CN217387729U

CN217387729U - Magnetic charging device, magnetic charging seat, robot and robot system

Info

Publication number: CN217387729U
Application number: CN202220461624.3U
Authority: CN
Inventors: 金儒彬; 李国辉; 周泳闯; 姜新桥; 孙荣孟
Original assignee: Zhuhai 1 Micro Robot Technology Co ltd
Current assignee: Zhuhai 1 Micro Robot Technology Co ltd
Priority date: 2022-03-04
Filing date: 2022-03-04
Publication date: 2022-09-06
Anticipated expiration: 2032-03-04

Abstract

The utility model discloses a magnetism is inhaled charging device, is inhaled charging seat, robot and robot system to magnetism, magnetism is inhaled charging device and is included mount pad, reset component and magnetism and inhale the charging component, magnetism is inhaled charging component one end and is movably connected with the mount pad, reset component respectively with mount pad and magnetism inhale charging component machinery and link to each other; the mounting seat is used for placing a magnetic attraction charging component; the magnetic attraction charging component swings with the joint with the mounting seat as a base point under the action of magnetic force; the reset component is used for enabling the magnetic attraction charging component which is swung and is not under the action of magnetic force to return to the initial position. Magnetism is inhaled charging device's magnetism and is inhaled head and have and can move movable structure, magnetism is inhaled charging head and can be inhaled the position of the interface that charges according to robot magnetism and carry out position adjustment under the effect of magnetic force to accomplish and charge, prevent that the robot from because of returning the seat gesture is unsatisfactory, can't charge.

Description

Magnetic charging device, magnetic charging seat, robot and robot system

Technical Field

The utility model relates to an intelligent robot technical field, concretely relates to charging seat, robot and robot system are inhaled to magnetism and inhale charging device, magnetism.

Background

But the use of present indoor robot of autonomous movement such as machine of sweeping the floor and pet machine is more and more extensive, and the machine is also towards being more and less, integrates the higher trend of degree and goes to develop, along with the miniaturization of machine, traditional charging seat is owing to need two contacts, and the mobile robot who no longer is applicable to the miniaturization charges, so more and more charging seat adopts a contact to supply power for mobile robot. When the charging seat adopts one contact to supply power to the mobile robot, if the seat returning posture of the mobile robot is not ideal, the charging interface of the mobile robot can be in poor contact with the charging contact for charging, and the charging cannot be carried out.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model provides a charging device is inhaled to magnetism, charging seat is inhaled to magnetism, robot and robot system, and the magnetism of charging seat is inhaled the magnetism of charging seat and is inhaled charging head and have and can remove the structure, and the magnetism of charging seat is inhaled the magnetism of charging head and can inhale the position that charges the interface according to the robot magnetism and carry out the position adjustment under the effect of magnetic force to accomplish and charge, prevent that the robot is unsatisfactory because of the appearance of returning the seat, can't charge. The utility model discloses a concrete technical scheme as follows:

a magnetic attraction charging device comprises a mounting seat, a resetting member and a magnetic attraction charging member, wherein one end of the magnetic attraction charging member is movably connected with the mounting seat, and the resetting member is mechanically connected with the mounting seat and the magnetic attraction charging member respectively; the mounting seat is used for placing a magnetic attraction charging component; the magnetic attraction charging component swings with the joint with the mounting seat as a base point under the action of magnetic force; the reset component is used for enabling the magnetic attraction charging component which is swung and is not under the action of magnetic force to return to the initial position.

Further, magnetism is inhaled the component that charges and is inhaled head and the first support that charges including magnetism, the front end of the first support that charges is equipped with the pipe, magnetism is inhaled the fixed setting of head that charges in the pipe.

Furthermore, the top and the bottom of the rear end of the charging head support are provided with rotating columns, the mounting seat is provided with round holes corresponding to the rotating columns, and the charging head support is movably arranged on the mounting seat through the rotating columns and the round holes, so that the magnetic charging head in the round tube can swing left and right relative to the rotating columns.

Further, the reset component is a torsion spring, a fixing column is arranged on the mounting seat, the torsion spring is sleeved on the fixing column, grooves are formed in two ends of the charging head support, and the top end of the rotating arm of the torsion spring is arranged in the grooves respectively.

