CN220840270U - Robot system - Google Patents

Abstract

The present disclosure provides a robot system including a mobile robot and a charging station capable of charging the mobile robot when the mobile robot is docked at the charging station; the charging station comprises a charging part, the mobile robot comprises a power receiving part, and when the charging station charges the mobile robot, the charging part is matched with the power receiving part; the power receiving part comprises a first floating electrode and a second floating electrode, the first floating electrode and the second floating electrode are arranged at intervals of a preset distance, when the charging part is matched with the power receiving part, the charging part is close to the power receiving part along a first direction, the charging part is inserted between the first floating electrode and the second floating electrode, and the charging part drives the first floating electrode and/or the second floating electrode to generate movement in a second direction, wherein a component perpendicular to the first direction exists in the second direction.

Description

Robot system

Technical Field

The present disclosure relates to a robot system, and more particularly, to a charging docking structure of a robot system.

Background

The intelligent navigation mobile robot is a popular technical product at the present stage, so that the robot is applied more intelligently in corresponding scenes, the intelligent navigation mobile robot can completely replace manual labor in partial scenes, and the working efficiency and the use stability can be greatly improved. Therefore, the intelligent mobile navigation robot industry has developed rapidly in recent years, and various intelligent navigation mobile robots are widely applied in different industries and different places. The intelligent navigation mobile robot generally needs to be equipped with an independent power storage device, so that the problem of reliable and convenient charging of the intelligent navigation mobile robot is always an important technology in industry development.

The existing guiding type butt joint charging method of the intelligent navigation mobile robot is that the robot is firstly moved to the vicinity of the charging pile through a preset positioning point of the charging pile, then the laser equipment on the mobile robot is used for transmitting laser to irradiate the strong reflection label on the charging pile, and further the position of the strong reflection label is judged to be moved by the mobile robot so that a charging port of the machine is butt-jointed to a charging port of the charging pile, and the charging action is completed.

The existing butt joint charging structure of the robot and the charging pile is in back contact, the charging electrode of the robot is required to keep the contact force with the charging pile electrode at any time, the charging mode requires the precondition that the ground is smooth, the robot is required to stay at rest to provide larger contact force and higher butt joint precision when being charged, the robot can be charged normally when meeting the conditions, but the stability is insufficient, and the charging failure is often caused when the machine body is slightly rocked or the surface of the electrode is oxidized. Meanwhile, the back-to-contact type charging only allows small current charging due to small contact area and contact pressure between electrodes, the large current charging can cause serious heating, and the discharging phenomenon during contact can burn the charging electrode.

Disclosure of utility model

In order to solve one of the above technical problems, the present disclosure provides a robot system.

According to one aspect of the present disclosure, there is provided a robot system including a mobile robot and a charging station capable of charging the mobile robot when the mobile robot is docked at the charging station; the charging station comprises a charging part, the mobile robot comprises a power receiving part, and when the charging station charges the mobile robot, the charging part is matched with the power receiving part; the power receiving part comprises a first floating electrode and a second floating electrode, the first floating electrode and the second floating electrode are arranged at intervals of a preset distance, when the charging part is matched with the power receiving part, the charging part is close to the power receiving part along a first direction, the charging part is inserted between the first floating electrode and the second floating electrode, and the charging part drives the first floating electrode and/or the second floating electrode to generate movement in a second direction, wherein a component perpendicular to the first direction exists in the second direction.

According to a robotic system of at least one embodiment of the present disclosure, the first direction is a horizontal direction and the second direction is perpendicular to the first direction.

According to a robotic system of at least one embodiment of the present disclosure, the mobile robot further comprises an electrode holder, the first and second floating electrodes being both slidably disposed to the electrode holder.

According to the robot system of at least one embodiment of the present disclosure, the electrode holder is formed as a part of an outer surface of the mobile robot, and the electrode holder has an opening formed as a notch of the outer surface of the mobile robot, the opening of the electrode holder being disposed corresponding to a space between the first floating electrode and the second floating electrode.

