CN218415880U

CN218415880U - Floating butt joint device, mobile robot and charger

Info

Publication number: CN218415880U
Application number: CN202222503233.6U
Authority: CN
Inventors: 张路; 周易乐; 胡青
Original assignee: Shanghai Xiangong Intelligent Technology Co ltd
Current assignee: Shanghai Xiangong Intelligent Technology Co ltd
Priority date: 2022-09-21
Filing date: 2022-09-21
Publication date: 2023-01-31
Anticipated expiration: 2032-09-21

Abstract

The utility model provides a floating butt joint device, mobile robot, charger, wherein should float the butt joint device and include: an interface member, a floating plug, wherein the floating plug comprises: sideslip mechanism, swing mechanism, expansion joint, wherein sideslip mechanism includes: base plate, horizontal elasticity restoring mechanism, swing mechanism includes: the device comprises a longitudinal swing arm mechanism and a mounting plate, wherein one side of the mounting plate is connected with a moving end of a transverse elastic restoring mechanism, a first end of the longitudinal swing arm mechanism is longitudinally hinged with a back plate of the mounting plate, and a second end of the longitudinal swing arm mechanism is connected with the tail end of an expansion joint; the interface piece is provided with a charging port for inserting the head end of the expansion joint into the interface piece to form matching connection. Thereby realizing multi-degree-of-freedom floating butt joint.

Description

Floating butt joint device, mobile robot and charger

Technical Field

The utility model relates to a joint technical field charges especially relates to a floating docking device, and uses mobile robot, charger of its structural scheme.

Background

The mobile robot is an unmanned transport vehicle which is provided with a position sensing device such as a laser or a camera, can plan a path to automatically run, and has safety protection and various transfer functions. The mobile robot adopts a rechargeable storage battery as a power source and can supplement power in an automatic charging mode. When the control system detects that the electric quantity of the battery is lower than a set value, the mobile robot sends a charging request to the dispatching system, and after permission of the dispatching system is obtained, the mobile robot moves to a specified charging pile position to enable the charging pile to be automatically butted with a charging port of the vehicle body, so that the mobile robot is charged.

Because the mobile robot arrives at the charging position and generates errors, the positioning accuracy errors are often unavoidable, and therefore the charging equipment is required to be provided with a floating docking mechanism so as to be compatible with the positioning errors of the mobile robot.

However, the existing floating opposite-inserting mechanism can only meet the floating of 1~2 direction freedom degrees generally, and the mechanism which can meet the floating of a plurality of direction freedom degrees is complex generally and has higher manufacturing cost. Therefore, the utility model discloses the intention is through comparatively simple structure in order to reduce implementation cost to realize simultaneously that floating docking mechanism is the unsteady butt joint of multi freedom in the equidirectional.

SUMMERY OF THE UTILITY MODEL

Therefore, the main object of the present invention is to provide a floating docking device, a mobile robot, and a charger, which solve the problems of the background art and realize multi-degree-of-freedom floating docking.

In order to achieve the above object, according to a first aspect of the present invention, there is provided a floating docking device, comprising: an interface member, a floating plug, wherein the floating plug comprises: sideslip mechanism, swing mechanism, expansion joint, wherein sideslip mechanism includes: base plate, horizontal elasticity restoring mechanism, swing mechanism includes: the device comprises a longitudinal swing arm mechanism and a mounting plate, wherein one side of the mounting plate is connected with the moving end of a transverse elastic recovery mechanism, the first end of the longitudinal swing arm mechanism is longitudinally hinged with the back plate of the mounting plate, and the second end of the longitudinal swing arm mechanism is connected with the tail end of the expansion joint; the interface piece is provided with a charging port for inserting the head end of the expansion joint into the interface piece to form matching connection.

Preferably, the transverse elastic restoring mechanism comprises: the guide rod is transversely suspended on the back face of the base plate, the bottom of the baffle plate is fixed to the first side of the mounting plate, the head of the baffle plate is connected to the guide rod in an inserting mode, and the first elastic piece is connected to the guide rod in a sleeved mode and abuts against the two sides of the baffle plate.

Preferably, the swing arm mechanism comprises: the swing arm piece is longitudinally hinged with the back plate of the mounting plate, the two sides of the first end of the expansion joint are respectively connected into the joint piece, the bearing parts of the joint piece are hinged with the tail ends of the swing arm pieces so that the expansion joint stretches between the swing arm pieces, and the two ends of the second elastic piece are respectively connected with the mounting plate and any swing arm piece.

