A robot contact charging device

Abstract

A robot contact charging device. When the robot returns to the charging pile for charging, after the positioning between the robot and the charging pile is completed, the robot moves towards the charging pile until the two electrode plates respectively contact the corresponding charging electrodes of the robot. After that, the robot pushes the electrode fixing seat to move backward along the guide rod, first compressing the first-stage spring. After the first-stage spring is compressed, it pushes the guide plate to move backward and then compresses the second-stage spring. After the second-stage spring is compressed, the locking device locks the position of the guide plate. At this time, the robot stops moving, and the electrode plate makes tight contact with the charging electrode on the robot under the elastic force of the first-stage spring, thereby charging the robot. During the process of the robot returning to the charging pile for charging, the second-stage spring plays a role in absorbing impact force. After the second-stage spring is locked, the first-stage spring ensures that the electrode plate is in tight contact with the charging electrode of the robot, ensuring the safety and reliability during the charging process of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and particularly relates to a robot contact charging device. Background Art

[0002] With the development of technology, various robots have begun to appear in various living places to replace humans to perform some tasks. Currently, robots have been widely used in scenarios such as restaurants, hotels, hospitals, museums, cultural centers, government agencies, etc. to provide services such as delivery, guidance, and explanation. Robots have a power supply system. When the power is consumed, the power supply system needs to be charged in a timely manner. The robot automatically searches for a charging pile for charging. In the existing contact charging device, after the robot is powered off, due to the elastic force of the electrode spring, the electrode spring will push the robot outward, which easily causes the electrode plate to disconnect from or have poor contact with the robot, affecting the normal charging of the robot. Summary of the Invention

[0003] In order to overcome the above-mentioned deficiencies in technology, the present invention provides a charging device that ensures good contact during robot charging.

[0004] The technical solution adopted by the present invention to overcome its technical problems is:

[0005] A robot contact charging device includes:

[0006] Guide rod groups respectively arranged at the right ends of the charging pile frame. In each guide rod group, guide rods are arranged at intervals in the up and down direction. The axis of the guide rod is horizontally arranged in the front and back direction, and the rear end of the guide rod is fixed to the charging pile frame;

[0007] Two guide plates. The upper ends of the guide plates are slidably inserted into the guide rods at the upper ends of the corresponding guide rod groups, and the lower ends of the guide plates are slidably inserted into the guide rods at the lower ends of the corresponding guide rod groups;

[0008] Two electrode fixing seats are arranged at intervals in the height direction. The left and right ends of the upper electrode fixing seat are respectively slidably inserted into the front ends of the guide rods at the upper ends of the corresponding guide rod groups, and the left and right ends of the lower electrode fixing seat are respectively slidably inserted into the front ends of the guide rods at the lower ends of the corresponding guide rod groups. Electrode plates are arranged at the front ends of the electrode fixing seats;

[0009] A secondary spring is sleeved on the rear end of the guide rod. The rear end of the secondary spring faces the charging pile frame, and its front end is connected to the guide plate;

[0010] A primary spring is sleeved on the front end of the guide rod. The rear end of the primary spring is connected to the guide plate, and its front end is connected to the electrode fixing seat; and

[0011] The locking device is arranged on the charging pile rack. When the robot is connected to two electrode plates for charging and both the first-stage spring and the second-stage spring are compressed, the locking device locks and fixes the position of the guide plate.

[0012] Preferably, the elastic stiffness of the first-stage spring is less than that of the second-stage spring.

[0013] Furthermore, the above-mentioned locking device includes a self-locking plate fixed on the charging pile rack and a locking rod horizontally installed at the rear end of the guide plate in the front-back direction. A guiding groove Ⅰ is horizontally arranged at the left end of the self-locking plate in the front-back direction, and a guiding groove Ⅱ is horizontally arranged at the right end of the self-locking plate in the front-back direction. The guiding groove Ⅰ and the guiding groove Ⅱ are separated by a partition plate arranged therebetween. A locking block is arranged at the front end of the partition plate. A V-shaped locking groove is arranged at the rear end of the locking block. The left end face at the front end of the partition plate is a guiding inclined surface Ⅰ, and the right end face at the front end of the locking block is a guiding inclined surface Ⅱ. A hook head is arranged below the rear end of the locking rod. When the robot is connected to two electrode plates for charging and both the first-stage spring and the second-stage spring are compressed, the hook head enters the guiding groove Ⅱ through the guiding inclined surface Ⅱ and then is hooked in the locking groove under the elastic force of the second-stage spring. When the robot moves backward after charging is completed, the hook head enters the guiding groove Ⅰ through the guiding inclined surface Ⅰ and then moves to the front end of the locking block under the elastic force of the second-stage spring.