The robotic system according to at least one embodiment of the present disclosure, the opening includes a sidewall through which the first and second floating electrodes are capable of passing and being at least partially inside the opening.

A robotic system according to at least one embodiment of the present disclosure, the first floating electrode being externally provided with a first electrode sheath, the first floating electrode being capable of producing movement in a second direction relative to the first electrode sheath; a second electrode sheath is provided outside the second floating electrode, the second floating electrode being capable of producing movement in a second direction relative to the second electrode sheath.

According to the robot system of at least one embodiment of the present disclosure, a first spring is disposed between the first floating electrode and the first electrode sheath, the first spring applies a pushing force to the first floating electrode, and a second spring is disposed between the second floating electrode and the second electrode sheath, and is used for applying a pushing force to the second floating electrode.

According to the robot system of at least one embodiment of the present disclosure, the charging part includes an electrode supporting frame, and a first charging electrode and a second charging electrode disposed on the electrode supporting frame.

According to a robotic system of at least one embodiment of the present disclosure, the first charging electrode is at least partially covered on an upper surface of the electrode support frame and the second charging electrode is at least partially covered on a lower surface of the electrode support frame.

The mobile robot according to at least one embodiment of the present disclosure further includes a cushion pad being disposed with respect to a space between the first and second floating electrodes.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1 is a schematic structural view of a robotic system according to one embodiment of the present disclosure.

Fig. 2 and 3 are schematic structural views of a mobile robot according to an embodiment of the present disclosure.

Fig. 4 is a schematic structural view of a first floating electrode and a second floating electrode according to one embodiment of the present disclosure.

Fig. 5 and 6 are schematic structural views of a charging station according to an embodiment of the present disclosure.

The reference numerals in the drawings specifically are:

100 mobile robot

110 First floating electrode

120 Second floating electrode

130 Electrode support

140 First electrode sheath

150 Second electrode sleeve

160 First spring

170 Cushion pad

180 First rolling element

200 Charging station

210 Electrode support frame

220 First charging electrode

230 A second charging electrode.

Detailed Description

The present disclosure is described in further detail below with reference to the drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant content and not limiting of the present disclosure. It should be further noted that, for convenience of description, only a portion relevant to the present disclosure is shown in the drawings.

In addition, embodiments of the present disclosure and features of the embodiments may be combined with each other without conflict. The technical aspects of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Unless otherwise indicated, the exemplary implementations/embodiments shown are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Thus, unless otherwise indicated, features of the various implementations/embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concepts of the present disclosure.

The use of cross-hatching and/or shading in the drawings is typically used to clarify the boundaries between adjacent components. As such, the presence or absence of cross-hatching or shading does not convey or represent any preference or requirement for a particular material, material property, dimension, proportion, commonality between illustrated components, and/or any other characteristic, attribute, property, etc. of a component, unless indicated. In addition, in the drawings, the size and relative sizes of elements may be exaggerated for clarity and/or descriptive purposes. While the exemplary embodiments may be variously implemented, the specific process sequences may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in reverse order from that described. Moreover, like reference numerals designate like parts.

When an element is referred to as being "on" or "over", "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to," or "directly coupled to" another element, there are no intervening elements present. For this reason, the term "connected" may refer to physical connections, electrical connections, and the like, with or without intermediate components.

For descriptive purposes, the present disclosure may use spatially relative terms such as "under … …," under … …, "" under … …, "" lower, "" above … …, "" upper, "" above … …, "" upper "and" side (e.g., as in "sidewall") to describe one component's relationship to another (other) component as illustrated in the figures. In addition to the orientations depicted in the drawings, the spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture. For example, if the device in the figures is turned over, elements described as "under" or "beneath" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "below … …" may encompass both an orientation of "above" and "below". Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising," and variations thereof, are used in the present specification, the presence of stated features, integers, steps, operations, elements, components, and/or groups thereof is described, but the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof is not precluded. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximation terms and not as degree terms, and as such, are used to explain the inherent deviations of measured, calculated, and/or provided values that would be recognized by one of ordinary skill in the art.

