Automatic charging device for quadruped robot and method of using same

Abstract

The present application relates to the technical field of robot charging equipment, and particularly relates to an automatic charging device for a quadruped robot and a use method thereof, which comprises a power receiving module arranged on a robot body and a charging module arranged on an external platform, the power receiving module comprises a power receiving interface arranged on the robot body, the charging module comprises a floating charging base, a charging connector electrically connected with the floating charging base, and an adjusting mechanism arranged between the floating charging base and the charging connector, the adjusting mechanism comprises an electric push rod, a first driving unit, a second driving unit, and a transmission device arranged at a connection position of the first driving unit and the second driving unit, the electric push rod provides power for the first driving mechanism, then the second driving mechanism is driven to work through meshing transmission of the gear one and the gear two, and then the position adjustment of the charging connector 3 in the X direction and the Y direction is realized, and the automatic charging work in a large range is realized without increasing the weight and the cost of the robot body.

Description

Technical Field

[0001] This invention relates to the field of robot charging equipment technology, and in particular to a charging device for quadruped robots and its usage method. Background Technology

[0002] The difference between quadruped robots and conventional wheeled robots is that quadruped robots move their bodies by moving their legs. They have more moving parts, making it more difficult to control their positioning accuracy. In addition, quadruped robots need to squat down when charging, which can also cause the body to shift.

[0003] On the other hand, quadruped robots are limited by their body size, so the batteries they carry are generally not very large. If additional sensors are added to improve positioning accuracy, the battery life will be further reduced.

[0004] Therefore, it is essential to design a lightweight and reliable automatic charging device suitable for quadruped robots.

[0005] During operation, a quadruped robot has six degrees of freedom of movement in space. For reliable charging, each degree of freedom must be within a certain error range. The general approach to achieving automatic charging for quadruped robots involves improving the robot's sensor performance to ensure high positioning accuracy. Then, the robot crouches down, and an additional device connects the charging connector. However, during the crouching process, as the robot descends, the power receiving interface swings, causing an error between the power receiving port and the charging connector 3 at the lowest point, preventing connection and thus hindering automatic charging. Summary of the Invention

[0006] To reduce the robot's weight and lower costs, this invention proposes a novel automatic charging device for quadruped robots and its usage method. First, the robot only needs to reach the designated area with relatively loose positioning accuracy. Then, the quadruped robot performs a squatting motion, followed by an upward swinging motion of its four legs, causing the robot's bottom (or footrest) to contact the ground. At this point, the robot's three degrees of freedom (pitch, roll, and Z-axis movement) are constrained. Furthermore, even on ordinary paved surfaces, the Z-axis accuracy is relatively ideal. Therefore, it is only necessary to ensure that the X, Y, and yaw angles meet the acceptable error limits during the docking process.

[0007] The present invention is achieved through the following technical solution: an automatic charging device for a quadruped robot, comprising a power receiving module disposed on the robot body and a charging module disposed on an external platform, wherein the power receiving module comprises a battery disposed inside the robot body and a power receiving interface located on the side wall of the robot body.

[0008] The charging module includes a floating charging base, a charging connector electrically connected to the floating charging base, and an adjustment mechanism located between the floating charging base and the charging connector. The adjustment mechanism includes an electric push rod, a first drive unit, a second drive unit, and a transmission device located at the connection between the first drive unit and the second drive unit.

[0009] The fixed end of the electric push rod is set on the upper surface of the floating charging base, and the movable end is connected to the first drive unit;

[0010] The transmission device includes an adapter plate, one end of the upper surface of the adapter plate is provided with a meshing gear 1 and a gear 2, and the lower surface of the adapter plate is provided with a support wheel set 1.

[0011] The first drive unit includes a long connecting rod 1, a fixed short connecting rod, and a long connecting rod 2 located above the adapter plate and distributed in a parallelogram shape with one side of the adapter plate. The middle part of the long connecting rod 1 is connected to the electric push rod, and the long connecting rod 2 is connected to the gear 1.

[0012] The second drive includes a long connecting rod three, a sliding short connecting rod, and a long connecting rod four located below the adapter plate and arranged in a parallelogram shape with one side of the adapter plate. The long connecting rod four is connected to the gear two, and the sliding short connecting rod is connected to the charging connector.

