Robot charging station

Abstract

This robot charging station comprising: a base case which is fixed to a floor surface and which includes an entry ramp at the perimeter thereof; a rotary case which is rotatably coupled to the upper portion of the base case and which includes a plurality of charging sites partitioned at a first angle; a plurality of charging boxes provided at each charging site of the rotary case; a driving part for rotating the rotary case; and a control part for controlling the driving part such that the first charging site from among the plurality of charging sites of the rotary case faces the entry ramp, the robot charging station enabling chargers for logistic robots to be provided at a corner, and providing a unified entry route to the plurality of chargers so that a space for an entry part can be reduced.

Description

Robot Charging Station

[0001] The present invention relates to a charging station for a logistics robot used in a logistics site.

[0002] Robots have been developed for industrial use to fulfill a portion of factory automation. Recently, the scope of robotics applications has expanded, with developments not only of medical and aerospace robots but also of robots for everyday use.

[0003] Among industrial robots, robots that perform precise assembly work have been developed for automation because they perform the same movements repeatedly and repeat the same movements in a fixed location without any unexpected situations.

[0004] However, the transportation charging area, which includes driving, a charging area that requires the ability to assess unexpected situations, has not yet seen active commercialization of robots. However, with the recent advancements in sensors that perceive the surroundings and the advancements in computer power that enable rapid processing and response to perceived information, the number of driving robots is increasing.

[0005] Industrially, robots that perform transportation functions are attracting attention, and competition is intensifying. Dozens of robots are operating in logistics sites, and considering charging and usage times, the number of chargers is typically around one-third of the number of robots. Chargers are typically installed against walls, and as the number of chargers increases, they are arranged in a row along one wall of the logistics center, taking up significant space.

[0006] In addition to the location of the charger installation, space in front of the robot must also be secured for it to move to the charger. However, it is difficult to secure sufficient space for this in existing logistics sites.

[0007] The purpose of the present invention is to provide a robot charging station that can install a charger for a logistics robot at a corner and unify the entry routes of a plurality of chargers into one, thereby saving space for an entry portion.

[0008] A robot charging station is provided, comprising: a base case fixed to a floor surface and including an access ramp on the periphery; a rotating case rotatably coupled to an upper portion of the base case and including a plurality of charging sites partitioned at a first angle; a plurality of charging boxes installed in each charging site of the rotating case; and a driving unit that rotates the rotating case; and a control unit that controls the driving unit so that a first charging site among the plurality of charging sites of the rotating case faces the access ramp.

[0009] The base case may include a base core protruding upward at the center, and the driving unit may include a ring gear formed along the outer side of the base core; and a motor fixed to the rotating case and meshed with one side of the ring gear to provide rotational force.

[0010] The base case includes a base core protruding upward at the center, the rotating case includes an outer core wrapping around an outer surface of the base core, and the charging box can be arranged along the outer core to form the first angle.

[0011] The above rotating case extends from the outer core and includes a plurality of partitions arranged at the first angular interval, and the charging box can be arranged between each of the partitions.

[0012] It may include a power cable connected to the base core; a connector ring that contacts the power cable and surrounds the outer side of the base core; a metal bridge that connects the connector ring and the outer core; and a charging cable that connects the metal bridge and the charging box.

[0013] The above driving unit can rotate the rotating case at an angle corresponding to a multiple of n of the first angle.

[0014] A plurality of fixed magnets arranged at the first angular intervals in the base case; and a rotation sensor detecting the fixed magnets in the rotating case, wherein the driving unit can stop the rotation of the rotating case when the rotation sensor detects the fixed magnets.

[0015] It may include a direction sensor located on the left and right of the rotation sensor and detecting the fixed magnet, and a control unit that determines the rotation direction of the rotation case based on the direction sensor that detects the fixed magnet among the pair of direction sensors.

[0016] The above rotation sensor may include a Hall IC or a light sensor.

