WO2024114124A1

WO2024114124A1 - Robot magnetic charging system

Info

Publication number: WO2024114124A1
Application number: PCT/CN2023/124280
Authority: WO
Inventors: 王学全; 孙土春; 陈国栋; 孙荣孟
Original assignee: 珠海市一微机器人技术有限公司
Priority date: 2022-12-01
Filing date: 2023-10-12
Publication date: 2024-06-06
Also published as: CN116094183A

Abstract

Disclosed in the present application is a robot magnetic charging system, comprising a robot and a charging base, a magnetic charging end being provided on the robot, a magnetic power supply end being provided on the charging base, there being a height difference between the static height-above-ground of the magnetic charging end and the static height-above-ground of the magnetic power supply end, and the height difference between the static height-above-ground of the magnetic charging end and the static height-above-ground of the magnetic power supply end being smaller than a preset height difference threshold value, wherein the static height-above-ground of the magnetic charging end refers to the height of the magnetic charging end away from the ground when the robot is in a static state, and the static height-above-ground of the magnetic power supply end refers to the height of the magnetic power supply end of the charging base away from the ground when the magnetic power supply end of the charging base is not under action of an external force. The design of the present application of there being a height difference between the static height-above-ground of the magnetic charging end and the static height-above-ground of the magnetic power supply end facilitates docking of the magnetic charging end and the magnetic power supply end, increasing the recharging success rate of robots using a non-contact recharging solution, and simultaneously improving the smoothness of the robot getting away from the base.

Description

A robot magnetic charging system

Technical Field

The present application relates to the field of robot recharging technology, and in particular to a robot magnetic charging system.

Background technique

At present, the automatic charging solutions for mobile robots mainly include rail-type and non-rail-type. The rail-type solution guides the mobile robot to complete contact charging by setting rails, while the non-rail-type solution mainly uses electromagnets to provide adsorption force to guide the mobile robot to complete contact charging.

Since the exposed gaskets of the rail-type solution pose a safety hazard and in order to reduce the space occupied by the recharging seat, the non-rail recharging solution has gradually become the mainstream recharging solution. Chinese patent CN205997008U discloses a contact-type household robot automatic charging device, which adopts a non-rail recharging solution. The contact-type household robot automatic charging device realizes the robot's autonomous return to the charging seat to perform contact charging by means of electromagnet adsorption. The solution limits the height of the iron sheet on the vertical charging pile to be equal to the height of the electromagnet on the robot, so that the positive and negative coils of the electromagnet are aligned with the positive and negative coils on the vertical charging pile when the robot is recharged. This technical solution has the problem that when the robot completes charging and leaves the charging seat, the robot needs to twist left and right to complete the effect of the suction of the electromagnet, which affects the smoothness of the robot leaving the seat.

At present, in non-rail recharging solutions, the height of the coil on the charging pile is usually limited to be equal to the height of the coil on the robot. However, in actual application, with the diversification of the mobile structure of mobile robots, some robots have the problem of tipping forward or backward due to inertia during the return movement due to their mobile structure. Some robots also collide with the charging base during the return movement. As a result, when the robot uses a contact charging device, there is a height difference between the power supply interface on the charging base and the charging interface on the robot, resulting in a low docking success rate between the two, which affects the robot's recharging success rate.

Summary of the invention

This application provides a robot magnetic charging system, and the specific technical solution is as follows:

A robot magnetic charging system comprises: a robot and a charging base; a magnetic charging terminal is provided on the robot, and a magnetic power supply terminal is provided on the charging base; there is a height difference between the static height of the magnetic charging terminal and the static height of the magnetic power supply terminal, and the height difference between the static height of the magnetic charging terminal and the static height of the magnetic power supply terminal is less than a preset height difference threshold; wherein, the static height of the magnetic charging terminal refers to the height of the magnetic charging terminal from the ground when the robot is in a static state, and the static height of the magnetic power supply terminal refers to the height of the magnetic power supply terminal of the charging base from the ground when it is not affected by magnetic attraction.

