Robot charging system

Abstract

The present invention relates to a robot charging system for protecting a terminal unit. To this end, the robot charging system includes a terminal unit for supplying power, an opening and closing door for opening and closing a terminal opening into which the terminal unit can be inserted, an interlocking drive unit for reciprocating movement of the terminal unit, and an interlocking link unit for raising and lowering movement of the opening and closing door in conjunction with the reciprocating movement of the terminal unit according to the operation of the interlocking drive unit.

Description

Technology Field

[0001] The present invention relates to a robot charging system, and more specifically, to a robot charging system for protecting a terminal unit. Background Technology

[0002] Recently, the deployment of robots has expanded beyond manufacturing sites, distribution and logistics, delivery services, medical services, guidance services, and personal services to include agricultural and fisheries production sites. As a result, logistics robots are being widely used in various fields, handling a wide range of cargo or products, from small shipments weighing tens of kilograms to large shipments weighing tens of tons.

[0003] A logistics robot recognizes its current location based on an autonomous driving algorithm, generates an optimized path to a target location, and controls the actuators to move along that path. Accordingly, the logistics robot includes various sensors for recognizing the surrounding environment, a control computer for position estimation, path generation, and overall control, actuators for driving, and a power supply to provide power to each of these components.

[0004] Batteries are primarily used as the power source for logistics robots. In the past, most methods involved direct battery replacement, but this presented inconveniences such as the need to always have spare batteries on hand and the requirement for workers to replace them manually.

[0005] To resolve this inconvenience, an automatic charging method is being widely used recently, in which a charging station is installed at a designated location and a logistics robot autonomously moves to the station to connect and charge.

[0006] However, various field environments exert electrical and physical influences on the movement of logistics robots, which must be overcome. Furthermore, since logistics robots transport cargo ranging from hundreds of kilograms to several tons depending on the operating environment, there is a risk that connection terminals may be damaged if the robot collides with a charging station. Prior art literature

[0007] Korean Registered Patent Publication No. 10-2340285 (Published Dec. 20, 2021, Title of Invention: Charging Docking Contact Device for Autonomous Mobile Robot) The problem to be solved

[0008] The objective of the present invention is to solve the problems of the prior art by providing a robot charging system for protecting a terminal unit. means of solving the problem

[0009] According to a preferred embodiment for achieving the objectives of the present invention described above, a robot charging system according to the present invention comprises: a terminal unit for supplying power; an opening and closing door for opening and closing a terminal opening into which the terminal unit can be inserted; an interlocking drive unit for reciprocating movement of the terminal unit; and an interlocking link unit for raising and lowering movement of the opening and closing door in conjunction with the reciprocating movement of the terminal unit according to the operation of the interlocking drive unit.

[0010] Here, the terminal unit comprises: a terminal body; a connection terminal formed protruding from the terminal body for power supply; and a connection frame connecting the terminal body and the interlocking drive unit.

[0011] Herein, the terminal unit further comprises at least one of: a sliding block that combines the terminal body and the connecting frame; and a cushioning member having elasticity that connects the terminal body and the connecting frame or the terminal body and the sliding block.

[0012] The robot charging system according to the present invention further comprises at least one of a reciprocating guide member that guides the reciprocating movement of the terminal unit; and a lifting guide member that guides the lifting movement of the opening and closing door.

[0013] Here, the reciprocating guide member comprises: a reciprocating block coupled to the terminal unit; and a reciprocating guide coupled to enable the reciprocating block to move back and forth. Additionally, the reciprocating guide member may further comprise a reciprocating support member for positioning the reciprocating guide.

[0014] Here, the lifting guide member comprises: a lifting block coupled to the opening / closing door; and a lifting guide coupled to the lifting block so as to enable lifting movement. Additionally, the lifting guide member may further comprise a lifting support member for positioning the lifting guide.

[0015] Here, the interlocking link unit comprises: an inclined link coupled to the terminal unit; and a lifting link, one end of which is linked to the opening / closing door and the other end of which is linked to the inclined link.