[0017] The above control unit can monitor the charging status of a robot connected to a charging port of the charging box and designate one of the charging areas where a robot whose charging is about to be completed is located or an empty charging area as the first charging area.

[0018] The above-mentioned access ramp may have a width corresponding to the outermost width of the partitioned charging area of ​​the above-mentioned rotating case.

[0019] The above-mentioned access ramp is formed along the outer periphery of the base case to a width greater than the width of the partitioned charging area of ​​the rotating case, and the control unit can control the driving unit so that the first charging area is located on the access ramp at a location that does not face a wall or obstacle.

[0020] The robot may further include an indicator for indicating the charge level.

[0021] A bearing is included that is positioned between the upper surface of the base case and the lower surface of the rotating case, and the bearing can be arranged to be spaced apart at a second angle that is half the first angle.

[0022] The above rotating case may include a mounting groove located in front of the charging box and on which the wheels of the robot are caught.

[0023] The robot charging station of the present invention can install a charger for a logistics robot at a corner, and can save space for an entry part by unifying the entry routes of multiple chargers into one.

[0024] By improving the spatial inefficiency caused by charging, the hurdles to introducing logistics robots due to space constraints can be removed.

[0025] The effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by a person having ordinary skill in the art to which the present invention belongs from the description below.

[0026] FIG. 1 is a drawing illustrating an example of use of a robot charging station according to one embodiment of the present invention.

[0027] FIG. 2 is a perspective view illustrating a robot charging station according to one embodiment of the present invention.

[0028] FIG. 3 is a perspective view illustrating another embodiment of an entry ramp of a robot charging station of the present invention.

[0029] Figure 4 is a cross-sectional view taken along line AA of Figure 2.

[0030] FIG. 5 is a plan view illustrating a robot charging station according to one embodiment of the present invention.

[0031] FIG. 6 is a perspective view illustrating a base case of a robot charging station according to one embodiment of the present invention.

[0032] FIG. 7 is a graph showing an example of the battery status of robots that can be charged at the robot charging station of the present invention.

[0033] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components will be given the same reference numbers and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably only for the convenience of writing the specification, and do not in themselves have distinct meanings or roles. In addition, when describing the embodiments disclosed in this specification, if it is determined that a specific description of a related known technology may obscure the gist of the embodiments disclosed in this specification, a detailed description thereof will be omitted. In addition, the attached drawings are only intended to facilitate easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and technical scope of the present invention.

[0034] Terms that include ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by these terms. These terms are used solely to distinguish one component from another.

[0035] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0036] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0037] In this application, terms such as “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0038] A robot is a mechanical device capable of automatically performing certain tasks or operations. Robots may be controlled by an external control device or may have built-in control devices. They can perform tasks difficult for humans, such as repeating preset movements, lifting heavy objects, performing precision tasks, and operating in extreme environments.

[0039] It can perform various physical actions, such as moving robot joints, by having a driving unit including an actuator or motor to perform tasks.

[0040] Due to the high manufacturing cost and operational expertise, industrial and medical robots, which have specialized appearances for specific tasks, were developed first. Industrial and medical robots perform the same movements repeatedly in a designated location.

[0041] Recently, mobile robots have emerged. They can perform exploration tasks, particularly on distant planets where humans would be difficult to reach, such as in the aerospace industry. These robots are equipped with navigational capabilities.

[0042] In order to perform the driving function, it is equipped with a driving unit and may include wheels, brakes, casters, motors, etc., and robots equipped with artificial intelligence are appearing to identify obstacles in the surroundings and drive to avoid them.

[0043] Artificial intelligence enables robots to perform autonomous driving. This refers to technology that enables them to independently determine the optimal path and avoid obstacles. Currently applied autonomous driving technologies can include technologies that maintain lanes, technologies that automatically adjust speed like adaptive cruise control, technologies that automatically drive along a set route, and technologies that automatically set a route when a destination is set.

