WO2023116139A1 - 机器人组件 - Google Patents

机器人组件 Download PDF

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Publication number
WO2023116139A1
WO2023116139A1 PCT/CN2022/124783 CN2022124783W WO2023116139A1 WO 2023116139 A1 WO2023116139 A1 WO 2023116139A1 CN 2022124783 W CN2022124783 W CN 2022124783W WO 2023116139 A1 WO2023116139 A1 WO 2023116139A1
Authority
WO
WIPO (PCT)
Prior art keywords
contact
connecting rod
positioning groove
charging pile
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/124783
Other languages
English (en)
French (fr)
Inventor
柳云飞
孙华清
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Youzhuju Network Technology Co Ltd
Original Assignee
Beijing Youzhuju Network Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Youzhuju Network Technology Co Ltd filed Critical Beijing Youzhuju Network Technology Co Ltd
Priority to US18/568,573 priority Critical patent/US20240283263A1/en
Publication of WO2023116139A1 publication Critical patent/WO2023116139A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/70—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries characterised by the mechanical construction
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/02—Contact members
    • H01R13/22—Contacts for co-operating by abutting
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
    • H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
    • H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
    • H01R13/631—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R35/00—Flexible or turnable line connectors, i.e. the rotation angle being limited
    • H01R35/04—Turnable line connectors with limited rotation angle with frictional contact members
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

  • the present application relates to the technical field of robot charging equipment, in particular to a robot component.
  • an object of the present application is to propose a robot assembly, which can improve the success rate of automatic charging of the robot, without additional auxiliary positioning measures, and with low manufacturing cost.
  • the robot assembly includes: a robot body, a positioning groove and a guide groove are arranged on the chassis of the robot body, and a first positive contact and a first negative contact are arranged in the positioning groove; a charging pile , the charging pile is provided with a contact seat that can selectively cooperate with the positioning groove, and the contact seat is provided with a second positive contact and a second negative contact; wherein the cross section of the guide groove The area is larger than the cross-sectional area of the positioning groove, and the contact seat enters the positioning groove under the guidance of the guide groove so that the first positive contact contacts the second positive contact, The first negative contact is in contact with the second negative contact.
  • the guide groove can guide the contact seat entering the guide groove into the positioning groove, thereby lifting the contact seat into the positioning groove Probability, improve the error tolerance rate of the charging posture of the robot body, and the charging success rate of the robot body is high, so there is no need to set additional auxiliary charging positioning measures, reducing the manufacturing cost of robot components.
  • the cross-sectional area of the guide groove decreases gradually in the direction in which the contact seat enters the positioning groove.
  • the guide groove includes: a first guide wall and a second guide wall facing each other, the distance between the first guide wall and the second guide wall enters when the contact seat enters It gradually decreases towards the direction of the positioning groove.
  • the distance between the first guide wall and the center of the positioning groove decreases gradually, and the distance between the second guide wall and the positioning groove The distance between the centers gradually decreases.
  • the charging pile further includes: a charging pile body and a connecting rod, between one end of the connecting rod and the charging pile body, between the other end of the connecting rod and the contact seat. At least one is rotatably connected.
  • the one end of the connecting rod is hinged to the charging pile body, and the other end of the connecting rod is hinged to the contact seat.
  • a first reset member for resetting the contact base to an initial position is provided between the one end of the connecting rod and the contact base, and the other end of the connecting rod is connected to the contact base.
  • a second resetting member for resetting the connecting rod to an initial position is provided between the charging pile bodies.
  • the connecting rod includes: a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably connected to the contact base, and one end of the second connecting rod is connected to the The charging pile body is rotatably connected, and a buffer is provided between the other end of the first connecting rod and the other end of the second connecting rod.
  • the thickness of the contact seat is not less than the depth of the positioning groove or the guide groove, and the other end of the connecting rod is arranged on the contact seat away from the positioning groove or the depth of the guide groove. On the side of the bottom wall of the guide groove.
  • the top end of the contact seat is configured as an arc-shaped structure.
  • Fig. 1 is a schematic diagram of a first charging position of a robot assembly according to an embodiment of the present application
  • Fig. 2 is a schematic diagram of a second charging position of a robot assembly according to an embodiment of the present application
  • FIG. 3 is a schematic diagram of a third charging position of a robot assembly according to an embodiment of the present application.
  • Fig. 4 is a schematic structural diagram of a robot body according to an embodiment of the present application.
  • Fig. 5 is a schematic structural diagram of a charging pile according to an embodiment of the present application.
  • Fig. 6 is a schematic structural diagram of a charging pile according to an embodiment of the second part of the present application.
  • robot assembly 100 robot body 1, chassis 11, positioning slot 2, first positive contact 21, first negative contact 22, guide slot 3, first guide wall 31, second guide wall 32, charging Pile 4, charging pile body 40, contact base 5, second positive contact 51, second negative contact 52, connecting rod 6, first connecting rod 61, second connecting rod 62, buffer 63, position sensor 64 .
  • the following describes a robot assembly 100 according to an embodiment of the present application with reference to FIGS. 1-6 .
  • the robot assembly 100 includes: a robot body 1 and a charging pile 4, a positioning groove 2 and a guide groove 3 are arranged on the chassis 11 of the robot body 1, and a first positive contact 21 and a first positive contact 21 are arranged in the positioning groove 2.
  • the first negative contact 22, the charging pile 4 is provided with a contact seat 5 that can selectively cooperate with the positioning groove 2, and the contact seat 5 is provided with a second positive contact 51 and a second negative contact 52, wherein the guide The cross-sectional area of the groove 3 is greater than that of the positioning groove 2, and the contact base 5 enters the positioning groove 2 under the guidance of the guide groove 3 so that the first positive contact 21 contacts the second positive contact 51, the second A negative contact 22 is in contact with a second negative contact 52 .