[0014] For the convenience of resetting, a spring is further included. The front end of the spring is connected to the middle part of the guide plate, and the rear end of the spring is connected to the front end of the self-locking plate.

[0015] The beneficial effects of the present invention are as follows: When the robot returns to the charging pile for charging, after the robot and the charging pile are positioned, the robot moves towards the charging pile until the two electrode plates respectively contact the corresponding charging electrodes of the robot. Thereafter, the robot pushes the electrode fixing seat to move backward along the guide rod, first compressing the first-stage spring. After the first-stage spring is compressed, it pushes the guide plate to move backward and then compresses the second-stage spring. After the second-stage spring is compressed, the locking device locks the position of the guide plate. At this time, the robot stops moving. The electrode plate is tightly connected to the charging electrode on the robot under the elastic force of the first-stage spring, thereby charging the robot. During the process of the robot returning to the pile for charging, the second-stage spring plays a role in absorbing impact force. After the second-stage spring is locked, the first-stage spring ensures that the electrode plate is in close contact with the charging electrode of the robot, ensuring the safety and reliability during the charging process of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the present invention;

[0017] Figure 2 It is a three-dimensional structural schematic diagram of the self-locking plate part of the present invention;

[0018] In the figure, 1. charging pile rack; 2. self-locking plate; 3. guide rod; 4. guide plate; 5. secondary spring; 6. primary spring; 7. locking rod; 8. hook head; 9. spring; 10. electrode fixing seat; 11. electrode plate; 21. guide groove I; 22. guide groove II; 23. partition plate; 24. guide inclined surface I; 25. locking block; 26. guide inclined surface II. Detailed implementation mode

[0019] The following will further describe the present invention in conjunction with Figure 1 , Figure 2 the appended drawings.

[0020] As shown in the appended Figure 1As shown in the figure, a robot contact charging device includes: guide rod groups respectively arranged at the left and right ends of the charging pile rack 1. In each guide rod group, guide rods 3 are arranged at intervals in the up and down direction. The axis of the guide rod 3 is horizontally arranged in the front and back direction, and the rear end of the guide rod 3 is fixed on the charging pile rack 1; two guide plates 4, the upper ends of the guide plates 4 are slidably inserted into the guide rods 3 at the upper ends of the corresponding guide rod groups, and the lower ends of the guide plates 4 are slidably inserted into the guide rods 3 at the lower ends of the corresponding guide rod groups; two electrode fixing seats 10, arranged at intervals in the height direction. The left and right ends of the upper electrode fixing seat 10 are respectively slidably inserted into the front ends of the guide rods 3 at the upper ends of the corresponding guide rod groups, and the left and right ends of the lower electrode fixing seat 10 are respectively slidably inserted into the front ends of the guide rods 3 at the lower ends of the corresponding guide rod groups. Electrode plates 11 are arranged at the front ends of the electrode fixing seats 10; a secondary spring 5 is sleeved on the rear end of the guide rod 3. The rear end of the secondary spring 5 faces the charging pile rack 1, and its front end is connected to the guide plate 4; a primary spring 6 is sleeved on the front end of the guide rod 3. The rear end of the primary spring 6 is connected to the guide plate 4, and its front end is connected to the electrode fixing seat 10; and a locking device is arranged on the charging pile rack 1. When the robot is connected to the two electrode plates 11 for charging and both the primary spring 6 and the secondary spring 5 are compressed, the locking device locks and fixes the position of the guide plate 4. When the robot returns to the charging pile for charging, after the robot and the charging pile are positioned, the robot moves towards the charging pile until the two electrode plates 11 respectively contact the corresponding charging electrodes of the robot. After that, the robot pushes the electrode fixing seat 10 to move backward along the guide rod 3, first compressing the primary spring 6. After the primary spring 6 is compressed, it pushes the guide plate 4 to move backward and then compresses the secondary spring 5. After the secondary spring 5 is compressed, the locking device locks the position of the guide plate 4. At this time, the robot stops moving, and the electrode plate 11 makes close contact with the charging electrode on the robot under the elastic force of the primary spring 6, so as to charge the robot. After the robot finishes charging, the robot is powered on. The robot first moves backward a certain distance and then moves forward. At this time, the locking device releases the lock. Under the elastic force of the secondary spring 5, the guide plate 4 moves forward, and the robot separates from the electrode plate 11, so as to separate from the charging pile. During the process of the robot returning to the charging pile for charging, the secondary spring 5 plays a role in absorbing the impact force. After the secondary spring 5 is locked, the primary spring 6 ensures that the electrode plate 11 is in close contact with the charging electrode of the robot, ensuring the safety and reliability during the charging process of the robot.

