A charging distance positioning method for a wireless charging device based on a track robot

Abstract

The present invention discloses a method for positioning the charging distance of a wireless charging device based on a rail robot, comprising the following steps: the rail robot travels on a track, and the movement of the rail robot on the track is converted into the displacement movement of the wireless charging device relative to the rail robot through a slope. The problem that the rail robot cannot automatically adjust the distance between the positioning and the wireless charging device according to different usage scenarios is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of rail robot charging, and in particular to a charging distance positioning method for a wireless charging device based on a rail robot. Background Art

[0002] At present, rail robots need to use batteries to provide driving energy. When the battery is low, they need to be recharged. Wireless charging is a more convenient and easy-to-use charging method.

[0003] When the track robot is traveling on the track, the track robot will swing due to the dimensional error of the track, resulting in an unstable relative position between the track robot and the wireless charging device. In addition, other functional devices such as cameras are usually provided underneath the track robot.

[0004] In the prior art, the optimal charging distance of wireless charging is relatively small. If the wireless charging device is fixed at the optimal charging position, the swinging of the track robot during its movement may cause a direct collision with the wireless charging device, or a collision between the wireless charging device and other functional devices provided under the track robot. When the wireless charging device is fixed at a position where collision is less likely to occur, the charging effect will be greatly reduced. Summary of the invention

[0005] To this end, the present invention provides a charging distance positioning method for a wireless charging device based on a track robot to solve the problem in the prior art that the track robot cannot automatically adjust the distance between the positioning and the wireless charging device according to different usage scenarios.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A charging distance positioning method for a wireless charging device based on a track robot comprises the following steps:

[0008] The track robot travels on the track, and the travel motion of the track robot on the track is converted into the displacement motion of the wireless charging device relative to the track robot through the slope.

[0009] On the basis of the above technical solution, the present invention is further described as follows:

[0010] As a further solution of the present invention, the steps specifically include:

[0011] The track robot travels on the track, and the travel motion of the track robot on the track is converted into the displacement motion of the wireless charging device toward / backwards from the track robot through the mutual force between the slope surface of the track robot and the wireless charging device.

[0012] As a further solution of the present invention, the steps further include:

[0013] The swing arm rotates around a fixed hinge center, and the other hinge center thereof moves synchronously with the wireless charging device.

[0014] As a further solution of the present invention, the steps further include:

[0015] When the wireless charging device moves to the charging position, the wireless charging device is restricted from swinging.

[0016] The present invention has the following beneficial effects:

[0017] The method enables the wireless charging device to be close to the rail robot when the rail robot is charging, and to be away from the rail robot when the rail robot is not charging, so that the rail robot and other devices arranged outside the non-charging area on it will not collide with the wireless charging device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the implementation mode of the present invention or the technical solution in the prior art, the drawings required for the implementation mode or the description of the prior art will be briefly introduced below. The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0019] Figure 1 This is a schematic diagram of the overall assembly structure of the device for locating the charging distance provided in Example 1 or 2 of the present invention.

[0020] Figure 2 A schematic diagram of the structure of a rail robot in the device for positioning charging distance provided in Embodiment 1 or 2 of the present invention.

[0021] Figure 3 A schematic diagram of the lifting frame structure in the device for positioning charging distance provided in Example 1 of the present invention.

[0022] Figure 4 A schematic diagram of the coordination status between the lifting frame and the rail robot in the device for positioning the charging distance provided in Example 1 of the present invention.

[0023] Figure 5 A schematic diagram of the coordination status between the lifting frame and the rail robot in the device for positioning the charging distance provided in Example 3 of the present invention.

[0024] Figure 6A schematic diagram of the lifting frame structure in the device for positioning the charging distance provided in Example 4 of the present invention.

[0025] Figure 7 A schematic diagram of the overall process of a charging distance positioning method for a wireless charging device based on a rail robot provided in an embodiment of the present invention.

[0026] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0027] Charging compartment 1; Track 2;

[0028] Track robot 3, battery 3-1, slope surface 1 3-2, slope surface 2 3-3, bottom surface 1 3-4, bottom surface 2 3-5, top surface 3-6;

[0029] Wireless charging device 4; connecting rod 5;

[0030] Lifting frame 6, lifting frame body 6-1, sliding bar 1 6-2, sliding bar 2 6-3, sliding bar 3 6-4, shaft 6-5;

[0031] Swing arm 7; bracket 8. DETAILED DESCRIPTION

[0032] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] The terms such as "upper", "lower", "left", "right", and "middle" used in this specification are only for the convenience of description and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships should be regarded as within the scope of the invention without substantially changing the technical content.

