JP2007312450A - Robot charger - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot charger certainly. <P>SOLUTION: The charger 20 has a member 39 movable to the right and left direction, and a power supply terminal 34 moving to the right and left direction integrally with the movable member 39. The movable member 39 has two guide portions 25 inclining against the right and left direction (moving direction of the movable member 39). When the roller 30 of a power receiving section 50 moves in the attaching direction while touching the guide portions 25, the movable member 39 moves to the right and left direction and the power supply terminal 34 is adjusted to a position where it can be connected with a power receiving terminal 32. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a charging device for a self-propelled robot.

  Conventionally, self-propelled robots having traveling wheels are known, and among them, one that travels using a built-in battery as a driving source is known. As a charging device for charging the battery of such a self-propelled robot, for example, there is one described in Patent Document 1. In this charging device, a V-shaped notch is formed in the charger body, and the power receiving terminal of the robot moving toward the charging device is guided to the power supply terminal (connection terminal) located behind the notch by the notch. Thus, the power receiving terminal is connected to the power feeding terminal.

JP-A-2-303303 (FIG. 4)

  In the charging device described above, the position of the power supply terminal is fixed, and the robot is guided to a position where it can be connected to the power supply terminal by the notch. However, especially when it is difficult to move the robot in the direction perpendicular to the direction of travel, such as when the robot is heavy, the robot is guided to the power supply terminal of the charging device by a notch to supply power to the power reception terminal. It becomes difficult to connect the terminal.

  A main object of the present invention is to provide a robot charging device that can perform charging by reliably connecting a power receiving terminal and a power feeding terminal of a self-propelled robot.

Means for Solving the Problems and Effects of the Invention

  A charging device for a robot according to a first aspect of the present invention is a charging device for a robot to which a power receiving unit of a self-propelled robot having traveling wheels is mounted, and moves in a direction crossing the mounting direction of the power receiving unit of the robot A movable member capable of being moved integrally with the movable member, and a power feeding terminal connected to a power receiving terminal provided in a power receiving unit of the robot, and further related to a moving direction of the movable member. It has a position adjusting means for adjusting the position to a position where the power receiving terminal and the power feeding terminal can be connected according to the position of the power receiving unit.

  According to this configuration, even if the position of the power receiving terminal on the robot side and the power feeding terminal on the charging device is misaligned, the movable member and the power feeding terminal are integrated with each other according to the position of the power receiving unit of the robot. It moves and the position of the power feeding terminal is adjusted to a position where it can be connected to the power receiving terminal, so that charging can be performed by reliably connecting the power receiving terminal and the power feeding terminal. In the first aspect of the invention, that the movable member is movable in a direction intersecting the mounting direction of the power receiving unit means that the movable member is movable at an angle with respect to the mounting direction, that is, the movement of the movable member. It means that the direction is not parallel to the mounting direction.

  According to a second aspect of the present invention, there is provided a charging device for a robot according to the first aspect, wherein the position adjusting means is formed at a distal end portion of the movable member in contact with the power receiving unit, and the moving member moves in a moving direction. It is an inclined guide part. According to this configuration, when the power receiving unit moves in the mounting direction in contact with the inclination of the guide unit, the movable member and the power feeding member move integrally with the movement of the power receiving unit, and the position of the power feeding terminal is changed. It is automatically adjusted to a position where it can be connected to the power receiving terminal.

  According to a third aspect of the present invention, there is provided a charging apparatus for a robot according to the second aspect, wherein the two guide portions are formed at a distal end portion of the movable member, and the two guide portions are configured to move the movable member. Each is inclined so as to be directed to the central portion with respect to the direction. According to this configuration, the two guide portions are arranged on both sides of the central portion of the distal end portion of the movable member, and the position of the movable member (power supply terminal) is adjusted by these two guide portions according to the position of the power receiving portion. The That is, even if the power receiving terminal on the robot side is deviated in any of two directions parallel to the moving direction of the movable member with respect to the power feeding terminal, the position of the power feeding terminal is surely set to a position where it can be connected to the power receiving terminal. Adjusted to

  According to a fourth aspect of the present invention, there is provided a charging apparatus for a robot according to the second or third aspect, wherein the position of the movable member is shifted with respect to the moving direction from a position where the power receiving terminal and the power feeding terminal can be connected. In this state, the guide unit is in contact with a roller rotatably provided on the power receiving unit. According to this configuration, since the power receiving unit contacts the guide unit via the rotatable roller, the contact friction between the power receiving unit and the guide unit is reduced, and the position adjustment of the movable member (power supply terminal) can be performed. It becomes easy.

