Magnetic adsorption guiding type humanoid robot wireless charging docking mechanism

Abstract

The utility model relates to intelligent robot energy management technical field especially relates to a kind of magnetic attraction guiding formula humanoid robot wireless charging docking mechanism, including placement plane, humanoid robot and mobile frame etc., mobile frame bottom is equipped with several universal wheels, mobile frame is placed on placement plane by universal wheel, mobile frame top is connected with support plate, support plate top is equipped with electric push rod, humanoid robot back is equipped with first magnetic attraction inductor, the piston rod end of electric push rod is connected with mounting plate, second magnetic attraction inductor is installed in mounting plate front side, cable is connected in mounting plate rear side, mobile frame bottom is provided with the movement component for adjusting the position of mobile frame. Gradient magnetic field coupling of first magnetic attraction inductor and second magnetic attraction inductor makes two inductors produce axial self-alignment force, automatically corrects the angle deviation of robot, to realize non-contact type pose real-time tracking, solve the interface offset problem of biped robot.

Description

Technical Field

[0001] This utility model relates to the field of intelligent robot energy management technology, and in particular to a magnetic adsorption guided wireless charging docking mechanism for humanoid robots. Background Technology

[0002] Humanoid robots, as intelligent devices with highly biomimetic structures and mobility, are increasingly widely used in industrial collaboration, medical care, and home services. Their highly flexible joints and complex sensing systems require a continuous supply of electrical energy, making charging a key bottleneck restricting continuous robot operation. Therefore, developing efficient and reliable autonomous charging docking systems is of great significance for improving the practicality and intelligence of robots.

[0003] Currently, robot charging mainly relies on fixed wireless charging stations. During the charging process, the robot needs to move to the charging area through autonomous navigation. The robot adjusts its posture to physically align its receiver with the transmitter of the charging station, forming a point-to-point contact or close-range coupling, thereby establishing an energy transmission channel and completing the physical docking of the charging interface.

[0004] Wheeled robots, due to their relatively stable chassis and fixed charging port positions, can maintain effective docking. However, bipedal humanoid robots experience continuous three-dimensional spatial pose changes between their torso and the charging port during walking, turning, or balance adjustments, leading to frequent misalignment between the receiver and transmitter. The back-mounted sensors are susceptible to interference from ambient light, mechanical vibration, or contamination, resulting in decreased positioning reliability under complex conditions. Existing rigid docking mechanisms lack positional adaptation capabilities; even minor pose deviations trigger charging interruptions, forcing the robot to repeatedly perform correction actions, significantly reducing charging efficiency and increasing energy consumption. Particularly for bipedal humanoid robots, the full-body swaying during movement makes it difficult for the charging port to maintain stable spatial coordinates, becoming a core bottleneck restricting the practical application of wireless charging. Utility Model Content

[0005] To overcome the drawbacks of dynamic posture instability, this invention provides a magnetic adsorption-guided wireless charging docking mechanism for humanoid robots, aiming to solve the aforementioned shortcomings.

[0006] A magnetically adsorption-guided wireless charging docking mechanism for a humanoid robot includes a placement plane, a humanoid robot, and a mobile frame. The placement plane has a device placement area and a standing area for the humanoid robot. The mobile frame has several casters at its bottom and is placed on the device placement area of ​​the placement plane via the casters. A support plate is connected to the top of the mobile frame, and an electric push rod is mounted on the top of the support plate. A first magnetic sensor is mounted on the back of the humanoid robot. A mounting plate is connected to the piston rod end of the electric push rod. A second magnetic sensor is mounted on the front of the mounting plate, and the first magnetic sensor docks with the second magnetic sensor. A cable is connected to the rear of the mounting plate. A control box is mounted on the mobile frame, and the second magnetic sensor and the electric push rod are wired to the control box. A moving component for adjusting the position of the mobile frame is provided at the bottom of the mobile frame.