Further, the reset component is a torsion spring of two single rotating arms, two symmetrically arranged fixing columns are arranged on the mounting seat, the torsion springs of the two single rotating arms are respectively sleeved on the fixing columns, grooves are formed in two ends of the charging head support, and the top ends of the rotating arms of the torsion springs of the two single rotating arms are respectively arranged in the grooves in two ends of the charging head support.

Further, the mount pad still includes torsional spring gland, torsional spring gland includes sleeve pipe, roof and curb plate, the vertical setting of sleeve pipe, the roof sets up at the sheathed tube top, the vertical setting of curb plate and a side are fixed continuous with the roof, torsional spring gland passes through the sleeve pipe cover and establishes on the fixed column, makes the torsional spring locked in the fixed column, torsional spring gland passes through the buckle and is fixed with the mount pad.

Furthermore, two limiting pieces are arranged between the rotating arms of the torsion springs and are symmetrically arranged, so that the rotating arms of the torsion springs are attached to the widest side faces of the limiting pieces after deflecting by a set angle.

Further, the left side and the right side of the rear end of the charging head support are provided with rotating columns, the mounting seat is provided with round holes corresponding to the rotating columns, the charging head support is movably arranged on the mounting seat through the rotating columns and the round holes, and the magnetic charging head in the round tube can swing up and down relative to the rotating columns.

Further, magnetism is inhaled and is charged head includes that single contact magnetism inhales charging head, cylindrical installation pipe and circular stopper, and cylindrical installation pipe and circular stopper overlap the setting with the centre of a circle, single contact magnetism is inhaled charging head and is set up in cylindrical installation pipe.

Furthermore, fixed arms are arranged at two ends of the mounting seat, and screw holes are formed in the fixed arms.

A charging seat is inhaled to magnetism, charging seat is inhaled to magnetism includes foretell charging device is inhaled to magnetism.

Further, the surface of the charging seat is provided with a guide groove, and the circular tube of the charging head support is arranged in the guide groove, so that the charging head is arranged outside the charging seat.

Further, be equipped with the arc stopper on the head support charges, the arc stopper sets up the rear and the cambered surface of the pipe of the head support that charges outwards.

A robot comprises the magnetic attraction charging device.

The utility model provides a robot system, robot system includes that the charging seat is inhaled to robot and foretell magnetism, be equipped with on the robot with the charging interface is inhaled to magnetism that the charging head assorted magnetism that charges is inhaled to magnetism of the charging seat is inhaled.

Compared with the prior art, the beneficial effects of the utility model reside in that: the magnetic charging device of the charging seat is provided with the movable magnetic charging head, and even under the condition that the robot is not ideal in the sitting-back posture, the magnetic charging head of the charging seat can adjust the position according to the position of the magnetic charging interface of the robot under the action of magnetic force, so that charging is completed, and the robot is prevented from being incapable of being charged due to the unsatisfactory sitting-back posture; the charging mode of the magnetic charging head is single-point contact charging, the requirements on motion control complexity and precision are low, and the magnetic charging head is magnetic originally, so that the success rate and the stability of charging are greatly improved; the charging seat does not need a slope or a guide rail to guide the robot, so that the structure of the charging seat is simpler, and the production cost is reduced.

Drawings

Fig. 1 is an exploded view of a magnetic charging device according to an embodiment of the present invention;

fig. 2 is a schematic cross-sectional view of a magnetic charging device according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a magnetic charging seat according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout.

In the description of the present invention, it should be noted that, for the orientation words, if there are terms such as "center", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., the orientation and positional relationship indicated are based on the orientation or positional relationship shown in the drawings, and only for the convenience of describing the present invention and simplifying the description, it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and not be construed as limiting the specific scope of the present invention.

Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, the definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the features, and in the description of the invention, "at least" means one or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "assembled", "connected", and "connected", if any, are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; or may be a mechanical connection; the two elements can be directly connected or connected through an intermediate medium, and the two elements can be communicated with each other. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.

In the present application, unless otherwise specified and limited, "a first feature" on "or" under "a second feature may include the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact through another feature therebetween. Also, the first feature being "above," "below," and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply an elevation which indicates a level of the first feature being higher than an elevation of the second feature. The first feature being "above", "below" and "beneath" the second feature includes the first feature being directly below or obliquely below the second feature, or merely means that the first feature is at a lower level than the second feature.

The technical solution and the advantages of the present invention will be more clear and clear by further describing the embodiments of the present invention with reference to the drawings of the specification. The embodiments described below are exemplary and are intended to be illustrative of the present invention, but should not be construed as limiting the invention.

