An intelligent robot walking positioning mechanism suitable for new energy charging

Abstract

The utility model discloses a walking positioning mechanism of an intelligent robot suitable for charging with new energy, including a deceleration sensor, a positioning detection sensor and a bracket, wherein two deceleration sensors are provided, and the two deceleration sensors are respectively installed at the two ends of the front of the bracket; the positioning detection sensor is installed in the middle of the front of the bracket, and the two deceleration sensors and the positioning detection sensor are detachably connected to the bracket. The utility model utilizes a combination of detection sensors with mature technology and controllable cost to achieve the use requirements of high positioning precision and high positioning accuracy, and is conducive to the large-scale promotion and use of new technologies.

Description

Technical Field

[0001] The utility model relates to the field of charging robots, and in particular to an intelligent robot walking positioning mechanism suitable for new energy charging. Background Art

[0002] With the rapid popularization and development of the new energy electric vehicle industry, how to quickly and conveniently charge electric vehicles has become a bottleneck factor restricting the rapid and sustainable development of the entire new energy industry. In response to the common fixed charging pile model on the market, a new "shared" charging model has begun to emerge in the charging industry. However, this new "shared" charging model requires the intelligent robot that carries the shared charging distributor to walk accurately, efficiently and stably, and accurately locate the charging position. Therefore, a dedicated walking positioning sensor is now needed as a technical support to achieve the above functions. Utility Model Content

[0003] Aiming at the defects in the prior art, the positioning accuracy and walking stability of the intelligent robot for carrying shared charging distributors are improved. The utility model provides a walking positioning mechanism for an intelligent robot suitable for new energy charging, including a deceleration sensor, a positioning detection sensor and a bracket. The deceleration sensor is provided with two, and the two deceleration sensors are respectively installed at the two ends of the front of the bracket; the positioning detection sensor is installed in the middle of the front of the bracket, and the two deceleration sensors and the positioning detection sensor are detachably connected to the bracket.

[0004] The beneficial effects of this equipment are: the overall structure is simple, the manufacturing cost is controllable, and it is more convenient to install it on the intelligent robot through the bracket. At the same time, the two deceleration sensors have stable and reliable performance, precise walking and positioning, and can be promoted and applied in large quantities in the working conditions of guide rail robot products.

[0005] Preferably, each deceleration sensor is connected to the bracket and the positioning detection sensor is connected to the bracket via an L-shaped connecting plate. The first side wall of each L-shaped connecting plate is fixed to the front of the bracket, so that the second side wall of each L-shaped connecting plate is perpendicular to the front of the bracket. Each L-shaped connecting plate is connected to the front of the bracket via conventional locking members such as bolts, screws or rivets, providing an accurate installation position for the deceleration sensor and the positioning detection sensor.

[0006] Preferably, each second side wall is provided with a waist hole extending to the front of the bracket, and the positioning detection sensor and the deceleration sensor are detachably connected to the bracket through the corresponding waist holes. Each second side wall is provided with two waist holes, and the two waist holes are respectively close to the upper and lower sides of the second side wall. The positioning detection sensor and each deceleration sensor are locked by two waist holes, one above and one below, and the connection is firm and does not shake, ensuring accurate positioning.

[0007] Preferably, the positioning detection sensor and the deceleration sensor are respectively provided with bolts or screws passing through corresponding waist holes, and the distance between the positioning detection sensor or the deceleration sensor and the bracket can be adjusted by loosening the bolts or screws. The waist hole is designed for installation and debugging scheme. Specifically, during the equipment debugging process, firstly, with one charging station as the reference, after adjusting the detection position of the deceleration sensor and the positioning detection sensor on the robot walking mechanism, the position of the deceleration sensor and the positioning detection sensor can be fixed. The bracket installation position on other charging stations is then adjusted based on the adjusted deceleration sensor and positioning detection sensor on the robot walking mechanism as the positioning reference, so as to improve the installation efficiency.

