Quadruped robot wireless charging structure

Abstract

The utility model discloses a wireless charging structure of a quadruped robot, and belongs to the technical field of inspection robots. The quadruped robot specifically comprises a charging pile, a quadruped robot trunk and a positioning column assembly. An emitter is arranged in the charging pile, a first radiator is arranged at the bottom of the emitter, and a sensor is arranged in the emitter so as to detect the relative position of a receiver and control automatic charging; the quadruped robot trunk comprises a body frame and a battery module, a receiver is arranged in the quadruped robot trunk, and a second radiator is arranged at the bottom of the receiver; the positioning column assembly is provided with two cylinders, and the two cylinders are symmetrically distributed on the two side faces of the charging pile through bottom positioning connecting plates and used for positioning the relative position of the quadruped robot and the charging pile. The wireless charging system is simple in structure and convenient to maintain, the heat dissipation performance and the waterproof performance of the wireless charging system are improved, high-precision positioning of the transmitter and the receiver is achieved through the positioning column assembly, and the operation reliability of the system is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of inspection robot, more particularly, it relates to a four-legged robot wireless charging structure. BACKGROUND

[0002] With the rapid development of charging technology, wireless charging technology is widely used in consumer electronics, medical home, power inspection and other fields. The essential principle of wireless charging technology is electromagnetic induction, including energy transmitting end and receiving end. The alternating current inside the transmitting end generates a changing magnetic field, which is transmitted to the mapped receiving end through the air medium. The receiving end induces current according to the changing magnetic field, so as to generate the required power of the terminal device.

[0003] In the substation, four-legged robots are widely used for intelligent inspection, real-time monitoring of related data of power equipment, and effectively promote the process of unmanned construction in the substation. At present, the charging method of four-legged robot generally adopts the battery core adaptive docking mode. Because of the large workload of four-legged robot in the station, the number of cyclic charging is large, and the battery contact end often has the phenomena of wear, stain, poor contact and so on. The battery end is in a bare state during charging, and there are certain safety hazards and reliability problems in humid and muddy environment. For the wireless charging power inspection application, there is also a positioning accuracy problem of the transmitting end and the receiving end, which affects the charging efficiency and reliability.

[0004] For the existing technology of document 1, the multi-legged robot adopts stereo vision camera, but it cannot guarantee the center alignment of the wireless transmitting device and the receiving device, and can only be close to the center as much as possible, which leads to the decline of charging efficiency or unstable charging frequency, and the charging interruption phenomenon occurs. At the same time, such charging scheme usually does not consider the heat dissipation condition of the device itself, and the high temperature rise also affects the charging performance and the long-term life of the device.

[0005] For the existing technology of document 2, the multi-legged robot is equipped with a unmanned aerial vehicle, and then the unmanned aerial vehicle and the four-legged robot are difficult to center. At the same time, in a small area, it is difficult to coordinate the posture of the unmanned aerial vehicle and the posture of the four-legged robot, and the centering recognition of the unmanned aerial vehicle and the four-legged robot is difficult, so it is difficult to guarantee the quality of each charging; the electromagnetic iron is used to adsorb the unmanned aerial vehicle, which cannot guarantee that the unmanned aerial vehicle is stationary with the movement of the multi-legged robot, and the centering accuracy is insufficient; in addition, the electromagnetic induction depends on the changing magnetic field. If the external magnetic field (such as the magnetic field generated by the electromagnet) changes near the coil of the wireless charger, it is easy to cause additional induced current in the coil of the charger, which further reduces the charging efficiency and generates heat, and even damages the equipment. When the magnetic field strength of the electromagnet is large enough, it will also change the magnetic circuit of the wireless charging system, which will reduce the energy transmission efficiency; at the same time, the charging capacity of the charging module carried by the unmanned aerial vehicle itself cannot meet the sustainable demand.

[0006] The prior art of the file 2 has a multi-legged robot using solar charging, but the solar wireless charging is limited by weather and light, the capacity transmission is intermittent, and when the heat generated by the solar cell substrate cannot be dissipated in time, the multi-legged robot is easy to cause the temperature of the mounting surface to rise, the heat is transferred to the inside of the multi-legged robot, and then the internal temperature is too high, which affects the normal work of other components and reduces the overall performance and stability of the multi-legged robot, and the charging structure of the solar energy is complex, and the cost is relatively high compared with the transmitter and receiver type. Practical new type content

[0007] In order to solve the problems existing in the prior art, the utility model provides a kind of four-legged robot wireless charging structure with no exposed battery, high positioning accuracy, safety and reliability.