Fig. 1 is a schematic structural view of a robotic system according to one embodiment of the present disclosure.

As shown in fig. 1, the present disclosure provides a robot system including a mobile robot 100 and a charging station 200, the charging station 200 being capable of charging the mobile robot 100 when the mobile robot 100 is docked at the charging station 200.

Specifically, the charging station 200 can be connected to a utility power, and includes a charging portion to which a positive electrode and a negative electrode of a direct current power source are supplied, whereby the charging portion can supply electric power to the outside.

The mobile robot 100 may be a wheeled robot, when the electric quantity of the mobile robot 100 is insufficient, a return charging instruction can be executed, at this time, the mobile robot 100 may autonomously move to the vicinity of the charging station 200, then a communication link is established between the mobile robot 100 and a docking guidance device provided on the charging station 200, the mobile robot 100 moves along a first direction and backs to the charging station 200, and docking between the mobile robot 100 and the charging station 200 is achieved under the guidance of the docking guidance device provided on the charging station 200, which may also be referred to as that the mobile robot 100 is docked on the charging station 200. The docking guide device is a structure common in the art, and will not be described in detail herein.

The mobile robot 100 includes a power receiving part, and the charging part is engaged with the power receiving part when the charging station 200 charges the mobile robot 100.

Fig. 2 and 3 are schematic structural views of a mobile robot according to an embodiment of the present disclosure.

The power receiving part comprises a first floating electrode 110 and a second floating electrode 120, the first floating electrode 110 and the second floating electrode 120 are arranged at intervals of a preset distance, when the charging part is matched with the power receiving part, the charging part is close to the power receiving part along a first direction, the charging part is inserted between the first floating electrode 110 and the second floating electrode 120, and the charging part drives the first floating electrode 110 and/or the second floating electrode 120 to generate movement in a second direction, wherein the second direction has a component perpendicular to the first direction.

Preferably, the first direction is a horizontal direction, and the second direction is perpendicular to the first direction, and more preferably, the second direction is a vertical direction, that is, includes a vertically upward direction and a vertically downward direction. Of course, the second direction may be a horizontal direction, so long as the first direction and the second direction are perpendicular.

Fig. 4 is a schematic structural view of a first floating electrode and a second floating electrode according to one embodiment of the present disclosure.

As shown in fig. 2 to 4, the mobile robot 100 further includes an electrode holder 130, and the first floating electrode 110 and the second floating electrode 120 are slidably disposed on the electrode holder 130.

In a preferred embodiment, the electrode holder 130 is formed as a part of the outer surface of the mobile robot 100, and the electrode holder 130 has an opening formed as a notch of the outer surface of the mobile robot 100, the opening of the electrode holder 130 being disposed corresponding to the interval between the first and second floating electrodes 110 and 120.

More specifically, the electrode holder 130 is disposed at the rear of the mobile robot 100 and is formed as a part of the rear surface of the mobile robot 100, and accordingly, the opening of the electrode holder 130 is also disposed rearward, and thus the mobile robot 100 can be docked with the charging station 200 by way of being retracted.

In the present disclosure, the opening includes a sidewall through which the first floating electrode 110 and the second floating electrode 120 can pass and are at least partially located inside the opening. For example, the opening is formed by the upper and lower sidewalls, at which time at least a portion of the first floating electrode 110 is located above the opening, and at least a portion of the first floating electrode 110 is located within the opening by the downward movement of the first floating electrode 110.

Accordingly, at least a portion of the second floating electrode 120 is positioned below the opening, and at least a portion of the second floating electrode 120 is positioned within the opening by upward movement of the second floating electrode 120.

In one embodiment, when the first floating electrode 110 and the second floating electrode 120 are located at a distance closest to each other, on one hand, a short circuit between the first floating electrode 110 and the second floating electrode 120 or a discharge can be prevented, and on the other hand, the charging portion can be interposed between the first floating electrode 110 and the second floating electrode 120.

