CN212659995U

CN212659995U - Autonomous charging system and hangar of mobile robot

Info

Publication number: CN212659995U
Application number: CN202021983725.4U
Authority: CN
Inventors: 王海滨; 邢伟
Original assignee: Xingluo Artificial Intelligence Technology Shanghai Co ltd
Current assignee: Xingluo Artificial Intelligence Technology Shanghai Co ltd
Priority date: 2020-09-11
Filing date: 2020-09-11
Publication date: 2021-03-05
Anticipated expiration: 2030-09-11

Abstract

The utility model discloses a mobile robot's autonomic charging system and hangar. The autonomous charging system of the mobile robot comprises a charging platform and a charging mechanical arm. The charging platform is used for parking the mobile robot to be charged, and the charging platform is provided with a homing fixing mechanism which is used for moving the mobile robot to the designated position of the charging platform and fixing the mobile robot. The execution end of the charging mechanical arm is provided with an identification module and a charging connection male head, the identification module is used for identifying a positioning identifier on the mobile robot, and the charging mechanical arm is used for driving the charging connection male head to be in butt joint with a charging connection female seat on the mobile robot according to the positioning identifier. After the mobile robot is stably stopped on the charging platform, the mobile robot reaches a designated position through the homing fixing mechanism, the specific position of the charging connection female seat is determined by the positioning identification identified by the identification module, the charging mechanical arm drives the charging connection male head to be in butt joint with the charging connection female seat, and the external power supply device is started to charge, so that the autonomous charging is realized.

Description

Autonomous charging system and hangar of mobile robot

Technical Field

The utility model belongs to unmanned aerial vehicle field of charging especially relates to a mobile robot's autonomic charging system and hangar.

Background

The mobile robot is a comprehensive system integrating multiple functions of environment perception, dynamic decision and planning, behavior control and execution and the like. An unmanned aerial vehicle is used as one type of mobile robot, is operated by using a radio remote control device and a self-contained program control device, or is completely or intermittently and autonomously operated by an on-board computer, and is currently divided into two major types, namely military and civil, wherein the civil aspect is mainly applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, electric power inspection, disaster relief, movie and television shooting, romantic manufacturing and the like.

But unmanned aerial vehicle's operating time is limited by its battery capacity, needs in time retrieve when unmanned aerial vehicle residual capacity is not enough to charge.

When charging the battery module loaded on the unmanned aerial vehicle, the battery module needs to be manually dismantled, and the battery module needs to be reinstalled after charging, so that the labor cost is greatly increased, and the automation degree is reduced.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a mobile robot's autonomic charging system and hangar to solve among the prior art mobile robot especially unmanned aerial vehicle at the problem that the automation is low in the charging process.

The technical scheme of the utility model is that:

an autonomous charging system of a mobile robot, comprising:

the charging platform is used for parking a mobile robot to be charged, and is provided with a homing fixing mechanism which is used for moving the mobile robot to an appointed position of the charging platform and fixing the mobile robot;

the charging mechanical arm, the execution end of charging mechanical arm is equipped with identification module and the public head of connection of charging, identification module is used for discerning the location sign on the mobile robot, the charging mechanical arm be used for the basis the drive of location sign the public head of connection of charging docks with the female seat of connection of charging on the mobile robot.

Preferably, the utility model provides an embodiment provides a mobile robot's autonomic charging system still includes the air cooling device, the air cooling device is located be equipped with the air cooling interface on the charging connection public head for with the butt joint of the fluid interface on the female seat of charging connection, the air cooling device is used for driving the battery package of gas flow through mobile robot and cools down.

Preferably, an embodiment of the present invention provides an autonomous charging system for a mobile robot, wherein the air cooling device includes an air cooling driving portion and a temperature control portion, the air cooling driving portion is used for driving gas to flow through a battery pack of the mobile robot, and the temperature control portion is used for adjusting the temperature of gas flowing through the battery pack of the mobile robot.

Preferably, in an autonomous charging system of a mobile robot provided in an embodiment of the present invention, the air-cooling driving unit includes a high pressure air pump and/or a vacuum pump, and the air-cooling interface includes an air inlet and an air outlet;

the high-pressure air pump is communicated with the air inlet end and is used for injecting air into a battery pack of the mobile robot;

the vacuum pump is communicated with the air outlet end and used for sucking air from a battery pack of the mobile robot.

