A docking type carrying robot charging pile

Abstract

This invention relates to the field of charging facilities, and more particularly to a docking-type charging pile for transport robots, comprising a charging pile body, a support plate, a first limiting frame, and a second limiting frame; the support plate is rotatably connected to the charging pile body; three first limiting frames for limiting the robot are fixedly connected to the support plate; and three second limiting frames for limiting the robot are connected to the support plate. This invention achieves charging by setting multiple first and second limiting frames around the charging pile body, with the first and second limiting frames staggered and interlocked. The robot can move to one or two limiting frames for charging, allowing one charging pile to serve multiple robots. It occupies little space, and the support plate can rotate the first and second limiting frames, allowing the robot to flexibly choose the most convenient route to move to one or two limiting frames for charging, eliminating the need for the robot to repeatedly change its posture, effectively reducing queuing time for robot charging and lowering the probability of charging congestion.

Description

Technical Field

[0001] This invention relates to the field of charging facilities, and more particularly to a docking-type charging station for transport robots. Background Technology

[0002] Existing robot charging stations generally adopt a fixed interface design, requiring robots to precisely dock from a specific angle or a single direction. This greatly limits the flexibility of robot path planning in complex scenarios. When a robot's battery is low, it must detour to a specific location on the charging station to dock. In environments where multiple robots work together, charging congestion is likely to occur. In addition, charging stations generally adopt a one-to-one design, meaning that a single charging station can only charge one robot at a time, resulting in a waste of space resources. Especially in robot-intensive operation scenarios such as warehouses and factories, a large number of independent charging stations need to be deployed to meet the charging needs of multiple robots in rotation. This not only occupies valuable ground space but also easily leads to misjudgments by the robot's vision system due to differences in robot size, affecting the recognition of the charging path. Summary of the Invention

[0003] To overcome the shortcomings of existing charging piles, which require fixed-direction docking, limit path flexibility, and easily cause congestion, as well as the large space occupied by one-to-one charging designs, this invention provides a docking-type charging pile for transport robots.

[0004] The technical solution is as follows: A docking-type handling robot charging pile includes a charging pile body; a conductive sheet is installed on the charging pile body; it also includes a support plate, a first limiting frame, a second limiting frame, a rotary drive assembly, and a docking charging assembly; the support plate is rotatably connected to the charging pile body; a rotary drive assembly for driving the support plate to rotate is connected to the charging pile body; several ball wheels are installed on the support plate; three first limiting frames for limiting the robot are fixedly connected to the support plate; three second limiting frames for limiting the robot are connected to the support plate; both first and second limiting frames consist of two L-shaped plates arranged opposite each other; the first and second limiting frames are staggered; each L-shaped plate of the first limiting frame has a first inclined plate fixedly connected to its entrance end; each L-shaped plate of the second limiting frame has a second inclined plate fixedly connected to its entrance end; the docking charging assembly is connected to the charging pile body; the docking charging assembly is connected to the conductive sheet.

[0005] Preferably, the rotary drive assembly includes: an electric turntable and a connecting frame; the electric turntable, which drives the support plate to rotate, is installed on the charging pile body; the electric turntable is driven by a motor; the rotating part of the electric turntable is fixedly connected to the connecting frame; the connecting frame is fixedly connected to the support plate; and the rotating part of the electric turntable is connected to the docking charging assembly.

[0006] Preferably, the charging assembly includes: charging head one and charging head two; three charging heads one are slidably connected to the charging pile body; charging head one consists of a mounting base and a connector; the connector is sleeved on the mounting base; an elastic element one connects the mounting base and the connector; a conductive strip is installed on the mounting base; the conductive strip contacts the conductive sheet to form a conductive connection; an electric wire connects the mounting base and the connector; three charging heads two are slidably connected to the charging pile body; charging heads one and two are staggered; charging heads two have the same structure as charging heads one, but their overall length is greater than that of charging heads one; all charging heads one and two are fixedly connected to the rotating part of the electric turntable.

[0007] Preferably, it also includes a rear baffle one and a rear baffle two; a rear baffle one for preventing robot collision is fixedly attached to each L-shaped plate of the limiting frame one; a rear baffle two for preventing robot collision is fixedly attached to each L-shaped plate of the limiting frame two.

