Logistics robot with following charging equipment and charging method thereof

Abstract

The invention discloses a logistics robot with following charging equipment and a charging method thereof, and the logistics robot comprises a logistics robot, a charging structure disposed on the logistics robot, and a central control system. And the following charging equipment can automatically move to the logistics robot after the logistics robot central control system sends out a signal and is matched with the charging structure to charge the logistics robot. Compared with the prior art, the logistics robot has the advantages that the independent following charging structure is arranged, so that the normal logistics operation action of the logistics robot can be ensured; the follow-up charging robot can also communicate with a transportation robot to ensure that the transportation robot can convey the follow-up charging robot to a designated position and is connected with a logistics robot to achieve dynamic charging, and the follow-up charging robot and the logistics robot can be clamped to achieve follow-up charging through an original clamping structure. And meanwhile, the charging structure can be automatically inserted and pulled in a matched manner during clamping, so that charging is convenient.

Description

Technical Field

[0001] The present application relates to the field of automatic charging equipment for logistics robots, and in particular to a logistics robot with a follow-up charging device and a charging method thereof. Background Art

[0002] As the application scenarios have higher and higher requirements for the frequency and quantity of logistics robots, the charging system has become an important consideration for application companies when selecting logistics robots. How to better achieve accurate control of the power, charging timing, battery maintenance, etc. of mobile robots is currently the direction that many logistics robots and related technology companies are competing to explore. In actual use, the battery of the mobile robot has a great impact on its overall performance. First of all, it directly affects the endurance of the mobile robot and becomes the key to the high-efficiency operation of the mobile robot. An operation cycle of a mobile robot consists of charging time and discharging time, and the proportion of the discharging time directly determines the production efficiency of the mobile robot. Secondly, the use of mobile robots is usually a cluster operation of multiple robots, and it is necessary to consider the management of charging, the ratio of charging piles and robots, and the cost and efficiency. The strategy design of the scheduling system can maximize the alternate charging of robots and achieve a higher utilization rate. In the existing technology, automatic charging can only be achieved through the movement of the logistics robot itself. The logistics robot cannot be used during charging, which causes inconvenience in use. Summary of the invention

[0003] To achieve the above object, the technical solution adopted by the present invention is:

[0004] A logistics robot with a follow-up charging device comprises a logistics robot, a charging structure and a central control system arranged on the logistics robot, and a follow-up charging device which can automatically move to the logistics robot after the central control system of the logistics robot sends a signal and cooperate with the charging structure to charge the logistics robot.

[0005] Preferably, the follow-up charging device includes a follow-up charging robot and a transport robot for transporting the follow-up charging robot, the follow-up charging robot includes an installation platform, a fastening plate, a control system and a clamping part arranged in front of the installation platform, the clamping part can clamp and position the charging structure, and a lifting platform is arranged in front of the installation platform, the lifting platform synchronously moves away from the installation platform when the clamping claws of the clamping part are closed, and synchronously moves towards the installation platform when the clamping claws of the clamping part are opened, and a plug-in charging part is arranged on the lifting platform, and the plug-in charging part can cooperate with the charging structure to realize plug-in charging.

[0006] Furthermore, the clamping part includes a driving wheel and a driven wheel, the driving wheel is a half gear and meshes with the driven wheel, the driving wheel is fixed with a driving rod, the driving rod is rotatably connected to the driving jaw of the clamp, and the driving jaw is also rotatably connected to a first supporting rotating rod, the first supporting rotating rod is rotatably connected to one end of the V-shaped rotating frame, the bottom of the V-shaped rotating frame rotates relative to the protrusion on the mounting platform, the protrusion can slide back and forth relative to the mounting platform, and the other end of the V-shaped rotating frame is rotatably connected to a second supporting rotating rod, the second supporting rotating rod is rotatably connected to the driven jaw of the clamp, and the driven jaw is rotatably connected to the driven rod fixed on the driven wheel.

