A charging device for a robot and the robot

Abstract

This application relates to the field of robot technology, and particularly to a charging device for a robot and the robot. Among them, a charging device for a robot includes a charging device body and a first charging component connected to the charging device body. The charging device body and the first charging component are movably connected through a connection mechanism. The connection mechanism includes a connection seat slidably arranged on the charging device body and a telescopic component telescopically matched with the connection seat. The connection mechanism is provided with a reset structure, and the reset structure can restore the displaced connection mechanism to its initial position. This application effectively solves the technical problems of high production cost and low docking success rate of the existing robot docking device.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and particularly to a charging device for a robot and the robot. Background Art

[0002] With the development of technology, it has become an inevitable trend to use robot inspections instead of manual patrols in places such as factories, substations, tunnels, and industrial parks. Existing robots mostly use battery packs for power supply. When the battery power of the robot is insufficient, it will return to the charging location of the robot for automatic charging.

[0003] However, when existing robots perform automatic charging, the docking process with the charging device is often not smooth. Usually, it is necessary to repeatedly dock multiple times to succeed, and sometimes even manual assistance is required. Although installing multiple positioning devices such as lidar on the robot to cooperate with the docking can improve the docking success rate of the robot, the production cost will be greatly increased. Summary of the Invention

[0004] The present application provides a charging device for a robot and the robot, so as to at least solve the technical problems that the production cost of the docking device of the existing robot is high and the success rate of docking with its charging device is low.

[0005] To achieve the above object, in a first aspect, the present application provides a charging device for a robot, including a charging device body and a first charging component connected to the charging device body. The charging device body and the first charging component are movably connected through a connection mechanism. The connection mechanism includes a connection seat slidably provided on the charging device body, and a telescopic component telescopically cooperating with the connection seat. The connection mechanism is provided with a reset structure, and the reset structure can restore the displaced connection mechanism to its initial position.

[0006] In some embodiments, the charging device body is provided with a sliding rod. The telescopic component is a connecting rod sleeved in the connection seat and connected to the first charging component at one end. The connection seat is slidably connected to the sliding rod, and the connection mechanism can make the first charging component perform telescopic movement relative to the charging device body and move along the sliding rod.

[0007] In some of these embodiments, the connection base includes a sliding member and a rotating member. The sliding rod is horizontally arranged on the main body of the charging device and corresponds to the position of the first charging component. The sliding member is sleeved on the sliding rod and can slide along the sliding rod. An activity space is provided inside the sliding member. The rotating member is hinged to the sliding member and can make limited rotation within the activity space. The connecting rod is sleeved inside the rotating member. The connection mechanism enables the first charging component to perform telescopic movement, left - and - right deflection, and left - and - right sliding along the sliding rod relative to the main body of the charging device.

[0008] In some of these embodiments, a contact rod for limiting the compression distance of the first charging component relative to the main body of the charging device is fixedly arranged on the rotating member. The contact rod is arranged parallel to the connecting rod, and the length of the contact rod is less than the length of the connecting rod between the first charging component and the rotating member in the initial position.

[0009] In some of these embodiments, a soft contact head is arranged at one end of the contact rod close to the first charging component.

[0010] In some of these embodiments, the reset structure includes a first elastic member sleeved on the connecting rod and capable of abutting against the rotating member. When the connecting rod telescopically moves relative to the rotating member, the first elastic member abuts against the rotating member, causing the connecting rod to receive a force in the opposite direction of the movement direction. The reset structure further includes a second elastic member sleeved on the sliding rod and capable of abutting against the sliding member. When the sliding member moves relative to the sliding rod, the second elastic member abuts against the sliding member, causing the sliding member to receive a force in the opposite direction of the movement direction.

