A robot charging locking device

Abstract

The present invention belongs to the field of robot charging technology, and particularly relates to a robot charging locking device. It includes a base and a gripper, a push rod and a crank-connecting rod mechanism arranged on the base, wherein the push rod can slide on the base, and one end is hinged to the crank-connecting rod mechanism; the gripper is arranged on both sides of the push rod; the robot to be charged pushes the other end of the push rod through the main body electrode, and the push rod pushes the gripper to close, thereby clamping the main body electrode. The present invention can grasp and lock the robot electrode to prevent it from disengaging; it is easy to disengage after charging is completed, so that the robot electrode contact is stable during the autonomous charging process and will not bounce off.

Description

Technical Field

[0001] The invention belongs to the technical field of robot charging, and in particular relates to a robot charging locking device. Background Art

[0002] As AI technology becomes more mature, the application of service robots is becoming more and more extensive. Among them, autonomous charging has become an indispensable function of service robots, which greatly extends the robot's endurance and labor costs. Because some robot drive motors do not have brakes, and they need to be enabled during the charging process, the robot will be detached from the charging electrode during the charging process due to uneven ground and collision and rebound of the charging electrode, and the charging process cannot be completed. Therefore, a simple mechanical structure is needed to ensure that the electrodes can be in stable contact when the robot is charging. Summary of the invention

[0003] In view of the above problems, the object of the present invention is to provide a robot charging locking device so that the electrode contact of the robot is stable and will not bounce off during the autonomous charging process.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A robot charging locking device comprises a base and a gripper, a push rod and a crank-connecting rod mechanism arranged on the base, wherein the push rod can slide on the base and one end is hinged to the crank-connecting rod mechanism; the gripper is arranged on both sides of the push rod; the robot to be charged pushes the other end of the push rod through the main body electrode, and the push rod pushes the gripper to close, thereby clamping the main body electrode.

[0006] The gripper comprises a left gripper and a right gripper, one end of the left gripper and the right gripper is a hinged end hinged to the base, and the other end is a hook-shaped locking end;

[0007] The hinged end comprises a hinged portion and a driving portion, wherein the hinged portion is hinged to the base, and the driving portion is located at the inner side of the hinged portion and can rotate around the hinged portion.

[0008] A contact is provided on the push rod along the width direction, and the push rod pushes the driving parts of the left gripper and the right gripper through the contact to close the left gripper and the right gripper.

[0009] The robot charging locking device also includes a gripper resetting mechanism for resetting the gripper, and the gripper resetting mechanism includes two resetting springs I, one end of the two resetting springs I is respectively connected to the left gripper and the right gripper, and the other end is connected to the base.

[0010] A limit block for limiting the opening angle of the gripper is provided on the base.

[0011] The robot charging locking device also includes a push rod reset mechanism for resetting the push rod. The push rod reset mechanism includes a reset spring II. One end of the reset spring II is connected to the push rod, and the other end is connected to the base.

[0012] The crank-connecting rod mechanism comprises a connecting rod and a ratchet pawl assembly, wherein the ratchet pawl assembly is rotatably arranged on the base, one end of the connecting rod is hinged to the ratchet pawl assembly, and the other end is hinged to the push rod.

[0013] The ratchet pawl assembly is accommodated in a ratchet slide groove provided on the base, the ratchet slide groove is a circular structure, and a ratchet stopper is provided on the inner wall;

[0014] The ratchet pawl assembly is a retractable structure and abuts against the inner wall of the ratchet sliding groove, and the ratchet stopper is used to limit the reverse rotation of the ratchet pawl assembly.

[0015] The ratchet pawl assembly includes a ratchet slide block, a ratchet pawl and a compression spring, wherein one end of the ratchet slide block is rotatably connected to the base, and the other end is provided with a slide; one end of the ratchet pawl is slidably matched with the slide; the compression spring is accommodated in the slide, and its two ends are respectively abutted against the ratchet pawl and the ratchet slide block, and the other end of the ratchet pawl is abutted against the inner wall of the ratchet slide groove under the action of the compression spring.

