A power unit

Abstract

This application discloses a power device including a braking mechanism. The braking mechanism includes a main body and a drive unit. The main body has a first contact portion and a second contact portion connected to each other. The second contact portion is used to contact the outside world for braking. The drive unit is movably connected to the first contact portion. The main body has an initial state and a braking state. In the initial state, the drive unit is separated from the first contact portion, and there is a gap between the second contact portion and the outside world in a first direction. In the braking state, the drive unit contacts the first contact portion, and the drive body moves along the first direction, causing the second contact portion to contact the outside world. When braking is not required, the second contact portion does not contact the outside world, and the braking mechanism does not work. When braking is required, the drive unit drives the second contact portion to move along the first direction through the first contact portion, causing the second contact portion to contact the outside world, thus achieving braking. This facilitates the control of the movement and braking of the self-charging robot and also improves the stability of the self-charging robot during operation.

Description

Technical Field

[0001] This application relates to the field of self-charging robot technology, and in particular to a power device. Background Technology

[0002] Self-charging robots require a power unit to control their movement, which includes motion and braking.

[0003] CN 114188170 A discloses a braking assembly, a power tool switch, and a power tool. The braking assembly is partially disposed within the power tool switch and is used to short-circuit the D terminal connecting the motor and the main circuit terminal. It includes a push rod, a brake pad, and a brake spring. The brake pad is mounted on the push rod, and the brake spring is disposed between the brake pad and the push rod. The brake pad includes a short-circuiting portion and has an initial state and a braking state. In the initial state, the short-circuiting portion is inclined towards the D terminal. In the braking state, the short-circuiting portion is parallel to the push rod and abuts against both the D terminal and the main circuit terminal. This braking assembly can improve the braking life of the power tool switch and extend the service life of the power tool. However, the above method involves many components, making braking control inconvenient. Therefore, how to facilitate the control of the movement of a self-charging robot and improve its stability during operation is one of the urgent problems to be solved. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a power device that facilitates the control of the movement of a self-charging robot and improves the stability of the self-charging robot during operation.

[0005] According to a first aspect of this application, a braking mechanism includes a main body and a driving part. The main body has a first contact part and a second contact part connected to each other, the second contact part being used to contact the outside world for braking; the driving part is movably connected to the first contact part; wherein, the main body has an initial state and a braking state, in the initial state, the driving part is separated from the first contact part, and the second contact part has a gap with the outside world in a first direction; in the braking state, the driving part contacts the first contact part and drives the main body to move along the first direction, so that the second contact part contacts the outside world.

[0006] The braking mechanism according to the embodiments of this application has at least the following beneficial effects: The braking mechanism includes a main body and a driving part. The main body also includes a first contact part for being driven by the driving part and a second contact part for braking. When braking is not required, the first contact part and the driving part are separated, and the second contact part is not in contact with the outside world, so the braking mechanism does not work. When braking is required, the driving part contacts the first contact part, causing the driving part to drive the second contact part to move along a first direction through the first contact part. The second contact part then contacts the outside world (i.e., the moving interface), thereby achieving braking. This facilitates the control of the movement and braking of the self-charging robot. At the same time, when the self-charging robot is working, the operation of the braking mechanism causes the second contact part to contact the outside world, reducing the risk that the movement of the self-charging robot will affect charging and improving the stability of the self-charging robot during operation.

[0007] In some embodiments, the driving part has a first driving surface, the first contact part has a first contact surface for contacting the first driving surface, and the second contact part has a second contact surface for contacting the outside world. The first contact surface and the second contact surface are disposed opposite to each other along the first direction, and the driving part is movably connected to the first contact part along the second direction. In the braking state, the first driving surface and the first contact surface are at least partially in contact, and the second contact surface is in contact with the outside world, wherein the second direction intersects the first direction.

[0008] In some embodiments, in the initial state, in the second direction and in a direction that gradually moves away from the first driving surface, the distance between the first contact surface and the second contact surface gradually increases.

[0009] In some embodiments, the first driving surface corresponds to and matches the first contact surface.

