Active and passive adjustment plugging docking mechanism and charging robot

Abstract

The invention discloses an active and passive adjustment plugging docking mechanism and a charging robot, the active and passive adjustment plugging docking mechanism comprises a front end device and a rear end device, the front end device comprises a fixed platform, a floating seat and a docking plug, and the floating seat and the fixed platform are in floating connection through a passive adjustment assembly and a limiting assembly; the floating seat can conduct pitching deflection, left-right deflection and rotation around the first axis relative to the fixed platform through the passive adjusting assembly to conduct passive angle adjustment, and the passive angle adjustment range can be limited through the limiting assembly. The rear end device comprises a rotating table, a cylinder body arranged on one side of the rotating table and a driving assembly used for driving the rotating table to reciprocate, and a first active adjusting assembly is arranged between the fixed platform and the rotating table. The active and passive adjustment plugging and unplugging docking mechanism can be applied to a charging robot, realizes accurate docking and unplugging between a docking plug and charged equipment, is simple in structure, greatly reduces the production cost, and is convenient to produce.

Description

Technical Field

[0001] The present invention relates to the field of robot operation equipment, and particularly to a main and passive adjustable plug-in and docking mechanism and a charging robot. Background Art

[0002] With the continuous development of robot technology, robots such as charging robots, industrial production robots, and cleaning robots are increasingly widely used in various fields. The plug-in and docking mechanism is an important structure for many robots to plug in and unplug from external devices.

[0003] The prior art discloses a mobile charging robot for new energy vehicles (Publication No.: CN118003939B), which includes a vehicle frame and a charging mechanism. The charging mechanism includes a fixed frame fixed on the vehicle frame, a lifter arranged on the fixed frame, a multi-axis robotic arm arranged on the lifter, and a charging plug arranged at the front end of the multi-axis robotic arm. The charging plug can be inserted and unplugged between the charging plug and the charging port of the new energy vehicle through the cooperation of the multi-axis robotic arm and the lifter. Although this technical solution can complete the precise docking between the charging plug and the device to be charged by the robot instead of manual operation and then power on, realizing remote control charging of the device to be charged without the driver getting out of the vehicle to operate manually, in actual application, due to factors such as uneven ground and robot motion errors, it is difficult for the charging plug to achieve precise docking or unplugging with the charging port of the device to be charged, and it is easy to wear the charging plug or the charging port.

[0004] To solve the above problems, the current common practice is to use a force sensor in cooperation with the multi-axis robotic arm of the robot and combine a force control algorithm to actively adjust the position of the charging plug to achieve precise docking or unplugging. However, the hardware cost of this solution is relatively high, and it also has high requirements for the control accuracy of the software algorithm, which is not conducive to production. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the present invention provides a main and passive adjustable plug-in and docking mechanism and a charging robot. The main and passive adjustable plug-in and docking mechanism can be applied to the charging robot to achieve precise docking and unplugging between the docking plug and the device to be charged, and has a simple structure, greatly reducing the production cost and facilitating production.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A main-passive adjustable plug-in docking mechanism, comprising a front-end device and a rear-end device. The front-end device includes a fixed platform, a floating seat arranged on one side of the fixed platform along a first axis, and a docking plug arranged on the floating seat. The floating seat is floatingly connected to the fixed platform through a passive adjustment component and a limit component arranged along the first axis. The floating seat can be passively adjusted in angle relative to the fixed platform by pitching and deflecting, deflecting left and right, and rotating around the first axis through the passive adjustment component, and the range of the passive adjustment angle can be limited by the limit component; the rear-end device includes a rotating table, a cylinder body arranged on one side of the rotating table, and a driving component for driving the rotating table to reciprocate relative to the cylinder body along a second axis. The first axis and the second axis are arranged in parallel. The fixed platform is rotatably connected to the rotating table along the first axis, and a first active adjustment component capable of locking the rotation angle of the fixed platform along the first axis is arranged between the fixed platform and the rotating table.

[0008] Preferably, the limit component includes a first convex block and a first groove arranged opposite to the first convex block. The first convex block extends into the first groove and is in clearance fit with the first groove. One of the first convex block and the first groove is arranged on the fixed platform and the other is arranged on the floating seat. The range of the passive adjustment angle when the floating seat pitches and deflects, deflects left and right, and rotates around the first axis with the docking plug can be limited by the relative movement of the first groove with respect to the first convex block.

[0009] Preferably, there are four groups of corresponding first convex blocks and first grooves, which are respectively arranged between the upper, lower, left, and right sides of the floating seat and the fixed platform. The range of the passive adjustment angle when the floating seat pitches and deflects with the docking plug is limited between the upper surface and the lower surface of the first convex blocks on the left and right sides. The range of the passive adjustment angle when the floating seat deflects left and right with the docking plug is limited between the left surface and the right surface of the first convex blocks on the upper and lower sides. The range of the passive adjustment angle when the floating seat rotates around the first axis with the docking plug is limited between two adjacent first convex blocks.