[0011] In some of these embodiments, the connecting rod is fixedly connected to the first charging component through a connecting member fixedly arranged on the first charging component. The reset structure includes third elastic members respectively arranged on the left and right sides of the connection mechanism. Connecting portions for cooperating with the third elastic members are respectively arranged at the left and right ends of the connecting member. One end of the third elastic member is connected to the connection mechanism or the main body of the charging device, and the other end is connected to the connecting portion, so that when the first charging component deflects left and right, it receives a force to restore to the centered position.

[0012] In some of these embodiments, a support member for supporting the first charging component is arranged at the lower end of the first charging component. The support member abuts against the main body of the charging device, and an activity portion for facilitating the movement of the support member following the first charging component is arranged at the bottom of the support member.

[0013] In a second aspect, the present application provides a robot adapted to a charging device for a robot as described above. The robot includes a robot body and a second charging component disposed on the robot body and cooperating with a first charging component of the charging device. A positioning structure is provided between the first charging component and the second charging component for matching the positions of the first charging component and the second charging component.

[0014] In some embodiments, the positioning structure includes a positioning member disposed on the upper portion of the first charging component for matching the positions of the first charging component and the second charging component, and the second charging component is provided with a positioning groove cooperating with the positioning member; alternatively, the positioning structure includes a positioning member disposed on the upper portion of the second charging component for matching the positions of the first charging component and the second charging component, and the first charging component is provided with a positioning groove cooperating with the positioning member.

[0015] In some embodiments, the positioning member includes a positioning member main body extending towards the positioning groove and a docking portion provided at an end of the positioning member main body and protruding towards the positioning groove direction. An accommodating space matching the shape of the docking portion is provided inside the positioning groove.

[0016] In some embodiments, the docking portion is provided with a contact surface that gradually inclines from the direction of the positioning member main body towards the middle of the docking portion. The contact surface cooperates with the positioning groove to make it easier for the docking portion to be inserted into the positioning groove.

[0017] According to the above content, the beneficial effect of the present application is that the first charging component can be telescoped, slid left and right, and swung relative to the charging device through the cooperation of the connecting mechanism and the reset structure. A positioning member and a positioning groove matching therewith are provided between the first charging component of the charging device and the second charging component of the robot. The positioning member is provided with an inclined contact surface that facilitates sliding into the positioning groove. Therefore, even when the second charging component of the robot is not aligned with the first charging component of the charging device, the contact surface of the positioning member can slide into the positioning groove and drive the first charging component to deflect and slide left and right, thereby realizing the precise docking of the robot and the charging device, greatly improving the docking success rate, and reducing the production cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0019] Figure 1 is a schematic diagram of the cooperation between the robot and the charging device in an embodiment of the present application;

[0020] Figure 2 It is a schematic diagram of the charging device according to an embodiment of the present application;

[0021] Figure 3 It is a schematic diagram of the positioning structure and the connecting mechanism according to an embodiment of the present application;

[0022] Figure 4 It is a schematic diagram of the connecting mechanism according to an embodiment of the present application;

[0023] Figure 5 It is a schematic diagram of the cooperation between the connecting mechanism and the reset structure according to an embodiment of the present application;

[0024] Figure 6 It is a sectional view of the support member according to an embodiment of the present application.

[0025] Explanation of reference numerals: Robot body 1; Second charging assembly 1.1; Charging device body 2; Slide bar 2.1; First charging assembly 3; Connecting member 3.1; Connecting portion 3.1.1; Support member 3.2; Movable portion 3.2.1; Positioning structure 4; Positioning member 4.1; Positioning member main body 4.1.1; Docking portion 4.1.2; Contact surface 4.1.3; Positioning groove 4.2; Connecting mechanism 5; Connecting seat 5.1; Sliding member 5.1.1; Rotating member 5.1.2; Connecting rod 5.2; Contact rod 5.3; Contact head 5.3.1; First elastic member 6.1; Second elastic member 6.2; Third elastic member 6.3. Detailed implementation manners

[0026] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be described and explained below with reference to 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments provided in the present application without making creative efforts belong to the scope of protection of the present application. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some design, manufacturing or production changes made on the basis of the technical content disclosed in the present application are only conventional technical means and should not be understood that the content disclosed in the present application is insufficient.