[0044] To perform autonomous driving, a vehicle may incorporate numerous sensors to perceive its surroundings. These sensors include proximity sensors, light sensors, accelerometers, magnetic sensors, gyro sensors, inertial sensors, RGB sensors, IR sensors, fingerprint recognition sensors, ultrasonic sensors, light sensors, microphones, lidar, and radar.

[0045] In addition to information collected from sensors, autonomous driving can be achieved using image data collected through RGBC cameras, infrared cameras, and audio data collected through microphones. Furthermore, driving can be based on information entered through the user input interface. Map data, location information, and surrounding information collected through the wireless communication unit are also essential for autonomous driving.

[0046] Map data may include object identification information for various objects located in the space where the robot moves. For example, map data may include object identification information for fixed objects such as walls and doors, as well as movable objects such as flower pots and desks. Object identification information may include name, type, distance, and location.

[0047] FIG. 1 is a drawing illustrating an example of use of a robot charging station (600) according to one embodiment of the present invention. The robot charging station (600) of the present invention is a device for charging a robot capable of autonomous driving, and is characterized by being capable of charging multiple robots.

[0048] Dozens of robots are deployed in logistics sites, and considering charging and usage times, the number of chargers is typically around one-third of the number of robots. Chargers are typically installed against walls, and as the number of chargers increases, they are often arranged in a row along one wall of the logistics center, taking up significant space.

[0049] In addition to the location of the charger installation, space in front of the robot must also be secured for it to move to the charger. However, it is difficult to secure sufficient space for this in existing logistics sites.

[0050] Considering these points, the robot charging station (600) of the present invention is characterized by being capable of charging multiple robots and being installed in a corner as illustrated in FIG. 1. Since the entrance can be formed on one side, the size of the space that must be left empty in front of the charging station (600) for robot entry can also be reduced.

[0051] FIG. 2 is a perspective view illustrating a robot charging station (600) according to one embodiment of the present invention.

[0052] The robot charging station (600) of the present invention is composed of a base case (610) that is fixed to the floor surface and includes an entry ramp (615) on one side, and a rotation case (620) that is rotatably coupled to the upper part of the base case (610).

[0053] Since the rotating case (620) of the present invention rotates on the base case (610), the base case (610) and the rotating case (620) may have a circular shape. The base case (610) may include a base plate (611) that is mounted on the bottom surface and a base rim (612) that is positioned on the outer periphery.

[0054] The base rim (612) surrounds the outer circumference of the rotating case (620) and has a height corresponding to the thickness of the rotating plate (621), which is the bottom surface of the rotating case (620). The upper surface of the base rim (612) and the upper surface of the rotating plate (621) may have the same height.

[0055] The rotating case (620) can be divided into a plurality of charging areas (625) so that a plurality of robots (100) can be installed. Each charging area (625) can have a fan-shaped shape having a first angle, and the size of each charging area (625) can be configured to be the same. In the present embodiment, it is divided into six charging areas (625), and the central angle (first angle) of each charging area (625) is 60°.

[0056] At the center of each charging area (625), a charging box (630) is positioned, which includes a charging port that can be connected to the robot's charging terminal. Each charging area (625) can be partitioned using a partition (622), and the partition (622) guides the robot so that it can enter the charging box (630) while simultaneously supporting the robot when the rotating case (620) rotates.

[0057] The number of charging boxes (630) and the number of partitions (622) correspond to the number of partitioned charging areas (625), and the present embodiment may be configured with six charging boxes (630) and six partitions (622). A plurality of charging boxes (630) may be arranged at a first angle from the center of the rotating case (620), and the partitions (622) may also be arranged at a first angle.

[0058] The charging box (630) is provided with a charging port (632) at a height corresponding to the height of the robot's charging terminal, and the robot can move so that the charging port (632) of the charging box (630) and the robot's charging terminal are connected using a front camera, lidar, etc.

