CN111969697A - Automatic aligning device that charges of robot - Google Patents

Abstract

The invention belongs to the technical field of robots, and discloses an automatic charging alignment device of a robot, which comprises a receiving and transmitting integrated color sensor, an annular reflection belt, a charging ring anode, a charging ring cathode, a charging head anode and a charging head cathode; the plurality of receiving and transmitting integrated color sensors are positioned on a lower shell of the robot body and distributed on the same circumference; the reflection rates and the diameter sizes of the annular reflection bands are different and are sequentially and coaxially arranged on the upper shell of the charger according to the diameter sizes; the positive pole of the charging ring and the negative pole of the charging ring are coaxially fixed on the lower shell of the robot body and concentric with the circumference where the receiving and sending integrated color sensor is located, and the positive pole of the charging head and the negative pole of the charging head are located on the upper shell of the charger. When the plurality of receiving and transmitting integrated color sensors are simultaneously aligned to the annular reflection belts with the same light reflection rate in the plurality of annular reflection belts, the positive electrode of the charging ring is aligned to the positive electrode of the charging head, and the negative electrode of the charging ring is aligned to the negative electrode of the charging head, so that the guiding alignment between the robot and the charger along any direction is realized.

Description

A robot automatic charging alignment device

technical field

The invention belongs to the technical field of robots, and in particular relates to an alignment device used between a robot and a charger during an automatic recharging process of the robot.

Background technique

At present, in the automatic charging process of the robot, the guidance and alignment of the charging alignment process is mainly completed by the cooperation of the infrared device and the guide groove. Complete the alignment and positioning between the robot and the charger, so as to complete the guide alignment before charging.

However, when the robot uses the above conventional method to guide and align before charging, due to the directional guidance of the guide groove, the robot and the charger must be aligned in a fixed direction. At this time, it is necessary to repeatedly guide the robot to accurately complete the alignment. Guided alignment between robot and charger. In this way, not only more time is needed to guide and align, resulting in a reduction in the efficiency of automatic recharging, but also a long-term guide and alignment will inevitably consume more power, so it is necessary to reserve enough power to complete the automatic recharging of the robot. The recharging operation shortens the effective working time of the robot, resulting in a decrease in the effective working efficiency of the robot. In addition, the arrangement of the guide groove structure will increase the design complexity of the machine body, increase the mold manufacturing cost and molding cost, and increase the cost of the entire robot.

SUMMARY OF THE INVENTION

In order to solve the above-mentioned problems when the existing robot uses a single infrared device and a guide groove to guide and align during the automatic recharging process, the present invention proposes an automatic charging and aligning device for a robot. The robot automatic charging alignment device is used for the guidance and alignment between the robot and the charger during the automatic recharging process of the robot. The positive pole of the charging head and the negative pole of the charging head;

Multiple transceiver-integrated color sensors are located in the lower shell of the robot and are arranged on the same circumference; the reflectivity and diameter of the multiple annular reflective strips are different, and the multiple annular reflective strips are arranged coaxially in sequence according to their diameters. On the upper shell of the charger; the positive electrode of the charging ring and the negative electrode of the charging ring are coaxially fixed on the lower shell of the robot body, and are concentric with the circumference where the plurality of transceiver-integrated color sensors are located, and the positive electrode of the charging head is located. and the negative pole of the charging head shown is located on the upper shell of the charger;

When a plurality of transceiver-integrated color sensors are simultaneously aligned with the annular reflection belt with the same reflectivity among the plurality of annular reflection belts, the positive electrode of the charging ring is aligned with the positive electrode of the charging head, and the negative electrode of the charging ring is aligned with the charging head Negative alignment.

Preferably, the positive electrode of the charging ring is located at the center of the circle where the plurality of transceiver-integrated color sensors are located, and the negative electrode of the charging ring is sleeved on the outer side of the positive electrode of the charging ring.

Further preferably, the positive electrode of the charging head is located at the center of the annular reflection belt, and the distance between the negative electrode of the charging head and the positive electrode of the charging head is equal to the radius of the negative electrode of the charging ring.

Further preferably, the robot automatic charging alignment device further includes a positive electrode spring of a charging head and a negative spring of a charging head; the two ends of the positive spring of the charging head are respectively connected with the positive electrode of the charging head and the shell of the charger, to drive the positive electrode of the charging head to move upward relative to the upper shell of the charger; the two ends of the negative spring of the charging head are respectively connected with the negative electrode of the charging head and the shell of the charger to drive the charging The negative electrode of the head moves upward relative to the upper shell of the charger.