Referring to fig. 1, a magnetic attraction charging device includes a mounting base 1, a resetting member and a magnetic attraction charging member, one end of the magnetic attraction charging member is movably connected with the mounting base 1, and the resetting member is mechanically connected with the mounting base 1 and the magnetic attraction charging member respectively; the mounting seat 1 is used for placing a magnetic charging component; the magnetic attraction charging component swings with the connecting part of the magnetic attraction charging component and the mounting seat 1 as a base point under the action of magnetic force; the reset component is used for enabling the magnetic attraction charging component which is swung and is not under the action of magnetic force to return to the initial position. A placing cavity is arranged in the mounting seat 1, the resetting component is arranged in the placing cavity, and the magnetic charging component is arranged at an outlet of the placing cavity. The utility model provides a charging device is inhaled to magnetism of charging seat has magnetism that can remove and inhales charging head 2, even if under the unsatisfactory condition of robot recoil seat attitude, the magnetism of charging seat is inhaled charging head 2 and also can be according to the position of robot magnetism interface that charges, under the effect of magnetic force, adjusts the position to accomplish and charge, prevent that the robot from because of the unsatisfactory condition of recoil seat attitude, can't charge.

As one of the embodiments, the magnetism is inhaled the component that charges and is inhaled first 2 and the head support that charges 3 including magnetism, the front end of the head support that charges 3 is equipped with pipe 4, magnetism is inhaled and is charged first 2 fixed settings in pipe 4. When the magnetic charging head 2 is fixed in the circular tube 4, the charging contact of the magnetic charging head 2 is positioned at the foremost end of the charging head bracket 3. The magnetic charging device is convenient for charging the robot.

As one of the embodiments, the top and the bottom of the rear end of the charging head support 3 are provided with rotating columns 5, the mounting base 1 is provided with round holes 6 corresponding to the rotating columns 5, and the charging head support 3 is movably arranged on the mounting base 1 through the rotating columns 5 and the round holes 6, so that the magnetic charging head 2 in the round tube 4 can swing left and right relative to the rotating columns 5. When the round hole 6 is sleeved on the rotating column 5, the rotating column 5 can be used as a base point of the swinging structure, so that the swinging structure of the charging head bracket 3 can be realized, and the magnetic-suction charging head 2 also has the function of swinging left and right. Also can be according to actual demand, adjust 5 positions of the rotation post of the head support that charges 3 and 6 positions of the round hole of mount pad 1, it is the swing that the head support that charges 3 realized different angles.

As one embodiment, the reset component is a torsion spring 7, a fixing column 11 is arranged on the mounting seat 1, the torsion spring 7 is sleeved on the fixing column 11, grooves 9 are arranged at two ends of the charging head support 3, and the top ends of rotating arms 8 of the torsion spring 7 are respectively arranged in the grooves 9. When the magnetic charging head 2 moves to one side under the action of magnetic force, the magnetic charging head 2 drives the charging head support 3 to move to the same side, and at the same time, the charging head support 3 applies pressure to the rotating arm 8 of the torsion spring 7, so that the rotating arm 8 of the torsion spring 7 also deflects to the same side. When the magnetic force on the magnetic charging head 2 disappears, the rotating arm 8 of the torsion spring 7 will return to the original position under the action of elasticity, and at this time, the magnetic charging head 2 and the charging head bracket 3 will be driven to return to the original position. The reset component can also be an expansion spring or an elastic rubber rope, two expansion springs or two rubber ropes replace a rotating arm 8 of the torsion spring 7, two ends of each expansion spring or two rubber ropes are respectively connected with the charging head support 3 and the mounting seat 1, when the charging head support 3 moves towards one side under the action of magnetic force, the expansion spring or the rubber rope on the opposite side can be stretched, and after the magnetic force disappears, the stretched expansion spring or the rubber rope can drive the charging head support 3 to restore to the original position under the action of elastic potential energy of the stretched expansion spring or the stretched rubber rope. Under the effect of the elastic potential energy of torsional spring 7, inhale the magnetism after the swing and charge head 2 and resume original position automatically, simple structure, the practicality is great, and magnetism is inhaled and is charged head 2 and resume original position, and the robot of being convenient for and magnetism inhale charging device's butt joint once more.