[0007] Furthermore, the follow-up charging robot also includes a moving wheel arranged at the rear of the mounting platform and a fastening plate fixed to one side of the mounting platform, the moving wheels are provided with two, the fastening plate is fixed to one side of the mounting platform by screws, a rechargeable battery is fixed on the fastening plate, and the rechargeable battery is clamped between the fastening plate and the mounting platform by the fastening plate, and a battery capacity display panel is also provided on the fastening plate, through which the battery capacity display panel can know the power of the rechargeable battery and charge the rechargeable battery.

[0008] Furthermore, a position sensor is provided on the clamping part, and the position sensor can identify the distance between the protrusion of the clamping part and the positioning part on the mounting platform, and send the distance between the position sensor and the positioning part on the mounting platform to the control system. The control system can control the real-time lifting and lowering of the lifting platform to facilitate the coordinated plugging and unplugging of the charging part.

[0009] Preferably, the logistics robot includes a logistics robot body, a camera device, a positioning system and an anti-collision structure. The logistics robot body includes a logistics platform, an extension platform, a power system, an electric power system and a bracket. The power system includes six driving wheels respectively arranged on both sides of the logistics platform. An extension platform is arranged on the upper side of the driving wheel. The electric power system includes batteries arranged between the six driving wheels. The batteries are evenly arranged on both sides of the logistics platform and are electrically connected to the charging structure through wires. In the present invention, an extension platform is arranged on the upper side of the driving wheel to protect the driving wheel from being affected by the goods on the logistics platform during rotation. The batteries are arranged between the six driving wheels to make full use of the lateral space of the logistics robot. Increasing the number of batteries can increase the working time of the logistics robot.

[0010] Preferably, the charging structure is arranged on the bracket, and the charging structure includes a positioning and fixing part and a battery charging part. The positioning and fixing part is fixedly connected to the bracket, and the positioning and fixing part is in the shape of a regular hexahedron, and a battery charging part is protrudingly arranged on one of the side surfaces. A charging structure position sensor is also arranged on the bottom surface of the positioning and fixing part. Two charging structure position sensors are arranged and diagonally arranged on the bottom surface of the positioning and fixing part. The charging structure position sensor can communicate wirelessly with the control system on the follow-up charging robot. The arrangement of the charging structure position sensor facilitates the determination of the position of the clamping part and the positioning and fixing part on the follow-up charging robot. The clamping part can clamp the left and right opposite sides of the positioning and fixing part to achieve relative fixation of the follow-up charging robot and the logistics robot. The logistics robot in the present invention does not affect its own logistics and transportation work when charging. The logistics robot can work normally and drive the follow-up charging robot to move together through the fixing of the clamping part, so as to achieve motion charging. At the same time, by arranging multiple batteries on the logistics robot, it can be ensured that when one part of the batteries is charged, another part of the batteries can work normally, without affecting the use of the logistics robot.

[0011] Furthermore, the lifting platform synchronously moves in a direction away from the mounting platform when the clamping jaws of the clamping part are closed, and synchronously moves in a direction close to the mounting platform when the clamping jaws of the clamping part are opened. A plug-in charging part is provided on the lifting platform, and the plug-in charging part can cooperate with the battery charging part of the charging structure to realize plug-in charging.

[0012] Furthermore, the camera device of the logistics robot is arranged at the front end of the logistics robot, and a protective part is protruding from the front end of the bracket. The front end of the protective part protrudes from the bracket and protrudes 1-2 cm from the front end of the camera device to protect the camera device.

[0013] Furthermore, the anti-collision structure includes anti-collision protrusions arranged at four vertices of the logistics robot body, and four anti-collision protrusions are arranged and respectively fixed on four vertices of the bracket.

[0014] Furthermore, the positioning system includes robot body position sensors arranged at the four vertices of the logistics robot body, the robot body position sensors are fixedly arranged on a support frame on the bracket, four robot body position sensors are arranged and respectively fixed on the four vertices of the bracket, and the four robot body position sensors are respectively wirelessly connected to the central control system.