[0007] Furthermore, the moving component includes a rotary motor, which is installed inside the moving frame. A fixed frame is rotatably connected to the bottom of the moving frame. The output shaft of the rotary motor is coaxially connected to the fixed frame. A bidirectional motor is installed inside the fixed frame. Both shafts of the bidirectional motor are connected to moving wheels. The moving wheels provide support to the placement plane. Both the rotary motor and the bidirectional motor are wired to the control box.

[0008] Furthermore, the outer rim of the movable wheel is connected to a rubber pad.

[0009] Furthermore, a shielding cover is connected to the outer ring of the mounting plate, and the shielding cover encloses the second magnetic sensor.

[0010] Furthermore, a warning light is installed on the front side of the support plate.

[0011] Furthermore, the placement surface is provided with a label in the standing area of ​​the humanoid robot.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0013] 1. By coupling the gradient magnetic field of the first magnetic sensor and the second magnetic sensor, the two sensors generate an axial self-aligning force, which automatically corrects the robot's angular deviation, thereby achieving non-contact real-time pose tracking and solving the interface offset problem of bipedal robots.

[0014] 2. The rotary motor drives the fixed frame to rotate, which is linked to the bidirectional motor and the moving wheels to turn. Combined with the linear propulsion of the electric push rod, the moving frame forms a dual-degree-of-freedom compensation mechanism of horizontal rotation and axial translation. It completes the correction of angle and displacement errors in a short time and ensures that the charging interface is aligned with the robot.

[0015] 3. The rubber pad increases the friction coefficient of the moving wheel to the ground through the viscoelastic deformation of the rubber molecular chain. After the shielding cover is successfully connected, it closes to form an electromagnetic Faraday cage. The two work together to suppress vibration and electromagnetic interference, ensuring stable charging. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0017] Figure 2 This is a schematic diagram showing the connection between the placement plane and the humanoid robot of this utility model.

[0018] Figure 3 This is a schematic diagram of the mounting structure of the mounting plate and the second magnetic sensor of this utility model.

[0019] Figure 4 This is a schematic diagram of the installation structure of the wireless charging module and the first magnetic sensor of this utility model.

[0020] Figure 5 This is a schematic diagram of the installation structure of the movable wheel and rubber pad of this utility model.

[0021] In the attached diagram, the following labels are used: 1_Placement plane, 2_Humanoid robot, 3_Wireless charging module, 4_Moving frame, 41_Universal wheel, 5_Support plate, 6_First magnetic sensor, 7_Electric push rod, 8_Mounting plate, 9_Second magnetic sensor, 10_Control box, 11_Rotary motor, 12_Fixed frame, 13_Bidirectional motor, 14_Moving wheel, 15_Rubber pad, 16_Shielding cover, 17_Warning light, 18_Identification sticker. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0023] Example: A magnetically adsorption-guided wireless charging docking mechanism for a humanoid robot, such as... Figures 1-5As shown, the system includes a placement plane 1, a humanoid robot 2, a wireless charging module 3, a mobile frame 4, casters 41, a support plate 5, a first magnetic sensor 6, an electric push rod 7, a mounting plate 8, a second magnetic sensor 9, a control box 10, and a moving assembly. The placement plane 1 has a device placement area and a standing area for the humanoid robot 2. The mobile frame 4 has four casters 41 mounted on its bottom, allowing it to be placed on the device placement area of ​​the placement plane 1. The top of the mobile frame 4 is connected to the support plate 5, and the electric push rod 7 is mounted on the top of the support plate 5. The humanoid robot 2... A first magnetic attraction sensor 6 is installed on the back. The piston rod end of the electric push rod 7 is connected to a mounting plate 8. A second magnetic attraction sensor 9 is installed on the front side of the mounting plate 8. The first magnetic attraction sensor 6 and the second magnetic attraction sensor 9 are connected. The electric push rod 7 pushes the mounting plate 8 with high precision to achieve impact-free connection. A cable is connected to the rear side of the mounting plate 8. A control box 10 is installed on the movable frame 4. The second magnetic attraction sensor 9 and the electric push rod 7 are both wired to the control box 10. The control box 10 centrally schedules and reduces system response delay. A movable component for adjusting the position of the movable frame 4 is set at the bottom of the movable frame 4.

