Transfer robot and robot charging system
By installing wireless charging receiver modules on both sides of the main body of the handling robot and using a distance detection module to achieve wireless charging, the charging limitations in confined spaces are solved, enabling a flexible and efficient charging process.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HEFEI YOUAI INTELLIGENT MANUFACTURING EQUIPMENT CO LTD
- Filing Date
- 2025-04-30
- Publication Date
- 2026-05-12
AI Technical Summary
The handling robot uses a single-sided contact charging method, which limits its application in confined spaces.
The robot uses wireless charging. Wireless charging receiver modules are installed on both sides of the main body. The distance detection module detects the distance to the external wireless charging transmitter module. When the preset distance is reached, a charging connection is established, and charging is performed using the principle of electromagnetic induction.
It enables flexible charging in confined spaces, avoids strict requirements on the robot's orientation and posture, and increases the flexibility and efficiency of charging.
Smart Images
Figure CN224233399U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robot technology, and in particular to a handling robot and a robot charging system. Background Technology
[0002] A material handling robot is an automated guided vehicle that can travel along a preset path, equipped with safety protection and transfer functions, enabling automated material handling. Material handling robots have a wide range of applications, improving production and logistics efficiency while reducing labor costs.
[0003] In related technologies, handling robots use a single-sided contact charging method. The robot must maintain a specific orientation during charging to ensure accurate electrode contact. This contact charging method imposes strict requirements on the robot's placement and orientation, increasing the space required for charging and limiting its application in confined spaces. Utility Model Content
[0004] The purpose of this invention is to provide a handling robot and a robot charging system, which aims to solve the technical problem that the handling robot is limited in application in a small space due to its single-sided contact charging method.
[0005] To achieve the above objectives, this utility model provides a handling robot, which includes:
[0006] The robot body is equipped with a battery module; the robot body has mounting surfaces at both ends along a first direction.
[0007] A wireless charging receiver module is disposed on the mounting surface and electrically connected to the battery module;
[0008] A distance detection module, disposed on the mounting surface, is used to detect a first distance between the wireless charging receiver module and an external wireless charging transmitter module;
[0009] The wireless charging receiver module is used to connect with the wireless charging transmitter module for charging when the first distance is a preset distance.
[0010] In the handling robot of this application, the preset distance is greater than or equal to 30 mm and less than or equal to 50 mm.
[0011] In the handling robot of this application, the distance detection module includes multiple laser detectors, which are arranged at intervals around the wireless charging receiver module;
[0012] The laser detector is used to emit laser signals and to receive reflected laser signals in order to detect the first distance.
[0013] In the handling robot of this application, a shielding plate is provided on the mounting surface, the shielding plate is provided with a first clearance hole and a second clearance hole, the wireless charging receiving module is provided in the first clearance hole, and the distance detection module is provided in the second clearance hole;
[0014] The shielding plate is used to shield the electromagnetic waves generated when the wireless charging receiver module and the wireless charging transmitter module are connected for charging.
[0015] In the handling robot of this application, the wireless charging receiving module protrudes from the mounting surface along the first direction, and the distance from the end of the wireless charging receiving module away from the mounting surface to the mounting surface is a second distance.
[0016] In the handling robot of this application, the mounting surface is provided with a mounting port, the wireless charging receiver module is assembled in the mounting port, and the edge of the wireless charging receiver module is provided with a protective plate, the protective plate surrounding the outer periphery of the mounting port.
[0017] In the handling robot of this application, the handling robot also includes a display module, which is disposed on the robot body and electrically connected to the wireless charging receiver module.
[0018] In the handling robot of this application, the handling robot also includes an audible and visual alarm module, which is disposed on the robot body and is used to emit an audible and visual alarm signal when the first distance is less than the preset distance.
[0019] In the handling robot of this application, the handling robot also includes a chassis module, which is connected to the bottom of the robot body.
[0020] Secondly, this utility model also provides a robot charging system, which includes a wireless charging transmitter module and the transport robot, wherein the wireless charging transmitter module is used to charge the transport robot.
