CN108832397A - Mobile robot and its mobile robot charging mechanism - Google Patents
Mobile robot and its mobile robot charging mechanism Download PDFInfo
- Publication number
- CN108832397A CN108832397A CN201810622564.7A CN201810622564A CN108832397A CN 108832397 A CN108832397 A CN 108832397A CN 201810622564 A CN201810622564 A CN 201810622564A CN 108832397 A CN108832397 A CN 108832397A
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- charging
- mobile robot
- contact block
- elastic component
- contacts
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- 230000007246 mechanism Effects 0.000 title claims abstract description 42
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 5
- 230000008859 change Effects 0.000 abstract description 2
- 210000004027 cell Anatomy 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000003139 buffering effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000469816 Varus Species 0.000 description 1
- 210000002421 cell wall Anatomy 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
- H01R13/631—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/02—Contact members
- H01R13/22—Contacts for co-operating by abutting
- H01R13/24—Contacts for co-operating by abutting resilient; resiliently-mounted
- H01R13/2407—Contacts for co-operating by abutting resilient; resiliently-mounted characterized by the resilient means
- H01R13/2421—Contacts for co-operating by abutting resilient; resiliently-mounted characterized by the resilient means using coil springs
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/46—Bases; Cases
- H01R13/502—Bases; Cases composed of different pieces
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
Abstract
The invention discloses a kind of mobile robot charging mechanisms, including charging contacts module；Charging contacts module includes charging contacts box and the charging contacts unit for charging to mobile robot ontology, and charging contacts box is equipped with the mounting groove of front opening, and charging contacts unit is set in mounting groove；Charging contacts unit includes charge contact block and the first adjustment elastic component for pushing charging contact block to reset, and charging contact block can move within a preset range relative to charging contacts box.During the charhing unit on mobile robot ontology and the contact block that charges contact, the first adjustment elastic component can cooperate mobile robot ontology to change the state of charging contact block to adjust and eliminate the deviation, so that charhing unit is fitted with charging contact block, guarantees the effect of mobile robot recharging.The invention also discloses a kind of mobile robot including above-mentioned mobile robot charging mechanism, charging mechanism can adjust automatically mobile robot ontology automatic charging deviation.
Description
Technical field
The present invention relates to mobile robot field, in particular to a kind of mobile robot charging mechanism.In addition, the present invention is also
It is related to a kind of mobile robot including above-mentioned mobile robot charging mechanism.
Background technique
In recent years, with the rapid development of mobile robot technology, the field of application is also more and more extensive, and people are uncommon
Hope mobile robot that can extend the time of live AUTONOMOUS TASK as much as possible.Current mobile robot often uses chargeable
Battery can only generally continue working several hours as the power source of itself, therefore, how for mobile robot it is reliable and secure simultaneously
Rapidly the supplement energy is very important problem.
Previous manual powered mode seriously reduces mobile robot autonomous operation ability, thus mobile robot from
Main charging is to guarantee the important foundation of intelligent robot.But due to the positioning accuracy of current mobile robot not right and wrong
Chang Gao, it will usually the deviations such as certain angle, displacement are generated, for example, the charhing unit on mobile robot ontology is relative to filling
Charging contacting surface in electric stake often forms a subtended angle, leads to charhing unit and charging pile poor contact, and existing shifting
Mobile robot can not be adjusted the deviation, to affect the charging effect to mobile robot ontology.
Therefore, how providing one kind can be with the charging mechanism of adjust automatically mobile robot ontology automatic charging deviation
The current technical issues that need to address of those skilled in the art.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of mobile robot charging mechanism, it can be with adjust automatically moving machine
Device human body's automatic charging deviation.It is a further object of the present invention to provide a kind of shiftings including above-mentioned mobile robot charging mechanism
Mobile robot, charging mechanism can be with adjust automatically mobile robot ontology automatic charging deviations.