[0034] like Figures 1 to 6 As shown, an embodiment of the present invention provides a device for positioning charging distance, including a charging compartment 1, a track 2, a track robot 3, a wireless charging device 4, a connecting rod 5, a lifting frame 6, a swing arm 7 and a bracket 8, so that the track robot 3 can simultaneously avoid collision with the wireless charging device 4 when traveling on the track 2, and can be at an optimal charging distance with the wireless charging device 4 by means of the coordinated work of the connecting rod 5, the lifting frame 6, the swing arm 7 and the bracket 8 during the process of entering the charging compartment 1 for wireless charging, thereby effectively reducing the possibility of collision between the track robot 3 and the wireless charging device in the non-charging area while ensuring the optimal charging distance during charging. The specific settings are as follows:

[0035] Embodiment 1

[0036] like Figure 1 As shown, the charging compartment 1 is fixed to the track 2, and the track robot 3 is slidably assembled with the track 2, so that the track robot 3 can travel on the track 2 along its extension direction and pass through the charging compartment 1. The wireless charging device 4 is placed in the charging compartment 1, and the wireless charging device 4 is located on one side of the track 2, so that the track robot 3 can travel through the wireless charging device 4 and be charged with the help of the wireless charging device 4.

[0037] like Figure 1 to Figure 2 As shown, the rail robot 3 is provided with a battery 3-1 at one side end facing the wireless charging device 4, so as to correspond between the wireless charging device 4 and the battery 3-1, making it easier to charge the battery 3-1 and adjust the optimal charging distance with the wireless charging device 4.

[0038] The sides of the rail robot 3 are respectively provided with an adjustment block located in the middle and limit plates located on both sides of the bottom of the adjustment block, wherein the adjustment block has a slope surface 1 3-2 and a slope surface 2 3-3 that are relatively inclined, and the distance between the slope surface 1 3-2 and the slope surface 2 3-3 is gradually reduced from bottom to top, so as to achieve the distance adjustment between the wireless charging device 4 and the battery 3-1 through the slope surface 1 3-2 and the slope surface 2 3-3; the limit plate close to the slope surface 1 3-2 is provided with a bottom surface 1 3-4, and the limit plate close to the slope surface 2 3-3 is provided with a bottom surface 2 3-5, so as to achieve the distance and position limitation of the wireless charging device 4 when it approaches the battery 3-1 through the bottom surface 1 3-4 and the bottom surface 2 3-5.

[0039] Please continue to refer to Figure 1 The bottom end of the lifting frame 6 is fixedly connected to the wireless charging device 4 through the connecting rod 5, the bracket 8 is fixedly connected to the charging bin 1, and the bracket 8 is hinged to one end of the swing arm 7, and the top end of the lifting frame 6 is hinged to the other end of the swing arm 7.

[0040] Specifically, Figure 3 and Figure 4As shown, the lifting frame 6 includes a lifting frame body 6-1, a slide bar 1 6-2, a slide bar 2 6-3, a slide bar 3 6-4 and a shaft 6-5; wherein the lifting frame body 6-1 is a cross-shaped frame body, the slide bar 1 6-2 is fixedly connected to one side of the top end of the cross-shaped lifting frame body 6-1, and is used to respectively cooperate with the slope 1 3-2 and the slope 2 3-3 through the slide bar 1 6-2; the slide bar 2 6-3 and the slide bar 3 6-4 are respectively fixedly connected to the cross-shaped lifting frame body 6- The two side ends of 1 are used to limit the corresponding position between the slide bar 2 6-3 and the bottom surface 1 3-4, and the corresponding position between the slide bar 3 6-4 and the bottom surface 2 3-5, so as to prevent the slide bar 1 6-2 from continuing to move upward due to its own inertia when it has reached the top between the slope surface 1 3-2 and the slope surface 2 3-3, thereby causing a collision between the wireless charging device 4 and the battery 3-1; the shaft 6-5 is fixedly connected to the other side of the top of the cross-shaped lifting frame body 6-1, and is used to be hinged between the shaft 6-5 and the other end of the swing arm 7.

[0041] The embodiment of the present invention also provides a Figure 7 The charging distance positioning method of the wireless charging device based on the track robot shown specifically includes the following steps:

[0042] When the track robot 3 is traveling based on the extension direction of the track 2 , at this time, a predetermined distance is maintained between the battery 3 - 1 of the track robot 3 and the wireless charging device 4 to avoid collision.