[0021] Further, the elastic stiffness of the primary spring 4 is less than that of the secondary spring 5. Therefore, when the robot returns to the charging pile for charging, when the robot contacts the charging pile, the primary spring 4 is compressed first, and then the secondary spring 5 is compressed. At the same time, when the primary spring 4 is compressed to the minimum, its elastic force is less than the thrust force for pushing the robot, so as to ensure that after the secondary spring 5 is locked, the robot is not pushed away by the primary spring 6, avoiding non-contact or poor contact of the electrodes during charging.

[0022] In an embodiment of the present invention, as shown in the appendix Figure 2As shown in the figure, the locking device has the following structure, which includes a self-locking plate 2 fixed on the charging pile frame 1 and a locking rod 7 horizontally installed at the rear end of the guide plate 4 in the front-rear direction. A guiding groove I 21 is horizontally arranged at the left end of the self-locking plate 2 in the front-rear direction, and a guiding groove II 22 is horizontally arranged at the right end of the self-locking plate 2 in the front-rear direction. The guiding groove I 21 and the guiding groove II 22 are separated by a partition plate 23 arranged therebetween. A locking block 25 is arranged at the front end of the partition plate 23. A V-shaped locking groove is arranged at the rear end of the locking block 25. The left end face at the front end of the partition plate 23 is a guiding inclined surface I 24, and the right end face at the front end of the locking block 25 is a guiding inclined surface II 26. A hook head 8 is arranged below the rear end of the locking rod 7. When the robot is connected to two electrode plates 11 for charging and both the first-stage spring 6 and the second-stage spring 5 are compressed, the hook head 8 enters the guiding groove II 22 through the guiding inclined surface II 26 and then is hooked in the locking groove under the elastic force of the second-stage spring 5. When the robot moves backward after charging is completed, the hook head 8 enters the guiding groove I 21 through the guiding inclined surface I 24 and then moves to the front end of the locking block 25 under the elastic force of the second-stage spring 5. By sliding of the hook head 8 in the guiding groove I 21 and the guiding groove II 22, its hooking in the locking groove or unlocking from the locking groove is realized. The structure is simple and can realize the functions of locking and unlocking in a cyclic manner.

[0023] When the robot is charging, the moving path of the hook head 8 is as shown in the path direction S01 in the appendix Figure 2 . The hook head 8 moves along the direction indicated by the arrow S01. After the robot is powered off, the hook head 8 is locked at the locking groove, so that the position of the guide plate 4 is locked, and then the second-stage spring 5 is locked, and then the process of self-locking of the robot charging is completed.

[0024] The unlocking path after the robot charging is completed is as shown in the path direction S02 in the appendix Figure 2 . After the robot is powered on and moves backward, the guide plate 4 moves backward, thereby driving the guide rod 3 to move backward. After the hook head 8 contacts the guiding inclined surface I 24, it enters the guiding groove I 21 under its guidance. At this time, the hook head 8 disengages from the locking groove. When the robot moves forward again, the second-stage spring 5 returns to its initial state, pushing the guide plate 4 to move forward, so that the hook head 8 moves to the front end of the locking block 25, realizing unlocking.