The first floating electrode 110 is provided with a first electrode sheath 140 on the outside thereof, and the first floating electrode 110 is capable of generating a movement in a second direction relative to the first electrode sheath 140; at this time, the first electrode sheath 140 can be fixed to the upper end of the electrode holder 130, so that the first floating electrode 110 can move up and down.

Similarly, a second electrode sheath 150 is provided on the exterior of the second floating electrode 120, the second floating electrode 120 being capable of producing movement in a second direction relative to the second electrode sheath 150; at this time, the second electrode sheath 150 can be fixed to the lower end of the electrode holder 130, so that the second floating electrode 120 can move up and down.

A first spring 160 is disposed between the first floating electrode 110 and the first electrode sleeve 140, and the first spring 160 applies a pushing force to the first floating electrode 110, that is, the first spring 160 is in a pre-compressed state. Similarly, a second spring (the second spring is arranged in a similar direction to the first spring, not shown in the figures) is arranged between the second floating electrode 120 and the second electrode sheath 150, and is used to apply a pushing force to the second floating electrode 120, i.e. the second spring is also in a pre-compressed state.

That is, when the charging part is interposed between the first and second floating electrodes 110 and 120, the first floating electrode 110 can be driven to move upward, and the second floating electrode 120 can be driven to move downward, so that the first and second springs are further compressed, whereby the first and second floating electrodes 110 and 120 can be brought into close contact with the charging part. When the charging part is separated from between the first and second floating electrodes 110 and 120, the first and second floating electrodes 110 and 120 can move downward by a predetermined distance by the restoring force of the first and second springs, and the second floating electrode 120 can move upward by a predetermined distance, so that at least portions of the first and second floating electrodes 110 and 120 can be positioned in the opening.

The first floating electrode 110 is provided with a first ball socket, a first rolling body 180 is arranged in the first ball socket, and the first rolling body 180 is in contact with the side wall of the first electrode sleeve 140; the second floating electrode 120 is provided with a second ball socket, in which a second rolling body is disposed, and the second rolling body contacts with the side wall of the second electrode sleeve 150, so that a constant distance between the floating electrode and the electrode sleeve can be included by the rolling body, and simultaneously friction resistance of the floating electrode during up-and-down movement is reduced. In a preferred embodiment, the first rolling elements 180 and the second rolling elements may be elastic glass beads.

Fig. 5 and 6 are schematic structural views of a charging station according to an embodiment of the present disclosure.

As shown in fig. 5 and 6, the charging part includes an electrode holder 210, and a first charging electrode 220 and a second charging electrode 230 disposed on the electrode holder 210. Accordingly, when the charging part is interposed between the first and second floating electrodes 110 and 120, the first charging electrode 220 can be in pressure contact with the first floating electrode 110 and electrically connected; and the second charge electrode 230 can be in pressure contact with the second floating electrode 120 and electrically connected.

In a preferred embodiment, the first and second charging electrodes 220 and 230 are each formed in a sheet-like structure, and the first charging electrode 220 is at least partially covered on the upper surface of the electrode supporting frame 210, and the second charging electrode 230 is at least partially covered on the lower surface of the electrode supporting frame 210.

The mobile robot 100 further includes a cushion 170, the cushion 170 being disposed with respect to a space between the first and second floating electrodes 110 and 120, such that when the mobile robot 100 is docked with the charging station 200, the cushion 170 can contact a charging portion of the charging station 200 to cushion the movement of the mobile robot 100.

More preferably, an end of the electrode support 210 remote from the surface of the charging station 200 is formed as a chamfer, thereby enabling the electrode support 210 to be guided when the electrode support 210 is inserted between the first and second floating electrodes 110 and 120. In addition, the first and second charging electrodes 220 and 230 can be formed on chamfers on the electrode supporting frame 210.

In the present disclosure, by setting the movement directions of the first floating electrode 110 and the second floating electrode 120, the docking progress problem can be solved, the stability and reliability of the mobile robot 100 and the charging station 200 during automatic charging are improved, the upper limit of charging current is increased, and the charging time is reduced.