[0010] In some embodiments, the braking mechanism further includes an elastic member disposed along the first direction, one end of the elastic member being fixedly disposed and the other end being connected to the main body. In the initial state, the elastic member supports the main body so that there is a gap between the second contact portion and the outside in the first direction; in the braking state, the elastic member is compressed so that the second contact portion contacts the outside.

[0011] In some embodiments, the body is provided with a groove that extends through the first contact portion and the second contact portion along the first direction, and the elastic element is disposed in the groove.

[0012] In some embodiments, the braking mechanism further includes a fixing member disposed at one end of the groove near the second contact portion, and one end of the elastic member is connected to the fixing member.

[0013] In some embodiments, the braking mechanism further includes a connector disposed at one end of the groove near the first contact portion and on the first contact surface, and the end of the elastic member away from the second contact portion is connected to the connector.

[0014] A power device according to a second aspect of this application is used for a self-charging robot, including a moving mechanism and a braking mechanism as described in any of the above embodiments. The moving mechanism is used to drive the self-charging robot to move; the braking mechanism is used to brake the moving mechanism.

[0015] In some embodiments, the moving mechanism includes a moving member and a connecting rod, and the braking mechanism includes an elastic member, a connecting member, and a fixing member. The main body is provided with a groove, the elastic member is disposed in the groove, and its two ends are respectively connected to the connecting member and the fixing member. In a first direction, the moving member is connected to one end of the connecting rod, and the connecting rod passes through the connecting member, the elastic member, and the fixing member in sequence. The other end of the connecting rod is fixedly disposed.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0018] Figure 1 This is a schematic diagram of the initial state of the braking mechanism according to an embodiment of this application;

[0019] Figure 2 This is a schematic diagram of the braking state of the braking mechanism according to an embodiment of this application;

[0020] Figure 3 This is a schematic diagram of the internal structure of the power device according to an embodiment of this application.

[0021] Reference numerals: power unit 10, steel beam 20, braking mechanism 100, main body 110, first contact part 111, first contact surface 1111, second contact part 112, second contact surface 1121, groove 113, driving part 120, first driving surface 121, elastic element 130, fixing element 140, connecting element 150, moving mechanism 200, moving element 210, connecting rod 220, connecting part 230, first direction X, second direction Y. Detailed Implementation

[0022] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0023] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0024] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0025] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0026] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0027] Figure 1 This is a schematic diagram of the initial state of the braking mechanism according to an embodiment of this application; Figure 2 This is a schematic diagram of the braking state of the braking mechanism according to an embodiment of this application; Figure 3 This is a schematic diagram of the internal structure of the power device according to an embodiment of this application. It should be noted that... Figures 1 to 2 The structure of a section of the steel beam was cut off. Figure 3 Part of the main body is hidden to facilitate the representation of the internal structure.

[0028] Please refer to Figures 1 to 2The first aspect of this application provides a braking mechanism 100, which includes a main body 110 and a driving part 120. The main body 110 has a first contact portion 111 and a second contact portion 112 connected to each other. The second contact portion 112 is used to brake by contacting the outside world. The driving part 120 is movably connected to the first contact portion 111. The main body 110 has an initial state and a braking state. In the initial state, the driving part 120 is separated from the first contact portion 111, and there is a gap between the second contact portion 112 and the outside world in a first direction X. In the braking state, the driving part 120 contacts the first contact portion 111, and the driving body 110 moves along the first direction X, so that the second contact portion 112 contacts the outside world.

[0029] Specifically, in some embodiments, the self-charging robot is typically positioned on a specific route, which allows the robot to move along the steel beam to match vehicles to be charged at different locations. In the braking state, the external environment contacted by the second contact portion 112 can be the medium through which the self-charging robot moves, i.e., the surface of the steel beam.

[0030] Specifically, in some embodiments, the braking mechanism 100 can not only be used for braking the self-charging robot during movement, but also when the self-charging robot does not move in the external environment, that is, when the self-charging robot is working (charging the vehicle to be charged), it can come into contact with the outside world, so as to reduce the risk of the self-charging robot shaking or moving during the working process and thus affecting charging, thereby reducing the probability of accidents such as leakage and fire, and improving the stability of the self-charging robot during operation.

[0031] Specifically, in some embodiments, the first direction X can be represented by the direction indicated by the letter X in the figure.

