CN216981540U - Charging butt joint device and mobile robot - Google Patents

Abstract

The utility model discloses a charging docking device and a mobile robot, and belongs to the technical field of charging devices. This docking device charges includes: a housing; an electrode module including a charging electrode; the electrode module is movably connected with the shell; the sensing assembly comprises a trigger movably connected with the shell and a position sensor fixed relative to the shell; the trigger is arranged between the charging electrode and the position sensor; the position sensor is used for sensing a trigger signal when the trigger moves to a trigger position; and the elastic piece acts on the trigger. The mobile robot comprises a robot body and a charging base station, wherein the charging base station comprises the charging butt joint device. The charging butt joint device is convenient to assemble, reliable in overall structure, reasonable in part distribution and more compact in structure, and the elastic piece is simultaneously applied to resetting of the trigger and the charging electrode; the mobile robot has high charging reliability.

Description

Charging butt joint device and mobile robot

Technical Field

The utility model relates to the technical field of charging devices, in particular to a charging docking device and a mobile robot.

Background

The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, and is widely applied to the fields of industrial manufacturing, household appliances, security inspection, service and the like. In order to realize the normal operation of the robot, the robot needs to be charged.

In the related art, a charging docking device is configured on a charging base station such as a charging base station, the charging docking device is provided with a charging electrode, and a robot body is provided with an equipment electrode; when the robot body is charged, the equipment electrode contacts the charging electrode and presses the charging electrode inwards to trigger the switch of the charging butt joint device, so that the conduction of a charging circuit is realized, and the charging function is started.

However, the charging docking device in the related art has an unreliable structure, sometimes cannot reliably trigger a charging function, and internal components are distributed unreasonably, or waste space, or are difficult to assemble.

SUMMERY OF THE UTILITY MODEL

One of the purposes of the embodiment of the utility model is as follows: the charging butt joint device is high in reliability, compact in structure and convenient to assemble.

The second purpose of the embodiment of the utility model is: provided is a mobile robot having high charging reliability.

In order to achieve one of the purposes, the utility model adopts the following technical scheme:

a charging dock, comprising:

a housing;

an electrode module including a charging electrode; the electrode module is movably connected with the shell and can move between a first position and a second position relative to the shell; the sensing assembly comprises a trigger movably connected with the shell and a position sensor fixed relative to the shell; the trigger is arranged between the charging electrode and the position sensor; the trigger is movable relative to the housing between an initial position and a triggered position; the position sensor is used for sensing a trigger signal when the trigger (31) is located at the trigger position; when the electrode module moves to a second position, the trigger is driven to move to the trigger position; when the trigger moves to the initial position, the electrode module is driven to move to the first position;

an elastic member; the elastic force of the elastic piece acts on the trigger so that the trigger has a tendency to move towards the initial position.

In order to achieve the second purpose, the utility model adopts the following technical scheme:

a mobile robot is characterized by comprising a robot body and a charging base station, wherein the charging base station comprises the charging docking device in the technical scheme;

the robot body comprises an equipment electrode, when the equipment electrode is in butt joint with the charging electrode and the trigger moves to the triggering position, the robot body is electrically connected with the charging base station, and the charging base station supplies power to the robot body.

The utility model has the beneficial effects that: the charging butt joint device is convenient to assemble, reliable in structure and performance and capable of reducing the fault probability, the elastic piece is simultaneously applied to resetting of the trigger and the charging electrode, parts are reasonably distributed, and the structure is more compact; the mobile robot has high charging reliability.

Drawings

The utility model is explained in more detail below with reference to the figures and examples.