  According to a fifth aspect of the present invention, there is provided the robot charging apparatus according to any one of the first to fourth aspects, wherein a power supply cable is connected to the power supply terminal. According to this configuration, since the cable connected to the power supply terminal has a flexible property and can follow the movable member (power supply terminal) even if it moves, charging can be performed reliably.

  A charging device for a robot according to a sixth aspect of the present invention includes the urging member that urges the movable member toward a predetermined reference position with respect to the moving direction in any one of the first to fifth aspects. It is characterized by. According to this configuration, when charging is performed with the movable member moving from the reference position, the movable member returns to the reference position by the urging force of the urging means when the power receiving unit moves away from the movable member after completion of charging. To do. Therefore, in a state before the power receiving unit is mounted, the power feeding terminal is always in a predetermined position corresponding to the reference position of the movable member, and therefore the position of the power receiving terminal greatly deviates from the power feeding terminal when the power receiving unit is mounted. This makes it easier to adjust the position of the power feeding terminal relative to the power receiving terminal.

  According to a seventh aspect of the present invention, there is provided a charging device for a robot according to any one of the first to sixth aspects, wherein the charging device is configured to be movable integrally with the movable member, and receives a signal relating to a charging state of the robot. It is characterized by having. According to this configuration, since the charging state of the robot can be grasped on the charging device side, efficient charging such as charging only when necessary is possible.

  Next, an embodiment of the present invention will be described. The present embodiment is an example in which the present invention is applied to a charging device that charges a self-propelled guiding robot.

  First, a schematic configuration of a self-propelled guide robot 1 charged by the charging device of the present embodiment will be briefly described with reference to FIG.

  As shown in FIG. 1, the guide robot 1 includes a body part 10, a traveling part 11 connected to the lower end part of the body part 10, and two left and right side parts of the upper half of the body part 10. This is a humanoid robot including an arm portion 13 and a head portion 14 provided rotatably at the upper end portion of the body portion 10.

  The body unit 10 is provided with a battery (not shown) that is a drive source of the guide robot 1 and a control device 19 that controls the operation of each unit (the travel unit 11, the arm unit 13, the head unit 14, etc.) of the guide robot 1. It has been.

  The traveling unit 11 includes a frame 38, two traveling wheels 12 that are rotatably provided at both left and right ends of the frame 38, and an auxiliary wheel (caster) 43 that is rotatably provided at the center in the left-right direction of the frame 38. And have. The two traveling wheels 12 are rotationally driven by a motor (not shown). In addition, a power receiving unit 50 attached to the charging device 20 described later is provided at the rear of the traveling unit 11 (see FIG. 2). The power receiving unit 50 will be described in detail later.

  Two shoulder portions 45 are rotatably connected to the body portion 10 via a shaft (not shown) extending in the left-right direction. Further, two arm portions 13 are connected to the two shoulder portions 45. The shafts 44 are rotatably connected through shafts 44 extending in the front-rear direction (perpendicular to the plane of FIG. 1). That is, the arm portion 13 is configured to be swingable in the front-rear direction and the left-right direction.

  An omnidirectional camera 16 capable of acquiring visual information around the guidance robot 1 is provided at the top of the head 14. Further, on the front surface of the head 14 (the front surface in FIG. 1), a CCD camera 15 for acquiring detailed information of the object, a microphone 17 for acquiring audio information around the guidance robot 1, A speaker 18 for transmitting audio information to the outside is provided. The head 14 is rotationally driven by a motor (not shown) so that the front surface on which the CCD camera 15 and the like are provided faces the object.

  The guide robot 1 controls the operation of each part of the guide robot 1 by the control device 19 based on information from various sensors such as the CCD camera 15 to reach a predetermined position while communicating with a person. It is configured to be able to guide.

  That is, a person is recognized by the omnidirectional camera 16 or the CCD camera 15, voice information emitted by the person is acquired by the microphone 17, and voice information is transmitted to the person from the speaker 18. Further, the position of the guidance target is recognized by the CCD camera 15, the arm 13 is swung, the head 14 is rotated, etc., and self-runs with gestures to guide the person to the target position.