Preferably, the swing arm mechanism comprises: the swing arm piece is hinged to the hinge seat to be longitudinally distributed at the position of the back plate of the mounting plate, the rotating angle of the swing arm piece is limited by the limiting wall of the hinge seat, the two sides of the first end of the telescopic joint are respectively connected into the joint piece, bearing portions of the joint piece are hinged to the tail ends of the swing arm pieces, so that the telescopic joint stretches between the swing arm pieces, and the two ends of the second elastic piece are respectively connected with the mounting plate and any swing arm piece.

Preferably, the expansion joint comprises: the charging plug is in a trapezoid-like shape, a steel ball roller is embedded in the side wall surface of the charging plug, and the tail end of the charging plug is connected with the telescopic end of the spring rod.

Preferably, the floating butt joint device further comprises a third elastic member, wherein two ends of the third elastic member are respectively connected with the mounting plate and the expansion joint.

Preferably, a charging port of the interface member is provided with a guide wall, and the guide wall is arranged at the charging port in a horn-shaped inclined manner.

In order to achieve the above object, according to a second aspect of the present invention, there is also provided a floating docking device, including: an interface member, a floating plug, wherein the floating plug comprises: sideslip mechanism, swing mechanism, expansion joint, wherein sideslip mechanism includes: base plate, guide bar, first elastic component, the guide bar transversely hangs at the base plate back, swing mechanism includes: mounting panel, swing arm spare, joint spare, second elastic component, hinge seat, be equipped with the baffle on the panel of mounting panel, the baffle is pegged graft on the guide bar, first elastic component external member supports on the guide bar in the baffle both sides, wherein hinge seat first side is equipped with spacing wall, the hinge seat bottom is connected on the backplate of mounting panel, swing arm spare and hinge seat are articulated with the backplate department of vertically laying in the mounting panel, and its rotation angle receives the spacing wall restriction of hinge seat, wherein expansion joint includes: the charging plug is in a trapezoid-like shape, a steel ball roller is embedded in the side wall surface of the charging plug, the tail end of the charging plug is connected with the telescopic end of the spring rod, joint parts are respectively connected to two sides of the first end of the spring rod, bearing parts of the joint parts are hinged to the tail ends of the swing arm parts, so that the telescopic joint stretches across the swing arm parts, and two ends of the second elastic part are respectively connected with the mounting plate and any swing arm part; the connector is characterized in that a guide wall is arranged at a charging port of the connector, the guide wall is arranged at the charging port in a horn-shaped inclined manner, and the charging plug enters the charging port through the guide of the steel ball roller and the guide wall and is connected with the connector in a matching manner.

In order to achieve the above object, according to the third aspect of the present invention, there is also provided a mobile robot, comprising a charging module, wherein the charging connector of the charging module is made of the floating connector as described above.

In order to achieve the above object, according to the fourth aspect of the present invention, there is also provided a charger for adapting a charging module of the mobile robot, which includes a charging access device, wherein the access end of the charging access device is made by using the interface element as described above.

Through the utility model provides a this floating butt joint device, mobile robot, the charger, can establish the unsteady docking mechanism that has a plurality of degrees of freedom of automatic recovery function with simpler structure, in order to reduce implementation cost, simultaneously in some corresponding implementation modes, this floating butt joint device's interface spare has guide structure's design with unsteady plug connector, thereby the fault-tolerance of butt joint has been improved, the unsteady characteristic with unsteady plug connector is assisted simultaneously, can realize the automatic correction effect of butt joint position, and then improved the butt joint success rate, with the reduction requirement of the positioning accuracy to mobile robot, and then the whole degree of difficulty and implementation cost of the butt joint of charging between mobile robot and the charger that has improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. In the drawings:

fig. 1 is a schematic structural view of the floating docking device of the present invention;

fig. 2 is a schematic structural view of the floating plug connector of the floating docking assembly of the present invention;

fig. 3 is a schematic structural view of the floating plug connector of the floating docking unit of the present invention;

fig. 4 is a schematic structural diagram of an interface member of the floating docking device of the present invention;

fig. 5 is a schematic structural diagram of an interface member of the floating docking device of the present invention.

