CN211480952U - Charging device - Google Patents

Abstract

The application discloses a charging device, which comprises a chassis, a charging head connected with the chassis, at least one lifting adjusting mechanism arranged on the chassis, and wheels arranged on the lifting adjusting mechanism; the lifting adjusting mechanism is used for adjusting the wheels to protrude out of the outer surface of the chassis or retract into the charging device. When charging device reachd the charging position of predetermineeing, in order to keep the fixed of charging device position, the initial speed when avoiding the robot to charge promotes charging device to the aversion, utilizes lift adjustment mechanism to adjust the wheel to the inside of withdrawing charging device, and the wheel is no longer as the holistic support piece of charging device this moment, and service environment such as chassis and ground contact completely. Because the area of the chassis is large enough, the area contacted with the ground is also large enough, so that the friction force exerted by the ground on the chassis is large enough, and the robot cannot easily push the charging device when being contacted with the charging device at an initial speed.

Description

Charging device

Technical Field

The application relates to the field of robot charging, in particular to a charging device.

Background

When the robots such as the inspection robot work, the electric energy needs to be supplemented, and therefore a charging device needs to be arranged for the robots. However, most of the existing charging columns are immovable, heavy and laborious to carry. For the charging device with wheels mounted at the bottom, because the contact area between the wheels and the ground is limited or extremely small, namely the friction force is smaller, when the robot automatically recharges, the charging device with the wheels is easy to push away because the robot still has a certain initial speed, and further the automatic recharging operation of the robot fails.

SUMMERY OF THE UTILITY MODEL

The application aims to provide a charging device, and aims to solve the problem that the charging device with wheels cannot keep fixed in position in the prior art.

To achieve the purpose, the embodiment of the application adopts the following technical scheme:

the charging device comprises a chassis, a charging head connected with the chassis, at least one lifting adjusting mechanism arranged on the chassis, and wheels arranged on the lifting adjusting mechanism; the lifting adjusting mechanism is used for adjusting the wheels to protrude out of the outer surface of the chassis or retract into the charging device.

In one embodiment, the lifting adjusting mechanism comprises a mounting cylinder fixedly mounted on the chassis, a movable rod movably mounted in the mounting cylinder, and a telescopic driving component for driving the movable rod to move along the axial direction of the mounting cylinder; the wheels are mounted on the movable rod.

In one embodiment, the telescopic driving assembly comprises a first elastic piece arranged between the movable rod and the mounting cylinder, a rotary table movably mounted in the mounting cylinder and abutted against the movable rod, a guide rail cylinder fixedly mounted in the mounting cylinder and positioned on one side of the rotary table far away from the movable rod, and a push rod movably mounted in the guide rail cylinder; a first abdicating hole for the ejector rod to pass through is formed in the end face of one end, far away from the chassis, of the mounting cylinder; the inner wall of the guide rail cylinder is provided with a guide groove and a abdication groove along the axial direction; the notch of the abdicating groove is positioned on the end surface of one end of the guide rail cylinder close to the turntable, and the depth of the abdicating groove is greater than that of the guide groove; a guide boss matched with the guide groove is arranged on the side surface of the ejector rod; an adjusting boss matched with the abdicating groove is formed on the side surface of the turntable; the thickness of the adjusting boss is larger than the depth of the abdicating groove; one end of the adjusting boss close to the ejector rod is provided with a first adjusting inclined surface, and the end face of one end of the ejector rod close to the adjusting boss is provided with an adjusting convex tooth used for applying rotary driving force to the first adjusting inclined surface.

In one embodiment, a plurality of first chutes and a plurality of second chutes are formed on an end surface of one end of the guide rail cylinder, which is close to the rotating disc, and two adjacent sides of the first chutes are the second chutes; the notch of the abdicating groove is positioned at the bottom of the second chute.

In one embodiment, the width of the adjustment lobe is tapered in a direction away from the stem.

In one embodiment, the telescopic driving assembly further comprises a first bearing arranged between the turntable and the movable rod; the movable rod is provided with a limiting bulge located inside the inner ring of the first bearing, and the end face of one end, away from the ejector rod, of the turntable is abutted to the limiting bulge.

In one embodiment, the first elastic element is a first spring sleeved outside the movable rod, and the movable rod is provided with a butting platform butted against the first spring; one end, far away from the abutting table, of the first spring is abutted to the chassis.

