Power transmission method and device

Abstract

The invention discloses a power transmission method and device, and belongs to the technical field of foot type robot charging, and the method comprises the steps: 1, enabling a robot to move to a position above a power transmission device, and enabling a buffer part to move downwards under the gravity of a robot body; 2, a position adjusting assembly adjusts a charging interface assembly of the power transmission device to a charging preparation pose, and charging preparation pose adjustment of the robot is completed; 3, after the charging port is in butt joint with the charging port of the robot, the robot sends a low-voltage signal to the charging port, the processing unit judges whether butt joint succeeds or not according to whether the charging port receives the low-voltage signal or not, and if the processing unit detects the low-voltage signal, the charging port starts to provide charging voltage for the robot; 4, after charging is completed, the processing unit sends a reset instruction to the position adjusting assembly, and the position adjusting assembly returns to the initial position. And the charging efficiency of the robot is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of legged robot charging, and in particular to a power transmission method and device. Background Art

[0002] At present, with the rapid development of robotics technology, automatic charging has become one of the key links to achieve continuous autonomous operation of robots.

[0003] With respect to the above-mentioned related technologies, the applicant has found that when the existing robots return to the charging station, due to inaccurate docking positions, the charging port of the charging station and the charging port of the robot often cannot be docked or docks poorly, thereby affecting the charging efficiency. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a power transmission method and device, which can avoid the situation where the robot cannot be charged due to inaccurate docking position, improve the charging efficiency of the robot, and extend the service life of the robot's charging interface.

[0005] The technical solution of the present invention to solve the above technical problems is as follows:

[0006] A method for transmitting electric power,

[0007] Step 1: The robot moves to a position above the power transmission device, and the buffer component moves downward under the action of the gravity of the robot body. After the position detection unit detects that the robot has stopped, the processing unit sends a control signal to the position adjustment component;

[0008] Step 2: The position adjustment component adjusts the charging interface component of the power transmission device to the charging preparation posture. After the charging preparation posture adjustment of the robot is completed, the recognition component starts to work and collects the position information of the robot charging port in real time. The processing unit adjusts the position adjustment component in real time according to the collected information to achieve the completion of the docking between the charging port and the robot charging port;

[0009] Step 3: After the charging port is docked with the robot's charging port, the robot sends a low-voltage signal to the charging port. The processing unit determines whether the docking is successful based on whether the charging port receives the low-voltage signal. If the processing unit does not detect the low-voltage signal, it executes the re-docking instruction. If the processing unit detects the low-voltage signal, the charging port starts to provide charging voltage to the robot.

[0010] Step 4: After charging is completed, the processing unit sends a reset instruction to the position adjustment component, and the position adjustment component returns to the initial position.

[0011] Furthermore, in step 3, if the processing unit detects an abnormal signal or detects no signal, the processing unit will re-control the position adjustment component to execute step 2 until the processing unit detects a low voltage signal.

[0012] A power transmission device comprises a base, wherein buffer components are respectively arranged on both sides above the base, a position-adjustable charging component is arranged in the middle above the base, the charging component comprises a position adjustment component and a charging interface component, and a processing unit is arranged in the base.

[0013] Furthermore, the position adjustment assembly includes a first motor, a movable base and a plurality of connecting rods. The movable base includes a guide rail, a lead screw, a slider and a driving motor. The guide rail is consistent with the length direction of the lead screw. The guide rail is slidably connected to the slider. The slider is threadedly connected to the lead screw. The driving motor drives the lead screw to rotate. The slider slides along the direction of the guide rail. The charging interface assembly is connected to the movable base through a connecting rod.

[0014] Furthermore, the charging interface assembly includes a charging base, on which a charging port and an identification element are provided.

[0015] Furthermore, the buffer component includes an elastic buffer component and a position detection unit component.

[0016] Furthermore, the position detection unit assembly includes a force sensor and a return spring.