Description of the reference numerals

The connector comprises an interface member 1, a floating plug connector 2, a guide wall 11, a transverse moving mechanism 21, a swinging mechanism 22, an expansion joint 23, a base plate 211, a transverse elastic restoring mechanism 212, a guide rod 213, a first elastic member 214, a baffle member 215, a longitudinal swinging arm mechanism 221, a mounting plate 222, a swinging arm member 223, a joint member 224, a second elastic member 225, a hinge seat 226, a limit wall 227, a third elastic member 228, a spring rod 231, a charging plug 232 and a steel ball roller 233.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. And the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should be further noted that, unless otherwise explicitly specified or limited, the terms "disposed," "installed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art in combination with the prior art according to specific situations. Furthermore, the embodiments and features of the embodiments of the present invention may be combined with each other without conflict. One or more of the illustrated components may be required or unnecessary, and the relative positions of the illustrated components may be adjusted according to actual needs.

As shown in fig. 1 to 5, the utility model provides a floating docking device, include: interface piece 1, unsteady plug connector 2, wherein unsteady plug connector 2 includes: a traversing mechanism 21, a swinging mechanism 22 and an expansion joint 23, wherein the traversing mechanism 21 comprises: a base plate 211 and a transverse elastic restoring mechanism 212, wherein the swinging mechanism 22 comprises: the longitudinal swing arm mechanism 221 and the mounting plate 222 are arranged, one side of the mounting plate 222 is connected with the moving end of the transverse elastic restoring mechanism 212, the first end of the longitudinal swing arm mechanism 221 is longitudinally hinged with the back plate of the mounting plate 222, and the second end of the longitudinal swing arm mechanism 221 is connected with the tail end of the expansion joint 23; the interface member 1 is provided with a charging port for inserting the head end of the expansion joint 23 therein to form a matching connection.

Specifically, as shown in fig. 3, in a preferred embodiment, the transverse elastic restoring mechanism 212 includes: the guide rod 213, the first elastic member 214, the baffle member 215, wherein the guide rod 213 is transversely suspended on the back of the base plate 211, the bottom of the baffle member 215 is fixed on the first side of the mounting plate 222, the head of the baffle member is inserted into the guide rod 213, and the first elastic member 214 is a spring in this example, and is sleeved on the guide rod 213 to abut against the two sides of the baffle.

Whereby as the mounting plate 222 moves along the guide rods 213 via the barrier members 215, the barrier members 215 will compress the springs on both sides so that when the force applied to the mounting plate 222 moving side to side is released, the springs will push the barrier members 215 back to urge the mounting plate 222 to return to the original position so that a lateral side to side movement float, and in the preferred embodiment a range of ± 20mm of lateral side to side movement, is achieved.

Further, in a preferred embodiment, the longitudinal swing arm mechanism 221 includes: a swinging arm component 223, a joint component 224, and a second elastic component 225, wherein the swinging arm component 223 is longitudinally hinged with the back plate of the mounting plate 222, and both sides of the first end of the telescopic joint 23 are respectively connected with the joint component 224, wherein the joint component 224 is preferably a self-lubricating joint bearing in this example, and the bearing part thereof is hinged with the tail end of each swinging arm component 223, so that the telescopic joint 23 spans between the swinging arm components 223, and the second elastic component 225 is a spring in this example, and both ends thereof are respectively connected with the mounting plate 222 and any swinging arm component 223.

Therefore, by the hinged structure of the swinging arm component 223 and the joint component 224 and the support of the second elastic component 225, the expansion joint 23 can be suspended between the swinging arm components 223 under normal conditions, so that when the expansion joint 23 moves longitudinally under the action of external force, the swinging arm component 223 will be driven to swing longitudinally, until the action force is released, the swinging arm component 223 can fall down under the action of gravity, or the swinging arm component 223 is pulled back to the normal position by the first elastic component 214, so that the expansion joint 23 is driven to reset, and in a preferred embodiment, the longitudinal up-and-down movement displacement range is preferably floating within a range of ± 10 mm.