[0059] The front of the charging box (630) may include a fixing groove (633) to allow the wheels of the robot to be fixed, and the fixing groove (633) may prevent the wheels of the robot from slipping on the rotating plate (621) when the rotating case (620) rotates.

[0060] The access ramp (615) is located on the outer side of the base case (610) and extends from the floor surface to the upper surface of the base rim (612). Since the base rim (612) has the same height as the upper surface of the rotation case (620), a robot entering along the access ramp (615) can move to the upper surface of the base case (610).

[0061] It may include a control unit (not shown) that controls the driving unit and monitors the charging box, and the control unit may be located in the robot charging station shown in FIG. 2, and the robot control system that controls all robots (100) in the logistics site may also control the robot charging station (600) by considering the charging amount of each robot (100).

[0062] The control unit can rotate the rotating case (620) so that the first charging area (625a) among each charging area (625) of the rotating case (620) is connected to the entrance ramp (615). The first charging area (625a) The first charging area (625a) may be an empty charging area where no robot is positioned, or a charging area where a robot (100) that is almost fully charged is positioned. The control unit can designate the first charging area (625a) by monitoring the current flow in the charging box (630).

[0063] When the control unit designates an empty charging area as a first charging area (625a) and positions it so as to face the access ramp (615), a robot (100) requiring charging can move to the first charging area (625a) along the access ramp (615). In order for a robot that has completed charging to disembark through the access ramp (615), the control unit designates the charging area (625) where a robot that is almost completed charging is located as the first charging area (625a), and rotates the rotating case (620) so that the first charging area (625a) coincides with the access ramp (615).

[0064] The access ramp (615) of the robot charging station (600) of the embodiment illustrated in FIGS. 1 and 2 may have a width corresponding to the outermost size of the partitioned charging area (625) of the rotation case (620). The access ramp (615) is arranged in a direction that does not overlap with a wall or obstacle, as illustrated in FIG. 1, so that the robot (100) can climb up onto the rotation plate (621) of the rotation case (610) via the access ramp (615).

[0065] Fig. 3 is another embodiment of an access ramp (615) of a robot charging station (600) of the present invention, wherein the access ramp (615) may have a size larger than the width of one charging area (625). As in (a), the access ramp (615) is not arranged in a charging area (625) where entry is impeded by a wall or obstacle, and in a direction where entry is not impeded due to a wall or obstacle, the size of the access ramp (615) may be formed large so as to overlap with a plurality of charging areas (625).

[0066] When a robot charging station (600) is placed at a corner as in (a) of Fig. 3, an access ramp (615) connected to a charging area (625b) (three charging areas (625b) in this embodiment) placed in a range of about 180° can be provided. The access ramp (615) of this embodiment can be divided into a size corresponding to the width of each divided charging area (625), and each access ramp (615) can be optionally installed or removed from the outer periphery of the base case (610).

[0067] Referring to (b) of Fig. 3, the access ramp (615) of the robot charging station (600) of the present embodiment may be formed in a ring shape along the outer perimeter of the base case (610). The portion of the access ramp (615) facing a wall or obstacle cannot be passed by the robot.

[0068] The control unit can distinguish between a portion of the access ramp (615) into which the robot cannot enter and a portion into which the robot can enter, and control the rotating case (620) so that the first charging area (625a) is located in an accessible location. In the case where the access ramp (615) is larger than the size of the partitioned charging area (625) of the rotating case (620), a plurality of first charging areas (625a) can be designated, thereby minimizing the rotation of the rotating case (620).

[0069] Fig. 4 is a cross-sectional view taken along the line AA of Fig. 2. As illustrated in Fig. 4, a driving unit (640) is positioned at the center of the base case (610) and the rotating case (620) so that the rotating case (620) can rotate on the base case (610). In order to arrange a connection structure for supplying power to the driving unit (640) and the charging box (630), the base case (610) and the rotating case (620) may include a core (613, 623) protruding at the center.