[0016] When the gripper is in the clamping position, the ratchet pawl assembly contacts the ratchet block.

[0017] The advantages and beneficial effects of the present invention are as follows: the present invention is composed of a reciprocating mechanism similar to the ratchet principle, and the robot electrodes are locked during charging to complete the charging.

[0018] The present invention can grasp and lock the robot electrode to prevent it from being disengaged; and it is easy to be disengaged after charging is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of the robot charging locking device of the present invention;

[0020] Figure 2 It is a structural schematic diagram of the base in the present invention;

[0021] Figure 3 It is a schematic diagram of the structure of the push rod in the present invention;

[0022] Figure 4 It is a schematic structural diagram of the ratchet pawl assembly in the present invention;

[0023] Figure 5This is a schematic diagram of the initial state of the robot charging locking device of the present invention;

[0024] Figure 6 This is a schematic diagram of the locking state of the robot charging locking device of the present invention;

[0025] Figure 7 This is a schematic diagram of the unlocked state of the robot charging locking device of the present invention.

[0026] In the figure: 1 is the main body electrode, 2 is the gripper, 2-1 is the hinged end, 2-1-1 is the hinged part, 2-1-2 is the driving part, 2-2 is the locking end, 3 is the push rod, 3-1 is the push rod spring mounting column, 3-2 is the contact, 3-3 is the slider, 3-4 is the hinge shaft, 4 is the connecting rod, 5 is the base, 5-1 is the base spring mounting column I, 5-2 is the limit block, 5-3 is the base spring mounting column II, 5-4 is the limit slide groove, 5-5 is the ratchet block, 5-6 is the ratchet slide groove, 6 is the reset spring I, 7 is the reset spring II, 8 is the ratchet slide block, 9 is the ratchet claw, and 10 is the compression spring. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] like Figure 1 As shown, a robot charging locking device provided by the present invention includes a base 5 and a gripper 2, a push rod 3 and a crank-connecting rod mechanism arranged on the base 5, wherein the push rod 3 can slide on the base 5, and one end is hinged to the crank-connecting rod mechanism; the gripper 2 is arranged on both sides of the push rod 3, and the robot to be charged pushes the other end of the push rod 3 through the main body electrode 1, and the push rod 3 pushes the gripper 2 to close, thereby clamping the main body electrode 1.

[0029] Based on the above embodiments, a robot charging locking device provided by the present invention also includes a gripper reset mechanism and a push rod reset mechanism, wherein the gripper reset mechanism is used to reset the gripper 2, i.e., restore the gripper 2 to an open state; the push rod reset mechanism is used to reset the push rod 3, i.e., when the push rod 3 loses the thrust of the main body electrode 1, it is restored to the initial position through the push rod reset mechanism.

[0030] In the embodiment of the present invention, Figure 1 As shown, the gripper 2 includes a left gripper and a right gripper, one end of the left gripper and the right gripper is a hinged end 2-1 hinged to the base 5, and the other end is a hook-shaped locking end 2-2. The hinged end 2-1 includes a hinged portion 2-1-1 and a driving portion 2-1-2, wherein the hinged portion 2-1-1 is hinged to the base 5, and the driving portion 2-1-2 is located on the inner side of the hinged portion 2-1-1 and can rotate around the hinged portion 2-1-1.

[0031] In the embodiment of the present invention, Figure 1 As shown, the gripper reset mechanism includes two reset springs I6, one end of the two reset springs I6 is connected to the left gripper and the right gripper respectively, and the other end is connected to the base 5. The two reset springs I6 keep the left gripper and the right gripper in an open state through elastic force. The push rod reset mechanism includes two symmetrically arranged reset springs II7, one end of the reset spring II7 is connected to the push rod 3, and the other end is connected to the base 5.

[0032] Specifically, Figure 2 As shown, the base 5 is provided with two limit blocks 5-2 for limiting the opening angle of the gripper 2. The two limit blocks 5-2 are respectively arranged on the outside of the left gripper and the right gripper, and when the left gripper and the right gripper are in the open state, they are respectively limited by the two limit blocks 5-2.

