instructions, and further improves the accuracy of robot positioning and the reliability of navigation. To ensure the robot's safe operation and facilitate control, the robot is also equipped with safety and auxiliary components such as a TOF sensor 4 and a start button 5. The TOF sensor 4 is installed on the bottom side of the front and rear wheel connecting plate 16 and the fixed plate 18 on the surface of the connecting frame 17. Its working principle is to determine the distance between the sensor and the obstacle in front by emitting light signals and receiving reflected light signals and calculating the flight time of the light signals. During the operation of the robot, the TOF sensor 4 will continuously scan the track in front and the surrounding environment to monitor whether there are obstacles in real time. When an obstacle is detected in front and the distance reaches the preset safety threshold, the TOF sensor 4 will immediately send an alarm signal to the main drive board 14. After receiving the alarm signal, the main drive board 14 will quickly issue a stop command to control the drive motor 7 to stop running, so as to prevent the robot from colliding with the obstacle and ensure the safety of the robot and surrounding equipment. The start button 5 is also located on the surface of the fixed plate 18, next to the TOF sensor 4. It is the manual start control component for the robot. When the operator ensures that the surrounding environment of the robot is safe and all equipment is in normal working order, the operator can press the start button 5. The button will send a start trigger signal to the main drive board 14. After receiving the signal, the main drive board 14 will start the power supply system, drive mechanism and other related components according to the preset program, so that the robot enters the standby state. In addition, the start button 5 also has an emergency stop linkage function. In an emergency, pressing and holding the start button 5 can trigger the robot's emergency stop program, further improving the safety of robot operation. Meanwhile, the bottom cover 19 at the bottom of the outer cover 15 can effectively protect the core electrical components such as the wireless power rectifier 1 and the C-type power 2 installed inside the outer cover 15, preventing dust, moisture, impurities and other contaminants from entering the components and affecting their normal operation, extending their service life and ensuring the overall reliability of the robot's operation.

[0030] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A wirelessly powered track robot, characterized in that, include: The front and rear wheel connecting plate (16) is provided with an outer cover (15) at the bottom four corners of the front and rear wheel connecting plate (16). A connecting frame (17) is provided at the bottom four corners of the outer cover (15) on one side of the outer cover (15). A wireless power rectifier (1) is provided inside the outer cover (15) on one side of the connecting frame (17). A C-type power rectifier (2) is provided at the bottom of the wireless power rectifier (1). A power cord (3) is provided at the bottom of the C-type power rectifier (2). Power is drawn from the magnetic lines of the power cord (3) by sliding the C-type power rectifier (2). The 24VDC voltage is output through the wireless power rectifier (1) to power the robot. Another set of connecting frames (17) is provided with a drive mechanism on the side. The drive motor (7) of the drive mechanism drives multiple sets of anti-rollover wheels (6) to move so as to drive the robot to move.

2. The wirelessly powered track robot according to claim 1, characterized in that, The drive mechanism includes a reducer (20) connected to the side of the connecting frame (17), and a drive motor (7) connected to one side of the reducer (20), and an anti-rollover wheel (6) connected to the side of the connecting frame (17), and the reducer (20) is used to drive the anti-rollover wheel (6).

3. The wirelessly powered track robot according to claim 1, characterized in that, The side of the connecting frame (17) is located below the reducer (20) and is connected to the anti-rollover wheel adjustment block A (10). The side of the anti-rollover wheel adjustment block A (10) is connected to the anti-rollover wheel adjustment block B (9).

4. The wirelessly powered track robot according to claim 1, characterized in that, Another set of connecting frames (17) has a main drive plate (14) connected to its side, and a supercapacitor plate (12) is provided on the other side of the connecting frame (17).

5. The wirelessly powered track robot according to claim 4, characterized in that, The inner side of the connecting frame (17) is provided with a height reader (13) located below the main drive plate (14).

6. The wirelessly powered track robot according to claim 1, characterized in that, The bottom side of the front and rear wheel connecting plate (16) is provided with a fixing plate (18) on the surface of the connecting frame (17), and a TOF sensor (4) is provided on the surface of the fixing plate (18).

7. The wirelessly powered track robot according to claim 6, characterized in that, The surface of the fixing plate (18) is provided with a start button (5) on one side of the TOF sensor (4).

8. The wirelessly powered track robot according to claim 1, characterized in that, The bottom of the outer cover (15) is provided with a bottom cover (19).

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