When the robot system disclosed by the disclosure is used, due to the up-and-down movement of the first floating electrode 110 and the second floating electrode 120, the precision requirements of the mobile robot 100 and the charging station 200 in the butt joint charging process can be reduced, and different ground flatness can be adapted. In addition, by providing the first spring and the second spring, the first floating electrode 110 and the charging portion and the second floating electrode 120 and the charging portion can always maintain strong contact, so that the upper limit of the charging current can be increased, and the charging time can be reduced.

In addition, in the contact process of the charging part and the power receiving part, the relative movement of the charging part and the power receiving part can effectively clean dirt and oxide layers on respective electrode plates, the reliability and stability of connection between electrodes are improved, after the butt joint charging connection is successful, the mobile robot can close a running function, static charging is realized, the mobile robot does not need to have parking capability, and the power consumption of the mobile robot in charging is reduced.

In the description of the present specification, reference to the terms "one embodiment/manner," "some embodiments/manner," "example," "a particular example," "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/manner or example is included in at least one embodiment/manner or example of the application. In this specification, the schematic representations of the above terms are not necessarily for the same embodiment/manner or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/modes or examples described in this specification and the features of the various embodiments/modes or examples can be combined and combined by persons skilled in the art without contradiction.

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

It will be appreciated by those skilled in the art that the above-described embodiments are merely for clarity of illustration of the disclosure, and are not intended to limit the scope of the disclosure. Other variations or modifications will be apparent to persons skilled in the art from the foregoing disclosure, and such variations or modifications are intended to be within the scope of the present disclosure.

Claims (10)

1. A robotic system comprising a mobile robot and a charging station, the charging station capable of charging the mobile robot when the mobile robot is docked at the charging station; the charging station comprises a charging part, the mobile robot comprises a power receiving part, and when the charging station charges the mobile robot, the charging part is matched with the power receiving part; the power receiving part comprises a first floating electrode and a second floating electrode, the first floating electrode and the second floating electrode are arranged at preset distances, when the charging part is matched with the power receiving part, the charging part is close to the power receiving part along a first direction, the charging part is inserted between the first floating electrode and the second floating electrode, and the charging part drives the first floating electrode and/or the second floating electrode to generate movement in a second direction, wherein the second direction has a component perpendicular to the first direction.

2. The robotic system of claim 1, wherein the first direction is a horizontal direction and the second direction is perpendicular to the first direction.

3. The robotic system of claim 1, wherein the mobile robot further comprises an electrode holder, the first and second floating electrodes each being slidably disposed on the electrode holder.

4. A robot system according to claim 3, characterized in that the electrode holder is formed as a part of the outer surface of the mobile robot and that the electrode holder has an opening formed as a notch of the outer surface of the mobile robot, the opening of the electrode holder being arranged in correspondence with the interval between the first floating electrode and the second floating electrode.

5. The robotic system of claim 4, wherein the opening comprises a sidewall through which the first and second floating electrodes are capable of passing and being at least partially inside the opening.

6. The robotic system of claim 5, wherein a first electrode sheath is disposed externally of the first floating electrode, the first floating electrode being capable of producing movement in a second direction relative to the first electrode sheath; a second electrode sheath is provided outside the second floating electrode, the second floating electrode being capable of producing movement in a second direction relative to the second electrode sheath.

7. The robotic system of claim 6, wherein a first spring is disposed between the first floating electrode and the first electrode sheath, the first spring exerting a pushing force against the first floating electrode, and a second spring is disposed between the second floating electrode and the second electrode sheath, the second spring being configured to exert a pushing force against the second floating electrode.

8. The robotic system of claim 1, wherein the charging portion comprises an electrode support frame and first and second charging electrodes disposed on the electrode support frame.

9. The robotic system of claim 8, wherein the first charging electrode is at least partially covered on an upper surface of the electrode support frame and the second charging electrode is at least partially covered on a lower surface of the electrode support frame.

10. The robotic system of claim 1, wherein the mobile robot further comprises a cushion that is positioned with respect to a spacing between the first and second floating electrodes.