A mobile robotic charging station

Abstract

This application discloses a mobile robot charging station, relating to the technical field of robot charging stations. It includes a mobile trolley, a lifting platform, and a traction assembly. The mobile trolley has a battery pack and a multi-layer charging rack on its upper end. The lifting platform is slidably mounted on the mobile trolley, and the mobile trolley is equipped with a drive component for moving the lifting platform up and down. The traction assembly includes a traction component and a fixed connector. The traction component is used to sequentially pull the robot onto the lifting platform and the charging rack. The fixed connector is used to connect the traction component and the robot, and to stabilize the robot on the lifting platform. The fixed connector also positions the robot so that it can accurately align with the charging port on the battery pack. The traction mechanism in this application stably, accurately, and without damage pulls the robot's charging port to the charging port of the charging station, thus improving the protection of the robot.

Description

Technical Field

[0001] This application relates to the technical field of robot charging stations, and in particular to a robot charging station with mobile functionality. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. It possesses abilities such as perception, decision-making, and execution, and can perform various tasks by relying on its own power or external instructions. It is widely used in various fields, bringing great convenience and benefits to human life and work. Therefore, we also need to build a large number of charging stations to provide timely power for robots.

[0003] A Chinese patent with publication number CN118137626B discloses a mobile robot charging station, which mainly includes multiple charging racks, a lifting plate, a lifting mechanism, and a traction mechanism. The entire device is moved by a mobile trolley until the lifting plate is below the robot. Then, the lifting mechanism moves the lifting plate to one of the charging racks, and the traction mechanism brings the robot on the lifting plate to the charging rack for charging. The robot does not need to move to the charging station by itself, which greatly reduces the time consumed in the robot charging process and thus greatly improves the robot's working efficiency.

[0004] However, in the aforementioned technology, the lifting platform is also equipped with a centering mechanism, which enables the robot to be positioned in the center of the lifting platform so that the charging port on the robot is aligned with the charging end on the charging rack. At the same time, the centering mechanism can also perform a certain clamping and fixing function for the robot. However, when the centering mechanism clamps and fixes the robot, it is not convenient for the traction mechanism to pull the robot, which can easily lead to wear and tear on the robot caused by the centering mechanism. At the same time, when the centering mechanism does not clamp and fix the robot, the robot is prone to shaking on the lifting platform, which not only makes it difficult for the charging port on the robot to align with the charging end on the charging rack, but also increases the risk of the robot shaking and falling off the lifting platform. Summary of the Invention

[0005] The purpose of this application is to provide a robot charging station with mobility, which enables the traction mechanism to stably, accurately and without damage pull the robot's charging port to the charging end of the charging station, thereby improving the protection of the robot.

[0006] The mobile robot charging station provided in this application adopts the following technical solution:

[0007] The mobile cart is equipped with a battery pack and a multi-layer charging rack on its upper part.

[0008] The lifting plate is slidably mounted on the mobile trolley, and the mobile trolley is equipped with a driving component for driving the lifting plate to move up and down.

[0009] The traction assembly includes a traction component and a fixed connector. The traction component is used to sequentially pull the robot onto the lifting platform and the charging rack. The fixed connector is used to connect the traction component and the robot, and to stabilize the robot on the lifting platform. The fixed connector can also position the robot so that the robot can accurately align with the charging terminal on the battery pack.

[0010] Optionally, the traction component includes two electrically telescopic rods, which are slidably mounted on the mobile trolley. The driving component can also drive the traction component to move up and down, and the traction component and the lifting plate move synchronously.

[0011] Optionally, two sets of fixed connectors are provided, and the two sets of fixed connectors correspond one-to-one with the two electric telescopic rods. The fixed connectors include electromagnetic suction blocks and magnetic suction slots. The electromagnetic suction blocks are located at the end of the electric telescopic rods near the lifting plate, and the magnetic suction slots are formed on the robot.