  • the robot assembly 100 of the embodiment of the present application includes the robot body 1 and the charging pile 4 for charging the robot body 1.
  • the charging pile 4 is directly connected to the main power supply, and its position generally does not change after installation and arrangement, while the robot The main body 1 will work and move when the power is sufficient, connect to the charging pile 4 for charging after the power is reduced to a set value, and continue to work after the power is sufficient.
  • Shown in accompanying drawing 4 is the chassis 11 structure of robot body 1, is with the direction when robot body 1 works normally as frame of reference, the view from bottom to top of robot body 1, is arranged on the chassis 11 of robot body 1 useful At the charging place connected to the charging pile 4.
  • the robot body 1 will cover the charging place, making it difficult for people around to touch the charged components, and some pollution such as dust and water will also It is not easy to pollute the charging place, which can improve the safety of the robot body 1 .
  • a first positive contact 21 and a first negative contact 22 are provided on the robot body 1, a second positive contact 51 and a second negative contact 52 are provided on the charging pile 4, and the first positive contact 21 and the second negative contact 52 are arranged on the charging pile 4.
  • the charging post 4 charges the robot body 1 .
  • the first positive contact 21 and the first negative contact 22 are arranged in the positioning groove 2, and the second positive contact 51 and the second negative contact 52 are arranged on the contact holder 5, when the contact holder 5 and the positioning groove 2
  • the charging pile 4 can charge the robot body 1.
  • the charging pile 4 stops charging the robot body 1. .
  • the robot body 1 of the embodiment of the present application When the contact seat 5 no longer cooperates with the positioning groove 2 and the contact seat 5 comes out of the positioning groove 2, the charging pile 4 stops charging the robot body 1. .
  • the robot body 1 of the embodiment of the present application When the robot body 1 of the embodiment of the present application is charging, it will navigate and move to the vicinity of the charging pile 4, and then move close to the charging pile 4. As shown in Figure 1, the robot body 1 moves toward the charging pile 4 from the front to the rear, so that The contact base 5 moves from the rear to the front relative to the robot body 1, and the contact base 5 enters into the positioning groove 2 forward until the contact base 5 cooperates with the positioning groove 2. After the charging of the robot body 1 is completed, it will move from the rear to the front, so that the contact seat 5 moves from the front to the rear relative to the robot body 1, and the contact seat 5 will escape from the positioning groove 2.
  • the chassis 11 of the robot body 1 is also provided with a guide groove 3 connected to the positioning groove 2, and the positioning groove 2 and the guide groove 3 are integrally formed.
  • the present application describes the structure of the robot assembly 100 for convenience, so that Separate the positioning groove 2 and the guide groove 3 to simplify the description, there is no indication or hint that the positioning groove 2 and the guide groove 3 are separate structures, and there is no limitation on the structural forms of the positioning groove 2 and the guide groove 3 .
  • the volume of the positioning groove 2 and the contact seat 5 is relatively small, and when the robot body 1 moves relative to the charging pile 4, due to factors such as position deviation, it is easy to make the positioning groove 2 and the contact seat 5 not in the correct position. Yes, but there are deviation angles from each other.
  • the robot assembly 100 of the present application is equipped with the guide groove 3, so that the contact base 5 and the positioning groove 2 can cooperate with each other to charge when the charging posture of the robot body 1 is not accurate.
  • the cross-sectional area of the guide groove 3 is greater than the cross-sectional area of the positioning groove 2, and the straight line that coincides with the direction in which the contact seat 5 enters the positioning groove 2 is a plane perpendicular to each other, as shown in Figures 1 and 4, that is, perpendicular to the front and rear
  • the cross-sectional area of the plane of the straight line extending in the direction to the guide groove 3 is greater than the cross-sectional area of the plane to the positioning groove 2, that is to say, in the path where the contact seat 5 enters the positioning groove 2, the contact seat 5 first enters
  • the guide groove 3 with a larger space volume then enters the positioning groove 2 with a smaller space volume to cooperate with the positioning groove 2 .
  • the contact area between the contact seat 5 and the charging place of the robot can be increased by setting the guide groove 3 with a large space volume, and the probability that the contact seat 5 enters the guide groove 3 can be improved, and the guide groove 3 has a guiding function, which can guide the contact seat 5 into the guide groove 3.
  • the contact seat 5 of the slot 3 is introduced into the positioning slot 2, so that the robot body 1 can also be charged when the charging posture is inaccurate, and the charging success rate of the robot body 1 is improved.
  • the robot assembly 100 of the embodiment of the present application can guide the contact base 5 into the positioning groove 2 through the guide groove 3 without additional auxiliary positioning measures, which reduces the manufacturing cost of the robot assembly 100 .
  • the guide groove 3 can guide the contact seat 5 entering the guide groove 3 into the positioning groove 2, thereby lifting The probability that the contact base 5 enters the positioning groove 2 improves the error tolerance rate of the charging posture of the robot body 1 , and the charging success rate of the robot body 1 is high, so that no additional auxiliary charging positioning measures need to be set, and the manufacturing cost of the robot assembly 100 is reduced.
  • the cross-sectional area of the guide groove 3 decreases gradually in the direction in which the contact base 5 enters the positioning groove 2 .
  • Contact seat 5 enters the direction of positioning groove 2, as shown in Figure 4, that is, the direction from back to front, and the cross-sectional area of the guide groove 3 on the plane perpendicular to the straight line extending along the front and rear direction is from back to front.