Fig. 1 is a schematic structural diagram of a charging docking device according to an embodiment of the present invention (in the drawing, an electrode module is located at a first position);

fig. 2 is a second schematic structural diagram of the charging docking device according to the embodiment of the present invention;

FIG. 3 is an enlarged view of portion A of FIG. 2 (with the trigger in the initial position);

fig. 4 is a schematic diagram of an internal structure of the charging docking device according to the embodiment of the present invention;

FIG. 5 is an enlarged view of the portion B of FIG. 4;

fig. 6 is a second schematic view of the internal structure of the charging docking device according to the embodiment of the present invention;

FIG. 7 is a schematic view of an angle structure of an electrode module according to an embodiment of the present invention;

FIG. 8 is a schematic structural view of an electrode module according to another embodiment of the present invention;

FIG. 9 is a schematic view of an angle of the mounting base according to the embodiment of the present invention;

fig. 10 is a schematic structural view of another angle of the mounting base according to the embodiment of the present invention.

In the figure: 10. a housing, 11, a base; 12. a mounting base; 121. a guide groove; 122. a first opening; 123. a second opening; 124. a third opening; 20. an electrode module; 21. a charging electrode; 22. an electrode fixing plate; 221. a plate body portion; 222. a pushing part; 223. a fitting portion; 2231. a guide hole; 23. a bull's eye bearing; 231. a table; 232. a universal ball; 31. a trigger; 311. a limiting screw; 3111. a limiting structure; 312. a trigger lever; 3121. a main rod body; 3122. a trigger block; 32. a position sensor; 321. a U-shaped groove; 40. an elastic member; 50. a guide shaft; 60. a light transmitting sheet; 70. an elastic cushion pad; 80. a circuit board; 90. an adapter plate.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, unless otherwise explicitly specified or limited, the terms "connected" and "fixed" are to be understood broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The utility model provides a charging docking device which is arranged in a charging base station such as a charging pile and is suitable for charging a robot body.

Referring to fig. 1 to 10, in an embodiment of the charging docking apparatus of the present invention, the charging docking apparatus is applied to a charging base station, and the charging docking apparatus includes a housing 10, an electrode module 20, an induction component, and an elastic component 40;

the housing 10 has an accommodating chamber therein;

the electrode module 20 includes a charging electrode 21; the electrode module 20 is movably connected with the housing 10, the electrode module 20 has a first position and a second position, and the electrode module 20 can move between the first position and the second position relative to the housing 10; the charging electrode 21 can be a copper electrode or the like, and the charging electrode 21 is mainly used for being butted with an equipment electrode of the robot body to realize the electric connection between the robot body and a charging base station; when the device electrode is butted with the charging electrode 21, the device electrode can push the electrode module 20 to move relative to the shell 10 so as to move from the first position to the second position;

the sensing assembly comprises a position sensor 32, and a trigger 31 arranged between the electrode module 20 and the position sensor 32; the trigger 31 is movably connected with the shell 10, and the position sensor 32 is connected with the shell 10 and is relatively fixed with the shell 10; the trigger 31 has an initial position and a trigger position, the trigger 31 being movable relative to the housing 10 to move between the initial position and the trigger position;

an elastic member 40 disposed between the housing 10 and the trigger 31, one end of which is connected to the housing 10 and the other end of which is connected to the trigger 31; wherein, the connection can be either abutting connection or connection; the elastic member 40 is configured to: the trigger 31 is acted on by the elastic force of the elastic member 40 so that the trigger 31 has a tendency to return to the initial position after being separated from the initial position. It should be noted that, the elastic element 40 is disposed between the housing 10 and the trigger 31, which means that the elastic element 40 is directly or indirectly connected to the trigger 31; the elastic force of the elastic member 40 acts on the trigger 31, and may be a direct action or an indirect action.

In this embodiment, when the charging docking apparatus is in an idle state, the idle state is a state of not docking with the robot body, the charging module 20 is located at the first position, and the trigger 31 is located at the initial position. When the charging docking device is in a charging use state, the robot body and the charging docking device are docked in place, the charging module 20 is located at the second position, the trigger 31 is located at the trigger position, and the charging function is started at the moment. After the charging is completed, the robot body leaves the charging docking device, and the charging module 20 and the trigger 31 are popped up and reset under the action of the elastic piece 40.

In this embodiment, the electrode module 20 and the trigger 31 are in linkage fit in the following manner: when the electrode module 20 moves to the second position, the trigger 31 is driven to move to the trigger position; when the trigger 31 moves to the initial position, the electrode module 20 is driven to move to the first position.