  Next, the power receiving unit 50 provided at the rear end of the traveling unit 11 of the guide robot 1 will be described. As illustrated in FIG. 2, the power reception unit 50 includes two power reception terminals 32, two rollers 30, and a communication unit 31 that are provided on the frame 38. When the battery needs to be charged, the power receiving unit 50 moves backward (a mounting direction indicated by an arrow in FIG. 2) integrally with the traveling unit 11. That is, when viewed from the charging device 20 side, the power receiving unit 50 is mounted from the front.

  Each power receiving terminal 32 includes a pair of positive and negative terminals 32 a and 32 b that protrude rearward from the right side portion of the rear end portion of the frame 38 and are arranged vertically. The pair of terminals 32a and 32b are respectively connected to two electrode plates 34a (see FIGS. 4 and 5) constituting a power feeding terminal 34 of the charging device 20 described later. Two (two pairs) of power receiving terminals 32 are arranged side by side. Of these two power receiving terminals 32, one power receiving terminal 32 is a terminal for confirming continuity with the power feeding terminal 34, and the other power receiving terminal 32 is connected to the power feeding terminal 34. Is a terminal to which electric power is supplied.

  A roller support portion 29 that protrudes rearward is provided at the center of the rear end of the frame 38 in the left-right direction. The two rollers 30 can be rotated in a state where the two rollers 30 are arranged side by side on the lower surface of the roller support portion 29. It is supported by. The communication unit 31 is for transmitting the state of charge of the battery to the charging device 20, and is provided at a position symmetrical to the two power receiving terminals 32 with respect to the roller support portion 29 of the frame 38.

Next, the charging device 20 of the present embodiment to which the power receiving unit 50 of the guidance robot 1 is attached will be described.
As shown in FIGS. 2 to 5, the charging device 20 includes a movable member 39 movably disposed in the left-right direction, a power supply terminal 34 and a communication unit 35 that are movable in the left-right direction integrally with the movable member 39. Etc.

  A flat plate member 40 is laid on the horizontal plane on which the guide robot 1 travels, and a fixture 21 extending in the left-right direction is fixed to the rear end portion of the upper surface of the plate member 40. As shown in FIG. 4, a guide rail 22 that extends to the left and right in parallel with the fixture 21 is provided on the upper surface of the fixture 21.

  The movable member 39 is fixed to the movable portion 23 that engages with the guide rail 22, the plate-like upper cover 24 that is fixed to the upper surface of the movable portion 23, and the lower surfaces of the left and right ends of the upper cover 24. Two side covers 28 extending in the horizontal direction. The movable member 39 is configured to be movable in the left-right direction (a direction orthogonal to the mounting direction of the power receiving unit 50) along the guide rail 22 via the movable unit 23.

  The upper cover 24 is fixed to the upper surface of the movable portion 23 with a bolt at the center of the rear end portion (base end portion). A power feeding terminal 34 and a communication unit 35 are fixed to the back surface of the upper cover 24. Therefore, the power supply terminal 34 and the communication unit 35 can move in the left-right direction integrally with the movable member 39.

  As shown in FIGS. 4 and 5, the power supply terminal 34 includes two upper and lower electrode plates 34 a extending horizontally, and is fixed to the back surface of the right side portion of the upper cover 24 via a holder 36. A flexible power supply cable 33 is connected to the power supply terminal 34, and is further connected to a power supply unit (not shown) via the cable 33. Then, when the two terminals 32 a and 32 b of the power receiving terminal 32 come into contact with the two electrode plates 34 a of the power feeding terminal 34 and are brought into conduction, power for battery charging is supplied from the power feeding terminal 34 to the power receiving terminal 32. The The power supply from the power supply unit to the power supply terminal 34 is controlled by the control device 41 on the charging device 20 side.

  As shown in FIG. 5, the communication unit 35 is fixed to the back surface of the left side portion of the upper cover 24 via a holder 37, and is disposed at a position symmetrical to the power supply terminal 34. Then, when the power receiving terminal 32 of the power receiving unit 50 is connected to the power feeding terminal 34, the communication unit 35 faces the communication unit 31 of the power receiving unit 50 and receives information on the state of charge of the battery from the communication unit 35. For example, various information regarding charging is transmitted and received. Information received by the communication unit 35 is sent to the control device 41. Therefore, based on the state of charge of the battery received by the communication unit 35, the control device 41 determines that the battery needs to be charged, and only when it determines that it is necessary, power is supplied from the power supply unit to the power supply terminal 34. The battery can be charged efficiently by supplying the battery.

  The power supply terminal 34 and the communication unit 35 described above are covered with the upper cover 24 and the two side covers 28, and the power supply terminal 34 and the communication unit 35 are protected from external impacts and the like.