Furthermore, the robot includes: a body and moving wheels symmetrically installed on both sides of the body; and a magnetic charging terminal is arranged on the body of the robot.

The robot magnetic charging system described in the present application is designed to have a height difference between the static ground height of the magnetic charging terminal on the robot and the static ground height of the magnetic power supply terminal on the charging seat. Some robots fall forward/backward due to the inertia of movement in the process of returning to the charging seat, so that the ground height of the magnetic charging terminal on the robot body increases/decreases compared to the static ground height, which is more conducive to the docking of the magnetic charging terminal and the magnetic power supply terminal with a height difference; some robots collide with the charging seat panel in the process of returning to the charging seat, causing the ground height of the magnetic charging terminal on the robot body to change compared to the static ground height, which is more conducive to the docking of the magnetic charging terminal and the magnetic power supply terminal with a height difference. At the same time, by limiting the height difference between the static ground height of the magnetic charging terminal and the static ground height of the magnetic power supply terminal to be less than the preset height difference threshold, it is ensured that the height difference between the magnetic charging terminal and the magnetic power supply terminal is still within the range that can achieve the docking of the two. By designing the static height of the magnetic charging end above the ground to be different from the static height of the magnetic power supply end above the ground, the force of the magnetic adsorption force on the robot's movement away from the seat is weakened, so that when the robot completes charging, the resistance of the magnetic adsorption force to the robot leaving the seat becomes smaller, and the robot can break away from the effect of the magnetic adsorption force without swinging left and right. In addition, when the static height of the magnetic charging end is less than the static height of the magnetic power supply end, the robot's own gravity can help the robot break away from the effect of the magnetic adsorption force, thereby effectively improving the smoothness of the robot leaving the seat.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the structure of a robot magnetic charging system according to an embodiment of the present application.

FIG. 2 is a schematic diagram of a robot leaning forward according to an embodiment of the present application.

FIG3 is a partially enlarged schematic diagram of the magnetic charging terminal and the magnetic power supply terminal described in an embodiment of the present application.

FIG. 4 is a schematic structural diagram of a magnetic bracket and an elastic reset component according to an embodiment of the present application.

FIG. 5 is a schematic structural diagram of a mounting base according to an embodiment of the present application.

1-magnetic power supply end; 11-power supply terminal; 12-second annular magnet; 2-magnetic charging end; 21-charging terminal; 22-first annular magnet; 3-charging base; 4-robot; 5-magnetic bracket; 51-magnetic tube; 52-first rotating cylinder; 53-second rotating cylinder; 6-mounting base; 61-first opening; 62-second opening; 63-limiting groove; 64-wiring opening; 7-elastic reset component.

Implementation

In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. In addition, it can also be understood that although the efforts made in this development process may be complicated and lengthy, for ordinary technicians in the field related to the content disclosed in this application, some changes in design, manufacturing or production based on the technical content disclosed in this application are just conventional technical means, and should not be understood as insufficient content disclosed in this application.

Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. "One", "one", "a kind of", "the" and other similar words involved in this application do not represent quantitative restrictions and can represent singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions, for example: the process, method, system, product or equipment including a series of steps or modules is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or equipment. The terms "first", "second" and "third" involved in this application are merely to distinguish similar objects and do not represent a specific ordering for objects.

The present application aims to solve the problem of low recharging success rate of some robots currently using contact recharging solutions. Specifically, when some robots return to the charging seat, the inertia of the body causes the forward/backward tilt, which causes the height of the magnetic charging end to change from the ground, so that the magnetic charging end and the magnetic power supply end need to be adjusted by the mobile robot for multiple times before they can be successfully docked. The docking success rate is low. In addition, when some robots return to the charging seat, their movement mechanism is to stop moving when the magnetic charging end and the magnetic power supply end are successfully docked. This movement mechanism may cause the magnetic charging end and the magnetic power supply end to have contacted the magnetic part, but because the charging terminal and the power supply terminal have not been properly docked, the robot still keeps moving, causing the magnetic charging end and the magnetic power supply end to separate due to movement after the magnetic part is in contact, greatly reducing the recharging docking success rate. During the movement of the robots in these technical solutions, due to the instability of the robot's moving structure or the robot's collision with the charging seat, the robot body may tilt forward or backward, which affects the height of the magnetic charging end from the ground, thereby affecting the docking accuracy of the magnetic charging end and the magnetic power supply end, and affecting the recharging success rate of the robot.