[0010] Preferably, the limit component further includes a second convex block arranged between two adjacent first grooves and a second groove arranged between two adjacent first convex blocks and opposite to the second convex block. The second convex block extends into the second groove and is in clearance fit with the second groove. The first convex block and the second groove are arranged on the fixed platform and are staggered along the circumferential direction of the first axis. The second convex block and the first groove are arranged on the floating seat and are staggered along the circumferential direction of the first axis.

[0011] Preferably, the passive adjustment assembly includes a damping member arranged along a first axis and a plurality of elastic members arranged circumferentially around the damping member. One end of the damping member is connected to the fixed platform, and the other end is ball-joint connected to the floating seat. One end of the elastic member is connected to the fixed platform, and the other end is connected to the floating seat. After the floating seat passively adjusts the angle along the damping member with the docking plug, an elastic restoring force is provided by the elastic member.

[0012] Preferably, four elastic members are provided and are respectively arranged on the upper, lower, left, and right sides of the damping member. When the floating seat pitches and deflects with the docking plug, it can selectively compress the upper or lower elastic member to provide an elastic restoring force through the compressed elastic member. When the floating seat deflects left and right with the docking plug, it can selectively compress the left or right elastic member to provide an elastic restoring force through the compressed elastic member. When the floating seat rotates around the first axis with the docking plug, it can drive each elastic member to twist around the damping member to provide an elastic restoring force through the twisted elastic member.

[0013] Preferably, the damping member includes a hinge ball and a connecting column connected between the hinge ball and the fixed platform. The floating seat is recessed inward from the side away from the fixed platform to form a hinge groove, and the hinge ball is located in the hinge groove and is ball-joint connected to the hinge groove.

[0014] Preferably, the front-end device further includes a fixing ring sleeved outside the floating seat and fixedly connected to the floating seat, and an imaging structure connected to the fixing ring for visual positioning and guiding.

[0015] Preferably, the rear-end device further includes a connecting seat rotatably connected to the cylinder body along a third axis. The third axis is arranged horizontally and is perpendicular to the second axis. A second active adjustment assembly capable of locking the pitching rotation angle of the cylinder body is provided between the cylinder body and the connecting seat.

[0016] The present invention also provides a charging robot, including a robot main body, a robotic arm provided on the robot main body, and the above-mentioned master-slave adjustment plug-in docking mechanism provided at the front end of the robotic arm. The docking plug is set as a power docking plug for charging.

[0017] The beneficial effects achieved by the present invention are:

[0018] The active and passive adjustable plug-in docking mechanism provided by the present invention can be used as an independent structure to match with robots such as charging robots, industrial production robots, and cleaning robots, realizing precise docking and disconnection between the docking plug and external devices, with a wide range of applications. By arranging the docking plug on the floating seat, and the floating seat is floatingly connected to the fixed platform through a passive adjustment component and a limit component arranged along the first axis, the floating seat can move relative to the fixed platform with the docking plug according to the position or posture of the external device, or according to the movement or posture of the robot, realizing passive adjustment angle calibration of the docking plug in three degrees of freedom of pitch deflection, left and right deflection, and rotation around the first axis, and further realizing precise docking and disconnection between the docking plug and the external device. At the same time, the passive adjustment angle range of the three degrees of freedom is limited by the limit component to avoid affecting the reset effect of the docking plug and the floating seat due to excessive angle adjustment. By arranging the fixed platform and the rotating table to be rotatably connected along the first axis, the operator can actively rotate the fixed platform relative to the rotating table along the first axis by an angle to arrange the fixed platform and the docking plug at an initial angle suitable for different working scenarios, and lock the fixed platform and the docking plug at this initial angle through the first active adjustment component, so as to adapt to different working scenarios, be more flexible in use, and have a wider range of adaptation. In addition, the rotating table can be driven by the driving component to reciprocate relative to the cylinder body along the second axis, so as to drive the front-end device to move back and forth to make the docking plug extend into the external device for docking or extend out of the external device for disconnection. The overall structure design of the active and passive adjustable plug-in docking mechanism is simple. Compared with the prior art technical solution of actively adjusting the position of the charging plug by using a force sensor in cooperation with a multi-axis robotic arm of the robot and combining a force control algorithm to achieve precise docking or disconnection, the production cost is greatly reduced, which is convenient for production.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present invention, and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation to the present invention. In the drawings:

[0021] Figure 1 is a schematic structural diagram of the active and passive adjustable plug-in docking mechanism according to an embodiment of the present invention Figure 1 .

[0022] Figure 2 is a schematic structural diagram of the front-end device according to an embodiment of the present invention.

[0023] Figure 3 is a schematic cross-sectional structural diagram of the front-end device according to an embodiment of the present invention.

[0024] Figure 4 Structural schematic diagram of the backend device according to an embodiment of the present invention.

[0025] Figure 5 Cross-sectional structural schematic diagram of the backend device according to an embodiment of the present invention.

[0026] Figure 6 Right-view structural schematic diagram of the front-end device according to an embodiment of the present invention.

[0027] Figure 7 Top-view structural schematic diagram of the front-end device according to an embodiment of the present invention.

[0028] Figure 8 Front-view structural schematic diagram of the front-end device according to an embodiment of the present invention.