As an embodiment, the reset component is a torsion spring with two single rotating arms, two symmetrically arranged fixed columns are arranged on the mounting seat, the torsion springs of the two single rotating arms are respectively sleeved on the fixed columns, two ends of the charging head bracket 3 are provided with grooves 9, and the top ends of the rotating arms of the torsion springs of the two single rotating arms are respectively arranged in the grooves at two ends of the charging head bracket 3. Two normal torsion springs, namely, torsion springs with double rotating arms, can also be adopted, the two torsion springs are horizontally arranged, the rotating arm of the torsion spring positioned in the middle is respectively connected with the groove 9, and the rotating arm of the torsion spring positioned on the outer side is fixed with the charging head bracket 3, so that the torsion force is increased.

As one of the embodiments, the mounting seat 1 further includes a torsion spring gland 10, the torsion spring gland 10 includes a sleeve 17, a top plate 18 and a side plate 19, the sleeve 17 is vertically disposed, the top plate 18 is disposed on the top of the sleeve 17, the side plate 19 is vertically disposed, one side edge of the side plate 19 is fixedly connected to the top plate 18, a buckle 20 is disposed at the lower end of the side plate 19, and the sleeve 17, the top plate 18 and the side plate 19 are of an integrated structure. Torsional spring gland 10 establishes on fixed column 11 through sleeve pipe 17 cover, makes torsional spring 7 locked in fixed column 11, be equipped with buckle 20 on the torsional spring gland 10, be equipped with on mount pad 1 with buckle 20 matched with structure, torsional spring gland 10 from last down establishes sleeve pipe 17 cover on fixed column 11, then after roof 18 and mount pad 1's top laminating, buckle 20 combines with buckle 20 matched with structure on 1 to it is fixed with mount pad 1 to make torsional spring gland 10. Through buckle 20 with torsional spring gland 10 fixed with mount pad 1, can dismantle torsional spring gland 10 fast, more conveniently change torsional spring 7 in the mount pad 1.

As one embodiment, two limiting pieces 12 are arranged between the rotating arms 8 of the torsion spring 7, the limiting pieces 12 are symmetrically arranged, when the rotating arm 8 of the torsion spring 7 deflects by a set angle, the deflected rotating arm 8 will be attached to the widest side surface of the limiting piece 12, that is, the rotating arm 8 of the torsion spring 7 is limited, and the rotating arm 8 of the torsion spring 7 is also protected, so that the rotating arm 8 of the torsion spring 7 is prevented from being damaged due to a smaller force-bearing area of the rotating arm 8 of the torsion spring 7.

As one of the embodiments, the left side and the right side of the rear end of the charging head support 3 are provided with rotating columns, the mounting seat is provided with round holes corresponding to the rotating columns, and the charging head support is movably arranged on the mounting seat through the rotating columns and the round holes, so that the magnetic charging head in the round tube can swing up and down relative to the rotating columns. The magnetic attraction charging head is the same as the magnetic attraction charging head in the reset structure of the magnetic attraction charging head in the horizontal swinging mode relative to the rotating column, and only the positions of the torsion spring, the fixing column and the limiting piece are correspondingly changed.

As one embodiment, the magnetic charging head 2 is a single-contact magnetic charging head 2. The single-contact magnetic charging head 2 is circular, and is provided with an annular magnet wrapping a charging terminal in the middle. Magnetism is inhaled first 2 and is included cylindrical installation pipe and circular stopper, and the diameter of the cylindrical installation pipe of diameter ratio of circular stopper is big, and both overlap the setting with the centre of a circle, and cylindrical installation pipe is used for placing single contact magnetism and inhales charging head 2, sets up in charging head support 3's pipe 4, and circular stopper is arranged in preventing that cylindrical installation pipe from falling out from charging head support 3's pipe 4. Magnetism is inhaled charging mode of charging head 2 and is filled for the single-point contact, and is lower to motion control complexity and required precision, and magnetism is inhaled charging head 2 and has magnetism originally, very big improvement the success rate and the stability of charging.

As one embodiment, two ends of the mounting base 1 are provided with fixing arms 13, and the fixing arms 13 are provided with screw holes. The fixed arm 13 is integrally arranged with the mounting seat 1, so that the mounting seat 1 can be conveniently fixed on an external device.

