CN219204138U

CN219204138U - Charging pile and robot system

Info

Publication number: CN219204138U
Application number: CN202223548899.XU
Authority: CN
Inventors: 吴鹏程; 王毅可; 唐旋来; 李通
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2022-12-29
Filing date: 2022-12-29
Publication date: 2023-06-16
Anticipated expiration: 2032-12-29

Abstract

The utility model relates to the technical field of intelligent robots, and particularly discloses a charging pile and a robot system. According to the charging pile provided by the utility model, the identification groove is formed in the middle of the identification panel, so that the identification panel is provided with the high-low-high identification characteristic in the horizontal direction, the mark is simple, the processing and the identification are convenient, and the color filter is not required to be arranged on the identification panel, so that the aesthetic property of the charging pile is improved; the part of the contact part of the charging electrode is covered with the charging pole piece, and extends from the front side to the rear side of the contact part, so that when the robot runs on the charging pile, other parts of the robot are prevented from being in false touch with the charging pole piece during charging, and the charging safety of the robot is improved; in addition, when the position of the charging pile is manually adjusted, the hand can be prevented from touching the charging pole piece.

Description

Charging pile and robot system

Technical Field

The utility model relates to the technical field of intelligent robots, in particular to a charging pile and a robot system.

Background

Intelligent robots are gradually replacing part of the manual work. At present, robots are widely applied to various indoor and outdoor scenes such as restaurants, hotels, hospitals, shops, parks and the like to provide services such as distribution, guidance, cleaning and the like. A rechargeable power supply system is usually arranged inside the intelligent robot to provide energy for the operation of the intelligent robot. However, as the intelligent robot runs for a long time, the electric quantity of the power supply system is gradually consumed, and the intelligent robot needs to be charged in time. Generally, a charging pile is arranged to charge the intelligent robot, and self-charging can be realized after the intelligent robot recognizes the charging pile. Therefore, identification of the charging stake is particularly important.

The charging pile is provided with an identification mark, the identification mark is covered with an optical filter, and the robot can determine the position of the charging pile by scanning the identification mark under the optical filter through the detection part. The identification mark of the existing charging pile is two grooves which are arranged side by side and at intervals in the middle of the charging pile panel, so that the detection part can identify the high-low-high marking characteristics, and the position of the charging pile can be determined. But the identification mark is complex, and the arrangement of the optical filter reduces the aesthetic degree of the charging pile. In addition, in the prior art, after the robot runs onto the charging pile, the risk that other parts of the robot touch the charging pole piece by mistake exists.

Therefore, it is desirable to provide a charging pile to solve the above technical problems.

Disclosure of Invention

The utility model aims to provide a charging pile and a robot system, which avoid the situation that other parts of a robot touch a charging pole piece by mistake after the robot runs on the charging pile, and the identification mark of the charging pile is simple in structure and attractive in appearance.

To achieve the purpose, the utility model adopts the following technical scheme:

charging stake includes:

the charging pile comprises a charging pile body which is of an L-shaped structure, wherein the vertical front side surface of the charging pile body is provided with an identification panel for a robot to scan, and the middle part of the identification panel is provided with an identification groove;

the charging electrode is arranged on the transverse portion of the charging pile body, the charging electrode comprises a contact portion used for being in contact with the robot, a charging pole piece used for being electrically connected with a charging end of the robot is arranged on the contact portion, and the contact portion is covered with the charging pole piece from the front side to the rear side.

As an alternative technical scheme of the charging pile, the contact part is provided with an arc-shaped surface, the charging pole piece is covered on the arc-shaped surface, and the length of the charging pole piece is 2/3 of the length of the arc-shaped surface.

As an optional technical scheme of the charging pile, the charging electrode further comprises a tightening piece, the tightening piece enables the charging pole piece to move towards the charging pile body when the contact portion is in contact with the robot, and enables the charging pole piece to reset when the contact portion is not in contact with the robot.

As an optional technical scheme of the charging pile, the charging electrode further comprises an electrode support, the electrode support is provided with the contact portion, and one end of the electrode support provided with the contact portion is connected with the abutting piece.

As an alternative technical scheme of the charging pile, two opposite side walls of the identification groove are obliquely arranged from inside to outside.