[0008] The utility model adopts the following technical solutions.

[0009] The utility model provides a kind of four-legged robot wireless charging structure, including charging pile, four-legged robot torso and positioning column assembly:

[0010] The charging pile is a rectangular cavity structure, and the charging pile is provided with a shell and a transmitting assembly.

[0011] The transmitting assembly is located in the shell, and the transmitting assembly is provided with a transmitter, a first radiator, a few Chinese characters and a first Gulan joint.

[0012] The four-legged robot torso is located above the charging pile and is aligned with the center of the charging pile.

[0013] The four-legged robot torso is provided with a battery module, and the battery module is provided with a battery body and a receiver assembly.

[0014] The two cylinders in the positioning column assembly are symmetrically distributed on the two side surfaces of the charging pile.

[0015] Preferably, the charging pile is provided with an upper cover plate and a first plastic baffle, wherein the upper cover plate is located above the shell, and the first plastic baffle is located on the mapping hole of the transmitter.

[0016] Preferably, the mapping hole of the transmitter is located at the center of the upper cover plate, and the size of the mapping hole of the transmitter is consistent with the size of the upper end surface of the transmitter.

[0017] Preferably, the meandering structure is located below the upper cover plate.

[0018] Preferably, the quadruped robot trunk is provided with a body frame and a second plastic baffle, wherein the battery module is located in the body frame, and the second plastic baffle is located on the side surface of the body frame.

[0019] Preferably, the upper end surface of the receiver is flush with the upper end surface of the battery body.

[0020] Preferably, one end of the second Glan joint is connected with the outgoing line of the receiver, and the other end is connected with the side surface of the boss of the concave structure.

[0021] Preferably, the mapping hole of the receiver is located at the lower end surface of the body frame, the size of the mapping hole of the receiver is consistent with the size of the upper end surface of the receiver, and the second plastic baffle is located on the mapping hole of the receiver.

[0022] Preferably, the positioning column assembly comprises a first cylinder, a second cylinder and a positioning connecting plate, the first cylinder and the second cylinder are symmetrically located above the positioning connecting plate, the positioning connecting plate is symmetrically located on the two side surfaces of the charging pile, and the bottom surface of the positioning connecting plate is flush with the bottom surface of the charging pile.

[0023] Preferably, the center surfaces of the first cylinder and the second cylinder are located at a distance A from the center surface of the charging pile, the positioning column assembly and the quadruped robot trunk are located at a center distance B, and the quadruped robot trunk is located at a distance C from the charging pile.

[0024] Compared with the prior art, the utility model has at least the following beneficial effects:

[0025] 1. The quadruped robot wireless charging structure, the bottom of the transmitter and the receiver is provided with a radiator, that is, provided with a first radiator and a second radiator, can solve the problem of system heat retention caused by high power density in the process of wireless charging, meet the heat dissipation problem of device long time operation, reliably guarantee the operation effect and use period of device, improve the charging efficiency; the transmitter and the receiver are provided with Glan joint incoming and outgoing lines, and the lines are arranged in the charging pile and the battery module respectively, a special waterproof joint is arranged in the charging process, which can effectively guarantee the protection level of the system, improve the waterproof sealing performance of the wireless charging system, and guarantee the reliability of the system.

[0026] 2.The four-legged robot wireless charging structure of the utility model, through the cooperation of the “j” type structure and the “concave” type structure with the transmitter and the receiver respectively, external environment protection is carried out by using the plastic baffle, the structure is simple, and the maintenance of the charging pile and the four-legged robot trunk is convenient;

[0027] 3.The four-legged robot wireless charging structure of the utility model, through the positioning column assembly reflecting columnar point cloud, the processor in the robot trunk calculates the relative position of the receiver placed on the four-legged robot trunk and the transmitter on the charging pile in real time, high-precision positioning between the transmitter and the receiver in the wireless charging of the four-legged robot can be realized, automatic charging start conditions are identified through the internal sensor of the transmitter, the system stability is ensured, the four-legged robot can always maintain a full charge state in standby state, has the AC input interface 15, and the sustainability of charging can be effectively ensured. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a whole structure schematic view of the four-legged robot wireless charging of the utility model;