[0015] Furthermore, the camera device includes a front camera device and a rear camera device, and the front camera device and the rear camera device are electrically connected to the central control system respectively. The present invention designs the robot body position sensor at the four vertices of the logistics robot body, which can not only grasp the robot body position in real time to ensure that the logistics robot itself performs normal logistics operations, but also communicate with the transport robot to ensure that the transport robot can transport the follow-up charging robot to the designated location and connect with the logistics robot to realize dynamic charging.

[0016] Furthermore, the front camera device of the logistics robot is arranged at the front end of the logistics robot, and a protective part is protruding from the front end of the bracket. The front end of the protective part protrudes from the bracket and protrudes 1-2 cm from the front end of the front camera device to protect the front camera device.

[0017] A method for charging a logistics robot with a follow-up charging device comprises the following steps: a) the power system of the logistics robot sends a battery low power signal to the central control system;

[0018] b) The central control system sends a low-power signal to the master control system, and the master control system matches the logistics robot with a corresponding follow-up charging robot and transmits a control signal to the corresponding follow-up charging robot, so that the follow-up charging robot establishes a communication connection with the logistics robot;

[0019] c) transporting the follow-up charging robot to the bottom of the bracket of the corresponding logistics robot with insufficient power by means of a transport robot, and adjusting the relative position of the clamping part on the follow-up charging robot and the positioning and fixing part of the charging structure by means of signal interaction with the charging structure position sensor;

[0020] d) The control system on the follow-up charging robot drives the clamping part to clamp, the position sensor can identify the distance between the protruding part of the clamping part and the positioning part on the mounting platform, and send the distance between the position sensor and the positioning part on the mounting platform to the control system, and the control system can control the real-time lifting and lowering of the lifting platform to insert the plug-in charging part into the battery charging part;

[0021] e) charging the batteries in two groups respectively, and transmitting signals to the central control system after the batteries are fully charged. The central control system communicates with the master control system, and the master control system controls the transport robot to transport the follow-up charging robot away and interrupts the communication connection established between the follow-up charging robot and the logistics robot.

[0022] Beneficial Effects

[0023] (1) Compared with the prior art, the present invention is designed with an independent follow-up charging structure, which can not only ensure that the logistics robot can perform normal logistics operations, but also communicate with the transport robot to ensure that the transport robot can transport the follow-up charging robot to a designated location and connect with the logistics robot to achieve dynamic charging.

[0024] (2) The present invention also provides an original clamping structure to ensure the clamping of the follow-up charging robot and the logistics robot to achieve follow-up charging. At the same time, the charging structure can be automatically plugged in and out during the clamping process, making charging convenient.

[0025] (3) When the logistics robot in the present invention is being charged, its own logistics and transportation work is not affected. The logistics robot can work normally and drive the follow-up charging robot to move together through the fixation of the clamping part, so as to realize motion charging. At the same time, by arranging multiple batteries on the logistics robot, it can be ensured that while one part of the batteries is being charged, another part of the batteries can work normally, without affecting the use of the logistics robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 The overall structure of the follow-up charging machine of the logistics robot with the follow-up charging device of the present invention Figure 1 ;

[0027] Figure 2 The overall structure of the follow-up charging machine of the logistics robot with the follow-up charging device of the present invention Figure 2 ;

[0028] Figure 3 The overall structure of the follow-up charging machine of the logistics robot with the follow-up charging device of the present invention Figure 3 ;

[0029] Figure 4 The local structure of the follow-up charging machine of the logistics robot with the follow-up charging device of the present invention Figure 1 ;

[0030] Figure 5 The local structure of the follow-up charging machine of the reduction motor of the logistics robot with the follow-up charging device of the present invention Figure 2 ;

[0031] Figure 6 The overall structure of the logistics robot with a follow-up charging device of the present invention is shown in FIG. Figure 1 ;