[0016] Here, the inclined link shows a downward inclination from the terminal unit toward the opening / closing door, and the lifting link shows an upward inclination from the inclined link toward the opening / closing door.

[0017] Herein, the interlocking link unit further comprises: a door guide link coupled to the opening / closing door and having a long hole guide formed parallel to the reciprocating movement direction of the terminal unit; and a cross link rotatably coupled to the lifting link via a cross axis and having a guide projection on one side that reciprocates along the hole guide.

[0018] The robot charging system according to the present invention further includes a charging base to which the interlocking drive unit is coupled, as well as to which the other side of the cross link is linked.

[0019] Here, the charging base is provided with a drive bracket to which the interlocking drive unit is coupled; and a link bracket to which the other side of the cross link is linked.

[0020] The robot charging system according to the present invention further includes a charging cover that covers at least the terminal unit and the interlocking drive unit among the terminal unit, the interlocking drive unit, and the interlocking link unit.

[0021] Here, a link opening into which the interlocking link unit can be inserted is formed through the charging cover. Additionally, the link opening may include a link passage portion into which a door guide link provided in the interlocking link unit and a guide projection of a cross link provided in the interlocking link unit can be inserted; and a guide passage slit communicating with the link passage portion and into which a door guide link provided in the interlocking link unit can be inserted.

[0022] The robot charging system according to the present invention further includes a charging body equipped with the terminal entry / exit port. Effects of the invention

[0023] According to the robot charging system of the present invention, in an idle state where the logistics robot is not being charged, the terminal unit is not protruded outward from the terminal entrance, and the terminal entrance is closed, thereby protecting the terminal unit. Furthermore, since the reciprocating movement of the terminal unit relative to the terminal entrance is synchronized with the opening and closing operation of the terminal entrance according to the operation of the interlocking drive unit, the operation of moving the terminal unit outward from the terminal entrance is synchronized with the opening operation of the terminal entrance, and the operation of moving the terminal unit inward from the terminal entrance is synchronized with the closing operation of the terminal entrance.

[0024] In addition, the present invention simplifies the connection with the connection drive unit through the detailed connection relationship of the terminal unit and can supply stable power to the logistics robot.

[0025] In addition, the present invention can absorb shock to the logistics robot during the charging operation through the additional coupling relationship of the cushioning member, and can stably maintain the electrical connection state between the connection terminal and the logistics robot.

[0026] In addition, the present invention facilitates the reciprocating movement of a terminal unit through an additional coupling relationship of a reciprocating guide member and can prevent flow caused by the reciprocating movement of the terminal unit.

[0027] Furthermore, the present invention can facilitate the reciprocating movement of the reciprocating block through the detailed coupling relationship of the reciprocating guide member. Additionally, the reciprocating support member can prevent movement of the reciprocating guide.

[0028] In addition, the present invention facilitates the upward and downward movement of the opening and closing door through an additional coupling relationship of the lifting guide member, and can prevent flow caused by the upward and downward movement of the opening and closing door.

[0029] Furthermore, the present invention can facilitate the smooth lifting movement of the lifting block through the detailed coupling relationship of the lifting guide member. Additionally, the lifting support member can prevent movement of the lifting guide.

[0030] In addition, the present invention enables the reciprocating movement of an inclined link in accordance with the reciprocating movement of a terminal unit through the detailed coupling relationship of the interlocking link, and enables the lifting link to rotate in accordance with the reciprocating movement of the inclined link, thereby enabling the lifting movement of an opening and closing door.

[0031] In addition, the present invention allows the inclined link to stably push or pull the lifting link through the inclined state of the inclined link and the lifting link, and allows the lifting link to rotate clearly and stably according to the reciprocating movement of the inclined link.

[0032] In addition, the present invention prevents the movement of the lifting link according to the reciprocating movement of the inclined link through the additional coupling relationship of the interlocking link unit, and can clearly enable the lifting operation of the opening and closing door.