  By the way, in order to charge the battery, the power receiving terminal 32 of the power receiving unit 50 and the power feeding terminal 34 of the charging device 20 need to be reliably connected. However, for example, when the performance of the CCD camera 15 (see FIG. 1) for detecting the position of the charging device 20 is low and the accuracy of the positional information of the charging device 20 acquired by the CCD camera 15 is low, the power receiving unit 50 There is a case where the position of the power receiving terminal 32 and the power supply terminal 34 (position in the left-right direction) slightly shifts (for example, about several centimeters). If the power receiving unit 50 moves rearward as it is in this state, the terminals 32 and 34 are not connected, and charging cannot be performed. Further, if a higher performance CCD camera is used, the accuracy of the position information of the charging device 20 is increased, so that the deviation between the power receiving terminal 32 and the power feeding terminal can be reduced, but the cost increases accordingly. End up.

  Therefore, when the power receiving terminal 32 and the power feeding terminal 34 are misaligned, the charging device 20 according to the present embodiment moves the movable member 39 in the left-right direction according to the position of the power receiving terminal 32, so that the power feeding terminal 34. It is possible to adjust the position to a position where it can be connected to the power receiving terminal 32. This configuration will be described below.

  As shown in FIGS. 2 and 3, the left and right side portions of the front end portion (front end portion) of the upper cover 24 that come into contact with the power receiving portion 50 when the power receiving portion 50 is mounted are left and right so as to go to the center portion thereof. Two guide portions 25 that are inclined with respect to the direction (the moving direction of the movable member 39) are formed. In addition, a roller storage portion 26 that is continuous with the two guide portions 25 and is recessed backward is formed in the central portion of the upper cover 24 in the left-right direction. When the two rollers 30 of the power reception unit 50 are stored in the roller storage unit 26, the power reception terminal 32 and the power supply terminal 34 are connected.

  When the left and right positions of the two rollers 30 of the power receiving section 50 and the roller storage section 26 (that is, the left and right positions of the power receiving terminal 32 and the power feeding terminal 34) match, when the power receiving section 50 moves rearward, The two rollers 30 are accommodated in the roller accommodating portion 26 without contacting the guide portion 25. At this time, the power receiving terminal 32 and the power feeding terminal 34 are connected, and the mounting of the power receiving unit 50 is completed.

  On the other hand, when the left and right positions of the two rollers 30 and the roller storage portion 26 (that is, the left and right positions of the power receiving terminal 32 and the power supply terminal 34) are shifted in the left and right direction, one of the two rollers 30 is the guide portion. 25, the roller 30 presses the guide portion 25 in a direction orthogonal to the inclination. At this time, the upper cover 24 is pushed in the left-right direction by the lateral force component of the pressing force of the roller 30, and the movable member 39 moves to the guide rail 22 in a direction in which the positional deviation between the power receiving terminal 32 and the power feeding terminal 34 becomes smaller. Will move along. Finally, the left and right positions of the movable member 39 are automatically adjusted so that the positions of the two rollers 30 and the roller storage portion 26 coincide with each other so that the power receiving terminal 32 and the power feeding terminal 34 can be connected. Adjusted to

  Further, a convex portion 24a protruding rearward is formed at the central portion of the rear end portion of the upper cover 24. Between the convex portion 24a and both ends of the fixture 21, two springs 27 ( Urging means) is provided. That is, the movable member 39 is always urged to the reference position at the center in the left-right direction by the two springs 27. Accordingly, even if the movable member 39 moves in the left-right direction from the reference position in accordance with the position shift of the power receiving unit 50, the movable member 39 remains in the spring 27 after the charging is completed and the power receiving unit 50 leaves the charging device 20. It is configured to return to the center reference position again by the urging force.

  Next, the operation of the charging device 20 when the guide robot 1 is mounted (during charging) will be described with reference to FIGS. For simplification, in FIGS. 6 and 7, illustration of the body portion 10 (see FIG. 1) and the like of the guide robot 1 is omitted, and only the traveling portion 11 is shown.

  When the remaining battery level is low and charging is required, the guide robot 1 searches for the charging device 20 from the surrounding information obtained from the omnidirectional camera 16, and further, the charging device 20 is detected by the CCD camera 15. The vehicle travels toward the charging device 20.