[0017] In summary, compared with the prior art, the above technical solution has the following beneficial effects:

[0018] (1) Through the technical solution of the present application, the identification element and the position adjustment component cooperate with each other to achieve automatic adjustment and ensure that the robot charging port and the charging port are efficiently and accurately docked, further improving the charging efficiency, avoiding the situation where the robot cannot be charged due to inaccurate docking position, and extending the service life of the robot charging interface;

[0019] (2) Through the technical solution of the present application, it is possible to be compatible with robots of different specifications to improve the versatility of the power transmission device;

[0020] (3) Through the technical solution of the present application, charging services can be provided for robots of different specifications with the same model of charging ports, which is conducive to expanding the application scope of the power transmission device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the power transmission device of the present invention;

[0022] Figure 2 It is a top view position 1 of the power transmission device of the present invention;

[0023] Figure 3 It is the top view position 2 of the power transmission device of the present invention;

[0024] Figure 4 is a cross-sectional view of the power transmission device of the present invention;

[0025] Figure 5 is a cross-sectional view of a buffer component of a power transmission device of the present invention;

[0026] Figure 6 It is a schematic diagram of the overall structure of the charging component of the power transmission device of the present invention;

[0027] Figure 7 A top view of a charging component of a power transmission device according to the present invention;

[0028] Figure 8 It is a front view of the charging component of the power transmission device of the present invention;

[0029] Fig. 9 It is a schematic structural diagram of a mobile base of the power transmission device of the present invention.

[0030] Fig.10 It is a schematic structural diagram of the second sliding block of the power transmission device of the present invention.

[0031] Fig.11 It is a schematic structural diagram of the third sliding block of the power transmission device of the present invention.

[0032] Fig.12 It is a schematic structural diagram of the first guide rail of the power transmission device of the present invention.

[0033] Explanation of reference numerals: 1, base; 2, front buffer module; 3, rear buffer module; 4, position adjustment assembly; 401, mobile base; 5, charging interface assembly; 501, charging seat; 502, charging port; 503, identification element; 201, first shell; 202, second shell; 203, support plate; 204, elastic buffer assembly; 205, position detection unit assembly; 206, support column; 2041, support guide column; 2042, first return spring; 2051, first contact portion ; 2052, second return spring; 2053, force sensor; 2054, second contact part; 401, movable base; 6, first lead screw; 7, first motor; 8, second motor; 9, third motor; 10, second lead screw; 11, third lead screw; 1201, first guide rail; 1202, second guide rail; 1203, third guide rail; 13, second sliding block; 14, third sliding block; 15, first connecting rod; 16, second connecting rod; 17, first slider; 18, processing unit. DETAILED DESCRIPTION

[0034] The principles and features of the present invention are described below in conjunction with all the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0035] An embodiment of the present invention discloses a power transmission method.

[0036] Step 1: The robot moves to the position above the power transmission device, and the buffer component moves downward under the action of the gravity of the robot body. After the position detection unit group 205 detects that the robot has stopped, the position detection unit component 205 sends a signal to the processing unit 18, and the processing unit 18 sends a docking control instruction to the position adjustment component 4.

[0037] Step 2: The position adjustment component 4 adjusts the charging interface component 5 of the power transmission device to the charging preparation position, completing the charging preparation position adjustment of the robot; the identification element 503 starts working and collects the position information of the robot's charging port in real time, and the identification element 503 sends the collected data to the processing unit 18. The processing unit 18 adjusts the position adjustment component 4 in real time according to the collected information until the charging interface component 5 is docked with the robot's charging port.

[0038] Step 3: After the charging port 502 is docked with the robot's charging port, the robot sends a low-voltage signal to the charging port 502, and the processing unit 18 determines whether the docking is successful based on whether the charging port 502 receives the low-voltage signal. If the processing unit 18 does not detect a low-voltage signal, it executes a re-docking instruction. If the processing unit 18 detects a low-voltage signal, the charging port 502 starts to provide a charging voltage to the robot. If the processing unit 18 detects an abnormal signal or does not detect a low-voltage signal, the processing unit 18 will re-control the position adjustment component 4 to execute step 2 until the processing unit 18 detects a low-voltage signal.

[0039] Step 4: After charging is completed, the processing unit 18 sends a reset instruction to the position adjustment component 4, and the position adjustment component 4 returns to the initial position.

[0040] An embodiment of the present invention discloses a power transmission device.

[0041] Reference Figure 1 and Figure 4 A power transmission device includes a base 1, buffer components are respectively provided on both sides above the base 1, a charging component with adjustable charging port position is provided in the middle above the base 1, the charging component includes a position adjustment component 4 and a charging interface component 5, and a processing unit 18 is provided in the base 1.