Preferably, the embodiment of the utility model provides a mobile robot's autonomic charging system, fluid interface follows respectively the gas inflow flows out the direction and is equipped with the valve stopper, the one end of valve stopper is equipped with an elastic component, the other end of valve stopper is equipped with the boss, wherein, under the fluid interface off-state, the valve stopper receives the elastic component effect with the access & exit of fluid interface closely laminates under the fluid interface connection state, the valve stopper receive fluid pressure or external acting force with the access & exit separation of fluid interface.

Preferably, the utility model provides an embodiment provides a mobile robot's autonomic charging system, homing fixed establishment includes homing drive division, a pair of first push rod and a pair of second push rod, first push rod with the contained angle has between the second push rod, first push rod with the second push rod respectively with charging platform sliding connection, the homing drive division is used for driving respectively first push rod with the second push rod promotes mobile robot extremely charging platform's assigned position presss from both sides tightly fixedly.

Preferably, an embodiment of the present invention provides an autonomous charging system for a mobile robot, wherein the charging arm has a horizontal degree of freedom of movement in a parallel direction of the charging platform and a vertical degree of freedom of movement in a vertical direction of the charging platform.

Preferably, an embodiment of the present invention provides an autonomous charging system for a mobile robot, wherein the robot arm includes a base, a first joint, a second joint, a third joint, and a fourth joint;

the base is connected with the charging platform in a rotating mode around a first rotating shaft, and the first rotating shaft is perpendicular to the charging platform;

the first joint is connected with the base in a rotating mode around a second rotating shaft, and the second rotating shaft is perpendicular to the first rotating shaft;

the second joint is rotationally connected with the first joint around a third rotating shaft, and the third rotating shaft is parallel to the second rotating shaft;

the third joint and the second joint are rotatably connected around a fourth rotating shaft, and the fourth rotating shaft is vertical to the third rotating shaft;

one end of the fourth joint is telescopically connected with the third joint, and the other end of the fourth joint is the execution end.

Preferably, the utility model provides an embodiment provides a mobile robot's autonomic charging system, be equipped with the mounting on the third joint of arm that charges, the mounting be used for fixed mobile robot with relative position between the third joint.

Preferably, the utility model provides an embodiment provides a mobile robot's autonomic charging system, the mounting is an electromagnetism tongs, the one end of electromagnetism tongs with the third joint is connected, the other end of electromagnetism tongs is equipped with the electro-magnet.

An hangar comprising an autonomous charging system for a mobile robot as claimed in any one of the preceding claims.

The utility model discloses owing to adopt above technical scheme, make it compare with prior art and have following advantage and positive effect:

(1) the utility model provides an automatic charging device of mobile robot, mobile robot are parked steadily behind charging platform, and accessible playback fixed establishment makes mobile robot reach the assigned position, confirms the concrete position of the female seat of charging connection through the location sign on the discernment mobile robot of identification equipment discernment, charges the public head of arm drive charging connection and locates the female seat butt joint of charging connection on the battery package, then outside power supply unit charges to mobile robot. Therefore, the utility model provides an automatic charging device of mobile robot can independently charge, consequently, has solved among the prior art mobile robot especially unmanned aerial vehicle's the automatic low problem of charging process, can save the cost of labor simultaneously.

(2) An embodiment of the utility model provides an automatic charging device of mobile robot, air-cooled device can drive the battery package that the gas flows through mobile robot, and the heat that the battery package produced when charging can be taken away to gas, can make the battery package maintain a lower temperature when charging to make the battery package can realize dodging and fill the function.

(3) An embodiment of the utility model provides an automatic charging device of mobile robot, mobile robot fix the assigned position on charging platform after, locate the identification module on the execution end of the arm that charges (fourth joint promptly) and can discern the location sign that is located on the mobile robot, then the arm that charges can remove the male head of charging connection, makes it aim at the female seat of charging connection, and later the fourth joint stretches out, makes the male head of charging connection be connected with the female seat of charging connection.