[0025] Preferably, it further includes a spring 9. The front end of the spring 9 is connected to the middle part of the guide plate 4, and the rear end of the spring 9 is connected to the front end of the self-locking plate 2. When the locking rod 7 moves to make the hook head 8 slide in the guiding groove I 21 and the guiding groove II 22, the spring 9 is compressed and stores energy. When the hook head 8 is hooked in the locking groove of the locking block 25, the elastic force of the spring 9 can ensure the close contact between the hook head 8 and the locking groove, improving the reliability of locking.

[0026] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A robot contact charging device, characterized in that, comprising: A guide rod group respectively arranged at the left and right ends of the charging pile frame (1), in each guide rod group, guide rods (3) are arranged at intervals in the up and down direction, the axis of the guide rod (3) is horizontally arranged in the front and back direction, and the rear end of the guide rod (3) is fixed on the charging pile frame (1); Two guide plates (4), the upper ends of the guide plates (4) are slidably inserted into the guide rods (3) at the upper ends of the corresponding guide rod groups, and the lower ends of the guide plates (4) are slidably inserted into the guide rods (3) at the lower ends of the corresponding guide rod groups; Two electrode fixing seats (10), arranged at intervals in the height direction, the left and right ends of the upper electrode fixing seat (10) are respectively slidably inserted into the front ends of the guide rods (3) at the upper ends of the corresponding guide rod groups, and the left and right ends of the lower electrode fixing seat (10) are respectively slidably inserted into the front ends of the guide rods (3) at the lower ends of the corresponding guide rod groups, and electrode plates (11) are arranged at the front ends of the electrode fixing seats (10); A secondary spring (5), sleeved on the rear end of the guide rod (3), the rear end of the secondary spring (5) faces the charging pile frame (1), and its front end is connected to the guide plate (4); A primary spring (6), sleeved on the front end of the guide rod (3), the rear end of the primary spring (6) is connected to the guide plate (4), and its front end is connected to the electrode fixing seat (10); and A locking device, arranged on the charging pile frame (1), when the robot is connected to the two electrode plates (11) for charging and both the primary spring (6) and the secondary spring (5) are compressed, the locking device locks and fixes the position of the guide plate (4).

2. The robot contact charging device according to claim 1, characterized in that: The elastic stiffness of the primary spring (6) is less than the elastic stiffness of the secondary spring (5).

3. The robot contact charging device according to claim 1, characterized in that: The locking device includes a self-locking plate (2) fixed to the charging pile frame (1) and a locking rod (7) horizontally installed at the rear end of the guide plate (4) in the front-rear direction. A guide groove I (21) is horizontally arranged at the left end of the self-locking plate (2) in the front-rear direction, and a guide groove II (22) is horizontally arranged at the right end of the self-locking plate (2) in the front-rear direction. The guide groove I (21) and the guide groove II (22) are separated by a partition plate (23) arranged therebetween. A locking block (25) is arranged at the front end of the partition plate (23). A V-shaped locking groove is arranged at the rear end of the locking block (25). The left end face at the front end of the partition plate (23) is a guide inclined surface I (24), and the right end face at the front end of the locking block (25) is a guide inclined surface II (26). A hook head (8) is arranged below the rear end of the locking rod (7). When the robot is connected to the two electrode plates (11) for charging and both the first-stage spring (6) and the second-stage spring (5) are compressed, the hook head (8) enters the guide groove II (22) through the guide inclined surface II (26), and then the hook head (8) is hooked in the locking groove under the elastic force of the second-stage spring (5). When the robot moves backward after charging is completed, the hook head (8) enters the guide groove I (21) through the guide inclined surface I (24), and then the hook head (8) moves to the front end of the locking block (25) under the elastic force of the second-stage spring (5).

4. The robot contact charging device according to claim 3, wherein: it further includes a spring (9), the front end of the spring (9) is connected to the middle part of the guide plate (4), and the rear end of the spring (9) is connected to the front end of the self-locking plate (2).

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