CN212421313U

CN212421313U - Tool vehicle

Info

Publication number: CN212421313U
Application number: CN202020196356.8U
Authority: CN
Inventors: 陈明华
Original assignee: Cloudminds Beijing Technologies Co Ltd
Current assignee: Cloudminds Beijing Technologies Co Ltd
Priority date: 2020-02-21
Filing date: 2020-02-21
Publication date: 2021-01-29
Anticipated expiration: 2030-02-21

Abstract

The embodiment of the utility model provides a relate to machinery, disclose a tool bogie. The utility model discloses an in the embodiment, the tool bogie includes: the system comprises a communication module, a processing module connected with the communication module, and a power management module respectively connected with the communication module and the processing module; the communication module is used for: the power supply management module is in communication connection with the robot and transmits a power supply signal to the power supply management module after receiving a working instruction sent by the robot; the power management module is used for: supplying power to the communication module, and supplying power to the processing module after receiving the power supply signal; the processing module is used for: and controlling the tool car according to the control instruction sent by the robot and received by the communication module. In this embodiment, the tool cart is capable of providing at least two cleaning tools for the robot, so that the robot may be suitable for more scenarios; the power management module supplies power to the processing module after the robot sends a working instruction, so that the power consumption of the tool car is reduced.

Description

Tool vehicle

Technical Field

The embodiment of the utility model provides a relate to machinery, in particular to tool bogie.

Background

With the development of science and technology, various types of robots, such as sweeping robots, mopping robots, etc., are continuously appeared on the market to complete cleaning work of different scenes.

However, the inventors found that at least the following problems exist in the prior art: at present, special robots are specially designed to complete specific work under specific scenes in the market. Such robots cannot be adapted to a variety of cleaning scenarios.

It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

SUMMERY OF THE UTILITY MODEL

An object of an embodiment of the present invention is to provide a tool cart, which can provide at least two cleaning tools for a robot, so that the robot can be suitable for more scenes; the power management module supplies power to the processing module after the robot sends a working instruction, so that the power consumption of the tool car is reduced.

In order to solve the above technical problem, an embodiment of the present invention provides a tool cart, including: the cleaning tool comprises a tray for carrying at least two cleaning tools, a communication module, a processing module connected with the communication module, and a power management module respectively connected with the communication module and the processing module; the communication module is used for: the power supply management module is in communication connection with the robot and transmits a power supply signal to the power supply management module after receiving a working instruction sent by the robot; the power management module is used for: supplying power to the communication module, and supplying power to the processing module after receiving the power supply signal; the processing module is used for: and controlling the tool car according to the control instruction sent by the robot and received by the communication module, so that the robot can take the cleaning tool placed on the tray.

The utility model discloses embodiment is provided with the tray that bears the weight of two kinds at least burnishers for prior art on the tool bogie, and processing module is based on the control command of robot, and the control tool bogie provides burnisher for the robot to make the robot can work in multiple clean scene. In addition, the power management module supplies power to the processing module after the robot sends the working instruction, so that the power management module does not supply power to the processing module when the tool car is not needed, and the power consumption of the tool car is reduced.

In addition, the tool cart further includes: the tray comprises at least one first driving module connected with the power management module and a first motor respectively connected with the at least one first driving module and the tray; the control instructions include replacement instructions; the communication module is further configured to: after receiving a replacement instruction sent by the robot, transmitting the replacement instruction sent by the robot to a processing module; the processing module controls the tool car according to the control instruction sent by the robot received by the communication module, and the processing module comprises: transmitting a first instruction to a power management module according to a replacement instruction sent by the robot; the first instruction instructs the power management module to supply power to at least one first driving module; the power management module is further configured to: after the first instruction is received, power is supplied to the at least one first driving module, so that the at least one first driving module drives the at least one first motor, and the at least one first motor drives the tray to rotate. In this embodiment, the tool bogie rotates the tray based on the change instruction that the robot sent, and the cooperation robot carries out the change of burnisher for the tool bogie is more nimble.