(4) An embodiment of the utility model provides an automatic charging device of mobile robot, after the female seat of charging connection is aimed at to the public head of charging connection, charge for the electro-magnet, the ferromagnetic object on the battery package can be held to the electro-magnet to with the position locking of battery package and third joint, make things convenient for the fourth joint to stretch out the back, the butt joint of the public head of charging connection and the female seat of charging connection.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.

Fig. 1 is a schematic structural view of an automatic charging device for a mobile robot according to the present invention;

fig. 2 is an exploded view of a robot arm according to the present invention;

fig. 3 is a schematic view of the internal structure of a flash-charging bag of the present invention;

fig. 4 is a schematic structural diagram of a valve plug according to the present invention.

Description of reference numerals:

1: an unmanned aerial vehicle; 2: a battery pack; 3: a charging platform; 4: a charging mechanical arm; 401: a first joint; 402: a second joint; 403: a third joint; 404: a fourth joint; 405: a base; 5: air-cooled flash charging; 51: a vent; 6: a charging connection female seat; 7: a charging connection male head; 701: an electrical interface; 8: positioning the identification code; 9: positioning a camera; 10: a first push rod; 11: a second push rod; 12: an electromagnetic gripper; 1201: an electromagnet; 13: a gas pipe and a cable; 1301: an air tube; 1302: a cable; 14: a high pressure air pump; 15: a vacuum pump; 16: a temperature control section; 17: a control unit; 18: a power supply device; 1801: an external power supply interface; 19: a fluid interface; 1901: a valve plug; 1902: an elastic member; 1903: and (4) a boss.

Detailed Description

In order to more clearly illustrate embodiments of the present invention or technical solutions in the prior art, specific embodiments of the present invention will be described below with reference to the accompanying drawings. It is obvious that the drawings in the following description are only examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be obtained from these drawings without inventive effort.

For the sake of simplicity, only the parts relevant to the present invention are schematically shown in the drawings, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".

Example 1

Referring to fig. 1 to 3, the present embodiment provides an autonomous charging system for a mobile robot, including a charging platform 3 and a charging manipulator 4. The charging platform 3 is used for parking a mobile robot to be charged, and the charging platform 3 is provided with a homing fixing mechanism which is used for moving the mobile robot to a designated position of the charging platform 3 and fixing the mobile robot. The execution end of the charging mechanical arm 4 is provided with an identification module and a charging connection male head 7, the identification module is used for identifying a positioning identifier on the mobile robot, and the charging mechanical arm 4 is used for driving the charging connection male head 7 to be in butt joint with a charging connection female seat 6 on the mobile robot according to the positioning identifier.

After the mobile robot is stably stopped on the charging platform 3, the mobile robot can reach an appointed position through the homing fixing mechanism, the specific position of the charging connection female seat 6 is determined by identifying a positioning mark on the mobile robot through identification equipment, the charging mechanical arm 4 drives the charging connection male head 7 to be in butt joint with the charging connection female seat 6 arranged on the battery pack 2, and then the mobile robot is charged through the external power supply device 18. Therefore, the automatic charging device of the mobile robot provided by the embodiment can be automatically charged, and meanwhile, the labor cost is saved.

The present embodiment takes the unmanned aerial vehicle 1 as an example, and describes the structure of the autonomous charging system of the mobile robot provided in the present embodiment.

The homing fixing mechanism comprises a homing driving part, a pair of first push rods 10 and a pair of second push rods 11, an included angle is formed between the first push rods 10 and the second push rods 11, and the first push rods 10 and the second push rods 11 are respectively connected with the charging platform 3. After the unmanned aerial vehicle 1 lands to the platform 3 that charges, the first push rod 10 of playback drive division drive and second push rod 11 promote with the groined type to make unmanned aerial vehicle 1 arrive the assigned position on the platform. Specifically, in the present embodiment, the included angle between the first push rod 10 and the second push rod 11 may be 90 degrees, but the angle is not limited. After the unmanned aerial vehicle 1 is pushed to the designated position, the first push rod 10 and the second push rod 11 can fix the unmanned aerial vehicle 1 at the designated position by applying a small force to the unmanned aerial vehicle 1; the unmanned aerial vehicle 1 can also be fixed by arranging fixing claws on the first push rod 10 and the second push rod 11 and other modes, and the fixing claws are not limited here. Be equipped with electrical property interface 701 on the male head 7 of connection that charges, this electrical property interface 701 corresponds with the electrical property joint on the female seat 6 of connection that charges of unmanned aerial vehicle 1. The charging connection male connector 7 is in butt joint with the charging connection female connector 6, that is, the electrical connector 701 is in butt joint with the electrical connector, and then the external power supply device 18 is turned on to charge the battery pack 2.