[0029] Figure 9 Rear-view structural schematic diagram of the active and passive adjustable plug-in docking mechanism according to an embodiment of the present invention.

[0030] Figure 10 Structural schematic of the active and passive adjustable plug-in docking mechanism according to an embodiment of the present invention Figure 2 。

[0031] Figure 11 Structural schematic of the active and passive adjustable plug-in docking mechanism according to an embodiment of the present invention Figure 3 。

[0032] Reference numerals: front-end device 1, docking plug 101, floating seat 102, first groove 1021, second protrusion 1022, hinge groove 1023, movable chamber 1024, fixed ring 103, fixed platform 104, first protrusion 1041, second groove 1042, imaging structure 105, elastic member 106, damping member 107, hinge ball 1071, connecting column 1072, backend device 2, rotating table 201, first adjustment channel 2011, telescopic rod 202, limiting ring 203, cylinder block 204, mounting seat 2041, fixing plate 205, driving motor 206, connecting seat 207, second adjustment channel 2071, second fastener 2072, lead screw nut 208, lead screw shaft 209, linear bearing 210, first angle A, second angle B, third angle C, fourth angle R, first distance X, fifth angle Y. Detailed implementation manners

[0033] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the embodiments of the present invention with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0034] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0035] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than that of the second feature.

[0037] Unless otherwise defined, the technical terms or scientific terms used herein shall have the ordinary meanings understood by those of ordinary skill in the art to which the present invention pertains. The "first", "second" and similar terms used in the specification and claims of the present invention for patent applications do not denote any order, quantity or importance, but are only used to distinguish different components. Similarly, the terms such as "a" or "one" do not denote a quantity limitation, but mean that there is at least one.

[0038] Such as Figures 1-11As shown in the figure, as an embodiment of the present invention, a main and passive adjustable plug-in docking mechanism is provided, which includes a front-end device 1 and a rear-end device 2 arranged behind the front-end device 1. Among them, the front-end device 1 includes a fixed platform 104, a floating seat 102 arranged on one side of the fixed platform 104 along the first axis, and a docking plug 101 arranged on the floating seat 102. The floating seat 102 is floatingly connected to the fixed platform 104 through a passive adjustment component and a limit component arranged along the first axis. The floating seat 102 can be passively adjusted in angle relative to the fixed platform 104 by pitching and deflecting, deflecting left and right, and rotating around the first axis through the passive adjustment component, and the range of the passive adjustment angle can be limited by the limit component. The rear-end device 2 includes a rotating table 201, a cylinder block 204 arranged on one side of the rotating table 201, and a driving component for driving the rotating table 201 to reciprocate relative to the cylinder block 204 along the second axis. The first axis and the second axis are arranged in parallel. The fixed platform 104 and the rotating table 201 are rotatably connected along the first axis, and a first active adjustment component capable of locking the rotation angle of the fixed platform 104 is arranged between the fixed platform 104 and the rotating table 201.The active and passive adjustable plug-in docking mechanism of this embodiment can be used as an independent structure to match with robots such as charging robots, industrial production robots, and cleaning robots, realizing precise docking and disconnection between the docking plug and external devices, with a wide range of applications. By arranging the docking plug 101 on the floating seat 102, and the floating seat 102 is floatingly connected to the fixed platform 104 through a passive adjustment component and a limit component arranged along the first axis, the floating seat 102 can move relative to the fixed platform 104 with the docking plug 101 according to the position or posture of the external device, or according to the movement or posture of the robot, realizing passive adjustment angle calibration of the docking plug 101 in three degrees of freedom of pitch deflection, left and right deflection, and rotation around the first axis, and then realizing precise docking and disconnection between the docking plug 101 and the external device. At the same time, the passive adjustment angle range of the three degrees of freedom is limited by the limit component to avoid affecting the reset effect of the docking plug 101 and the floating seat 102 due to excessive angle adjustment. By setting the fixed platform 104 and the rotating table 201 to be rotatably connected along the first axis, the operator can actively rotate the fixed platform 104 relative to the rotating table 201 along the first axis to arrange the fixed platform 104 and the docking plug 101 at an initial angle suitable for different working scenarios, and lock the fixed platform 104 and the docking plug 101 at this initial angle through the first active adjustment component, so as to adapt to different working scenarios, be more flexible in use, and have a wider range of adaptation. In addition, the rotating table 201 can be driven by the driving component to reciprocate relative to the cylinder body 204 along the second axis, thereby driving the front-end device 1 to move back and forth to make the docking plug 101 extend into the external device for docking or extend out of the external device for disconnection. The overall structure design of this active and passive adjustable plug-in docking mechanism is simple. Compared with the prior art technical solution of actively adjusting the position of the charging plug by using a force sensor in combination with a multi-axis robotic arm of the robot and a force control algorithm to achieve precise docking or disconnection, the production cost is greatly reduced and it is convenient for production.