As an alternative technical scheme of the charging pile, the width of the notch of the identification groove is 40% -50% of the width of the identification panel.

As an alternative technical scheme of the charging pile, the depth of the identification groove is 25mm-35mm.

As an optional technical scheme of the charging pile, the charging pile body is provided with an indicator lamp and a control circuit board, and the indicator lamp and the charging pole piece are respectively and electrically connected with the control circuit board.

As an optional technical scheme of the charging pile, one side, opposite to the identification panel, of the charging pile body is provided with a containing groove and an adapting cover detachably connected to the notch of the containing groove, an adapter is arranged in the containing groove, and the adapter is electrically connected with the control circuit board.

A robotic system comprising a robot and a charging stake according to any one of the preceding claims, the robot being provided with a detection means for scanning the identification panel.

The utility model has the beneficial effects that:

according to the charging pile provided by the utility model, the identification groove is formed in the middle of the identification panel, so that the identification panel is provided with the high-low-high identification characteristic in the horizontal direction, the mark is simple, the processing and the identification are convenient, and the color filter is not required to be arranged on the identification panel, so that the aesthetic property of the charging pile is improved; the part of the contact part of the charging electrode is covered with the charging pole piece, and extends from the front side to the rear side of the contact part, so that when the robot runs on the charging pile, other parts of the robot are prevented from being in false touch with the charging pole piece during charging, and the charging safety of the robot is improved; in addition, when the position of the charging pile is manually adjusted, the hand can be prevented from touching the charging pole piece.

Drawings

Fig. 1 is a schematic structural diagram of a charging pile according to a first view angle provided by an embodiment of the present utility model;

fig. 2 is an exploded view of a charging pile structure according to an embodiment of the present utility model;

FIG. 3 is a rear view of a charging stake provided by an embodiment of the utility model;

fig. 4 is a schematic structural diagram of a second view of a charging pile according to an embodiment of the present utility model.

In the figure:

1. a charging pile body; 2. a charging electrode; 3. an indicator light; 4. a control circuit board; 5. an adapter;

11. identifying a panel; 12. identifying a groove; 13. a front side case; 14. a rear cover body; 15. a bottom cover; 16. an adapter cover; 17. a mounting hole; 18. a receiving groove; 19. a switch; 110. an avoidance groove; 111. a mounting position;

21. a contact portion; 22. a charging pole piece; 23. a tightening member; 24. an electrode holder;

31. a lamp panel bracket; 32. a light bar plate; 33. and a light-transmitting plate.

Detailed Description

In order to make the technical problems solved by the present utility model, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present utility model will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The embodiment provides a fill electric pile for charge to the robot, the robot can be the robot that can remove automatically such as robot that sweeps floor, grinding robot, food delivery robot. The charging stake may be placed on a support surface, which may be the ground, or the upper surface of the structural member.

As shown in fig. 1, the charging pile comprises a charging pile body 1 and a charging electrode 2, the charging pile body 1 is in an L-shaped structure, the charging electrode 2 is arranged on the transverse portion of the charging pile body 1, the front side surface of the vertical portion of the charging pile body 1 is provided with an identification panel 11 for the robot to scan, and an identification groove 12 is formed in the middle of the identification panel 11, so that the identification panel 11 forms high-low-high identification features in the horizontal direction. Specifically, the identification panels 11 on both sides of the identification groove 12 have identifiable areas, the bottom surface of the identification groove 12 also has identifiable areas, the bottom surface of the identification groove 12 is lower than the identification panel 11, so that high-low-high identification characteristics are formed, the mark is simple, the processing and the identification are convenient, and the filter is not required to be arranged on the identification panel 11, so that the aesthetic property of the charging pile is improved. When the robot scans the top surface of one bulge, the bottom surface of the recognition groove 12 and the top surface of the other bulge in sequence, the high-low-high recognition feature is formed, the robot judges that the recognition feature is the position of the charging pile, and after recognizing and positioning the charging pile, the robot walks to the transverse part of the charging pile body 1 and is electrically connected with the charging electrode 2, so that the charging of the robot is realized. Of course, in other embodiments, the charging pile body 1 may be provided in other structures, which are not particularly limited herein.