In this embodiment, when the charging module 20 is located at the first position, the charging electrode 21 extends out of the housing 10.

In other embodiments, the charging electrode 21 may be located inside the housing 10 when the charging module 20 is located at the first position.

The charging docking device of the embodiment and the process of docking and charging the robot body are as follows:

when the robot body needs to be charged, the equipment electrodes of the robot body are butted with the charging electrodes 21 of the charging butting device, namely, the two electrodes are in aligned contact, so that the two electrodes are electrically connected;

the device electrode pushes the charging electrode 21 to move towards the inside of the housing 10, so that the charging electrode 21 moves towards the direction approaching the position sensor 32 relative to the housing 10, and at this time, the device electrode 21 pushes the charging module 20 to move from the first position to the second position;

in the process that the charging electrode 21 moves towards the inside of the housing 10, the trigger 31 is pushed to move from the initial position to the trigger position, and the trigger 31 moves towards the direction close to the position sensor 32 under the driving of the charging electrode 21; wherein, the trigger 31 moves from the initial position to the trigger position, the elastic member 40 is compressed or stretched by the trigger 31, and the elastic member 40 accumulates elastic force;

when the trigger 31 moves to the trigger position, the position sensor 32 senses a first trigger signal, and the control module of the charging base station receives the trigger signal, controls the communication of the charging circuit and starts the charging function;

when the equipment is charged, the equipment leaves, and the electrode of the equipment is separated from the charging butt joint device;

the trigger 31 moves away from the trigger position in the direction away from the position sensor 32 under the action of the elastic force, and returns to the initial position; when the trigger 31 is separated from the trigger position, the position sensor 32 senses a second trigger signal, and the control system of the charging base station receives the switch signal to control the disconnection of the charging circuit and stop the charging function;

during the process of the trigger 31 moving from the trigger position to the trigger position, the trigger 31 is far away from the position sensor 32, and the trigger 31 pushes the electrode module 20 to move to a position far away from the position sensor 32, so as to drive the electrode module 20 to reset to the first position.

In the charging and docking device of the present invention, the trigger 31 is disposed between the electrode module 20 and the position sensor 32, and the elastic member 40 is engaged with the trigger 31, so that the trigger 31 is driven by the electrode module 20 to approach the position sensor 32 during charging and docking, and after the charging and docking is completed, the trigger 31 is reset by the elastic force, and the electrode module 20 is reset by the trigger 31.

According to the charging butt joint device, the electrode module 20 and the trigger 31 with different structures and functions can be respectively installed on the shell 10, so that the installation is convenient, the charging function can be reliably triggered during charging, and after the charging is completed, the trigger 31 and the charging electrode 21 can be smoothly reset; and, through the cooperation of electrode module 20 and trigger 31, the cooperation of trigger 31 and elastic component 40, elastic component 40 is applied to the reseing of trigger 31 and charging electrode 21 simultaneously, and the part distributes rationally, and reducible elastic component 40's quantity, overall structure is compacter, does benefit to and reduces the butt joint device volume that charges.

In an embodiment of the charging docking device of the present invention, the position sensor 32 is a proximity sensor, i.e. a proximity switch. A proximity switch is a switch that can signal an "action" when an object is in proximity to it for a set distance, and it does not need to be in direct contact with the object. The proximity sensor is adopted as the position sensor 32, response is fast, the technical problem of blocking faults when the contact sensor is used can be avoided, and reliable triggering of the trigger 31 to the position sensor 32 is ensured.

In the present embodiment, the position sensor 32 is a photoelectric sensor, specifically, a photoelectric proximity switch.

In other embodiments, the position sensor 32 may also be a capacitive sensor or the like.