In one embodiment, the telescopic driving assembly further comprises a second bearing arranged between the chassis and the first spring, and one end of the first spring, which is far away from the abutting table, abuts against an inner ring of the second bearing; the movable rod penetrates through the inner ring of the second bearing and can move along the axial direction of the bearing.

In one embodiment, the mounting cylinder comprises a lower cylinder fixedly mounted on the chassis and an upper cylinder detachably connected with the lower cylinder; the guide rail cylinder is fixedly arranged on the inner wall of the upper cylinder; the upper cylinder is provided with the first abdicating hole.

In one embodiment, the upper cylinder is in threaded connection with the lower cylinder, the upper cylinder is provided with an external thread, and the lower cylinder is provided with an internal thread adapted to the external thread.

In one embodiment, the chassis is provided with a second abdicating hole communicated with the mounting cylinder.

In one embodiment, the number of the lifting adjusting mechanisms is three, and three lifting adjusting mechanisms form a triangle.

In one embodiment, the charging head includes a fixed frame connected to the chassis, a linear guide rail disposed on the fixed frame, a sliding frame slidably mounted on the linear guide rail, a charging pin mounted on the sliding frame, and a second elastic member disposed between the sliding frame and the fixed frame.

In one embodiment, the fixing frame has a fixing plate, a guide post is disposed between the fixing plate and the sliding frame, the second elastic member is a second spring sleeved outside the guide post, one end of the second spring abuts against the sliding frame, and the other end of the second spring abuts against the fixing plate.

In one embodiment, a vertical plate is arranged between the fixed frame and the chassis; the vertical plate is connected with the base plate, and the fixing frame is installed on the vertical plate.

In one embodiment, the mounting cylinder is a cylinder; the guide rail cylinder and the mounting cylinder are integrally formed.

The beneficial effects of the embodiment of the application are as follows: when the charging device reaches the preset charging position, in order to keep the position of the charging device fixed, the initial speed of the robot during charging is prevented from pushing the charging device to shift, the wheels are adjusted to retract into the charging device by utilizing the lifting adjusting mechanism, the wheels are no longer used as integral supporting pieces of the charging device, and the chassis is completely contacted with the ground and other use environments. Because the area of the chassis is large enough, the area contacted with the ground is also large enough, so that the friction force exerted by the ground on the chassis is large enough, and the robot cannot easily push the charging device when being contacted with the charging device at an initial speed.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a charging device in an embodiment of the present application;

fig. 2 is a schematic structural diagram of another view of the charging device in fig. 1;

fig. 3 is a partial sectional view of the charging device shown in the figure where a lift adjustment mechanism is installed;

FIG. 4 is an exploded view of the lift adjustment mechanism of FIG. 1;

FIG. 5 is a schematic view of the ejector pin and the turntable in FIG. 4;

fig. 6 is a schematic view showing the internal structure of the elevation adjusting mechanism when the wheel is protruded from the mounting cylinder (lower cylinder);

FIG. 7 is an enlarged view of a portion of the turntable of FIG. 6;

FIG. 8 is a schematic view of the internal structure of the lift adjustment mechanism with the wheels retracted into the mounting cylinder (lower cylinder);

FIG. 9 is an enlarged view of a portion of the turntable of FIG. 8;

FIG. 10 is a schematic structural view of the rail cartridge of FIG. 4;

FIG. 11 is a schematic structural view of the upper cylinder of FIG. 4;

fig. 12 is a schematic structural view of the charging head in fig. 1;

fig. 13 is an exploded view of the charging head of fig. 12;

in the figure:

1. a chassis; 11. a second abdicating hole;

2. a lifting adjusting mechanism; 21. mounting the cylinder; 211. a lower cylinder; 212. an upper cylinder; 213. a first abdicating hole; 22. a movable rod; 221. a limiting bulge; 222. a butting table; 23. a telescopic drive assembly; 231. a first elastic member; 2311. a first spring; 232. a turntable; 2321. adjusting the boss; 23211. adjusting the inclined plane; 233. a guide rail cylinder; 2331. a guide groove; 2332. a yielding groove; 2333. a first chute; 2334. a second chute; 234. a top rod; 2341. a guide boss; 2342. adjusting the convex teeth; 235. a first bearing; 236. a second bearing;

3. a charging head; 31. a fixed mount; 32. a linear guide rail; 33. a carriage; 34. a charging pin; 35. a second elastic member; 351. a second spring; 36. a fixing plate; 37. a guide post;

4. a wheel;

5. a vertical plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the present application and to simplify description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The following detailed description of implementations of the present application is provided in conjunction with specific embodiments.