The charging mechanical arm 4 has a horizontal degree of freedom to move in the parallel direction of the charging platform 3 and a vertical degree of freedom to move in the vertical direction of the charging platform 3.

Specifically, in the present embodiment, the robot arm includes a base 405, a first joint 401, a second joint 402, a third joint 403, and a fourth joint 404, which are connected in series in this order. The base 405 is rotatably connected to the charging platform 3 around a first rotation axis, which is perpendicular to the charging platform 3. The first joint 401 is rotatably connected to the base 405 about a second axis of rotation, which is perpendicular to the first axis of rotation. The second joint 402 is rotatably connected to the first joint 401 about a third rotation axis, which is parallel to the second rotation axis. The third joint 403 is rotatably connected to the second joint 402 about a fourth rotation axis, which is perpendicular to the third rotation axis. One end of the fourth joint 404 is telescopically connected to the third joint 403, and the other end is an execution end of the charging mechanical arm 4, so that the charging connection male head 7 is arranged on the fourth joint 404.

In the present embodiment, the rotation at each joint, and the expansion and contraction of the fourth joint 404 can be controlled by driving the motor.

When the rotating direction of the first rotating shaft is opposite to that of the fourth rotating shaft, the charging connection male head 7 can move horizontally, and the angle of the charging connection male head 7 in the horizontal direction can be controlled by controlling the rotating angles of the first rotating shaft and the fourth rotating shaft. When the rotation direction of the second rotating shaft is opposite to that of the third rotating shaft, the charging connection male head 7 can move vertically, and the angle of the charging connection male head 7 in the vertical direction can be controlled by controlling the rotation angles of the second rotating shaft and the third rotating shaft. When the fourth joint 404 extends relative to the third joint 403, the charging connection male head 7 can be connected with the charging connection female socket 6; when the fourth joint 404 is retracted relative to the third joint 403, the two may be disconnected.

The identification module may be disposed on the fourth joint 404, and the positioning mark corresponding thereto may be disposed on the battery pack 2 of the drone 1. Specifically, in this embodiment, the positioning identifier may be a positioning identifier 8, such as a two-dimensional code that can be mechanically recognized, disposed on the charging connection female socket 6, and is used for recognizing the charging connection female socket 6 by a recognition module on the execution end of the charging mechanical arm 4; specific identification equipment in the identification module can be based on the location camera 9 of identification technologies such as machine vision, shoots unmanned aerial vehicle 1, charges through visual identification and connects female seat 6's position. Specifically, the positioning camera 9 may be a common or infrared camera.

Further, a fixing piece can be arranged at the executing end of the mechanical arm and used for fixing the relative position of the unmanned aerial vehicle 1 and the third joint. Specifically, the fixing element may be an electromagnetic gripper 12, one end of the electromagnetic gripper 12 may be connected to the third joint 403 of the charging mechanical arm 4, and the other end of the electromagnetic gripper 12 is provided with an electromagnet 1201. Can set up the ferromagnetic object who corresponds with electro-magnet 1201 on unmanned aerial vehicle 1, because the mounting mainly still is used for fixed unmanned aerial vehicle 1 to go up the relative position of battery package 2 and third joint, so ferromagnetic object specifically can set up on battery package 2. In this embodiment, the ferromagnetic object may be a metal sheet, and when the electromagnet 1201 is powered on, the metal sheet may be attracted, so as to fix the relative position of the third joint 403 and the battery pack 2.

Furthermore, the power supply device 18 is provided with an external power interface 1801 for connecting to a power grid, the power supply device 18 is connected to the electrical interface 701 of the charging connection male connector 7 through a cable 1302, and the power supply device 18 can control whether the charging circuit is turned on, and the current and voltage of the charging circuit to control the charging speed.