[0029] Figure 2 It is a charging pile structure schematic view of the four-legged robot wireless charging of the utility model;

[0030] Figure 3 It is a transmitter assembly schematic view of the four-legged robot wireless charging of the utility model;

[0031] Figure 4 It is a four-legged robot trunk main body structure schematic view of the four-legged robot wireless charging of the utility model;

[0032] Figure 5 It is a battery module structure schematic view of the four-legged robot wireless charging of the utility model.

[0033] Among them, 1-charging pile, 2-four-legged robot trunk, 3-positioning column assembly, 11-housing, 12-transmission assembly, 13-upper cover plate, 14-first plastic baffle, 15-AC input interface, 121-transmitter, 122-first radiator, 123-“j” type structure, 124-first glen joint, 21-body frame, 22-battery module, 23-second plastic baffle, 221-battery body, 222-receiving assembly, 2221-receiver, 2222-second radiator, 2223-second glen joint, 31-first cylinder, 32-second cylinder, 33-positioning connecting plate. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical scheme and advantages of the utility model clearer, the technical scheme of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model below. The described embodiments are only a part of the embodiments of the utility model, not all the embodiments. Based on the spirit of the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0035] As Figure 1 Embodiment 1 of the utility model provides a four-legged robot wireless charging structure, including charging pile 1, four-legged robot torso 2 and positioning column assembly 3.

[0036] Charging pile 1 is rectangular cavity structure, inside for placing power supply, control, communication device.

[0037] As Figure 2 Charging pile 1 includes shell 11, transmitting assembly 12, upper cover plate 13 and first plastic baffle 14. Shell 11 is the rectangular cavity structure with the opening at the top, and the alternating current input interface 15 is arranged on the side, which is connected to the power grid through the front power supply to provide power input. Upper cover plate 13 is arranged above shell 11 and is pressed tightly, and transmitting assembly 12 is arranged at the lower end surface of upper cover plate 13, wherein the mapping hole of transmitter 121 and receiver 2221 is arranged in the middle, which can be rectangular hole, polygonal hole, array hole and the like, and the size is consistent with the size of the upper end surface of transmitter 121, which is used to prevent the mud and the like splashed in the external environment. The first plastic baffle 14 is arranged on the mapping hole to close it, and does not affect the wireless electromagnetic induction.

[0038] As Figure 3 Transmitting assembly 12 includes transmitter 121, first radiator 122, "J" shaped structure 123 and first Gland joint 124, and first radiator 122 is arranged at the bottom of transmitter 121 to radiate heat generated during the operation of transmitting assembly 12. Sensor is arranged in transmitter 121 to detect whether the position of receiver 2221 is in place, and to control the start of automatic charging. When transmitter 121 and receiver 2221 are in central alignment, automatic charging is started. First radiator 122 is array fin structure, and the fin surface is arranged on the fixed surface of "J" shaped structure 123 to guide heat dissipation. The outgoing line of transmitter 121 enters the internal wiring of charging pile 1 through first Gland joint 124 to realize waterproof sealing of transmitting assembly 12.

[0039] Four-legged robot torso 2 is the body torso of four-legged robot, which is arranged above the center of charging pile 1 in the charging state, and positioning column assembly 3 is arranged with two cylinders and is symmetrically arranged on the two side surfaces of the long side of charging pile 1 to position the relative position of four-legged robot and charging pile.