The charging electrode 2 includes a contact portion 21, a charging pole piece 22 for electrical connection with a charging end of the robot is provided on the contact portion 21, and the contact portion 21 is partially covered with the charging pole piece 22 from the front side to the rear side. The part of the contact part 21 of the charging electrode 2 is covered with the charging pole piece 22, and the front side of the contact part 21 extends to the rear side, so that when the robot runs on the charging pile, other parts of the robot are prevented from being in false touch with the charging pole piece 22 during charging, and the charging safety of the robot is improved. In addition, when the position of the charging pile is manually adjusted, the hand of the person can be prevented from touching the charging pole piece 22.

As shown in fig. 2, the charging pile body 1 includes a housing, the housing includes a front side housing 13, a rear side housing 14 and a bottom cover 15, the front side housing 13 is in an L-shaped structure, a vertical portion of the front side housing 13 has a first cavity, a lateral portion of the front side housing 13 has a second cavity, the rear side housing 14 covers the first cavity to form a closed first cavity, the bottom cover 15 covers the second cavity to form a closed second cavity, and other components of the charging pile can be disposed in the first cavity and the second cavity.

The other components at least comprise a control circuit board 4, wherein the control circuit board 4 is arranged in the first cavity to protect the control circuit board 4 from damage. The charging pole piece 22 is electrically connected with the control circuit board 4.

The charging pile body 1 is also provided with an indicator lamp 3 for indicating the charging state of the robot. The indicator lamp 3 is electrically connected with the control circuit board 4. The indicator lamp 3 is preferably provided at the top of the vertical portion of the charging pile body 1, and the indicator lamp 3 is exposed to the outside of the casing of the charging pile body 1 so as to observe the state of charging of the robot.

The shell is provided with the mounting hole 17 communicated with the first cavity, the indicator lamp 3 comprises a lamp panel bracket 31 connected with the shell of the charging pile body 1 and positioned in the first cavity, a lamp panel 32 connected with the lamp panel bracket 31 and opposite to the mounting hole 17, and a light-transmitting plate 33 covered at the mounting hole 17, and the light-transmitting plate 33 not only protects the lamp panel 32, but also can diffuse light emitted by the lamp panel 32, so that the state of the indicator lamp can be observed conveniently. A plurality of light beads may be provided on the light bar plate 32.

As shown in fig. 2 and 3, the side of the charging pile body 1 facing away from the identification panel 11 is provided with a receiving groove 18, the adapter 5 is received in the receiving groove 18, the notch of the receiving groove 18 is detachably connected with an adapter cover 16, and the adapter 5 is electrically connected with the control circuit board 4.

As shown in fig. 4, the charging pile body 1 is further provided with a switch 19, and the switch 19 is mounted on a side of the charging pile body 1 facing away from the identification panel 11 and is used for controlling the start and the stop of the charging pile. Optionally, a side of the charging pile body 1 opposite to the identification panel 11 may be provided with an avoidance groove 110, and the switch 19 is installed in the avoidance groove 110 to avoid false touching.

The bottom of filling electric pile body 1 is equipped with the slipmat, specifically, the slipmat sets up on bottom lid 15 to prevent to fill electric pile and receive the back aversion of pushing away of robot, keep filling electric pile's position stability. The anti-slip pad can be a rubber piece.

The side of the charging pile body 11 facing away from the identification panel 11 is also provided with a mounting position 111 for mounting the charging pile on a to-be-mounted surface.

With continued reference to fig. 1 and 2, the charging pile has the advantages that the identification groove 12 is formed in the middle of the identification panel 11, so that high-low-high identification features are formed on the identification panel 11 in the left-right direction, the marking is simple, the processing and the identification are convenient, and meanwhile, an optical filter is not required to be arranged on the identification panel 11, so that the aesthetic degree of the charging pile is improved.

The identification groove 12 extends along the height direction of the charging pile body 1 to form a strip shape, the identification groove 12 extending along the height direction of the charging pile body 1 can reduce the occupation of the horizontal space of the identification panel 11, and thus the width of the horizontal space of the identification panel 11 can be narrower, and the occupation of the charging pile to the space is further reduced. In order to improve the aesthetic degree of the identification groove 12, the corners of the end portions of the identification groove 12 are smoothly transited, and the upper end and the lower end of the identification groove 12 are closed ends.