  • orientations are based on the orientations shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the robot assembly 100 of the application must have a specific orientation. , are constructed and operate in a particular orientation and therefore are not to be construed as limiting the application.
  • positioning groove 2 is positioned at the rear of guiding groove 3, and guiding groove 3 is towards the outside cross-sectional area maximum, to promote the contact area with contact seat 5, the cross-sectional area of guiding groove 3 decreases gradually on the direction toward positioning groove 2. Small, the contact seat 5 can be guided to the positioning groove 2, so that the contact seat 5 and the positioning groove 2 cooperate with each other.
  • the guide groove 3 includes: a first guide wall 31 and a second guide wall 32 facing each other, and the distance between the first guide wall 31 and the second guide wall 32 is within The direction in which the dot seat 5 enters the positioning groove 2 gradually decreases.
  • the guide groove 3 is provided on the chassis 11 of the robot body 1, and the first guide wall 31, the second guide wall 32 and the bottom wall of the robot body 1 jointly define the positioning groove 2, and the first guide wall 31 and the bottom wall of the robot body 1 jointly define the positioning groove 2.
  • the distance between the second guide walls 32 gradually decreases in the direction from the back to the front, so that the cross-sectional area of the guide groove 3 is gradually reduced from the back to the front, and the contact seat 5 can be moved toward the positioning groove. 2 guide, so that the contact seat 5 and the positioning groove 2 cooperate with each other.
  • the distance between the first guide wall 31 and the center of the positioning groove 2 gradually decreases, and the distance between the second guide wall 32 and the center of the positioning groove 2 gradually decreases.
  • Both the first guide wall 31 and the second guide wall 32 are gradually inclined toward the center of the positioning groove 2 .
  • the contact base 5 first enters the guide groove 3, and contacts with the first guide wall 31, and The center distance between the first guide wall 31 and the positioning groove 2 gradually decreases, and the first guide wall 31 can guide the contact seat 5 toward the positioning groove 2.
  • the second guide wall 32 can also be Guide the contact holder 5 towards the positioning groove 2 .
  • the first guide wall 31 and the second guide wall 32 can also be configured in a special shape such as an arc, so as to reduce the impact of the first guide wall 31 and the second guide wall 32 on the contact seat 5. Friction improves the smoothness of movement of the contact base 5.
  • the charging pile 4 further includes: a charging pile body 40 and a connecting rod 6 , between one end of the connecting rod 6 and the charging pile body 40 , between the other end of the connecting rod 6 and the contact seat At least one of 5 is rotatably connected.
  • the charging pile body 40 is connected to the main power supply, which is generally a fixing part.
  • the connecting rod 6 is arranged on the charging pile body 40 and protrudes from the charging pile body 40.
  • One end of the connecting rod 6 is connected to the charging pile body 40, and the connecting rod 6
  • the other end is connected to the contact seat 5, and the contact seat 5 protrudes from the charging pile body 40 by setting the connecting rod 6, so that the range of motion of the contact seat 5 can be improved, and the contact seat 5 can be inserted into the guide groove 3 and positioned
  • the slot 2 cooperates with the positioning slot 2 for charging.
  • the connecting rod 6 can rotate relative to the charging pile body 40. In other embodiments, the connecting rod 6 can rotate relative to the contact base 5. In other embodiments, the connecting rod 6 can rotate relative to the The charging pile body 40 rotates, and can also rotate relative to the contact base 5 at the same time. By making the contact base 5 and/or the connecting rod 6 rotatable, the range of motion of the contact base 5 can be further improved. As shown in FIG. 2 and FIG. The point seat 5 or the connecting rod 6 also produces a corresponding angular offset relative to the charging pile 4, so that it can be fitted with the positioning slot 2 for charging.
  • the connecting rod 6 when the contact base 5 is in contact with the first guide wall 31 or the second guide wall 32 and is driven and guided by the first guide wall 31 or the second guide wall 32, the connecting rod 6 has the ability to be crushed and damaged. risk, but the contact base 5 or the connecting rod 6 are rotatably designed, and the contact base 5 or the connecting rod 6 rotates when stressed, which can prolong the service life of the contact base 5 and the connecting rod 6.
  • one end of the connecting rod 6 is hinged to the charging pile body 40 , and the other end of the connecting rod 6 is hinged to the contact seat 5 .
  • the connecting rod 6 can be connected to the charging pile body 40 Rotate, can also rotate relative to the contact seat 5 at the same time, the movement of the connecting rod 6 and the contact seat 5 is smooth, which can prolong the service life of the contact seat 5 and the connecting rod 6, and promote the contact seat 5 to cooperate with the positioning groove 2
  • the accuracy rate increases the charging success rate of the robot body 1.
  • a first reset member is provided between one end of the connecting rod 6 and the contact base 5 to reset the contact base 5 to its initial position
  • a resetting member is provided between the other end of the connecting rod 6 and the charging pile body 40 .
  • the second reset member that resets the connecting rod 6 to the initial position.
  • the connecting rod 6 when the connecting rod 6 is in the initial position, the second reset member is in the normal state, the connecting rod 6 extends in the front and rear direction, and is perpendicular to the charging pile body 40, and when the contact base 5 is in the initial position, the first The reset member is in a normal state, and the contact base 5 extends along the front-to-back direction and is perpendicular to the charging pile body 40 .
  • the connecting rod 6 and the contact seat 5 When the connecting rod 6 and the contact seat 5 are in the initial position, they are directly facing and perpendicular to the charging pile body 40.
  • the point seat 5 can be rotated to adapt to the robot body 1. Compared with other positions, the position where the connecting rod 6 and the contact seat 5 are facing the charging pile 4 is more convenient and faster to adapt to the robot body 1 at any position. .