[0012] Optionally, the electromagnetic suction block is configured as a hemispherical shape, and the magnetic suction groove is also configured as a hemispherical shape.

[0013] Optionally, a detection component is provided in the magnetic suction slot. There are two detection components, each corresponding to one of the two magnetic suction slots. The detection component can detect the pressure on the wall of the magnetic suction slot to determine whether the connection between the electromagnetic block and the magnetic suction slot is stable, thereby determining whether the movement direction of the trolley has deviated. When the trolley deviates, the detection component adjusts the magnetic force of the electromagnetic block to enhance the connection stability between the traction component and the robot.

[0014] Optionally, a connector is provided between the charging end of the battery pack and the robot to ensure the stability of the robot on the charging rack.

[0015] Optionally, the charging rack is provided with a guide rail, the width of which is the same as the width of the robot wheel.

[0016] Optionally, a V-shaped groove is provided at one end of the guide rail near the lifting plate so that the robot's wheels can enter the inner groove of the guide rail.

[0017] Optionally, the bottom of the robot is also provided with guide wheels, which roll and abut against the lifting plate.

[0018] In summary, this application includes at least one of the following beneficial technical effects:

[0019] 1. The fixed connector in this application ensures that the traction component and the fixed connector are always stably connected, and the traction component and the lifting plate move synchronously. Therefore, when the lifting plate moves the robot up and down, the robot can always maintain a stable state, reducing the risk of the robot falling off the lifting platform compared to the prior art. At the same time, the cooperation between the traction component and the fixed connector in this application can minimize friction between the robot and other parts when the robot is pulled onto the charging rack, thus minimizing wear and tear on the robot. In addition, the structure of this application is simpler than that of the prior art, uses fewer drive sources, and is easier to operate. Therefore, compared to the prior art, the manufacturing cost of this application is lower and the energy consumption is less. Furthermore, due to the simple operation, the operation time before charging the robot is shorter, which can improve the efficiency of charging multiple robots.

[0020] 2. The fixed connectors in this application are provided in two sets, which represent two connection points. The two connection points make it more difficult for the robot and the traction component to move relative to each other, thereby further improving the stability of the robot during the lifting and traction process. At the same time, when the two sets of fixed connectors in this application are connected to the robot, they can fix the position of the robot. Therefore, when the fixed connectors are connected, the robot completes the automatic centering and alignment function, so that when the robot is pulled to the charging rack, the charging port on the robot can be accurately aligned with the charging end on the battery pack.

[0021] 3. The fixed connector in this application includes a hemispherical electromagnetic block and a hemispherical magnetic groove. Therefore, when the output end of the electric push rod moves to the vicinity of the magnetic groove on the robot, the electromagnetic block can be embedded in the magnetic groove on the robot due to the magnetic attraction force. Due to the perfect fit between the electromagnetic block and the magnetic groove, the robot can achieve automatic connection and automatic alignment, which greatly improves its automation level and practicality.

[0022] 4. The detection components are designed to detect the pressure on the magnetic groove wall to determine whether the connection between the electromagnetic block and the magnetic groove is stable. If the pressure detected by any of the detection components does not reach the predetermined value, it indicates that the electromagnetic block is not perfectly matched with the magnetic groove, thus indicating that the movement direction of the vehicle has deviated. Therefore, the detection components adjust the magnetic force of the electromagnetic block to enhance the connection stability between the traction component and the robot, so that the movement direction of the vehicle returns to the correct track, and the charging port on the vehicle can be accurately aligned with the charging end on the battery pack.