To achieve the above object, the present invention provides the following technical solutions：
A kind of mobile robot charging mechanism, including the charging contacts module for being arranged on charging pile；The charging
Contact module includes charging contacts box and the charging contacts unit for charging to mobile robot ontology, the charging touching
Head cartridge is equipped with the mounting groove of front opening, and the charging contacts unit is set in the mounting groove；The charging contacts unit packet
Charging contact block and the first adjustment elastic component for pushing the charging contact block to reset are included, the charging contact block can be relative to institute
Charging contacts box is stated to move within a preset range.
Preferably, the charging contact block can stretch along the longitudinal direction and swingably be set in the charging contacts box.
Preferably, the charging contacts unit further includes the charging installation being fixed at the front opening of the mounting groove
Block, it is described charging mounting blocks be equipped with front and back perforation mounting hole, the charging contact block corresponding inserted in the mounting hole and
The shifting for cooperating the first adjustment elastic component to the charging contact block is equipped between the charging contact block and the mounting hole
The dynamic guide part being oriented to.
Preferably, the guide part include set on the mounting hole hole wall on guide pad and be set to the charging contact block
On the guide groove for being matched with the guide pad, the guide groove can relative to the guide pad it is elastic with pendulum
It is dynamic.
Preferably, the first adjustment elastic component be set to it is described charging contact block rear end and the mounting groove slot bottom it
Between.
It preferably, further include charging buffer cell for being arranged on the charging pile of mobile robot, the charging is slow
Rushing unit includes：
Charge buffer pocket, and the charging contacts module is set in the charging buffer pocket, and the charging contacts module can
It is stretched out from the front opening of the charging buffer pocket；
For pushing the second adjustment elastic component of the charging contacts module resets, the second adjustment elastic component is set to institute
It states between charging contacts module and the charging buffer pocket.
It preferably, further include extending between the charging contacts box and the charging buffer pocket along the longitudinal direction
Pillar, the second adjustment elastic component are sheathed on the pillar.
Preferably, the rear end of the charging buffer pocket is fixed with rear elastic component frame plate, and the front end of the pillar is fixed on
On the charging contacts box and rear end is inserted in the jack of the rear elastic component frame plate, the front end of the second adjustment elastic component
It resists the charging contacts box and rear end resists the rear elastic component frame plate, varus shape at the front opening of the charging buffer pocket
At limited block, the outer peripheral surface of the charging contacts box is equipped with for cooperating with the limited block to avoid charging touching
Head module deviates from forward the positive stop lug boss of the charging buffer pocket.
It preferably, further include charhing unit for being arranged on mobile robot ontology, the charhing unit includes using
In the cradle being fixed on mobile robot ontology and the charging item being fixed on the cradle, it is being parallel to described fill
The outer surface of electric item and perpendicular to it is described charging contact block balance staff direction on, it is described charging item length be greater than the charging contact block
Length.
A kind of mobile robot, including mobile robot ontology and charging pile, further include it is above-mentioned it is any as described in shifting
Mobile robot charging mechanism.
Mobile robot charging mechanism provided by the invention includes charging contacts module, which includes charging
Contact box and charging contacts unit for charging to mobile robot ontology, charging contacts box are equipped with the peace of front opening
Tankage, charging contacts unit are set in mounting groove.Charging contacts unit includes charging contact block and resets for promotion charging contact block
The first adjustment elastic component, charging contact block can be moved within a preset range relative to charging contacts box.
When mobile robot ontology is charged, mobile robot ontology is moved to charging pile position；Moving machine
The charhing unit of device human body and the charging contacts module contact of charging pile charge；Mobile robot ontology charhing unit with
It charges during contact block contact, if there are deviations for charhing unit and charging contact block, the presence of the first adjustment elastic component can be right
State of the contact block in charging contacts box that charge adjusts accordingly, and charging contact block can be moved relative to charging contacts box,
Contact charhing unit well with charging contact block；After charging complete, mobile robot ontology leaves charging pile, the first adjustment elasticity
Part drives charging contacts reverse movement to reset.