[0013] Furthermore, the charging connector includes an adjusting docking seat connected to a sliding short connecting rod. The two ends of the adjusting seat are provided with hemispherical positioning seats for mounting. A spherical adapter is provided inside the hemispherical positioning seat. A charging contact is provided on the outer side wall of the spherical adapter. A second set of support wheels is provided on the lower surface of the adjusting docking seat.

[0014] Furthermore, both ends of the upper surface of the adjusting dock are provided with fine-tuning grooves, and the lower surface of the sliding short connecting rod is provided with a sliding connecting block located in the fine-tuning groove.

[0015] Furthermore, the floating charging base includes a housing, one end of which is provided with a touch switch, and the other end is provided with a sliding base that works in conjunction with the touch switch.

[0016] Furthermore, the sliding seat includes a transition slider connected to the electric push rod, the upper part of the transition slider is provided with a contact piece for use with a touch switch, and the lower part of the transition slider is provided with a return spring between it and the side wall of the housing.

[0017] Furthermore, there are multiple power receiving interfaces, all of which are distributed on the sidewalls of the robot body.

[0018] Furthermore, a protective plate is provided on the lower surface of the robot body, and anti-slip pads are provided on the lower surface of the protective plate.

[0019] The method for using the automatic charging device of this quadruped robot includes the following steps:

[0020] Step 1: When the quadruped robot detects that its battery is low, it moves to the charging area;

[0021] Step 2: After arriving at the charging area, the quadruped robot squats down and raises all four legs. Once the anti-slip feet touch the ground, it enters the charging standby state.

[0022] Step 3: Once the quadruped robot enters the charging state, it checks the communication signal and sends a charging command to the charging module.

[0023] Step 4: After receiving the charging command, the electric push rod starts working, pushing the charging connector 3 forward;

[0024] Step 5: During the forward movement of the charging connector 3, the charging connector 3 connects with the power receiving interface. After successful connection, the contact piece adheres to the touch switch and sends a charging signal to the control template to start charging. At the same time, the electric push rod stops pushing.

[0025] Step Six: When the battery is finished charging, a charging completion signal is sent to the charging module. At this time, the electric push rod retracts, the charging connector disengages from the power receiving interface, the sliding seat moves forward under the action of the return spring, and the electric push rod continues to retract to reset the charging module.

[0026] The beneficial effects of the present invention are as follows: 1. The automatic charging device and its method of use for the quadruped robot provide power to the first drive mechanism through an electric push rod, and then drive the second drive mechanism to work through the meshing transmission of gear one and gear two, thereby realizing the position adjustment of the charging connector 3 in the X and Y directions, and realizing automatic charging operation in a large range without increasing the weight of the robot body and the cost.

[0027] 2. An adjustable docking seat is provided at the charging connector 3. The charging contacts can be adjusted in multiple directions by the setting of the spherical adapter and the hemispherical positioning seat, which facilitates the fit between the charging contacts and the receiving contacts.

[0028] 3. The upper surface of the adjustment dock is provided with a fine adjustment groove. The fine adjustment groove can make the adjustment dock tilt by a certain amount. When the robot body is tilted, the charging connector 3 and the power receiving interface can still be connected. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 This is a side view of the robot body in this invention;

[0031] Figure 3 This is a top view of the adjusting mechanism in this invention;

[0032] Figure 4 This is a side view of the adjusting mechanism in this invention;

[0033] Figure 5 This is a schematic diagram of the floating charging base in this invention;

[0034] Figure 6 This is a cross-sectional view of the floating charging dock in this invention;

[0035] Figure 7 This is a schematic diagram of the charging connector in this invention;

[0036] Figure 8 This is a top view of the charging connector in this invention;

[0037] Figure 9 This is a schematic diagram of the spherical adapter in this invention.