Further, as shown in fig. 1 to 2, in a preferred embodiment, the longitudinal swing arm mechanism 221 includes: the swing arm piece 223, the joint piece 224, the second elastic piece 225, the hinge base 226, wherein the first side of the hinge base 226 is provided with a limit wall 227, the bottom of the hinge base 226 is connected to the back plate of the mounting plate 222, the swing arm piece 223 is hinged with the hinge base 226 to be longitudinally arranged at the back plate of the mounting plate 222, and the rotation angle thereof is limited by the limit wall 227 of the hinge base 226, thereby limiting the swing amplitude range of the swing arm piece 223, preventing the swing amplitude thereof from being larger than the restoring force range of the second elastic piece 225, and thereby improving the reliability. The first end of the expansion joint 23 is connected to the joint member 224 at both sides, the bearing portion of the joint member 224 is hinged to the tail end of each swing arm member 223, so that the expansion joint 23 spans between the swing arm members 223, and the second elastic member 225 is a spring in this example, and both ends of the second elastic member 225 are connected to the mounting plate 222 and any swing arm member 223.

The expansion joint 23 can be suspended between the swinging arm pieces 223 under normal conditions by the hinged structure of the swinging arm pieces 223, the hinge seats 226 and the joint pieces 224 and the support of the second elastic pieces 225, so that when the expansion joint 23 moves longitudinally under the action of external force, the swinging arm pieces 223 will be driven to swing longitudinally until the action force is released, the swinging arm pieces 223 can fall down under the action of gravity, or the swinging arm pieces 223 are pulled back to the normal position by the first elastic pieces 214, thereby driving the expansion joint 23 to reset, and in a preferred embodiment, the longitudinal up-down movement displacement range is preferably floating within ± 10 mm.

Further, as shown in fig. 1 to 3, in a preferred embodiment, the expansion joint 23 includes: the charging plug 232 is in a trapezoid-like shape, a steel ball roller 233 is embedded on a side wall surface of the charging plug 232, and the tail end of the charging plug 232 is connected with the telescopic end of the spring rod 231.

Corresponding to the expansion joint 23, as shown in fig. 1, 4 to 5, a guide wall 11 is disposed at the charging port of the interface member 1, and the guide wall 11 is inclined in a trumpet shape and surrounds the charging port. Therefore, the charging plug 232 can smoothly enter the charging port to form matching connection through the guiding of the steel ball roller 233 along the guiding wall 11, thereby improving the fault tolerance. On the other hand, in order to prevent the charging plug 232 from damaging the interface 1, the spring rod 231 has a certain buffering range to achieve elastic expansion and contraction floating in the front-back direction when a force is applied, and as in the preferred embodiment, the front-back direction movement displacement range is preferably 50mm floating.

Further, as shown in fig. 1 to 3, in order to enhance the transverse restoring force of the longitudinal swing arm mechanism 221 and improve the structural stability, in a preferred embodiment, the floating docking device further includes a third elastic member 228, such as a spring, wherein two ends of the third elastic member 228 are respectively connected to the mounting plate 222 and the expansion joint 23. So that the expansion joint 23 can be returned to the original state by the third elastic member 228 after the external force for driving the expansion joint 23 to swing laterally left and right is released, and the swing adjustment such as the lateral left and right angle ± 2 ° is realized, thereby improving the structural stability and the restoring force.

On the other hand, the utility model also provides a mobile robot, it is including the module of charging, wherein the module of charging's the joint that charges adopt as above arbitrary embodiment the plug connector 2 that floats make.

On the other hand, the utility model also provides a charger for the module of charging of the above-mentioned mobile robot of adaptation, it is including the access device that charges, wherein the access end of the access device that charges adopts interface 1 as above embodiment to make.

To sum up, through the utility model provides a this floating docking device, mobile robot, charger, can establish the unsteady docking mechanism that has a plurality of degrees of freedom of automatic recovery function with simpler structure, in order to reduce implementation cost, simultaneously in some corresponding implementation modes, this floating docking device's interface piece 1 and unsteady plug connector 2 have guide structure's design, thereby the fault-tolerance of butt joint has been improved, simultaneously assist with the unsteady characteristic of unsteady plug connector 2, can realize the automatic correction effect of butt joint position, and then improved the butt joint success rate, with the positioning accuracy requirement that reduces mobile robot, and then whole improved the implementation degree of difficulty and implementation cost of the butt joint of charging between mobile robot and the charger.

The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The present invention is limited only by the appended claims and their full scope and equivalents, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

In addition, various different implementation manners of the embodiments of the present invention can be combined arbitrarily, and as long as it does not violate the idea of the embodiments of the present invention, it should be considered as the disclosure of the embodiments of the present invention.