[0023] 5. The guide rail not only guides and aligns the robot, but also limits its lateral movement. When used in conjunction with the connector between the battery pack charging end and the robot, it greatly improves the robot's stability on the charging rack, thus minimizing the possibility of the robot slipping off the charging rack. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application;

[0025] Figure 2 yes Figure 1 A magnified view of part A in the middle;

[0026] Figure 3 This is a schematic diagram illustrating the connection between the robot and the mobile vehicle in an embodiment of this application;

[0027] Figure 4 This is a schematic diagram of the robot's structure in an embodiment of this application;

[0028] Figure 5 This is a structural schematic diagram of the fixed connector in an embodiment of this application;

[0029] Figure 6 yes Figure 5 A magnified view of part B in the middle section;

[0030] In the diagram, 1. Mobile trolley; 11. Column; 12. Battery pack; 121. Charging end; 13. Charging frame; 2. Lifting plate; 21. Drive component; 3. Traction assembly; 31. Traction component; 311. Slide seat; 312. Electric telescopic rod; 313. Connecting frame; 32. Fixed connecting component; 321. Electromagnetic suction block; 322. Magnetic suction groove; 4. Detection assembly; 5. Guide rail; 51. V-groove; 6. Robot; 61. Guide pulley; 62. Charging port. Detailed Implementation

[0031] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail below.

[0032] A mobile robot charging station, as shown in the reference Figure 1 , Figure 2 and Figure 3 It includes a mobile trolley 1, a lifting platform 2, and a traction assembly 3.

[0033] The upper surface of the mobile trolley 1 is provided with a battery pack 12 and a column 11. In this embodiment, there are four columns 11. The four columns 11 are arranged in pairs, with the two pairs of columns 11 arranged opposite each other and located on one side of the battery pack 12. Multiple charging racks 13 are arranged at equal intervals along the vertical direction on the two pairs of columns 11. The end of the battery pack 12 near the column 11 is also provided with multiple charging ends 121 along the vertical direction. The multiple charging ends 121 correspond one-to-one with the multiple charging racks 13.

[0034] The lifting plate 2 is located on the side of the column 11 that is relatively far away from the battery pack 12, and the lifting plate 2 is slidably mounted on the two columns 11 that are relatively far away from the battery pack 12. The moving trolley 1 is also equipped with a driving component 21 for driving the lifting plate 2 to move up and down. In this embodiment, the driving component 21 is set as an electric push rod. There are two electric push rods, which are arranged opposite each other on both sides of the lifting plate 2. The output shafts of the two electric push rods are fixedly connected to the lifting plate 2.

[0035] The traction assembly 3 includes a traction member 31 and a fixed connecting member 32.

[0036] In this embodiment, there are two sets of traction components 31. Both sets of traction components 31 are slidably installed on the side of the battery pack 12 near the column 11, and the two sets of traction components 31 are located on both sides of the charging end 121 on the battery pack 12. The traction component 31 includes a slide 311, an electric telescopic rod 312 and a connecting frame 313.

[0037] The slide block 311 slides vertically to the side of the battery pack 12 near the column 11. The electric telescopic rod 312 is fixedly installed on the slide block 311, and the axis of the electric telescopic rod 312 is perpendicular to the moving path of the slide block 311. One end of the connecting frame 313 is fixedly connected to the slide block 311, and the other end of the connecting frame 313 is fixedly connected to the output shaft of the electric push rod.

[0038] In this embodiment, the fixed connector 32 is also provided in two sets, and the two sets of fixed connectors 32 correspond one-to-one with the two sets of traction members 31. The fixed connector 32 in this embodiment includes an electromagnetic suction block 321.

[0039] Electromagnetic blocks 321 are fixedly installed at the output end of the electric telescopic rod 312. Two magnetic slots 322 are provided on the side of the robot 6 near the output end of the electric telescopic rod 312. The two magnetic slots 322 correspond one-to-one with the two electromagnetic blocks 321 in the two sets of fixed connectors 32. The electromagnetic blocks 321 can be attracted to the slot wall of the magnetic slot 322. In this embodiment, the electromagnetic blocks 321 are provided with an iron core inside, and multiple turns of coil are wound on the outer peripheral wall of the iron core. The electromagnetic blocks 321 in this embodiment are electromagnetic attractants, which have magnetic force when energized and no magnetic force when de-energized. The electromagnetic blocks 321 are existing technology and will not be described in detail here.