  When approaching the charging device 20, the guide robot 1 causes the traveling unit 11 to travel backward, and moves the power receiving unit 50 provided at the rear end of the traveling unit 11 backward toward the charging device 20. At this time, as shown in FIG. 6, when the position of the power receiving terminal 32 of the power receiving unit 50 is shifted to the left with respect to the power feeding terminal 34 provided on the movable member 39, it rotates to the roller support unit 29. Since the two rollers 30 and the roller storage portion 26 that are freely supported are also displaced, the left roller 30 comes into contact with the inclination of the left guide portion 25.

  At this time, the roller 30 presses the guide portion 25 in a direction orthogonal to the inclination. Then, the upper cover 24 is pushed to the left by the lateral force component of the pressing force, and the movable member 39 is moved to the left (position shift between the power receiving terminal 32 and the power feeding terminal 34 against the urging force of the spring 27. Move along the guide rail 22 in the direction of decreasing). Further, the movable member 39 moves to the left, so that the roller 30 can move backward while rotating along the inclination of the guide portion 25.

  As described above, when the roller 30 moves rearward (mounting direction) in a state where the roller 30 is in contact with the inclination of the guide portion 25, the movable member 39 and the power supply terminal 34 are integrally moved to the left, as shown in FIG. As described above, the position of the power feeding terminal 34 is adjusted to a position where it can be connected to the power receiving terminal 32. At that time, since the power receiving unit 50 contacts the guide unit 25 via the rotatable roller 30, the contact friction between the power receiving unit 50 and the guide unit 25 at the time of mounting is reduced, and accordingly, the movable member. 39 (power supply terminal 34) can be easily adjusted.

  Finally, as shown in FIG. 7, when the two rollers 30 supported by the roller support portion 29 fit into the concave roller storage portion 26, the roller 30 is restrained in the left-right direction by the upper cover 24. Thus, the relative movement between the traveling unit 11 and the movable member 39 is eliminated. At this time, the power receiving terminal 32 and the power feeding terminal 34 are connected, and the mounting of the power receiving unit 50 is completed.

  In addition, since the two guide portions 25 are provided at the distal end portion of the movable member 39, contrary to FIG. 6, when the power receiving terminal 32 is shifted to the right with respect to the power feeding terminal 34, The right roller 30 moves along the right guide portion 25, and accordingly, the movable member 39 (power supply terminal 34) moves to the right, and its left-right position is adjusted. That is, even if the power receiving terminal 32 is displaced in any of the left and right directions (moving direction of the movable member 39) with respect to the power feeding terminal 34, the position of the power feeding terminal 34 and the power receiving terminal 32 is set by the two guide portions 25. It is reliably adjusted to a position where connection is possible.

  When the mounting of the power receiving unit 50 is completed, the control device 41 of the charging device 20 confirms whether the one power receiving terminal 32 and the power feeding terminal 34 for conduction confirmation are in conduction. Furthermore, when information on the charging state of the battery of the guidance robot 1 is received via the communication unit 35 and it is determined that charging is necessary, charging of the battery is started from the other power receiving terminal 32.

  As described above, the power supply terminal 34 is connected to the flexible power supply cable 33, and power is supplied through the cable 33. Therefore, even if the power supply terminal 34 moves in the left-right direction integrally with the movable member 39, the cable 33 can follow the movement, so that charging can be performed reliably.

  When the charging of the battery is completed, the communication unit 31 of the guidance robot 1 transmits that the charging is completed to the communication unit 35 of the charging device 20, and the control device 41 stops charging by the charging device 20 in response to the transmission. .

  As described above, since the charging device 20 receives the information on the charging state of the battery via the communication unit 35, the charging device 20 can grasp the charging state of the guide robot 1, and performs charging only when necessary. Charging becomes possible.

  When the guide robot 1 moves forward and leaves the charging device 20 after the charging is completed, the movable member 39 returns to the reference position at the center in the left-right direction by the urging force of the spring 27. Therefore, in a state before the power receiving terminal 32 is attached, the power feeding terminal 34 is always located at a predetermined position corresponding to the reference position of the movable member 39 (the state in FIG. 6). The position of the power receiving terminal 32 does not greatly deviate from the power supply terminal 34 when attached, and the position adjustment of the power supply terminal 34 with respect to the power receiving terminal 32 is facilitated.