[0033] In addition, the present invention can align the interlocking drive unit through the additional coupling relationship of the charging base, clearly rotate the cross link, clearly rotate the lifting link, and prevent movement of the lifting and lowering opening and closing door.

[0034] In addition, the present invention can position the interlocking drive unit and the cross link through the drive bracket and the link bracket.

[0035] In addition, the present invention can protect the terminal unit and the interlocking drive unit through the additional coupling relationship of the charging cover.

[0036] Furthermore, the present invention can prevent the interlocking link unit from interfering with the charging cover through the link opening. Additionally, through the detailed coupling relationship of the link opening, the opening / closing door is sufficiently raised by the interlocking link unit.

[0037] In addition, the present invention can make the robot charging system aesthetically pleasing through the additional coupling relationship of the charging body. Brief explanation of the drawing

[0038] FIG. 1 is a perspective view illustrating a robot charging system according to one embodiment of the present invention. Figure 2 is an exploded perspective view of Figure 1. FIG. 3 is a drawing illustrating the state in which the terminal entrance / exit is closed in a robot charging system according to one embodiment of the present invention. FIG. 4 is a drawing for explaining the state in which a terminal opening is opened and a connection terminal provided in a terminal unit is protruded in a robot charging system according to one embodiment of the present invention. Specific details for implementing the invention

[0039] Hereinafter, an embodiment of a robot charging system according to the present invention will be described with reference to the attached drawings. At this time, the present invention is not limited or restricted by the embodiments. Furthermore, in describing the present invention, specific descriptions of known functions or configurations may be omitted to clarify the gist of the present invention.

[0040] From now on, a robot charging system according to an embodiment of the present invention will be described with reference to FIGS. 1 to 4. A robot charging system according to an embodiment of the present invention will be described as charging a logistics robot. A robot charging system according to an embodiment of the present invention may include a terminal unit (2), an opening / closing door (4), an interlocking drive unit (6), and an interlocking link unit (7).

[0041] The terminal unit (2) supplies power to the logistics robot.

[0042] The terminal unit (2) may include a terminal body (22), a connection terminal (23) formed protruding from the terminal body (22) for power supply, and a connection frame (24) that connects the terminal body (22) and the interlocking drive unit (6).

[0043] The terminal unit (2) may further include at least one of a sliding block (21) and a cushioning member (25). The sliding block (21) connects the terminal body (22) and the connecting frame (24). The reciprocating block (31) of the reciprocating guide member (3) is connected to the sliding block (21). The cushioning member (25) connects the terminal body (22) and the connecting frame (24) or the terminal body (22) and the sliding block (21). It is preferable that the cushioning member (25) has elasticity. The cushioning member (25) can elastically press the terminal body (22) based on the connecting frame (24) or the sliding block (21).

[0044] The opening / closing door (4) opens and closes the terminal entrance (11) into which the terminal unit (2) can be inserted.

[0045] Here, a robot charging system according to one embodiment of the present invention may further include a charging body (1) equipped with a terminal opening (11). The charging body (1) may form the exterior of the robot charging system according to one embodiment of the present invention.

[0046] The interlocking drive unit (6) moves the terminal unit (2) back and forth.

[0047] The interlocking drive unit (6) may include an interlocking drive body (61) and an interlocking drive rod (62) coupled to the interlocking drive body (61) so as to be reciprocally movable. It is preferable that the interlocking drive body (61) be provided with a connecting protrusion (611). The interlocking drive unit (6) may further include an interlocking drive unit (63) coupled to the interlocking drive body (61) to reciprocate the interlocking drive rod (62). For example, the interlocking drive unit (63) includes a hydraulic pump that supplies or recovers fluid to the interlocking drive body (61), so that the interlocking drive rod (62) can be reciprocated in the interlocking drive body (61). As another example, the interlocking drive unit (63) includes an interlocking motor, so it rotates the screw provided in the interlocking drive body (61), and thus the interlocking drive rod (62) can be reciprocated in the interlocking drive body (61) according to the rotation of the screw.