[0040] When robot 6 needs charging, the control center moves the mobile trolley 1 to the side of robot 6. Then, the control center activates the electric push rod to retract until it lowers the lifting plate 2 to its lowest point. Next, the control center activates the electric telescopic rod 312, which extends and moves the electromagnetic suction block 321 along the direction close to the magnetic slot 322 on robot 6 until it is inserted into the slot. This energizes the coil inside the electromagnetic suction block 321, giving it magnetic force. The electromagnetic suction block 321 and robot 6 then connect under the influence of this magnetic force. After the connection is complete, the electric telescopic rod 312 retracts, thus moving robot 6 along the direction close to the lifting plate 2. The lifting plate 2 moves in the direction of the lifting plate until the robot 6 moves above the lifting plate 2. Then, the electric push rod is activated, and the electric push rod extends, thereby driving the lifting plate 2 and the slide 311 to move upward simultaneously until the lifting plate 2 rises to one side of one of the charging racks 13. The electric telescopic rod 312 is activated to retract, driving the robot 6 to move in the direction close to the charging rack 13 until the robot 6 moves onto the charging rack 13. After the charging port 62 on the robot 6 is connected to the charging terminal 121 on the charging rack 13, the power supply to the coil in the electromagnetic suction block 321 is stopped. Then, the electric telescopic rod 312 continues to retract, and the electric push rod is activated to retract until the lifting plate 2 and the slide 311 move to the lowest point so that the next robot 6 can be charged.

[0041] Reference Figure 4 , Figure 5 and Figure 6 In this application, the electromagnetic suction block 321 and magnetic suction groove 322 ensure that the robot 6 and the electric telescopic rod 312 are always in a stable connection state, and the electric telescopic rod 312 and the lifting plate 2 are in a synchronous lifting state. Therefore, when the lifting plate 2 moves the robot 6 up and down, the robot 6 can always maintain a stable state, reducing the risk of the robot 6 falling off the lifting platform compared to the prior art. At the same time, since the centering plates on both sides of the robot 6 are still in a close contact with the robot 6 when it is pulled onto the charging rack 13 in the prior art, the robot 6 will rub against the centering plates during the movement, leading to... Robot 6 is subject to wear and tear. However, the combined use of the electric telescopic rod 312, electromagnetic suction block 321, and magnetic suction groove 322 in this embodiment can minimize friction between robot 6 and other components when robot 6 is pulled onto the charging rack 13, thereby reducing the likelihood of wear and tear on robot 6. Furthermore, the structure of this application is simpler than that of the prior art, uses fewer drive sources, and is easier to operate. As a result, compared to the prior art, this application has lower manufacturing costs and consumes less energy. Moreover, due to its simple operation, the device requires less time to operate before charging robot 6, which can improve the efficiency of charging multiple robots 6.

[0042] It should be noted that in this embodiment, both the fixed connector 32 and the traction member 31 are provided in two sets, which represent two connection points. On the one hand, the setting of two connection points makes it more difficult for the robot 6 to move relative to the two electric telescopic rods 312, thereby further improving the stability of the robot 6 during the lifting plate 2 and the traction process. On the other hand, since the two electric telescopic rods 312 in this embodiment will not move relative to each other, and the connection point between the electric telescopic rods 312 and the robot 6 is fixed, the position of the robot 6 can be fixed when the two electric telescopic rods 312 are connected to the robot 6. Therefore, when the robot 6 is connected to the electric telescopic rods 312, it completes the automatic centering alignment function, so that when the robot 6 is pulled to the charging rack 13, the charging port 62 on the robot 6 can be accurately aligned with the charging end 121 on the battery pack 12, thereby facilitating the connection between the robot 6 and the battery pack 12.

[0043] In this embodiment, the electromagnetic suction block 321 is set in a hemispherical shape, and the corresponding magnetic suction groove 322 is also set in a hemispherical shape.