As shown in fig. 1 to 3, the embodiment of the present application provides a charging device, which includes a chassis 1, a charging head 3 connected to the chassis 1, at least one lifting adjustment mechanism 2 mounted on the chassis 1, and wheels 4 mounted on the lifting adjustment mechanism 2; the elevation adjustment mechanism 2 is used to adjust the wheels 4 to protrude from the outer surface of the chassis 1 or to retract into the interior of the charging device.

In the embodiment of the application, when the charging device needs to be moved, the charging device is slightly lifted, the wheels 4 are adjusted to protrude out of the outer surface of the chassis 1 by the lifting adjusting mechanism 2 (the outer surface of the chassis 1 is defined as a surface close to the ground), and then the external force is removed, because the wheels 4 extend out of the outer surface of the chassis 1, the charging device can be integrally supported by the charging device, and at the moment, the charging device can be easily pushed to the preset charging position through the wheels 4.

When the charging device reaches a preset charging position, in order to keep the position of the charging device fixed and avoid the initial speed of the robot during charging from pushing the charging device to shift, the lifting adjusting mechanism 2 is used for adjusting the wheels 4 to retract into the charging device (i.e. not protruding out of the outer surface of the chassis 1), at the moment, the wheels 4 are not used as the integral supporting piece of the charging device any more, and the chassis 1 is in complete contact with the ground and other use environments. Because the area of the chassis 1 is large enough, the area contacted with the ground is also large enough, so that the friction force exerted by the ground on the chassis 1 is large enough, the robot is not easy to push the charging device when having an initial speed to be contacted with the charging device, the robot can be well contacted with the charging head 3 on the charging device, and then the automatic recoil operation is completed.

It will be appreciated that the manner in which the lifting adjustment mechanism 2 adjusts the wheels 4 to project from the outer surface of the chassis 1 or to retract into the interior of the charging device may include the following:

the screw pair is matched with the motor to drive the wheel 4 to move along the axial direction of the screw shaft, so that the adjustment is realized.

The adjustment is achieved by using a hydraulic cylinder or a pneumatic cylinder to drive the wheel 4 to move axially along the pneumatic cylinder or the piston rod of the hydraulic cylinder.

By the cooperation of the motor, the connecting rod and the cam, when different positions of the cam rotate and the wheel 4 are contacted, the wheel 4 is completely protruded out of the outer surface of the chassis 1 or adjusted to retract into the charging device.

The wheel 4 can be mounted on a rack, and the rack is driven to move by a motor and a gear meshed with the rack, so that the adjustment is completed.

Referring to fig. 3-4, as another embodiment of the charging device provided by the present application, the lifting adjustment mechanism 2 includes a mounting cylinder 21 fixedly mounted on the chassis 1, a movable rod 22 movably mounted in the mounting cylinder 21, and a telescopic driving assembly 23 for driving the movable rod 22 to move along an axial direction of the mounting cylinder 21; the wheels 4 are mounted on a movable bar 22. The telescopic driving component 23 is used for driving the movable rod 22 to move axially along the mounting cylinder 21, and when the movable rod 22 moves axially along the mounting cylinder 21, the wheels 4 mounted on the movable rod 22 can be driven to protrude out of the outer surface of the chassis 1 or be adjusted to retract into the charging device through different movement directions.