[0048] The interlocking link unit (7) moves the opening / closing door (4) up and down in conjunction with the reciprocating movement of the terminal unit (2) according to the operation of the interlocking drive unit (6). It is preferable that the interlocking link unit (7) be provided on each side of the interlocking drive unit (6).

[0049] The interlocking link unit (7) may include an inclined link (71) coupled to the terminal unit (2) and a lifting link (72) which is linked to the opening / closing door (4) on one side and linked to the inclined link (71) on the other side. At this time, it is preferable that the inclined link (71) shows a downward inclination from the terminal unit (2) toward the opening / closing door (4), and the lifting link (72) shows an upward inclination from the inclined link (71) toward the opening / closing door (4).

[0050] The interlocking link unit (7) may further include a door guide link (73) which is coupled to the opening / closing door (4) and has a long hole guide (731) formed parallel to the reciprocating movement direction of the terminal unit (2), and a cross link (74) which is rotatably coupled to the lifting link (72) via a cross axis and has a guide projection (741) on one side that moves reciprocally along the hole guide (731).

[0051] A robot charging system according to one embodiment of the present invention may further include at least one of a reciprocating guide member (3) that guides the reciprocating movement of a terminal unit (2) and a lifting guide member (5) that guides the lifting movement of an opening / closing door (4).

[0052] The reciprocating guide member (3) may include a reciprocating block (31) coupled to a sliding block (21) or terminal body (22) included in the terminal unit (2), and a reciprocating guide (32) coupled to enable the reciprocating block (31) to move back and forth. The reciprocating guide member (3) may further include a reciprocating support member (33) that positions the reciprocating guide (32). The reciprocating guide (32) is illustrated as being coupled to a charging cover (9) described later by means of the reciprocating support member (33).

[0053] The lifting guide member (5) may include a lifting block (51) coupled to the opening / closing door (4) and a lifting guide (52) coupled to the lifting block (51) so as to allow for lifting movement. The lifting guide member (5) may further include a lifting support member (53) that positions the lifting guide (52). The lifting guide (52) is illustrated as being coupled to the charging cover (9) described later via the lifting support member (53).

[0054] A robot charging system according to one embodiment of the present invention may further include a charging base (8) to which the other side of the cross link (74) is linked, in addition to being coupled with an interlocking drive unit (6).

[0055] The charging base (8) may be provided with a driving bracket (81) to which the connecting protrusion (611) of the interlocking driving unit (6) is coupled, and a link bracket (82) to which the other side of the cross link (74) is linked.

[0056] A robot charging system according to one embodiment of the present invention may further include a charging cover (9) that covers at least the terminal unit (2) and the interlocking driving unit (6) among the terminal unit (2), the interlocking driving unit (6), and the interlocking link unit (7).

[0057] A link opening through which an interlocking link unit (7) can be inserted may be formed in the charging cover (9).

[0058] The link opening may include a link passing portion (91) into which a guide projection (741) of a cross link (74) provided in the linking link unit (7) and a door guide link (73) provided in the linking link unit (7) can be inserted, and a guide passing slit (92) that communicates with the link passing portion (91) and into which a door guide link (73) provided in the linking link unit (7) can be inserted.

[0059] Looking at the operation of a robot charging system according to one embodiment of the present invention, as shown in FIG. 3, an opening / closing door (4) is placed in front of a connection terminal (23) to close the terminal entrance (11).

[0060] Here, when the interlocking drive rod (62) is inserted into the interlocking drive body (61) according to the operation of the interlocking drive unit (6), the terminal unit (2) moves toward the terminal entrance (11), and as shown in FIG. 4, the interlocking link unit (7) is operated together with the terminal unit (2), so that the opening / closing door (4) is raised and the terminal entrance (11) is opened so that the connection terminal (23) can protrude from the charging body (1).