In such mobile robot charging mechanism, touch charging the control of charging contact block by the first adjustment elastic component
Block is removable relative to charging contacts box, during the charhing unit on mobile robot ontology and the contact block that charges contact,
The state that the first adjustment elastic component can cooperate mobile robot ontology to change charging contact block makes to move to adjust and eliminate the deviation
The charhing unit of mobile robot ontology fits with charging contact block, to guarantee the charging on charging pile and mobile robot ontology
Unit contact is good, to guarantee the effect of mobile robot recharging.
Mobile robot provided by the invention including above-mentioned mobile robot charging mechanism, charging mechanism can be automatic
Adjust mobile robot ontology automatic charging deviation.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is mobile robot charging mechanism provided by the present invention in mobile robot ontology autonomous operation to charging pile position
Side view when setting；
Fig. 2 is the schematic three dimensional views of mobile robot charging mechanism provided by the present invention；
Fig. 3 is the schematic diagram of internal structure of mobile robot charging mechanism provided by the present invention；
Fig. 4 is the schematic diagram of charhing unit in shifting mobile robot charging mechanism provided by the present invention.
In Fig. 1 to Fig. 4,1- charhing unit, 11- cradle, 12- charging item, 2- charging contacts module, 21- charging contacts
Box, 211- positive stop lug boss, 212- mounting groove, 22- charging contacts unit, 221- charging contact block, 2211- guide groove, 222- charging
Mounting blocks, 2221- mounting hole, 2222- guide pad, 223- the first adjustment elastic component, 23- second adjustment elastic component, 24- pillar,
Elastic component frame plate before 25-, elastic component locating piece after 26-, elastic component locating piece before 27-, 3- charge buffer cell, and 31- charging is slow
Rush box, 311- limited block, elastic component frame plate after 32-.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Core of the invention is to provide a kind of mobile robot charging mechanism, can be with adjust automatically mobile robot ontology certainly
Dynamic charging deviation.Another core of the invention is to provide a kind of mobile robot including above-mentioned mobile robot charging mechanism,
Its charging mechanism can be with adjust automatically mobile robot ontology automatic charging deviation.
In a kind of specific embodiment of mobile robot charging mechanism provided by the present invention, including for being arranged in charging pile
On charging contacts module 2.The charging contacts module 2 specifically includes charging contacts box 21 and charging contacts unit 22, wherein fills
Electrical contact element 22 is for charging to mobile robot ontology.Preferably, charging contacts box 21 can be set to insulation booth.
Charging contacts box 21 is equipped with the mounting groove 212 of front opening, and charging contacts unit 22 is arranged in the mounting groove 212.Charging
Contact unit 22 specifically includes charging contact block 221 and the first adjustment elastic component 223, and charging contact block 221 can be touched relative to charging
Head cartridge 21 moves within a preset range.The first adjustment elastic component 223 can push charging contact block 221 to reset, the first adjustment elasticity
Part 223 is preferably spring.
If being moved to the mobile robot ontology that charging pile charges has deviation relative to charging pile, in mobile robot
During charhing unit 1 on ontology is contacted with charging contact block 221, it will push charging contact block 221 and move with adjust automatically simultaneously
The deviation is eliminated, the charhing unit 1 of mobile robot ontology is made to fit with charging contact block 221, to guarantee charging pile and move
Charhing unit 1 on mobile robot ontology contacts well, to guarantee the effect of mobile robot recharging.
Preferably, charging contact block 221 can stretch along the longitudinal direction and swingably be set in charging contacts box 21, i.e.,
Charging between contact block 221 and charging contacts box 21 movably includes charging contact block 221 relative to charging contacts box 21
Be moved forward and backward and charge swing of the contact block 221 relative to charging contacts box 21.