[0039] In some specific embodiments, the limit component includes a first convex block 1041 and a first groove 1021 arranged opposite to the first convex block 1041. The first convex block 1041 extends into the first groove 1021 and has a clearance fit with the first groove 1021. One of the first convex block 1041 and the first groove 1021 is arranged on the fixed platform 104, and the other is arranged on the floating seat 102. The passive adjustment angle range when the floating seat 102 pitches and deflects, deflects left and right, and rotates around the first axis with the docking plug 101 can be limited by the relative movement of the first groove 1021 with respect to the first convex block 1041. That is to say, the passive adjustment angle range of the three degrees of freedom is limited by the relative movement of the first groove 1021 with respect to the first convex block 1041 with a clearance fit in the first groove 1021. The structure is simple and stable, which is beneficial to realizing precise docking or disconnection between the docking plug 101 and the external device.

[0040] In some specific embodiments, there are four groups of corresponding first bumps 1041 and first grooves 1021, which are respectively arranged between the upper, lower, left and right sides of the floating seat 102 and the fixed platform 104. As Figure 6 shown, the passive adjustment angle range of the floating seat 102 following the pitch and yaw deflection of the docking plug 101 is limited between the upper surface and the lower surface of the first bumps 1041 on the left and right sides. The upper surface and the lower surface of the first bumps 1041 on the left and right sides are respectively arranged with gaps with the first grooves 1021 on the left and right sides. Specifically, the gap is set such that the passive adjustment angle range of the first angle A allowing the docking plug 101 to pitch and yaw is -2° to 2°, preferably -1° to 1°. At this time, the reset effect after the passive pitch and yaw deflection adjustment of the docking plug 101 and the floating seat 102 is better. As Figure 7 shown, the passive adjustment angle range of the floating seat 102 following the left and right deflection of the docking plug 101 is limited between the left surface and the right surface of the first bumps 1041 on the upper and lower sides. The left surface and the right surface of the first bumps 1041 on the upper and lower sides are respectively arranged with gaps with the first grooves 1021 on the upper and lower sides. Specifically, the gap is set such that the passive adjustment angle range of the second angle B allowing the docking plug 101 to deflect left and right is -2° to 2°, preferably -1° to 1°. At this time, the reset effect after the passive left and right deflection adjustment of the docking plug 101 and the floating seat 102 is better. As Figure 8 shown, the passive adjustment angle range of the floating seat 102 following the rotation of the docking plug 101 around the first axis is limited between adjacent first bumps 1041. The gap between each first bump 1041 and the first groove 1021 is set such that the passive adjustment angle range of the third angle C allowing the docking plug 101 to rotate around the first axis is -2° to 2°, preferably -1° to 1°. At this time, the reset effect after the passive rotation adjustment of the docking plug 101 and the floating seat 102 around the first axis is better. At the same time, one end surface of each first bump 1041 facing the first groove 1021 is arranged with a gap with the first groove 1021, so as to avoid mutual interference between the first bump 1041 and the first groove 1021 during passive angle adjustment, and ensure that each first bump 1041 can passively pitch and yaw or deflect left and right or rotate around the first axis relative to the first groove 1021.

[0041] As Figure 6 、 Figure 7As shown, in some specific embodiments, the limiting component further includes a second protrusion 1022 arranged between two adjacent first grooves 1021, and a second groove 1042 arranged between two adjacent first protrusions 1041 and opposite to the second protrusion 1022. The second protrusion 1022 extends into the second groove 1042 and has a clearance fit with the second groove 1042. The first protrusion 1041 and the second groove 1042 are arranged on the fixed platform 104 and staggered along the circumferential direction of the first axis. The second protrusion 1022 and the first groove 1021 are arranged on the floating seat and staggered along the circumferential direction of the first axis. Thus, the angle range is limited by the clearance fit between each first protrusion 1041 and the first groove 1021 and the clearance fit between each second protrusion 1022 and the second groove 1042, making the structural arrangement more compact and stable, and the stability of the limit better. Specifically, the first protrusion 1041 is arranged as a protrusion structure protruding from the side of the fixed platform 104 close to the floating seat 102 towards the floating seat 102. The second groove 1042 is formed by the notch between two adjacent first protrusions 1041. The first groove 1021 is arranged as a groove structure recessed from the side of the floating seat 102 close to the fixed platform 104 towards the direction away from the fixed platform 104, and the groove structure penetrates the circumferential side wall of the floating seat 102. The second protrusion 1022 is formed by the solid structure between two adjacent first grooves 1021. The structural arrangement is simple and ingenious, facilitating production. In other embodiments, the first protrusion and the second groove can also be arranged on the floating seat 102, and the second protrusion and the first groove can be arranged on the fixed platform 104, and the angle range can also be limited by the clearance fit between each first protrusion 1041 and the first groove 1021 and the clearance fit between each second protrusion 1022 and the second groove 1042.