[0061] Conversely, when the interlocking drive rod (62) protrudes from the interlocking drive body (61) according to the operation of the interlocking drive unit (6), the terminal unit (2) moves away from the terminal entrance (11), and as shown in FIG. 3, the interlocking link unit (7) is operated together with the terminal unit (2), so the opening / closing door (4) is lowered and the terminal entrance (11) is closed so that the terminal unit (2) can be accommodated inside the charging body (1).

[0062] According to the robot charging system described above, when the logistics robot is idle and not being charged, the terminal unit (2) does not protrude outward from the terminal entrance (11), and the terminal entrance (11) is closed, thereby protecting the terminal unit (2). Additionally, according to the operation of the interlocking drive unit (6), the reciprocating movement of the terminal unit (2) relative to the terminal entrance (11) is linked to the opening and closing operation of the terminal entrance (11). Thus, the operation of moving the terminal unit (2) outward from the terminal entrance (11) is linked to the opening operation of the terminal entrance (11), and the operation of moving the terminal unit (2) inward from the terminal entrance (11) is linked to the closing operation of the terminal entrance (11).

[0063] In addition, through the detailed coupling relationship of the terminal unit (2), coupling with the connecting drive unit can be simplified, and stable power can be supplied to the logistics robot.

[0064] In addition, through the additional coupling relationship of the buffer member (25), the impact of the logistics robot can be absorbed during the operation for charging the logistics robot, and the electrical connection state between the connection terminal (23) and the logistics robot can be maintained stably.

[0065] In addition, through the additional coupling relationship of the reciprocating guide member (3), the reciprocating movement of the terminal unit (2) can be facilitated, and movement caused by the reciprocating movement of the terminal unit (2) can be prevented.

[0066] In addition, the reciprocating movement of the reciprocating block (31) can be facilitated through the detailed coupling relationship of the reciprocating guide member (3). Furthermore, the movement of the reciprocating guide (32) can be prevented through the reciprocating support member (33).

[0067] In addition, through the additional coupling relationship of the lifting guide member (5), the lifting and lowering movement of the opening and closing door (4) can be made smooth, and movement caused by the lifting and lowering movement of the opening and closing door (4) can be prevented.

[0068] In addition, the lifting block (51) can be moved smoothly through the detailed coupling relationship of the lifting guide member (5). In addition, the lifting guide (52) can be prevented from moving through the lifting support member (53).

[0069] In addition, through the detailed coupling relationship of the linkage link, the reciprocating movement of the inclined link (71) can be implemented in accordance with the reciprocating movement of the terminal unit (2), and the lifting link (72) can rotate in accordance with the reciprocating movement of the inclined link (71) to implement the lifting movement of the opening / closing door (4).

[0070] In addition, through the inclination state of the inclined link (71) and the lifting link (72), the inclined link (71) can stably push or pull the lifting link (72), and the lifting link (72) can be clearly and stably rotated according to the reciprocating movement of the inclined link (71).

[0071] In addition, through the additional coupling relationship of the linkage link unit (7), the movement of the lifting link (72) is prevented according to the reciprocating movement of the inclined link (71), and the lifting operation of the opening and closing door (4) can be clearly made clear.

[0072] In addition, through the additional coupling relationship of the charging base (8), the interlocking drive unit (6) can be positioned, the rotation of the cross link (74) can be clearly defined, the rotation of the lifting link (72) can be clearly defined, and the movement of the opening / closing door (4) that moves up and down can be prevented.

[0073] In addition, the interlocking drive unit (6) and the cross link (74) can be positioned correctly through the drive bracket (81) and the link bracket (82).

[0074] In addition, the terminal unit (2) and the interlocking drive unit (6) can be protected through the additional coupling relationship of the charging cover (9).

[0075] In addition, the link opening prevents the interlocking link unit (7) from interfering with the charging cover (9). Furthermore, through the detailed coupling relationship of the link opening, the opening / closing door (4) is sufficiently raised by the interlocking link unit (7).

[0076] In addition, the robot charging system can be made aesthetically pleasing through the additional coupling relationship of the charging body (1).