A charging seat 16 is magnetically attracted, and the charging seat 16 includes the above charging device. The magnetic charging stand 16 further includes a power adapter module, which is respectively connected to the household power supply and the magnetic charging device, and is used for converting the household power supply into a power supply with a corresponding voltage, and supplying power to the robot through the magnetic charging device. The connection mode of the power adapter module and the magnetic suction charging device can be that the output power wire of the power adapter module enters the charging head support 3 in the gap between the charging head support 3 and the mounting seat 1 and is connected with the magnetic suction charging head 2. Or an opening is arranged on the side surface of the charging head support 3, and an output power supply wire of the power adapter module enters the charging head support 3 from the opening to be connected with the magnetic charging head 2.

As an embodiment, the magnetic attraction charging seat 16 has a guide slot 14 on its surface, and the circular tube 4 of the charging head support 3 is disposed in the guide slot 14, so that the magnetic attraction charging head 2 is located outside the charging seat. The magnetic charging head 2 swings in the guide groove 14 under the action of magnetic force. The guide slot can be the oval that the level was placed, also can be the oval that vertically placed, and magnetism is inhaled charging head 2 and can be controlled or reciprocate in oval guide slot. When the magnetic attraction charging head moves up and down in the guide groove, the magnetic attraction charging head can swing up and down relative to the rotating column, and the magnetic attraction charging head can swing left and right relative to the rotating column by 90 degrees.

As one of the embodiments, the charging head bracket 3 is provided with an arc-shaped limiting block 15, and the arc-shaped limiting block 15 is arranged behind the circular tube 4 of the charging head bracket 3 and the arc surface faces outwards. The arc-shaped limiting block 15 is mainly used for placing the magnetic attraction charging component to fall out of the charging seat. In addition, when the magnetic charging member swings, the arc surface of the arc-shaped limiting block 15 is attached to the inner wall of the housing of the charging stand, so that the magnetic charging member swings more easily.

The utility model provides a robot, this robot is equipped with foretell magnetism and inhales charging device, is equipped with the guide slot that the pipe that is used for charging head support removed on the watchcase of robot, and the working method that charging device was inhaled to magnetism on the robot is the same with the working method on the charging seat, and when the robot returned the seat, only need forward or backward rectilinear movement at the robot, and the charging head that charging device was inhaled to magnetism can swing under the effect of magnetic force, docks with the charging seat and charges.

The utility model provides a robot system, robot system includes that charging seat 16 is inhaled to robot and foretell magnetism, be equipped with on the robot with charging seat 16 is inhaled to magnetism of inhaling magnetism of charging head 2 assorted magnetism and inhale the interface that charges to magnetism. The robot is when going back the seat, inhale the interface that charges and inhale the magnetism of charging seat 16 and inhale the distance of charging head 2 when setting for the distance when the magnetism of robot, inhale the magnetism of charging seat 16 and inhale charging head 2 and under the effect of magnetic force, in guide slot 14, swing to corresponding one side, inhale the interface alignment that charges with the magnetism of robot, make the robot back a seat in-process, only need follow sharp action, do not need angle regulation, inhale charging seat 16 back at the robot is inhaled to magnetism, the magnetism of robot is inhaled interface that charges and is inhaled the magnetism of charging seat 16 and inhale the magnetism of charging head 16 and inhale under the effect of magnetic force, the laminating, at this moment, it begins to supply power for the robot to inhale charging seat 16. The interface that charges is inhaled to magnetism of robot more easily with inhale the mobilizable magnetism of charging seat 16 and inhale head 2 that charges and dock to reduce and inhale the charging seat 16 of inhaling and carry out the degree of difficulty of supplying power for the robot. The robot is a mobile robot, and can be a pet robot, a cleaning robot, a patrol robot and the like.

In the description of the specification, references to the description of "one embodiment," "preferably," "an example," "a specific example" or "some examples" 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 invention, and the schematic representation of the term in this specification does not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The connection mode connected in the description of the specification has obvious effects and practical effectiveness.

With the above structure and principle in mind, those skilled in the art should understand that the present invention is not limited to the above embodiments, and all modifications and substitutions based on the present invention and adopting the known technology in the art are within the scope of the present invention, which should be limited by the claims.