[0021] This utility model provides a handling robot, which has the following advantages:
[0022] This invention features wireless charging receiver modules mounted on both sides of the robot's main body. When the robot moves to a position where the wireless charging receiver module is aligned with an external wireless charging transmitter module, and the distance detection module detects a preset distance between the two modules, a charging connection is established. The transmitter coil within the transmitter module is energized, generating an alternating magnetic field, which in turn induces a current in the receiver module, thus charging the battery module. Compared to contact charging, this invention utilizes wireless charging. The wireless charging receiver module connects to the transmitter module from both sides of the robot, eliminating the limitation to single-sided contact charging and increasing charging flexibility. The distance detection module detects the first distance, establishing a charging connection when it reaches the preset distance, eliminating the need for the robot to adjust to a specific orientation, enabling the robot to charge even in confined spaces. Attached Figure Description
[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0024] Figure 1 An exploded view of the handling robot provided in this embodiment of the utility model;
[0025] Figure 2 This is a schematic diagram of the structure of the handling robot provided in an embodiment of the present utility model;
[0026] Figure 3 Another structural schematic diagram of the handling robot provided in this embodiment of the utility model;
[0027] Figure 4 This is a schematic diagram of the structure of the robot charging system provided in an embodiment of the present utility model;
[0028] Figure 5 Another exploded view of the handling robot provided in this embodiment of the utility model;
[0029] Figure 6 A front view of the handling robot provided in an embodiment of this utility model;
[0030] Figure 7 for Figure 6 Enlarged view of a portion of point A in the middle.
[0031] The markings in the image are as follows:
[0032] 1. Robot body; 11. Mounting surface; 12. Shielding plate; 121. First clearance hole; 122. Second clearance hole; 13. Mounting port; 14. Protective plate; 2. Wireless charging receiver module; 3. Distance detection module; 31. Laser detector; 4. Display module; 5. Robotic arm; 6. Chassis module; 100. Handling robot; 101. Wireless charging transmitter module; X, First direction; Y, Second direction; Z, Third direction; L1, First distance; L2, Second distance. Detailed Implementation
[0033] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit its scope.
[0034] In the description of this utility model, it should be noted that the terms "upper", "lower", "front", "rear", "inner", "outer" and other terms used in this utility model to indicate the orientation or positional relationship are based on the positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device and components referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.
[0035] In the description of this utility model, it should be understood that the terms "first," "second," etc., are used to describe various information, but this information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this utility model, "first" information can also be referred to as "second" information, and similarly, "second" information can also be referred to as "first" information.
[0036] In related technologies, wireless charging connections are based on the principle of electromagnetic induction. When the wireless charging transmitter is powered on, it generates an alternating magnetic field. The wireless charging receiver contains an induction coil. When the induction coil is brought close to the alternating magnetic field, an induced current is generated within the coil. After rectification and voltage regulation, the induced current provides stable power to the device, thus enabling the charging function.
[0037] like Figures 1 to 4As shown, this utility model embodiment provides a handling robot 100, which includes a robot body 1, a wireless charging receiver module 2, and a distance detection module 3. The robot body 1 is provided with a battery module. The robot body 1 has mounting surfaces 11 at both ends along the first direction X. The wireless charging receiver module 2 is disposed on the mounting surface 11 and is electrically connected to the battery module. The distance detection module 3 is disposed on the mounting surface 11 and is used to detect a first distance L1 between the wireless charging receiver module 2 and an external wireless charging transmitter module 101. The wireless charging receiver module 2 is used to connect to the wireless charging transmitter module 101 for charging when the first distance is a preset distance.
[0038] In this embodiment, the robot body 1 is the main structure of the handling robot 100. The handling robot 100 has a first direction X, a second direction Y, and a third direction Z. The first direction X is the width direction of the robot body 1, the second direction Y is the length direction of the robot body 1, and the third direction Z is the height direction of the robot body 1. The battery module can be installed inside the robot body 1 or on the robot body 1, and is electrically connected to the wireless charging receiver module 2 through an electrical connection line.
[0039] The wireless charging transmitter module 101 contains a transmitter coil, which generates an alternating magnetic field when energized. The wireless charging receiver module 2 contains an induction coil (or receiver coil). Based on the principle of electromagnetic induction, when the induction coil is near the alternating magnetic field, it generates an induced current. After rectification and voltage regulation, the induced current charges the battery module, thus completing the wireless charging process.