[0027] In the present application, referring to "embodiment" means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase appears in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those of ordinary skill in the art explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments without conflict.

[0028] Unless otherwise defined, technical terms or scientific terms involved in this application shall have the ordinary meanings understood by those with ordinary skills in the technical field to which this application belongs. The words such as "a", "an", "one kind", "the" and the like involved in this application do not indicate a quantity limitation and may represent a singular or plural number. The terms "comprising", "including", "having" and any variations thereof involved in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product or device including a series of steps or modules (units) is not limited to the listed steps or units, but may further include steps or units not listed, or may further include other steps or units inherent to these processes, methods, products or devices. The words such as "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "plurality" involved in this application means greater than or equal to two. "And / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, "A and / or B" may represent: A exists alone, A and B exist simultaneously, and B exists alone. The terms "first", "second", "third" and the like involved in this application are only used to distinguish similar objects and do not represent a specific order of the objects.

[0029] As shown in the embodiments Figures 1 to 6 This embodiment includes a robot body 1 and a charging device that cooperates with the robot body 1 for charging. The charging device includes a charging device body 2 and a first charging component 3 connected to the charging device body 2. A second charging component 1.1 that cooperates with the first charging component 3 is provided on the robot body 1. A positioning structure 4 for matching the positions of the first charging component 3 and the second charging component 1.1 is provided between the first charging component 3 and the second charging component 1.1. The charging device body 2 and the first charging component 3 are movably connected through a connecting mechanism 5. Specifically, the connecting mechanism 5 can make the first charging component 3 stretch, slide left and right, and deflect left and right relative to the charging device body 2. Then, when the first charging component 3 is positioned and cooperates with the second charging component 1.1 according to the positioning structure 4, if there is a docking deviation, corresponding position adjustments can be automatically made.

[0030] Among them, the charging device body 2 is provided with a horizontally arranged sliding rod 2.1 corresponding to the position of the first charging component 3. The connecting mechanism 5 includes a connecting seat 5.1 slidably sleeved on the sliding rod 2.1 of the charging device body 2 and a telescopic component telescopically matched with the connecting seat 5.1. The telescopic component is a connecting rod 5.2 sleeved in the connecting seat 5.1 and fixedly connected to the first charging component 3 at one end through a connecting piece 3.1. The connecting mechanism 5 is further provided with a reset structure, and the reset structure can make the displaced connecting mechanism 5 return to the initial position.

[0031] Further, the connecting seat 5.1 includes a sliding member 5.1.1 and a rotating member 5.1.2. The sliding member 5.1.1 is sleeved on the sliding rod 2.1 and can slide along the sliding rod 2.1. An activity space is provided inside the sliding member 5.1.1. The rotating member 5.1.2 is hinged to the sliding member 5.1.1 and can make a limited left - right rotation within the activity space. The connecting rod 5.2 is telescopically sleeved inside the rotating member 5.1.2. The connecting rod 5.2 telescopically moves inside the rotating member 5.1.2, thereby driving the first charging assembly 3 to make a telescopic movement relative to the charging device body 2. The rotating member 5.1.2 makes a limited left - right rotation within the activity space of the sliding member 5.1.1, thereby driving the first charging assembly 3 to make a left - right deflection movement relative to the charging device body 2. The sliding member 5.1.1 slides left and right along the sliding rod 2.1, thereby driving the first charging assembly 3 to slide left and right relative to the charging device body 2.