  • the connecting rod 6 and the contact seat 5 By setting the first reset member and the second reset member, the connecting rod 6 and the contact seat 5 can be reset to the initial position after the robot body 1 is charged, so as to prepare for the next charging.
  • the automation effect of the charging pile 4 is improved, no manual operation is required, and it is convenient to use.
  • both the first return member and the second return member are torsion springs, as shown in Figure 2 and Figure 5, when the robot assembly 100 is in the second charging position, the contact base 5 is relatively charged The pile body 40 is offset, the connecting rod 6 is offset relative to the charging pile 4, the torsion spring is stretched or compressed by force, and accumulates elastic potential energy. When the robot body 1 is charged, the torsion spring releases the elastic potential energy to drive the contact seat 5 And connecting rod 6 resets to initial position.
  • the connecting rod 6 includes: a first connecting rod 61 and a second connecting rod 62, one end of the first connecting rod 61 is rotatably connected with the contact base 5, and the second One end of the connecting rod 62 is rotatably connected to the charging pile body 40 , and a buffer member 63 is disposed between the other end of the first connecting rod 61 and the other end of the second connecting rod 62 .
  • a buffer 63 is arranged between the first connecting rod 61 and the second connecting rod 62 , which can reduce the impact force on the connecting rod 6 when the robot body 1 moves toward the charging pile 4 and prolong the service life of the connecting rod 6 .
  • the buffer member 63 is a spring, and by providing a spring between the first connecting rod 61 and the second connecting rod 62, the first connecting rod 61 and the second connecting rod 62 can be relatively rotated, thereby further improving the force of the connecting rod 6.
  • the swing angle can further increase the movement range of the contact base 5 and improve the charging success rate of the robot body 1 .
  • the other end of the second connecting rod 62 is also provided with a limiting block extending toward the first connecting rod 61, the buffer member 63 is arranged in the inner space of the limiting block, and the limiting The block can limit the buffer member 63 to prevent the first connecting rod 61 from bending under the drive of the buffer member 63 when being impacted by the robot body 1 .
  • a position sensor 64 is also provided between the other end of the first connecting rod 61 and the other end of the second connecting rod 62 , and a position sensor 64 is provided at the other end of the first connecting rod 61
  • There is a contact when the first connecting rod 61 moves toward the second connecting rod 62, so that the contact contacts the position sensor 64, the position sensor 64 is triggered, and the control center in the charging pile 4 judges that the robot body 1 has moved in place, and controls The center will send an instruction to stop the movement of the robot body 1, which can effectively prevent the robot body 1 from excessively moving and damaging the charging pile 4.
  • the position sensor 64 may be an infrared photoelectric gate or a Hall sensor or the like.
  • the thickness of the contact base 5 is not less than the depth of the positioning groove 2 or the guide groove 3, and the other end of the connecting rod 6 is arranged on the contact base 5 away from the positioning groove 2 Or on the side of the bottom wall of the guide groove 3.
  • This design method can keep the connecting rod 6 away from the chassis surface of the robot body 1, prevent the connecting rod 6 and the contact seat 5 from interfering with the robot body 1 when they move relative to the robot body 1, and prevent the connecting rod 6 from being squeezed and damaged.
  • the service life of the connecting rod 6 is extended, and the movement fluency when the robot body 1 is charged is improved.
  • the top of the contact base 5 is configured in an arc-shaped structure, which can reduce the friction of the first guide wall 31 and the second guide wall 32 on the contact base 5 and improve the smoothness of movement of the contact base 5 .
  • the robot body 1 when the robot assembly 100 is located at the second charging position, the robot body 1 has a certain angle of deviation to the left relative to the charging pile 4 , and during the movement of the robot body 1 to the charging pile body 40 , the contacts Seat 5 first contacts with first guide wall 31, and connecting rod 6 rotates to the right under the drive of first guide wall 31, and contact seat 5 contacts with first guide wall 31 with the arc-shaped top end, and contact seat 5 slides along the first guide wall 31 toward the positioning groove 2, the contact seat 5 deflects to the left under the joint action of the positioning groove 2 and the guiding groove 3, and enters the positioning groove 2, and the contact seat 5 cooperates with the positioning groove 2 The robot body 1 is charged.
  • the robot body 1 has a certain angle of deviation to the right relative to the charging pile 4 , and the contact point is Seat 5 contacts with second guide wall 32 at first, and connecting rod 6 is rotated left under the drive of second guide wall 32, and contact seat 5 contacts with second guide wall 32 with the arc-shaped top, and contact seat 5 slides along the second guide wall 32 toward the positioning groove 2, and the contact seat 5 deflects to the right under the joint action of the positioning groove 2 and the guiding groove 3, and enters into the positioning groove 2, and the contact seat 5 cooperates with the positioning groove 2 The robot body 1 is charged.
  • references to the terms “one embodiment,” “some embodiments,” “exemplary embodiments,” “example,” “specific examples,” or “some examples” are intended to mean that the implementation A specific feature, structure, material, or characteristic described by an embodiment or example is included in at least one embodiment or example of the present application.
  • schematic representations of the above terms do not necessarily refer to the same embodiment or example.