Claims

1. A magnetic attraction charging device is characterized by comprising a mounting seat, a resetting member and a magnetic attraction charging member, wherein one end of the magnetic attraction charging member is movably connected with the mounting seat, and the resetting member is mechanically connected with the mounting seat and the magnetic attraction charging member respectively;

the mounting seat is used for placing a magnetic attraction charging component;

the magnetic attraction charging component swings with the joint with the mounting seat as a base point under the action of magnetic force;

the reset component is used for enabling the magnetic attraction charging component which is swung and is not under the action of magnetic force to return to the initial position.

2. The magnetic charging device according to claim 1, wherein the magnetic charging member comprises a magnetic charging head and a charging head support, the front end of the charging head support is provided with a circular tube, and the magnetic charging head is fixedly arranged in the circular tube.

3. The magnetic attraction charging device according to claim 2, wherein the top and bottom of the rear end of the charging head support are provided with rotating posts, the mounting base is provided with round holes corresponding to the rotating posts, and the charging head support is movably arranged on the mounting base through the rotating posts and the round holes, so that the magnetic attraction charging head in the round tube can swing left and right relative to the rotating posts.

4. The magnetic charging device according to claim 3, wherein the reset member is a torsion spring, the mounting seat is provided with a fixing post, the torsion spring is sleeved on the fixing post, two ends of the charging head bracket are provided with grooves, and top ends of rotating arms of the torsion spring are respectively arranged in the grooves.

5. The magnetic charging device according to claim 3, wherein the reset component is two single-rotating-arm torsion springs, the mounting base is provided with two symmetrically arranged fixing posts, the torsion springs of the two single-rotating-arm torsion springs are respectively sleeved on the fixing posts, the two ends of the charging head bracket are provided with grooves, and the top ends of the rotating arms of the torsion springs of the two single-rotating-arm torsion springs are respectively arranged in the grooves at the two ends of the charging head bracket.

6. The magnetic charging device according to claim 4 or 5, wherein the mounting seat further comprises a torsion spring gland, the torsion spring gland comprises a sleeve, a top plate and a side plate, the sleeve is vertically arranged, the top plate is arranged at the top of the sleeve, the side plate is vertically arranged, one side of the side plate is fixedly connected with the top plate, the torsion spring gland is sleeved on a fixed column through the sleeve, so that the torsion spring is locked in the fixed column, and the torsion spring gland is fixed with the mounting seat through a buckle.

7. A magnetic charging device according to claim 4 or 5, wherein two limiting pieces are arranged between the rotating arms of the torsion spring, and the limiting pieces are symmetrically arranged, so that after the rotating arms of the torsion spring deflect by a set angle, the deflected rotating arms are attached to the widest side surfaces of the limiting pieces.

8. The magnetic attraction charging device according to claim 2, wherein the charging head support is provided with a rotating column on the left and right sides of the rear end thereof, the mounting base is provided with a circular hole corresponding to the rotating column, and the charging head support is movably arranged on the mounting base through the rotating column and the circular hole, so that the magnetic attraction charging head in the circular tube can swing up and down relative to the rotating column.

9. The magnetic charging device according to claim 2, wherein the magnetic charging head comprises a single-contact magnetic charging head, a cylindrical mounting tube and a circular limiting block, the cylindrical mounting tube and the circular limiting block are concentrically overlapped, and the single-contact magnetic charging head is arranged in the cylindrical mounting tube.

10. The magnetic charging device according to claim 1, wherein the mounting base has fixing arms at both ends thereof, and the fixing arms have screw holes.

11. A magnetic charging seat, wherein the magnetic charging seat comprises the magnetic charging device of any one of claims 1 to 10, the magnetic charging device comprises a mounting seat, a reset member and a magnetic charging member, the magnetic charging member comprises a magnetic charging head and a charging head support, a circular tube is arranged at the front end of the charging head support, and the magnetic charging head is fixedly arranged in the circular tube.

12. The magnetic charging seat according to claim 11, wherein the magnetic charging seat has a guiding groove on the surface, and the circular tube of the charging head holder is disposed in the guiding groove, so that the magnetic charging head is located outside the charging seat.

13. The charging seat is inhaled to magnetism of claim 12, wherein, be equipped with the arc stopper on the head support charges, the arc stopper sets up the rear and the cambered surface of the pipe of head support charges outwards.

14. A robot, characterized in that it comprises a magnetic charging device according to any one of claims 1 to 10.

15. A robot system, characterized in that, the robot system includes a robot and the magnetic charging seat of any one of claims 11 to 13, the robot is provided with a magnetic charging interface matching with the magnetic charging head of the magnetic charging seat.