[0044] When the output end of the electric push rod moves to the vicinity of the magnetic slot 322 on the robot 6, the electromagnetic block 321 can be embedded into the magnetic slot 322 on the robot 6 due to the magnetic attraction. Due to the perfect fit between the electromagnetic block 321 and the magnetic slot 322, the robot 6 can achieve automatic connection and automatic alignment, which greatly improves its automation level and practicality. Moreover, the electromagnetic block 321 and the magnetic slot 322 are set with a snap-fit ​​mechanism to a certain extent, making it difficult for the robot 6 to move laterally, thereby further improving the stability of the robot 6 on the lifting plate 2.

[0045] In this embodiment, a detection component 4 is provided in the magnetic suction groove 322. There are two detection components 4, and the two detection components 4 correspond one-to-one with the two magnetic suction grooves 322. In this embodiment, the detection component 4 is set as a pressure sensor, and the pressure sensor is set on the groove wall of the magnetic suction groove 322.

[0046] When the electromagnetic suction block 321 is inserted into the magnetic suction slot 322, it can squeeze the pressure sensor. When the value detected by the pressure sensor reaches the preset value, it means that the electromagnetic suction block 321 is stably located in the magnetic suction slot 322 of the robot 6, thus confirming that the electromagnetic suction block 321 and the robot 6 are in a stable connection state. When the value detected by any pressure sensor is below the preset value, it means that the connection between the electromagnetic suction block 321 and the robot 6 is unstable. At this time, after receiving the signal from the pressure sensor, the control center will increase the power supply to the coil in the corresponding electromagnetic suction block 321, thereby increasing the magnetic force of the electromagnetic suction block 321, thereby improving the connection stability between the electromagnetic suction block 321 and the robot 6 and improving the stability of the robot 6 on the lifting plate 2 and during displacement, thus further reducing the risk of the robot 6 falling.

[0047] Meanwhile, when the value detected by one pressure sensor reaches the preset value while the other pressure sensor does not, it indicates that not only is the connection between the electromagnetic suction block 321 and the robot 6 unstable, but it also easily leads to uneven tension on the robot 6 when it is pulled onto the charging rack 13. As a result, the charging port 62 on the robot 6 cannot be aligned with the charging end 121 on the battery pack 12. Therefore, the magnetic force on the weaker electromagnetic suction block 321 can be increased by increasing the power supply, so that the end of the robot 6 that is close to the battery pack 12 returns to the correct position, and the charging port 62 on the robot 6 is aligned with the charging end 121 on the battery pack 12 again, so as to facilitate the charging of the robot 6.

[0048] In addition, a connector is provided between the charging port 62 on the robot 6 and the charging terminal 121 on the battery pack 12 in this embodiment. The connector (not shown in the figure) in this embodiment is a magnet. When the robot 6 moves to the charging rack 13, the charging terminal 121 on the battery pack 12 will be inserted into the charging port 62 on the robot 6. At this time, the magnet will connect the robot 6 and the battery pack 12, thereby fixing the robot 6 on the charging rack 13 and preventing the robot 6 from slipping off the charging rack 13.

[0049] Reference Figure 1 and Figure 3 To further improve the stability of robot 6 on charging rack 13, a guide rail 5 is provided on charging rack 13, and the width of the inner groove of guide rail 5 is the same as the width of the wheel of robot 6.

[0050] During the process of robot 6 being pulled to charging rack 13, the wheels on robot 6 will enter the inner groove of guide rail 5, so robot 6 can move in a precise position. Guide rail 5 can not only guide and align robot 6, but also limit robot 6 laterally. It works in conjunction with the magnet between the charging end 121 of battery pack 12 and robot 6 to greatly improve the stability of robot 6 on charging rack 13, thereby further preventing robot 6 from slipping off charging rack 13. In addition, a V-shaped groove 51 is opened at the end of guide rail 5 near lifting plate 2 so that the wheels of robot 6 can enter the inner groove of guide rail 5.