The working process of the autonomous charging system of the mobile robot provided by the embodiment is as follows:

s1: after the unmanned aerial vehicle 1 is stably stopped on the charging platform 3, the first push rod 10 and the second push rod 11 in the homing fixing mechanism push the unmanned aerial vehicle 1 to move to a preset position and clamp the unmanned aerial vehicle 1 fixedly. The method specifically comprises the following steps: the first push rod 10 moves inwards firstly, and the first push rod 10 pushes the unmanned aerial vehicle 1 after contacting with a bracket of the unmanned aerial vehicle 1 so as to control the transverse direction and angle of the unmanned aerial vehicle 1; then the second push rod 11 moves inwards again, and the second push rod 11 pushes the unmanned aerial vehicle 1 after contacting with a bracket of the unmanned aerial vehicle 1 so as to control the longitudinal direction and angle of the unmanned aerial vehicle 1; finally the first 10 and second 11 push rods clamp the drone 1 in a fixed position.

S2: the identification module on the charging mechanical arm 4 identifies the identification mark on the unmanned aerial vehicle 1 and determines the position of the charging connection female seat 6 on the battery pack 2 of the unmanned aerial vehicle 1. The method specifically comprises the following steps: the location camera 9 catches the female seat 6 position of connection that charges of unmanned aerial vehicle 1.

S3: according to the identified position of the charging connection female seat 6, the charging mechanical arm 4 drives the charging connection male head 7 on the execution end of the charging mechanical arm to move towards the charging connection female seat 6 and be in butt joint with the charging connection male head.

S4: the air cooling device is started, and the driving gas flows through the battery pack 2 to cool.

S5: the power supply 18 is activated to charge the battery pack 2.

In step S3, the method can be further divided into:

s31: according to the identified position of the charging connection female socket 6, the charging mechanical arm 4 drives the execution end of the charging mechanical arm to align with the charging connection female socket. In this process, the positioning camera 9 monitors the connection process to continuously correct the position of the charging mechanical arm 4.

S32: the fixed part on the execution end of the charging mechanical arm 4 is driven to be connected and fixed with the unmanned aerial vehicle 1. The method specifically comprises the following steps: the electromagnet 1201 is electrified, the electromagnet 1201 attracts the metal sheet on the battery pack 2, and the electromagnetic gripper 12 is made to firmly attract the battery pack 2.

S33: the charging mechanical arm 4 drives the charging connection male head 7 on the execution end to extend forwards and butt against the charging connection female seat 8. The method specifically comprises the following steps: the fourth joint 404 of the charging mechanical arm 4 extends forward, so that the charging connection male head 7 is in butt joint with the charging connection female seat 6 to establish charging connection.

After the charging is finished, the external power supply device 18 cuts off the power supply, and the air cooling device is turned off; then, the fourth joint 404 of the charging mechanical arm 4 retracts, the connection between the charging connection male head 7 and the charging connection female seat 6 is disconnected, the electromagnet 1201 is powered off, and then the charging mechanical arm 4 returns; finally, the first push rod 10 and the second push rod 11 in the positioning mechanism are returned, and the position of the unmanned aerial vehicle 1 is not fixed any more.

This embodiment is through playback fixed establishment, can be with descending to the place of predetermineeing at the unmanned aerial vehicle 1 playback of charging platform 3 to through the location camera 9 based on identification technologies such as machine vision, the position information of the female seat 6 of charging connection on the battery package 2 of the unmanned aerial vehicle 1 of treating charging is initiatively sought, and the connection of charging is accomplished through charging mechanical arm 4. So, reduced the requirement to unmanned aerial vehicle 1 descending positioning accuracy, can also realize the charging connection under the condition that there is position error at unmanned aerial vehicle 1 shut down, reached the technical effect that the charging position required to hang down, the charging connection is high-efficient convenient, automatic charges.

This embodiment has enlarged the removal scope of the male head 7 of connection that charges through many joints arm, is applicable to more different unmanned aerial vehicle 1 who connects female seat 6 positions that charge, reaches the technological effect of enlarging the range of application, improving the connectability that charges.

Example 2

Referring to fig. 1 to 3, the time consumption of the normal charging process of the battery pack 2 is long, the work efficiency of the unmanned aerial vehicle 1 is reduced, and although the charging time can be reduced by the rapid high-rate charging, the temperature of the battery can be increased, and the safety problem caused by thermal runaway is brought because the heat dissipation is not good. In order to solve the above problem, the autonomous charging system of a mobile robot provided in this embodiment is additionally provided with an air cooling device for cooling the battery pack 2 during charging on the basis of embodiment 1.