[0040] Based on the above technical solution, in this embodiment, wireless charging receiver modules 2 are respectively provided on the mounting surfaces 11 on both sides of the robot body 1. When the handling robot 100 moves to a position where the wireless charging receiver module 2 is opposite to the external wireless charging transmitter module 101, and the distance detection module 3 detects that the first distance L1 between the wireless charging receiver module 2 and the wireless charging transmitter module 101 is a preset distance, the wireless charging receiver module 2 and the wireless charging transmitter module 101 establish a charging connection. The transmitting coil in the wireless charging transmitter module 101 is energized and generates an alternating magnetic field. The induction coil in the wireless charging receiver module 2 generates an induced current, thereby charging the battery module.
[0041] Compared to contact charging, this embodiment uses wireless charging. The wireless charging receiver module 2 can connect to the wireless charging transmitter module 101 from both sides of the robot body 1, no longer limited to contact charging on one side, thus increasing charging flexibility. This embodiment also uses a distance detection module 3 to detect a first distance L1. When the first distance L1 reaches a preset distance, a charging connection is established. The robot does not need to be adjusted to a specific orientation; charging is possible as long as the distance between the wireless charging receiver module 2 and the wireless charging transmitter module 101 is appropriate, enabling the handling robot to perform charging in confined spaces.
[0042] It is understandable that when a robot using contact charging moves in a confined space, if the charging port on the robot is not aligned with the external charging port, it needs to rotate to adjust its direction. However, due to the robot's large size, adjusting its direction is inconvenient in a confined space. In contrast, this embodiment uses wireless charging, which eliminates the need for direction adjustment, and charging connections can be established on both sides of the robot body 1, thus enabling its application in confined spaces.
[0043] In this embodiment, the preset distance can be a range of distances or a specific numerical value.
[0044] In some embodiments, the preset distance is greater than or equal to 30 mm and less than or equal to 50 mm.
[0045] Understandably, in wireless charging, the transmitting coil generates an alternating magnetic field through an alternating current. The strength of this alternating magnetic field decreases with increasing distance. The greater the distance between the transmitting coil and the induction coil, the weaker the magnetic field strength at the location of the induction coil.
[0046] Based on this, this embodiment sets the preset distance to between 30 mm and 50 mm. Within this range, the electromagnetic coupling between the wireless charging transmitter module 101 and the wireless charging receiver module 2 can be maintained at a relatively ideal level. If the preset distance is too close (e.g., 5 mm), the alternating magnetic field strength will be too high, causing local overheating of the robot body 1 (or mounting surface 11), affecting charging efficiency or even damaging the equipment. If the preset distance is too far (e.g., 100 mm), the alternating magnetic field strength will be too low, resulting in less electrical energy sensed by the wireless charging receiver module 2 and reduced charging efficiency.
[0047] For example, the rated current of the battery module is 100A, and the preset distance is set to 40 mm. At this preset distance, efficient electromagnetic energy conversion can be achieved between the wireless charging receiver module 2 and the wireless charging transmitter module 101, improving charging efficiency.
[0048] In some embodiments, such as Figure 4 and Figure 5As shown, the distance detection module 3 includes multiple laser detectors 31, which are arranged at intervals around the wireless charging receiver module 2; wherein, the laser detectors 31 are used to emit laser signals and to receive reflected laser signals to detect a first distance L1.
[0049] Specifically, multiple laser detectors 31 are arranged around the outer periphery of the wireless charging receiver module 2, enabling the distance detection module 3 to detect the first distance L1 between the wireless charging receiver module 2 and the wireless charging transmitter module 101 from multiple different positions, thereby improving detection accuracy. The laser detectors 31 are redundantly configured; if one laser detector 31 malfunctions, the others can still continue detection, ensuring the reliability of the distance detection function.
[0050] In this embodiment, the laser detector 31 detects distance by emitting a laser signal and receiving the reflected laser signal. Lasers have characteristics such as good directionality and strong monochromaticity, and can propagate in a straight line. When the laser signal is reflected back after passing through the wireless charging transmitter module 101, the laser detector 31 calculates the first distance L1 by measuring the time difference between the laser signal's emission and reception, combined with the laser's propagation speed.
[0051] In some embodiments, such as Figure 5 As shown, a shielding plate 12 is provided on the mounting surface 11. The shielding plate 12 is provided with a first clearance hole 121 and a second clearance hole 122. The wireless charging receiver module 2 is located in the first clearance hole 121, and the distance detection module 3 (or laser detector 31) is located in the second clearance hole 122. The shielding plate 12 is used to shield the electromagnetic waves generated when the wireless charging receiver module 2 and the wireless charging transmitter module 101 are connected for charging.