In other embodiments, at least one of the upper and lower ends of the identification slot 12 may be disposed through, so as to increase the identification range of the identification slot 12 in the up-down direction, and facilitate the robot to find the identification area on the charging pile.

In some embodiments, two opposite side walls of the identification groove 12 along the width direction are inclined from inside to outside, and the two side walls of the identification groove 12 can also be used as the characteristics of robot identification, so that the number of the characteristics of the robot identification is increased, and the efficiency of the robot identification charging pile is further improved.

Further, two opposite side walls of the identification groove 12 along the height direction are obliquely arranged from inside to outside, the two side walls can also be used as the characteristics of robot identification, and the four side walls are obliquely arranged from inside to outside, so that the identification groove 12 is a groove with a conical structure, and the area of the groove bottom of the identification groove 12 is smaller than that of the notch of the identification groove 12.

The width of the notch of the identification groove 12 is 40% -50% of the width of the identification panel 11, so that the characteristics of the middle and low parts of the identification characteristics are increased, the device is suitable for charging of robots of various types, the success rate of identifying the charging pile of the robot and the accuracy of identifying the charging pile are improved, and the efficiency of searching the charging pile when the robot is charged is further improved.

Illustratively, the width of the notch of the identification groove 12 is 114mm, the width of the identification panels 11 at both sides of the identification groove 12 is 68mm, the width of the groove bottom of the identification groove 12 is 80mm, and the width of the groove bottom and the width of the notch of the identification groove 12 determine the inclination angle of the two opposite groove walls of the identification groove 12.

In some embodiments, the depth of the identification groove 12 is 25mm-35mm, the success rate of the identification of the groove bottom of the identification groove 12 is improved, the depth of the identification groove 12 is moderate, the effective identification of the groove bottom of the identification groove 12 is ensured, and meanwhile, the thickness of the charging pile body 1 can be reduced, so that the occupied space of the charging pile is reduced.

The two charging electrodes 2 are arranged, and a contact part 21 in each charging electrode 2, which is contacted with the robot, is arranged on the outer side of the charging pile body 1 by penetrating through the front side shell 13 in the second cavity at the bottom of the charging pile body 1 so as to realize the contact with the robot.

Specifically, the charging electrode 2 further includes an electrode holder 24, and the electrode holder 24 is provided with a contact portion 21. The electrode bracket 24 is disposed in the second cavity, and the contact portion 21 is disposed protruding from the electrode bracket 24 and can pass through the front housing 13 to be disposed outside the charging pile body 1.

The charging electrode 2 further comprises a pressing member 23, the pressing member 23 enables the contact portion 21 to have two states, one is in a pressing state and the other is in an initial state, the pressing member 23 enables the charging pole piece 22 to move towards the charging pile body 1 when the contact portion 21 is in contact with the robot, the contact portion 21 is enabled to be converted into the pressing state from the initial state, and the pressing member can enable the charging pole piece 22 to be fully in contact with a charging end of the robot, so that virtual connection charging is avoided. When the robot is charged and driven away from the charging pile, the abutting piece 23 enables the contact part 21 to drive the charging pole piece 22 to reset, namely the contact part 21 is converted into an initial state from an abutting state.

Further, one end of the electrode holder 24 is fixed in the second cavity, the other end of the electrode holder 24 is provided with the contact portion 21, and one end of the abutting member 23 is connected with the end of the electrode holder 24 provided with the contact portion 21, so that the contact portion 21 stretches and contracts relative to the front side housing 13.

Optionally, one end of the electrode bracket 24 is hinged to the bottom cover 15, the other end of the abutting piece 23 is fixed to the bottom cover 15, after the abutting piece 23 and the electrode bracket 24 are mounted on the bottom cover 15, the bottom cover 15 is buckled to the bottom of the front side housing 13, and the contact portion 21 extends out of the front side housing 13.

The bottom cover 15 may be engaged or screwed with the front side case 13, and the electrode holder 24 is engaged or screwed with the bottom cover 15, which is not particularly limited herein.

The abutting member 23 includes a spring, and in order to prevent the spring from being distorted when compressed, a guide rod may be provided on the bottom cover 15 or the electrode holder 24, and a part of the spring is sleeved outside the guide rod, so that the guide rod can play a guiding role when the spring is compressed.

In other embodiments, the abutment 23 comprises a leaf spring or torsion spring, etc., and is not particularly limited herein.