Further preferably, the robot automatic charging alignment device further includes a plurality of negative electrodes of the charging head, and the plurality of negative electrodes of the charging head are evenly distributed on the same circumference.

Preferably, a plurality of transceiver-integrated color sensors are evenly distributed on the same circumference.

Preferably, the plurality of annular reflection strips are arranged coaxially in sequence according to the reflectivity.

Preferably, the lower surface of the lower fuselage shell of the robot is provided with a ring-shaped slot for inlaying and fixing the positive electrode of the charging ring and the negative electrode of the charging ring.

Preferably, the robot automatic charging alignment device further includes a charging integrated PCB expansion board; the charging integrated PCB expansion board is fixedly connected to the lower body shell of the robot, a plurality of transceiver-integrated color sensors and the charging ring The positive electrode and the negative electrode of the charging ring are respectively directly connected to the charging integrated PCB expansion board.

Preferably, the robot automatic charging alignment device further includes a charger PCB board; the charger PCB board is fixedly connected to the upper shell of the charger, and the positive electrode of the charging head and the negative electrode of the charging head are respectively connected to the The positive and negative poles of the charger PCB are connected.

Compared with the existing conventional method for guiding and aligning during the automatic recharging process of the robot, when the automatic charging and aligning device for the robot proposed by the present invention is adopted, a plurality of color sensors integrated with transceivers and a plurality of annular rings with different reflectivity are arranged. A reflective tape, and a plurality of transceiver-integrated color sensors are fixed on the same circumference of the lower shell of the robot body, and a plurality of annular reflective tapes with different reflectivity are arranged coaxially on the upper shell of the charger in order of diameter. And when multiple transceiver-integrated color sensors are aligned with the same annular reflective band in the vertical direction, the positive pole and negative pole of the charging ring located in the lower shell of the robot body are respectively connected with the positive pole and the negative pole of the charging head located in the middle and upper shell of the charger. The negative pole of the charging head is aligned in the vertical direction. At this time, by sending out signals from multiple transceiver integrated color sensors and receiving reflected signals reflected by annular reflective belts with different reflectivity, it can be determined according to the intensity of the reflected signals received between different transceiver integrated color sensors. The positional relationship between the plurality of transceiver-integrated color sensors and the plurality of annular reflective strips is used to locate the positional relationship between the robot and the charger. In this way, the robot can not only move to the top of the charger from any direction and complete the guide alignment before charging, but also avoids the limitation of the moving direction of the robot by the guide groove structure in the existing method, thereby shortening the time occupation of the guide alignment process and improving the The power utilization rate of the robot can improve the working efficiency of the robot, and it can also simplify the structure design of the lower shell of the robot and the structure design of the upper shell of the charger, and reduce the complexity and cost of processing and manufacturing.

Description of drawings

Fig. 1 is the exploded schematic diagram that the robot automatic charging alignment device of the present embodiment is connected with the robot and the charger respectively;

2 is a schematic diagram of the outline structure of the robot automatic charging alignment device of the present embodiment installed on the robot part;

FIG. 3 is a schematic diagram of the external structure of the robot automatic charging alignment device installed in the charger part of the present embodiment.

Detailed ways

The technical solutions of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

1 to 3, the robot automatic charging and aligning device in this embodiment can be used for guiding and aligning between the robot 1 and the charger 2 during the automatic recharging process of the crawling robot, including six transceiver-integrated colors. Sensor 3, five annular reflective belts 4, one charging ring positive electrode 5a, one charging ring negative electrode 5b, one charging head positive electrode 6a and three charging head negative electrodes 6b.

Six transceiver-integrated color sensors 3 are located on the lower surface of the lower body shell 11 of the robot 1, and are distributed on the same circumference along the circumferential direction. The reflectivity and diameter of the five annular reflective strips 4 are different, and the five annular reflective strips 4 are coaxially fixed on the upper surface of the upper casing 21 in the charger 2 in sequence according to their diameters. The positive electrode 5a of the charging ring and the negative electrode 5b of the charging ring are coaxially fixed on the lower shell 11 of the robot 1, and are concentric with the circumference of the six transceiver-integrated color sensors 3, while the positive electrode 6a of the charging head and the negative electrode 6b of the charging head are It is located on the upper surface of the upper casing 21 in the charger 2 . Among them, when the six transceiver-integrated color sensors 3 are simultaneously aligned with the annular reflection belt with the same reflectivity among the five annular reflection belts 4, the positive electrode 5a of the charging ring and the positive electrode 6a of the charging head are kept aligned in the vertical direction, and the charging The ring negative electrode 5b is vertically aligned with the charging head negative electrode 6b.