In addition, the first driving module is connected with the processing module, and the processing module is further configured to: and monitoring the working state of the first driving module. In this embodiment, when the first driving module fails, the failure is discovered in time.

In addition, the tool cart further includes: the at least one tray is connected with the at least one first motor through the at least one first transmission mechanism.

In addition, the tool cart further includes: the power management module is connected with the at least one second driving module, the at least one second motor and the clamper which is fixed on the tray and connected with the at least one second motor; the control instruction comprises an opening and closing control instruction; the communication module is further configured to: after receiving an opening and closing control instruction sent by the robot, transmitting the opening and closing control instruction to a processing module; the processing module controls the tool car according to the control instruction sent by the robot received by the communication module, and the processing module comprises: transmitting a second instruction to the power management module according to the opening and closing control instruction; the second instruction instructs the power management module to supply power to at least one second driving module; the power management module is further configured to: after receiving the second instruction, the power supply is supplied to the at least two first driving modules, so that the at least one second driving module drives the at least one second motor to control the opening and closing of the gripper connected with the at least one second motor.

In addition, the tool cart further includes: and the holder is connected with a second motor through the second transmission mechanism.

In addition, the second driving module is connected with the processing module, and the processing module is further configured to: and monitoring the working state of the second driving module.

In addition, the tool cart further includes: the wireless charging module is in communication connection with the power management module; the control instruction comprises a charging instruction; the communication module is further configured to: after receiving a charging instruction sent by the robot, transmitting the charging instruction to a processing module; the processing module controls the tool car according to the control instruction sent by the robot received by the communication module, and the processing module comprises: transmitting a third instruction to the power management module according to the charging instruction; the first instruction instructs the power management module to supply power to the wireless charging module; the power management module is further configured to: and after receiving the third instruction, supplying power to the wireless charging module.

In addition, the power management module is provided with an interface; the power management module is further configured to: and determining whether to supply power to the communication module and the processing module according to the switching signal received by the interface.

In addition, the tool cart further includes: and the power module is connected with the power management module and is used for supplying power to the tool car.

In addition, the communication module is a Bluetooth module or a wireless fidelity (WIFI) module.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is a schematic circuit diagram of a tool cart according to a first embodiment of the present invention;

fig. 2 is a schematic circuit diagram of another tool wagon according to the first embodiment of the present invention;

fig. 3 is a schematic circuit structure diagram of a tool cart according to a second embodiment of the present invention;

fig. 4 is another schematic circuit structure diagram of the tool wagon according to the second embodiment of the present invention;

fig. 5 is a schematic structural view of a tool cart according to a second embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following will explain in detail each embodiment of the present invention with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that in various embodiments of the invention, numerous technical details are set forth in order to provide a better understanding of the present application. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.

A first embodiment of the present invention relates to a tool cart, as shown in fig. 1, including: a tray (not shown in the figure) for carrying at least two kinds of cleaning tools, a communication module 101, a processing module 102 connected to the communication module 101, and a power management module 103 connected to the communication module 101 and the processing module 102, respectively; the communication module 101 is configured to: the power supply management module is in communication connection with the robot and transmits a power supply signal to the power supply management module 103 after receiving a working instruction sent by the robot; the power management module 103 is configured to: supplying power to the communication module 101, and supplying power to the processing module 102 after receiving the power supply signal; the processing module 102 is configured to: according to the control instruction sent by the robot and received by the communication module 101, the tool car is controlled, so that the robot can take the cleaning tool placed on the tray.

In this embodiment, the tool car is provided with a tray carrying at least two types of cleaning tools, and the processing module controls the tool car to provide the cleaning tools for the robot based on a control instruction of the robot, so that the robot can work in various cleaning scenes. In addition, the power management module supplies power to the processing module after the robot sends the working instruction, so that the power management module does not supply power to the processing module when the tool car is not needed, and the power consumption of the tool car is reduced.