[0052] Specifically, the shielding plate 12 is fixed to the mounting surface 11. The first clearance hole 121 on the shielding plate 12 is used to accommodate the wireless charging receiver module 2, and the second clearance hole 122 is used to accommodate the distance detection module 3, so as to avoid obstructing the distance detection module 3 and not affect the normal use of the distance detection module 3. The distance detection module 3 includes multiple laser detectors 31. The shielding plate 12 is provided with multiple second clearance holes 122, each of which corresponds to a laser detector 31, ensuring that the laser detector 31 can normally emit and receive laser signals.
[0053] During wireless charging, the electromagnetic waves generated by the wireless charging transmitter module 101 can interfere with the electronic modules on the robot body 1, affecting the normal operation of other electronic modules and causing the surface temperature of the robot body 1 to rise. In this embodiment, the electromagnetic waves are shielded by the shielding plate 12, reducing the radiation of electromagnetic waves to the robot body 1, thereby protecting other electronic modules from interference.
[0054] For example, the shielding plate 12 is an aluminum plate made of aluminum metal. The aluminum plate is conductive and can reflect and absorb electromagnetic waves. When electromagnetic waves encounter the aluminum plate, most of the electromagnetic waves will be reflected back by the surface of the aluminum plate, and only a small portion of the electromagnetic waves will enter the interior of the aluminum plate. The electromagnetic waves that enter the interior of the aluminum plate will also be rapidly attenuated due to the conductivity of aluminum, thereby achieving a good shielding effect.
[0055] In some embodiments, such as Figure 6 and Figure 7 As shown, the wireless charging receiver module 2 protrudes from the mounting surface 11 along the first direction X, and the distance from the end of the wireless charging receiver module 2 away from the mounting surface 11 to the mounting surface 11 is the second distance L2.
[0056] Specifically, the wireless charging receiver module 2 protrudes outward from the robot body 1 (or mounting surface 11), enabling the wireless charging receiver module 2 to directly dock with the wireless charging transmitter module 101, reducing positional deviation during the docking process and improving the accuracy and efficiency of docking.
[0057] For example, the second distance L2 is 13 mm, that is, the distance by which the wireless charging receiver module 2 protrudes from the robot body 1 (or mounting surface 11) is 13 mm.
[0058] In some embodiments, such as Figure 5 As shown, the mounting surface 11 is provided with a mounting port 13, the wireless charging receiver module 2 is assembled in the mounting port 13, and the edge of the wireless charging receiver module 2 is provided with a protective plate 14, which surrounds the outer periphery of the mounting port 13.
[0059] Specifically, a portion of the wireless charging receiver module 2 is housed within the robot body 1 so that it can be electrically connected to the battery module within the robot body 1 via an electrical connection wire. Another portion of the wireless charging receiver module 2 protrudes outward through the mounting port 13 and the first clearance hole 121. A protective plate 14 surrounds the gap between the wireless charging receiver module 2 and the mounting surface 11, serving to prevent dust and water from entering the robot body 1 through the mounting port 13.
[0060] In some embodiments, the protective plate 14 is an aluminum plate, used to shield the electromagnetic waves generated when the wireless charging receiver module 2 and the wireless charging transmitter module 101 are connected for charging.
[0061] In some embodiments, such as Figure 3 and Figure 4 As shown, the handling robot 100 also includes a display module 4, which is located on the robot body 1 and is electrically connected to the wireless charging receiver module 2.
[0062] Specifically, display module 4 is used to acquire charging information in real time, such as the current charging level, charging speed, and remaining charging time. This information allows for a clear understanding of the robot's charging progress. If any abnormalities occur during wireless charging, such as charging interruption, low charging efficiency, or battery overheating, display module 4 can also display corresponding warning messages. This helps to quickly identify problems and take appropriate measures, such as checking the charging equipment or adjusting the robot's position, to ensure the safety of the charging process.
[0063] For example, the display module 4 is located at the front end of the robot body 1 along the second direction Y.
[0064] In some embodiments, the handling robot 100 further includes an audible and visual alarm module (not shown in the figures), which is disposed on the robot body 1 and is used to issue an audible and visual alarm signal when the first distance L1 is less than a preset distance.
[0065] Specifically, when the first distance L1 is less than the preset distance, the wireless charging receiver module 2 and the wireless charging transmitter module 101 are too close, resulting in unsuccessful charging and a risk of collision. The sound and light alarm module emits a warning sound or light to alert staff, prevent collisions, and protect the equipment.