The air cooling device cools down through driving gas flow through the battery pack 2 of the unmanned aerial vehicle 1. The gas device is provided with a gas cooling interface on the charging connection male head 7 and is used for being butted with a fluid interface 19 on the charging connection female seat 6. The air cooling interface includes an air inlet end and an air outlet end.

An air duct corresponding to the air cooling device is arranged in the battery pack 2, and a connection port of the air duct and the outside is a fluid interface 19 on the charging connection female seat 6. The air cooling device drives air cooling to flow through an air duct in the battery pack 2, and when the air flows in the air duct, the air can take away heat generated by the battery pack 2 during charging, so that the temperature of the battery pack 2 is reduced.

The air cooling device includes a temperature control portion 16 and an air cooling driving portion. The temperature control unit 16 is configured to adjust the temperature of the air flowing through the air duct in the battery pack 2 of the drone 1 so as to reach a predetermined temperature. This temperature need be less than the temperature when battery package 2 charges, and the heat in battery package 2 can be taken away through when the wind channel flows to gaseous like this, therefore under the general condition, temperature control device can be a heat sink. Specifically, the temperature control unit 16 may be a heat exchanger, a heat pump, a heating rod, or the like.

The air cooling driving part is used for driving air to flow through an air duct in the battery pack 2 of the unmanned aerial vehicle 1. In this embodiment, the air-cooling driving unit may specifically include the high-pressure air pump 14 and the vacuum pump 15, but it is also possible to provide only one of the high-pressure air pump 14 and the vacuum pump 15 in other implementations, or adopt other devices for the air-cooling driving unit, which is not limited in this regard. High compression pump 14 and the inlet end intercommunication on the public head 7 of charging connection for inject gas into battery package 2 of unmanned aerial vehicle 1. The vacuum pump 15 is connected with the end intercommunication of giving vent to anger on the public head 7 of charging for follow the battery package 2 suction gas of unmanned aerial vehicle 1.

In the autonomous charging system of the mobile robot according to this embodiment, the fluid interface 19 on the battery pack 2 is disposed on the charging connection female socket 6, and the air-cooling interface on the air-cooling device is disposed on the charging connection male connector 7, so that the charging connection male connector 7 is in butt joint with the charging connection female socket 6, and the air-cooling interface is in butt joint with the fluid interface 19 while the electrical connection is completed. Therefore, the temperature of the battery pack 2 can be reduced by the air cooling device while the battery pack 2 is charged. The problem of the cooling of battery package 2 is solved, then the autonomous charging system of mobile robot that this embodiment provided just can charge through the high-rate and realize the flash charging function.

Further, an external power interface 1801 is provided on the power supply device 18 for connecting to a power grid, and the power supply device 18 is connected to the electrical interface 701 on the charging connection male connector 7 through a cable 1302, so that the power supply device 18 can control whether the charging circuit is turned on, and the current and voltage of the charging circuit, and control the charging speed.

Further, all the control processes in the present embodiment may be controlled by one control section 17. The power supply unit 18, the air-cooling unit, and the control unit 17 may be provided in one air-cooled flash pack 5. The air-cooled flash package 5 is provided with a vent 501 for communicating with the atmosphere. The air pipe 1301 can be used to plan the air flow path in the air cooling device, and the cable 1302 connected to the power supply device 18 extends out of the air flash charging bag 5 and then is connected to the electrical interface 701 on the charging connector male 7. The air pipe and the cable 13 can be combined together and wrapped by soft materials such as a leather hose and the like, so that the protection effect is achieved.

Example 3

Referring to fig. 4, the fluid port 19 is disposed on the charging connection female seat 6, and when the battery pack 2 is not charged, if the shielding member is not disposed to shield the fluid port 19, small particles of dust, sand, etc. are likely to enter the battery pack 2 through the fluid port 19 (i.e., enter the air duct), which may cause adverse effects on the operation of the air cooling device during charging. Therefore, in the autonomous charging system of a mobile robot according to this embodiment, on the basis of embodiment 2, a valve plug 1901 is provided on the fluid interface 19 to solve the above problem.