It should be noted that, as can be understood by those skilled in the art, in practical application, the power management module only needs to implement a corresponding function, and a chip, a circuit, and the like formed by the power management module are not limited herein.

In one embodiment, as shown in fig. 2, the tool cart further comprises: at least one first driving module 104 connected to the power management module 103, and a first motor 105 connected to the at least one first driving module 104 and a tray (not shown in the figure), respectively; the control instructions include replacement instructions; the communication module 101 is further configured to: after receiving a replacement instruction sent by the robot, transmitting the replacement instruction sent by the robot to the processing module 102; the processing module 102 controls the tool car according to the control command sent by the robot and received by the communication module 101, and includes: transmitting a first instruction to the power management module 103 according to a replacement instruction sent by the robot; the first instruction instructs the power management module 103 to supply power to the at least one first driver module; the power management module 103 is further configured to: after receiving the first instruction, power is supplied to the at least one first driving module 104, so that the at least one first driving module 104 drives the at least one first motor 105, and the at least one first motor 105 drives the tray to rotate.

Specifically, the robot may send a replacement command to the tool car when the cleaning tool needs to be replaced. The replacement instructions may indicate the type of cleaning tool that the robot currently needs to use. For example, when the robot determines that window wiping work is currently required, a replacement instruction indicating that the robot currently requires use of a cleaning tool for window wiping is generated and transmitted. The tool cart communication module 101 receives and transmits the replacement command to the processing module 102. The processing module 102 determines the type of the cleaning tool currently required to be used by the robot according to the received replacement instruction; according to the type of the cleaning tool which needs to be used currently and the position information of each cleaning tool on the current tray, the first driving module 104 is controlled to drive the first motor 105, so that the first motor 105 drives the tray (not shown in the figure) to rotate, and the cleaning tool which needs to be used currently rotates to the specified position.

It should be noted that the designated position may be set as required, for example, the designated position may be located on a straight line between the center of the tray (not shown in the figures) and the center of the tool car, and the designated position is only required to facilitate the robot to take the cleaning tool that needs to be used currently. The present embodiment does not limit the specific position of the designated position.

It should be noted that, the driving circuit for driving the first motor in the first driving module may refer to a driving circuit for driving a motor for rotating the tray, and details of this embodiment are not repeated.

In this embodiment, be provided with the communication module with the robot communication on the tool bogie for the tool bogie can be interactive with the robot, and based on the change instruction that the robot sent, the tray rotates, and the cooperation robot carries out burnisher's change, makes the tool bogie more nimble. In addition, the tool car communicates with the robot so that the tool car can be managed and monitored by the robot.

In one embodiment, the first motor 105 is a rotary motor.

It is worth mentioning that the tool car communicates with the robot in a wireless manner, so that the limitation on the relative position relationship between the tool car and the robot is reduced.

In one embodiment, the processing module 102 may be a processor or the like.

In one embodiment, the processing module 102 may send the position information of the tool car to the robot through the communication module 101 after receiving the replacement command, so that the robot moves to the position of the tool car to take the currently required cleaning tool. Alternatively, the processing module 102 periodically sends the position information of the tool car to the robot through the communication module 101, so that the robot can further monitor the tool car.

In one embodiment, the tool cart further comprises: at least one first transmission mechanism, through which at least one pallet (not shown) is connected to at least one first motor 105. Specifically, the first transmission mechanism may be a gear or the like.

In one embodiment, the first driver module 104 is coupled to the processing module 102, and the processing module 102 is further configured to: the operational status of the first drive module 104 is monitored. Specifically, the first driving module 104 may periodically transmit various information such as its current value to the processing module 102, so that the processing module 102 can know the operating state of the first driving module 104.

It should be noted that the processing module 102 monitors the first driving module 104, so that when the first driving module 104 fails, the failure can be timely discovered.