[0008] Preferably, it also includes wedge plates, a moving component, and a reset component; each L-shaped plate of the second limiting frame is fixedly connected to a push plate; the push plate is provided with a bevel; the moving component is connected to the charging pile body; the moving part of the moving component is connected to three wedge plates; each wedge plate is provided with two bevels, and each bevel contacts the bevels of two push plates on the same second limiting frame; each L-shaped plate of the first limiting frame is connected to a reset component for pushing the second limiting frame to reset.

[0009] Preferably, the reset assembly includes: a guide rod and an elastic element two; a guide rod for limiting the second limit frame is fixedly connected to each L-shaped plate of the first limit frame; each L-shaped plate of the second limit frame is slidably connected to a guide rod; and an elastic element two for reset is connected between each L-shaped plate of the second limit frame and the guide rod.

[0010] Preferably, the connectors of charging head one and charging head two are tapered.

[0011] As a preferred option, the bottom of the charging station is equipped with an anti-slip rubber pad.

[0012] Preferably, the surfaces of limiting frame one, limiting frame two, inclined plate one, and inclined plate two are all covered with an anti-slip coating.

[0013] Preferably, silicone foam plates are installed on the side of rear baffle one and rear baffle two facing the entrance of limit frame one and limit frame two.

[0014] The beneficial effects of this invention are as follows: This invention enables multiple limiting frames 1 and 2 to be set around the charging pile body, with the limiting frames 1 and 2 being staggered and interwoven with each other. The robot can move to the limiting frame 1 or the limiting frame 2 for charging, and one pile can serve multiple robots. The space occupied is small, and the support plate can drive the limiting frames 1 and 2 to rotate, allowing the robot to flexibly choose the most convenient route to move to the limiting frame 1 or the limiting frame 2 for charging. The robot does not need to change its posture multiple times, which effectively reduces the queuing time for robot charging and reduces the probability of charging congestion.

[0015] The expandable limiting frame two can accommodate larger robots for charging, and is separated from the robot on the limiting frame one to prevent mutual interference between robots. At the same time, it can charge robots of different models and sizes at the same time, thus improving the adaptability of the invention. Attached Figure Description

[0016] Figure 1 A schematic diagram of the structure for charging a fully loaded robot according to the present invention;

[0017] Figure 2 This is a schematic diagram of the structure of the present invention in its unloaded state;

[0018] Figure 3 This is a side view of the charging pile body, support plate, and limiting frame of the present invention;

[0019] Figure 4 This is a three-dimensional structural diagram of the second limiting frame, the second charging head, and the wedge plate of the present invention;

[0020] Figure 5 This is a side view of the internal structure of the charging head 1 and charging head 2 of the present invention;

[0021] Figure 6 This is a schematic diagram of the structure of the second limiting frame of the present invention in its expanded state.

[0022] Explanation of reference numerals in the attached drawings: 1-Charging pile body, 101-Conductive sheet, 2-Support plate, 201-Ball wheel, 21-Electric turntable, 22-Connecting frame, 3-Limiting frame one, 301-Sloping plate one, 302-Rear baffle one, 4-Limiting frame two, 401-Sloping plate two, 402-Rear baffle two, 403-Push plate, 5-Charging head one, 51-Mounting base, 52-Plug, 53-Elastic component one, 54-Conductive strip, 55-Wire, 6-Charging head two, 7-Wedge plate, 71-Guide rail, 72-Electric slider, 8-Guide rod, 801-Elastic component two. Detailed Implementation

[0023] The following description is only a preferred embodiment of the present invention and does not limit the scope of protection of the present invention.

[0024] Example 1: As Figures 1-6 As shown, a docking-type handling robot charging station includes a charging station body 1; a conductive sheet 101 is installed on the charging station body 1; and an external power supply for the charging station body 1 powers the conductive sheet 101.

[0025] It also includes a support plate 2, a first limiting frame 3, a second limiting frame 4, a rotary drive assembly, and a docking charging assembly; the support plate 2 is rotatably connected to the charging pile body 1; the rotary drive assembly is connected to the charging pile body 1; six ball wheels 201 are installed in a ring on the support plate 2; three first limiting frames 3 are fixedly connected in a ring on the support plate 2; three second limiting frames 4 are connected in a ring on the support plate 2; both first limiting frames 3 and second limiting frames 4 are composed of two L-shaped plates arranged opposite each other; first limiting frames 3 and second limiting frames 4 are arranged alternately; each L-shaped plate of first limiting frame 3 has a sloping plate 301 fixedly connected to its entrance end; each L-shaped plate of second limiting frame 4 has a sloping plate 401 fixedly connected to its entrance end; the docking charging assembly is connected to the charging pile body 1; the docking charging assembly is connected to the conductive sheet 101.