Referring to fig. 4-5, as another embodiment of the charging device provided in the present application, the telescopic driving assembly 23 includes a first elastic member 231 disposed between the movable rod 22 and the mounting cylinder 21, a rotary plate 232 movably mounted in the mounting cylinder 21 and abutting against the movable rod 22, a guide cylinder 233 fixedly mounted in the mounting cylinder 21 and located on a side of the rotary plate 232 away from the movable rod 22, and a push rod 234 movably mounted in the guide cylinder 233; a first abdicating hole 213 for the mandril 234 to pass through is arranged on the end surface of one end of the mounting cylinder 21 far away from the chassis 1; the inner wall of the guide rail cylinder 233 is provided with a guide groove 2331 and a relief groove 2332 along the axial direction; the notch of the abdicating groove 2332 is positioned on the end surface of the guide rail cylinder 233 close to one end of the rotary disc 232, and the depth of the abdicating groove 2332 is greater than that of the guide groove 2331; a guide boss 2341 fitted into the guide groove 2331 is provided on the side surface of the top bar 234; an adjusting boss 2321 adapted to the abdicating groove 2332 is formed on the side surface of the rotary disc 232; the thickness of the adjusting boss 2321 is greater than the depth of the relief groove 2332; the end of the adjusting boss 2321 close to the top bar 234 is provided with an adjusting inclined surface 23211, and the end surface of the top bar 234 close to the end of the adjusting boss 2321 is provided with an adjusting convex tooth 2342 for applying a rotational driving force to the adjusting inclined surface 23211.

The process of the telescopic driving component 23 driving the movable rod 22 to move along the axial direction of the installation cylinder 21 is as follows: referring to fig. 6-7, when the wheel 4 extends out of the mounting cylinder 21 (protruding from the outer surface of the chassis 1), the adjusting boss 2321 on the rotating disc 232 is located outside the guide rail cylinder 233, and the end surface of the adjusting boss 2321 having the adjusting inclined surface 23211 abuts against the end surface of the guide rail cylinder 233. Because the effect of first elastic component 231, first elastic component 231 is to the application of force of movable rod 22 for movable rod 22 is to the carousel 232 application of force, and then will adjust on boss 2321 supports the terminal surface in guide rail section of thick bamboo 233 tightly, makes the wheel 4 of installing on movable rod 22 be in the state of stretching out installation section of thick bamboo 21, even if wheel 4 receives the pressure still can't get back to in the installation section of thick bamboo 21, therefore wheel 4 can be to the firm support of charging device, and accessible wheel 4 removes charging device to preset the position.

When it is desired to retract the wheels 4 into the mounting cylinder 21 (i.e. to adjust to the interior of the charging device), the charging device is raised slightly so that the wheels 4 do not contact the ground. Then, the top rod 234 is pressed, so that the top rod 234 moves close to the rotary disc 232 along the axial direction of the guide rail barrel 233, and when the adjusting convex tooth 2342 on the top rod 234 contacts the adjusting inclined surface 23211 on the adjusting boss 2321, the adjusting convex tooth 2342 and the adjusting inclined surface 23211 have a tendency of relative movement; because the guiding boss 2341 on the top rod 234 sinks into the guiding groove 2331 formed in the inner wall of the guide rail cylinder 233 along the axial direction, the top rod 234 and the convex teeth can only move along the axial direction of the guide rail cylinder 233; therefore, the adjusting protrusion 2342 applies a pressure to the adjusting protrusion 2321 through the adjusting inclined surface 23211 on the adjusting protrusion 2321, the pressure has a component force that can drive the rotating disc 232 to rotate (rotate along the direction a in fig. 7), when the rotating disc 232 rotates and drives the adjusting protrusion 2321 thereon to align with the abdicating groove 2332 on the guide rail cylinder 233, the pressing force on the push rod 234 is released, at the moment of releasing the pressing force, the first elastic member 231 drives the rotating disc 232 through the movable rod 22 along the axial direction of the movable rod 22, so that the movable rod 22 drives the rotating disc and the adjusting protrusion 2321 to move along the axial direction of the movable rod 22, and further the adjusting protrusion 2321 on the rotating disc 232 is inserted into the abdicating groove 2332 on the inner wall 233 of the guide rail cylinder (inserted into the abdicating groove 2332 along the direction b in fig. 7), as shown in fig. 8-9, at this time, the movable rod 22 also moves a distance along the axial direction of the mounting cylinder 21 away from the chassis 1 (the direction close to the guide, and drives the wheel 4 to move a distance in a direction to approach the rail cylinder 233 so that the wheel 4 is retracted into the inside of the mounting cylinder 21 and into the inside of the charging device.

The thickness of the adjustment boss 2321 is defined as: the adjusting boss 2321 protrudes from the surface of the rotary disk 232 in the radial direction of the rotary disk 232.

Referring to fig. 7 and 9-10, as another embodiment of the charging device provided in the present application, a plurality of first inclined slots 2333 and a plurality of second inclined slots 2334 are disposed on an end surface of the guide rail cylinder 233 near one end of the turntable 232, and both adjacent sides of the first inclined slots 2333 are the second inclined slots 2334; the notch of the relief groove 2332 is located at the bottom of the second chute 2334. It is understood that the number of the relief grooves 2332 may be plural, that is, adapted to the number of the second inclined grooves 2334.