When the robot automatic charging alignment device proposed in this embodiment is used to realize the guidance and alignment between the robot and the charger during the automatic recharging process of the robot, the specific process is as follows:

First of all, when the robot needs to be charged, the robot can move to the vicinity of the charger based on its own vision or radar, or the robot can be directly guided to move to the vicinity of the charger by manual guidance.

Then, through the signal transmission, signal reflection and signal reception relationship formed between the six transceiver-integrated color sensors and the five annular reflective belts, the robot moves in any direction and adjusts the positional relationship with the charger to complete charging. The vertical alignment between the positive electrode of the ring and the positive electrode of the charging head and the alignment between the negative electrode of the charging ring and the negative electrode of the charging head along the vertical direction.

Among them, after the robot moves to the vicinity of the charger, the six transceiver-integrated color sensors turn on the sending and receiving modes of signals, and when the robot moves to one or more of the transceiver-integrated color sensors is vertically above the annular reflective belt When the signal sent by the transceiver integrated color sensor will be reflected by the annular reflection belt to form a reflection signal, and the corresponding transceiver integrated color sensor will receive the reflection signal, because different annular reflection belts have different reflectivity. , so reflection signals of different light intensities will be formed after the reflection of different annular reflection belts, so that the robot can calculate and determine the difference between the robot and the charger according to the difference between the reflection signals received by the six transceiver-integrated color sensors. The current position relationship is used to control the robot to move accurately until the six transceiver integrated color sensors all receive the reflected signal and the reflected signals are the same. At this time, it means that the six transceiver integrated color sensors are vertically above the same annular reflection belt. position, that is, the positive pole of the charging ring is located vertically above the positive pole of the charging head, and the negative pole of the charging ring is located vertically above the negative pole of the charging head, so as to complete the position adjustment between the robot and the charger.

Then, the robot can stop moving and start to lower the height, so that the positive electrode of the charging ring is in contact with the positive electrode of the charging head, and the negative electrode of the charging ring is in contact with the negative electrode of the charging head, so as to complete the guide alignment between the robot and the charger and start charging operate.

1 to 3, in this embodiment, the positive electrode 5a of the charging ring is fixed at the center of the circle where the six transceiver-integrated color sensors 3 are located, and the negative electrode 5b of the charging ring is sleeved and fixed on the positive electrode 5a of the charging ring. At the outer position of the center of the circle, at the same time, fix the positive electrode 6a of the charging head at the center of the annular reflective belt 4, and fix the three negative electrodes 6b of the charging head on the circle with the positive electrode 6a of the charging head as the center and the same diameter as the negative electrode 5b of the charging ring, That is, the distance between the negative electrode 6b of the charging head and the positive electrode 6a of the charging head is kept equal to the radius of the negative electrode 5b of the charging ring.

At this time, according to the positional relationship that the six transceiver-integrated color sensors are in the vertical upper position of the same annular reflective belt, the alignment of the positive electrode of the charging ring and the positive electrode of the charging head in the vertical direction and the negative electrode of the charging ring and the positive electrode of the charging head can be directly completed. The alignment of the negative electrode of the charging head in the vertical direction eliminates the need for other position constraints, so that the guidance and alignment of the robot and the charger can be quickly completed, reducing the control complexity of the process.

Similarly, in other embodiments, according to the shape of the lower shell of the robot and the shape of the upper shell of the charger, an additional set of corresponding transceiver integrated color sensors and reflective tapes can be added to realize the connection between the robot and the charger. Guide alignment in a specific direction, so that the layout position relationship between the positive electrode of the charging ring, the negative electrode of the charging ring, the positive electrode of the charging head and the negative electrode of the charging head can be adjusted, and all the transceiver integrated color sensors receive the corresponding reflection bands respectively. When the reflected signal is received, the alignment of the positive electrode of the charging ring and the positive electrode of the charging head in the vertical direction and the alignment of the negative electrode of the charging ring and the negative electrode of the charging head in the vertical direction are completed.