[0026] The rotary drive assembly includes: an electric turntable 21 and a connecting frame 22; the electric turntable 21 is installed on the charging pile body 1; the electric turntable 21 is driven by a motor; the rotating part of the electric turntable 21 is fixedly connected to the connecting frame 22; the connecting frame 22 is fixedly connected to the support plate 2; the rotating part of the electric turntable 21 is connected to the docking charging assembly.

[0027] The docking charging assembly includes: charging head 1 5 and charging head 2 6; three charging heads 1 5 are slidably connected to the charging pile body 1; charging head 1 5 consists of a mounting base 51 and a connector 52; the connector 52 is sleeved on the mounting base 51; an elastic element 1 53 is connected between the mounting base 51 and the connector 52; the elastic element 1 53 is a spring; a conductive strip 54 is installed on the mounting base 51; the conductive strip 54 contacts the conductive sheet 101 to form a conductive connection; a wire 55 is connected between the mounting base 51 and the connector 52; three charging heads 2 6 are slidably connected to the charging pile body 1; charging heads 1 5 and charging heads 2 6 are staggered; charging heads 2 6 have the same structure as charging heads 1 5, but are longer overall than charging heads 1 5; all charging heads 1 5 and charging heads 2 6 are fixedly connected to the rotating part of the electric turntable 21; visual positioning codes are provided on charging heads 1 5 and charging heads 2 6.

[0028] It also includes a rear baffle 302 and a rear baffle 402; a rear baffle 302 is fixedly attached to each L-shaped plate of the limiting frame 3; a rear baffle 402 is fixedly attached to each L-shaped plate of the limiting frame 4.

[0029] It also includes wedge plates 7, a moving assembly, and a reset assembly; each L-shaped plate of the second limiting frame 4 is fixedly connected to a push plate 403; the push plate 403 is provided with a bevel; the charging pile body 1 is connected to a moving assembly; the moving part of the moving assembly is connected to three wedge plates 7; each wedge plate 7 is provided with two bevels, and each bevel contacts the bevels of two push plates 403 on the same second limiting frame 4; each L-shaped plate of the first limiting frame 3 is connected to a reset assembly.

[0030] The moving component includes: a guide rail 71 and an electric slider 72; three guide rails 71 are installed on the charging pile body 1; an electric slider 72 is slidably connected to each guide rail 71; the electric slider 72 is fixed to a wedge plate 7 through a connecting plate to drive the wedge plate 7 to move along the guide rail 71.

[0031] The reset assembly includes: a guide rod 8 and an elastic element 801; a guide rod 8 is fixedly connected to each L-shaped plate of the first limiting frame 3; each L-shaped plate of the second limiting frame 4 is slidably connected to a guide rod 8; an elastic element 801 is connected between each L-shaped plate of the second limiting frame 4 and the guide rod 8; the elastic element 801 is a spring.

[0032] The connectors of charging head 1 (5) and charging head 2 (6) are tapered to facilitate smooth docking of the robot's charging port.

[0033] The bottom of the charging pile body 1 is equipped with an anti-slip rubber pad to prevent the charging pile body 1 from shifting when placed on the ground and interfering with the robot's path planning.

[0034] The surfaces of limit frame 3, limit frame 4, inclined plate 301 and inclined plate 401 are all covered with anti-slip coating to ensure that the robot can move smoothly onto limit frame 3 and limit frame 4, and at the same time ensure the stability of the robot when it is parked on limit frame 3 and limit frame 4.

[0035] Silicone foam plates are installed on the side of rear baffle 1 302 and rear baffle 2 402 facing the entrance of limit frame 1 3 and limit frame 2 4 to reduce the impact force of the robot.

[0036] The steps for using this invention are as follows:

[0037] Initially, the position in front of the entrance of limit frame 3 is set as the waiting area for the robot to enter for charging. It should be understood that, for the sake of convenience, a reference position is determined as the waiting area. In actual use, the robot can flexibly choose the most convenient route to move to limit frame 3 or limit frame 4 for charging.