[0038] Wherein: 1-Robot body; 11-Power receiving interface; 12-Protective plate; 13-Anti-slip pads; 2-Floating charging base; 21-Shell; 22-Touch switch; 23-Sliding base; 24-Adapter slider; 25-Contact piece; 26-Reset spring; 3-Charging connector; 31-Adjusting docking seat; 311-Fine-tuning groove; 312-Sliding connecting block; 313-Hemispherical positioning seat; 32-Spherical adapter; 33-Charging... Electrical contact; 34-Support wheel set two; 4-Adjustment mechanism; 41-Electric push rod; 42-First drive unit; 421-Long connecting rod one; 422-Fixed short connecting rod; 423-Long connecting rod two; 43-Second drive unit; 431-Long connecting rod three; 432-Sliding short connecting rod; 433-Long connecting rod four; 44-Transmission device; 441-Adapter plate; 442-Gear one; 443-Gear two; 444-Support wheel set one. Detailed Implementation

[0039] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Example 1

[0042] like Figure 1-9 As shown, an automatic charging device for a quadruped robot includes a power receiving module mounted on the robot body 1 and a charging module mounted on an external platform. The power receiving module includes a battery mounted inside the robot body 1 and a power receiving interface 11 located on the side wall of the robot body 1. A protective plate 12 is provided on the lower surface of the robot body 1, and anti-slip pads 13 are provided on the lower surface of the protective plate 12. The protective plate 12 plays a protective role during the quadruped robot's squatting process. After the anti-slip pads 13 come into contact with the ground, they ensure that the vertical height (Z-axis height) of the power receiving interface 11 remains fixed and does not change.

[0043] The charging module includes a floating charging base 2, a charging connector 3 electrically connected to the floating charging base 2, and an adjustment mechanism 4 located between the floating charging base 2 and the charging connector 3. The adjustment mechanism 4 includes an electric push rod 41, a first drive unit 42, a second drive unit 43, and a transmission device 44 located at the connection between the first drive unit 42 and the second drive unit 43. The electric push rod 41 drives the first drive unit 42, which in turn drives the second drive unit 43 to move. Under the drive of the second drive unit 43, the charging connector 3 moves toward the power receiving interface 11. While keeping the height (Z direction) constant, the X and Y directions are adjusted. This overcomes the problem that the charging receiving module and the charging module are not easy to connect. Compared with the existing technology, it can connect the charging connector 3 and the power receiving interface 11 for charging within a larger error range, and avoid the body swaying when the quadruped robot squats affecting the connection of the charging port.

[0044] The fixed end of the electric push rod 41 is set on the upper surface of the floating charging base 2, the floating charging base 2 is fixedly connected to the side wall of the platform, and the movable end is connected to the first drive unit 42.

[0045] The transmission device 44 includes a transition plate 441. One end of the upper surface of the transition plate 441 is provided with a gear 442 and a gear 443 that mesh with each other. Both gear 442 and gear 443 are semi-circular. The lower surface of the transition plate 441 is provided with a support wheel assembly 444. The support wheel assembly 444 includes a support rod connected to the middle of the transition plate 441. The lower end of the support rod is provided with a crossbar, and both ends of the crossbar are equipped with traveling wheels.

[0046] The first drive unit 42 includes a long connecting rod 421, a fixed short connecting rod 422, and a long connecting rod 423 located above the adapter plate 441 and arranged in a parallelogram shape with one side of the adapter plate 441. The adapter plate 441, the long connecting rod 421, the fixed short connecting rod 422, and the long connecting rod 423 are connected end to end, and each connection point is provided with a rotating shaft. The middle part of the long connecting rod 421 is connected to the electric push rod 41, and the long connecting rod 423 is connected to the gear 442. A rotating shaft is provided between the long connecting rod 423, the gear 442, and the adapter plate 441 to ensure that the three rotate synchronously under the drive of the rotating shaft.

[0047] The second drive includes a long connecting rod 3 431, a sliding short connecting rod 432, and a long connecting rod 433 located below the adapter plate 441 and arranged in a parallelogram shape with one side of the adapter plate 441. The adapter plate 441, the long connecting rod 3 431, the sliding short connecting rod 432, and the long connecting rod 433 are connected end to end, and each connection point is provided with a rotating shaft. The long connecting rod 433 is connected to the gear 2 443. The connection point of the gear 2 443, the adapter plate 441, and the long connecting rod 433 is provided with a rotating shaft to ensure that the three rotate synchronously. The sliding short connecting rod 432 is connected to the charging connector 3.