A first embodiment of the present application provides a robot magnetic charging system, specifically comprising: a robot and a charging stand; the robot is provided with a magnetic charging terminal, and the charging stand is provided with a magnetic power supply terminal, and the robot moves so that the magnetic charging terminal docks with the magnetic power supply terminal on the charging terminal to achieve contact recharging of the robot.

Based on the problem that some robots may tip forward/backward when returning to the charging station, causing the height of the magnetic charging terminal on the robot body to change compared to the static height above the ground, the static height above the ground of the magnetic charging terminal on the robot is designed in this application to have a height difference with the static height above the ground of the magnetic power supply terminal on the charging station. It should be noted that the static height above the ground of the magnetic charging terminal refers to the height of the center point of the magnetic charging terminal from the ground when the robot is in a static state, and the static height above the ground of the magnetic power supply terminal refers to the height of the magnetic power supply terminal of the charging station from the ground when it is not affected by magnetic attraction.

Specifically, during the process of the robot returning to the charging base, the robot's body and moving wheels drive the robot to tilt forward/backward as a whole due to the inertia of movement, causing the height of the magnetic charging end from the ground to change compared to the static height of the magnetic charging end from the ground, so that the height of the magnetic charging end and the magnetic power supply end of the charging base can be exactly docked during the robot's forward/backward tilting; or, during the process of the robot returning to the charging base, the robot collides with the charging base, causing the height of the magnetic charging end from the ground to change compared to the static height of the magnetic charging end from the ground, so that the height of the magnetic charging end and the magnetic power supply end of the charging base can be docked during the collision, effectively improving the robot's recharging and docking success rate. On the contrary, in the technical solution in which the static height above the ground of the magnetic charging end is equal to the static height above the ground of the magnetic power supply end, when the robot stops moving and leans forward due to inertia, the height above the ground of the magnetic charging end increases, and the height above the ground of the magnetic charging end is higher than the static height above the ground of the magnetic power supply end. The magnetic charging end is difficult to dock with the magnetic power supply end, and in the process of the robot leaning forward, the magnetic charging end and the magnetic power supply end are prone to collision or docking first and then detaching due to the forward tilt.

The present application designs the static height of the magnetic charging terminal on the robot to be different from the static height of the magnetic power supply terminal on the charging seat. Even if the robot topples over due to inertia or collides with the charging seat, the magnetic charging terminal and the magnetic power supply terminal of the charging seat can still be accurately docked. Moreover, based on the height difference between the magnetic charging terminal and the magnetic charging terminal, the force of the magnetic adsorption force on the robot's departure direction is weakened. If the robot wants to control the magnetic charging terminal to detach from the magnetic power supply terminal of the charging seat, the robot does not need to swing left and right because the force of the magnetic adsorption force in the departure direction is weakened. The robot only needs to move forward to smoothly detach from the seat. When the static height of the magnetic charging terminal is designed to be less than the static height of the magnetic power supply terminal on the charging seat, the robot's own gravity can assist the magnetic charging terminal to detach from the magnetic power supply terminal, thereby improving the robot's detachment smoothness in the non-rail recharging solution.