[0033] Furthermore, the front end of the base 5 is provided with a limit slide groove 5-4, a base spring mounting column I 5-1 and a base spring mounting column II 5-3, wherein the limit slide groove 5-4 is arranged on the base 5 along the front-back direction for slidingly cooperating with the push rod 3. The base spring mounting column I 5-1 and the base spring mounting column II 5-3 are arranged front and back, wherein the base spring mounting column I 5-1 is used to connect with the reset spring II 7, and the base spring mounting column II 5-3 is used to connect with the reset spring I 6; the rear end of the base 5 is provided with a ratchet slide groove 5-6.

[0034] In the embodiment of the present invention, Figure 3 As shown, the push rod 3 is provided with a slider 3-3 that slides with the limit slide groove 5-4 on the base 5, and the rear end of the push rod 3 is provided with a hinge shaft 3-4, which is rotatably connected with the crank connecting rod mechanism. The push rod 3 is provided with a contact 3-1 along the width direction, and the push rod 3 pushes the driving part 2-1-2 of the left gripper and the right gripper through the contact 3-1 to close the left gripper and the right gripper. Push rod spring mounting columns 3-1 are provided on both sides of the contact 3-1, and one end of the reset spring II7 is connected to the push rod spring mounting column 3-1, and the other end is connected to the base spring mounting column I5-1.

[0035] In the embodiment of the present invention, Figure 1 As shown, the crank-connecting rod mechanism includes a connecting rod 4 and a ratchet pawl assembly, wherein the ratchet pawl assembly is rotatably arranged in a ratchet slide groove 5-6 on a base 5, one end of the connecting rod 4 is hinged to the ratchet pawl assembly, and the other end is hinged to the push rod 3.

[0036] Furthermore, if Figure 2 As shown, the ratchet slot 5-6 is a circular structure, and a ratchet block 5-5 is provided on the inner wall; the ratchet pawl assembly is a retractable structure, and abuts against the inner wall of the ratchet slot 5-6. When the gripper 2 is in the clamping position, the ratchet pawl assembly contacts the ratchet block 5-5, and the ratchet block 5-5 is used to limit the reversal of the ratchet pawl assembly.

[0037] In the embodiment of the present invention, Figure 4 As shown, the ratchet pawl assembly includes a ratchet slide block 8, a ratchet pawl 9 and a compression spring 10, wherein one end of the ratchet slide block 8 is rotatably connected to the center of the ratchet slide groove 5-6, and the other end is provided with a slide, and one end of the ratchet pawl 9 slides with the slide; the compression spring 10 is accommodated in the slide, and the two ends are respectively abutted against the ratchet pawl 9 and the ratchet slide block 8, and the other end of the ratchet pawl 9 abuts against the inner wall of the ratchet slide groove 5-6 under the action of the compression spring 10.

[0038] The working principle of the present invention is:

[0039] When the robot is not charged, the state of a robot charging locking device provided by the present invention is as follows: Figure 5 As shown, under the pulling force of the reset spring Ⅰ6, the gripper 2 is pulled to the edge of the limit block 5-2, and the gripper 2 is in an open state; under the pulling force of the reset spring Ⅱ7, the push rod 3 and the ratchet pawl 9 are pulled to the outermost end, and the position relationship between the push rod 3 and the ratchet pawl 9 is in a parallel state.

[0040] When the robot needs to be charged, the robot moves backward, and the charging electrode (body electrode 1) starts to push the push rod 3 backward, and the push rod 3 pushes the connecting rod 4, and the connecting rod 4 drives the ratchet slide block 8 to rotate clockwise in the ratchet slide groove 5-6; when the ratchet claw 9 passes the ratchet block 5-5, the robot stops moving, and under the pulling force of the reset spring I6 and the reset spring II7, the ratchet claw 9 will automatically pull back and be blocked by the ratchet block 5-5 to achieve self-locking, such as Figure 6 In the position shown, the push rod 3 drives the gripper 2 to close through the contact 3-1, and the charging locking device locks the main body electrode 1 to start charging.