[0070] The base core (613) of the base case (610) protrudes from the center of the base plate (611) and a power cable (637) for supplying power can pass through a small passage on the inside. The outer core (623) of the rotating case (620) can be arranged at a predetermined distance from the outside of the base core (613) and can have a multi-faceted columnar shape including an internal space.

[0071] The outer core (623) may have a multi-faceted columnar shape with a number of 360° / first angles such that the faces facing each charging area (625) form a straight line. The present embodiment illustrates an outer core (623) in the shape of a hexagonal column with six faces.

[0072] The base core (613) is located on the inside of the outer core (623) and is not exposed to the outside, but the outer core (623) is exposed to the outside and may further include a core cover (624) that covers the upper part of the outer core (623).

[0073] The core cover (624) covers the inner side of the outer core (623) and is rotatably coupled to the upper part of the base core (613) so that the rotation case (620) can stably rotate around the base core (613).

[0074] An indicator (626) indicating the charging status may be placed in the charging box (630), but since the charging box (630) is not visible when the robot (100) is positioned in front as shown in FIG. 1, the indicator (626) indicating the charging status may be placed in the outer core (623) or core cover (624). In the robot charging station (600) of the present embodiment, the indicator (626) is placed in the core cover (624) as shown in FIG. 2.

[0075] The ring gear (642) positioned on the outer periphery of the base core (613) has teeth formed in a ring shape. The motor (641) is fixed to the rotating case (620), and the head gear of the motor (641) can mesh with the ring gear (642) to provide rotational force to the ring gear (642). When the motor (641) rotates, the rotating case (620) can rotate relative to the base case (610).

[0076] The driving unit (640) can be configured to rotate in units of first angles so that the charging box (630) is positioned in a straight line with the entrance ramp (615). The robot charging station (600) of the present invention can be equipped with a rotation sensor (645) to determine whether it has stopped at the correct position after rotation.

[0077] The rotation sensor (645) may include an optical sensor or a switch. The optical sensor optically recognizes an identification mark located on the base case (610), and the switch may also detect the identification mark by physically pressing it. The rotation sensor (645) may include a Hall IC that detects a fixed magnet (643) located on the base case (610). Various types of rotation sensors (645) may be used, but the following description will be based on a Hall IC type rotation sensor (645) that detects a fixed magnet (643).

[0078] The fixed magnet (643) and the rotation sensor (645) may be positioned at a distance from the center of the robot charging station (600). As illustrated in FIG. 4, the fixed magnet (643) may be positioned at the base rim (612), and the rotation sensor (645) may be positioned at the rotation case (620). The further away from the center of rotation the fixed magnet is positioned, the more precisely the rotation angle can be detected.

[0079] FIG. 5 is a plan view illustrating a robot charging station (600) according to one embodiment of the present invention, wherein fixed magnets (643) can be positioned at first angles so as to detect rotation of the motor (641) at first angles.

[0080] The rotation sensor (645) can be located in the rotation case (620) and can be positioned opposite the fixed magnet (643). When the rotation sensor (645) approaches the fixed magnet (643), it can detect a change in magnetic force and determine that the rotation case (620) has rotated a first angle.

[0081] Depending on the number of fixed magnets (643), a rotation sensor (645) may be provided for each charging area (625), but even if only one is provided, when one of the plurality of fixed magnets (643) is detected, the rotation case (620) rotates by a first angle, and it can be recognized that one of the plurality of charging areas (625) is arranged on the entrance ramp (615).

[0082] The rotating case (620) can rotate in both directions, and thus, direction sensors (646) can be placed on the left and right of the rotation sensor (645) to recognize the rotation direction. When the rotating case (620) starts to rotate, one of the direction sensors (646) can detect the fixed magnet (643), and the rotation direction of the rotating case (620) can be detected based on the value of the direction sensor (646) that detected the fixed magnet (643).