[0042] As Figure 3As shown, in some specific embodiments, the passive adjustment component includes a damper 107 arranged along a first axis and a plurality of elastic members 106 arranged circumferentially around the damper 107. One end of the damper 107 is connected to the fixed platform 104, and the other end is ball-joint connected to the floating seat 102. One end of the elastic member 106 is connected to the fixed platform 104, and the other end is connected to the floating seat 102. When the floating seat 102 passively adjusts the angle with the docking plug 101, the floating seat 102 performs a ball-joint movement relative to the fixed platform 104 along the damper 107, and the elastic restoring force provided by the plurality of elastic members 106 arranged circumferentially around the damper 107 is used to realize the reset of the floating seat 102 and the docking plug 101 after the passive adjustment angle is calibrated, so that the docking plug 101 can perform real-time dynamic passive adjustment angle calibration during the precise docking or disconnection process with the change of the position or attitude of the external device, or with the movement or attitude of the robot, and then realize the precise compliant docking and disconnection between the docking plug 101 and the external device, or facilitate the next precise compliant docking or disconnection.

[0043] As Figure 3 shown, in some specific embodiments, four elastic members 106 are provided and are respectively arranged on the upper, lower, left, and right sides of the damper 107. When the floating seat 102 pitches and deflects with the docking plug 101, it can selectively compress the upper elastic member 106 or the lower elastic member 106 to provide an elastic restoring force through the compressed elastic member 106, and drive the docking plug 101 and the floating seat 102 to reset after the passive pitch deflection adjustment angle. When the floating seat 102 deflects left and right with the docking plug 101, it can selectively compress the left elastic member 106 or the right elastic member 106 to provide an elastic restoring force through the compressed elastic member 106, and drive the docking plug 101 and the floating seat 102 to reset after the passive left and right deflection adjustment angles. When the floating seat 102 rotates around the first axis with the docking plug 101, it can drive each elastic member 106 to twist around the damper 107 to provide an elastic restoring force through the twisted elastic member 106, and drive the docking plug 101 and the floating seat 102 to reset after the passive rotation adjustment angle around the first axis. In this embodiment, four elastic members 106 are provided, and the elastic members 106 are set as compression springs, which are simple and practical in structure. In other embodiments, the elastic member 106 can also be set to two, three, five or other numbers circumferentially around the damper 107, and can also provide an elastic restoring force through one or more of the compressed or twisted elastic members 106 after the docking plug 101 and the floating seat 102 pitch and deflect, deflect left and right, and rotate around the first axis; the elastic member 106 can also be set to other structures such as elastic silica gel that can provide an elastic restoring force.

[0044] As Figure 3As shown, in some specific embodiments, the damping member 107 includes a hinge ball 1071 and a connecting column 1072 connected between the hinge ball 1071 and the fixed platform 104. The floating seat 102 is recessed inward from the side away from the fixed platform 104 to form a hinge groove 1023. The hinge ball 1071 is located in the hinge groove 1023 and is ball-joint connected to the hinge groove 1023, enabling the floating seat 102 to rotate in any direction along the spherical surface of the hinge ball 1071 through the hinge groove 1023, making the docking plug 101 smoother and more fluent during the passive angle adjustment process.

[0045] As Figure 3 shown, in some specific embodiments, the floating seat 102 is recessed inward from the side close to the fixed platform 104 to form a movable chamber 1024 arranged around the hinge groove 1023. The elastic member 106 is arranged in the movable chamber 1024 and can move in the movable chamber 1024 as the floating seat 102 floats relative to the fixed platform 104. The movable chamber 1024 provides sufficient space for the elastic member 106 to perform pitching deflection, left-right deflection, and torsional deformation around the damping member, ensuring that the elastic member 106 can deform.

[0046] As Figure 2 shown, in some specific embodiments, the front-end device 1 further includes a fixing ring 103 sleeved outside the floating seat 102 and fixedly connected to the floating seat 102, and an imaging structure 105 for visual positioning and guiding connected to the fixing ring 103. The imaging structure 105 has a camera for photographing the area in front of the docking plug 101 arranged in a staggered manner with the docking plug 101. The imaging structure 105 is electrically connected to the robot, facilitating the robot to more accurately control the docking and disconnection of the docking plug 101 with the external device. In this embodiment, there are two cameras arranged at intervals. The robot can understand the three-dimensional image information around the docking plug 101 by using the two cameras in combination, accurately calculate the distance between the docking plug 101 and the external device, and more conveniently control the docking and disconnection of the docking plug 101 with the external device by the robot.