[0042] Reference Figure 2 and Figure 4, the buffer component includes an elastic buffer component 204 and a position detection unit component 205, and the position detection unit component 205 contains a force sensor. In this embodiment, the buffer component is divided into two parts: a front buffer module 2 and a rear buffer module 3. The front buffer module 2 includes a shell, a support plate 203, a position detection unit component 205 and a plurality of elastic buffer components 204. The shell includes a first shell 201 and a second shell 202. The bottom of the first shell 201 is connected to the upper part of the base 1. The support plate 203 is located in the first shell 201. The support plate 203 is connected to the base 1 through a support column 206. The second shell 202 can move up and down relative to the first shell 201. There are a plurality of elastic buffer components 204 between the second shell 202 and the support plate 203 in the first shell 201. The elastic damping is provided for the front buffer module 2 through the plurality of elastic buffer components 204 between the first shell 201 and the support plate 203.

[0043] Reference Figure 4 and Figure 5 The elastic buffer assembly 204 includes a first return spring 2042 and a support guide column 2041. The upper portion of the support guide column 2041 is fixedly connected to the inside of the second shell 202. The first return spring 2042 is sleeved on the support guide column 2041 between the second shell 202 and the support plate 203.

[0044] Reference Figure 4 and Figure 5 , the position detection unit assembly 205 includes a force sensor 2053 and a reset spring. In this embodiment, the position detection unit assembly 205 also includes a first contact portion 2051, a second contact portion 2054, a force sensor 2053 and a second reset spring 2052. The first contact portion 2051 is fixedly connected to the first housing 201, the force sensor 2053 is installed on the upper boss of the second contact portion 2054, the lower limiting boss of the second contact portion 2054 is located at the lower part of the support plate 203, and the second reset spring 2052 is sleeved between the upper boss of the second contact portion 2054 and the support plate 203.

[0045] Reference Figure 4 and Figure 5The rear buffer module 3 has the same structural principle as the front buffer module 2, except that there is no position detection unit assembly 205 in the rear buffer module 3. The rear buffer module 3 includes a shell, a support plate 203 and a plurality of elastic buffer assemblies 204. The shell includes a first shell 201 and a second shell 202. The bottom of the first shell 201 is connected to the upper part of the base 1. The support plate 203 is located in the first shell 201. The support plate 203 is connected to the base 1 through a support column 206. The second shell 202 can move up and down relative to the first shell 201. There are a plurality of elastic buffer assemblies 204 between the second shell 202 and the first shell 201. The elastic buffer assembly 204 includes a first return spring 2042 and a support guide column 2041. The upper part of the support guide column 2041 is fixed to the inside of the second shell 202. The first return spring 2042 is sleeved on the support guide column 2041 between the second shell 202 and the support plate 203.

[0046] Reference Figure 4 and Figure 5 When the robot moves to the position above the front buffer module 2 and the rear buffer module 3 and slowly lies down, the front buffer module 2 and the rear buffer module 3 move downward under the action of the gravity of the robot body. As the second shell 202 of the front buffer module 2 moves downward, the first contact part 2051 of the position detection unit assembly 205 fixed to the inside of the second shell 202 is driven to move along.

[0047] Reference Figure 4 and Figure 5 , after moving downward for a distance, the bottom of the first contact part 2051 of the position detection unit component 205 contacts the top of the second contact part 2054. If the second shell 202 continues to move downward, the second contact part 2054 will continue to move downward under the action of the first contact part 2051 until the robot completes the lying action and the second shell 202 stops moving downward. When the first contact part 2051 contacts the second contact part 2054, the force sensor 2053 installed on the top of the second contact part 2054 detects the force and sends a signal to the processing unit 18, which processes the received signal. When the force detected by the sensor is greater than a certain set threshold and fluctuates slightly at a certain value, it is considered that the robot has completed its fall. The processing unit 18 sends a docking control instruction to the position adjustment component 4 according to the signal, and the position adjustment component 4 adjusts the charging interface component 5 to the charging preparation posture to complete the charging preparation posture adjustment of the robot.

[0048] Reference Figure 6 and Figure 7The position adjustment component 4 includes a first motor 7, a mobile base 401 and a plurality of connecting rods. The mobile base 401 includes a guide rail, a lead screw, a slider and a driving motor. The guide rail is consistent with the length direction of the lead screw. The guide rail is slidably connected to the slider. The slider is threadedly connected to the lead screw. The charging interface component 5 is connected to the slider on the mobile base 401 through a connecting rod. The driving motor drives the lead screw to rotate, so that the slider moves along the direction of the guide rail, thereby driving the position of the mobile base 401 and the charging interface component 5 to change.