[0041] After the robot is fully charged, it continues to move back a certain distance, and the ratchet claw 9 continues to rotate clockwise. When it passes the semicircle of the circular groove, Figure 7 The robot starts to move forward, and under the pulling force of the return spring Ⅰ6 and the return spring Ⅱ7, the charging locking device returns to the natural state, as shown in FIG. Figure 5 As shown, the gripper 2 is opened, the main body electrode 1 is disengaged from the charging locking device, and the robot ends charging and starts working.

[0042] The present invention can grasp and lock the robot electrodes to prevent them from being disengaged; the electrodes can be easily disengaged after charging is completed, so that the robot electrodes are in stable contact and will not bounce off during the autonomous charging process.

[0043] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A robot charging locking device, characterized in that: It comprises a base (5), a gripper (2), a push rod (3) and a crank-connecting rod mechanism arranged on the base (5), wherein the push rod (3) can slide on the base (5) and one end of the push rod is hinged to the crank-connecting rod mechanism; The grippers (2) are arranged on both sides of the push rod (3); The robot to be charged pushes the other end of the push rod (3) through the main body electrode (1), and the push rod (3) pushes the gripper (2) to perform a closing action, thereby clamping the main body electrode (1); The gripper (2) comprises a left gripper and a right gripper, one end of the left gripper and the right gripper being a hinged end (2-1) hinged to the base (5), and the other end being a hook-shaped locking end (2-2); The hinged end (2-1) comprises a hinged portion (2-1-1) and a driving portion (2-1-2), wherein the hinged portion (2-1-1) is hingedly connected to the base (5), and the driving portion (2-1-2) is located on the inner side of the hinged portion (2-1-1) and can rotate around the hinged portion (2-1-1); A contact (3-1) is provided on the push rod (3) along the width direction, and the push rod (3) pushes the driving parts (2-1-2) of the left gripper and the right gripper through the contact (3-1), so that the left gripper and the right gripper are closed; The crank-connecting rod mechanism comprises a connecting rod (4) and a ratchet pawl assembly, wherein the ratchet pawl assembly is rotatably arranged on the base (5), one end of the connecting rod (4) is hinged to the ratchet pawl assembly, and the other end is hinged to the push rod (3); The ratchet pawl assembly is accommodated in a ratchet slide groove (5-6) provided on the base (5); the ratchet slide groove (5-6) is a circular structure, and a ratchet stopper (5-5) is provided on the inner wall; The ratchet pawl assembly is a telescopic structure and abuts against the inner wall of the ratchet sliding groove (5-6); the ratchet stopper (5-5) is used to limit the reverse rotation of the ratchet pawl assembly; When the gripper (2) is in the clamping position, the ratchet pawl assembly is in contact with the ratchet stopper (5-5).

2. The robot charging locking device according to claim 1, characterized in that: The robot charging locking device also includes a gripper reset mechanism for resetting the gripper (2), the gripper reset mechanism including two reset springs I (6), one end of the two reset springs I (6) being respectively connected to the left gripper and the right gripper, and the other end being connected to the base (5).

3. The robot charging locking device according to claim 1, characterized in that: The base (5) is provided with a limit block (5-2) for limiting the opening angle of the gripper (2).

4. The robot charging locking device according to claim 1, characterized in that: The robot charging locking device also includes a push rod resetting mechanism for resetting the push rod (3), the push rod resetting mechanism including a resetting spring II (7), one end of the resetting spring II (7) being connected to the push rod (3), and the other end being connected to the base (5).

5. The robot charging locking device according to claim 1, characterized in that: The ratchet pawl assembly comprises a ratchet slide block (8), a ratchet pawl (9) and a compression spring (10), wherein one end of the ratchet slide block (8) is rotatably connected to the base (5), and the other end is provided with a slide; One end of the ratchet pawl (9) is slidably engaged with the slideway; The compression spring (10) is accommodated in the slideway, and its two ends are respectively in contact with the ratchet pawl (9) and the ratchet slideway block (8), and the other end of the ratchet pawl (9) is in contact with the inner wall of the ratchet slideway (5-6) under the action of the compression spring (10).

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