As shown in fig. 2 and 3, in an embodiment, the position sensor 32 is a U-shaped photoelectric sensor, which is also called a U-shaped photoelectric switch or a slot-type photoelectric switch, and is an infrared sensing photoelectric sensor. U type photoelectric sensor is equipped with U type groove 321, and the both sides of U type groove 321 set up infrared emission pipe and infrared receiving tube respectively, inserts U type groove 321 when trigger 31, blocks the light path passageway between infrared emission pipe and the infrared receiving tube, triggers U type photoelectric switch response, and control module receives the intercommunication signal, and the control starts the function of charging, and when trigger 31 removed U type groove 321, control module received the signal that opens circuit, and the control stops the function of charging.

In other embodiments, the position sensor 32 may also be a non-U-shaped photoelectric sensor, and the photoelectric sensor includes a transmitting element and a receiving element, and when the trigger 31 moves between the transmitting element and the receiving element, the photoelectric sensor senses the in-position signal, and the control module starts the charging function.

In an embodiment of the charging docking device of the present invention, the housing 10 includes a mounting seat 12 and a base 11 connected to each other, and a mounting cavity is defined between the mounting seat 12 and the base 11; the electrode module 20, at least a part of the trigger 31 and the elastic element 40 are arranged in the mounting cavity, so that the electrode module 20 is protected by the shell 10, force transmission between the trigger 31 and the electrode module 20 is ensured, and the position sensor 32 is arranged on one side of the base 11, which is far away from the mounting cavity; the base 11 is provided with a first through hole through which the trigger 31 passes when the trigger 31 is located at the triggering position.

In this embodiment, the position sensor 32 is disposed outside the mounting cavity, so that the position sensor 32 is prevented from being damaged in the process of moving the electrode module 20, and the position sensor 32 and the circuit board 80 are conveniently electrically connected.

In one embodiment, to facilitate the installation of the elastic member 40 and ensure that the trigger 31 can be reliably reset under the action of the elastic force, the trigger 31 and the elastic member 40 are arranged as follows:

the trigger 31 includes a limiting structure 3111 and a trigger rod 312 connected with each other;

the limiting structure 3111 is arranged on one side of the base 11 away from the position sensor 32, that is, the limiting structure 3111 is arranged in the mounting cavity; in the radial direction of the trigger rod 312, the limiting structure 3111 protrudes relative to the trigger rod 312 to form a limiting surface at one side of the limiting structure 3111 close to the base 11; one end of the elastic member 40 abuts against the stopper surface, and the other end abuts against the base 11.

In this embodiment, the elastic member 40 is a spring, the spring is sleeved outside the trigger rod 312, and when the trigger 31 is driven by the electrode module 20 to move in the direction approaching the position sensor 32, the limiting surface presses the spring, and the spring is compressed and deformed along the stroke of the trigger rod 312 to accumulate the elastic force. Therefore, a spring deformation guide structure is not required to be specially arranged, and the whole structure is more compact.

In this embodiment, the limiting structure 3111 is not only used for cooperating with the elastic element 40, but also plays a role in limiting the trigger 31 from coming out of the installation cavity.

In another embodiment, the elastic member 40 may be provided on a side of the trigger 31 away from the base 11, and when the trigger 31 moves in a direction to approach the position sensor 32, the trigger 31 may stretch the elastic member 40.

In one embodiment, as shown in fig. 5 and 6, in order to facilitate the installation of the trigger 31 and the elastic member 40, the trigger 31 is configured as follows:

the trigger 31 includes a limit screw 311, the limit screw 311 includes a stud and a nut, the nut is a limit structure 3111, and the stud is in threaded connection with the trigger rod 312; in the radial direction of the trigger rod 312, the nut protrudes relative to the trigger rod 312, so that the side of the nut close to the base 11 forms a limiting surface.

Thus, when the trigger rod 312 is installed, the end of the trigger rod 312 can pass through the first through hole, the spring is sleeved outside the trigger rod 312, the limit screw 311 is in threaded connection with the trigger rod 312, the nut of the limit screw 311 limits the spring between the limit surface and the base 11, the installation of the elastic element 40 is completed, and the movable connection between the trigger 31 and the shell 10 is completed.