[0043] When the battery 3-1 of the track robot 3 needs to be supplemented with electric energy, the track robot 3 moves into the charging compartment 1 based on the track 2, and the slide bar 6-2 arranged at the top of the cross-shaped lifting frame body 6-1 interacts with the slope 3-2 arranged on the track robot 3; as the track robot 3 continues to move, under the combined force of the swing arm 7 and the bracket 8, the slide bar 6-2 gradually moves upward along the slope 3-2, and at this time the cross-shaped lifting frame body 6-1 moves upward as a whole, and the wireless charging device 4 connected to the bottom end of the cross-shaped lifting frame body 6-1 moves upward synchronously with the lifting frame body 6-1 and gradually approaches the battery 3-1 of the track robot 3, until when the slide bar 6-2 moves to the top of the slope 3-2, the charging distance of the wireless charging device 4 to the battery 3-1 is within the range of 1. At this time, the sliding bar 2 6-3 arranged at one side end of the cross-shaped lifting frame body 6-1 is close to the bottom surface 1 3-4 arranged on the track robot 3 or contacts with the bottom surface 1 3-4, and the sliding bar 3 6-4 arranged at the other side end of the cross-shaped lifting frame body 6-1 is close to the bottom surface 2 3-5 arranged on the track robot 3 or contacts with the bottom surface 2 3-5, and the bottom surface 1 3-4 limits the sliding bar 2 6-3 to move upward, and the bottom surface 2 3-5 limits the sliding bar 3 6-4 to move upward, so as to prevent the lifting frame body 6-1 from continuing to drive the wireless charging device 4 to move upward under the influence of its own inertia, and at the same time, it can also prevent the lifting frame body 6-1 from swinging based on the sliding bar 1 6-2, so that the relative position of the wireless charging device 4 and the battery 3-1 at the optimal charging distance remains stable.

[0044] If the rail robot 3 enters the charging compartment 1 in the opposite direction, the slide bar 1 6-2 interacts with the slope 2 3-3 provided on the rail robot 3 to move the wireless charging device 4 upward, and the wireless charging device 4 approaches the battery 3-1 of the rail robot 3 until the optimal charging distance is reached.

[0045] After charging is completed, the track robot 3 continues to move forward or backward based on the track 2, and the slide bar 6-2 continues to move downward along the slope 1 3-2 or the slope 2 3-3 after moving upward, and the wireless charging device 4 moves downward accordingly, gradually moving away from the battery 3-1 of the track robot 3.

[0046] Embodiment 2

[0047] In this embodiment, the same symbols are given to the same structures as those in the first embodiment, and the same descriptions are omitted. The second embodiment is improved on the basis of the first embodiment. Please refer to Figure 1 to Figure 2 A horizontal top surface 3-6 is provided between the top of the slope surface 1 3-2 and the top of the slope surface 2 3-3.

[0048] The advantage of this embodiment is that the horizontal top surface 3-6 can make the position of the wireless charging device 4 at the optimal charging distance more stable, and at the same time, it is easier to adjust the front and rear relative position between the track robot 3 and the wireless charging device 4 while maintaining the optimal charging distance, and the flexibility of application is higher. Figure 4 .

[0049] Embodiment 3

[0050] In this embodiment, the same symbols are given to the same structures as those in the first and second embodiments, and the same descriptions are omitted. The difference between the third embodiment and the first and second embodiments is that please refer to Figure 5 At least one of the limit blocks is higher than the adjustment block at the setting position of the track robot 3. Optionally, the bottom surface 3-5 is higher than the top surface 3-6 at the setting position of the track robot 3.

[0051] Correspondingly, the lifting frame body 6-1 adopts a non-cross-shaped frame body, and the setting position of the sliding bar three 6-4 is higher than the sliding bar one 6-2.

[0052] The benefit of this embodiment is that when the wireless charging device 4 and the battery 3-1 are at the optimal charging distance, the slide bar 2 6-3 can be close to the bottom surface 1 3-4 or in contact with the bottom surface 1 3-4, and the slide bar 3 6-4 is close to the bottom surface 2 3-5 or in contact with the bottom surface 2 3-5. The bottom surface 1 3-4 limits the upward movement of the slide bar 2 6-3, and the bottom surface 2 3-5 limits the upward movement of the slide bar 3 6-4. It can also prevent the lifting frame body 6-1 from continuing to drive the wireless charging device 4 to move upward due to its own inertia, and the lifting frame body 6-1 from swinging based on the slide bar 1 6-2, so that the wireless charging device 4 and the battery 3-1 can continue to remain stable when they are in a relative position at the optimal charging distance, thereby improving the functional stability and applicability of the structure.

[0053] It can be seen that no matter where the adjustment block and the limit plate are arranged on the track robot 3, as long as the vertical distance between the bottom end of the slide bar 1 6-2 and the top surface 3-6, the vertical distance between the top end of the slide bar 2 6-3 and the bottom surface 1 3-4, and the vertical distance between the top end of the slide bar 3 6-4 and the bottom surface 2 3-5 are all equal, the above-mentioned expected function can be achieved.