[0032] Figure 7 The overall structure of the logistics robot with a follow-up charging device according to the present invention is shown in the rear view Figure 1 (The charging structure 2 is moved vertically up and down from the original position to facilitate the display of the charging structure 2);

[0033] Figure 8 The overall structure of the logistics robot with a follow-up charging device according to the present invention is shown in the rear view Figure 2 (The logistics robot does not separately show the schematic diagram of the normal situation of the charging structure 2);

[0034] Fig. 9 The overall structure of the logistics robot with a follow-up charging device of the present invention is viewed from above Figure 1 (The charging structure 2 is removed for ease of display);

[0035] Fig.10 The overall structure of the logistics robot with a follow-up charging device of the present invention is viewed from above Figure 2 ;

[0036] Fig.11 The overall structure of the logistics robot with a follow-up charging device of the present invention is shown in the left view Figure 1 . DETAILED DESCRIPTION

[0037] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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 making creative work are within the scope of protection of the present invention.

[0038] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention; the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it 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 it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] like Figure 1-11A logistics robot with a follow-up charging device includes a logistics robot 1, a charging structure 2 and a central control system 5 arranged on the logistics robot 1, and a follow-up charging device which can automatically move to the logistics robot 1 and cooperate with the charging structure 2 to charge the logistics robot 1 after the central control system 5 of the logistics robot 1 sends a signal.

[0040] Preferably, the follow-up charging device includes a follow-up charging robot 3 and a transport robot for transporting the follow-up charging robot 3. The follow-up charging robot 3 includes an installation platform 301, a fastening plate 302, a control system, and a clamping part 303 arranged in front of the installation platform. The clamping part 303 can clamp and position the charging structure 2. A lifting platform 304 is arranged in front of the installation platform 301. The lifting platform 304 moves synchronously away from the installation platform 301 when the clamping claw 305 of the clamping part 303 is closed, and moves synchronously towards the installation platform 301 when the clamping claw 305 of the clamping part 303 is opened. A plug-in charging part 306 is arranged on the lifting platform 304, and the plug-in charging part 306 can cooperate with the charging structure 2 to realize plug-in charging.

[0041] Further, the clamping portion 303 includes a driving wheel 3031 and a driven wheel 3032, wherein the driving wheel 3031 is a half gear and meshes with the driven wheel 3032, and a driving rod 3033 is fixed to the driving wheel 3031, and the driving rod 3033 is rotatably connected to a driving jaw 3034 of the clamp 305, and a first supporting rotating rod 3035 is rotatably connected to the driving jaw 3034, and the first supporting rotating rod 3035 is rotatably connected to one end of a V-shaped rotating frame 3036. The bottom of the V-shaped rotating frame 3036 rotates relative to the protrusion 307 on the mounting platform 301, and the protrusion 307 can slide back and forth relative to the mounting platform 301. The other end of the V-shaped rotating frame 3036 is rotatably connected to a second supporting rotating rod 3037, and the second supporting rotating rod 3037 is rotatably connected to the driven clamp 3038 of the clamp 305, and the driven clamp 3038 is rotatably connected to the driven rod 3039 fixed on the driven wheel 3032.

[0042] Furthermore, the follow-up charging robot 3 also includes a moving wheel 310 arranged at the rear of the mounting platform and a fastening plate 302 fixed to one side of the mounting platform, wherein two moving wheels 310 are provided, and the fastening plate 302 is fixed to one side of the mounting platform 301 by screws, and a rechargeable battery is fixed on the fastening plate 302, and the rechargeable battery is clamped between the fastening plate 302 and the mounting platform 301 by the fastening plate 302, and a battery capacity display panel 3021 is also provided on the fastening plate 302, through which the battery capacity display panel 3021 can be used to know the power of the rechargeable battery and charge the rechargeable battery.

[0043] Furthermore, a position sensor 308 can be provided on the protrusion 307 of the clamping portion 303. The position sensor 308 can identify the distance between the protrusion 307 and the positioning portion 309 on the mounting platform 301, and send the distance between the position sensor 308 and the positioning portion 309 on the mounting platform 301 to the control system. The control system can control the real-time lifting and lowering of the lifting platform 304 to facilitate the coordinated plugging and unplugging of the charging portion 306.