[0048] The first and second driving devices are two intersecting parallelograms. When the electric actuator 41 drives the first driving device, the angle between the long connecting rod 421 and the fixed short connecting rod 422 changes. The long connecting rod 423 remains parallel to the long connecting rod 421 and rotates accordingly. The gear 442 at the end of the long connecting rod 423 also rotates. The gear 442 meshes with the gear 443, which in turn drives the long connecting rod 433 to rotate. After the angle between the long connecting rod 433 and the sliding short connecting rod 432 changes, it pushes the short connecting rod to move forward, thereby pushing the charging connector 3 to connect with the power receiving interface 11 for charging.

[0049] The charging connector 3 includes an adjusting docking seat 31 connected to a sliding short connecting rod 432. Both ends of the adjusting seat are provided with hemispherical positioning seats 313 for mounting. A spherical adapter 32 is provided inside the hemispherical adapter. A charging contact 33 is provided on the outer side wall of the spherical adapter 32. A support wheel set 34 is provided on the lower surface of the adjusting docking seat 31. The spherical adapter 32 is rotatably connected to the hemispherical positioning seat 313, so that the charging contact 33 can be adjusted at multiple angles at the end of the adjusting docking seat 31.

[0050] Both ends of the upper surface of the adjusting docking seat 31 are provided with fine-tuning grooves 311. The lower surface of the sliding short connecting rod 432 is provided with a sliding connecting block 312 located in the fine-tuning groove 311. The sliding connecting block 312 slides in the fine-tuning groove 311, so that the two charging contacts 33 have a positional difference on the X-axis. When the robot body 1 is tilted, the fine-tuning groove 311 can fine-tune the two charging contacts 33, which facilitates the connection between the charging contacts 33 and the power receiving interface 11.

[0051] The floating charging base 2 includes a housing 21. One end of the housing 21 is provided with a touch switch 22, and the other end is provided with a sliding base 23 that works in conjunction with the touch switch 22. The sliding base 23 moves along the length of the housing 21. The contact surface of the touch switch 22 faces the sliding base 23. When the charging connector 3 contacts the power receiving interface 11, it applies a reaction force to the electric push rod 41. The electric push rod 41 pushes the movable base to move backward, and the contact piece 25 contacts the touch switch 22 to send a signal to the control template to start the charging operation.

[0052] The sliding base 23 includes a transition slider 24 connected to the electric push rod 41. The upper part of the transition slider 24 is provided with a contact piece 25 that works with the touch switch 22. The lower part of the transition slider 24 is provided with a return spring 26 between it and the side wall of the housing 21. When charging is completed, the robot body sends a charging end signal, the charging connector 3 is de-energized, the electric push rod 41 retracts backward, and the charging connector 3 is disengaged from the power receiving interface 11 and resets under the action of the electric push rod.

[0053] There are multiple power receiving interfaces 11, all distributed on the side wall of the robot body 1. Each power receiving interface 11 includes a positive conductive plate and a negative conductive plate. The length of the positive conductive plate and the negative conductive plate is greater than the length of the two charging contacts 33 at the charging connector 3. The length difference is used as a bias distance adjustment to fine-tune the charging position. The power receiving interfaces 11 are installed in multiple directions, which can adapt to the quadruped robot entering at any angle to carry out charging operations.

[0054] The method for using the automatic charging device of this quadruped robot includes the following steps:

[0055] Step 1: When the quadruped robot detects that its battery is low, it moves to the charging area;

[0056] Step 2: After arriving at the charging area, the quadruped robot squats down and raises its four legs. After the anti-slip pads 13 contact the ground, it enters the charging state. At this time, the height of the power receiving interface 11 of the quadruped robot is fixed, that is, the Z-axis position is fixed. When squatting, it will shift in the X and Y directions.

[0057] Step 3: After the quadruped robot enters the charging state, it checks the communication signal and sends a charging command to the charging module. The floating charging base 2 is equipped with a control circuit board.

[0058] Step 4: After the charging module receives the charging command, the electric push rod 41 starts to work, pushing the charging connector 3 forward;

[0059] Step 5: During the forward movement of the charging connector 3, the charging connector 3 connects with the power receiving interface 11. After successful connection, under the action of the sliding seat 23, the contact piece 25 contacts the touch switch 22 and sends a signal to the control template. The electric push rod 41 stops pushing. At this time, it is proven that the charging connector and the power receiving interface have been tightly connected and charging has begun.