  • the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

本申请公开了一种机器人组件，包括：机器人本体和充电桩，机器人本体的底盘上设置有定位槽和导向槽，定位槽内设置有第一正极触点和第一负极触点，充电桩上设置有可选择地与定位槽配合的触点座，触点座上设置有第二正极触点和第二负极触点，其中导向槽的横截面积大于定位槽的横截面积，触点座在导向槽的导向作用下进入到定位槽以使第一正极触点与第二正极触点接触、第一负极触点和第二负极触点接触。

Description

机器人组件
本申请要求于2021年12月21日提交的，申请名称为“机器人组件”的、中国专利申请号为“2021115743670的优先权，该中国专利申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及机器人充电设备技术领域，尤其是涉及一种机器人组件。
背景技术
相关的智能机器人可通过导航自动寻路进行充电，但是机器人的充电触点都较小，并且机器人的充电姿态不能保证完全准确，用于寻路的导航无法使机器人和充电桩精准贴合，机器人的充电失败率较高，因此目前的充电方案都需要额外的辅助定位措施，来帮助机器人与充电桩的触点接触，导致机器人制造成本增加。
发明内容
本申请旨在至少解决相关技术中存在的技术问题之一。为此，本申请的一个目的在于提出一种机器人组件，其可提升机器人自动充电的成功率，并且无需额外增设辅助定位措施，制造成本低。
根据本申请实施例的机器人组件，包括：机器人本体，所述机器人本体的底盘上设置有定位槽和导向槽，所述定位槽内设置有第一正极触点和第一负极触点；充电桩，所述充电桩上设置有可选择地与所述定位槽配合的触点座，所述触点座上设置有第二正极触点和第二负极触点；其中所述导向槽的横截面积大于所述定位槽的横截面积，所述触点座在所述导向槽的导向作用下进入到所述定位槽以使所述第一正极触点与所述第二正极触点接触、所述第一负极触点和所述第二负极触点接触。
根据本申请实施例的机器人组件，通过在底盘上设置横截面积较大的导向槽，导向槽可将进入到导向槽内的触点座导入定位槽内，从而提升触点座进入到定位槽的概率，提升机器人本体充电姿态的容错率，机器人本体的充电成功率高，从而不必设置额外的辅助充电定位措施，降低机器人组件的生产制造成本。
在一些实施例中，所述导向槽的横截面积在所述触点座进入到所述定位槽的方向上逐渐减小。
在一些实施例中，所述导向槽包括：彼此正对的第一导向壁和第二导向壁，所述第一导向壁和所述第二导向壁之间的距离在所述触点座进入到所述定位槽的方向上逐渐减小。
具体地，在所述触点座进入到所述定位槽的方向上，所述第一导向壁与所述定位槽的中心的距离逐渐减小，所述第二导向壁与所述定位槽的中心的距离逐渐减小。
在一些实施例中，所述充电桩还包括：充电桩本体和连杆，所述连杆的一端与所述 充电桩本体之间、所述连杆的另一端与所述触点座中的至少一个可转动地相连。
具体地，所述连杆的所述一端与所述充电桩本体铰接，所述连杆的所述另一端与所述触点座铰接。
在一些实施例中，所述连杆的所述一端与所述触点座之间设置有使所述触点座复位至初始位置的第一复位件，所述连杆的所述另一端与所述充电桩本体之间设置有使所述连杆复位至初始位置的第二复位件。
在一些实施例中，所述连杆包括：第一连杆和第二连杆，所述第一连杆的一端与所述触点座可转动地连接，所述第二连杆的一端与所述充电桩本体可转动地连接，所述第一连杆的另一端与所述第二连杆的另一端之间设置有缓冲件。
在一些实施例中，所述触点座的厚度不小于所述定位槽或所述导向槽的深度，所述连杆的所述另一端设置在所述触点座的远离所述定位槽或所述导向槽的底壁的侧面上。
在一些实施例中，所述触点座的顶端构造为圆弧形结构。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是根据本申请实施例的机器人组件的第一充电位置示意图；
图2是根据本申请实施例的机器人组件的第二充电位置示意图；
图3是根据本申请实施例的机器人组件的第三充电位置示意图；
图4是根据本申请实施例的机器人本体的结构示意图；
图5是根据本申请实施例的充电桩的结构示意图；
图6是根据本申请第二部分实施例的充电桩的结构示意图；
附图标记：机器人组件100、机器人本体1、底盘11、定位槽2、第一正极触点21、第一负极触点22、导向槽3、第一导向壁31、第二导向壁32、充电桩4、充电桩本体40、触点座5、第二正极触点51、第二负极触点52、连杆6、第一连杆61、第二连杆62、缓冲件63、位置传感器64。
具体实施方式
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、 “厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。在本申请的描述中，“多个”的含义是两个或两个以上。
下面参考图1-图6描述根据本申请实施例的机器人组件100。
根据本申请实施例的机器人组件100，包括：机器人本体1和充电桩4，机器人本体1的底盘11上设置有定位槽2和导向槽3，定位槽2内设置有第一正极触点21和第一负极触点22，充电桩4上设置有可选择地与定位槽2配合的触点座5，触点座5上设置有第二正极触点51和第二负极触点52，其中导向槽3的横截面积大于定位槽2的横截面积，触点座5在导向槽3的导向作用下进入到定位槽2以使第一正极触点21与第二正极触点51接触、第一负极触点22和第二负极触点52接触。