[0040] As Figures 4-5 shown, the four-legged robot torso 2 body includes the body frame 21, the battery module 22 and the second plastic baffle 23. The battery module 22 is arranged in the body frame 21, and the second plastic baffle 23 is located on the side of the body frame. The battery module 22 includes a battery body 221 and a receiving assembly 222, one side of the battery body 221 is a "concave" structure, and the side is provided with the receiving assembly 222. The receiving assembly 222 includes a receiver 2221, a second radiator 2222 and a second granville joint 2223, the receiver 2221 is provided with the second radiator 2222 through the bottom flange lower end face, so as to receive the operation of the receiver 2221 assembly heat dissipation, and the second radiator 2222 is an array fin structure, and the fin end is arranged on the fixed surface of the "concave" structure of the side of the battery body 221, so as to guide the heat dissipation. One end of the second granville joint 2223 is connected with the outlet of the receiver 2221, and the other end is arranged on the convex boss side of the "concave" structure, so as to waterproof and seal the battery body 221. The upper end face of the receiver 2221 is flush with the lower end face of the battery body 221, so that the battery module 22 can be smoothly pulled out and inserted into the body frame 21. The lower end face of the body frame 21 is provided with a mapping hole of the transmitter 121 and the receiver 2221, which can be a rectangular hole, a polygonal hole, an array hole and the like, and the size is consistent with the size of the upper end face of the receiver 2221, so as to prevent the splashing of mud and the like in the external environment. The second plastic baffle 23 is located on the mapping hole to close the mapping hole without affecting the wireless electromagnetic induction.

[0041] As Figure 1 shown, the positioning column assembly 3 includes a first cylinder 31, a second cylinder 32 and a positioning connecting plate 33, the first cylinder 31 and the second cylinder 32 are symmetrically arranged above the positioning connecting plate 33, and the cylinder height is greater than the height of the four-legged robot. The positioning connecting plate 33 is symmetrically arranged on the two long side sides of the charging pile 1, and the bottom surface is flush with the bottom surface of the charging pile 1.

[0042] The center distance between the first cylinder 31 and the second cylinder 32 and the center surface of the charging pile 1 is set as distance A. The distance between the four-legged robot torso 2 and the positioning column assembly 3 is set as distance B.

[0043] The overall working process of the wireless charging of the four-legged robot is as follows:

[0044] When the power of the four-legged robot is low, the four-legged robot moves to the charging pile 1 point position nearby, the relative positions of the charging pile 1 and the four-legged robot torso 2 are obtained through the point cloud ranging of the positioning column assembly 3, and the four-legged robot moves to the position where the center of the transmitter 121 and the receiver 2221 is aligned. Then the sensor on the transmitter 121 identifies the position of the four-legged robot, and when the sensor monitors that the center of the transmitter and the receiver is aligned, the transmitter wireless charging system will automatically start charging until it is fully charged, so as to ensure that the four-legged robot always maintains full power in standby state.

[0045] Wherein, the point cloud ranging technology as a relatively mature technology, is widely used in the ranging of the patrol robot, and the principle is that the center distance B between the four-legged robot trunk 2 and the positioning column assembly 3 is obtained through the three-dimensional point cloud data reflected by the positioning column assembly 3, and the Chinese patents with the patent number CN115576318A and the like disclose the related technologies of the point cloud ranging and positioning of the patrol robot.

[0046] Wherein, the sensor as a relatively mature technology, can detect the position by using the common laser sensor in the market, and the Chinese patents with the patent number CN219522126U and the like disclose the related technologies of the robot laser sensor, the laser sensor reflection point cloud data and the position detection of the laser sensor.

[0047] Compared with the prior art, the beneficial effects of the utility model at least include:

[0048] 1. The four-legged robot wireless charging structure of the utility model, the transmitter and the receiver bottom are equipped with radiators, that is, equipped with first and second radiators, which can solve the problem of system heat retention caused by high power density during wireless charging, meet the heat dissipation problem of device long-time operation, reliably guarantee the operation effect and use cycle of the device, and improve the charging efficiency; The transmitter and the receiver are equipped with Gland joint inlet and outlet lines, respectively, and the lines are arranged in the charging pile and the battery module, and a special waterproof joint is arranged in the charging process, which can effectively guarantee the protection level of the system, improve the waterproof sealing performance of the wireless charging system, and guarantee the reliability of the system;

[0049] 2. The four-legged robot wireless charging structure of the utility model, the "J" type structure and the "concave" type structure are matched with the transmitter and the receiver respectively, the external environment is protected by the plastic baffle, the structure is simple, and the maintenance and maintenance of the charging pile and the four-legged robot trunk are convenient;

[0050] 3. The four-legged robot wireless charging structure of the utility model, the positioning column assembly reflects the columnar point cloud, the processor in the robot trunk calculates the relative position of the receiver placed in the four-legged robot trunk and the transmitter on the charging pile in real time, the high-precision positioning between the transmitter and the receiver in the wireless charging of the four-legged robot can be realized, the automatic charging starting condition is identified through the internal sensor of the transmitter, the stability of the system is guaranteed, the four-legged robot can always keep full power in standby state, and the AC input interface 15 can effectively guarantee the sustainability of the charging.

