CN209426893U - Charge robot chassis and the robot comprising it for front and back - Google Patents
Charge robot chassis and the robot comprising it for front and back Download PDFInfo
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- CN209426893U CN209426893U CN201821607874.3U CN201821607874U CN209426893U CN 209426893 U CN209426893 U CN 209426893U CN 201821607874 U CN201821607874 U CN 201821607874U CN 209426893 U CN209426893 U CN 209426893U
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- robot
- charging
- charging pile
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- robot chassis
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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Abstract
The utility model provides a kind of front and back charging robot chassis and the robot comprising it.Chassis includes shell, charging electrode, electricity accumulating unit, positioning unit, control unit and driving unit, and charging electrode connect with electricity accumulating unit and there are two being arranged, and is located at the front-end and back-end of shell；Positioning unit discovery charging pile and the position for positioning charging pile, and charging pile location information is sent to control unit；After control unit receives charging pile location information, control instruction is sent to driving unit；Driving unit adjusts robot, position, chassis according to control instruction, makes the charge sheet of charging electrode face charging pile and drives robot chassis close to charging pile.It is provided with charging electrode before and after robot, when charging does not need to turn to, and directly travels by point planning path, being respectively provided with charging pile by front side or rear side can be completed charging.Flexible to the placement region of charging pile, by turning to, limitation is small, and especially the confined space in dining room is more practical flexible.
Description
Technical field
The utility model relates to robotic technology fields, in particular to a kind of front and back charging robot chassis and packet
Containing its robot.
Background technique
With the rapid development of robot technology, robot application is more and more extensive, for example, guest-meeting robot, feeder
Device people and educational robot, bio-robot etc..Robot is the automatic installations for executing work, it can be with acceptor
Class commander, can also run the program of preparatory layout, the principle action that can also be formulated according to artificial intelligence technology.
Current service robot operation is most of by the way that a charging pile is arranged in the work environment, passes through robot
It charges side.For chassis is circular machine people, can pivot stud in a limited space, charging pile is placed
Place and charging pile are identified, relatively more flexible.But in the complexity such as people from dining room is more, road is narrow, changeable environment scene, circular base
The use of the robot of disk will receive great limitation, such as when it is applied to restaurant service, can carry that service plate is few, and people's effect is low,
For increase service plate can bearing capacity, robot chassis needs to become the setting of rectangle multilayer, but rectangular chassis is in such meal
When the Room works, the narrow complex environment of road is faced, robot identification charging pile needs bigger steering space, it has not been convenient into
Row charging.
For above-mentioned technical problem still without reliable solution.
Utility model content
The main purpose of the utility model is to provide a kind of robot products, to solve unilateral charging in the related technology
Robot turns to the inconvenient technical problem that charges caused by insufficient space in complicated working environment.
To achieve the goals above, one aspect according to the present utility model, the utility model provide a kind of front and back and fill
Electric machine people chassis.
Front and back charging robot chassis includes shell, charging electrode, electricity accumulating unit, positioning unit, control unit and driving
Unit, wherein
The charging electrode connect with the electricity accumulating unit and there are two being arranged, be located at the shell front end and after
End；
The positioning unit finds charging pile and positions the position of charging pile, and charging pile location information is sent to control
Unit；
After described control unit receives charging pile location information, control instruction is sent to driving unit；
The driving unit adjusts robot, position, chassis according to control instruction, makes the charging of charging electrode face charging pile
Piece simultaneously drives robot chassis close to charging pile.
Further, the positioning unit be ultrasonic sensor, radio frequency sensor, laser sensor, ultrasonic sensor and
One of camera or a variety of combinations.
Further, the electricity accumulating unit is battery or supercapacitor.
Further, described control unit is MCU single-chip microcontroller.
Further, the driving unit includes driving motor and driving wheel.
Further, the state of charge indicator light connecting with the electricity accumulating unit is provided on the shell.
Further, the shape on the robot chassis is rectangular.
Further, the robot chassis further includes suspension, and the suspension includes upper layer frame, lower layer's frame, frame
Connecting column, shock absorber and drive wheel bracket, the upper layer frame and lower layer's frame connect by the way that the frame connecting column is fixed
It connects, the upper layer frame is connected with the drive wheel bracket by the shock absorber, and the driving wheel is mounted on the driving wheel
On bracket, supporting roller is installed on lower layer's frame.
Further, the shock absorber is provided with multiple and is symmetrical set in space.
Other side according to the present utility model, the utility model additionally provide a kind of robot.
The robot includes above-mentioned front and back charging robot chassis provided by the utility model.