In this embodiment, the trigger rod 312 includes a main rod 3121 and a trigger block 3122, the trigger block 3122 is connected to an end of the main rod 3121 away from the limiting structure 3111; in the radial direction of the main rod 3121, the trigger block 3122 protrudes relative to the main rod 3121; the limit structure 3111 is located on one side of the base 11, and the trigger block 3122 and the position sensor 32 are located on the other side of the base 11.

By configuring the trigger block 3122 to protrude from the main lever 3121, the area or volume of the trigger block 3122 can be increased, and when the position sensor 32 is a photoelectric sensor, the sensitivity of the position sensor 32 can be improved. In addition, in this embodiment, the limiting structure 3111 and the trigger block 3122 at the opposite ends of the trigger 31 are configured to be not penetrated by the first through hole, so that the trigger 31 does not separate from the base 11 when moving along the axial direction of the first through hole, and the movable connection between the trigger 31 and the base 11 is realized.

In an embodiment of the charging docking apparatus of the present invention, in order to implement the installation and fixation of the charging electrode 21, the electrode module 20 includes an electrode fixing plate 22, and the charging electrode 21 is connected to the electrode fixing plate 22; the electrode fixing plate 22 is movably connected with the housing 10.

In this embodiment, the charging electrode 21 is fixed on the electrode fixing plate 22 by screws, and the positive and negative terminals are locked on the stud for fixing the charging electrode 21, so that the positive and negative terminals are electrically connected to the charging electrode 21, and the charging electrode 21 is electrically connected to the circuit by the positive and negative terminals.

In other embodiments, the positive and negative terminals of the charging electrode 21 may be mounted in other manners.

In other embodiments, the charging electrode 21 and the electrode fixing plate 22 may be connected by magnetic attraction, adhesion, or snap connection.

In one embodiment, as shown in fig. 4, 6 to 8, the electrode fixing plate 22 includes a plate body 221, a pushing portion 222 disposed at one end of the plate body 221 close to the base 11, and a matching portion 223 disposed at two opposite ends of the plate body in the horizontal direction; the pushing portion 222 is used for pushing against the trigger 31, and the matching portion 223 is used for movably connecting with the base 11 through the guiding structure. Specifically, as shown in fig. 6, the pushing portion 222 protrudes toward the base 11 relative to the plate body 221, the pushing portion 222 pushes the trigger 31 to move toward the proximity position sensor 32, that is, the trigger 31 is pushed to move toward the trigger position when the robot body is butted with the charging electrode 21; after the charging is completed, the trigger 31 pushes the electrode module 20 to move away from the position sensor 32, that is, pushes the electrode module 20 to move to the first position. By providing the pushing portion 222, the force transmission between the electrode module 20 and the trigger 31 can be ensured, and the volume of the electrode fixing plate 22 can be reduced, thereby saving material and reducing weight.

In other embodiments, the electrode module 20 may also be coupled to the trigger 31 by snapping, fixing, or applying magnetic force to the trigger 31, so as to realize the linkage between the electrode module 20 and the trigger 31. Specifically, as shown in fig. 4, 6 to 8, in order to realize the movable connection between the electrode module 20 and the housing 10, ensure the stability of the movement of the electrode module 20 relative to the housing 10, and ensure the reliable triggering of the charging function when the electrodes are docked, the charging docking device is configured as follows:

the matching part 223 is provided with a guide hole 2231, the charging docking device is provided with a guide shaft 50, the guide shaft 50 is connected with the base 11 and is relatively fixed, and the guide shaft 50 is inserted into the guide hole 2231; the electrode module 20 is movable with respect to the housing 10 under the guidance of the guide shaft 50 to approach or separate from the position sensor 32. The sliding connection of the electrode module 20 with the housing 10 is achieved by the cooperation of the guide shaft 50 and the guide hole 2231, and the electrode module 20 can reciprocate relative to the housing 10 along the axial direction of the guide shaft 50.