[0008] Preferably, the upper side of the bracket is provided with an ear plate for installation, the lower side of the bracket is provided with a bottom plate for installation, and both the bottom plate and the ear plate extend forward. The bracket is installed on the robot through the ear plate and the bottom plate, and the installation is more standardized. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the specific implementation of the utility model or the technical solution in the prior art, the following is a brief introduction to the drawings required for the specific implementation or the prior art description. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale.

[0010] Figure 1 It is a structural schematic diagram of this embodiment;

[0011] Figure 2 This is a schematic diagram of the bracket installed on the robot.

[0012] In the accompanying drawings, there are a deceleration sensor 1, a positioning detection sensor 2, a bracket 3, an L-shaped connecting plate 4, an ear plate 5, a bottom plate 6, a waist hole 7, a first side wall 8, a second side wall 9, and a robot 10. DETAILED DESCRIPTION

[0013] The following embodiments of the technical solution of the utility model are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the utility model, and are therefore only used as examples, and cannot be used to limit the protection scope of the utility model.

[0014] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by technicians in the field to which the utility model belongs.

[0015] like Figure 1As shown, this embodiment provides a walking positioning mechanism for an intelligent robot suitable for new energy charging, including a deceleration sensor 1, a positioning detection sensor 2 and a bracket 3. Two deceleration sensors 1 are provided, and the two deceleration sensors 1 are respectively installed at the two ends of the front of the bracket 3. The positioning detection sensor is installed in the middle of the front of the bracket 3, and the specific installation structure is as follows:

[0016] Each deceleration sensor 1 is connected to the bracket 3, and the positioning detection sensor 2 is connected to the bracket 3 via an L-shaped connecting plate 4. The first side wall 8 of each L-shaped connecting plate 4 is fixed to the front of the bracket 3, so that the second side wall 9 of each L-shaped connecting plate 4 is perpendicular to the front of the bracket 3. Each L-shaped connecting plate 4 is connected to the front of the bracket 3 by conventional locking members such as bolts, screws or rivets, providing an accurate installation position for the deceleration sensor 1 and the positioning detection sensor 2, and the two deceleration sensors 1 and the positioning detection sensor 2 are detachably connected to the bracket 3. After the deceleration sensor 1 and the positioning detection sensor 2 are installed, the bracket 3, the deceleration sensor 1 and the positioning detection sensor 2 form a part, and then the bracket 3 is installed on the robot 10. In order to facilitate installation, an ear plate 5 for installation is provided on the upper side of the bracket 3, and a bottom plate 6 for installation is provided on the lower side of the bracket 3, and the bottom plate 6 and the ear plate 5 both extend forward.

[0017] In this embodiment, each second side wall 9 is provided with a waist hole 7 extending to the front of the bracket 3, and the positioning detection sensor 2 and the deceleration sensor 1 are detachably connected to the bracket 3 through the corresponding waist holes 7. Each second side wall 9 is provided with two waist holes 7, and the two waist holes 7 are respectively close to the upper and lower sides of the second side wall 9. The positioning detection sensor 2 and each deceleration sensor 1 are locked by two waist holes 7, one above and one below, and the connection is firm and does not shake, ensuring accurate positioning. Specifically, the positioning detection sensor 2 and the deceleration sensor 1 are respectively provided with bolts or screws passing through the corresponding waist holes 7, and the distance between the positioning detection sensor 2 or the deceleration sensor 1 and the bracket 3 is adjusted by loosening the bolts or screws. The waist hole 7 is designed for installation and debugging solutions. Specifically, during the equipment debugging process, one charging station is first used as a reference. After the detection positions of the deceleration sensor 1 and the positioning detection sensor 2 on the walking mechanism of the robot 10 are adjusted, the positions of the deceleration sensor 1 and the positioning detection sensor 2 can be fixed. Subsequently, the installation positions of the brackets 3 on other charging stations are adaptively adjusted based on the adjusted deceleration sensor 1 and positioning detection sensor 2 on the walking mechanism of the robot 10 as the positioning reference, thereby improving the installation efficiency.