In front and back provided by the embodiment of the utility model charging robot chassis and robot, front and back is provided with charging electricity
Pole, when charging, do not need to turn to, and directly by point planning path traveling, are respectively provided with charging pile by front side or rear side and can be completed and fill
Electricity.Flexible to the placement region of charging pile, by turning to, limitation is small, and especially the confined space in dining room is more practical flexible.
Charging caused by insufficient space is turned in complicated working environment to solve the robot of unilateral charging in the related technology
Inconvenient technical problem.
Detailed description of the invention
The attached drawing for constituting a part of the utility model is used to provide a further understanding of the present invention, so that this reality
It is become more apparent upon with novel other features, objects and advantages.The illustrative examples attached drawing of the utility model and its illustrate to use
In explaining the utility model, do not constitute improper limits to the present invention.In the accompanying drawings:
Fig. 1 is a kind of internal structure connection relationship block diagram on front and back charging robot chassis of the utility model embodiment；
Fig. 2 is the structural schematic diagram on the front and back charging robot chassis of the utility model embodiment；
Fig. 3 is the structural schematic diagram after the front and back charging robot chassis of the utility model embodiment is docked with charging pile；
And
Fig. 4 is the suspension frame structure schematic diagram on the front and back charging robot chassis of the utility model embodiment.
Specific embodiment
In order to make those skilled in the art better understand the scheme of the utility model, below in conjunction with the utility model reality
The attached drawing in example is applied, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described
Embodiment is only the embodiment of the utility model a part, instead of all the embodiments.Based on the reality in the utility model
Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts is all answered
When the range for belonging to the utility model protection.
It should be noted that the specification and claims of the utility model and term " first " in above-mentioned attached drawing,
" second " etc. is to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that in this way
The data used are interchangeable under appropriate circumstances, so as to the embodiments of the present invention described herein.In addition, term " packet
Include " and " having " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps
Or the process, method, system, product or equipment of unit those of are not necessarily limited to be clearly listed step or unit, but can wrap
Include other step or units being not clearly listed or intrinsic for these process, methods, product or equipment.
In the present invention, term " on ", "lower", "inner", " in ", "outside", the instructions such as "front", "rear" orientation or position
Setting relationship is to be based on the orientation or positional relationship shown in the drawings.These terms primarily to better describe the utility model and
Embodiment, is not intended to limit indicated device, element or component must have particular orientation, or with particular orientation
It is constructed and is operated.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " setting ", " connection ", " being equipped with ", " fixation ", " encapsulation " shall be understood in a broad sense.For example, " connection " can
To be to be fixedly connected, it is detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be directly connected,
It either indirectly connected through an intermediary, or is two connections internal between device, element or component.For
For those of ordinary skill in the art, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
Embodiment 1
The utility model embodiment is related to a kind of front and back charging robot chassis.Referring to Fig. 1 and Fig. 2, charge machine for front and back
People chassis includes shell 1, charging electrode 2, electricity accumulating unit 3, positioning unit 4, control unit 5 and driving unit 6, wherein charging electricity
Pole 2 connect with electricity accumulating unit 3 and there are two being arranged, and is located at the front-end and back-end of shell 1；Positioning unit 4 finds charging pile
And the position of charging pile is positioned, and charging pile location information is sent to control unit 5；Control unit 5 receives charging pile position
After information, control instruction is sent to driving unit 6；Driving unit 6 adjusts robot, position, chassis according to control instruction, makes to charge
The charge sheet of 2 face charging pile of electrode simultaneously drives robot chassis close to charging pile.
During the work time, robot chassis is needing on front and back charging provided by the embodiment of the utility model robot chassis
Charging pile 15 is begun look for when charging (after work after a period of time, electricity accumulating unit 3 is not Full Charge Capacity).Robot chassis
After the approximate location for finding out charging pile 15 by the positioning unit 4 being arranged thereon, feedback information to control unit, control unit control
Driving unit work processed, adjusts robot, position, chassis, makes the charge sheet of 2 face charging pile of charging electrode and drive robot bottom
For disk close to charging pile 15, i.e. adjusts path to specified point, straight trip approaches charging pile 15, until filling for charging electrode and charging pile 15
Electric piece comes into full contact with, and reaches state as shown in Figure 3.
In some embodiments, positioning unit 4 uses but is not limited to ultrasonic sensor, radio frequency sensor, laser sensing
One of device, ultrasonic sensor 401 and camera or a variety of combinations.
In some embodiments, electricity accumulating unit 3 uses but is not limited to battery or supercapacitor.
In some embodiments, control unit 5 uses but is not limited to MCU single-chip microcontroller.
In the utility model embodiment, driving unit 6 may include driving motor and driving wheel 601.