[0049] Reference Figure 4 , Figure 6 , Fig. 9 and Fig.12 In this embodiment, the position adjustment component 4 includes a first guide rail 1201, a first slider 17, a first lead screw 6, a first motor 7, a movable base 401 and a connecting rod member arranged on the upper part of the base 1. The bottom of the first guide rail 1201 is fixedly connected to the upper part of the base 1, the first lead screw 6 is arranged above the first guide rail 1201, one end of the first lead screw 6 is connected to the first motor 7, the movable base 401 is connected to the first guide rail 1201 through the first slider 17, and the movable base 401 is driven by the first lead screw 6 connected to the first motor 7.

[0050] Reference Figure 4 , Figure 6 and Fig. 9 When the position adjustment component 4 is in the initial position, after receiving the control instruction of the processing unit 18, the position adjustment component 4 is first adjusted to the charging preparation posture. Specifically, the processing unit 18 sends a control signal to the first motor 7, and the first motor 7 starts to rotate, driving the first lead screw 6 connected thereto to rotate. Through the transmission of the first lead screw 6, the mobile base 401 moves along the first guide rail 1201, thereby realizing the free movement of the mobile base 401 in the direction of the first guide rail 1201.

[0051] Reference Figures 7 to 11The movable base 401 includes a second motor 8, a third motor 9, a second lead screw 10, a third lead screw 11, a second guide rail 1202, a third guide rail 1203, a second sliding block 13 and a third sliding block 14. The second guide rail 1202 and the third guide rail 1203 are fixedly connected in parallel. The second lead screw 10 is parallel to the second guide rail 1202. The third lead screw 11 is parallel to the third guide rail 1203. The second motor 8 and the second lead screw 10 realize power transmission through bevel gears. The second sliding block 13 is installed on the second guide rail 1202. The second lead screw 10 is driven by the second motor 8 arranged at the front end of the second guide rail 1202 to realize the forward and backward movement of the second sliding block 13 on the second guide rail 1202. The third sliding block 14 is installed on the third guide rail 1203. The third lead screw 11 is driven by the third motor 9 arranged at the front end of the third guide rail 1203 to realize the forward and backward movement of the third sliding block 14 on the third guide rail 1203.

[0052] Reference Figure 3 , 7 , 8 and Fig. 9 The connecting rod member includes a first connecting rod 15 and a second connecting rod 16. One end of the first connecting rod 15 is connected to the second sliding block 13, and the other end is connected to the second connecting rod 16. The charging interface assembly 5 includes a charging seat 501, and the remaining end of the second connecting rod 16 is connected to the charging seat 501 of the charging interface assembly 5. The horizontal position and vertical height of the charging interface assembly 5 are adjusted by the first connecting rod 15 and the second connecting rod 16 to achieve three-degree-of-freedom position adjustment, that is, front-back, left-right, and up-down position adjustment.

[0053] Reference Figure 8 The charging base 501 is provided with a charging port 502 and an identification element 503 , and the identification element 503 can be a camera visual recognition. The charging port 502 is located at the top of the charging base 501 , and the identification element 503 is located at the front of the charging base 501 .

[0054] Reference Figure 3 , 7 , 8 and Fig. 9, by adjusting the positions of the second sliding block 13 and the third sliding block 14 on the mobile base 401, the position of the first connecting rod 15 and the second connecting rod 16 is adjusted, thereby controlling the horizontal position and vertical height of the charging interface assembly 5. After the second motor 8 receives the control signal sent by the processing unit 18, the second motor 8 starts to rotate, and drives the second lead screw 10 to rotate through the bevel gear, driving the second sliding block 13 to move along the second guide rail 1202, and the first connecting rod 15 and the second connecting rod 16 connected to the second sliding block 13 move accordingly. Similarly, after the third motor 9 receives the control signal, it drives the third lead screw 11 to rotate through the bevel gear, pushing the third sliding block 14 to move along the third guide rail 1203, so that the first connecting rod 15 and the second connecting rod 16 connected thereto move. Other connecting rods that are not connected to the second sliding block 13 and the third sliding block 14 are directly connected to the mobile base 401, and their positions and angles are automatically adjusted as the other connecting rods move.

[0055] Reference Figure 3 , 7 , 8 and Fig. 9 Finally, the second motor 8 and the third motor 9 respectively drive the second lead screw 10 and the third lead screw 11 to rotate, thereby adjusting the positions of the second sliding block 13 and the third sliding block 14 on the mobile base 401, and adjusting the relative position and angle between the first connecting rod 15 and the second connecting rod 16, so as to accurately control the horizontal position and vertical height of the charging interface assembly 5.