[0047] As Figure 4As shown, in some specific embodiments, the first active adjustment component includes a first adjustment channel 2011 penetrating through the rotating table 201 and a first fastener (not shown in the figure) arranged in the first adjustment channel 2011. The first adjustment channel 2011 is set as an arc channel circumferentially arranged along the first axis. The first fastener includes a first screw passing through the first adjustment channel 2011 and threadedly connected to the fixed platform 104, and a first fastening head limited on the side of the first adjustment channel 2011 away from the fixed platform 104 and connected to the first screw. When the fixed platform 104 rotates relative to the rotating table 201, it can drive the first screw to move along the first adjustment channel 2011, and can lock the rotation angle of the fixed platform 104 relative to the rotating table 201 by the interference fit of the rotating table 201 between the fixed platform 104 and the first fastening head, so as to lock the fixed platform 104 and the docking plug 101 at this initial angle. The active angle adjustment range of the rotation of the fixed platform 104 relative to the rotating table 201 is limited by the movement of the first screw limited between the two ends of the first adjustment channel 2011. The active angle adjustment range of the first screw moving along the first adjustment channel 2011 around the first axis is set to be greater than the passive angle adjustment range of the first groove 1021 moving relative to the first protrusion 1041 around the first axis, so as to make up for the limitation of the angle adjustment range of the passive rotation of the docking plug 101 around the first axis, and make the main and passive adjustment plug-in docking mechanism applicable to different working scenarios. Specifically, the length of the first adjustment channel 2011 is set to allow the active adjustment angle range of the fourth angle R of the fixed platform 104 and the docking plug 101 rotating around the first axis to be -15° to 15°, preferably -10° to 10°. At this time, the states of the fixed platform 104 and the docking plug 101 after actively rotating and adjusting the angle around the first axis can be applicable to most actual working scenarios. In this embodiment, four groups of the first adjustment channel 2011 and the first fastener are arranged circumferentially along the first axis to improve the connection stability between the fixed platform 104 and the rotating table 201. The first fastener is set as a structure such as a screw or a bolt, such as Figure 11 As shown, when the rotating table 201 moves telescopically with the telescopic rod 202, the distance adjustment range of the first distance X between the rotating table 201 and the end face of the cylinder block 204 close to the rotating table 201 is 5 mm to 120 mm, preferably 8.5 mm to 108.5 mm. At this time, it can not only keep the docking plug 101 performing plugging and unplugging actions relative to most external devices, but also keep the smoothness of the front-end device 1 when the front-end device 1 moves telescopically relative to the rear-end device 2, so as to ensure that the docking plug 101 can be accurately and compliantly docked with or unplugged from the external device. In other embodiments, the first adjustment channel 2011 and the first fastener may also be provided with only one group or other numbers of groups.

[0048] Such as Figure 4As shown, in some specific embodiments, the rear-end device 2 further includes a connecting seat 207 rotatably connected to the cylinder block 204 along a third axis. The third axis is arranged horizontally and perpendicular to the second axis. A second active adjustment component capable of locking the pitching rotation angle of the cylinder block 204 is provided between the cylinder block 204 and the connecting seat 207. In this embodiment, by setting the cylinder block 204 and the connecting seat 207 to be rotatably connected along the third axis, the operator can actively rotate the cylinder block 204 relative to the connecting seat 207 along the third axis to arrange the cylinder block 204 and the docking plug 101 at an initial angle suitable for different working scenarios, so as to adapt to different working scenarios, be more flexible in use, and have a wider adaptation range.

[0049] As Figure 4 shown, in some specific embodiments, the second active adjustment component includes a second adjustment channel 2071 penetrating through the connecting seat and a second fastener 2072 arranged in the second adjustment channel 2071. The second adjustment channel 2071 is set as an arc channel arranged circumferentially along the third axis. The second fastener 2072 includes a second screw passing through the second adjustment channel 2071 and threadedly connected to the cylinder block 204, and a second fastening head limited on the side of the second adjustment channel 2071 away from the cylinder block 204 and connected to the second screw. When the cylinder block 204 rotates relative to the connecting seat 207, it can drive the second screw to move along the second adjustment channel 2071, and the connecting seat 207 can be interference-fitted between the cylinder block 204 and the second fastening head to lock the rotation angle of the cylinder block 204 relative to the connecting seat 207, so as to lock the cylinder block 204 and the docking plug 101 at this initial angle. The active angle adjustment range of the pitching of the cylinder block 204 relative to the connecting seat 207 is limited by the movement of the second screw between the two ends of the second adjustment channel 2071. The active angle adjustment range of the second screw moving along the second adjustment channel 2071 around the third axis is set to be greater than the passive angle adjustment range of the pitching deflection of the first groove 1021 relative to the first protrusion 1041, so as to make up for the limitation of the passive pitching deflection angle adjustment range of the docking plug 101, and make the main and passive adjustment plugging and docking mechanism applicable to different working scenarios. Specifically, the length of the second adjustment channel 2071 is set to allow the active adjustment angle range of the fifth angle Y of the cylinder block 204 and the docking plug 101 rotating around the third axis to be -35° to 35°, preferably -30° to 30°. At this time, the state of the cylinder block 204 and the docking plug 101 actively rotating and adjusting the angle around the third axis can be applicable to most actual working scenarios.