Since the direction of the force applied by the adjusting protrusion 2342 to the adjusting inclined surface 23211 is not changed, the rotating direction of the rotating plate 232 is kept unchanged, and in order to ensure that the adjustment of the wheel 4 extending into and out of the mounting cylinder 21 can be completed after the push rod 234 is pressed to drive the rotating plate 232 to rotate for a certain angle each time, that is, the operation of extending the adjusting protrusion 2321 on the rotating plate 232 into the extending and receding groove 2332 is completed, the first inclined groove 2333 and the second inclined groove 2334 are provided.

When the adjusting boss 2321 on the rotating disc 232 is located outside the abdicating groove 2332, the adjusting inclined surface 23211 of the adjusting boss 2321 abuts against the first inclined groove 2333 at this time; the push rod 234 is pressed to drive the rotating disc 232 to rotate, then the adjusting boss 2321 reaches the position of the adjacent second inclined groove 2334, at the moment, the push rod 234 is loosened, and the adjusting boss 2321 enters the abdicating groove 2332 through the notch of the abdicating groove 2332 at the bottom of the second inclined groove 2334; after the adjustment is continued, the push rod 234 is pressed to drive the rotating disc 232 to rotate, the adjusting boss 2321 reaches the position of the adjacent first inclined groove 2333 (the first inclined groove 2333 is not the previous first inclined groove 2333), and therefore, the adjustment is advanced, so that the adjusting boss 2321 moves along the circumferential direction of the guide rail cylinder 233 and moves in a manner of reaching the first inclined groove 2333, the second inclined groove 2334, the first inclined groove 2333 and the second inclined groove 2334 in sequence until one circumferential movement is completed.

Meanwhile, the first and second inclined slots 2333 and 2334 are inclined slots, so that when the adjustment boss 2321 reaches a transition position between the first and second inclined slots 2333 and 2334, a noise of the transition is heard or a reverse force applied to the push rod 234 is slightly changed. At this time, the pressing force on the top rod 234 is released immediately, so that the adjusting boss 2321 can quickly enter the next second inclined groove 2334 and extend into the abdicating groove 2332; or the adjusting boss 2321 can quickly enter the next first inclined groove 2333 to complete the positioning; therefore, the arrangement of the first inclined channel 2333 and the second inclined channel 2334 can effectively remind the operator of the rotating position of the rotating disc 232 at the moment, and the operation of the rotating disc 232 can be completed without observation.

Referring to fig. 5, as another embodiment of the charging device provided by the present application, the width of the adjusting protrusion 2342 gradually decreases along a direction away from the top rod 234, that is, one end of the adjusting protrusion 2342 close to the adjusting inclined surface 23211 of the adjusting boss 2321 is pointed, so that after the adjusting protrusion 2342 contacts the adjusting inclined surface 23211, the adjusting inclined surface 23211 can smoothly move relative to the adjusting protrusion 2342, so that the rotating disc 232 can smoothly rotate.

Referring to fig. 3-4, as another embodiment of the charging device provided in the present application, the telescopic driving assembly 23 further includes a first bearing 235 disposed between the rotating disc 232 and the movable rod 22; the movable rod 22 is provided with a limiting protrusion 221 positioned inside the inner ring of the first bearing 235, so that deflection of the position of the movable rod 22 is avoided, the movable rod 22 cannot deflect radially when moving only along the axial direction of the movable rod, and the end surface of one end of the turntable 232, which is far away from the ejector rod 234, is abutted against the limiting protrusion 221.

The first bearing 235 can be used as a guide for the rotation of the rotary disc 232, so that the rotary disc 232 can rotate smoothly, the pressing force required when the push rod 234 is pressed can be small enough, and the convenient adjustment can be realized.

Referring to fig. 3-4, as another embodiment of the charging device provided in the present application, the first elastic element 231 is a first spring 2311 sleeved outside the movable rod 22, and the movable rod 22 is provided with an abutting table 222 abutting against the first spring 2311; one end of the first spring 2311 away from the abutting table 222 abuts against the chassis 1. Opposite ends of the first spring 2311 are respectively abutted (directly or indirectly contacted) with the abutment table 222 and the chassis 1, so that the first spring 2311 can apply pressure to the movable rod 22 in the axial direction of the movable rod 22.