[0044] Preferably, the logistics robot 1 includes a logistics robot body 101, a camera device 102, a positioning system 103 and an anti-collision structure 104. The logistics robot body 101 includes a logistics platform 1011, an extension platform 1012, a power system 1013, an electric power system 1015 and a bracket 1017. The power system 1013 includes six driving wheels 1014 respectively arranged on both sides of the logistics platform 1011, and an extension platform 1012 is arranged on the upper side of the driving wheel 1014. The electric power system 1015 includes a battery 1016 arranged between the six driving wheels 1014. The battery 1016 is evenly arranged on both sides of the logistics platform 1011 and is electrically connected to the charging structure 2 through a wire. In the present invention, an extension platform 1012 is provided on the upper side of the driving wheel 1014 to protect the driving wheel from being affected by the goods on the logistics platform 1011 during rotation. Batteries 1016 are provided between the six driving wheels 1014 to fully utilize the lateral space of the logistics robot. Increasing the number of batteries provided can increase the working time of the logistics robot.

[0045] Preferably, the charging structure 2 is arranged on the bracket 1017, and the charging structure 2 includes a positioning and fixing part 201 and a battery charging part 202. The positioning and fixing part 201 is fixedly connected to the bracket 1017. The positioning and fixing part 201 is in the shape of a regular hexahedron, and the battery charging part 202 is protrudingly provided on one of the side surfaces. A charging structure position sensor 203 is also provided on the bottom surface of the positioning and fixing part 201. Two charging structure position sensors 203 are provided and are diagonally arranged on the bottom surface of the positioning and fixing part 201. The charging structure position sensor 203 can communicate wirelessly with the control system on the follow-up charging robot 3. The setting of the charging structure position sensor 203 facilitates the determination of the positions of the clamping portion 303 and the positioning and fixing portion 201 on the follow-up charging robot 3. The clamping portion 303 can clamp the left and right opposite sides of the positioning and fixing portion 201 to achieve relative fixation of the follow-up charging robot 3 and the logistics robot 1. The logistics robot 1 in the present invention does not affect its own logistics and transportation work when being charged. The logistics robot 1 can work normally and drive the follow-up charging robot 3 to move together through the fixation of the clamping portion 303, thereby achieving motion charging. At the same time, by arranging multiple batteries 1016 on the logistics robot 1, it can be ensured that while one part of the batteries is being charged, another part of the batteries can work normally, without affecting the use of the logistics robot 1.

[0046] Furthermore, the lifting platform 304 moves synchronously away from the installation platform 301 when the jaws 305 of the clamping part 303 are closed, and moves synchronously towards the installation platform 301 when the jaws 305 of the clamping part 303 are opened. The lifting platform 304 is provided with a plug-in charging part 306, and the plug-in charging part 306 can cooperate with the battery charging part 202 of the charging structure 2 to realize plug-in charging.

[0047] Furthermore, the anti-collision structure 104 includes anti-collision protrusions 1041 arranged at the four vertices of the logistics robot body 101 , and the anti-collision protrusions 1041 are provided in four numbers and are respectively fixed on the four vertices of the bracket 1017 .

[0048] Furthermore, the positioning system 103 includes a robot body position sensor 1031 arranged at the four vertices of the logistics robot body 101, and the robot body position sensor 1031 is fixedly arranged on a support frame 1032 on the bracket 1017. Four robot body position sensors 1031 are arranged and respectively fixed on the four vertices of the bracket 1017. The four robot body position sensors 1031 are respectively wirelessly connected to the central control system 5.