[0077] As described above, preferred embodiments of the present invention have been explained with reference to the drawings; however, a person skilled in the art may make various modifications or changes to the present invention without departing from the spirit and scope of the invention as described in the following claims. Explanation of the symbols

[0078] 1: Charging body 11: Terminal input / output 2: Terminal unit 21: Sliding block 22: Terminal body 23: Connection terminal 24: Connecting frame 25: Buffer member 3: Reciprocating guide member 31: Reciprocating block 32: Reciprocating guide 33: Reciprocating support member 4: Opening / closing door 5: Elevator guide member 51: Elevator block 52: Lifting guide 53: Lifting support member 6: Interlocking drive unit 61: Interlocking drive body 611: Connecting protrusion 62: Interlocking drive rod 63: Interlocking drive unit 7: Interlocking link unit 71: Inclined link 72: Elevator link 73: Door guide link 731: Hall guide 74: Cross Link 741: Guide Stone 8: Charging Base 81: Drive bracket 82: Link bracket 9: Charging cover 91: Link passage section 92: Guide passage slit

Claims

Claim 1 A robot charging system comprising: a terminal unit for supplying power; an opening / closing door for opening / closing a terminal opening into which the terminal unit can be inserted; an interlocking drive unit for reciprocating movement of the terminal unit; and an interlocking link unit for raising / lowering movement of the opening / closing door in conjunction with the reciprocating movement of the terminal unit according to the operation of the interlocking drive unit; wherein the terminal unit comprises: a terminal body; a connection terminal formed protruding from the terminal body for power supply; and a connection frame for connecting the terminal body and the interlocking drive unit; wherein the terminal unit further comprises at least one of: a sliding block for connecting the terminal body and the connection frame; and a cushioning member having elasticity that connects the terminal body and the connection frame or the terminal body and the sliding block. Claim 2 delete Claim 3 delete Claim 4 A robot charging system comprising: a terminal unit for supplying power; an opening / closing door for opening / closing a terminal opening into which the terminal unit can be inserted; an interlocking drive unit for reciprocating movement of the terminal unit; and an interlocking link unit for moving the opening / closing door up / down in conjunction with the reciprocating movement of the terminal unit according to the operation of the interlocking drive unit; wherein the system further comprises at least one of a reciprocating guide member for guiding the reciprocating movement of the terminal unit; and a lifting guide member for guiding the lifting / down movement of the opening / closing door; wherein the reciprocating guide member comprises a reciprocating block coupled to the terminal unit; and a reciprocating guide coupled to the reciprocating block so as to enable reciprocating movement; and wherein the lifting guide member comprises a lifting block coupled to the opening / closing door; and a lifting guide coupled to the lifting block so as to enable lifting / down movement. Claim 5 A robot charging system comprising: a terminal unit for supplying power; an opening / closing door for opening / closing a terminal opening into which the terminal unit can be inserted; an interlocking drive unit for reciprocating movement of the terminal unit; and an interlocking link unit for moving the opening / closing door up / down in conjunction with the reciprocating movement of the terminal unit according to the operation of the interlocking drive unit; wherein the interlocking link unit comprises: an inclined link coupled to the terminal unit; and a lifting link, one side of which is linked to the opening / closing door and the other side of which is linked to the inclined link; wherein the inclined link exhibits a downward inclination from the terminal unit toward the opening / closing door, and the lifting link exhibits an upward inclination from the inclined link toward the opening / closing door. Claim 6 A robot charging system according to claim 5, wherein the interlocking link unit further comprises: a door guide link coupled to the opening / closing door and having a long hole guide formed parallel to the reciprocating movement direction of the terminal unit; and a cross link rotatably coupled to the lifting link via a cross axis and having a guide projection on one side that reciprocates along the hole guide. Claim 7 A robot charging system according to claim 6, further comprising a charging base to which the interlocking drive unit is coupled and to which the other side of the cross link is linked; wherein the charging base is provided with a drive bracket to which the interlocking drive unit is coupled and a link bracket to which the other side of the cross link is linked.

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