[0032] The reset structure includes a first elastic member 6.1 sleeved on the connecting rod 5.2 and capable of abutting against the rotating member 5.1.2. When the connecting rod 5.2 telescopically moves relative to the rotating member 5.1.2, the first elastic member 6.1 abuts against the rotating member 5.1.2, causing the connecting rod 5.2 to receive a force in the opposite direction of the movement direction and giving it a tendency to return to the initial position. The reset structure further includes a second elastic member 6.2 sleeved on the sliding rod 2.1 and capable of abutting against the sliding member 5.1.1. When the sliding member 5.1.1 moves relative to the sliding rod 2.1, the second elastic member 6.2 abuts against the sliding member 5.1.1, causing the sliding member 5.1.1 to receive a force in the opposite direction of the movement direction and giving it a tendency to return to the initial position. The reset structure further includes third elastic members 6.3 respectively arranged on the left and right sides of the connecting mechanism 5. Connecting portions 3.1.1 for cooperating with the third elastic members 6.3 are respectively arranged at the left and right ends of a connecting member 3.1 fixedly arranged on the first charging assembly 3. One end of the third elastic member 6.3 is connected to the connecting mechanism 5 or the charging device body 2, and the other end is connected to the connecting portion 3.1.1, causing the first charging assembly 3 to receive a force in the opposite direction of the movement direction when making a left - right deflection and giving it a tendency to return to the initial position. The first elastic member 6.1, the second elastic member 6.2, and the third elastic member 6.3 can be springs.

[0033] Further, a butting rod 5.3 for restricting the compression distance of the first charging assembly 3 relative to the charging device body 2 is fixedly arranged on the rotating member 5.1.2. The butting rod 5.3 is arranged parallel to the connecting rod 5.2. The length of the butting rod 5.3 is less than the length of the connecting rod 5.2 located between the first charging assembly 3 and the rotating member 5.1.2 in the initial position. A soft butting head 5.3.1 for buffering is arranged at one end of the butting rod 5.3 close to the first charging assembly 2.

[0034] Among them, a support member 3.2 for supporting the first charging component 3 is provided at the lower end of the first charging component 3. The support member 3.2 is in contact with the charging device body 2. A movable part 3.2.1 is provided at the bottom of the support member 3.2 to facilitate the support member 3.2 to follow the movement of the first charging component 3. The movable part can be a ball.

[0035] The positioning structure 4 includes a positioning member 4.1 disposed on the upper portion of the first charging component 3 for aligning the positions of the first charging component 3 and the second charging component 1.1, and the second charging component 1.1 is provided with a positioning groove 4.2 that cooperates with the positioning member 4.1; or the positioning structure 4 includes a positioning member 4.1 disposed on the upper portion of the second charging component 1.1 for aligning the positions of the first charging component 3 and the second charging component 1.1, and the first charging component 3 is provided with a positioning groove 4.2 that cooperates with the positioning member 4.1. The positioning member 4.1 includes a positioning member body 4.1.1 extending toward the positioning groove 4.2 and a docking portion 4.1.2 disposed at the end of the positioning member body 4.1.1 and protruding toward the positioning groove 4.2, and an accommodating space is provided within the positioning groove 4.2 that matches the shape of the docking portion 4.1.2. The docking portion 4.1.2 is provided with an abutment surface 4.1.3 which is gradually inclined from the direction of the positioning member main body 4.1.1 toward the middle of the docking portion 4.1.2. When the first charging component 3 is docked with the second charging component 1.1, if the positioning member 4.1 is not completely aligned with the positioning groove 4.2, the abutment surface 4.1.3 can cooperate with the positioning groove 4.2 to abut against the positioning groove 4.2, causing the first charging component 3 to deflect or slide left and right, thereby causing the docking portion 4.1.2 to slide into the positioning groove 4.2.

[0036] Working principle: When in use, the robot aligns with the position of the charging device and moves towards the charging device to perform the docking operation between the first charging component 3 and the second charging component 1.1.

[0037] If the docking is accurate, the positioning 4.1 is directly inserted into the positioning groove 4.2. The robot continues to move toward the charging device and pushes the first charging component 3 toward the charging device body 2 until the first charging component 3 abuts against the abutment rod 5.3. The abutment rod 5.3 can also make the first charging component 3 and the second charging component 1.1 dock more firmly. At this point, the docking operation is completed, and then the charging operation is carried out.