[0049] Furthermore, the camera device 102 includes a front camera device 1021 and a rear camera device 1022, and the front camera device 1021 and the rear camera device 1022 are respectively electrically connected to the central control system 5. The present invention designs the robot body position sensor 1031 at the four vertices of the logistics robot body 101, which can not only grasp the robot body position in real time to ensure that the logistics robot 1 itself performs normal logistics operation, but also communicate with the transport robot to ensure that the transport robot can transport the follow-up charging robot 3 to the designated location and connect with the logistics robot to realize dynamic charging.

[0050] Furthermore, the front camera device 1021 of the logistics robot 1 is arranged at the front end of the logistics robot 1, and a protective part 1018 is protruding from the front end of the bracket 1017. The front end of the protective part 1018 protrudes from the bracket 1017 and protrudes 1-2 cm from the front end of the front camera device 1021 to protect the front camera device 1021.

[0051] A method for charging a logistics robot with a follow-up charging device comprises the following steps: a) the power system 1015 of the logistics robot 1 sends a low battery signal to the central control system 5;

[0052] b) The central control system 5 sends a low-power signal to the master control system, and the master control system matches the logistics robot 1 with a corresponding follow-up charging robot 3, and transmits a control signal to the corresponding follow-up charging robot 3, so that the follow-up charging robot 3 establishes a communication connection with the logistics robot 1;

[0053] c) transporting the follow-up charging robot 3 to the bottom of the bracket 1017 of the corresponding insufficiently charged logistics robot 1 by means of a transport robot, and adjusting the relative position of the clamping portion 303 on the follow-up charging robot 3 and the positioning and fixing portion 201 of the charging structure 2 by means of a signal interaction with the charging structure position sensor 203;

[0054] d) The control system on the follower charging robot 3 drives the clamping part 303 to clamp, and the position sensor 308 can identify the distance between the protrusion 307 of the clamping part 303 and the positioning part 309 on the mounting platform 301, and send the distance between the position sensor 308 and the positioning part 309 on the mounting platform 301 to the control system, and the control system can control the real-time lifting and lowering of the lifting platform 304 to insert the plug-in charging part 306 into the battery charging part 202;

[0055] e) Two groups of batteries 1016 are charged separately, and after the batteries 1016 are fully charged, the signals are transmitted to the central control system 5, and the central control system 5 communicates with the master control system. The master control system controls the transport robot to transport the follow-up charging robot 3 and interrupts the communication connection established between the follow-up charging robot 3 and the logistics robot 1.

[0056] In the prior art, automatic charging can only be achieved through the movement of the logistics robot itself, and the logistics robot cannot be used during charging. Compared with the prior art, the present invention is arranged in an independent follow-up charging structure, which can not only ensure that the logistics robot itself can perform normal logistics operations, but also communicate with the transport robot to ensure that the transport robot can transport the follow-up charging robot to the designated location and connect with the logistics robot to achieve dynamic charging. The present invention also arranges an original clamping structure to ensure the clamping of the follow-up charging robot and the logistics robot to achieve follow-up charging. At the same time, the charging structure can be automatically plugged and unplugged during the clamping, which is convenient for charging.

[0057] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A logistics robot with a follow-up charging device, characterized in that: It includes a logistics robot, a charging structure and a central control system arranged on the logistics robot, and a follow-up charging device which can automatically move to the logistics robot after the central control system of the logistics robot sends a signal and cooperate with the charging structure to charge the logistics robot.

2. The logistics robot with a follow-up charging device according to claim 1, characterized in that: The follow-up charging device includes a follow-up charging robot and a transport robot for transporting the follow-up charging robot. The follow-up charging robot includes an installation platform, a fastening plate, a control system and a clamping part arranged in front of the installation platform. The clamping part can clamp and position the charging structure. A lifting platform is arranged in front of the installation platform. The lifting platform moves synchronously in a direction away from the installation platform when the clamping claws of the clamping part are closed, and moves synchronously in a direction close to the installation platform when the clamping claws of the clamping part are opened. A plug-in charging part is arranged on the lifting platform, and the plug-in charging part can cooperate with the charging structure to realize plug-in charging.