Referring to fig. 3-4, as another embodiment of the charging device provided by the present application, the telescopic driving assembly 23 further includes a second bearing 236 disposed between the chassis 1 and the first spring 2311, and an end of the first spring 2311 away from the abutting table 222 abuts against an inner ring of the second bearing 236; the movable rod 22 penetrates the inner race of the second bearing 236 and is capable of moving in the axial direction of the bearing.

Because the rotating disc 232 abuts against the movable rod 22, the rotating disc 232 also tends to drive the movable rod 22 to rotate when rotating, and the first spring 2311 abuts against the inner ring of the second bearing 236, so that the second spring 351 and the movable rod 22 can also rotate along with the rotating disc 232 when the rotating disc 232 rotates, the relative movement between the rotating disc 232 and the movable rod 22 is avoided, and the pressing force required when pressing the push rod 234 is further reduced.

Referring to fig. 3-4, as another embodiment of the charging device provided in the present application, the mounting cylinder 21 includes a lower cylinder 211 fixedly mounted on the chassis 1 and an upper cylinder 212 detachably connected to the lower cylinder 211, so that components inside the mounting cylinder 21 can be quickly assembled; the rail cylinder 233 is fixedly disposed on the inner wall of the upper cylinder 212 (the rail cylinder 233 and the upper cylinder 212 may be integrated, that is, the receding groove 2332 and the guide groove 2331 are formed in the inner wall of the upper cylinder 212); the upper cylinder 212 is provided with a first relief hole 213.

Referring to fig. 3-4, as another embodiment of the charging device provided by the present application, an upper cylinder 212 is screwed with a lower cylinder 211, the upper cylinder 212 is provided with an external thread, and the lower cylinder 211 is provided with an internal thread adapted to the external thread. Therefore, the upper cylinder 212 extends into the lower cylinder 211, and when the movable rod 22, the first bearing 235 and the turntable 232 move along the axial direction of the mounting cylinder 21, the movable rod is not easy to contact with the transition portion between the upper cylinder 212 and the lower cylinder 211, so that the movable rod can move smoothly and is not easy to be locked.

Referring to fig. 3 and 11, as another embodiment of the charging device provided in the present application, the chassis 1 is provided with a second yielding hole 11 communicated with the mounting tube 21, and the mounting tube 21 is mounted at the second yielding hole 11.

Referring to fig. 2, as another embodiment of the charging device provided in the present application, the number of the lifting adjusting mechanisms 2 is three, and the three lifting adjusting mechanisms 2 form a triangle, which has better stability, so as to stably support the charging device.

Referring to fig. 12-13, as another embodiment of the charging device provided in the present application, the charging head 3 includes a fixed frame 31 connected to the chassis 1, a linear guide 32 disposed on the fixed frame 31, a sliding frame 33 slidably mounted on the linear guide 32, a charging pin 34 mounted on the sliding frame 33, and a second elastic element 35 disposed between the sliding frame 33 and the fixed frame 31.

At the moment when the robot contacts the charging pin 34 on the charging head 3, the robot also has a certain speed, drives the charging pin 34 and the sliding frame 33 to slide along the linear guide rail 32 on the fixed frame 31, and realizes buffering through the compression of the second elastic piece 35, and completely stops the robot stably. When the robot leaves, the second elastic member 35 recovers to its original shape and drives the carriage 33 and the charging pin 34 to return to the initial position. Therefore, when the robot performs the back flushing, the charging head 3 is not easily broken by the moment of contact with the charging head 3.

Referring to fig. 13, as another embodiment of the charging device provided in the present application, the fixing frame 31 has a fixing plate 36, a guide post 37 is disposed between the fixing plate 36 and the sliding frame 33, the second elastic element 35 is a second spring 351 sleeved outside the guide post 37, one end of the second spring 351 abuts against the sliding frame 33, and the other end of the second spring 351 abuts against the fixing plate 36. The second spring 351 contracts in the axial direction of the guide post 37, so that only the force in the initial speed direction of the robot is buffered, and the robot is not easy to push and bias by the reaction force.