[0083] For example, when the direction sensor (646) located in the clockwise direction of the rotation sensor (645) detects the fixed magnet (643), the rotation case (620) can recognize that it is rotating counterclockwise. The control unit can determine the charging area (625) located on the entrance ramp (615) based on the values ​​detected by the rotation sensor (645) and the direction sensor (646).

[0084] The control unit can determine the amount of charge based on the current strength of the charging box (630) and can rotate the rotating case (620) so that the first charging area (625a) where the robot that has completed charging or is almost completed charging is located is placed parallel to the entrance ramp (615).

[0085] It may further include a rotating magnet (not shown) that forms an attractive force with the fixed magnet (643) every time it rotates by the first angle. The rotating magnet is provided on the periphery of the rotating case (620), and since the motor (641) is fixed at the center of the rotating case (620), the fixed magnet (643) and the rotating magnet can fix the rotating case (620) at a position spaced apart from the center of rotation. The motor (641) can be rotated by applying a force greater than the attractive force of the fixed magnet (643) and the rotating magnet.

[0086] FIG. 6 is a perspective view illustrating a base case (610) of a robot charging station (600) according to one embodiment of the present invention, which may further include a bearing (616) positioned between a base plate (611) and a rotation plate (621) so that the rotation case (620) can stably rotate with respect to the base case (610).

[0087] In this embodiment, a plurality of bearings (616) are arranged radially with bearings (616) fixed on a base plate (611), and can be arranged spaced apart from each other at a predetermined angle. When the bearings (616) arranged in a row radially are referred to as a bearing group (616g), a plurality of bearing groups (616g) can be arranged circumferentially at a predetermined angle.

[0088] The bearings (616) can be arranged at equal intervals at an angle equal to or less than the first angle so as to support the weight of the robot when the robot is seated on each charging area (625) of the rotating plate (621).

[0089] The robot charging station (600) of the present embodiment, which includes six charging areas (625), may be arranged at 30° intervals, and may be arranged at intervals half the first angle of 60°. In this case, two groups of bearing groups (616g) are positioned at the bottom of one charging area (625), so that the weight of the robot can be stably supported.

[0090] In order to stably connect to the power cable (637) positioned on the base core (613) even when the rotating case (620) rotates, a connector ring (636) may be included that surrounds the circumference of the base core (613). The inner surface of the connector ring (636) may be connected to the power cable (637) exposed on the outer surface of the base core (613).

[0091] The connector ring (636) has a cylindrical shape, so that at least a portion of the connector ring (636) can remain connected even when the connector ring (636) rotates. The connector ring (636) can be connected to a metal bridge (635) extending from the rotating core, as illustrated in FIG. 4.

[0092] The metal bridge (635) can be connected to a charging cable (634) that is connected to the charging port (632) of the charging box (630). When the rotating case (620) rotates, the connector ring connected to the metal bridge (635) can rotate along the outer surface of the base core (613).

[0093] When a connection is made on at least one side of the inner surface of the connector ring (636), power can be supplied through a power cable (637), and multiple robots can be charged simultaneously by being connected in parallel to the charging port (632) of each charging box (630) through a metal bridge (635) connected to the connector ring (636).

[0094] Fig. 7 is a graph showing an example of the battery status of robots (100) that can be charged in the robot charging station (600) of the present invention. The priority of charging the robots (100) can be determined by setting an overall average value or a designated target value in consideration of the number of chargers (630) and the charging time compared to the operating time of all robots (100). The charging management system can determine the charging order of the robots (100) by comparing the remaining battery levels of all robots (100) and designating the robot (Robot 4) that is furthest from the average value or target value as the priority charging target.

[0095] In cases where there are many priority charging targets, even before the robot (Robot 6) located at the robot charging station (600) is fully charged, if the robot is charged above a certain standard (e.g., average value or 80%), the robot charging station (600) can stop charging and give the charging area to the priority charging target robot (Robot 4).