本申请实施例的机器人组件100包括机器人本体1和为机器人本体1充电的充电桩4，可以理解的是，充电桩4直接与总电源连接，并且在安装布置后位置一般不会改变，而机器人本体1会在电量充足时进行工作、移动，在电量降低到设定值后与充电桩4连接充电，在电量充足后继续工作。如附图4所示为机器人本体1的底盘11结构，是以机器人本体1正常工作时的方向为参考系，机器人本体1的从下向上方的视图，在机器人本体1的底盘11上设置有用于与充电桩4连接的充电处。而通过将充电处设置在机器人本体1的底盘11上，机器人在与充电桩4连接充电时，机器人本体1会将充电处遮挡，周围人不易接触到带电元件，一些污染比如灰尘和水等也不易污染到充电处，可提升机器人本体1的安全性。
在机器人本体1上设置有第一正极触点21和第一负极触点22，在充电桩4上设置有第二正极触点51和第二负极触点52，在第一正极触点21与第二正极触点51接触、第一负极触点22与第二负极触点52接触时，充电桩4对机器人本体1进行充电。而第一正极触点21和第一负极触点22设置在定位槽2内，第二正极触点51和第二负极触点52设置在触点座5上，当触点座5与定位槽2相互配合时，充电桩4即可对机器人本体1进行充电，当触点座5与定位槽2不再配合、触点座5从定位槽2脱出后，充电桩4中止对机器人本体1充电。本申请实施例的机器人本体1在充电时，会导航运动到充电桩4附近，随后靠近充电桩4运动，如图1所示，机器人本体1朝向充电桩4运动方式为从前方向后方运动，使得触点座5相对于机器人本体1从后方向前方运动，触点座5向前进入到定位槽2内，直到触点座5与定位槽2相互配合。机器人本体1在充电完成后，会从后方向前方运动，使得触点座5相对于机器人本体1从前方向后方运动， 触点座5从定位槽2脱出。
在机器人本体1的底盘11上还设置有与定位槽2连接的导向槽3，定位槽2和导向槽3为一体成型，可以理解的是，本申请为了方便对机器人组件100的结构描述，从而将定位槽2和导向槽3分开简化描述，并不存在指示或暗示定位槽2和导向槽3为分体式的结构，并不存在对定位槽2和导向槽3结构形式的限定。
可以理解的是，定位槽2和触点座5的体积都较小，而机器人本体1相对于充电桩4移动时，由于位置偏差等因素，容易使得定位槽2与触点座5并不是正对，而是相互具有偏差的角度，本申请的机器人组件100通过设置导向槽3，可在机器人本体1的充电姿态不准确时也能时触点座5和定位槽2相互配合，进行充电。
导向槽3的横截面积大于定位槽2的横截面积，与触点座5进入到定位槽2的方向重合的直线相互垂直的平面，如图1和图4所示，即垂直于沿前后方向延伸的直线的平面对导向槽3的横截面积，大于平面对定位槽2的横截面积，也就是说，在触点座5进入到定位槽2的路径中，触点座5首先进入空间体积较大的导向槽3，随后再进入到空间体积较小的定位槽2中，与定位槽2相互配合。通过设置空间体积较大的导向槽3可提升触点座5与机器人充电处的接触面积，提升触点座5进入到导向槽3的概率，并且导向槽3具有导向作用，可将进入到导向槽3的触点座5导入到定位槽2内，从而使机器人本体1在充电姿态不准确时也能进行充电，提升机器人本体1的充电成功率。本申请实施例的机器人组件100可通过导向槽3将触点座5导入到定位槽2内，不必设置额外的辅助定位措施，降低机器人组件100的生产制造成本。
根据本申请实施例的机器人组件100，通过在底盘11上设置横截面积较大的导向槽3，导向槽3可将进入到导向槽3内的触点座5导入定位槽2内，从而提升触点座5进入到定位槽2的概率，提升机器人本体1充电姿态的容错率，机器人本体1的充电成功率高，从而不必设置额外的辅助充电定位措施，降低机器人组件100的生产制造成本。
在一些实施例中，如图4所示，导向槽3的横截面积在触点座5进入到定位槽2的方向上逐渐减小。
触点座5进入到定位槽2的方向，如图4所示，即从后向前的方向，与沿前后方向延伸的直线垂直的平面对导向槽3的横截面积在从后向前的方向上逐渐减小，可以理解的是，上述的方位为基于附图所示的方位，仅是为了便于描述本申请和简化描述，而不是指示或暗示本申请的机器人组件100必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
而定位槽2位于导向槽3的后方，导向槽3朝向外部的横截面积最大，以提升与触点座5的接触面积，在向定位槽2的方向上导向槽3的横截面积逐渐减小，可将触点座 5向定位槽2导向，以使得触点座5与定位槽2相互配合。
在一些实施例中，如图4所示，导向槽3包括：彼此正对的第一导向壁31和第二导向壁32，第一导向壁31和第二导向壁32之间的距离在触点座5进入到定位槽2的方向上逐渐减小。
在一些实施例中，导向槽3开设在机器人本体1的底盘11上，第一导向壁31、第二导向壁32和机器人本体1的底壁共同限定出定位槽2，第一导向壁31和第二导向壁32之间的距离在从后向前的方向上逐渐减小，从而将导向槽3的横截面积从后向前的方向上逐渐减小，可将触点座5向定位槽2导向，以使得触点座5与定位槽2相互配合。
具体地，在触点座5进入到定位槽2的方向上，第一导向壁31与定位槽2的中心的距离逐渐减小，第二导向壁32与定位槽2的中心的距离逐渐减小。
第一导向壁31和第二导向壁32都逐渐朝向定位槽2的中心倾斜，第一导向壁31和第二导向壁32都具有导向功能，可将触点座5向定位槽2。如图2所示，当机器人本体1与充电桩4具有角度偏移时，机器人本体1向充电桩4运动，触点座5首先进入导向槽3，并且与第一导向壁31相互接触，而第一导向壁31与定位槽2的中心距离逐渐减小，第一导向壁31可将触点座5朝向定位槽2导向，同理地，如图3所示，第二导向壁32也可将触点座5朝向定位槽2导向。