In the robot magnetic charging system provided by the second embodiment of the present application, the height difference between the static height above the ground of the magnetic charging terminal and the static height above the ground of the magnetic power supply terminal is limited to be less than a preset height difference threshold; wherein the preset height difference threshold is used to limit the height difference between the height above the ground of the magnetic power supply terminal and the height above the ground of the magnetic charging terminal, so that the magnetic charging terminal and the magnetic power supply terminal can achieve docking based on magnetic attraction within the limited height difference range. This embodiment ensures that the magnetic attraction force between the magnetic charging terminal and the magnetic power supply terminal is sufficient to assist the two in docking within the height difference range by limiting the height difference between the height above the ground of the magnetic charging terminal and the height above the ground of the magnetic power supply terminal to be less than the preset height difference threshold, thereby enabling the magnetic charging terminal of the robot to dock smoothly with the magnetic power supply terminal of the charging base.

In some embodiments of the present application, the setting of the preset height difference threshold is related to the tilt angle of the robot body and the magnitude of the magnetic attraction force between the magnetic charging terminal and the magnetic power supply terminal. For example, when the tilt angle of the robot body ranges from 0 to 40°, the preset height difference threshold is less than the change in the height of the magnetic charging terminal from the ground when the robot is tilted at 40°; it can be understood that when the height of the magnetic charging terminal from the ground increases from 5 cm to 8 cm when the robot is tilted, the preset height difference threshold needs to be set to less than 3 cm to ensure that during the tilting process of the robot, the magnetic charging terminal and the magnetic power supply terminal are at the same height at a certain moment during the increase in the height of the magnetic charging terminal from the ground to achieve docking. When the magnitude of the magnetic attraction force between the magnetic charging terminal and the magnetic power supply terminal can assist the magnetic charging terminal and the magnetic power supply terminal in docking within a range of 2 cm, the preset height difference threshold needs to be set to less than or equal to 2 cm, so that the magnetic charging terminal and the magnetic power supply terminal can be docked within 2 cm based on the magnetic attraction force.

Figure 1 shows a robot magnetic charging system, in which the robot 4 is in a stationary state and the robot 4 does not lean forward. At this time, the stationary height above the ground of the magnetic charging terminal 2 on the robot 4 is lower than the stationary height above the ground of the magnetic power supply terminal 1 on the charging base 3. Figure 3 is a partial enlarged view of a magnetic charging terminal 2 and a magnetic power supply terminal 1 disclosed on the basis of Figure 1. The scenario shown in Figure 3 is that the stationary height above the ground of the magnetic charging terminal 2 is less than the stationary height above the ground of the magnetic power supply terminal 1. It can be seen from Figure 3 that in the present application, the stationary height above the ground of the power supply terminal 11 of the magnetic power supply terminal 1 is higher than the stationary height above the ground of the charging terminal 21 of the magnetic charging terminal 2, and the height above the ground of the highest point of the second annular magnet 12 of the magnetic power supply terminal 1 is higher than the height above the ground of the highest point of the first annular magnet 22 of the magnetic charging terminal 2.

Figure 2 shows a robot magnetic charging system, in which the robot 4 tilts forward, and the ground height of the magnetic charging terminal 2 on the robot 4 increases compared to its static ground height, while the ground height of the magnetic power supply terminal 1 on the charging base 3 remains unchanged compared to its static ground height. During the robot's forward tilting process, the ground height of the magnetic charging terminal 2 continues to increase. At a certain moment, the ground height of the magnetic charging terminal 2 on the robot is equal to the ground height of the magnetic power supply terminal 1 on the charging base, and the magnetic charging terminal 2 is docked with the magnetic power supply terminal 1.