In an embodiment of the charging docking device of the present invention, in order to improve smooth sliding of the electrode module 20 in the mounting seat 12, a bull-eye bearing 23 is further disposed in the electrode module 20, specifically by:

the electrode module 20 includes an electrode fixing plate 22, and the charging electrode 21 is connected to the electrode fixing plate 22; the electrode fixing plate 22 is movably connected with the mounting seat 12; a ball 232 is provided between the electrode fixing plate 22 and the mounting base 12, and when the electrode fixing plate 22 moves relative to the mounting base 12, the ball 232 rolls. With this arrangement, when the electrode module 20 moves relative to the mount 12, the movement of the electrode module 20 is smoother.

In this embodiment, the electrode module 20 further includes a bull's eye bearing 23, the bull's eye bearing 23 includes a ball table 231 and a universal ball 232, the ball table 231 is connected with the electrode fixing plate 22, and the universal ball 232 abuts against the mounting base 12; when the electrode module 20 moves relative to the mount 12, the gimbaled ball 232 rotates.

In other embodiments, the bull's eye bearing 23 may also be mounted to the inner wall of the mounting block 12 proximate to the electrode fixing plate 22, as long as a sliding fit between the electrode fixing plate 22 and the mounting block 12 is achieved.

The specific structure of the bull eye bearing 23 is not described herein.

In this embodiment, the mounting seat 12 is provided with a partition to partition the mounting cavity into at least two groove portions to form a guide groove 121, the electrode module 20 is inserted into the guide groove 121, and the electrode module 20 can be guided by the guide groove 121, so that the electrode module 20 reliably pushes the trigger 31 to start the charging function in the electrode docking process.

In this embodiment, the opposite surfaces of the electrode fixing plate 22 are respectively fixed with the bull-eye bearings 23, so that the electrode fixing plate 22 can slide smoothly in the guide groove 121.

In one embodiment of the charging dock of the present invention, the charging dock is provided with two electrode modules 20.

In this embodiment, one end of the mounting base 12 away from the base 11 is provided with a first opening 122, a second opening 123 and a third opening 124;

the charging docking device is provided with two electrode modules 20, wherein a charging electrode 21 in one electrode module 20 extends out of the mounting cavity from the first opening 122 so as to be docked with the equipment electrode of the robot body, and a charging electrode 21 in the other electrode module 20 extends out of the mounting cavity from the third opening 124 so as to be docked with the equipment electrode of the robot body;

the charging butt joint device is also provided with an infrared element, and the infrared element is used for transmitting infrared light or receiving infrared light; an optical path channel is formed between the infrared element and the second opening 123, and the second opening 123 is used for infrared light to be emitted or emitted into the installation cavity.

The infrared element in the embodiment is used for positioning and correcting when the robot body is used for aligning the pile, and the infrared correlation element is arranged between the two electrode modules 20, so that the distance between the two electrode modules 20 is effectively utilized, the whole space is more compact, and the size is favorably reduced.

As shown in fig. 1, 9, and 10, in the present embodiment, the charging docking device further includes an infrared transparent sheet 60, the transparent sheet 60 covers the second opening 123 and is connected to the mounting base 12, and the transparent sheet 60 allows infrared light to pass through; through setting up light-transmitting sheet 60, both can prevent that outside foreign matter, steam from getting into the interfacing apparatus that charges, the inside electronic components's of protection interfacing apparatus reliable operation that charges plays the infrared emission received signal's of conduction effect simultaneously.

In one embodiment of the charging docking apparatus of the present invention, as shown in fig. 4 to 6, in order to protect the electrode module 20, an elastic buffer 70 is further included, and the elastic buffer 70 is disposed between the base 11 and the electrode module 20, so that the elastic buffer 70 is used to limit the position of the electrode fixing plate 22 moving towards the inside of the housing 10, and simultaneously prevent the electrode fixing plate 22 from impacting the base 11 when sliding rapidly, thereby preventing damage to components.

In this embodiment, the base 11 is adapted to receive a pushing force when the electrode fixing plate 22 compresses the elastic buffer pad 70.

In this embodiment, the elastic cushion 70 is a rubber cushion.

In other embodiments, the resilient cushion 70 may be a silicone cushion or the like.

In an embodiment of the charging docking apparatus of the present invention, the base 11 is a supporting metal plate.