A valve plug 1901 is arranged in the fluid connector 19 along the inflow and outflow direction, and is naturally closed or controlled to be closed at ordinary times, an elastic member 1902 is arranged at one end of the valve plug, and a boss 1903 is arranged at the other end of the valve plug 1901. When the fluid port 19 is disconnected, the valve plug 1901 is tightly attached to the inlet and outlet of the fluid port 19 under the action of the elastic member 1902; in the connected state of the fluid port 19, the valve plug 1901 is separated from the inlet and outlet of the fluid port 19 by fluid pressure or external force. When the charging connection male head 7 is in butt joint with the charging connection female seat 6, the air cooling interface is inserted into the fluid interface 19, and the valve plug 1901 can be naturally jacked up through the boss 1903; when the male head 7 of connection and the female seat 6 disconnection of connection that charges, fluid interface 19 is extracted to the air cooling interface, and valve stopper 1901 is closed the access & exit naturally by elastic component 1902, so, the break-make of realization gas circulation that can be very convenient, plug promptly, break promptly, pull promptly, improved the convenience of connection operation greatly, also greatly reduced the cost, also can prevent simultaneously that debris of small granule such as dust, grains of sand from getting into the wind channel in battery package 2 when battery package 2 does not charge.

Example 4

This embodiment provides a hangar including the autonomous charging system for a mobile robot according to any one of embodiments 1 to 3, so that the mobile robot can be autonomously charged when it is stably parked in the hangar.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, the changes are still within the scope of the present invention if they fall within the scope of the claims and their equivalents.

Claims

1. An autonomous charging system for a mobile robot, comprising:

2. The autonomous charging system of claim 1, further comprising an air cooling device, wherein the air cooling device is disposed on the charging connection male connector and has an air cooling interface for interfacing with a fluid interface of the charging connection female connector, and the air cooling device is configured to drive air to flow through a battery pack of the mobile robot for cooling.

3. The autonomous charging system of claim 2, wherein the air cooling device comprises an air cooling driving unit for driving air to flow through the battery pack of the mobile robot, and a temperature control unit for adjusting a temperature of the air flowing through the battery pack of the mobile robot.

4. The autonomous charging system of claim 3, wherein the air-cooling driving unit comprises a high-pressure air pump and/or a vacuum pump, and the air-cooling interface comprises an air inlet end and an air outlet end;

5. The autonomous charging system of a mobile robot according to claim 2, wherein the fluid ports are respectively provided with a valve plug along the inflow and outflow direction of the gas, one end of the valve plug is provided with an elastic member, and the other end of the valve plug is provided with a boss, wherein the valve plug is tightly attached to the inlet and the outlet of the fluid port by the elastic member in a disconnected state of the fluid port, and the valve plug is separated from the inlet and the outlet of the fluid port by a fluid pressure or an external force in a connected state of the fluid port.

6. The autonomous charging system of a mobile robot according to claim 1, wherein the homing fixing mechanism comprises a homing driving part, a pair of first push rods and a pair of second push rods, an included angle is formed between the first push rods and the second push rods, the first push rods and the second push rods are respectively connected with the charging platform in a sliding manner, and the homing driving part is used for respectively driving the first push rods and the second push rods to push the mobile robot to a designated position of the charging platform and clamp and fix the mobile robot.

7. The autonomous charging system of a mobile robot according to claim 1, wherein the charging robot arm has a horizontal degree of freedom of movement in a direction parallel to the charging platform and a vertical degree of freedom of movement in a direction perpendicular to the charging platform.

8. The autonomous charging system of a mobile robot according to claim 1, wherein the robot arm includes a base, a first joint, a second joint, a third joint, and a fourth joint;

9. The autonomous charging system of a mobile robot according to claim 1, wherein a fixing member is provided on the third joint of the charging robot arm, and the fixing member is configured to fix a relative position between the mobile robot and the third joint.

10. The autonomous charging system of a mobile robot according to claim 9, wherein said fixing member is an electromagnetic gripper, one end of said electromagnetic gripper is connected to said third joint, and the other end of said electromagnetic gripper is provided with an electromagnet.

11. An hangar comprising the autonomous charging system for a mobile robot according to any one of claims 1 to 10.