[0066] In some embodiments, such as Figures 1 to 5 As shown, the handling robot 100 also includes a robotic arm 5, which simulates the complex actions of a human arm, such as grasping, handling, assembling, and stacking. The robot identifies the position, shape, and weight of the target object, adjusts the gripping force and grasping posture, and achieves stable grasping and handling of materials.
[0067] In some embodiments, the end of the robotic arm 5 is also provided with a gripping mechanism for performing operations such as grasping, placing, and rotating.
[0068] In some embodiments, such as Figures 3 to 5 As shown, the handling robot 100 also includes a chassis module 6, which is connected to the bottom of the robot body 1.
[0069] Specifically, chassis module 6 supports the robot body 1, and the chassis module 6 is detachably connected to the robot body 1. Depending on different application requirements, chassis module 6 can adopt different modes of movement, such as wheeled, tracked, or legged. Chassis module 6 includes a drive motor, a reducer, and a control system. The drive unit provides power to the chassis, enabling it to move forward, backward, and turn; the control system controls the chassis's speed and direction of movement based on the robot's task requirements and environmental information, ensuring the robot accurately reaches the target location.
[0070] Secondly, such as Figure 4 As shown, this utility model embodiment also provides a robot charging system, including a wireless charging transmitter module 101 and the aforementioned handling robot 100. The wireless charging transmitter module 101 is used to charge the handling robot 100.
[0071] Specifically, the advantages of the handling robot 100 are as described in the previous embodiments and will not be repeated here. The wireless charging transmitter module 101 is installed in a specific charging area via a mounting bracket (not shown in the attached drawings). When the handling robot 100 is low on power during operation, it autonomously moves to the charging area and connects to the wireless charging transmitter module 101 via wireless charging, thereby charging the battery module on the handling robot 100.
[0072] It should be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.
[0073] The sequence numbers of the above-described embodiments of this utility model are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.
Claims
1. A transport robot, characterized in that, include: The robot body is equipped with a battery module; the robot body has mounting surfaces at both ends along a first direction. A wireless charging receiver module is disposed on the mounting surface and electrically connected to the battery module; A distance detection module, disposed on the mounting surface, is used to detect a first distance between the wireless charging receiver module and an external wireless charging transmitter module; The wireless charging receiver module is used to connect with the wireless charging transmitter module for charging when the first distance is a preset distance.
2. The handling robot according to claim 1, characterized in that, The preset distance is greater than or equal to 30 mm and less than or equal to 50 mm.
3. The handling robot according to claim 1, characterized in that, The distance detection module includes multiple laser detectors, which are spaced apart around the wireless charging receiver module. The laser detector is used to emit laser signals and to receive reflected laser signals in order to detect the first distance.
4. The handling robot according to claim 1, characterized in that, A shielding plate is provided on the mounting surface. The shielding plate is provided with a first clearance hole and a second clearance hole. The wireless charging receiver module is located in the first clearance hole, and the distance detection module is located in the second clearance hole. The shielding plate is used to shield the electromagnetic waves generated when the wireless charging receiver module and the wireless charging transmitter module are connected for charging.
5. The handling robot according to claim 4, characterized in that, The wireless charging receiver module protrudes from the mounting surface along the first direction, and the distance from the end of the wireless charging receiver module facing away from the mounting surface to the mounting surface is the second distance.
6. The handling robot according to claim 5, characterized in that, The mounting surface is provided with a mounting port, the wireless charging receiver module is assembled in the mounting port, and the edge of the wireless charging receiver module is provided with a protective plate, which surrounds the outer periphery of the mounting port.
7. The handling robot according to claim 1, characterized in that, The transport robot also includes a display module, which is located on the robot body and is electrically connected to the wireless charging receiver module.
8. The handling robot according to claim 1, characterized in that, The transport robot also includes an audible and visual alarm module, which is located on the robot body and is used to issue an audible and visual alarm signal when the first distance is less than the preset distance.
9. The handling robot according to claim 1, characterized in that, The transport robot also includes a chassis module, which is connected to the bottom of the robot body.
10. A robot charging system, characterized in that, The invention includes a wireless charging transmitter module and a handling robot as described in any one of claims 1 to 9, wherein the wireless charging transmitter module is used to charge the handling robot.