[0054] Embodiment 4

[0055] In this embodiment, the same symbols are given to the same structures as those in the first to third embodiments, and the same descriptions are omitted. The fourth embodiment is improved on the basis of the second embodiment. Please refer to Figure 6The slide bar 1 6-2, the slide bar 2 6-3, and the slide bar 3 6-4 are all configured as rollers.

[0056] The benefit of this embodiment is that the rotation of the rollers can effectively reduce the friction during operation, so that the movement of the lifting frame 6 relative to the track robot 3 is smoother, thereby improving the functional practicality.

[0057] Embodiment 5

[0058] In this embodiment, the same symbols are given to the same structures as those in the first to fourth embodiments, and the same descriptions are omitted. The fifth embodiment is improved on the basis of the third or fourth embodiment. Please refer to Figure 3 The axis of the shaft 6-5 and the center of the slide bar 6-2 are on the same rotation axis.

[0059] The benefit of this embodiment is that this arrangement can achieve better transmission cooperation between the lifting frame 6 and the swing arm 7, thereby making the lifting movement of the wireless charging device 4 driven by the lifting frame 6 more stable.

[0060] Embodiment 6

[0061] In this embodiment, the same symbols are given to the same structures as those in Embodiments 1 to 5, and the same descriptions are omitted. Embodiment 6 is an improvement on Embodiment 5, and the hinges between the swing arm 7 and the lifting frame 6 and the bracket 8 are respectively in the form of frictionless flexible hinges.

[0062] The benefit of this embodiment is that the arrangement can better improve the functional coordination of the device operation by reducing friction, while reducing friction damage and increasing the service life of the structure.

[0063] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A charging distance positioning method for a wireless charging device based on a track robot, It is characterized in that The following steps are involved: The track robot (3) travels on the track (2), and the travel motion of the track robot (3) on the track (2) is converted into a displacement motion of the wireless charging device (4) relative to the track robot (3) through the slope; When the track robot is traveling based on the extension direction of the track, a predetermined distance is maintained between the battery of the track robot and the wireless charging device to avoid collision; When the battery of the rail robot needs to be replenished with electric energy, the rail robot enters the charging compartment based on the rail, and the slide bar 1 arranged at the top of the cross-shaped lifting frame body interacts with the slope 1 arranged on the rail robot; as the rail robot continues to move, under the combined force of the swing arm and the bracket, the slide bar 1 gradually moves upward along the slope 1, and at this time the cross-shaped lifting frame body moves upward as a whole, and the wireless charging device connected to the bottom end of the cross-shaped lifting frame body moves upward synchronously with the lifting frame body and gradually approaches the battery of the rail robot, until when the slide bar 1 moves to the top of the slope 1, the wireless charging device charges the battery The distance is optimal; at this time, the sliding bar 2 arranged at one side end of the cross-shaped lifting frame body is close to the bottom surface 1 arranged on the track robot or contacts the bottom surface 1, and the sliding bar 3 arranged at the other side end of the cross-shaped lifting frame body is close to the bottom surface 2 arranged on the track robot or contacts the bottom surface 2, the bottom surface 1 restricts the sliding bar 2 from moving upward, and the bottom surface 2 restricts the sliding bar 3 from moving upward, so as to prevent the lifting frame body from continuing to drive the wireless charging device to move upward under the influence of its own inertia, and at the same time, it can also prevent the lifting frame body from swinging based on the sliding bar 1, so that the relative position of the wireless charging device and the battery at the optimal charging distance remains stable; If the rail robot enters the charging compartment in the opposite direction to the above, the slide bar 1 interacts with the slope 2 provided on the rail robot to make the wireless charging device move upward, and the wireless charging device and the battery of the rail robot are close until the optimal charging distance is reached; after charging is completed, the rail robot continues to move forward or backward based on the track, and the slide bar 1 continues to move downward along the slope 1 or slope 2 after moving upward, and the wireless charging device moves downward accordingly, gradually moving away from the battery of the rail robot; The bracket is fixed to the charging compartment, and the bracket is hinged to one end of the swing arm, and the top end of the lifting frame is hinged to the other end of the swing arm; A positioning block located in the middle is arranged on the side of the track robot, and the positioning block has a first slope and a second slope which are arranged to be inclined relative to each other.

2. The charging distance positioning method of the wireless charging device based on the rail robot according to claim 1, It is characterized in that The steps specifically include: The track robot (3) travels on the track (2), and through the mutual force between the slope surface provided on the track robot (3) and the wireless charging device (4), the travel motion of the track robot (3) on the track (2) is converted into the displacement motion of the wireless charging device (4) towards / backwards from the track robot (3).

3. The charging distance positioning method of the wireless charging device based on the rail robot according to claim 1 or 2, It is characterized in that The steps also include: The swing arm (7) rotates around a fixed hinge center thereof, and the other hinge center thereof moves synchronously with the wireless charging device (4).

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