Due to during mobile robot ontology is moved to preset charged position, other than angular deviation, it is also possible to
There are offset deviations.That is, the charhing unit on mobile robot ontology forms one relative to the surface of charging contact block 221
Angle, and/or, mobile robot ontology has been walked forward some more relative to preset charged position or has not been moved to preset charged
Position just halts.It is configured to elastic relative to charging contacts box 21 by the contact block 221 that will charge and swings,
The offset deviation between the charhing unit 1 of mobile robot ontology and charging pile and angular deviation can be eliminated, mobile machine is made
Angular deviation between human body and charging contact block 221 can be balanced respectively with offset deviation.At this point, the first adjustment is elastic
The contact that part may be implemented between charging contact block 221 and mobile robot ontology is abundant and position angle is fault-tolerant
It should be noted that in the state that the first adjustment elastic component 223 is in original position, the movement model for the contact block 221 that charges
Enclosing should be corresponding with the offset deviation extreme value of mobile robot ontology, and the charhing unit 1 of mobile robot ontology may stop fortune
Dynamic position should charging contact block 221 relative to charging contacts box 21 it is telescopic near front position near rear position it
Between.
Charging contact block 221 can be realized relative to the swing of charging contacts box 21 by various ways, for example, can
Charging contacts box 21 is articulated with so that contact block 221 will be charged by shaft to realize, then charge contact block 221 can relative to charging
Shaft between contact box 21 is swung.Or charging contact block 221 can be articulated with charging contacts box by spherical hinge
21, the preset plane that the spherical hinge chooses one perpendicular to the straight line extended along the longitudinal direction is crossed, then the contact block 221 that charges is relative to this
Preset plane can up and down, left and right either direction swung.
To realize that charging contact block 221 can be swung within a preset range and can be relative to filling relative to charging contacts box 21
Contact box 21 is flexible, specifically, charging contact block 221 can be articulated on a sliding block, which is slidably connected to and is filled
Charging contact block 221 may be implemented relative to charging contacts box 21 in contact box 21, the connection between contact block 221 and sliding block of charging
It swings, charging contact block 221 may be implemented relative to the flexible of charging contacts box 21 in the connection between sliding block and charging contacts box 21.
Or to realize movement of the charging contact block 221 relative to charging contacts box 21, in a kind of more preferably embodiment
In, 2 and Fig. 3 are please referred to, charging contacts unit 22 can also include charging mounting blocks 222, the charging mounting blocks 222 fixed setting
At the front opening of mounting groove 212.The mounting hole 2221 that front and back penetrates through can be set on charging mounting blocks 222, charge contact block
221 corresponding inserteds are being provided with guide part in mounting hole 2221 and between charging contact block 221 and mounting hole 2221, which can
To cooperate the movement to 223 pairs of the first adjustment elastic component contact blocks 221 that charge to be oriented to.Since charging contact block 221 usually may
One will not be only arranged, setting charging mounting blocks 222 are attached between mounting groove 212 and charging contact block 221, direct basis
Need to process the mounting hole 2221 of corresponding number on charging mounting blocks 222, it is easy to process.
Further, which may include the guide pad 2222 being arranged on the hole wall of mounting hole 2221 and setting
Guide groove 2211 on charging contact block 221, guide groove 2211 can be equipped with for matching with guide pad 2222, guide groove
2211 being capable of and swing elastic relative to guide pad 2222.The cooperation of guide pad 2222 and guide groove 2211 can be real simultaneously
Now swing and flexible, offset deviation and angular deviation to charging contact block 221 of the charging contact block 221 relative to charging contacts box 21
Adjustment settle at one go, adjust more quick, and charging contacts module 2 is simple and compact for structure.It should be appreciated that guarantee charging touching
Block 221 can be swung in mounting hole 2221, and the area of section of mounting hole 2221 should be greater than the area of section of charging contact block 221,
Especially on perpendicular to charging 221 balance staff direction of contact block, the area of section of charging contact block 221 should be less than cutting for mounting hole 2221
Face area.