[0038] When the robot needs charging, it moves to the waiting area and aligns its charging port with the assigned limit frame 3. It then walks from the ramp 301 onto the limit frame 3, using its vision system to locate the visual positioning code on the charging head 5, ensuring the charging port aligns with it. Once the robot's charging port successfully connects to the connector of the charging head 5, the robot continues moving towards the charging head 5, pushing the connector 52 towards the mounting base 51 and compressing the elastic element 53 to ensure a secure connection. Upon successful power connection, the robot stops moving. The charging pile body 1 transmits electrical energy through the conductive sheet 101 and the conductive strip 54. The power is delivered to the mounting base 51, and then transmitted to the connector 52 via the wire 55, ultimately charging the robot. When the next robot needs to be charged, it first moves to the waiting area. The charging pile body 1 is equipped with an intelligent system that communicates with each robot. Upon receiving the signal that the robot needs to be charged, it controls the electric turntable 21 to drive the connecting frame 22 to rotate the support plate 2. The electric turntable 21 drives all charging heads 1 5 and charging heads 2 6 to rotate. The support plate 2 rotates and moves on the ground via the ball wheels 201 at its bottom, and drives all limit frames 1 3 and limit frames 2 4, as well as the robot being charged, to rotate, so that the occupied limit frame 1 3 and the robot on it rotate away and are no longer aligned with the waiting area.

[0039] If the next robot has the same volume as the previous robot, the support plate 2 will rotate the empty limit frame 3 to align with the area to be rotated. Then, the robot will determine the moving distance through the visual positioning code, move to the empty limit frame 3 on its own, and connect with the corresponding charging head 5 to charge.

[0040] If the next robot is larger than the previous robot, the support plate 2 will rotate the empty limiting frame 4 to align with the area to be rotated. The robot will send its model information to the charging pile body 1. After learning the specific model of the robot, the charging pile body 1 will control the electric slider 72 to slide along the guide rail 71. The electric slider 72 will push the wedge plate 7 towards the limiting frame 4. The inclined surface of the wedge plate 7 will press against the inclined surface of the push plate 403, forcing the two push plates 403 to move away from each other. The push plates 403 will push the two L-shaped plates that make up the limiting frame 4 to move away from each other, thus expanding the width of the limiting frame 4 to accommodate the robot. The robot has a larger external size. Then the robot moves to the limiting frame 4 via the inclined plate 401 and docks with the charging head 6 for charging. When the L-shaped plates of the limiting frame 4 move away from each other, the L-shaped plates slide on the guide rod 8 and compress the corresponding elastic element 801. After the robot finishes charging and leaves the limiting frame 4, the electric slider 72 is controlled to drive the wedge plate 7 to reset. After the push plate 403 loses its squeezing force, the elastic element 801 extends and pushes the L-shaped plates to slide along the guide rod 8. The two L-shaped plates come together and push the corresponding push plate 403 to come together and reset. The limiting frame 4 returns to its original state.

[0041] Furthermore, as a safety redundancy in case of robot vision positioning system failure or judgment error, a rear baffle 302 and a rear baffle 402 are respectively provided on the first limit frame 3 and the second limit frame 4. When the robot moves to the first limit frame 3 or the second limit frame 4 and continues to move beyond the designated position, the corresponding rear baffle 302 or rear baffle 402 will play a physical blocking role to prevent the robot from continuing to move forward and to prevent the robot from colliding with the charging pile body 1 and causing equipment damage.

[0042] Based on the above steps, we can see that the present invention has the following effects:

[0043] By setting multiple limiting frames 3 and 4 around the charging pile body 1, with the limiting frames 3 and 4 staggered and interlocked, the robot can move to the limiting frame 3 or the limiting frame 4 for charging. One pile can serve multiple robots, occupying little space. In addition, the support plate 2 can drive the limiting frames 3 and 4 to rotate, allowing the robot to flexibly choose the most convenient route to move to the limiting frame 3 or the limiting frame 4 for charging. This eliminates the need for the robot to change its posture multiple times, effectively reducing the queuing time for robot charging and reducing the probability of charging congestion.

[0044] The expandable limiting frame 2 4 can accommodate larger robots for charging, and is separated from the robot on the limiting frame 1 3 to prevent mutual interference between robots. At the same time, it can charge robots of different sizes at the same time, thus improving the adaptability of the invention.