Preferably, in this embodiment, six transceiver-integrated color sensors are evenly distributed on the same circumference along the circumferential direction, that is, two adjacent transceiver-integrated color sensors are arranged at a central angle of 60 degrees along the circumferential direction. In this way, when the six transceiver-integrated color sensors are located above different annular reflective belts, the positional relationship between the robot and the charger can be processed and determined by triangulation, thereby improving the accuracy and efficiency of positioning. Similarly, in other embodiments, the number of the transceiver integrated color sensors can also be adjusted according to specific conditions, for example, three transceiver integrated color sensors are selected and adjacent transceiver integrated color sensors are arranged at a central angle of 120 degrees along the circumferential direction .

Preferably, in this embodiment, five annular reflective strips with different reflectivity and different diameters are arranged on the upper shell of the charger, and are arranged coaxially from the inside to the outside according to the reflectivity. In this way, after obtaining the reflected signals received by different transceiver-integrated color sensors, the positional relationship between the multiple transceiver-integrated color sensors can be quickly determined according to the intensity of the reflected signals and the positions of the five annular reflection bands, thereby completing the The positioning between the robot and the charger improves the efficiency of position adjustment between the robot and the charger.

Similarly, in other embodiments, according to the size of the upper shell of the charger and the control requirements, the number of annular reflective strips with different reflectivity, the coverage area of the annular reflective strips, and even the width of each annular reflective strip can be adjusted, so as to improve the The accuracy of the signal reflection by the reflection band improves the accuracy of the position adjustment between the robot and the charger.

Further, the lower surface of the lower shell of the fuselage in this embodiment is also provided with a ring-shaped slot for inserting and fixing the positive electrode of the charging ring and the negative electrode of the charging ring. In this way, the lower surface of the entire lower shell of the fuselage can be kept flat, avoiding the formation of bulges on the positive electrode of the charging ring and the negative electrode of the charging ring, which may cause debris or dirt to stick to the bottom of the robot when it is running, thereby reducing the impact on the positive electrode of the charging ring and the negative electrode of the charging ring. The charging effect of the negative electrode of the charging ring ensures the normal progress and efficiency of subsequent charging.

In addition, with reference to FIGS. 1 to 3 , the automatic charging alignment device for the robot in this embodiment is further provided with a charging integrated PCB expansion board 7 and a charger PCB board 8 .

The charging integrated PCB expansion board 7 is located inside the robot 1 and forms a detachable fixed connection with the lower shell 11 of the fuselage through screws. The six transceiver-integrated color sensors 3 are directly welded and fixed on the charging integrated PCB expansion board by patching 7 and the end protrudes to the lower shell 11 of the fuselage, so as to accurately send and receive signals, and at the same time, the positive electrode 5a of the charging ring and the negative electrode 5b of the charging ring are connected with the charging integrated PCB expansion board 7 through the lead wire to form a welding connection After that, it is fixed on the lower shell 11 of the fuselage. At this time, through the charging integrated PCB expansion board, the signal can be sent and received directly, and the transmission and transmission of electric energy can be controlled. The signal received by the integrated color sensor controls the movement of the robot, thereby completing the guided alignment of the robot and the charger.

The charger PCB 8 is located at the charger end, and is fixed inside the upper shell 21 of the charger 2 by screws. The positive electrode 6a of the charging head and the negative electrode 6b of the charging head are respectively connected to the positive and negative electrodes of the charger PCB 8 by means of welding cables. The welding points form the connection and extend to the outside of the upper case 21 of the charger 2 . At this time, the charger PCB board introduces electric energy through the external wire 10a and the plug 10b, and after completing the voltage regulation and current regulation, it is transmitted to the robot through the positive electrode 6a of the charging head and the negative electrode 6b of the charging head.

Preferably, as shown in FIG. 1 to FIG. 3 , in the robot automatic charging alignment device of this embodiment, there are also a charging head positive spring 9a and a charging head negative spring 9b, and the charging head positive 6a and the charging head negative 6b are respectively It is movably connected to the upper shell 21 of the charger 2 . One end of the positive electrode spring 9a of the charging head is fixedly connected to the upper shell 21 of the charger 2, and the other end is fixedly connected to the positive electrode 6a of the charging head to drive the positive electrode 6a of the charging head to move upward relative to the upper casing 21 of the charger 2; the charging head One end of the positive spring 9b is fixedly connected to the upper shell 21 of the charger 2, and the other end is fixedly connected to the positive electrode 6b of the charging head to drive the positive electrode 6b of the charging head to move upward relative to the upper casing 21 of the charger 2.