在本申请的一些具体实施例中，第一导向壁31和第二导向壁32还构造可为弧形等特殊形状，以降低第一导向壁31和第二导向壁32对触点座5的摩擦，提升触点座5的运动流畅性。
在一些实施例中，如图5所示，充电桩4还包括：充电桩本体40和连杆6，连杆6的一端与充电桩本体40之间、连杆6的另一端与触点座5中的至少一个可转动地相连。
充电桩本体40与总电源连接，一般为固定件，连杆6设置在充电桩本体40上，并且凸出于充电桩本体40，连杆6的一端与充电桩本体40连接，连杆6的另一端与触点座5连接，通过设置连杆6使触点座5凸出于充电桩本体40，可提升触点座5的运动范围，触点座5可伸入到导向槽3和定位槽2，与定位槽2相互配合进行充电。
在一些实施例中，连杆6可相对于充电桩本体40转动，在另一些实施例中，连杆6可相对于触点座5转动，在另一些实施例中，连杆6可相对于充电桩本体40转动，也可同时相对于触点座5转动。通过使触点座5和/或连杆6可转动，可进一步提升触点座5的运动范围，如图2和图3所示，当机器人本体1与充电桩4具有角度偏移时，触点座5或连杆6也相对于充电桩4产生相应的角度偏移，才可与定位槽2贴合进行充电。除此之外，当触点座5与第一导向壁31或第二导向壁32接触，受到第一导向壁31或第二导向壁32的驱动导向时，连杆6具有被挤压损坏的风险，而将触点座5或连杆6 可转动设计，触点座5或连杆6在受力时转动，可延长触点座5和连杆6的使用寿命。
在一些实施例中，如图2和图5所示，连杆6的一端与充电桩本体40铰接，连杆6的另一端与触点座5铰接，连杆6可相对于充电桩本体40转动，也可同时相对于触点座5转动，连杆6和触点座5的运动流畅，可延长触点座5和连杆6的使用寿命，并且提升触点座5与定位槽2配合的准确率，提升机器人本体1的充电成功率。
在一些实施例中，连杆6的一端与触点座5之间设置有使触点座5复位至初始位置的第一复位件，连杆6的另一端与充电桩本体40之间设置有使连杆6复位至初始位置的第二复位件。
如图5所示，连杆6处于初始位置时，第二复位件处于正常状态，连杆6为沿前后方向延伸，并且垂直于充电桩本体40，触点座5处于初始位置时，第一复位件处于正常状态，触点座5沿前后方向延伸，并且垂直于充电桩本体40。
连杆6和触点座5位于初始位置时，与充电桩本体40正对垂直，在机器人本体1相对于充电桩4正对、向左偏移或向右偏移时，连杆6和触点座5都可转动与机器人本体1适配，相比于其他位置，连杆6和触点座5与充电桩4正对的位置与任意位置的机器人本体1适配都更为方便、快捷。通过设置第一复位件和第二复位件，可在机器人本体1充电后使连杆6和触点座5复位到初始位置，为下一次充电做准备。通过设置第一复位件和第二复位件，提升充电桩4的自动化效果，无需人工操作，方便使用。
在本申请的一些实施例中，第一复位件和第二复位件均为扭簧，如图2和图5所示，当机器人组件100处于第二充电位置时，触点座5相对于充电桩本体40偏移，连杆6相对于充电桩4偏移，扭簧受力拉伸或压缩，并积蓄弹性势能，当机器人本体1充电完成后，扭簧释放弹性势能，带动触点座5和连杆6复位到初始位置。
在第二部分实施例中，如图6所示，连杆6包括：第一连杆61和第二连杆62，第一连杆61的一端与触点座5可转动地连接，第二连杆62的一端与充电桩本体40可转动地连接，第一连杆61的另一端与第二连杆62的另一端之间设置有缓冲件63。
第一连杆61和第二连杆62之间设置有缓冲件63，可降低机器人本体1朝向充电桩4运动时对连杆6的冲击力，延长连杆6的使用寿命。
具体地，缓冲件63为弹簧，通过在第一连杆61和第二连杆62之间设置弹簧，可使第一连杆61和第二连杆62相对转动，从而进一步提升连杆6的摆动角度，可进一步提升触点座5的运动范围，提升机器人本体1的充电成功率。
在本申请第二部分的一些实施例中，第二连杆62的另一端还设置有朝向第一连杆61延伸的限位块，缓冲件63设置在限位块的内部空间内，限位块可对缓冲件63进行限制，避免第一连杆61在受到机器人本体1的冲击时在缓冲件63的带动下弯折。
在本申请第二部分的一些实施例中，在第一连杆61的另一端与第二连杆62的另一端之间还设置有位置传感器64，在第一连杆61的另一端处设置有触点，当第一连杆61朝向第二连杆62运动，使得触点与位置传感器64接触，位置传感器64即被触发，充电桩4内的控制中心判断机器人本体1已运动到位，控制中心会给机器人本体1发送停止运动的指令，可有效避免机器人本体1过度运动损坏充电桩4的情况发生。
在一些实施例中，位置传感器64可以为红外光电门或霍尔传感器等。
在一些实施例中，如图2和图3所示，触点座5的厚度不小于定位槽2或导向槽3的深度，连杆6的另一端设置在触点座5的远离定位槽2或导向槽3的底壁的侧面上。这种设计方式可使连杆6远离机器人本体1的底盘表面，避免连杆6和触点座5相对于机器人本体1运动时与机器人本体1产生运动干涉，避免连杆6被挤压损坏，延长连杆6的使用寿命，并给提升机器人本体1充电时的运动流畅性。
在一些实施例中，触点座5的顶端构造为圆弧形结构，可降低第一导向壁31和第二导向壁32对触点座5的摩擦，提升触点座5的运动流畅性。
下面参考图1-图3描述本申请实施例的机器人组件100在不同充电位置时的充电过程。
如图1所示，当机器人组件100位于第一充电位置，机器人本体1相对于充电桩4正对，机器人本体1向充电桩本体40运动的过程中，触点座5顺滑流畅地经过导向槽3，并且不与第一导向壁31和第二导向壁32接触，直接进入到定位槽2内，触点座5与定位槽2配合进行充电。