[0045] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that variations may be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A docking-type handling robot charging station, comprising a charging station body (1); a conductive sheet (101) is installed on the charging station body (1); characterized in that: It also includes a support plate (2), a first limiting frame (3), a second limiting frame (4), a rotary drive assembly, and a docking charging assembly; the support plate (2) is rotatably connected to the charging pile body (1); a rotary drive assembly for driving the support plate (2) to rotate is connected to the charging pile body (1); several ball wheels (201) are installed on the support plate (2); three first limiting frames (3) for limiting the robot are fixedly connected to the support plate (2); three first limiting frames (3) for limiting the robot are connected to the support plate (2). The robot has a second limiting frame (4); both the first limiting frame (3) and the second limiting frame (4) are composed of two L-shaped plates arranged opposite each other; the first limiting frame (3) and the second limiting frame (4) are arranged in an alternating manner; each L-shaped plate of the first limiting frame (3) has a first inclined plate (301) fixedly connected to its entrance end; each L-shaped plate of the second limiting frame (4) has a second inclined plate (401) fixedly connected to its entrance end; the charging pile body (1) is connected to a docking charging component; the docking charging component is connected to the conductive sheet (101); It also includes a rear baffle one (302) and a rear baffle two (402); a rear baffle one (302) for preventing robot collision is fixedly attached to each L-shaped plate of the limiting frame one (3); a rear baffle two (402) for preventing robot collision is fixedly attached to each L-shaped plate of the limiting frame two (4). It also includes wedge plates (7), moving components and reset components; each L-shaped plate of the second limit frame (4) is fixedly connected to a push plate (403); the push plate (403) is provided with a bevel; the charging pile body (1) is connected to a moving component; the moving part of the moving component is connected to three wedge plates (7); each wedge plate (7) is provided with two bevels, and each bevel contacts the bevels of the two push plates (403) on the same second limit frame (4); each L-shaped plate of the first limit frame (3) is connected to a reset component for pushing the second limit frame (4) to reset; The reset assembly includes: a guide rod (8) and an elastic element two (801); a guide rod (8) for limiting the second limit frame (4) is fixedly attached to each L-shaped plate of the first limit frame (3); each L-shaped plate of the second limit frame (4) is slidably connected to a guide rod (8); and an elastic element two (801) for reset is connected between each L-shaped plate of the second limit frame (4) and the guide rod (8).

2. The docking-type handling robot charging station according to claim 1, characterized in that: The rotating drive assembly includes an electric turntable (21) and a connecting frame (22); the electric turntable (21) that drives the support plate (2) to rotate is installed on the charging pile body (1); the electric turntable (21) is driven by a motor; the rotating part of the electric turntable (21) is fixedly connected to the connecting frame (22); the connecting frame (22) is fixedly connected to the support plate (2); the rotating part of the electric turntable (21) is connected to the docking charging assembly.

3. The docking-type handling robot charging station according to claim 2, characterized in that: The docking charging assembly includes: charging head one (5) and charging head two (6); three charging heads one (5) are slidably connected on the charging pile body (1); the charging head one (5) consists of a mounting base (51) and a plug (52); the plug (52) is sleeved on the mounting base (51); an elastic element one (53) is connected between the mounting base (51) and the plug (52); a conductive strip (54) is installed on the mounting base (51); the conductive strip (54) contacts the conductive sheet (101) to form a conductive connection; a wire (55) is connected between the mounting base (51) and the plug (52); three charging heads two (6) are slidably connected on the charging pile body (1); the charging head one (5) and the charging head two (6) are staggered; the charging head two (6) has the same structure as the charging head one (5), but is longer than the charging head one (5); all charging heads one (5) and charging heads two (6) are fixedly connected to the rotating part of the electric turntable (21).

4. The docking-type handling robot charging station according to claim 3, characterized in that: The plug ends of charging head one (5) and charging head two (6) are constricted.

5. A docking-type handling robot charging station according to any one of claims 1-4, characterized in that: The bottom of the charging pile body (1) is equipped with an anti-slip rubber pad.

6. A docking-type handling robot charging station according to claim 5, characterized in that: The surfaces of limit frame one (3), limit frame two (4), inclined plate one (301) and inclined plate two (401) are all covered with anti-slip coating.

7. A docking-type handling robot charging station according to claim 5, characterized in that: Silicone foam boards are installed on the side of the rear baffle 1 (302) and rear baffle 2 (402) facing the entrance of the limiting frame 1 (3) and limiting frame 2 (4).

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