[0024] like Figure 2 and Figure 5 As shown, the moving assembly includes a rotary motor 11, a fixed frame 12, a bidirectional motor 13, and moving wheels 14. The rotary motor 11 is installed inside the moving frame 4, and the fixed frame 12 is rotatably connected to the bottom of the moving frame 4. The output shaft of the rotary motor 11 is coaxially connected to the fixed frame 12. The bidirectional motor 13 is installed inside the fixed frame 12. Both shafts of the bidirectional motor 13 are connected to the moving wheels 14. The moving wheels 14 bear the weight of the moving frame 4 and are in contact with the placement surface 1. Both the rotary motor 11 and the bidirectional motor 13 are wired to the control box 10.

[0025] like Figure 5 As shown, it also includes a rubber pad 15. The outer ring of the movable wheel 14 is connected to the rubber pad 15. The rubber pad 15 undergoes elastic deformation to increase the ground friction coefficient and suppress sliding friction.

[0026] like Figure 2 As shown, it also includes a shielding cover 16. The outer ring of the mounting plate 8 is connected to the shielding cover 16, and the shielding cover 16 encloses the second magnetic sensor 9.

[0027] like Figure 1 As shown, it also includes a warning light 17. The warning light 17 is installed on the front side of the support plate 5. The warning light 17 displays the system status through RGB three-color LED: yellow flashing (adjusting posture) - green solid light (charging) - red breathing (standby).

[0028] like Figure 1 As shown, it also includes a label 18, which is placed on the surface 1 in the standing area of ​​the humanoid robot 2.

[0029] After completing its tasks, the humanoid robot 2 needs to return to the charging station for recharging. The robot first automatically proceeds to the designated charging station area and precisely stands within the marking sticker 18 on the placement plane 1. At this time, the first magnetic sensor 6 activates, preparing for charging. The stationary humanoid robot 2 ensures the stability of the first magnetic sensor 6, waiting for the second magnetic sensor 9 to dock with it. The control box 10 activates the second magnetic sensor 9 and determines if its magnetic force has reached its maximum. During the docking process, the magnetic force of the second magnetic sensor 9 gradually increases, reaching its maximum after complete docking, confirming accurate docking. Subsequently, the control box 10 controls the electric push rod 7 to push the mounting plate 8, precisely adjusting the movement of the second magnetic sensor 9, bringing it closer to the first magnetic sensor 6. If the sensor angles are asymmetrical during docking, the control box 10 adjusts the angle of the moving frame 4 to achieve precise docking and begin charging. After charging is complete, the control box 10 instructs the electric push rod 7 to pull back the mounting plate 8, completing the docking separation. At this point, the robot resumes its working state and continues to perform its tasks.

[0030] When the humanoid robot 2 enters the charging area, the control box 10 monitors the magnetic attraction data in real time. If a docking angle deviation is detected, the angle adjustment process of the moving frame 4 is immediately initiated. The control box 10 determines the docking position of the second magnetic sensor 9 with the first magnetic sensor 6 based on the magnetic attraction signal uploaded by the second magnetic sensor 9. If the magnetic attraction is uneven, indicating that the angle is not perfectly aligned, the control box 10 activates the rotary motor 11, causing the fixed frame 12 and the bidirectional motor 13 to drive the moving wheels 14 to adjust the angle. The rotary motor 11 automatically rotates the fixed frame 12 to ensure that the moving frame 4 reaches the set angle. The moving wheels 14 reduce friction by contacting the placement surface 1 through the elastic deformation of the rubber pads 15, ensuring the smooth movement of the moving frame 4. After the moving frame 4 completes the angle adjustment, the bidirectional motor 13 continues to drive the moving wheels 14 to ensure the smooth movement of the moving frame 4, ultimately achieving precise docking between the second magnetic sensor 9 and the first magnetic sensor 6. During the angle and position adjustment process, the moving frame 4 is stably supported by the universal wheels 41, ensuring stability and smoothness throughout the process.