[0032] Specifically, in some embodiments, the first direction X can be a vertical direction.

[0033] Specifically, in some embodiments, the main body 110 has a first contact portion 111 and a second contact portion 112 that are connected to each other. The first contact portion 111 and the second contact portion 112 can be regarded as two parts that make up the main body 110 in the first direction X. The first contact portion 111 is located above the second contact portion 112. The second contact portion 112 is used to contact the road surface medium on which the self-charging robot moves and brakes by friction. The first contact portion 111 can contact the drive portion 120 so that the drive portion 120 drives the first contact portion 111 to move along the first direction X. More specifically, the drive portion 120 drives the first contact portion 111 to move downward along the first direction X, thereby driving the second contact portion 112 to move downward along the first direction X, so that there is no gap between the second contact portion 112 and the outside in the first direction X, so as to achieve braking.

[0034] The braking mechanism 100 of this application embodiment has at least the following beneficial effects: The braking mechanism 100 includes a main body 110 and a driving part 120. The main body 110 also includes a first contact part 111 for being driven by the driving part 120 and a second contact part 112 for braking. When braking is not required, the first contact part 111 and the driving part 120 are separated, the second contact part 112 is not in contact with the outside world, and the braking mechanism 100 does not work. When braking is required, the driving part 120 contacts the first contact part 111, causing the driving part 120 to drive the second contact part 112 to move along the first direction X through the first contact part 111. The second contact part 112 then contacts the outside world (i.e., the moving interface), thereby achieving braking. This facilitates the control of the movement and braking of the self-charging robot. At the same time, when the self-charging robot is working, the operation of the braking mechanism 100 causes the second contact part 112 to contact the outside world, reducing the risk of the self-charging robot moving and affecting charging, and improving the stability of the self-charging robot during operation.

[0035] Please refer to Figures 1 to 2 Specifically, in some embodiments, the drive unit 120 has a first drive surface 121, the first contact portion 111 has a first contact surface 1111 for contacting the first drive surface 121, and the second contact portion 112 has a second contact surface 1121 for contacting the outside. The first contact surface 1111 and the second contact surface 1121 are disposed opposite to each other along a first direction X. The drive unit 120 is movably connected to the first contact portion 111 along a second direction Y. In the braking state, the first drive surface 121 and the first contact surface 1111 are at least partially in contact, and the second contact surface 1121 is in contact with the outside. The second direction Y intersects the first direction X.

[0036] Specifically, in some embodiments, the braking mechanism 100 does not require braking in the initial state, and the second contact surface 1121 of the second contact portion 112 has a gap with the outside in the first direction X.

[0037] Specifically, in some embodiments, the active connection between the driving part 120 and the first contact part 111 is achieved through the contact or separation of the first driving surface 121 and the first contact surface 1111. In the initial state, the first contact surface 1111 and the first driving surface 121 are not in contact. In the braking state, the first contact surface 1111 and the first driving surface 121 are at least partially in contact, wherein the contact between the first driving surface 121 and the first contact surface 1111 can cause the first contact part 111 to have a downward tendency to move in the first direction X.

[0038] More specifically, in some embodiments, the first driving surface 121 contacts the first contact surface 1111, and the first contact portion 111 tends to move downward in the first direction X. There are various ways to achieve this. For example, the first contact surface 1111 is an upwardly sloping surface in the first direction X, and the part where the first contact surface 1111 initially contacts the first driving surface 121 is the upwardly sloping starting end. The first driving surface 121 is a plane extending along the second direction Y. As the contact area between the first driving surface 121 and the first contact surface 1111 gradually increases, the impact force from buffering interference is increased, and the first contact portion 111 tends to move downward in the first direction X.

[0039] Alternatively, in other embodiments, the first driving surface 121 is upward in the first direction X, and the first contact surface 1111 is an upwardly sloping surface in the first direction X. The part where the first driving surface 121 and the first contact surface 1111 first initially contact is the upwardly sloping end. The first contact surface 1111 is a plane extending along the second direction Y. As the contact area between the first driving surface 121 and the first contact surface 1111 gradually increases, the impact force caused by buffering interference is increased, and the first contact portion 111 tends to move downward in the first direction X.