如图2所示，当机器人组件100位于第二充电位置时，机器人本体1相对于充电桩4向左方具有一定角度的偏移，机器人本体1向充电桩本体40运动的过程中，触点座5首先与第一导向壁31接触，并且连杆6在第一导向壁31的驱动下向右转动，触点座5以圆弧形的顶端与第一导向壁31接触，触点座5沿第一导向壁31向定位槽2方向滑动，触点座5在定位槽2和导向槽3的共同作用下向左偏转，进入到定位槽2内，触点座5与定位槽2配合对机器人本体1进行充电。
如图3所示，当机器人组件100位于第三充电位置时，机器人本体1相对于充电桩4向右方具有一定角度的偏移，机器人本体1向充电桩本体40运动的过程中，触点座5首先与第二导向壁32接触，并且连杆6在第二导向壁32的驱动下向左转动，触点座5以圆弧形的顶端与第二导向壁32接触，触点座5沿第二导向壁32向定位槽2方向滑动，触点座5在定位槽2和导向槽3的共同作用下向右偏转，进入到定位槽2内，触点座5与定位槽2配合对机器人本体1进行充电。
根据本申请实施例的机器人组件100的其他构成例如充电桩4和控制中心等以及操 作对于本领域普通技术人员而言都是已知的，这里不再详细描述。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管已经示出和描述了本申请的实施例，本领域的普通技术人员可以理解：在不脱离本申请的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。

Claims (12)

  1. 一种机器人组件(100)，其包括：
    机器人本体(1)，所述机器人本体(1)的底盘(11)上设置有定位槽(2)和导向槽(3)，所述定位槽(2)内设置有第一正极触点(21)和第一负极触点(22)；
    充电桩(4)，所述充电桩(4)上设置有可选择地与所述定位槽(2)配合的触点座(5)，所述触点座(5)上设置有第二正极触点(51)和第二负极触点(52)；其中所述导向槽(3)的横截面积大于所述定位槽(2)的横截面积，所述触点座(5)在所述导向槽(3)的导向作用下进入到所述定位槽(2)以使所述第一正极触点(21)与所述第二正极触点(51)接触、所述第一负极触点(22)和所述第二负极触点(52)接触。
  2. 根据权利要求1所述的机器人组件(100)，其中，所述导向槽(3)的横截面积在所述触点座(5)进入到所述定位槽(2)的方向上逐渐减小。
  3. 根据权利要求2所述的机器人组件(100)，其中，所述导向槽(3)包括：彼此正对的第一导向壁(31)和第二导向壁(32)，所述第一导向壁(31)和所述第二导向壁(32)之间的距离在所述触点座(5)进入到所述定位槽(2)的方向上逐渐减小。
  4. 根据权利要求3所述的机器人组件(100)，其中，在所述触点座(5)进入到所述定位槽(2)的方向上，所述第一导向壁(31)与所述定位槽(2)的中心的距离逐渐减小，所述第二导向壁(32)与所述定位槽(2)的中心的距离逐渐减小。
  5. 根据权利要求1所述的机器人组件(100)，其中，所述充电桩(4)还包括：充电桩本体(40)和连杆(6)，所述连杆(6)的一端与所述充电桩本体(40)之间、所述连杆(6)的另一端与所述触点座(5)中的至少一个可转动地相连。
  6. 根据权利要求5所述的机器人组件(100)，其中，所述连杆(6)的所述一端与所述充电桩本体(40)铰接，所述连杆(6)的所述另一端与所述触点座(5)铰接。
  7. 根据权利要求5所述的机器人组件(100)，其中，所述连杆(6)的所述一端与所述触点座(5)之间设置有使所述触点座(5)复位至初始位置的第一复位件，所述连杆(6)的所述另一端与所述充电桩本体(40)之间设置有使所述连杆(6)复位至初始位置的第二复位件。
  8. 根据权利要求5所述的机器人组件(100)，其中，所述连杆(6)包括：第一连杆(61)和第二连杆(62)，所述第一连杆(61)的一端与所述触点座(5)可转动地连接，所述第二连杆(62)的一端与所述充电桩本体(40)可转动地连接，所述第一连杆(61)的另一端与所述第二连杆(62)的另一端之间设置有缓冲件(63)。
  9. 根据权利要求8所述的机器人组件(100)，其中，所述第二连杆(62)的另一端 还设置有朝向所述第一连杆(61)延伸的限位块，所述缓冲件(63)设置在所述限位块的内部空间内。
  10. 根据权利要求8所述的机器人组件(100)，在所述第一连杆(61)的另一端与所述第二连杆(62)的另一端之间还设置有位置传感器(64)，在所述第一连杆(61)的另一端处设置有触点；
    其中，当所述第一连杆(61)朝向所述第二连杆(62)运动使得所述触点与所述位置传感器(64)接触时，所述充电桩(4)内的控制中心判断所述机器人本体(1)已运动到位。
  11. 根据权利要求5所述的机器人组件(100)，其中，所述触点座(5)的厚度不小于所述定位槽(2)或所述导向槽(3)的深度，所述连杆(6)的所述另一端设置在所述触点座(5)的远离所述定位槽(2)或所述导向槽(3)的底壁的侧面上。
  12. 根据权利要求1所述的机器人组件(100)，其中，所述触点座(5)的顶端构造为圆弧形结构。
PCT/CN2022/124783 2021-12-21 2022-10-12 机器人组件 Ceased WO2023116139A1 (zh)

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