[0056] The implementation principle of a power transmission method and device according to an embodiment of the present invention is as follows:

[0057] The robot first moves to the top of the power transmission device and slowly descends. When the gravity of the robot body acts on the front buffer module 2 and the rear buffer module 3, the front buffer module 2 and the rear buffer module 3 are displaced and sink. The position detection unit component 205 in the front and rear buffer modules 3 detects the contact between the robot and the power transmission device and transmits the information to the processing unit 18. After receiving the signal, the processing unit 18 immediately sends a docking control instruction to the position adjustment component 4, preparing to enter the charging docking program.

[0058] After receiving the control instruction from the processing unit 18, the position adjustment component 4 is first adjusted to the charging preparation posture. After completing the posture adjustment, the identification element 503 starts to collect real-time information about the charging port of the robot, and sends the collected position information to the processing unit 18. The processing unit 18 dynamically adjusts the position adjustment component 4 according to the real-time information to achieve precise docking between the charging port 502 and the charging port of the robot.

[0059] After the charging port 502 is docked with the robot charging port, the charging port 502 receives and identifies the reverse identification low-voltage signal from the robot, and the processing unit 18 confirms whether the physical docking is successful by detecting the low-voltage signal. If the detection result is normal, the charging interface component 5 will start to provide charging voltage for charging. If the detection result is abnormal, the charging interface component 5 will re-perform the position adjustment and docking operation, and repeat step 2 until the charging port 502 is successfully docked with the robot charging port.

[0060] After charging is completed, the processing unit 18 sends a reset instruction to the position adjustment component 4, and the position adjustment component 4 returns to the initial position to realize the automatic charging docking process and wait for the execution of the next charging task.

[0061] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for transmitting electric power, characterized in that: Step 1: The robot moves to a position above the power transmission device, and the buffer component moves downward under the action of the gravity of the robot body. After the position detection unit (205) detects that the robot has stopped, the processing unit (18) sends a control signal to the position adjustment component (4); Step 2: The position adjustment component (4) adjusts the charging interface component (5) of the power transmission device to a charging preparation posture. After the charging preparation posture of the robot is adjusted, the identification element (503) starts to work and collects the position information of the robot charging port in real time. The processing unit (18) adjusts the position adjustment component (4) in real time according to the collected information, so that the charging port (502) is connected to the robot charging port. Step 3: After the charging port (502) is docked with the charging port of the robot, the robot sends a low voltage signal to the charging port (502), and the processing unit (18) determines whether the docking is successful according to whether the charging port (502) receives the low voltage signal. If the processing unit (18) does not detect the low voltage signal, it executes a re-docking instruction. If the processing unit (18) detects the low voltage signal, the charging port (502) starts to provide charging voltage to the robot; Step 4: After charging is completed, the processing unit (18) sends a reset instruction to the position adjustment component (4), and the position adjustment component (4) returns to the initial position.

2. The power transmission method according to claim 1, characterized in that: In step 3, if the processing unit (18) detects an abnormal signal or no signal is detected, the processing unit (18) will re-control the position adjustment component (4) to execute step 2 until the processing unit (18) detects a low voltage signal.

3. A power transmission device according to any one of claims 1 to 2, characterized in that: The invention comprises a base (1), wherein buffer components are respectively arranged on both sides above the base (1), a charging component with adjustable position is arranged in the middle above the base (1), the charging component comprises a position adjustment component (4) and a charging interface component (5), and a processing unit (18) is arranged inside the base (1).

4. A power transmission device according to claim 3, characterized in that: The position adjustment assembly (4) comprises a first motor (7), a movable base (401) and a plurality of connecting rods; the movable base (401) comprises a guide rail, a lead screw, a slider and a drive motor; the guide rail is consistent with the lead screw in length direction; the guide rail is slidably connected to the slider; the slider is threadedly connected to the lead screw; the drive motor drives the lead screw to rotate; the slider slides along the direction of the guide rail; and the charging interface assembly (5) is connected to the movable base (401) via a connecting rod.

5. A power transmission device according to claim 3, characterized in that: The charging interface assembly (5) comprises a charging seat (501), and the charging seat (501) is provided with a charging port (502) and an identification element (503).

6. A power transmission device according to claim 3, characterized in that: The buffer component comprises an elastic buffer component (204) and a position detection unit component (205).

7. A power transmission device according to claim 6, characterized in that: The position detection unit assembly (205) comprises a force sensor (2053) and a return spring.

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