It should be noted that innovation is to be respectively provided with charging in the front and rear sides on robot chassis in the utility model
Electrode, robot charging is without turning to the innovation in this structure.The positioning unit, the control unit machine that are directed to are driven
The specific choice and working principle of unit are suitable for the prior art, and those skilled in the art can make not according to the prior art
Same selection.Such as MCU single-chip microcontroller can choose and control chip for ARM32, positioning unit is selected as laser sensor, is having
When body running, laser sensor, which is realized, finds the general direction of charging pile, and laser sensor extracts feature using laser signal
The approximate location and planning path of charging pile are found out in lines matching identification, and (it is in machine that laser, which extracts characteristic curve match cognization technology,
When people moves, matching treatment is carried out after the linear fit for the Eigenvector that laser sensor scans, and obtains location information and machine
The planning path of device people is the prior art, does not repeat in the present embodiment), then carry out docking and by distance signal and path
Information is sent to processing unit (may be selected to be ARM32 control chip), processing unit according to laser sensor to charging pile substantially
The feedback information of position generates control instruction and is sent to driving unit, adjusts robot location to charging electrode face charging pile
Charge sheet, then the approximate location to the charging pile judged is close.After close to charging pile, processing unit controls camera
Current picture is shot, captured picture is analyzed by computer vision technique, is handled, using fuzzy control
Thought and successive approximation algorithm control keep robot mobile to charging pile direction and charging electrode are made to precisely align charge sheet, complete
Robot Automatic-searching charging pile is simultaneously filled using electricity accumulating unit (may be selected to be battery) of the charging pile to non-Full Charge Capacity
Electricity, in case next time uses.
In some embodiments, the state of charge indicator light connecting with electricity accumulating unit 3 is provided on shell 1, for showing
Charged state, such as the flashing of state of charge indicator light, mark automatic charging terminate.
In order to improve the bearing capacity of transport class robot, people's effect is improved, as shown in figure 3, the shape on robot chassis is preferred
It is rectangular.
It should be noted that being only to list front and back charging robot chassis for front and back charge function in the utility model
Necessary structure, it can also include other structures that but the practical structures on robot chassis, which are not limited to this, such as attached drawing 4 be given
A kind of suspension frame structure on front and back charging robot chassis is gone out.As seen from the figure, suspension includes upper layer frame 7, lower layer's frame 8, keeps away
Device 9, frame connecting column 10 and drive wheel bracket 11 are shaken, upper layer frame 7 and lower layer's frame 8 connect by the way that frame connecting column 10 is fixed
It connects, upper layer frame 7 and drive wheel bracket 11 are connected by shock absorber 9, and driving wheel 601 is mounted in drive wheel bracket 11, lower layer
Supporting roller 12 is installed on frame 8.Load is delivered separately to shock absorber 9 and frame connecting column 10 by upper layer frame 7, in turn
Driving wheel 601 is passed to by shock absorber 9, supporting roller 12 is passed to by frame connecting column 10 and lower layer's frame 8, is realized vertical
The train distribution directly loaded guarantees 601 output driving of driving wheel so that the distribution load of driving wheel 601 is greater than supporting roller 12 and loads
Power.Realize the load reasonable distribution of driving wheel system and servo-actuated wheel system.
As a preferred embodiment, the both ends of shock absorber 9 are cut with scissors with upper layer frame 7 and drive wheel bracket 11 respectively
It connects, upper layer frame 7 and the opposite side of drive wheel bracket 11 are respectively and fixedly provided with shock absorber hinge seat 13, the both ends difference of shock absorber 9
It is hinged with shock absorber hinge seat 13.On the one hand the setting of shock absorber hinge seat 13 can be convenient the hinged peace for realizing shock absorber 9
Dress, the tilt angle setting for the realization shock absorber 9 that on the other hand can be convenient.It is excellent between shock absorber 9 and shock absorber hinge seat 13
The pivot for gating rubber material carries out hingedly, to realize the flexibility of shock absorber 9 and upper layer frame 7 or drive wheel bracket 11
Connection.
As a preferred embodiment, 7 upper surface of upper layer frame protrusion is provided with multiple load points 14, and load
Point 14 is arranged in a one-to-one correspondence with the shock absorber hinge seat 13 being arranged on upper layer frame 7.Load point 14 and shock absorber hinge seat pair
Position is answered, multiple shock absorber parallel configurations can be with the load percentage of reasonable distribution driving wheel, and structure is simple, and suspension is stablized.
In some embodiments, shock absorber 9 is obliquely installed, and shock absorber 4 is tilting can to distribute driving wheel load again, simultaneously
The sensibility that shock absorber is disposed vertically is avoided, for loading big or big inertia running environment, the shock absorber of multiple parallel connections
It may be implemented adaptively to adjust, have good adjustment effect to the stationarity of suspension.