[0040] Specifically, in some embodiments, the first contact surface 1111 and the second contact surface 1121 are disposed opposite to each other along the first direction X. That is, the first contact portion 111 and the second contact portion 112 can be connected along the first direction X, and the first contact surface 1111 is the surface of the first contact portion 111 that is away from the second contact portion 112 in the first direction X, and the second contact surface 1121 is the surface of the second contact portion 112 that is away from the first contact portion 111 in the first direction X.

[0041] Specifically, in some embodiments, the second direction Y can be represented by the direction indicated by the letter Y. More specifically, in some embodiments, the first direction X can be a vertical direction, and the second direction Y can be a horizontal direction. The first direction X and the second direction Y can be perpendicular to each other.

[0042] Specifically, in some embodiments, the drive unit 120 can be movably connected to the first contact unit 111 along the second direction Y. That is, the drive unit 120 can be connected to a power source such as a motor, so that the drive unit 120 can move along the second direction Y. When the braking mechanism 100 is in the initial state, the drive unit 120 and the first contact unit 111 are spaced apart along the second direction Y, the drive unit 120 and the first contact unit 111 are separated, and the first drive surface 121 and the first contact surface 1111 do not contact each other. When the braking mechanism 100 transitions from the initial state to the braking state, the drive unit 120 is inclined to move closer to the first contact unit 111 along the second direction Y, so that the first drive surface 121 and the first contact surface 1111 are at least partially in contact, so that the first contact unit 111 drives the second contact unit 112 to move downward in the second direction Y, so that the second contact unit 112 contacts the outside, thereby achieving braking. When the braking mechanism 100 transitions from the braking state to the initial state, the driving part 120 is inclined to move away from the first contact part 111 along the second direction Y, so that the contact portion of the first driving surface 121 and the first contact surface 1111 gradually separates, thereby releasing the tendency of the first contact part 111 to drive the second contact part 112 to move downward in the second direction Y, so that the second contact part 112 is separated from the outside, and the braking ends.

[0043] By driving the drive unit 120 to move along the second direction Y, the first drive surface 121 of the drive unit 120 and the first contact surface 1111 of the first contact part 111 are brought into contact and separated, thereby realizing the conversion of the braking mechanism 100 between the initial state and the braking state and improving the convenience of controlling the operation of the braking mechanism 100.

[0044] Please refer to Figures 1 to 2 Specifically, in some embodiments, in the initial state, the distance between the first contact surface 1111 and the second contact surface 1121 gradually increases in the second direction Y, which is gradually away from the first driving surface 121. That is, the first contact surface 1111 is an upwardly sloping surface in the first direction X, and the part where the first contact surface 1111 first contacts the first driving surface 121 is the upwardly sloping starting end. By processing the first contact surface 1111 into a sloping surface, after the first driving surface 121 contacts the first contact surface 1111, the first contact portion 111 can drive the second contact portion 112 to move downward in the first direction X.

[0045] Specifically, in some embodiments, the first driving surface 121 corresponds to and matches the first contact surface 1111. That is, the first driving surface 121 is upward in the first direction X, the first contact surface 1111 is an upwardly sloping surface in the first direction X, and the part where the first driving surface 121 and the first contact surface 1111 first come into contact is the upwardly sloping end.

[0046] By matching the first driving surface 121 with the first contact surface 1111, the movement is smoother during the contact and separation process between the first driving surface 121 and the first contact surface 1111, and the first driving surface 121 and the first contact surface 1111 will not interfere with each other, reducing the probability of damage to the surface of the first driving surface 121 or the first contact surface 1111 and improving the service life.

[0047] Please refer to Figures 1 to 3 Specifically, in some embodiments, the braking mechanism 100 further includes an elastic member 130 disposed along a first direction X. One end of the elastic member 130 is fixedly disposed, and the other end is connected to the main body 110. In the initial state, the elastic member 130 supports the main body 110 so that there is a gap between the second contact portion 112 and the outside in the first direction X. In the braking state, the elastic member 130 is compressed so that the second contact portion 112 contacts the outside.

[0048] Specifically, in some embodiments, the elastic member 130 is disposed along the first direction X. The lower end of the elastic member 130 in the first direction X can be fixedly disposed, and the upper end of the elastic member 130 in the first direction X is connected to the main body 110.