Claims

1. A floating dock, comprising: interface piece, unsteady plug connector, its characterized in that, unsteady plug connector includes: sideslip mechanism, swing mechanism, expansion joint, wherein sideslip mechanism includes: base plate, horizontal elasticity restoring mechanism, swing mechanism includes: the device comprises a longitudinal swing arm mechanism and a mounting plate, wherein one side of the mounting plate is connected with the moving end of a transverse elastic recovery mechanism, the first end of the longitudinal swing arm mechanism is longitudinally hinged with the back plate of the mounting plate, and the second end of the longitudinal swing arm mechanism is connected with the tail end of the expansion joint; the interface piece is provided with a charging port for inserting the head end of the expansion joint into the interface piece to form matching connection.

2. The floating docking device of claim 1, wherein the lateral elastic return mechanism comprises: the guide rod is transversely suspended on the back of the base plate, the bottom of the baffle plate is fixed to the first side of the mounting plate, the head of the baffle plate is connected to the guide rod in an inserting mode, and the first elastic piece is connected to the guide rod in a sleeved mode and abuts against the two sides of the baffle plate.

3. The floating docking device of claim 1, wherein the longitudinal swing arm mechanism comprises: the swing arm piece is longitudinally hinged with the back plate of the mounting plate, the two sides of the first end of the expansion joint are respectively connected into the joint piece, the bearing parts of the joint piece are hinged with the tail ends of the swing arm pieces so that the expansion joint stretches between the swing arm pieces, and the two ends of the second elastic piece are respectively connected with the mounting plate and any swing arm piece.

4. The floating docking device of claim 1, wherein the longitudinal swing arm mechanism comprises: the swing arm piece is hinged to the hinge seat to be longitudinally distributed at the position of the back plate of the mounting plate, the rotating angle of the swing arm piece is limited by the limiting wall of the hinge seat, the two sides of the first end of the telescopic joint are respectively connected into the joint piece, bearing portions of the joint piece are hinged to the tail ends of the swing arm pieces, so that the telescopic joint stretches between the swing arm pieces, and the two ends of the second elastic piece are respectively connected with the mounting plate and any swing arm piece.

5. The floating docking device of claim 1, wherein the expansion joint comprises: the charging plug is in a trapezoid-like shape, a steel ball roller is embedded in the side wall surface of the charging plug, and the tail end of the charging plug is connected with the telescopic end of the spring rod.

6. The floating docking device as claimed in claim 1, further comprising a third elastic member, wherein both ends of the third elastic member are connected to the mounting plate and the expansion joint, respectively.

7. The floating docking device as claimed in claim 1, wherein a guide wall is provided at the charging port of the interface member, and the guide wall is formed to surround the charging port in a trumpet-like inclined shape.

8. A floating dock, comprising: interface piece, the connector that floats, its characterized in that, the connector that floats includes: sideslip mechanism, swing mechanism, expansion joint, wherein sideslip mechanism includes: base plate, guide bar, first elastic component, the guide bar transversely hangs at the base plate back, swing mechanism includes: mounting panel, swing arm spare, joint spare, second elastic component, hinge seat, be equipped with the baffle on the panel of mounting panel, the baffle is pegged graft on the guide bar, first elastic component external member supports on the guide bar in the baffle both sides, wherein hinge seat first side is equipped with spacing wall, the hinge seat bottom is connected on the backplate of mounting panel, swing arm spare and hinge seat are articulated with the backplate department of vertically laying in the mounting panel, and its rotation angle receives the spacing wall restriction of hinge seat, wherein expansion joint includes: the charging plug is in a trapezoid-like shape, steel ball rollers are embedded in the side wall surface of the charging plug, the tail end of the charging plug is connected with the telescopic end of the spring rod, joint parts are respectively connected to two sides of the first end of the spring rod, bearing parts of the joint parts are hinged to the tail ends of all swing arm parts, so that the telescopic joint stretches across the swing arm parts, and two ends of the second elastic part are respectively connected with the mounting plate and any swing arm part; the connector is characterized in that a guide wall is arranged at a charging port of the connector, the guide wall is arranged at the charging port in a horn-shaped inclined manner, and the charging plug enters the charging port through the guide of the steel ball roller and the guide wall and is connected with the connector in a matching manner.

9. A mobile robot, which comprises a charging module, and is characterized in that a charging connector of the charging module is made of the floating plug connector of any one of claims 1 to 8.

10. A charger adapted to a charging module of a mobile robot according to claim 9, comprising a charging access device, wherein the access terminal of the charging access device is made using the interface according to claim 7.