In the robot magnetic charging system provided in the third embodiment of the present application, the charging seat is equipped so that the magnetic power supply end can rotate under the action of magnetic force. Specifically, a rotatable base is provided on the charging seat, and the magnetic power supply end is provided in the rotatable base. Based on the rotatable characteristics of the rotatable base, when the magnetic power supply end is acted upon by a magnetic external force, the magnetic power supply end drives the rotatable base to rotate. Specifically, the rotatable base described in the present application can be driven to rotate by the magnetic external force exerted on the magnetic power supply end, and the specific rotation direction can be but is not limited to left turn, right turn, up turn and down turn, etc. The magnetic power supply end is set as a rotatable structure, so that the magnetic force can more effectively assist the docking of the magnetic power supply end and the magnetic charging end, thereby improving the success rate of the robot's recharging docking. In this embodiment, the charging base is equipped with a system that can rotate when the magnetic power supply end is acted upon by the magnetic force. Compared with the prior art in which the magnetic head is fixed in position, the magnetic external force only acts on the magnetic charging end of the mobile robot, and the magnetic force produces an adsorption effect on the mobile robot. However, the current mobile robot has a large overall weight, and the adsorption effect of the magnetic force on the mobile robot is relatively small. Therefore, in the technical solution in which the magnetic head is fixed in position, the auxiliary lifting effect of the magnetic force on the docking between the magnetic charging end of the mobile robot and the magnetic power supply end of the charging base is not obvious. In the present application, the magnetic power supply end is arranged on a rotatable base of the charging base, so that when the magnetic power supply end is acted upon by the magnetic force, the magnetic power supply end can flexibly rotate with the adsorption of the magnetic force, and the magnetic force can more accurately and effectively assist the docking between the magnetic power supply end and the magnetic charging end, thereby further improving the success rate of the robot's return to the seat.

In the robot magnetic charging system provided in the fourth embodiment of the present application, the rotatable base includes: a magnetic bracket and a mounting seat; wherein the magnetic bracket is rotatably assembled on the mounting seat; as shown in FIG4 , a magnetic tube 51 is provided on the magnetic bracket 5, and the magnetic tube 51 is a hollow structure, and the magnetic power supply end 1 is installed in the hollow structure of the magnetic tube 51, and the magnetic power supply end 1 is exposed to the rotatable base through the magnetic tube 51. The present application adopts a magnetic bracket and a mounting seat to form a rotatable base, and the magnetic power supply end is arranged in the magnetic tube of the magnetic bracket. The magnetic bracket can rotate relative to the mounting seat, so that the magnetic power supply end drives the magnet to rotate relative to the mounting seat. Based on the combined structure of the magnetic bracket and the mounting seat, the magnetic power supply end can be more stably assembled in the rotatable base.

Specifically, at least one group of rotating cylinders is provided on the magnetic bracket, and at least one opening is correspondingly provided on the mounting seat. It should be noted that the number of the rotating cylinders is equal to the number of the openings, and each group of rotating cylinders can be relatively rotatably assembled with a corresponding group of openings to achieve rotatable assembly of the magnetic bracket on the mounting seat. This embodiment realizes detachable and rotatable installation between the magnetic bracket and the mounting seat by providing rotating cylinders and openings, so that the magnetic bracket can be smoothly driven to rotate by the magnetic power supply end based on the rotating cylinders.

In the robot magnetic charging system provided in the fifth embodiment of the present application, as shown in FIG4 , the magnetic bracket 5 is provided with two groups of rotating cylinders, namely, a first rotating cylinder 52 and a second rotating cylinder 53; wherein, the first rotating cylinder 52 is arranged at the top of the magnetic bracket 5, and the second rotating cylinder 53 is arranged at the bottom of the magnetic bracket 5, and the first rotating cylinder 52 and the second rotating cylinder 53 are arranged on the same axis. As shown in FIG5 , the mounting seat 6 is provided with two groups of openings, namely, a first opening 61 and a second opening 62; wherein, the first opening 61 is arranged at the top of the mounting seat 6, and the second opening 62 is arranged at the bottom of the mounting seat 6, and the first rotating cylinder 52 and the first opening 61 can be assembled relatively rotatably, and the second rotating cylinder 53 and the second opening 62 can be assembled relatively rotatably. In this embodiment, a group of rotating cylinders are respectively arranged at the top and bottom of the magnetic bracket, so that the magnetic bracket can rotate relative to the mounting base based on the two groups of rotating cylinders. The two groups of rotating cylinders jointly limit the stability of the magnetic bracket assembled to the mounting base, so that the magnetic bracket is not easily detached from the mounting base due to the drive of the magnetic power supply end.