In this way, after the robot moves to the position aligned with the charger in the vertical direction, when the robot starts to lower the height in the vertical direction, the positive electrode of the charging ring can be in contact with the positive electrode of the charging head and the negative electrode of the charging ring and the negative electrode of the charging head can be formed. After the contact, continue to lower the height to form a pre-pressure on the positive spring of the charging head and the negative spring of the charging head, so that the positive electrode of the charging head and the negative electrode of the charging head are respectively connected with the positive electrode and The negative electrode of the charging ring is formed and kept in close contact, thereby ensuring the stability and reliability of the charging process.

Claims (10)

1. A robot automatic charging aligning device for guiding and aligning between the robot and the charger in the automatic recharging process of the robot, it is characterized in that, comprises a plurality of transceiver integrated color sensors, a plurality of annular reflection belts and charging Ring positive pole, charging ring negative pole, charging head positive pole and charging head negative pole; Multiple transceiver-integrated color sensors are located in the lower shell of the robot and are arranged on the same circumference; the reflectivity and diameter of the multiple annular reflective strips are different, and the multiple annular reflective strips are arranged coaxially in sequence according to their diameters. On the upper shell of the charger; the positive electrode of the charging ring and the negative electrode of the charging ring are coaxially fixed on the lower shell of the robot body, and are concentric with the circumference where the plurality of transceiver-integrated color sensors are located, and the positive electrode of the charging head is located. and the negative pole of the charging head shown is located on the upper shell of the charger; When a plurality of transceiver-integrated color sensors are simultaneously aligned with the annular reflection belt with the same reflectivity among the plurality of annular reflection belts, the positive electrode of the charging ring is aligned with the positive electrode of the charging head, and the negative electrode of the charging ring is aligned with the charging head Negative alignment. 2 . The robot automatic charging alignment device according to claim 1 , wherein the positive electrode of the charging ring is located at the center of the circle where the plurality of transceiver-integrated color sensors are located, and the negative electrode of the charging ring is sleeved on the charging ring. 3 . The outer side of the positive ring of the ring. 3 . The robot automatic charging alignment device according to claim 2 , wherein the positive electrode of the charging head is located at the center of the annular reflection belt, and the distance between the negative electrode of the charging head and the positive electrode of the charging head is 3 . The size is equal to the radius size of the negative electrode of the charging ring. 4. The robot automatic charging alignment device according to claim 3, characterized in that, further comprising a positive electrode spring of a charging head and a negative spring of a charging head; The shell of the charger is connected to drive the positive electrode of the charging head to move upward relative to the upper shell of the charger; the two ends of the negative spring of the charging head are respectively connected with the negative electrode of the charging head and the shell of the charger. A connection is formed to drive the negative electrode of the charging head to move upward relative to the upper shell of the charger. 5 . The robot automatic charging alignment device according to claim 3 , further comprising a plurality of negative electrodes of the charging head, and the plurality of negative electrodes of the charging head are evenly distributed on the same circumference. 6 . 6 . The automatic charging and aligning device for a robot according to claim 1 , wherein a plurality of transceiver-integrated color sensors are evenly distributed on the same circumference. 7 . 7 . The automatic charging alignment device for a robot according to claim 1 , wherein the plurality of annular reflective belts are arranged coaxially in order according to the reflectivity. 8 . 8 . The robot automatic charging alignment device according to claim 1 , wherein the lower surface of the lower body shell of the robot is provided with a ring-shaped slot for inlaying and fixing the positive electrode of the charging ring and the charging ring. 9 . Ring negative. 9. The robot automatic charging alignment device according to any one of claims 1-8, further comprising a charging integrated PCB expansion board; the charging integrated PCB expansion board and the lower fuselage shell of the robot In a fixed connection, a plurality of transceiver-integrated color sensors, the positive electrode of the charging ring and the negative electrode of the charging ring are respectively directly connected to the charging integrated PCB expansion board. 10. The robot automatic charging alignment device according to any one of claims 1-8, further comprising a charger PCB board; the charger PCB board is fixedly connected to the upper shell of the charger, The positive electrode of the charging head and the negative electrode of the charging head are respectively connected with the positive and negative electrodes of the PCB board of the charger.

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