Referring to fig. 1-2, as another embodiment of the charging device provided in the present application, a vertical plate 5 is disposed between the fixing frame 31 and the chassis 1; the vertical plate 5 is connected with the base plate 1, and the fixing frame 31 is arranged on the vertical plate 5. The fixing frame 31 and the vertical plate 5 can be detachably connected to adjust different installation heights, and the charging requirements of robots with different specifications are met.

Referring to fig. 1-3, as another embodiment of the charging device provided by the present application, the mounting cylinder 21 is a cylinder; the turntable 232 and the like can rotate well.

It is to be understood that aspects of the present invention may be practiced otherwise than as specifically described.

It should be understood that the above examples are merely examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims (10)

1. The charging device is characterized by comprising a chassis, a charging head connected with the chassis, at least one lifting adjusting mechanism arranged on the chassis and wheels arranged on the lifting adjusting mechanism; the lifting adjusting mechanism is used for adjusting the wheels to protrude out of the outer surface of the chassis or retract into the charging device.

2. The charging device according to claim 1, wherein the lifting adjusting mechanism comprises a mounting cylinder fixedly mounted on the chassis, a movable rod movably mounted in the mounting cylinder, and a telescopic driving assembly for driving the movable rod to move along the axial direction of the mounting cylinder; the wheels are mounted on the movable rod.

3. The charging device according to claim 2, wherein the telescopic driving assembly comprises a first elastic member arranged between the movable rod and the mounting cylinder, a rotary table movably mounted in the mounting cylinder and abutting against the movable rod, a guide rail cylinder fixedly mounted in the mounting cylinder and located on one side of the rotary table away from the movable rod, and a push rod movably mounted in the guide rail cylinder; a first abdicating hole for the ejector rod to pass through is formed in the end face of one end, far away from the chassis, of the mounting cylinder; the inner wall of the guide rail cylinder is provided with a guide groove and a abdication groove along the axial direction; the notch of the abdicating groove is positioned on the end surface of one end of the guide rail cylinder close to the turntable, and the depth of the abdicating groove is greater than that of the guide groove; a guide boss matched with the guide groove is arranged on the side surface of the ejector rod; an adjusting boss matched with the abdicating groove is formed on the side surface of the turntable; the thickness of the adjusting boss is larger than the depth of the abdicating groove; the adjusting convex plate is provided with an adjusting inclined surface at one end close to the ejector rod, and an adjusting convex tooth used for applying rotary driving force to the adjusting inclined surface is arranged on the end surface of one end of the ejector rod close to the adjusting convex plate.

4. The charging device according to claim 3, wherein a plurality of first chutes and a plurality of second chutes are formed on an end surface of the guide rail cylinder, the end surface being close to one end of the turntable, and both adjacent sides of the first chutes are the second chutes; the notch of the abdicating groove is positioned at the bottom of the second chute.

5. A charging arrangement as claimed in claim 3, in which the width of the adjustment lug tapers away from the lifter.

6. A charging arrangement as claimed in claim 3, in which the telescopic drive assembly further comprises a first bearing provided between the turntable and the movable lever; the movable rod is provided with a limiting bulge located inside the inner ring of the first bearing, and the end face of one end, away from the ejector rod, of the turntable is abutted to the limiting bulge.

7. The charging device according to any one of claims 3 to 6, wherein the first elastic member is a first spring sleeved outside the movable rod, and an abutting table abutting against the first spring is provided on the movable rod; one end, far away from the abutting table, of the first spring is abutted to the chassis.

8. The charging device of claim 7, wherein the telescopic driving assembly further comprises a second bearing arranged between the chassis and the first spring, and one end of the first spring, which is far away from the abutting table, abuts against an inner ring of the second bearing; the movable rod penetrates through the inner ring of the second bearing and can move along the axial direction of the bearing.

9. A charging arrangement as claimed in any of claims 3 to 6, in which the mounting cylinder comprises a lower cylinder fixedly mounted to the chassis and an upper cylinder removably connected to the lower cylinder; the guide rail cylinder is fixedly arranged on the inner wall of the upper cylinder; the upper cylinder is provided with the first abdicating hole.

10. The charging device of any one of claims 1-6, wherein the charging head comprises a fixed frame connected to the chassis, a linear guide rail disposed on the fixed frame, a sliding frame slidably mounted on the linear guide rail, a charging pin mounted on the sliding frame, and a second elastic member disposed between the sliding frame and the fixed frame.

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