[0051] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application but not to limit it, and although the present application has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the specific embodiments of the present application can be modified or replaced equivalently without departing from the spirit and scope of the present application, and any modification or equivalent replacement without departing from the spirit and scope of the present application should be covered in the protection scope of the claims of the present application.

Claims

1. A four-legged robot wireless charging structure, comprising a charging pile (1), a four-legged robot torso (2) and a positioning column assembly (3), characterized in that: the charging pile (1) is a rectangular cavity structure, the charging pile (1) is provided with a shell and a transmitting assembly, the shell is a rectangular cavity with an open top, and the shell side is provided with an alternating current input interface; the transmitting assembly is located inside the shell, and the transmitting assembly is provided with a transmitter, a first heat sink, a few-shaped structure and a first Gland joint, wherein the first heat sink is located at the bottom of the transmitter and is an array fin structure, the fin end is located on the few-shaped structure, and the first Gland joint is located at the outgoing line end of the transmitter; the four-legged robot torso (2) is located above the charging pile (1) and is aligned with the center of the charging pile (1); the four-legged robot torso (2) is provided with a battery module, the battery module is provided with a battery body and a receiver assembly, one side of the battery body is a concave structure, and the receiver assembly is located on the side; the receiver assembly is provided with a receiver, the lower end surface of the receiver is provided with a second heat sink, the second heat sink is an array fin structure, the fin end is located on the concave structure of the side of the battery body, and the outgoing line end of the receiver is provided with a second Gland joint; two cylinders in the positioning column assembly (3) are symmetrically distributed on the two side surfaces of the charging pile (1).

2. The four-legged robot wireless charging structure according to claim 1, characterized in that: the charging pile (1) is provided with an upper cover plate and a first plastic baffle, wherein the upper cover plate is located above the shell, and the first plastic baffle is located on the mapping hole of the transmitter.

3. The four-legged robot wireless charging structure according to claim 2, characterized in that: the mapping hole of the transmitter is located at the center of the upper cover plate, and the size of the mapping hole of the transmitter is consistent with the size of the upper end surface of the transmitter.

4. The four-legged robot wireless charging structure according to claim 3, characterized in that: the few-shaped structure is located below the upper cover plate.

5. The four-legged robot wireless charging structure according to claim 1, characterized in that: the four-legged robot torso (2) is provided with a body frame and a second plastic baffle, wherein the battery module is located in the body frame, and the second plastic baffle is located on the side of the body frame.

6. The four-legged robot wireless charging structure according to claim 1, characterized in that: the upper end surface of the receiver is flush with the upper end surface of the battery body.

7. The four-legged robot wireless charging structure according to claim 1, characterized in that: one end of the second Gland joint is connected with the outgoing line of the receiver, and the other end is connected with the convex side surface of the concave structure.

8. The four-legged robot wireless charging structure according to claim 5, characterized in that: the mapping hole of the receiver is located on the lower end surface of the body frame, the size of the mapping hole of the receiver is consistent with the size of the upper end surface of the receiver, and the second plastic baffle is located on the mapping hole of the receiver.

9. The four-legged robot wireless charging structure according to claim 1, characterized in that: The positioning column assembly (3) includes a first cylinder, a second cylinder and a positioning connecting plate. The first cylinder and the second cylinder are symmetrically located above the positioning connecting plate. The positioning connecting plate is symmetrically located on both sides of the charging pile (1). The bottom surface of the positioning connecting plate is flush with the bottom surface of the charging pile (1).

10. A wireless charging structure for a quadruped robot according to claim 9, characterized in that: The center planes of the first cylinder and the second cylinder are set at a distance A from the center plane of the charging pile (1), the center distance between the positioning column assembly (3) and the quadruped robot torso (2) is set at a distance B, and the quadruped robot torso (2) is set at a distance C from the charging pile (1).

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