[0050] As Figure 4As shown, in some specific embodiments, the cylinder body 204 includes a mounting seat 2041 arranged on the upper side of the cylinder body 204, and the connecting seat 207 includes a connecting platform arranged above the cylinder body 204, and two connecting plates respectively arranged on the left and right sides of the mounting seat 2041 and connected to the connecting platform, and a swing space for the mounting seat 2041 and the cylinder body 204 to pitch and deflect is formed between the connecting platform and the two connecting plates, and the cylinder body 204 is rotatably connected by hinges respectively connected between the connecting plates on both sides and the mounting seat 2041 along the third axis, and the second adjustment channel 2071 is respectively penetrated on the connecting plates on both sides and arranged above the hinges along the circumferential direction of the hinges, and can be respectively interference-fitted between the mounting seat 2041 and the second fastening head through the connecting plates on both sides to lock the rotation angle of the cylinder body 204 relative to the connecting seat 207. The second fastener is a structure such as a screw or a bolt. The two connecting plates are arranged in the front-to-back direction, the mounting seat 2041 is limited between the two connecting plates, and the left and right sides of the mounting seat 2041 are respectively set as plane structures arranged in the front-to-back direction, so that when the cylinder body 204 pitches and deflects relative to the connecting seat 207, the planes on the left and right sides of the mounting seat 2041 can be guided along the inner side surfaces of the two connecting plates to prevent the cylinder body 204 from deflecting to the left and right sides when pitching and deflecting relative to the connecting seat 207, causing shaking, thereby improving the stability of the cylinder body 204 during the pitching and deflecting process relative to the connecting seat 207, thereby ensuring the precise docking and disconnection between the docking plug 101 and the external device. In other embodiments, only one connecting plate may be provided. In other embodiments, the connecting seat 207 may also be provided at the lower side of the cylinder body 204.

[0051] like Figure 5 , Figure 11 As shown, in some specific embodiments, the driving assembly includes a telescopic rod 202 telescopically connected to the cylinder body 204 along the second axis and connected to the rotating table 201, and a driving motor 206 arranged on the cylinder body 204 for driving the telescopic rod 202 to reciprocate along the second axis relative to the cylinder body 204, so that the driving motor 206 drives the telescopic rod 202 to reciprocate along the second axis relative to the cylinder body 204, thereby driving the rotating table 201 to reciprocate along the second axis relative to the cylinder body 204.

[0052] like Figure 5 , Figure 11As shown, in some specific embodiments, the rear-end device 2 further includes a linear bearing 210 disposed within the cylinder block 204, and a limiting ring 203 sleeved outside the telescopic rod 202 and fixedly connected to one end of the cylinder block 204 close to the rotating platform 201. The cross-section of the telescopic rod 202 is set as a non-circular structure, and the through hole in the middle of the limiting ring 203 is set as a non-circular through hole matching the telescopic rod 202. Thus, while allowing the telescopic rod 202 to perform telescopic movement relative to the limiting ring 203 along the second axis, it can also prevent the telescopic rod 202 from rotating along the second axis, which is beneficial to ensuring the precise docking and disconnection between the docking plug 101 and the external device. The setting of the linear bearing 210 is used to reduce the friction during the telescopic operation of the telescopic rod 202, facilitating the telescopic movement of the telescopic rod 202 to be smoother and more fluent. The cylinder block 204 is recessed with a stepped channel from one end close to the rotating platform 201 towards the rear. Both ends of the linear bearing 210 are limited between the stepped surfaces in the stepped channel and the limiting ring 203, and the linear bearing 210 can extend into or out of the stepped channel for installation and disassembly, which is convenient for production and assembly. In addition, the rear-end device 2 further includes a lead screw shaft 209 disposed within the cylinder block 204 and a lead screw nut 208 engaged with the lead screw shaft 209. The telescopic rod 202 is sleeved outside the lead screw shaft 209 and can perform telescopic movement relative to the lead screw shaft 209 along the second axis. The lead screw nut 208 is fixedly connected to one end of the telescopic rod 202 far from the rotating platform 201. One end of the cylinder block 204 far from the rotating platform 201 is provided with a fixing plate 205, and the driving motor 206 is installed on the fixing plate 205. One end of the lead screw shaft 209 far from the rotating platform 201 is connected to the output shaft of the driving motor 206 and can rotate forward with the output shaft to drive the lead screw nut 208 and the telescopic rod 202 to extend forward relative to the cylinder block 204, and rotate backward with the output shaft to drive the lead screw nut 208 and the telescopic rod 202 to shorten backward relative to the cylinder block 204.

[0053] In some specific embodiments, the first axis and the second axis are located on the same straight line, such that the overall space occupied by the active and passive adjustable plugging and docking mechanism is relatively small, facilitating operation in different working scenarios. In some other embodiments, the first axis and the second axis can also be arranged on different straight lines.

[0054] As another embodiment of the present invention, a charging robot is also provided, which can be used for charging operations of external devices such as new energy vehicles. The charging robot includes a robot main body, a robotic arm disposed on the robot main body, and the above-mentioned active and passive adjustable plug-in docking mechanism disposed at the front end of the robotic arm. The docking plug is set as a power docking plug for charging, and can realize precise and compliant docking and disconnection between the power docking plug and the charging port of external devices such as new energy vehicles through the active and passive adjustable plug-in docking mechanism. The active and passive adjustable plug-in docking mechanism is installed at the front end of the robotic arm of the robot through a connecting seat 207. Specifically, it can be installed at the front end of the robotic arm of the robot through the connecting platform of the connecting seat 207, so that the active and passive adjustable plug-in docking mechanism can cooperate with the robotic arm of the robot for operation, making it more flexible to use. In some other embodiments, the active and passive adjustable plug-in docking mechanism can also be directly installed at the front end of the robotic arm of the robot through a cylinder block 204.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the various embodiments of the present invention.