[0031] Throughout the process, the casters 41 at the bottom of the mobile frame 4 constantly adjust their position to ensure the stability of the equipment during charging and adjustment. The control box 10 on the mobile frame 4 maintains a wired connection with each component, monitoring the status of the electric push rod 7 and the magnetic sensor in real time. When the angle of the mobile frame 4 needs to be adjusted, the control box 10 instructs the rotary motor 11 to adjust the horizontal angle of the mobile frame, and the bidirectional motor 13 drives the moving wheels 14 to compensate for lateral displacement. At the same time, the rubber pads 15 on the outer ring of the moving wheels 14 act as a buffer, effectively reducing friction and slippage, improving movement stability and extending the service life of the equipment. The shielding cover 16 physically restricts the connection between the second magnetic sensor 9 and the first magnetic sensor 6, preventing unstable or damaged docking and ensuring the safety of the docking process. Finally, the warning light 17 on the front of the support plate 5 illuminates during charging, idle, or adjustment, reminding staff or users of the current status of the equipment.

[0032] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included 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 magnetic adsorption-guided wireless charging docking mechanism for a humanoid robot, characterized in that: The system includes a placement plane (1), a humanoid robot (2), and a mobile frame (4). The placement plane (1) has a device placement area and a standing area for the humanoid robot (2). The mobile frame (4) has several casters (41) installed at its bottom. The mobile frame (4) is placed on the device placement area of ​​the placement plane (1) via the casters (41). A support plate (5) is connected to the top of the mobile frame (4). An electric push rod (7) is installed on the top of the support plate (5). A first magnetic sensor is installed on the back of the humanoid robot (2). (6) The piston rod end of the electric push rod (7) is connected to a mounting plate (8). A second magnetic sensor (9) is installed on the front side of the mounting plate (8). The first magnetic sensor (6) is connected to the second magnetic sensor (9). A cable is connected to the rear side of the mounting plate (8). A control box (10) is installed on the movable frame (4). The second magnetic sensor (9) and the electric push rod (7) are both wired to the control box (10). A moving component for adjusting the position of the movable frame (4) is provided at the bottom of the movable frame (4).

2. The magnetic adsorption guided wireless charging docking mechanism for humanoid robots as described in claim 1, characterized in that: The moving component includes a rotary motor (11), which is installed inside the moving frame (4). A fixed frame (12) is rotatably connected to the bottom of the moving frame (4). The output shaft of the rotary motor (11) is coaxially connected to the fixed frame (12). A bidirectional motor (13) is installed inside the fixed frame (12). Both shafts of the bidirectional motor (13) are connected to moving wheels (14). The moving wheels (14) form a support with the placement plane (1). Both the rotary motor (11) and the bidirectional motor (13) are wired to the control box (10).

3. The magnetic adsorption guided wireless charging docking mechanism for humanoid robots as described in claim 2, characterized in that: The outer ring of the movable wheel (14) is connected to a rubber pad (15).

4. The magnetic adsorption guided wireless charging docking mechanism for humanoid robots as described in claim 3, characterized in that: The mounting plate (8) has a shield (16) connected to its outer ring, and the shield (16) encloses the second magnetic sensor (9).

5. The magnetic adsorption guided wireless charging docking mechanism for humanoid robots as described in claim 4, characterized in that: A warning light (17) is installed on the front side of the support plate (5).

6. The magnetic adsorption guided wireless charging docking mechanism for humanoid robots as described in claim 5, characterized in that: The placement surface (1) has a label (18) placed on the standing area of ​​the humanoid robot (2).

Images