[0018] like Figure 2As shown, the bracket 3 is installed on the robot 10, and the deceleration sensor 1 and the positioning detection sensor 2 are adjusted in place, which can ensure that the walking mechanism of the guide robot 10 has a stop positioning accuracy of ±1.5mm when walking to the stop position at a walking speed of 0.4m / s, which can meet the positioning accuracy requirements of the guide robot 10 in the automatic handling charging distributor process. The cooperation principle of the robot 10, the deceleration sensor 1, and the positioning detection sensor 2 is:

[0019] Two deceleration sensors 1 and positioning detection sensors 2 are arranged in a row in the walking direction, the positioning detection sensor 2 is located in the middle, and the deceleration detection switch is arranged at each end of the walking direction. When the station control system dispatches the robot 10 to move to a certain target position, the deceleration sensor 1 on the robot 10 will send a counting signal to the controller on the robot 10 every time it walks to a charging station. The controller uses the walking count method to calculate which charging station it is currently walking to and how many stations are away from the target charging station. When the deceleration sensor 1 in the walking direction detects that it has walked to the target charging station, the controller will control the walking drive motor to decelerate, and the walking speed of the robot 10 will quickly drop to a speed of 0.1m / s. In this way, the robot 10 can maintain a smaller walking inertia in the walking direction, thereby ensuring that the middle positioning detection sensor 2 is triggered, and the robot 10 can accurately stop positioning. Through multiple actual measurements and verifications, through the walking positioning mechanism of the intelligent robot 10 provided in this embodiment, the positioning accuracy in both walking directions can be guaranteed to be within the range of ±1.5mm.

[0020] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model, and they should all be included in the scope of the claims and specification of the utility model.

Claims

1. An intelligent robot walking positioning mechanism suitable for new energy charging, characterized by: It includes a deceleration sensor, a positioning detection sensor and a bracket. There are two deceleration sensors, which are respectively installed at the two ends of the front of the bracket; the positioning detection sensor is installed in the middle of the front of the bracket, and the two deceleration sensors and the positioning detection sensor are detachably connected to the bracket.

2. According to claim 1, an intelligent robot walking positioning mechanism suitable for new energy charging is characterized in that: Each deceleration sensor and the bracket as well as the positioning detection sensor and the bracket are connected via an L-shaped connecting plate.

3. According to claim 2, an intelligent robot walking and positioning mechanism suitable for new energy charging is characterized in that: The first side wall of each L-shaped connecting plate is fixed to the front of the bracket, so that the second side wall of each L-shaped connecting plate is perpendicular to the front of the bracket.

4. According to claim 3, the intelligent robot walking and positioning mechanism suitable for new energy charging is characterized in that: Each second side wall is provided with a waist hole extending toward the front of the bracket, and the positioning detection sensor and the deceleration sensor are detachably connected to the bracket through the corresponding waist holes.

5. According to claim 4, the intelligent robot walking positioning mechanism suitable for new energy charging is characterized in that: Each second side wall is provided with two waist holes, and the two waist holes are respectively close to the upper edge and the lower edge of the second side wall.

6. According to claim 4, the intelligent robot walking and positioning mechanism suitable for new energy charging is characterized in that: The positioning detection sensor and the deceleration sensor are respectively provided with bolts or screws passing through corresponding waist holes, and the distance between the positioning detection sensor or the deceleration sensor and the bracket can be adjusted by loosening the bolts or screws.

7. According to claim 1, the intelligent robot walking and positioning mechanism suitable for new energy charging is characterized by: An ear plate for installation is arranged on the upper side of the bracket.

8. The intelligent robot walking and positioning mechanism suitable for new energy charging according to claim 7 is characterized in that: A bottom plate for installation is arranged at the lower side of the bracket, and both the bottom plate and the ear plate extend forward.

Images