In one embodiment, the tool cart further comprises: the power management module is connected with the at least one second driving module, the at least one second motor and the clamper which is fixed on the tray and connected with the at least one second motor; the control instruction comprises an opening and closing control instruction; the communication module is further configured to: after receiving an opening and closing control instruction sent by the robot, transmitting the opening and closing control instruction to a processing module; the processing module controls the tool car according to the control instruction sent by the robot received by the communication module, and the processing module comprises: transmitting a second instruction to the power management module according to the opening and closing control instruction; the second instruction instructs the power management module to supply power to at least one second driving module; the power management module is further configured to: after receiving the second instruction, the power supply is supplied to the at least two first driving modules, so that the at least one second driving module drives the at least one second motor to control the opening and closing of the gripper connected with the at least one second motor. In particular, the tool cart is provided with a holder for securing a cleaning tool. I.e., when the holder is closed, to grip the cleaning tool, and when the holder is released, the cleaning tool can be removed. The processing module 102 may control the second driving module to drive the second motor to rotate after the tray rotates to the designated position, so as to open the gripper. After the cleaning tool is replaced in the holder, the processing module 102 controls the second driving module to drive the second motor to rotate so as to close the holder.

It is worth mentioning that the cleaning tool can be prevented from falling off by clamping the cleaning tool by the clamp holder.

It should be noted that, a driving circuit for driving the second motor in the second driving module may refer to a driving circuit for controlling the opening and closing of the gripper, and this embodiment is not described in detail.

In one embodiment, the second driving module is connected to the processing module, and the processing module is further configured to: and monitoring the working state of the second driving module. The second driving module may periodically transmit various information such as its current value to the processing module 102, so that the processing module 102 can know the operating state of the second driving module.

It should be noted that the processing module 102 monitors the second driving module, so that when the second driving module fails, the failure can be found in time.

In one embodiment, the tool cart further comprises: and the holder is connected with a second motor through the second transmission mechanism.

It should be noted that, as those skilled in the art will understand, the grippers and the second motors correspond to each other, and the number of grippers and the number of second motors can be set as required, for example, the tool car can be provided with 4 grippers and 4 second motors. The present embodiment does not limit the number of grippers and second motors.

In one embodiment, the communication module 101 may be a bluetooth module or a wireless fidelity module. For example, the communication module 101 is bluetooth low energy. And before the low-power Bluetooth does not receive the working instruction, the low-power Bluetooth is in a low-power connection mode. After the robot sends a work instruction to the bluetooth low energy of the tool car, the bluetooth low energy controls the power management module 103 to supply power to the processing module 102. After the processing module 102 is powered on and normally started, the power management module 103 may control power supply of other modules (such as the first driving module and the second driving module) except the bluetooth low energy module.

In one embodiment, the processing module 102 may send the monitoring result to the robot through the communication module 101, so that the robot finds the tool car fault in time.

It should be noted that, when the tool car is further provided with a second driving module or other modules, the power management module is connected with the second driving module or other modules so as to provide the required power for the second driving module or other modules.

In one embodiment, the power management module is provided with an interface; the power management module is further configured to: it is determined whether to supply power to the communication module 101 and the processing module 102 according to the switching signal received by the interface. For example, if the switch signal of the interface indicates to stop supplying power, the power management module stops supplying power to all modules of the tool car, and if the switch signal of the interface indicates to supply power normally, the power management module supplies power to the communication module 101 and supplies power to the processing module 102 after the communication module 101 receives the operating instruction. During operation of the tool vehicle, it is determined whether to power at least one of the other modules, such as the first drive module 104, the second drive module, etc., based on the control signal from the processing module 102.

In one embodiment, the tool cart further comprises: and the power module is connected with the power management module and is used for supplying power to the tool car.

In one embodiment, the power module is a battery that can be charged through a charging jack.

The above description is only for illustrative purposes and does not limit the technical solution of the present invention.