Further, the rear end in charging contact block 221 and the slot of mounting groove 212 can be set in the first adjustment elastic component 223
Between bottom, making the extending direction of the first adjustment elastic component 223 is substantially along the longitudinal direction, to be conducive to improve charging contact block
221 reset speed.Wherein, the slot bottom of mounting groove 212 refers to the wall surface with the front opening face of mounting groove 212.It is preferred that
The slot bottom on ground, mounting groove 212 is equipped with positioning groove, and one end of the first adjustment elastic component 223 is inserted in positioning groove and another
The rear end of charging contact block 221 is protruded into mounting hole 2221 and is connected at end, to guarantee the mobile stabilization of the first adjustment elastic component 223
Property.
If the charhing unit 1 of mobile robot ontology is relative to charging pile there is only offset deviation, guide groove 2211 is opposite
In guide pad 2222 to bouncing back inside charging contacts box 21,223 compressive deformation of the first adjustment elastic component and to mobile robot sheet
The charhing unit 1 of body compresses charging contact block 221；If there is only angles relative to charging pile for the charhing unit 1 of mobile robot ontology
Deviation is spent, guide groove 2211 is swung relative to guide pad 2222, and the first adjustment elastic component 223 to a certain extent can compressive deformation
And charging contact block 221 is compressed to the charhing unit of mobile robot ontology 1；If the charhing unit 1 of mobile robot ontology is opposite
Not only there is offset deviation in charging pile there are angular deviation, guide groove 2211 swings certain angle simultaneously relative to guide pad 2222
It bounces back inside to charging contacts box 21,223 compressive deformation of the first adjustment elastic component and to the charhing unit of mobile robot ontology 1
Compress charging contact block 221.
Optionally, two guide pads 2222 can be arranged on the hole wall of mounting hole 2221 with face, to guarantee guide groove
2211 with the fiting effect of guide pad 2222.Referring to FIG. 3, two guide pads 2222 are being installed for the orientation shown in the figure
Face setting up and down, forms the balance staff vertically extended, guide groove 2211 can be steady around the balance staff on the hole wall in hole 2221
Surely it is swung.
Optionally, guide pad 2222 can be cylindrical body, and guide pad 2222 is inserted into guide groove 2211, guide groove 2211
Two opposite cell walls are arranged in parallel and mutually circumscribed with the circumferential surface of guide pad 2222, thereby may be ensured that guide groove 2211 relative to leading
The stability moved to block 2222.
Optionally, the rear end that guide groove 2211 is located on charging contact block 221 can be equipped with for matching with guide pad 2222
The blend stop of conjunction avoids charging contact block 221 from emerging in forward except charging mounting blocks 222 by the setting of the blend stop.
Based on any of the above embodiments, which can also include for being arranged in movement
Charging buffer cell 3 on the charging pile of robot.The charging buffer cell 3 can specifically include charging buffer pocket 31 and second
Adjust elastic component 23.Wherein, for the setting of charging contacts module 2 in charging buffer pocket 31, charging contacts module 2 passes through charging buffering
Box 31 is connected on charging pile, and charging buffer pocket 31 specifically can connect on charging pile pedestal, and charging contacts module 2 can be from
The front opening of charging buffer pocket 31 stretches out.Second adjustment elastic component 23 is for pushing charging contacts module 2 to reset, second adjustment
The setting of elastic component 23 is between charging contacts module 2 and charging buffer pocket 31.The buffer cell 3 that charges is arranged in charging contacts module
Between 2 and charging pile, second adjustment elastic component 23 can play the role of hitting buffering, it is also possible to balance moving machine
Part or all of offset deviation of device human body relative to charging pile.Second adjustment elastic component 23 is preferably arranged to spring.