[0060] The force of the electric push rod 41 required to overcome the friction between the anti-slip pad 13 and the ground is a1; the force required to overcome the maximum stroke compression force of the return spring 26 is a2; the force required to overcome the initial preload force of the return spring 26 is a3; and the force required to overcome the friction between the power receiving interface 11 and the charging connector 3 is a4. a1 > a2 > a3 > a4.

[0061] Step Six: After the battery finishes charging, a charging completion signal is sent to the charging module. After the charging connector is de-energized, the electric push rod retracts, the charging connector disengages from the power receiving interface, the sliding seat moves forward under the action of the return spring, and the electric push rod continues to retract to reset the charging module.

[0062] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic charging device for a quadruped robot, characterized in that: It includes a power receiving module installed on the robot body and a charging module installed on an external platform. The power receiving module includes a battery installed inside the robot body and a power receiving interface located on the side wall of the robot body. The charging module includes a floating charging base, a charging connector electrically connected to the floating charging base, and an adjustment mechanism located between the floating charging base and the charging connector. The adjustment mechanism includes an electric push rod, a first drive unit, a second drive unit, and a transmission device located at the connection between the first drive unit and the second drive unit. The fixed end of the electric push rod is set on the upper surface of the floating charging base, and the movable end is connected to the first drive unit; The transmission device includes an adapter plate, one end of the upper surface of the adapter plate is provided with a meshing gear 1 and a gear 2, and the lower surface of the adapter plate is provided with a support wheel set 1. The first drive unit includes a long connecting rod one, a fixed short connecting rod, and a long connecting rod two located above the adapter plate and distributed in a parallelogram shape with one side of the adapter plate. The middle part of the long connecting rod one is connected to the electric push rod, and the long connecting rod two is connected to the gear one. The second drive unit includes a long connecting rod three, a sliding short connecting rod and a long connecting rod four located below the adapter plate and distributed in a parallelogram shape with one side of the adapter plate. The long connecting rod four is connected to the gear two, and the sliding short connecting rod is connected to the charging connector. The charging connector includes an adjusting docking seat connected to a sliding short connecting rod. The two ends of the adjusting docking seat are provided with hemispherical positioning seats. A spherical adapter is provided inside the hemispherical positioning seat. A charging contact is provided on the outer side wall of the spherical adapter. A second set of support wheels is provided on the lower surface of the adjusting docking seat. Both ends of the upper surface of the adjusting dock are provided with fine-tuning grooves, and the lower surface of the sliding short connecting rod is provided with a sliding connecting block located in the fine-tuning groove. The floating charging dock includes a housing, one end of which is provided with a touch switch, and the other end is provided with a sliding base that works in conjunction with the touch switch; The sliding base includes a transition slider connected to an electric push rod. The upper part of the transition slider is provided with a contact piece for use with a touch switch, and the lower part of the transition slider is provided with a return spring between it and the side wall of the housing.

2. An automatic charging device for a quadruped robot according to claim 1, characterized in that: The power receiving interfaces are multiple and are distributed on the side wall of the robot body.

3. An automatic charging device for a quadruped robot according to claim 1, characterized in that: The lower surface of the robot body is provided with a protective plate, and the lower surface of the protective plate is provided with anti-slip pads.

4. A method of using an automatic charging device for a quadruped robot according to any one of claims 1-3, characterized in that: Includes the following steps: Step 1: When the quadruped robot detects that its battery is low, it moves to the charging area; Step 2: After arriving at the charging area, the quadruped robot squats down and raises all four legs. Once the anti-slip feet touch the ground, it enters the charging standby state. Step 3: Once the quadruped robot enters the charging standby state, it checks the communication signal and sends a charging command to the charging module. Step 4: After receiving the charging command, the electric push rod of the charging module starts to work, pushing the charging connector forward; Step 5: As the charging connector moves forward, it connects with the power receiving interface. After successful connection, the contact piece adheres to the touch switch and sends a charging signal to the control template to start charging. At the same time, the electric push rod stops pushing. Step Six: When the battery is finished charging, a charging completion signal is sent to the charging module. At this time, the electric push rod retracts, the charging connector disengages from the power receiving interface, the sliding seat moves forward under the action of the return spring, and the electric push rod continues to retract to reset the charging module.

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