[0038] If there is a deviation in the docking between the positioning member 4.1 and the positioning groove 4.2, the robot continues to move towards the charging device. The inclined abutting surface 4.1.3 of the docking portion 4.1.2 causes the docking portion 4.1.2 to slide into the positioning groove 4.2 under the action of pressure. The connecting mechanism 5 cooperates with the docking portion 4.1.2 to deflect and move the first charging assembly 3 left and right. The support member 3.2 at the lower end of the first charging assembly 3 moves with the first charging assembly 3. Then the robot continues to move towards the charging device and drives the first charging assembly 3 towards the charging device body 2 until it abuts against the abutting rod 5.3, and the docking operation is completed at this point. After the charging operation is completed, the robot detaches from the charging device, and under the action of the reset structure, the first charging assembly 3 that has deflected, telescoped, and slid returns to its initial position.

[0039] Those skilled in the art should understand that the technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0040] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A charging device for a robot, comprising a charging device body and a first charging component connected to the charging device body, characterized in that: The charging device body and the first charging component are movably connected through a connecting mechanism. The connecting mechanism includes a connecting seat slidably arranged on the charging device body, and a telescopic component telescopically matched with the connecting seat. The connecting mechanism is provided with a reset structure, and the reset structure can restore the displaced connecting mechanism to its initial position; The charging device body is provided with a sliding rod. The telescopic component is a connecting rod sleeved in the connecting seat and connected to the first charging component at one end. The connecting seat is slidably connected to the sliding rod, and the connecting mechanism can make the first charging component perform telescopic movement relative to the charging device body and move along the sliding rod; The connecting seat includes a sliding member and a rotating member. The sliding rod is horizontally arranged on the charging device body and corresponds to the position of the first charging component. The sliding member is sleeved on the sliding rod and can slide along the sliding rod. An activity space is arranged inside the sliding member. The rotating member is hinged to the sliding member and can perform limited rotation in the activity space. The connecting rod is sleeved inside the rotating member. The connecting mechanism enables the first charging component to perform telescopic movement, left and right deflection, and left and right sliding along the sliding rod relative to the charging device body; The reset structure includes a first elastic member sleeved on the connecting rod and capable of abutting against the rotating member. When the connecting rod expands and contracts relative to the rotating member, the first elastic member abuts against the rotating member, so that the connecting rod receives a force in the opposite direction of the movement direction; The reset structure further includes a second elastic member sleeved on the sliding rod and capable of abutting against the sliding member. When the sliding member moves relative to the sliding rod, the second elastic member abuts against the sliding member, so that the sliding member receives a force in the opposite direction of the movement direction.

2. The charging device for a robot according to claim 1, characterized in that: A butting rod for limiting the compression distance of the first charging component relative to the charging device body is fixedly arranged on the rotating member. The butting rod is arranged parallel to the connecting rod, and the length of the butting rod is less than the length of the connecting rod between the first charging component and the rotating member in the initial position.

3. The charging device for a robot according to claim 2, characterized in that: A soft butting head is arranged at one end of the butting rod close to the first charging component.

4. The charging device for a robot according to claim 1, wherein: The connecting rod is fixedly connected to the first charging component through a connecting member fixedly arranged on the first charging component. The reset structure includes third elastic members respectively arranged on the left and right sides of the connecting mechanism. Connecting portions cooperating with the third elastic members are respectively arranged at the left and right ends of the connecting member. One end of the third elastic member is connected to the connecting mechanism or the charging device body, and the other end is connected to the connecting portion, so that the first charging component receives a force to restore to the centered position when it deflects left and right.

5. A charging device for a robot according to claim 1, characterized in that: A support member for supporting the first charging component is arranged at the lower end of the first charging component. The support member abuts against the charging device body, and an activity portion for facilitating the movement of the support member following the first charging component is arranged at the bottom of the support member.

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