[0056] In summary, the above are only the preferred embodiments of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the patent of the present invention.

Claims

1. A main and passive adjustable plug-in docking mechanism, characterized in that Comprising: A front-end device, including a fixed platform, a floating seat arranged on one side of the fixed platform along a first axis, and a docking plug arranged on the floating seat. The floating seat is floatingly connected to the fixed platform through a passive adjustment component and a limit component arranged along the first axis. The floating seat can be passively adjusted in angle relative to the fixed platform by pitching and yawing, deflecting left and right, and rotating around the first axis through the passive adjustment component, and the range of the passive adjustment angle can be limited by the limit component. A rear-end device, including a rotating platform, a cylinder body arranged on one side of the rotating platform, and a driving component for driving the rotating platform to reciprocate relative to the cylinder body along a second axis. The first axis and the second axis are arranged in parallel. The fixed platform and the rotating platform are rotatably connected along the first axis, and a first active adjustment component capable of locking the rotation angle of the fixed platform along the first axis is arranged between the fixed platform and the rotating platform.

2. The active and passive adjustable plug-in docking mechanism according to claim 1, characterized in that: The limit component includes a first convex block and a first groove arranged opposite to the first convex block. The first convex block extends into the first groove and has a clearance fit with the first groove. One of the first convex block and the first groove is arranged on the fixed platform and the other is arranged on the floating seat. The range of the passive adjustment angle when the floating seat pitches and yaws, deflects left and right, and rotates around the first axis with the docking plug can be limited by the relative movement of the first groove with respect to the first convex block.

3. The master-slave adjustable plug-in docking mechanism according to claim 2, wherein: There are four groups of corresponding first convex blocks and first grooves, which are respectively arranged between the upper, lower, left, and right sides of the floating seat and the fixed platform. The range of the passive adjustment angle when the floating seat pitches with the docking plug is limited between the upper surface and the lower surface of the first convex blocks on the left and right sides. The range of the passive adjustment angle when the floating seat deflects left and right with the docking plug is limited between the left surface and the right surface of the first convex blocks on the upper and lower sides. The range of the passive adjustment angle when the floating seat rotates around the first axis with the docking plug is limited between two adjacent first convex blocks.

4. The master-slave adjustable plug-in docking mechanism according to claim 3, characterized in that: The limit component further includes a second convex block arranged between two adjacent first grooves and a second groove arranged between two adjacent first convex blocks and opposite to the second convex block. The second convex block extends into the second groove and has a clearance fit with the second groove. The first convex block and the second groove are arranged on the fixed platform and are staggered along the circumferential direction of the first axis. The second convex block and the first groove are arranged on the floating seat and are staggered along the circumferential direction of the first axis.

5. The active and passive adjustable plug-in docking mechanism according to any one of claims 1-4, characterized in that: The passive adjustment component includes a damping member arranged along the first axis and a plurality of elastic members arranged circumferentially around the damping member. One end of the damping member is connected to the fixed platform and the other end is ball-jointed to the floating seat. One end of the elastic member is connected to the fixed platform and the other end is connected to the floating seat. After the floating seat passively adjusts the angle along the damping member with the docking plug, an elastic restoring force is provided by the elastic member.

6. The master-slave adjustable plug-in docking mechanism according to claim 5, characterized in that: Four elastic members are provided, which are respectively arranged on the upper, lower, left and right sides of the damping member. When the floating seat pitches and deflects with the docking plug, it can selectively compress the upper or lower elastic member to provide an elastic restoring force through the compressed elastic member. When the floating seat deflects left and right with the docking plug, it can selectively compress the left or right elastic member to provide an elastic restoring force through the compressed elastic member. When the floating seat rotates around the first axis with the docking plug, it can drive each elastic member to twist around the damping member to provide an elastic restoring force through the twisted elastic member.

7. The master-slave adjustable plug-in docking mechanism according to claim 6, characterized in that: The damping member includes a hinge ball and a connecting column connected between the hinge ball and the fixed platform. The floating seat is recessed inward from the side away from the fixed platform to form a hinge groove, and the hinge ball is located in the hinge groove and is ball-joint connected to the hinge groove.

8. The active and passive adjustable plug-in docking mechanism according to claim 5, characterized in that: The front-end device further includes a fixing ring sleeved outside the floating seat and fixedly connected to the floating seat, and an imaging structure connected to the fixing ring for visual positioning and guiding.

9. The master-slave adjustable plug-in docking mechanism according to claim 5, wherein: The rear-end device further includes a connecting seat rotatably connected to the cylinder body along the third axis. The third axis is arranged horizontally and is perpendicular to the second axis. A second active adjustment component capable of locking the pitching rotation angle of the cylinder body is provided between the cylinder body and the connecting seat.

10. A charging robot, characterized in that: It includes a robot main body, a robotic arm provided on the robot main body, and a main-passive adjustable plug-and-dock mechanism as described in any one of claims 1-9 provided at the front end of the robotic arm. The docking plug is set as a power docking plug for charging.

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