Compared with the prior art, the tool car provided in the embodiment is provided with the tray carrying at least two cleaning tools, and the processing module controls the tool car to provide the cleaning tools for the robot based on the control instruction of the robot, so that the robot can work in various cleaning scenes. In addition, the power management module supplies power to the processing module after the robot sends the working instruction, so that the power management module does not supply power to the processing module when the tool car is not needed, and the power consumption of the tool car is reduced.

The utility model discloses a second embodiment relates to a tool bogie, and embodiment has made further improvement on the basis of first embodiment, and concrete improvement part is: in this embodiment, the tool bogie further comprises a wireless charging module.

Specifically, as shown in fig. 3, in the present embodiment, the tool cart further includes: a wireless charging module 106 in communication with the power management module 103; the control instruction comprises a charging instruction; the communication module 101 is further configured to: after receiving a charging instruction sent by the robot, transmitting the charging instruction to the processing module 102; the processing module 102 controls the tool car according to the control command sent by the robot and received by the communication module 101, and includes: transmitting a third instruction to the power management module 103 according to the charging instruction; the third instruction instructs the power management module 103 to supply power to the wireless charging module 106; the power management module 103 is further configured to: and after receiving the third instruction, supplying power to the wireless charging module 106.

For example, the cleaning implement is a brush head of various types. The tool car is provided with a handle fixing groove for placing a handle used when the robot is cleaned. The top of each brush head is provided with a mounting hole, and when the robot needs to use a certain type of brush head, the handle can be inserted into the mounting hole of the brush head. The processing module 102 controls the designated gripper to release after the robot receives the opening and closing control command, so that the robot can take the brush head out through the handle. The wireless charging module is arranged in a handle fixing groove of the tool car, and after the robot sends a charging instruction, the wireless charging module wirelessly charges the handle in the handle fixing groove.

It is worth mentioning that the wireless charging module is arranged on the tool trolley, so that the tool trolley can charge the handle without the need of charging the handle by a user, the practicability of the tool trolley is improved, and the workload of the user is reduced.

In one embodiment, a schematic circuit connection diagram of the tool cart is shown in fig. 4, and includes: the wireless charging system comprises a communication module 101, a processing module 102 connected with the communication module 101, at least one first driving module 104 connected with the processing module 102 in a communication mode, a first motor 105 connected with the at least one first driving module 104 in a communication mode, a wireless charging module 106, at least one second driving module 107, at least one second motor 108, a first transmission mechanism 109, a second transmission mechanism 110 and a power supply module 111. The connection relationship and the function of each module may refer to the related description in the first embodiment and/or the second embodiment, and are not described herein again. The structure of the tool car is schematically shown in fig. 5, wherein the tool car comprises a tool car body 200, a handle 201, a brush head 202, a handle fixing groove 203, a tray 204, and a tool car and robot connecting part 205. The handle 201 is fixed in the handle fixed slot 203 of the tool car, and the wireless charging module is arranged in the handle fixed slot 203 and can charge the handle 201. The brush head 202 is clamped on the tool car by the clamp 2041 in the tray 204. The tool car and robot connecting part 205 may adopt a universal ball joint structure, and the structure thereof may refer to a trailer hook structure. The tool cart body 200 contains the modules shown in fig. 3, which can charge the handle and power the body.

Compared with the prior art, the tool car provided in the embodiment is provided with the tray carrying at least two cleaning tools, and the processing module controls the tool car to provide the cleaning tools for the robot based on the control instruction of the robot, so that the robot can work in various cleaning scenes. In addition, the power management module supplies power to the processing module after the robot sends the working instruction, so that the power management module does not supply power to the processing module when the tool car is not needed, and the power consumption of the tool car is reduced. Besides, the tool trolley can wirelessly charge the handle, and the practicability of the tool trolley is improved.

It should be noted that each module related in the first embodiment and the second embodiment is a logic module, and in practical application, one logic unit may be one physical unit, may be a part of one physical unit, and may also be implemented by a combination of a plurality of physical units. In addition, in order to highlight the innovative part of the present invention, elements that are not so closely related to solving the technical problems of the present invention are not introduced in the first embodiment and the second embodiment, but this does not indicate that there are no other elements in the first embodiment and the second embodiment.

It will be understood by those skilled in the art that the foregoing embodiments are specific examples of the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in its practical application.

Claims

1. A tool cart, comprising: the cleaning tool comprises a tray for carrying at least two cleaning tools, a communication module, a processing module connected with the communication module, and a power management module respectively connected with the communication module and the processing module;

the communication module is configured to: the power supply management module is in communication connection with the robot and transmits a power supply signal to the power supply management module after receiving a working instruction sent by the robot;

the power management module is used for: supplying power to the communication module and supplying power to the processing module after receiving the power supply signal;

the processing module is used for: and controlling the tool car according to the control instruction sent by the robot and received by the communication module, so that the robot can take the cleaning tool placed on the tray.

2. The tool cart of claim 1, further comprising: the first driving module is connected with the power management module, and the first motor is respectively connected with the first driving module and the tray; the control instruction comprises a replacement instruction;

the communication module is further configured to: after receiving a replacement instruction sent by the robot, transmitting the replacement instruction sent by the robot to the processing module;

the processing module controls the tool car according to the control instruction sent by the robot and received by the communication module, and the processing module comprises: transmitting a first instruction to the power management module according to a replacement instruction sent by the robot; the first instruction instructs the power management module to supply power to the at least one first driving module;

the power management module is further configured to: after the first instruction is received, power is supplied to the at least one first driving module, so that the at least one first driving module drives the at least one first motor, and the at least one first motor drives the tray to rotate.

3. The tool cart of claim 2, wherein the first drive module is coupled to the processing module, the processing module further configured to: and monitoring the working state of the first driving module.

4. The tool cart of claim 2, further comprising: the at least one tray is connected with the at least one first motor through the at least one first transmission mechanism.

5. The tool cart of claim 2, further comprising: the power management module is connected with the at least one second driving module, the at least one second motor and a clamp which is fixed on the tray and connected with the at least one second motor; the control instruction comprises an opening and closing control instruction;

the communication module is further configured to: after receiving an opening and closing control instruction sent by the robot, transmitting the opening and closing control instruction to the processing module;

the processing module controls the tool car according to the control instruction sent by the robot and received by the communication module, and the processing module comprises: transmitting a second instruction to the power management module according to the opening and closing control instruction; the second instruction instructs the power management module to supply power to the at least one second driving module;

the power management module is further configured to: after receiving the second instruction, supplying power to the at least two first driving modules so that the at least one second driving module drives the at least one second motor to control opening and closing of a gripper connected with the at least one second motor.

6. The tool cart of claim 5, further comprising: and the gripper is connected with the second motor through the second transmission mechanism.

7. The tool cart of claim 5, wherein the second drive module is coupled to the processing module, the processing module further configured to: and monitoring the working state of the second driving module.

8. The tool cart of any one of claims 1 to 7, further comprising: the wireless charging module is in communication connection with the power management module; the control instruction comprises a charging instruction;

the communication module is further configured to: after receiving a charging instruction sent by the robot, transmitting the charging instruction to the processing module;

the processing module controls the tool car according to the control instruction sent by the robot and received by the communication module, and the processing module comprises: transmitting a third instruction to the power management module according to the charging instruction; the third instruction instructs the power management module to supply power to the wireless charging module;

the power management module is further configured to: and after receiving the third instruction, supplying power to the wireless charging module.

9. The tool cart of any one of claims 1 to 7, wherein the power management module is provided with an interface;

the power management module is further configured to: and determining whether to supply power to the communication module and the processing module according to the switching signal received by the interface.

10. The tool cart of claim 9, further comprising: and the power module is connected with the power management module and is used for supplying power to the tool car.