In some embodiments, the contact portion 21 has an arc surface, which can play a certain guiding role when the charging end of the robot contacts with the contact portion 21, so as to avoid hard impact on the contact portion 21 and protect the contact portion 21 from damage. The charging pole piece 22 covers the arc-shaped surface, and part of the contact part 21 is covered from the front side to the rear side of the contact part 21, so that other parts of the robot are prevented from being contacted with the charging pole piece 22, and normal charging of the robot is prevented from being influenced. When the position of the charging pile is manually adjusted, the hand of a person can be prevented from touching the charging pole piece 22. Preferably, the length of the charge pole piece 22 is 2/3 of the length of the arcuate surface.

The present embodiment also provides a robot system including a robot and the above-described charging stake, the robot being provided with a detection part for scanning the identification panel 11.

The robot is provided with detection means, such as a lidar, for scanning the identification panel 11. When the electric quantity of the robot is insufficient, the laser radar determines the position of the charging pile by scanning the high-low-high identification features on the identification panel 11, and then the robot moves to the charging pile according to the identified position and collides the charging end with the charging pole piece 22. The robot stops moving when the charging end of the robot contacts the charging pole piece 22.

In the control program, the laser radar scans the identification features on the identification panel 11 to form laser radar point clouds, clusters the laser radar point clouds, matches and scores each cluster with the template point clouds, and the optimal point cloud meeting the matching threshold is a charging pile point cloud, calculates the relative positions of the charging pile and the robot according to the determined charging pile point clouds, and determines the moving track of the robot according to the relative positions.

It is to be understood that the above examples of the present utility model are provided for clarity of illustration only and are not limiting of the embodiments of the present utility model. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims

1. Fill electric pile, its characterized in that includes:

the charging pile comprises a charging pile body (1) which is of an L-shaped structure, wherein an identification panel (11) for a robot to scan is arranged on the vertical front side surface of the charging pile body (1), and an identification groove (12) is formed in the middle of the identification panel (11);

the charging pile comprises a charging pile body (1), wherein the charging pile body is provided with a charging pile (1), the charging pile body is provided with a charging pile body (1), the charging pile body is provided with a charging pole piece (22) which is electrically connected with a charging end of the robot, and the charging pile body is provided with a charging pole piece (22) which is covered on the charging pile body (2) from a front side to a rear side.

2. A charging pile according to claim 1, characterized in that the contact part (21) has an arcuate surface, the charging pole piece (22) covers the arcuate surface, and the length of the charging pole piece (22) is 2/3 of the length of the arcuate surface.

3. The charging pile according to claim 1, characterized in that the charging electrode (2) further comprises a tightening member (23), the tightening member (23) moving the charging pole piece (22) towards the charging pile body (1) when the contact portion (21) is in contact with the robot, resetting the charging pole piece (22) when the contact portion (21) is not in contact with the robot.

4. A charging pile according to claim 3, characterized in that the charging electrode (2) further comprises an electrode holder (24), the electrode holder (24) being provided with the contact portion (21), the end of the electrode holder (24) provided with the contact portion (21) being connected with the abutment member (23).

5. Charging pile according to claim 1, characterized in that the identification groove (12) extends in the height direction of the charging pile body (1), and the opposite side walls of the identification groove (12) in the width direction are inclined from inside to outside.

6. Charging pile according to claim 1, characterized in that the width of the slot opening of the identification slot (12) is 40% -50% of the width of the identification panel (11).

7. A charging pile according to claim 1, characterised in that the depth of the identification groove (12) is 25-35 mm.

8. The charging pile according to claim 1, characterized in that the charging pile body (1) is provided with an indicator lamp (3) and a control circuit board (4), and the indicator lamp (3) and the charging pole piece (22) are respectively electrically connected with the control circuit board (4).

9. The charging pile according to claim 8, characterized in that a receiving groove (18) and an adapting cover (16) detachably connected to the notch of the receiving groove (18) are arranged on the opposite side of the charging pile body (1) to the identification panel (11), an adapter (5) is arranged in the receiving groove (18), and the adapter (5) is electrically connected with the control circuit board (4).

10. A robotic system comprising a robot and a charging stake according to any one of claims 1-9, the robot being provided with detection means for scanning the identification panel.