In mobile robot ontology recharging, mobile robot ontology is moved to charging pile position；Mobile robot
The charhing unit 1 of ontology contacts charging with the charging contacts module 2 of charging pile；Mobile robot ontology charhing unit 1 with
Charging pile charging contact block 221 carries out contact charging, and in contact process, second adjustment elastic component 23 is compressed, and plays buffering and makees
With, mobile robot ontology and charging pile can be protected, meanwhile, it is inclined that there are angles when if charhing unit 1 being contacted with charging pile
The presence of difference, the first adjustment elastic component 223 can accordingly adjust angle of the charging contact block 221 in charging contacts box 21
Whole, charging contact block 221 can be swung relative to charging contacts box 21, contact charhing unit 1 well with charging contact block 221；
After charging complete, mobile robot ontology leaves charging pile, and the second adjustment elastic component 23 in charging pile drives charging contacts mould
The buffering of block 2 resets.
Further, which can also include setting in charging contacts box 21 and charging buffer pocket
Pillar 24 between 31, the pillar 24 extend along the longitudinal direction, and second adjustment elastic component 23 is set on the pillar 24.The pillar
24 can play guiding role to the distorted movement of second adjustment elastic component 23, enable the steadily band of second adjustment elastic component 23
Charging contacts module 2 is moved along front-rear direction displacement.Wherein, which is preferably arranged to cylindrical columns 24.
Further, the rear end of charging buffer pocket 31 can be fixed with rear elastic component frame plate 32, and the front end of pillar 24 is solid
Due in the jack that on charging contacts box 21 and rear end is inserted in rear elastic component frame plate 32, the front end of second adjustment elastic component 23 is supported
Firmly charging contacts box 21 and rear end resist rear elastic component frame plate 32.During charging contacts box 21 is flexible, pillar 24 can phase
Jack on rear elastic component frame plate 32 is stretched out or retraction, and second adjustment elastic component 23 can with rear elastic component frame plate 32 with
Spacing variation and corresponding deformation between charging contacts box 21.Limited block is inverted to form at the front opening of charging buffer pocket 31
311, the outer peripheral surface of charging contacts box 21, which is equipped with, to be taken off forward for cooperating with limited block 311 to avoid charging contacts module 2
The positive stop lug boss 211 of charging buffer pocket 31 out.Being provided with through this embodiment is conducive to make mobile robot charging mechanism structure
It is simple and compact, occupied space can be reduced.
More specifically, charging contacts box 21 may include that preceding elastic component frame plate 25 and two contact boxs being oppositely arranged are vertical
Aft-opening groove can be set on two contact box vertical plates for plate, and two opposite side of preceding elastic component frame plate 25 are fixed respectively to be connected
It being connected in the groove of two contact box vertical plates, the front end of pillar 24 can be specifically fixedly connected on the preceding elastic component frame plate 25,
The front end of second adjustment elastic component 23 resists the preceding elastic component frame plate 25.In addition, charging buffer pocket 31 may include being oppositely arranged
Two buffer pocket vertical plates, can be set aft-opening groove on two buffer pocket vertical plates, two of rear elastic component frame plate 32
Opposite side is respectively fixedly connected on the groove of two buffer pocket vertical plates.Optionally, it is fixed that rear elastic component can be arranged on pillar 24
Position block 26 and preceding elastic component locating piece 27, the both ends of second adjustment elastic component 23 are separately fixed at rear elastic component locating piece 26 with before
On elastic component locating piece 27.
Based on any of the above embodiments, Fig. 1 and Fig. 4 are please referred to, which further includes using
In the charhing unit 1 being arranged on mobile robot ontology.Charhing unit 1 includes for being fixed on mobile robot ontology
Cradle 11 and the charging item 12 being fixed on cradle 11 are being parallel to the outer surface of charging item 12 and are touching perpendicular to charging
On the direction of 2 balance staff of block, the length of charging item 12 is greater than the length of charging contact block 221.Wherein, balance staff direction is by charging contact block 2
Corresponding to the swingable direction of charging contacts box 21, for example, charging contact block 2 is relative to charging contacts box 21 in either direction
Swing, then in any direction on, charge 12 outer surface of item length to should be greater than charging contact block 221 length；Or charging
Contact block 2 can only swing relative to charging contacts box 21, and balance staff is perpendicular to left and right directions, the appearance for the item 12 that charges at this time
Length on face in left-right direction is to the length that should be greater than charging contact block 221.Since charging contact block 221 is compared to charhing unit 1
Entire length want small, therefore allow mobile robot ontology have biggish offset deviation, charging contact block 221 charging item 12
Chargeable position on outer surface has one section of optional range along the direction perpendicular to charging contact block balance staff, and is not one
A specific location point.