[0049] Specifically, in some embodiments, when installing the elastic member 130, the elastic member 130 can be compressed. After installation, the elastic member 130 can be restored from the compressed state to the natural state to support the main body 110, so that in the initial state, the second contact surface 1121 of the second contact portion 112 of the braking mechanism 100 has a gap with the outside in the first direction X.

[0050] Specifically, in some embodiments, when the braking mechanism 100 is in the braking state, the drive unit 120 drives the main body 110 to move downward in the first direction X via the first contact part 111, so that the second contact part 112 contacts the outside, at which time the elastic member 130 is compressed. When the drive unit 120 separates from the first contact part 111, the elastic member 130 returns from the compressed state to its natural state, which can support the main body 110 upward in the first direction X, so that there is a gap between the second contact part 112 and the outside in the first direction X, so that the braking mechanism 100 changes from the braking state to the initial state.

[0051] Specifically, in some embodiments, the elastic element 130 can be a spring or elastic rubber, etc.

[0052] Specifically, in some embodiments, the elastic element 130 may be disposed inside the body 110. In other embodiments, the elastic element 130 may be disposed outside the body 110.

[0053] By setting the elastic element 130, the second contact portion 112 of the braking mechanism 100 maintains a gap with the outside in the initial state. At the same time, the braking mechanism 100 is transformed from the braking state to the initial state by the compression and reset of the elastic element 130, which improves the convenience of using the braking mechanism 100.

[0054] Please refer to Figures 1 to 3 Specifically, in some embodiments, the main body 110 is provided with a groove 113, which extends through the first contact portion 111 and the second contact portion 112 along the first direction X, and the elastic member 130 is disposed in the groove 113.

[0055] By providing a groove 113 in the main body 110 and placing the elastic element 130 in the groove 113, on the one hand, the groove 113 limits the elastic element 130 to reduce the probability of the elastic element 130 shifting during compression and reset; on the other hand, placing the elastic element 130 inside the main body 110 is beneficial for space arrangement and improves space utilization.

[0056] Specifically, in some embodiments, the braking mechanism 100 further includes a fixing member 140, which is disposed at one end of the groove 113 near the second contact portion 112, and one end of the elastic member 130 is connected to the fixing member 140.

[0057] Specifically, in some embodiments, the lower end of the elastic member 130 in the first direction X can be connected to the fixing member 140. The connection method can be adhesive bonding or welding, or the elastic member 130 and the fixing member 140 can be integrally formed.

[0058] Specifically, in some embodiments, the fixing member 140 may be fixedly connected to other components in the self-charging robot that are different from the braking mechanism 100, so that the fixing member 140 can fix the position of the elastic member 130, and the elastic member 130 can deform relative to the body 110.

[0059] Specifically, in some embodiments, the fastener 140 may be a plate-like member disposed perpendicular to the first direction X.

[0060] By connecting the fixing member 140 to the elastic member 130, the position of the elastic member 130 is fixed, thereby improving the stability of the braking mechanism 100.

[0061] Specifically, in some embodiments, the braking mechanism 100 further includes a connector 150, which is disposed at one end of the groove 113 near the first contact portion 111 and on the first contact surface 1111. The end of the elastic member 130 away from the second contact portion 112 is connected to the connector 150.

[0062] Specifically, in some embodiments, the connector 150 may be connected to the upper end of the elastic member 130 in the first direction X.

[0063] Specifically, in some embodiments, the connector 150 may be disposed on the first contact surface 1111. It should be noted that the position of the connector 150 is offset from that of the first driving part 120. When the driving part 120 is connected to the first contact part 111, the connector 150 interferes with the driving part 120.

[0064] Specifically, in some embodiments, the connector 150 may be a plate-like member disposed perpendicular to the first direction X.

[0065] Please refer to Figures 1 to 3 A second aspect of this application provides a power unit 10 for a self-charging robot, including a moving mechanism 200 and a braking mechanism 100 of any of the above embodiments. The moving mechanism 200 is used to drive the self-charging robot to move; the braking mechanism 100 is used to brake the moving mechanism 200.