In an embodiment of the charging docking device of the present invention, as shown in fig. 2 and fig. 3, the charging docking device includes a circuit board 80, the circuit board 80 is a PCB control motherboard, the position sensor 32 is fixed to the circuit board 80 and electrically connected to the circuit board 80, when the device electrode pushes the electrode module 20 towards the inside of the housing 10, the electrode module 20 pushes the trigger 31, the trigger 31 triggers the position sensor 32, and the PCB control motherboard starts a charging function.

In this embodiment, as shown in fig. 2, in order to save space, the circuit board 80 is disposed perpendicular to the base 11, the adapter plate 90 is disposed, the adapter plate 90 is bent to form a first plate portion and a second plate portion, the first plate portion is fixed to the base 11, the circuit board 80 is fixed to the second plate portion, and the circuit board 80 is perpendicular to the base 11 and fixed relative to the base 11.

The utility model also provides a mobile robot, which comprises a robot body and a charging base station, wherein the charging base station comprises the charging butt joint device in the scheme; the robot body is electrically connected with the charging base station body through the charging butt joint device and is powered by the charging base station body.

The robot body comprises an equipment electrode, and when the equipment electrode is butted with the charging electrode 21, the robot body is electrically connected with the charging base station; when the trigger 31 moves to the trigger position, the charging base station is used to charge the robot body.

The mobile robot may be, but is not limited to, a cleaning robot, a patrol robot, an AGV cart, etc.

In the description herein, it is to be understood that the terms "upper", "lower", "left", "right", and the like are used in an orientation or positional relationship based on that shown in the drawings, and are used for convenience of description and simplicity of operation only, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.

In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

Furthermore, it should be understood that although the present description is described in terms of embodiments, each embodiment does not necessarily include only a single embodiment, and such description is merely for clarity, and those skilled in the art should take the description as a whole, and the embodiments may be appropriately combined to form other embodiments as will be appreciated by those skilled in the art.

The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the present invention and should not be taken in any square form as limiting the scope of the utility model. Based on the explanation herein, those skilled in the art will be able to conceive of other embodiments of the square shape of the present invention without any inventive work, and such square shapes will fall within the scope of the present invention.

Claims (14)

1. A charging docking device, comprising:

a housing (10);

an electrode module (20) comprising a charging electrode (21); the electrode module (20) is movably connected with the shell (10), and the electrode module (20) can move between a first position and a second position relative to the shell (10);

the induction assembly comprises a trigger (31) movably connected with the shell (10) and a position sensor (32) fixed relative to the shell (10); the trigger (31) is arranged between the charging electrode (21) and the position sensor (32); the trigger (31) is movable relative to the housing (10) between an initial position and a triggered position; the position sensor (32) is used for sensing a trigger signal when the trigger (31) is located at the trigger position; when the electrode module (20) moves to the second position, the trigger (31) is driven to move to the trigger position; when the trigger (31) moves to the initial position, the electrode module (20) is driven to move to the first position;

an elastic member (40); the elastic force of the elastic member (40) acts on the trigger (31) to cause the trigger (31) to have a tendency to move toward the initial position.

2. The charging docking device according to claim 1, wherein an abutting portion (222) is provided at one end of the electrode module (20) close to the position sensor (32); the pushing part (222) is abutted with one end of the trigger (31) far away from the position sensor (32).

3. The charging dock of claim 1, wherein the position sensor (32) is a U-shaped photosensor; the U-shaped photoelectric sensor comprises a U-shaped groove (321), and when the trigger (31) is inserted into the U-shaped groove (321), the trigger (31) moves to the triggering position.

4. The charging dock of claim 1, wherein the housing (10) comprises a mounting base (12) and a base (11) connected to each other, and a mounting cavity is defined between the mounting base (12) and the base (11); the electrode module (20), at least one part of the trigger (31) and the elastic piece (40) are arranged in the mounting cavity, and the position sensor (32) is arranged on one side of the base (11) facing away from the mounting cavity; the base (11) is provided with a first through hole, and when the trigger (31) is located at the trigger position, the trigger (31) penetrates through the first through hole.