Wherein, the quantity of charging item 12 should be configured according to actual needs on cradle 11.For example, with side shown in Fig. 4
Position for, can from top to bottom be set in parallel on cradle 11 there are three charging item 12 correspondingly can in charging contacts module 2
Three charging contact blocks 221 are from top to bottom arranged, each contact block 221 that charges corresponds on charging mounting blocks 222 is equipped with installation
Hole 2221.
It include being moved disclosed in above-described embodiment the present invention also provides one kind in addition to above-mentioned mobile robot charging mechanism
The mobile robot of robot charging mechanism.The mobile robot specifically includes mobile robot ontology and charging pile, moving machine
Device people charging mechanism can be arranged in mobile robot in the way of providing in any of the above-described embodiment.The mobile robot
Due to using above-mentioned mobile robot charging mechanism, charging mechanism can be with adjust automatically mobile robot ontology automatic charging
Angular deviation.Refer to the prior art for the structure of other each sections of the mobile robot, and repeats no more herein.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Mobile robot provided by the present invention and its mobile robot charging mechanism are described in detail above.This
Apply that a specific example illustrates the principle and implementation of the invention in text, the explanation of above example is only intended to
It facilitates the understanding of the method and its core concept of the invention.It should be pointed out that for those skilled in the art,
Without departing from the principles of the invention, can be with several improvements and modifications are made to the present invention, these improvement and modification are also fallen
Enter in the protection scope of the claims in the present invention.
Claims (10)
1. a kind of mobile robot charging mechanism, which is characterized in that including the charging contacts module for being arranged on charging pile
(2)；The charging contacts module (2) includes charging contacts box (21) and the charging for charging to mobile robot ontology
Contact unit (22), the charging contacts box (21) are equipped with the mounting groove (212) of front opening, the charging contacts unit (22)
In the mounting groove (212)；The charging contacts unit (22) includes charging contact block (221) and for pushing the charging
The first adjustment elastic component (223) that contact block (221) resets, the charging contact block (221) can be relative to the charging contacts box
(21) it moves within a preset range.
2. mobile robot charging mechanism according to claim 1, which is characterized in that the charging contact block (221) can edge
Front-rear direction is flexible and is swingably set in the charging contacts box (21).
3. mobile robot charging mechanism according to claim 1, which is characterized in that the charging contacts unit (22) is also
Charging mounting blocks (222) at front opening including being fixed at the mounting groove (212), the charging mounting blocks (222)
Be equipped with front and back perforation mounting hole (2221), charging contact block (221) corresponding inserted in the mounting hole (2221) and
It is equipped between the charging contact block (221) and the mounting hole (2221) for cooperating the first adjustment elastic component (223) right
The guide part that the movement of charging contact block (221) is oriented to.
4. mobile robot charging mechanism according to claim 3, which is characterized in that the guide part includes set on described
Guide pad (2222) on the hole wall of mounting hole (2221) and be set on charging contact block (221) be used for and the guide pad
(2222) guide groove (2211) matched, the guide groove (2211) can be elastic relative to the guide pad (2222)
With swing.
5. mobile robot charging mechanism according to claim 4, which is characterized in that the first adjustment elastic component
(223) it is set between the rear end of charging contact block (221) and the slot bottom of the mounting groove (212).
6. according to claim 1 to mobile robot charging mechanism described in 5 any one, which is characterized in that further include being used for
Charging buffer cell (3) on the charging pile of mobile robot is set, and the charging buffer cell (3) includes：
It charges buffer pocket (31), the charging contacts module (2) is set in the charging buffer pocket (31), the charging contacts mould
Block (2) can be stretched out from the front opening of charging buffer pocket (31)；
Second adjustment elastic component (23) for pushing the charging contacts module (2) to reset, the second adjustment elastic component
(23) it is set between the charging contacts module (2) and the charging buffer pocket (31).