[0066] Specifically, in some embodiments, the power unit 10 is the moving part of the self-charging robot, controlling the movement and braking of the self-charging robot. The moving mechanism 200 is used to drive the self-charging robot to move; the braking mechanism 100 is used to brake the moving mechanism 200.

[0067] Specifically, in some embodiments, the moving mechanism 200 includes a moving member 210 and a connecting rod 220, and the braking mechanism 100 includes an elastic member 130, a connecting member 150 and a fixing member 140. The main body 110 is provided with a groove 113, the elastic member 130 is disposed in the groove 113, and its two ends are respectively connected to the connecting member 150 and the fixing member 140. In the first direction X, the moving member 210 is connected to one end of the connecting rod 220, and the connecting rod 220 passes through the connecting member 150, the elastic member 130 and the fixing member 140 in sequence. The other end of the connecting rod 220 is fixedly disposed.

[0068] Specifically, in some embodiments, the movable element 210 can be a movable wheel, which is placed on the outside (i.e., the steel beam) and can move on the steel beam.

[0069] Specifically, in some embodiments, the connecting rod 220 may extend along the first direction X, and the lower end of the connecting rod 220 in the first direction X is connected to the moving member 210.

[0070] Please refer to Figures 1 to 3Specifically, in some embodiments, the connecting rod 220 is sequentially passed through the connecting member 150, the elastic member 130, and the fixing member 140, with the other end of the connecting rod 220 fixedly disposed. The fixing member 140 may be disposed on the movable wheel, and the two ends of the elastic member 130 are respectively connected to the connecting member 150 and the fixing member 140, and the elastic member 130 is sleeved on the connecting rod 220, that is, the connecting rod 220 is also passed through the groove 113 of the main body 110.

[0071] Specifically, in some embodiments, the upper end of the connecting rod 220 in the first direction X is provided with a connecting part 230, the self-charging robot has a shell, the connecting part 230 can be a bolt or the like, the connecting part 230 is fixedly connected to the shell, thereby realizing the position fixation of the fixing member 140.

[0072] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A power unit for a self-charging robot, characterized in that, The system includes a braking mechanism and a moving mechanism. The braking mechanism includes a main body, a driving part, a fixing member, a connecting member, and an elastic member arranged along a first direction. The moving mechanism is used to drive the self-charging robot to move, and the braking mechanism is used to brake the moving mechanism. The main body has a first contact portion and a second contact portion connected to each other. The second contact portion is used for braking by contacting the outside. The main body has a groove that extends through the first contact portion and the second contact portion along a first direction. An elastic member is disposed in the groove. A fixing member is disposed at one end of the groove near the second contact portion, and one end of the elastic member is connected to the fixing member. A connecting member is disposed at one end of the groove near the first contact portion and is located on a first contact surface. The end of the elastic member away from the second contact portion is connected to the connecting member. A driving portion is movably connected to the first contact portion and has a first driving surface. The first contact portion has a first contact surface for contacting the first driving surface, and the second contact portion has a second contact surface for contacting the outside. The first contact surface and the second contact surface are arranged opposite to each other along the first direction. The driving portion is movably connected to the first contact portion along the second direction, wherein the second direction intersects the first direction. The moving mechanism includes a moving member and a connecting rod, and the braking mechanism includes an elastic member, a connecting member, and a fixing member. In the first direction, the moving member is connected to one end of the connecting rod, and the connecting rod passes through the connecting member, the elastic member, and the fixing member in sequence. The other end of the connecting rod can be fixedly mounted on the outer shell of the self-charging robot. The main body has an initial state and a braking state. In the initial state, the driving part is separated from the first contact part, and the elastic member supports the main body so that the second contact part has a gap with the outside in the first direction. In the braking state, the first driving surface and the first contact surface are at least partially in contact, and the main body is driven to move along the first direction. The elastic member is compressed so that the second contact part contacts the outside.

2. The power unit according to claim 1, characterized in that, In the initial state, in the second direction and in a direction that gradually moves away from the first driving surface, the distance between the first contact surface and the second contact surface gradually increases.

3. The power unit according to claim 2, characterized in that, The first driving surface corresponds to and matches the first contact surface.

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