  According to the charging device 20 of the present embodiment described above, the roller 30 of the power receiving unit 50 moves along the guide unit 25 even if the positions of the power receiving terminal 32 and the power feeding terminal 34 of the power receiving unit 50 are shifted. Thus, the position of the movable member 39 is adjusted according to the position of the power receiving terminal 32. Thereby, since the position of the power feeding terminal 34 is adjusted to a position where the power receiving terminal 32 can be connected, the power receiving terminal 32 and the power feeding terminal 34 can be reliably connected and charged.

  As mentioned above, although preferred embodiment of this invention was described, this invention can be changed in the range which does not exceed the meaning. For example, in this embodiment, the spring 27 is used as a biasing means for biasing the movable member 39 to the reference position at the center in the left-right direction. However, an elastic body such as an air cylinder or rubber is used. Also good.

  In the present embodiment, the power receiving unit 50 is configured to contact the guide unit 25 via the roller 30. However, the power receiving unit 50 has the same inclination as the guide unit 25 and has a surface friction coefficient. You may contact the guide part 25 via a small inclined surface.

  Furthermore, the number of power receiving terminals 32 is not limited to two, and can be an appropriate number as required. Further, the power reception terminal 32 for confirming continuity can be omitted. That is, conduction may be confirmed at the power receiving terminal 32 that actually supplies power.

  In addition, in the present embodiment, the concave roller storage portion 26 is formed at the center portion of the two guide portions 25. For example, when the roller 30 does not protrude to the rear of the traveling portion, the roller storage portion 26 may be abbreviate | omitted and the center side edge part of the two guide parts 25 may be directly connected.

  Further, in the present embodiment, the two guide portions 25 are provided on the movable member 39. However, for example, when the position is likely to be shifted in only one of the moving directions of the movable member 39, the guide portion 25 is Since it is only necessary to provide one on the side where the position is likely to shift, it is not always necessary to provide two on both sides.

  Furthermore, in this embodiment, the moving direction of the movable member 39 is orthogonal to the mounting direction of the power receiving unit 50, but it is not necessarily required to be orthogonal. In other words, even if the moving direction of the movable member 39 and the mounting direction of the power receiving unit 50 intersect at an angle other than 90 degrees (when not parallel), the same operation and effect as in the present embodiment can be obtained. can get.

It is a schematic front view of the guidance robot which concerns on embodiment of this invention. It is the perspective view which looked at the driving | running | working part and charging device of the guide robot which concern on embodiment of this invention from back. It is a top view of the charging device which concerns on embodiment of this invention. FIG. 4 is a cross-sectional view taken along line VI-VI of the charging device shown in FIG. 3. It is a top view of the charging device in the state where the upper cover was removed. It is a figure which shows the state in the middle of mounting | wearing of a receiving part. It is a figure which shows the state which mounting | wearing of the power receiving part was completed.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Guide robot 11 Traveling part 12 Running wheel 20 Charging device 25 Guide part 27 Spring 30 Roller 32 Power receiving terminal 33 Cable 34 Power feeding terminal 35 Communication unit 39 Movable member 50 Power receiving part

Claims (7)

A charging device for a robot to which a power receiving unit of a self-propelled robot having a running wheel is attached,
A movable member movable in a direction crossing the mounting direction of the power receiving unit of the robot;
It is configured to be movable integrally with this movable member, and includes a power supply terminal connected to a power reception terminal provided in the power reception unit of the robot,
The robot further comprises position adjusting means for adjusting the position of the movable member in the moving direction to a position where the power receiving terminal and the power feeding terminal can be connected according to the position of the power receiving unit. Charging device.   2. The robot according to claim 1, wherein the position adjusting unit is a guide unit that is formed at a distal end portion of the movable member that contacts the power receiving unit and is inclined with respect to a moving direction of the movable member. Charging device.   The two guide portions are formed at a distal end portion of the movable member, and the two guide portions are inclined so as to be directed toward a central portion in the moving direction of the movable member. Item 3. The robot charging device according to Item 2.   In a state where the position of the movable member is deviated with respect to the moving direction from the position where the power receiving terminal and the power feeding terminal can be connected, the guide portion contacts a roller provided rotatably on the power receiving portion. The robot charging apparatus according to claim 2, wherein the charging apparatus is a robot.   The robot charging apparatus according to claim 1, wherein a power supply cable is connected to the power supply terminal.   The robot charging apparatus according to claim 1, further comprising an urging unit that urges the movable member toward a predetermined reference position with respect to a moving direction thereof.   The robot charging apparatus according to claim 1, further comprising a receiving unit configured to be movable integrally with the movable member and receiving a signal related to a charging state of the robot.

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