7. mobile robot charging mechanism according to claim 6, which is characterized in that further include being set to the charging contacts
The pillar (24) extended along the longitudinal direction between box (21) and charging buffer pocket (31), the second adjustment elastic component
(23) it is sheathed on the pillar (24).
8. mobile robot charging mechanism according to claim 7, which is characterized in that after the charging buffer pocket (31)
End is fixed with rear elastic component frame plate (32), and the front end of the pillar (24) is fixed on the charging contacts box (21) and rear end
It is inserted in the jack of the rear elastic component frame plate (32), the front end of the second adjustment elastic component (23) resists the charging touching
Head cartridge (21) and rear end resist the rear elastic component frame plate (32), are inverted to form at the front opening of charging buffer pocket (31)
Limited block (311), the outer peripheral surface of the charging contacts box (21) are equipped with for cooperating with the limited block (311) to keep away
Exempt from the positive stop lug boss (211) that the charging contacts module (2) deviates from forward charging buffer pocket (31).
9. mobile robot charging mechanism according to claim 2, which is characterized in that further include for being arranged in moving machine
Charhing unit (1) on device human body, the charhing unit (1) include the cradle for being fixed on mobile robot ontology
(11) and the charging item (12) that is fixed on the cradle (11) it, is being parallel to the outer surface of charging item (12) and is hanging down
Directly on the direction of described charging contact block (2) balance staff, the length of charging item (12) is greater than the length of charging contact block (221)
Degree.
10. a kind of mobile robot, including mobile robot ontology and charging pile, which is characterized in that further include claim 1 to
Mobile robot charging mechanism described in 9 any one.
Priority Applications (1)
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| CN201810622564.7A CN108832397A (en) | 2018-06-15 | 2018-06-15 | Mobile robot and its mobile robot charging mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810622564.7A CN108832397A (en) | 2018-06-15 | 2018-06-15 | Mobile robot and its mobile robot charging mechanism |
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| CN201810622564.7A Pending CN108832397A (en) | 2018-06-15 | 2018-06-15 | Mobile robot and its mobile robot charging mechanism |
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| CN109994905A (en) * | 2019-04-26 | 2019-07-09 | 苏州赫格智能科技有限公司 | A kind of adjustable charging head of robot charging pile fine motion |
| CN110854570A (en) * | 2019-10-16 | 2020-02-28 | 浙江大华机器人技术有限公司 | Charging contact mechanism, charging pile and mobile robot |
| CN110911904A (en) * | 2019-11-15 | 2020-03-24 | 深圳市优必选科技股份有限公司 | First power supply structure, second power supply structure, charging device and robot system |
| CN110957776A (en) * | 2019-11-15 | 2020-04-03 | 深圳市优必选科技股份有限公司 | Power supply structure, charging adjusting device and robot charging system |
| CN110989572A (en) * | 2019-10-31 | 2020-04-10 | 成都四威高科技产业园有限公司 | Accurate transfer control method suitable for AGV |
| CN111029837A (en) * | 2019-12-13 | 2020-04-17 | 惠州志顺电子实业有限公司 | Charging stand and charging device |
| CN111106646A (en) * | 2019-12-26 | 2020-05-05 | 深圳市优必选科技股份有限公司 | Charging device |
| CN112277673A (en) * | 2020-10-16 | 2021-01-29 | 国创新能源汽车智慧能源装备创新中心(江苏)有限公司 | Channel selector and PDU system |
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| CN112968328A (en) * | 2021-02-01 | 2021-06-15 | 苏州玖物互通智能科技有限公司 | Wired communication device and system for mobile robot |
| CN112968328B (en) * | 2021-02-01 | 2022-05-31 | 苏州玖物互通智能科技股份有限公司 | Wired communication device and system for mobile robot |
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