3. The logistics robot with a follow-up charging device according to claim 2, characterized in that: The follow-up charging robot also includes a moving wheel arranged at the rear of the mounting platform and a fastening plate fixed to one side of the mounting platform. There are two moving wheels. The fastening plate is fixed to one side of the mounting platform by screws. A rechargeable battery is fixed on the fastening plate, and the rechargeable battery is clamped between the fastening plate and the mounting platform by the fastening plate. A battery capacity display panel is also provided on the fastening plate.

4. The logistics robot with a follow-up charging device according to claim 3, characterized in that: A position sensor is provided on the clamping part, and the position sensor can identify the distance between the protrusion of the clamping part and the positioning part on the mounting platform, and send the distance between the position sensor and the positioning part on the mounting platform to the control system. The control system can control the real-time lifting and lowering of the lifting platform to facilitate the coordinated plugging and unplugging of the charging part.

5. The logistics robot with a follow-up charging device according to claim 1, characterized in that: The logistics robot includes a logistics robot body, a camera device, a positioning system and an anti-collision structure. The logistics robot body includes a logistics platform, an extension platform, a power system, an electric power system and a bracket. The power system includes six driving wheels respectively arranged on both sides of the logistics platform, and an extension platform is arranged on the upper side of the driving wheels. The electric power system includes batteries arranged between the six driving wheels. The batteries are evenly arranged on both sides of the logistics platform and are electrically connected to the charging structure through wires.

6. The logistics robot with a follow-up charging device according to claim 5, characterized in that: The front camera device of the logistics robot is arranged at the front end of the logistics robot, and a protective part is protruding from the front end of the bracket. The front end of the protective part protrudes from the bracket and protrudes 1-2 cm from the front end of the front camera device to protect the front camera device.

7. The logistics robot with a follow-up charging device according to claim 6, characterized in that: The anti-collision structure includes anti-collision protrusions arranged at the four vertices of the logistics robot body, and the anti-collision protrusions are provided in four numbers and are respectively fixed on the four vertices of the bracket.

8. The logistics robot with a follow-up charging device according to claim 7, characterized in that: The positioning system includes robot body position sensors arranged at the four vertices of the logistics robot body. The robot body position sensors are fixedly arranged on a support frame on the bracket. Four robot body position sensors are arranged and respectively fixed on the four vertices of the bracket. The four robot body position sensors are respectively wirelessly connected to the central control system.

9. The logistics robot with a follow-up charging device according to claim 8, characterized in that: The camera device includes a front camera device and a rear camera device, and the front camera device and the rear camera device are electrically connected to the central control system respectively.

10. A method for charging a logistics robot with a follow-up charging device, characterized in that: The method is applicable to the logistics robot with a follow-up charging device as described in any one of claims 1 to 9, and comprises the following steps: a) the power system of the logistics robot sends a low battery signal to the central control system; b) The central control system sends a low-power signal to the master control system, and the master control system matches the logistics robot with a corresponding follow-up charging robot and transmits a control signal to the corresponding follow-up charging robot, so that the follow-up charging robot establishes a communication connection with the logistics robot; c) transporting the follow-up charging robot to the bottom of the bracket of the corresponding logistics robot with insufficient power by means of a transport robot, and adjusting the relative position of the clamping part on the follow-up charging robot and the positioning and fixing part of the charging structure by means of signal interaction with the charging structure position sensor; d) The control system on the follow-up charging robot drives the clamping part to clamp, the position sensor can identify the distance between the protruding part of the clamping part and the positioning part on the mounting platform, and send the distance between the position sensor and the positioning part on the mounting platform to the control system, and the control system can control the real-time lifting and lowering of the lifting platform to insert the plug-in charging part into the battery charging part; e) charging the batteries in two groups respectively, and transmitting signals to the central control system after the batteries are fully charged. The central control system communicates with the master control system, and the master control system controls the transport robot to transport the follow-up charging robot away and interrupts the communication connection established between the follow-up charging robot and the logistics robot.

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