5. The charging dock of claim 4, wherein the trigger (31) comprises a stop structure (3111) and a trigger lever (312) connected to each other;

the limiting structure (3111) is arranged in the mounting cavity; in the radial direction of the trigger rod (312), the limiting structure (3111) protrudes relative to the trigger rod (312), and one side of the limiting structure (3111) close to the base (11) is provided with a limiting surface; one end of the elastic piece (40) is abutted against the limiting surface, and the other end of the elastic piece is abutted against the base (11).

6. The charging dock of claim 5, wherein the trigger (31) comprises a limit screw (311), the limit screw (311) comprising a stud and a nut, the stud being in threaded connection with the trigger rod (312), the nut being the limit structure (3111);

in the radial direction of the trigger rod (312), the nut protrudes relative to the trigger rod (312), so that one side of the nut, which is close to the base (11), forms a limiting surface.

7. The charging docking device of claim 5, wherein the trigger lever (312) comprises a main lever body (3121) and a trigger block (3122), the trigger block (3122) is connected to an end of the main lever body (3121) facing away from the limit structure (3111); -in the radial direction of the main rod body (3121), the trigger block (3122) protrudes with respect to the main rod body (3121); the limiting structure (3111) and the trigger block (3122) are respectively located on two opposite sides of the base (11).

8. The charging docking device according to claim 4, characterized in that the electrode module (20) comprises an electrode fixing plate (22), the charging electrode (21) being connected with the electrode fixing plate (22); the electrode fixing plate (22) is provided with a guide hole (2231), the charging butt joint device comprises a guide shaft (50), the guide shaft (50) is connected with the base (11), and the guide shaft (50) is inserted into the guide hole (2231); the electrode module (20) is movable relative to the housing (10) guided by the guide shaft (50) to approach or move away from the position sensor (32).

9. The charging docking device according to claim 4, characterized in that the electrode module (20) comprises an electrode fixing plate (22), the charging electrode (21) being connected with the electrode fixing plate (22); the electrode fixing plate (22) is movably connected with the mounting seat (12); the charging docking device comprises a bull's eye bearing (23), wherein the bull's eye bearing (23) comprises a ball table (231) and a universal ball (232);

the ball table (231) is connected with the electrode fixing plate (22), and the universal ball (232) is abutted against the mounting seat (12); or, the ball table (231) is connected with the mounting seat (12), and the universal ball (232) is abutted against the electrode fixing plate (22);

when the electrode module (20) moves relative to the mounting seat (12), the universal ball (232) rotates.

10. The charging docking device according to claim 4, wherein a first opening (122), a second opening (123) and a third opening (124) are sequentially arranged at one end of the mounting seat (12) facing away from the base (11);

the charging docking device is provided with two electrode modules (20), the charging electrode (21) of one electrode module (20) is docked with the equipment electrode of the equipment to be charged through the first opening (122), and the charging electrode (21) of the other electrode module (20) is docked with the equipment electrode of the equipment to be charged through the third opening (124);

the charging butt joint device further comprises an infrared element arranged between the two electrode modules (20), and a light path channel is formed between the infrared element and the second opening (123).

11. The charging dock of claim 10, further comprising a light transmissive sheet (60), the light transmissive sheet (60) covering the second opening (123) and being connected to the mount (12).

12. The charging docking device according to claim 4, characterized by comprising an elastic buffer (70) connected with the base (11), the elastic buffer (70) being provided between the electrode module (20) and the base (11).

13. The charging dock of claim 5, further comprising a circuit board (80), the circuit board (80) being connected to the base (11), the position sensor (32) being electrically connected to the circuit board (80).

14. A mobile robot, comprising a robot body and a charging base station, wherein the charging base station comprises the charging docking device according to any one of claims 1 to 13;

the robot body comprises a device electrode, when the device electrode is in butt joint with the charging electrode (21) and the trigger (31) moves to the trigger position, the robot body is electrically connected with the charging base station, and the charging base station supplies power to the robot body.

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