[0096] The robot charging station (600) of the present invention can be installed in a corner, and the entry routes of multiple chargers can be unified to save space for the entry of the logistics robot (100).

[0097] By improving the spatial inefficiency due to charging, the hurdle of introducing a logistics robot (100) due to space constraints can be removed.

[0098] The above detailed description should not be construed as limiting in any respect and should be considered illustrative only. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are intended to be included within the scope of the present invention.

Claims

1. A base case fixed to the floor surface and including an access ramp on the periphery; A rotating case rotatably coupled to the upper portion of the base case and including a plurality of charging sites partitioned at a first angle; A plurality of charging boxes installed in each charging area of ​​the above rotating case; and A driving unit that rotates the rotating case; and a control unit that controls the driving unit so that a first charging area among a plurality of charging areas of the rotating case faces the entrance ramp. Robot charging station.

2. In paragraph 1, The above base case includes a base core protruding upwards in the center, The above driving part A ring gear formed along the outer side of the base core; It is characterized by including a motor that is fixed to the above rotating case and meshes with one side of the ring gear to provide rotational force. Robot charging station.

3. In paragraph 1, The above base case includes a base core protruding upwards in the center, The above rotating case includes an outer core that surrounds the outer surface of the base core, The charging box is characterized in that it is arranged along the outer core to form the first angle. Robot charging station.

4. In paragraph 3, The above rotating case extends from the outer core and includes a plurality of partitions arranged at the first angular interval, Characterized in that the charging boxes are each placed between the partitions. Robot charging station.

5. In paragraph 3, A power cable connected to the above base core; A connector ring that comes into contact with the power cable and wraps around the outer side of the base core; A metal bridge connecting the connector ring and the outer core; and It is characterized by including a charging cable connecting the metal bridge and the charging box. Robot charging station.

6. In paragraph 1, The above driving part Characterized in that the rotating case is rotated at an angle corresponding to an n-multiple of the first angle. Robot charging station.

7. In paragraph 6, A plurality of fixed magnets arranged at the first angular intervals on the base case; and The above rotating case includes a rotation sensor that detects the fixed magnet, The above driving unit is characterized in that it stops the rotation of the rotating case when the rotation sensor detects the fixed magnet. Robot charging station.

8. In paragraph 7, It includes a direction sensor located on the left and right of the above rotation sensor and detects the above fixed magnet, It is characterized by including a control unit that determines the rotation direction of the rotating case based on the direction sensor that detects the fixed magnet among the pair of direction sensors. Robot charging station.

9. In paragraph 7, The above rotation sensor is characterized by being a Hall IC or an optical sensor. Robot charging station.

10. In paragraph 1, The above control unit, Monitor the charging status of the robot connected to the charging port of the above charging box, Characterized in that one of the charging areas where the robot whose charging is about to be completed is located or an empty charging area is designated as the first charging area. Robot charging station.

11. In paragraph 1, The above access ramp is characterized in that it has a width corresponding to the outermost width of the partitioned charging area of ​​the above rotating case. Robot charging station.

12. In paragraph 1, The above-mentioned access ramp is formed along the outer perimeter of the base case, which is wider than the width of the partitioned charging area of ​​the above-mentioned rotating case, The control unit is characterized in that it controls the driving unit so that the first charging area is located on an entry ramp that is not facing a wall or obstacle. Robot charging station.

13. In paragraph 1, characterized in that it further includes an indicator that displays the charging amount of the robot. Robot charging station.

14. In paragraph 1, It includes a bearing located between the upper surface of the base case and the lower surface of the rotating case, The above bearings are characterized in that they are spaced apart at a second angle which is half the angle of the first angle. Robot charging station.

15. In paragraph 1, The rotating case is located in front of the charging box and is characterized by including a mounting groove on which the wheel of the robot is caught. Robot charging station.

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