Preferably, shock absorber 9 is provided with multiple and is symmetrical set in space.More preferably, shock absorber 9, setting
In the shock absorber hinge seat 13 on upper layer frame 7 and there are four load point 14 is respectively provided with, and spatially it is symmetrical set.Symmetrically
The suspension frame structure of setting can keep the even running of chassis structure, improve charging electrode in charging process and be butted into charging pile
The probability of function.
Embodiment 2
The utility model embodiment provides a kind of robot, the front and back charging robot chassis provided including embodiment 1.
It is provided with charging electrode before and after the robot of the present embodiment, when charging does not need to turn to, and directly plans a road by point
Diameter traveling, being respectively provided with charging pile by front side or rear side can be completed charging.It is flexible to the placement region of charging pile, by steering office
Sex-limited small, the confined space especially in dining room is more practical flexible.To solve the machine of unilateral charging in the related technology
People turns to the inconvenient technical problem that charges caused by insufficient space in complicated working environment.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included in the protection scope of the utility model.
Claims (10)
- The robot chassis 1. a kind of front and back is charged, which is characterized in that the robot chassis includes shell (1), charging electrode (2), electricity accumulating unit (3), positioning unit (4), control unit (5) and driving unit (6), whereinThe charging electrode (2) connect with the electricity accumulating unit (3) and there are two being arranged, before being located at the shell (1) End and rear end；The positioning unit (4) finds charging pile and positions the position of charging pile, and charging pile location information is sent to control Unit (5)；After described control unit (5) receives charging pile location information, sends control instruction and give driving unit (6)；The driving unit (6) adjusts robot, position, chassis according to control instruction, makes filling for charging electrode (2) face charging pile Electric piece simultaneously drives robot chassis close to charging pile.
- The robot chassis 2. front and back according to claim 1 is charged, which is characterized in that the positioning unit (4) is ultrasound One of sensor, radio frequency sensor, laser sensor, ultrasonic sensor and camera or a variety of combinations.
- The robot chassis 3. front and back according to claim 1 is charged, which is characterized in that the electricity accumulating unit (3) is electric power storage Pond or supercapacitor.
- The robot chassis 4. front and back according to claim 1 is charged, which is characterized in that described control unit (5) is that MCU is mono- Piece machine.
- The robot chassis 5. front and back according to claim 1 is charged, which is characterized in that the driving unit (6) includes driving Dynamic motor and driving wheel (601).
- The robot chassis 6. front and back according to claim 1 is charged, which is characterized in that be provided on the shell (1) with The state of charge indicator light of electricity accumulating unit (3) connection.
- The robot chassis 7. front and back according to claim 1-6 is charged, which is characterized in that the robot chassis Shape be it is rectangular.
- The robot chassis 8. front and back according to claim 1 is charged, which is characterized in that the robot chassis further includes hanging Frame, the suspension include upper layer frame (7), lower layer's frame (8), shock absorber (9), frame connecting column (10) and drive wheel bracket (11), the upper layer frame (7) is fixedly connected with lower layer's frame (8) by the frame connecting column (10), the upper layer Frame (7) and the drive wheel bracket (11) are connected by the shock absorber (9), and the driving wheel (601) is mounted on the drive On driving wheel bracket (11), supporting roller (12) are installed on lower layer's frame (8).
- The robot chassis 9. front and back according to claim 8 is charged, which is characterized in that the shock absorber (9) is provided with more It is a and be symmetrical set in space.
- 10. a kind of robot, which is characterized in that including claim 1-9 described in any item front and backs chargings robot chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821607874.3U CN209426893U (en) | 2018-09-29 | 2018-09-29 | Charge robot chassis and the robot comprising it for front and back |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821607874.3U CN209426893U (en) | 2018-09-29 | 2018-09-29 | Charge robot chassis and the robot comprising it for front and back |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209426893U true CN209426893U (en) | 2019-09-24 |
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ID=67966998
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821607874.3U Active CN209426893U (en) | 2018-09-29 | 2018-09-29 | Charge robot chassis and the robot comprising it for front and back |
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| CN (1) | CN209426893U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799626A (en) * | 2020-06-17 | 2021-12-17 | 阿里巴巴集团控股有限公司 | Robot charging method, device and equipment |
-
2018
- 2018-09-29 CN CN201821607874.3U patent/CN209426893U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113799626A (en) * | 2020-06-17 | 2021-12-17 | 阿里巴巴集团控股有限公司 | Robot charging method, device and equipment |
| CN113799626B (en) * | 2020-06-17 | 2024-06-11 | 阿里巴巴集团控股有限公司 | Robot charging method, device and equipment |
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Address after: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee after: Beijing Yunji Technology Co.,Ltd. Address before: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |