CN217345565U - Charging mutual-aid device suitable for four-foot robot - Google Patents
Charging mutual-aid device suitable for four-foot robot Download PDFInfo
- Publication number
- CN217345565U CN217345565U CN202221309454.3U CN202221309454U CN217345565U CN 217345565 U CN217345565 U CN 217345565U CN 202221309454 U CN202221309454 U CN 202221309454U CN 217345565 U CN217345565 U CN 217345565U
- Authority
- CN
- China
- Prior art keywords
- power supply
- quadruped robot
- contact point
- aid device
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a charge mutual aid device suitable for four-footed robot, including four-footed robot truck end connecting seat (9), four-footed robot truck end connecting seat (9) rear portion surface through pivot swing joint pitch angle adjusting platform (3), the pitch angle adjusting platform (3) outside is connected automatically controlled telescopic link (5) through automatically controlled telescopic link swing regulating spindle (4), the one end of flexible connecting band (7) is connected through flexible connecting band telescopic reel (6) swing joint to automatically controlled telescopic link (5) end, the other end of flexible connecting band (7) passes through screw and buckle and connects magnetism power supply joint (8); formula receive electric interface (1) is inhaled to upper portion both sides installation magnetism of four-footed robot trunk end-to-end connection seat (9) respectively, can charge for the four-footed robot that lacks the electricity in the marshalling, can prolong its operating time under the state that does not influence four-footed robot functionality and task execution.
Description
Technical Field
The utility model relates to a four-footed robot auxiliary device specifically is the mutual device of helping that charges who is applicable to four-footed robot.
Background
With the rapid development of the quadruped robot, more and more scenes can be applied to the quadruped robot, particularly for disaster relief, border patrol, search and the like, but the development and use of the battery technology limit the application scale of the quadruped robot, if all robots are provided with additional power supply devices, the functionality of the quadruped robot can be seriously influenced, the quadruped robot is not beneficial to executing a planning task, and the popularization of the quadruped robot is influenced.
Disclosure of Invention
To the problem that above-mentioned prior art exists, the utility model provides a device is helped each other to charging suitable for four-footed robot can charge for the four-footed robot that lacks the electricity in the marshalling, can prolong its operating time under the state that does not influence four-footed robot functionality and task execution.
In order to achieve the above object, the utility model discloses a following technical scheme realizes: the charging mutual-aid device suitable for the quadruped robot comprises a magnetic suction type power receiving interface, a relative position calibrator, a pitching angle adjusting platform, an electric control telescopic rod swing adjusting shaft, an electric control telescopic rod, a flexible connecting band telescopic reel, a flexible connecting band, a magnetic power supply connector and a quadruped robot trunk end connecting seat, wherein the surface of the rear part of the quadruped robot trunk end connecting seat is movably connected with the pitching angle adjusting platform through a rotating shaft, the outer side of the pitching angle adjusting platform is connected with the electric control telescopic rod through the electric control telescopic rod swing adjusting shaft, the tail end of the electric control telescopic rod is movably connected with one end of the flexible connecting band through the flexible connecting band telescopic reel, and the other end of the flexible connecting band is connected with the magnetic power supply connector through a screw and a clamping buckle; two sides of the connecting base at the tail end of the trunk of the quadruped robot are respectively provided with a rectangular groove for mounting a relative position calibrator; magnetic suction type current receiving interfaces are respectively installed on two sides of the upper part of the connecting seat at the tail end of the body of the quadruped robot; the relative position calibrator comprises a calibrator base, an observation camera, a laser transmitter and a laser receiving disc, wherein the observation camera is fixedly installed at the upper part of the calibrator base, the laser transmitter is installed on the surface of the calibrator base below the observation camera through a holder, and the laser receiving disc is installed on the surface of the calibrator base below the laser transmitter through screws; firstly, two quadruped robots are mutually adjusted to be at a close position, then a relative position calibrator of the equipment is used for calibration, the relative position calibrator firstly searches the position of a laser receiving disc through an observation camera, after the laser receiving disc is searched, the quadruped robots start to displace, alignment can be determined until a cross line in an image of the observation camera is over against the center of the laser receiving disc, meanwhile, a laser transmitter continuously transmits laser to the laser receiving disc to measure a relative distance, and when the distance is less than six meters of a zero point, the distance can be determined to be close enough; at this moment, adjust the platform through every single move angle, automatically controlled telescopic link swing regulating spindle, automatically controlled telescopic link, flexonics area telescopic reel and flexonics area make magnetism power supply connect can adjust in certain extent, let magnetism power supply connect and be close to magnetism gradually and inhale the formula and receive the interface, after being close to the certain distance, magnetism power supply connects and magnetism to inhale the formula and receives the interface and can combine under magnetic effect, thereby let magnetism power supply connect can connect and charge for it with this device that another four-legged robot was equipped with.
In order to enable the magnetic power supply connector and the magnetic power receiving interface to be in butt joint better, the lower part of the magnetic power supply connector is provided with a camera, an electromagnet contact point and a power supply interface contact point.
In order to further cooperate the butt joint between magnetism power supply joint and the formula of magnetism to receive the electric interface, magnetism power supply joint's camera, electro-magnet contact point and power supply interface contact point be the article font and arrange.
In order to make the butt joint between magnetism power supply joint and the magnetism formula of inhaling receive the power interface can keep correctly preventing the mistake from producing, magnetism formula of inhaling receive power interface upper portion be equipped with camera calibration lamp, electromagnet contact point and receive the power interface contact point, the position corresponds with camera, electromagnet contact point and the power interface contact point that magnetism power supply connects.
In order to make the observation camera find the laser receiving disc of another device, the observation camera adopts a wide-angle lens.
In order to make the distance perception between the two quadruped robots more accurate, the laser transmitter is integrated with a distance sensor.
Borrow by above-mentioned scheme, the utility model discloses at least, have following advantage: compared with the conventional quadruped robot, the device is additionally arranged in a marshalling to supply power to the quadruped robot and equip the quadruped robot with other functional modules, so that the quadruped robot lacking power in the marshalling can be charged, and the working time of the quadruped robot can be prolonged under the condition that the functionality and the task execution of the quadruped robot are not influenced.
Drawings
FIG. 1 is a perspective view of a charging aid adapted for use with a quadruped robot;
FIG. 2 is an enlarged view of a portion of FIG. 1A;
in the figure: 1. the device comprises a magnetic suction type power receiving interface, 2 parts of a relative position calibrator, 2 parts of 1 part of a calibrator base, 2 parts of an observation camera, 2 parts of 3 parts of a laser transmitter, 2 parts of 4 parts of a laser receiving disc, 3 parts of a pitching angle adjusting platform, 4 parts of an electric control telescopic rod swing adjusting shaft, 5 parts of an electric control telescopic rod, 6 parts of a flexible connecting belt telescopic reel, 7 parts of a flexible connecting belt, 8 parts of a magnetic power supply connector, and 9 parts of a quadruped robot trunk end connecting base.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
As shown in fig. 1 to 2, the charging mutual aid device for the quadruped robot comprises a magnetic suction type power receiving interface 1, a relative position calibrator 2, a pitch angle adjusting platform 3, an electric control telescopic rod swing adjusting shaft 4, an electric control telescopic rod 5, a flexible connecting belt telescopic reel 6, a flexible connecting belt 7, a magnetic power supply connector 8 and a quadruped robot trunk end connecting seat 9, wherein for internal management of a company, the model of the relative position calibrator 2 is XE45, the model of the electric control telescopic rod swing adjusting shaft 4 is TG76, the products can be purchased from the market, the surface of the rear part of the quadruped robot trunk end connecting seat 9 is movably connected with the pitch angle adjusting platform 3 through a rotating shaft, the outer side of the pitch angle adjusting platform 3 is connected with the electric control telescopic rod swing adjusting shaft 4 through the electric control telescopic rod swing adjusting shaft 4, the end of the electric control telescopic rod 5 is movably connected with one end of the flexible connecting belt 7 through the flexible connecting belt telescopic reel 6, the other end of the flexible connecting belt 7 is connected with a magnetic power supply connector 8 through a screw and a clamping buckle; rectangular grooves are respectively formed in two sides of a connecting seat 9 at the tail end of the trunk of the quadruped robot, and the corresponding position calibrator 2 is installed; magnetic attraction type current receiving interfaces 1 are respectively arranged on two sides of the upper part of a connecting seat 9 at the tail end of the body of the quadruped robot; the relative position calibrator 2 comprises a calibrator base 2-1, an observation camera 2-2, a laser emitter 2-3 and a laser receiving disc 2-4, wherein the observation camera 2-2 is fixedly installed on the upper part of the calibrator base 2-1, the laser emitter 2-3 is installed on the surface of the calibrator base 2-1 below the observation camera 2-2 through a pan-tilt, and the laser receiving disc 2-4 is installed on the surface of the calibrator base 2-1 below the laser emitter 2-3 through screws; firstly, two quadruped robots are adjusted to be close to each other, then the relative position calibrator 2 of the equipment is used for calibration, the relative position calibrator 2 firstly searches the position of a laser receiving disc 2-4 through an observation camera 2-2, after the laser receiving disc 2-4 is searched, the quadruped robots start to displace until a cross line in a picture of the observation camera 2-2 is over against the center of the laser receiving disc 2-4, alignment can be determined, meanwhile, a laser transmitter 2-3 continuously transmits laser to the laser receiving disc 2-4 to measure the relative distance, and when the distance is lower than six meters of a zero point, the distance can be determined to be close enough; at this moment, adjust platform 3 through every single move angle, automatically controlled telescopic link swing regulating spindle 4, automatically controlled telescopic link 5, flexible connection area expansion reel 6 and flexible connection area 7 make magnetism power supply connect 8 can adjust in the certain limit, let magnetism power supply connect 8 and be close to magnetism gradually and inhale formula and receive interface 1, after being close to the certain distance, magnetism power supply connects 8 and magnetism and inhales formula and receive interface 1 and can combine under magnetic effect, thereby let magnetism power supply connect 8 can connect and charge for it with this device that another four-legged robot was equipped with.
In order to enable the magnetic power supply connector 8 and the magnetic power receiving interface 1 to be in butt joint better, the lower part of the magnetic power supply connector 8 is provided with a camera, an electromagnet contact point and a power supply interface contact point.
In order to further cooperate the butt joint between magnetic power supply joint 8 and the formula of receiving power interface 1 is inhaled to magnetism, magnetic power supply joint 8's camera, electro-magnet contact point and power supply interface contact point be the triangle and arrange.
In order to make the butt joint between magnetism power supply joint 8 and magnetism type receive the power interface 1 and can keep correctly preventing the mistake from producing, magnetism type receive power interface 1 upper portion be equipped with camera calibration lamp, electro-magnet contact point and receive the power interface contact point, the position corresponds with camera, electro-magnet contact point and the power interface contact point of magnetism power supply joint 8.
In order to make the observation camera 2-2 find the laser receiving disc 2-4 of another device, the observation camera 2-2 adopts a wide-angle lens.
In order to make the distance perception between the two quadruped robots more accurate, the laser transmitters 2-3 are integrated with distance sensors.
The device installation that helps each other will be applicable to charging of four-footed robot during the use, then fixed mounting to four-footed robot truck rear end, and connect corresponding pipeline, equipment can come into operation.
Has the advantages that: by additionally arranging a power supply quadruped robot in a marshalling and equipping the quadruped robot with other functional modules with the device, the quadruped robot which is short of power in the marshalling can be charged, and the working time of the quadruped robot can be prolonged under the condition that the functionality and the task execution of the quadruped robot are not influenced.
The utility model discloses when using, concrete work as follows:
when one quadruped robot in a marshalling is in power shortage, after a power supply motor and a power receiving motor are confirmed through network connection, the two quadruped robots are adjusted to be at a close position, then the relative position calibrator 2 of the equipment is used for calibrating, the relative position calibrator 2 searches the position of a laser receiving disc 2-4 through an observation camera 2-2, after the laser receiving disc 2-4 is searched, the two quadruped robots start to move until a cross line in a picture of the observation camera 2-2 is over against the center of the laser receiving disc 2-4, alignment can be determined, meanwhile, a laser transmitter 2-3 continuously transmits laser to the laser receiving disc 2-4 to measure a relative distance, and when the distance is six meters below a zero point, the distance can be determined to be close enough; at this moment, adjust platform 3 through every single move angle, automatically controlled telescopic link swing regulating spindle 4, automatically controlled telescopic link 5, flexible connection area expansion reel 6 and flexible connection area 7 make magnetism power supply connect 8 can adjust in the certain limit, let magnetism power supply connect 8 and be close to magnetism gradually and inhale formula and receive interface 1, after being close to the certain distance, magnetism power supply connects 8 and magnetism and inhales formula and receive interface 1 and can combine under magnetic effect, thereby let magnetism power supply connect 8 can connect and charge for it with this device that another four-legged robot was equipped with.