In the robot magnetic charging system provided in the sixth embodiment of the present application, the rotatable base further includes: an elastic reset component, which is used to limit the rotation angle of the magnetic bracket and control the magnetic bracket to return to the initial position when it is not affected by the magnetic force. The mounting seat is also provided with at least one limit groove, which is used to work together with the elastic reset component to limit the rotation angle of the magnetic bracket. It should be noted that the initial position of the magnetic bracket refers to the position of the magnetic bracket when it is not driven to rotate by the magnetic force; the initial position of the magnetic bracket is affected by the limit range of the elastic reset component and the position of the limit groove. The present application sets an elastic reset component and a limit groove so that the elastic reset component and the limit groove jointly limit the magnetic bracket, so as to prevent the magnetic bracket from being driven to rotate too much by the magnetic force of the magnetic power supply end, causing the magnetic bracket to detach from the mounting seat, and also enables the magnetic bracket to have a reset function, and can be reset and adjusted after each magnetic power supply end is driven by the magnetic force to rotate the magnetic bracket, so as to keep the magnetic bracket restored to the initial position after each recharging of the robot, so as to facilitate the robot to find the seat for the next recharging.

In the robot magnetic charging system provided by the seventh embodiment of the present application, the elastic reset component includes at least one double-arm torsion spring, each of which is respectively mounted on a corresponding group of rotating cylinders of the magnetic bracket, and the two rotating arms of each double-arm torsion spring are limited by a corresponding limit groove. The number of the double-arm torsion springs is greater than or equal to the number of upper limit grooves on the mounting seat. As shown in Figure 4, Figure 4 shows a technical solution in which an elastic reset component 7 includes a double-arm spring, and the elastic reset component 7 is mounted on the second rotating cylinder 53 at the bottom of the magnetic bracket 5. In this technical solution, the elastic reset component 7 limits the rotation angle range of the magnetic bracket 5 and controls the reset of the magnetic bracket 5 based on its own reset characteristics.

Preferably, in some embodiments, a group of rotating cylinders can be sleeved with one or more double-arm torsion springs. In some embodiments, a limiting groove limits the rotating arms of one or more double-arm torsion springs. In some embodiments, the two rotating arms of a double-arm torsion spring are respectively limited by two limiting grooves, such as the left rotating arm of the double-arm torsion spring is limited by the left side wall of the first limiting groove, and at the same time, the right rotating arm of the double-arm torsion spring is limited by the right side wall of the second limiting groove. In this embodiment, the elastic reset component is designed as a double-arm torsion spring, and the limiting effect of the limiting groove on the two rotating arms of the double-arm torsion spring is used to limit the rotation angle of the double-arm torsion spring sleeved under the magnetic bracket, thereby realizing the limitation of the rotation angle of the magnetic bracket, and the double-arm torsion spring is sleeved on the rotating cylinder of the magnetic bracket, so that the double-arm torsion spring can limit the magnetic bracket more directly and effectively.

In the robot magnetic charging system provided in the eighth embodiment of the present application, a power supply component is provided on the charging seat, as shown in FIG5 , and a wiring opening 64 is provided on the mounting seat 6, and the power supply component is electrically connected to the magnetic power supply end in the magnetic suction tube of the magnetic suction bracket through the wiring opening on the mounting seat 6. In some embodiments of the present application, when the magnetic suction bracket 5 is assembled on the mounting seat 6, the magnetic suction tube is docked with the wiring opening, so as to facilitate the electrical connection between the power supply component and the magnetic power supply end in the magnetic suction tube.

In the robot magnetic charging system provided by the ninth embodiment of the present application, the magnetic charging end includes a first annular magnet and a charging terminal, and the first annular magnet surrounds and wraps the charging terminal; as shown in Figure 4, the magnetic power supply end 1 includes a power supply terminal 11 and a second annular magnet 12, and the second annular magnet 12 surrounds and wraps the power supply terminal 11, so that the magnetic attraction force generated between the second annular magnet and the first annular magnet drives the magnetic power supply end 1 and the magnetic charging end 2 to dock, so that the charging terminal surrounded by the first annular magnet and the power supply terminal surrounded by the second annular magnet are accurately docked.

Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present application. The above embodiments are merely preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

A robot magnetic charging system, characterized in that the robot magnetic charging system comprises: a robot and a charging seat; a magnetic charging terminal is provided on the robot, and a magnetic power supply terminal is provided on the charging seat, there is a height difference between the static height of the magnetic charging terminal and the static height of the magnetic power supply terminal, and the height difference between the static height of the magnetic charging terminal and the static height of the magnetic power supply terminal is less than a preset height difference threshold; wherein the static height of the magnetic charging terminal refers to the height of the magnetic charging terminal from the ground when the robot is in a static state, and the static height of the magnetic power supply terminal refers to the height of the magnetic power supply terminal of the charging seat from the ground when it is not affected by magnetic attraction.
The robot magnetic charging system according to claim 1 is characterized in that the preset height difference threshold is used to limit the height difference between the height of the magnetic power supply end from the ground and the height of the magnetic charging end from the ground, so that the magnetic charging end and the magnetic power supply end can be docked based on magnetic attraction within the limited height difference range.
The robot magnetic charging system according to claim 1 is characterized in that the robot comprises: a body and moving wheels symmetrically installed on both sides of the body; and the magnetic charging end is arranged on the body of the robot.
The robot magnetic charging system according to claim 1 is characterized in that the charging seat includes a rotatable base; the magnetic power supply end is arranged in the rotatable base, and the magnetic power supply end drives the rotatable base to rotate when subjected to the external magnetic force.
The robot magnetic charging system according to claim 4 is characterized in that the rotatable base comprises: a magnetic bracket and a mounting base; wherein the magnetic bracket is rotatably assembled on the mounting base, a magnetic tube is provided on the magnetic bracket, the magnetic power supply end is installed in the magnetic tube, and the magnetic power supply end is exposed to the rotatable base through the magnetic tube.
The robot magnetic charging system according to claim 5 is characterized in that at least one group of rotating cylinders is provided on the magnetic bracket, and at least one opening is correspondingly provided on the mounting seat, and each group of rotating cylinders can be relatively rotatably assembled with a corresponding group of openings to realize the rotatable assembly of the magnetic bracket with the mounting seat; wherein the number of rotating cylinders is equal to the number of openings.
The robot magnetic charging system according to claim 6 is characterized in that the top and bottom of the magnetic bracket are respectively provided with a first rotating cylinder and a second rotating cylinder, the top and bottom of the mounting base are respectively provided with a first opening and a second opening, and the first rotating cylinder and the second rotating cylinder can be relatively rotatably assembled on the first opening and the second opening to realize the rotatable assembly of the magnetic bracket with the mounting base.
The robot magnetic charging system according to claim 6 is characterized in that the rotatable base also includes: an elastic reset component, and at least one limiting groove is provided on the mounting seat. The elastic reset component is limited by the limiting effect of the limiting groove so that the magnetic bracket returns to its initial position when the magnetic power supply end is not affected by external magnetic force.
The robot magnetic charging system according to claim 8 is characterized in that the elastic reset component includes: at least one double-arm torsion spring; each double-arm torsion spring is respectively mounted on a group of rotating cylinders of the magnetic bracket, and the two rotating arms of each double-arm torsion spring are limited by a corresponding limiting groove.
The robot magnetic charging system according to claim 1 is characterized in that the magnetic charging end includes a first annular magnet and a charging terminal, and the first annular magnet surrounds the charging terminal; the magnetic power supply end includes a second annular magnet and a power supply terminal, and the second annular magnet surrounds the power supply terminal.