[0051] Finally, refer to Figure 4 In this embodiment, the bottom of the robot 6 is also provided with guide pulleys 61.

[0052] Since the lifting plate 2 is located at the bottom of the robot 6 when the robot 6 is pulled onto the lifting plate 2 by the electric telescopic rod 312, when the lifting plate 2 rises, the upper surface of the lifting plate 2 abuts against the lower surface of the robot 6. Therefore, when the robot 6 is pulled from the lifting plate 2 onto the charging rack 13, the lower surface of the robot 6 rubs against the upper surface of the lifting plate 2, causing wear on both the robot 6 and the lifting plate 2. Therefore, the guide wheel 61 at the bottom of the robot 6 can prevent friction between the robot 6 and the lifting plate 2.

[0053] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be covered within the scope of protection of this application.

Claims

1. A robot charging station with mobile functionality, characterized in that, include: The mobile trolley (1) is equipped with a battery pack (12) and a multi-layer charging rack (13) at its upper end. The lifting plate (2) is slidably mounted on the mobile trolley (1), and the mobile trolley (1) is provided with a driving component (21) for driving the lifting plate (2) to move up and down. The traction assembly (3) includes a traction component (31) and a fixed connector (32). The traction component (31) is used to pull the robot (6) sequentially onto the lifting plate (2) and the charging rack (13). The fixed connector (32) is used to connect the traction component (31) and the robot (6) and to stabilize the robot (6) on the lifting plate (2). At the same time, the fixed connector (32) can also position the robot (6) so that the robot (6) can accurately align with the charging terminal (121) on the battery pack (12). The traction component (31) includes an electric telescopic rod (312), and there are two electric telescopic rods (312). The two electric rods are slidably mounted on the moving trolley (1). The driving component (21) can also drive the traction component (31) to move up and down, and the traction component (31) and the lifting plate (2) move synchronously. The fixed connector (32) is provided in two sets, and the two sets of fixed connectors (32) correspond one-to-one with the two electric telescopic rods (312). The fixed connector (32) includes an electromagnetic suction block (321) and a magnetic suction groove (322). The electromagnetic suction block (321) is provided at one end of the electric telescopic rod (312) near the lifting plate (2), and the magnetic suction groove (322) is opened on the robot (6). The magnetic suction groove (322) is provided with a detection component (4). There are two detection components (4), and the two detection components (4) correspond one-to-one with the two magnetic suction grooves (322). The detection component (4) can detect the pressure on the wall of the magnetic suction groove (322) to determine whether the connection between the electromagnetic block (321) and the magnetic suction groove (322) is stable, thereby determining whether the moving direction of the car has deviated. When the car deviates, the detection component (4) adjusts the magnetic force of the electromagnetic block (321) to enhance the connection stability between the traction component (31) and the robot (6).

2. The robot charging station with mobile function according to claim 1, characterized in that, The electromagnetic suction block (321) is set in a hemispherical shape, and the magnetic suction groove (322) is also set in a hemispherical shape.

3. A robot charging station with mobile functionality according to claim 1, characterized in that, A connector is provided between the charging end (121) of the battery pack (12) and the robot (6) to ensure the stability of the robot (6) on the charging rack (13).

4. A robot charging station with mobile functionality according to claim 1, characterized in that, The charging rack (13) is provided with a guide rail (5), and the width of the inner groove of the guide rail (5) is consistent with the width of the robot (6) wheel.

5. A robot charging station with mobile functionality according to claim 4, characterized in that, The guide rail (5) has a V-shaped groove (51) at one end near the lifting plate (2) so that the wheels of the robot (6) can enter the inner groove of the guide rail (5).

6. A robot charging station with mobile functionality according to claim 1, characterized in that, The robot (6) is also provided with a guide pulley (61) at the bottom, and the guide pulley (61) rolls against the lifting plate (2).

Images