Claims (6)
1. The charging mutual-aid device suitable for the quadruped robot comprises a quadruped robot trunk tail end connecting seat (9) and is characterized in that the surface of the rear part of the quadruped robot trunk tail end connecting seat (9) is movably connected with a pitching angle adjusting platform (3) through a rotating shaft, the outer side of the pitching angle adjusting platform (3) is connected with an electric control telescopic rod (5) through an electric control telescopic rod swinging adjusting shaft (4), the tail end of the electric control telescopic rod (5) is movably connected with one end of a flexible connecting belt (7) through a flexible connecting belt telescopic scroll (6), and the other end of the flexible connecting belt (7) is connected with a magnetic power supply connector (8) through a screw and a clamping buckle; rectangular grooves are respectively formed in two sides of a connecting seat (9) at the tail end of the trunk of the quadruped robot, and a relative position calibrator (2) is installed; magnetic attraction type current collecting interfaces (1) are respectively arranged on two sides of the upper part of a four-legged robot trunk tail end connecting seat (9); the relative position calibrator (2) comprises a calibrator base (2-1), an observation camera (2-2), a laser transmitter (2-3) and a laser receiving disc (2-4), wherein the observation camera (2-2) is fixedly installed on the upper part of the calibrator base (2-1), the laser transmitter (2-3) is installed on the surface of the calibrator base (2-1) below the observation camera (2-2) through a holder, and the laser receiving disc (2-4) is installed on the surface of the calibrator base (2-1) below the laser transmitter (2-3) through screws.
2. The charging mutual aid device for the quadruped robot as claimed in claim 1, wherein the magnetic power supply connector (8) is provided with a camera, an electromagnet contact point and a power supply interface contact point at the lower part.
3. The charging mutual aid device for the quadruped robot as claimed in claim 2, wherein the camera of the magnetic power supply connector (8), the electromagnet contact point and the power supply interface contact point are arranged in a delta shape.
4. The charging mutual aid device for the quadruped robot as claimed in claim 3, wherein the magnetic power receiving interface (1) is equipped with a camera calibration lamp, an electromagnet contact point and a power receiving interface contact point at the upper part, and the positions of the camera calibration lamp, the electromagnet contact point and the power receiving interface contact point correspond to those of the magnetic power supply connector (8).
5. The charging mutual aid device for the quadruped robot as claimed in claim 1, wherein the observation camera (2-2) adopts a wide-angle lens.
6. The charging mutual aid device for the quadruped robot as claimed in claim 1, wherein the laser transmitters (2-3) are integrated with a distance sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221309454.3U CN217345565U (en) | 2022-05-26 | 2022-05-26 | Charging mutual-aid device suitable for four-foot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221309454.3U CN217345565U (en) | 2022-05-26 | 2022-05-26 | Charging mutual-aid device suitable for four-foot robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217345565U true CN217345565U (en) | 2022-09-02 |
Family
ID=83015712
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221309454.3U Active CN217345565U (en) | 2022-05-26 | 2022-05-26 | Charging mutual-aid device suitable for four-foot robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217345565U (en) |
-
2022
- 2022-05-26 CN CN202221309454.3U patent/CN217345565U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207718228U (en) | A kind of reliable indoor omni-directional mobile robots recharging system | |
| CN107402574B (en) | Autonomous charging system and method for robot | |
| CN1320987C (en) | Intelligent autonomous power plant equipment round inspecting robot | |
| CN205736996U (en) | A kind of electric motor car automatic charging mechanical arm | |
| WO2017004944A1 (en) | Charging device of automatic cruise platform for greenhouse | |
| CN111884350A (en) | Charging system and charging method for robot automatic alignment charging | |
| CN111923007B (en) | Inspection robot | |
| CN108973746B (en) | Unmanned aerial vehicle wireless charging system and charging control method thereof | |
| CN106787266A (en) | A kind of mobile robot wireless charging method and device | |
| CN107896008A (en) | Robot self-service system for charging and method | |
| CN205921673U (en) | Mobile terminal with stereo -photography function | |
| CN105098885A (en) | Intelligent charging method of mobile monitoring platform for facilities | |
| CN217345565U (en) | Charging mutual-aid device suitable for four-foot robot | |
| CN210985081U (en) | Automatic docking mechanism that charges of mobile robot | |
| CN108627171A (en) | The intelligent method of localization for Mobile Robot recharging base based on wireless signal strength gradient | |
| CN111564881A (en) | Intelligent charging device for high-voltage transmission line inspection robot and control method | |
| CN110279996B (en) | Golf ball machine robot control system based on UWB positioning navigation | |
| CN110061552B (en) | Wireless charging system and method for outdoor mobile robot | |
| CN107571757A (en) | A kind of automatic charge device of intelligent carrier | |
| CN109802254A (en) | A kind of plug and flexible push-pull structure of flexibility push-pull structure | |
| CN117506953A (en) | Flexibly-carried wheel type inspection robot and method | |
| CN108571970A (en) | A kind of fingerprint map constructing method of indoor mobile robot | |
| CN117021991A (en) | Super-charging robot and charging control method thereof | |
| CN210404218U (en) | Electric power inspection robot auxiliary guide mechanism and reliable charging device that charges | |
| CN209487844U (en) | A kind of plug and flexible push-pull structure of flexibility push-pull structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |