Robot charging device and inspection robot

Abstract

The invention relates to the technical field of autonomous charging, and discloses a robot charging device and an inspection robot, the robot charging device comprises a charging pile outer frame, one side of the charging pile outer frame is fixedly connected with a motor, the middle position of the charging pile outer frame is rotatably connected with a rotating shaft, the output end of the motor is fixedly connected with one end of the rotating shaft, and the two ends of the rotating shaft are fixedly connected with gears; a charging pile mounting plate is connected to the inner side of the charging pile outer frame, a power transmission coil is fixedly connected to the lower end of the front side of the charging pile mounting plate, moving frames matched with the gears are fixedly connected to the two sides of the back of the charging pile mounting plate, sliding grooves matched with the rotating shafts are formed in the two sides of each moving frame, and a plurality of tooth blocks matched with the gears are fixedly connected to the inner side of each moving frame. The robot charging device and the inspection robot can be used for a wheeled robot and a quadruped robot, so that different robots can be wirelessly charged by using the same charging device, the types of the charging devices are reduced, and the complexity of operation and the possibility of errors are reduced.

Description

Technical Field

[0001] The present invention relates to the field of autonomous charging technology, and in particular to a robot charging device and an inspection robot. Background Art

[0002] Quadruped robots, also known as robot dogs, are an important type of robot in the field. They imitate the movement of quadruped animals in nature and have multiple movement capabilities such as walking, running, and jumping. They can be flexibly adjusted according to specific tasks and environments. In order to improve the autonomy of quadruped robots, enhance work efficiency, and adapt to diverse scenarios, wireless charging piles are generally set up in appropriate locations to facilitate autonomous charging of quadruped robots.

[0003] The patent with the patent authorization announcement number CN208337219U discloses a wireless charging pile for a robot, which mainly includes: a shell, the shell is a cylindrical cavity structure, and the outer wall on any side of the shell is provided with a first functional area; a power transmission coil, the power transmission coil is covered and arranged on the outer surface of the first functional area; a charging circuit, the charging circuit is fixed inside the shell through a bracket, and is electrically connected to the power transmission coil through a through hole arranged in the first functional area covering the power transmission coil; a power receiving coil, the power receiving coil is connected and arranged on the outer surface of the machine body, and the height position of the power receiving coil is consistent with the height position of the power transmitting coil; the power receiving coil is connected to the power management unit of the robot.

[0004] Although the wireless charging pile in the above patent can provide a navigation function for the robot, so that the robot can complete the charging task autonomously, it still has certain defects:

[0005] Since the power receiving coil on the wheeled robot is located on the side of the wheeled robot, and the power receiving coil on the quadruped robot is located at the bottom of the quadruped robot, although the wheeled robots and quadruped robots of the same brand or country adopt a unified standard (such as the Qi standard) for wireless charging, so that the wireless charging pile can theoretically charge the wheeled robot and the quadruped robot wirelessly, but due to the different positions of the power receiving coils on the wheeled robot and the quadruped robot, different robots need to be equipped with corresponding wireless charging piles, which will not only increase costs and occupy more space, but also increase the complexity of operation and the possibility of errors. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a robot charging device and an inspection robot to solve the problems raised in the background art, so that the charging device can be applicable to both wheeled robots and quadruped robots.

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a robot charging device, comprising a charging pile outer frame, a motor is fixedly connected to one side of the charging pile outer frame, a rotating shaft is rotatably connected to the middle position of the charging pile outer frame, the output end of the motor is fixedly connected to one end of the rotating shaft, both ends of the rotating shaft are fixedly connected to gears, the inner side of the charging pile outer frame is connected to a charging pile mounting plate, a power transmission coil is fixedly connected to the lower end of the front side of the charging pile mounting plate, moving frames matching the gears are fixedly connected to both sides of the back of the charging pile mounting plate, slide grooves matching the rotating shaft are provided on both sides of the moving frame, a plurality of tooth blocks matching the gears are fixedly connected to the inner side of the moving frame, front limit blocks are fixedly connected to both sides of the front end of the charging pile outer frame, rear limit blocks are fixedly connected to both sides of the rear end of the charging pile outer frame, and the horizontal height of the rear limit block is less than the horizontal height of the front limit block.

[0008] Furthermore, the movable frame is fixedly connected to a limiting frame on one side away from the charging pile mounting plate, a slot is fixedly connected to the middle position of the limiting frame, a positioning slot connected to the slot is opened at one end of the limiting frame, and a positioning block matching the positioning slot is fixedly connected to the side of the rear limiting block away from the outer frame of the charging pile.

[0009] Furthermore, the positioning block is T-shaped, and rollers are rotatably connected to both sides of the upper end of the positioning block.

[0010] Furthermore, a limiting groove is provided at the bottom of the charging pile mounting plate, and the limiting groove is internally slidably connected to a limiting slider, both ends of the bottom of the limiting slider are hinged with a first hinge plate, the lower end of the first hinge plate is hinged with a second hinge plate, the upper end of the second hinge plate is hinged with a hinge block, the top of the hinge block is fixedly connected to the bottom of the charging pile mounting plate, the lower end of the first hinge plate is fixedly connected with a connecting shaft, the external rotation of the connecting shaft is connected to a support block, and a connecting hole matching the connecting shaft is provided in the middle position of the support block.

[0011] Furthermore, both ends of the support block are slidably connected with a positioning rod, the bottom of the positioning rod is fixedly connected with a connecting plate, the inner side of the connecting plate is rotatably connected with a roller, the top of the positioning rod is fixedly connected with an anti-slip plate, the lower end of the positioning rod is sleeved with a supporting elastic member, the upper end of the supporting elastic member is fixedly connected to the support block, and the lower end of the supporting elastic member is fixedly connected to the connecting plate.

[0012] Furthermore, a positioning column is slidably connected to the middle position of the limit slider, and a reset elastic member is sleeved on one end of the positioning column away from the hinge block, one end of the reset elastic member is fixedly connected to the end of the limit groove, and the other end of the reset elastic member is fixedly connected to the limit slider.

[0013] Furthermore, a hydraulic tank is fixedly connected to one end of the bottom of the charging pile mounting plate away from the hinge block, an active piston is slidably connected to the lower end of the hydraulic tank, an end of the active piston close to the hinge block abuts against the rotating shaft, and a transmission piston is slidably connected to the upper end of the hydraulic tank, an end of the transmission piston close to the hinge block is fixedly connected to the limiting slider.

[0014] Furthermore, both sides of the upper end of the outer frame of the charging pile are fixedly connected with limit plates.

[0015] The present invention also provides an inspection robot, comprising a robot main body, a power receiving coil is installed at the bottom of the robot main body, and the robot main body is matched with the above-mentioned robot charging device through the power receiving coil.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. For this type of robot charging device and inspection robot, a wheeled robot only needs to dock at the front side of the charging pile outer frame when charging, and when a quadruped robot needs to be charged, the robot body first docks at the front side of the charging pile outer frame. After the charging pile outer frame detects the robot body, it will start automatically, so that the charging pile mounting plate rotates to a horizontal state and moves the bottom of the robot body, thereby aligning the power transmission coil on the charging pile mounting plate with the power receiving coil at the bottom of the robot body. Then, the quadruped robot can be wirelessly charged, so that the charging device as a whole can be used for both wheeled robots and quadruped robots, so that different robots can be wirelessly charged with the same charging device, reducing the types of charging devices required, reducing the complexity of operation and the possibility of errors;

[0018] 2. When charging a quadruped robot, the charging pile mounting plate will rotate to a horizontal state and then move toward the bottom of the quadruped robot. During the movement, the first hinge plate, the second hinge plate and the support block will unfold and contact the ground through the rollers, thereby providing support for the charging pile mounting plate and preventing the end of the charging pile mounting plate away from the outer frame of the charging pile from sagging and damage.

[0019] 3. For this type of robot charging device and inspection robot, when idle, the distance between the power transmission coil on the charging pile mounting plate and the ground is short (that is, the initial height of the power transmission coil is low). If the height of the power receiving coil on the wheeled robot is high, it will make it difficult for the power transmission coil to align with the power receiving coil for wireless charging. In this case, the motor can be started and rotated clockwise. The motor will drive the gear to rotate clockwise through the shaft, and the gear will move the gear block upward, thereby changing the distance between the power transmission coil on the charging pile mounting plate and the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the position structure of the charging pile outer frame and the robot body of the present invention;

[0021] Figure 2 It is a schematic structural diagram of the robot body of the present invention;

[0022] Figure 3This is a schematic diagram of the structure of the charging pile mounting plate of the present invention when it is in a vertical state;

[0023] Figure 4 This is a schematic diagram of the structure when the charging pile mounting plate of the present invention is in a horizontal state;

[0024] Figure 5 This is a schematic diagram of the structure of the outer frame of the charging pile of the present invention;

[0025] Figure 6 This is a schematic diagram of the three-dimensional structure of the outer frame of the charging pile of the present invention when viewed from the left;

[0026] Figure 7 It is a structural schematic diagram of the positioning block of the present invention;

[0027] Figure 8 This is a schematic diagram of the connection structure of the charging pile installation plate, the moving frame and the limiting frame of the present invention;

[0028] Fig. 9 It is a partial cross-sectional view of the charging pile mounting plate of the present invention;

[0029] Fig.10 For the present invention Fig. 9 A schematic diagram of the local enlarged structure at point A in the middle;

[0030] Fig.11 For the present invention Fig. 9 A schematic diagram of the local enlarged structure at B in the middle;

[0031] Fig.12 This is a schematic diagram of the three-dimensional structure of the charging pile installation plate of the present invention when viewed from above;

[0032] Fig.13 It is a schematic diagram of the connection structure between the first hinge plate and the second hinge plate of the present invention;

[0033] Fig.14 It is a structural schematic diagram of the support block of the present invention;

[0034] Fig.15 It is a schematic diagram of the three-dimensional structure of the charging pile mounting plate of the present invention when viewed from above.

[0035] In the figure: 1. Charging pile outer frame; 2. Limit plate; 3. Motor; 4. Rotating shaft; 5. Gear; 6. Front limit block; 7. Rear limit block; 8. Positioning block; 9. Roller; 10. Charging pile mounting plate; 11. Power transmission coil; 12. Moving frame; 13. Slide; 14. Tooth block; 15. Limit frame; 16. Slot; 17. Positioning slot; 18. Limit slot; 19. Positioning column; 20. Limit slider; 21. Reset elastic member; 22. First hinge plate; 23. Second hinge plate; 24. Hinge block; 25. Connecting shaft; 26. Support block; 27. Connecting hole; 28. Positioning rod; 29. ​​Anti-slip plate; 30. Connecting plate; 31. Support elastic member; 32. Roller; 33. Hydraulic chamber; 34. Active piston; 35. Transmission piston; 36. Robot body; 37. Power receiving coil. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0037] See also Figures 1 to 15 A robot charging device comprises a charging pile outer frame 1, a motor 3 is fixedly connected to one side of the charging pile outer frame 1, a rotating shaft 4 is rotatably connected to the middle position of the charging pile outer frame 1, the output end of the motor 3 is fixedly connected to one end of the rotating shaft 4, and gears 5 are fixedly connected to both ends of the rotating shaft 4. A charging pile mounting plate 10 is connected to the inner side of the charging pile outer frame 1, a power transmission coil 11 is fixedly connected to the lower end of the front side of the charging pile mounting plate 10, and a moving frame 12 matching the gear 5 is fixedly connected to both sides of the back of the charging pile mounting plate 10. Slide grooves 13 matching the rotating shaft 4 are opened on both sides of the moving frame 12, and a plurality of tooth blocks 14 matching the gear 5 are fixedly connected to the inner side of the moving frame 12. Front limit blocks 6 are fixedly connected to both sides of the front end of the charging pile outer frame 1, and rear limit blocks 7 are fixedly connected to both sides of the rear end of the charging pile outer frame 1. The horizontal height of the rear limit block 7 is less than the horizontal height of the front limit block 6.

[0038] The robot charging device and the inspection robot of the present invention, when idle, the charging pile mounting plate 10 is always in a vertical state. In this state, the distance between the power transmission coil 11 on the charging pile mounting plate 10 and the ground is short (that is, the height of the power transmission coil 11 is at the lowest point). At this time, if the wheeled robot needs to be wirelessly charged, it only needs to be docked at the front side of the charging pile outer frame 1, and the power receiving coil 37 on the wheeled robot is aligned with the power transmission coil 11, so that the wheeled robot can be wirelessly charged;

[0039] If the quadruped robot needs to be charged wirelessly, it is necessary to first dock the robot body 36 of the quadruped robot on the front side of the charging pile outer frame 1 (after docking, the power receiving coil 37 at the bottom of the robot body 36 is already on the same straight line with the power transmitting coil 11, and the straight line is parallel to the charging pile outer frame 1), and then start the motor 3, which will drive the gear 5 to rotate through the rotating shaft 4 (counterclockwise at this time). Since the charging pile mounting plate 10 in the vertical state is not restricted at this time, the charging pile mounting plate 10 will rotate with the gear 5, and After the mounting plate 10 rotates to a horizontal state, the charging pile mounting plate 10 will be restricted by the front limit block 6 and the rear limit block 7, causing the charging pile mounting plate 10 to be unable to continue to rotate. However, the gear 5 is still rotating at this time, so the gear 5 will push the tooth block 14 meshing therewith to move toward the robot body 36, and the tooth block 14 will drive the charging pile mounting plate 10 to move toward the robot body 36 through the moving frame 12 until the power transmission coil 11 is aligned with the power receiving coil 37 at the bottom of the robot body 36. The motor 3 will stop working, and the quadruped robot can be wirelessly charged. In addition, the power transmission coil 11 and the power receiving coil 37 are both existing mature technologies, and their internal structures are similar to the existing technology. The patent with patent authorization announcement number CN208337219U discloses a wireless charging pile structure for robots, so I will not elaborate on it here.

[0040] As a preferred technical solution of the present invention, the movable frame 12 is fixedly connected to a limiting frame 15 on the side away from the charging pile mounting plate 10, a slot 16 is fixedly connected to the middle position of the limiting frame 15, a positioning slot 17 connected to the slot 16 is opened at one end of the limiting frame 15, and a positioning block 8 matching the positioning slot 17 is fixedly connected to the side of the rear limiting block 7 away from the outer frame 1 of the charging pile.

[0041] Specifically, when the motor 3 drives the gear 5 to rotate through the rotating shaft 4, and then drives the charging pile mounting plate 10 to rotate from a vertical state to a horizontal state, the positioning block 8 will be inserted into the slot 16, and when the charging pile mounting plate 10 moves horizontally, the positioning block 8 will enter the positioning groove 17, thereby restricting the charging pile mounting plate 10. After the robot body 36 completes wireless charging, the motor 3 is started and the motor 3 is rotated in the opposite direction (clockwise at this time). The motor 3 will drive the gear 5 to rotate together through the rotating shaft 4. Since the positioning block 8 is in the positioning groove 17 at this time, the charging pile mounting plate 10 can only be moved horizontally. The gear 5 pushes the tooth block 14, which drives the moving frame 12 and the charging pile mounting plate 10 to move away from the robot body 36 through the tooth block 14, until the positioning block 8 disengages from the positioning groove 17 and enters the slot 16. At this time, the charging pile mounting plate 10 loses the restriction of the positioning block 8. Under the action of the friction between the tooth block 14 and the gear 5, the charging pile mounting plate 10 rotates with the gear 5 until the charging pile mounting plate 10 rotates to a vertical state. At this time, the charging pile mounting plate 10 will be blocked by the front limit block 6. At this time, turn off the motor 3 and the charging pile mounting plate 10 can be reset.

[0042] As a preferred technical solution of the present invention, the positioning block 8 is T-shaped, and both sides of the upper end of the positioning block 8 are rotatably connected with rollers 9. The positioning block 8 contacts the bottom of the inner side of the limit frame 15 through the rollers 9, thereby avoiding a large friction coefficient between the positioning block 8 and the limit frame 15, which may cause damage to the positioning block 8 or the limit frame 15.

[0043] As a preferred technical solution of the present invention, a limiting groove 18 is provided at the bottom of the charging pile mounting plate 10, and the limiting groove 18 is internally slidably connected to a limiting slider 20, and both ends of the bottom of the limiting slider 20 are hinged with a first hinge plate 22, and the lower end of the first hinge plate 22 is hinged with a second hinge plate 23, and the upper end of the second hinge plate 23 is hinged with a hinge block 24, and the top of the hinge block 24 is fixedly connected to the bottom of the charging pile mounting plate 10, and the lower end of the first hinge plate 22 is fixedly connected with a connecting shaft 25, and the external rotation of the connecting shaft 25 is connected to a support block 26, and a connecting hole 27 matching the connecting shaft 25 is provided in the middle position of the support block 26.

[0044] As a preferred technical solution of the present invention, both ends of the support block 26 are slidably connected with a positioning rod 28, the bottom of the positioning rod 28 is fixedly connected to a connecting plate 30, the inner side of the connecting plate 30 is rotatably connected to a roller 32, the top of the positioning rod 28 is fixedly connected to an anti-slip plate 29, the lower end of the positioning rod 28 is sleeved with a supporting elastic member 31, the upper end of the supporting elastic member 31 is fixedly connected to the support block 26, and the lower end of the supporting elastic member 31 is fixedly connected to the connecting plate 30.

[0045] As a preferred technical solution of the present invention, a positioning column 19 is slidably connected to the middle position of the limit slider 20, and a reset elastic member 21 is sleeved on one end of the positioning column 19 away from the hinge block 24. One end of the reset elastic member 21 is fixedly connected to the end of the limit groove 18, and the other end of the reset elastic member 21 is fixedly connected to the limit slider 20.

[0046] As a preferred technical solution of the present invention, a hydraulic tank 33 is fixedly connected to one end of the bottom of the charging pile mounting plate 10 away from the hinge block 24, and an active piston 34 is slidably connected to the lower end of the hydraulic tank 33. The end of the active piston 34 close to the hinge block 24 is abutted against the rotating shaft 4, and a transmission piston 35 is slidably connected to the upper end of the hydraulic tank 33. The end of the transmission piston 35 close to the hinge block 24 is fixedly connected to the limit slider 20.

[0047] Specifically, when the charging pile mounting plate 10 moves horizontally in a direction away from the charging pile outer frame 1, the rotating shaft 4 will squeeze the active piston 34, and the active piston 34 will squeeze the hydraulic oil in the hydraulic chamber 33. After the hydraulic oil is compressed, it will push the transmission piston 35 to move, and the transmission piston 35 will push the limiting slider 20 to move in a direction away from the charging pile outer frame 1. The limiting slider 20 will drive the first hinged plate 22 to move in a direction away from the charging pile mounting plate 10, thereby pushing the support block 26 downward, and the roller 32 on the side of the support block 26 away from the charging pile mounting plate 10 will rest on the ground, thereby providing support for the charging pile mounting plate 10 and reducing the probability of the charging pile mounting plate 10 sagging. In addition, if the robot body 36 The docked position is far away from the charging pile outer frame 1, causing the charging pile mounting plate 10 to move a greater distance than normal. At this time, the downward movement distance of the support block 26 will also change. Since the lower end of the positioning rod 28 is sleeved with a supporting elastic member 31, the distance between the roller 32 and the support block 26 will adjust itself so that the roller 32 can always be in contact with the ground. When the charging pile mounting plate 10 is reset (that is, when the charging pile mounting plate 10 moves toward the direction of the charging pile outer frame 1), the reset elastic member 21 will pull the limit slider 20 to move in the direction of the rotating shaft 4, thereby driving the limit slider 20 back to its original position, making it convenient for the first hinged plate 22 and the second hinged plate 23 to be stored on the back of the charging pile mounting plate 10.

[0048] As a preferred technical solution of the present invention, both sides of the upper end of the charging pile outer frame 1 are fixedly connected to limit plates 2.

[0049] Specifically, when wirelessly charging the wheeled robot, if it is necessary to adjust the height of the charging pile mounting plate 10 (since the initial position of the power transmission coil 11 is the lowest point it can reach, the adjustment refers to raising the height of the power transmission coil 11), it is only necessary to start the motor 3, and the motor 3 drives the gear 5 to rotate through the rotating shaft 4 (the rotation is clockwise), and the gear 5 will push the gear block 14 to move upward, and the gear block 14 will drive the charging pile mounting plate 10 and the power transmission coil 11 to move upward. When the charging pile mounting plate 10 needs to be reset after the wireless charging is completed, it is only necessary to start the motor 3 and let the motor 3 rotate in the opposite direction. At this time, since the charging pile mounting plate 10 is restricted by the limit plate 2 and cannot rotate, the charging pile mounting plate 10 will move downward by itself, so that the charging pile mounting plate 10 can return to its original position.

[0050] The present invention further provides an inspection robot, including a robot body 36 , a power receiving coil 37 is installed at the bottom of the robot body 36 , and the robot body 36 is matched with the above-mentioned robot charging device through the power receiving coil 37 .

[0051] Specifically, when the robot body 36 is wirelessly charged, it is only necessary to align the power receiving coil 37 on the robot body 36 with the power transmitting coil 11 to charge. Since the principle of wireless charging belongs to the existing mature technology, it will not be elaborated in detail here.

[0052] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A robot charging device, comprising a charging pile frame (1), characterized in that: A motor (3) is fixedly connected to one side of the charging pile outer frame (1); a rotating shaft (4) is rotatably connected to the middle position of the charging pile outer frame (1); an output end of the motor (3) is fixedly connected to one end of the rotating shaft (4); gears (5) are fixedly connected to both ends of the rotating shaft (4); a charging pile mounting plate (10) is connected to the inner side of the charging pile outer frame (1); a power transmission coil (11) is fixedly connected to the lower end of the front side of the charging pile mounting plate (10); and gears (5) are fixedly connected to the gears on both sides of the back of the charging pile mounting plate (10). A movable frame (12) matching the wheel (5) is provided on both sides of the movable frame (12) with sliding grooves (13) matching the rotating shaft (4); a plurality of tooth blocks (14) matching the gear (5) are fixedly connected to the inner side of the movable frame (12); front limit blocks (6) are fixedly connected to both sides of the front end of the charging pile outer frame (1); rear limit blocks (7) are fixedly connected to both sides of the rear end of the charging pile outer frame (1); and the horizontal height of the rear limit block (7) is less than the horizontal height of the front limit block (6).

2. A robot charging device according to claim 1, characterized in that: The movable frame (12) is fixedly connected to a limiting frame (15) on a side away from the charging pile mounting plate (10); a slot (16) is fixedly connected to a middle position of the limiting frame (15); a positioning slot (17) connected to the slot (16) is provided at one end of the limiting frame (15); and a positioning block (8) matching the positioning slot (17) is fixedly connected to a side of the rear limiting block (7) away from the charging pile outer frame (1).

3. A robot charging device according to claim 2, characterized in that: The positioning block (8) is T-shaped, and rollers (9) are rotatably connected to both sides of the upper end of the positioning block (8).

4. A robot charging device according to claim 1, 2 or 3, characterized in that: A limiting groove (18) is provided at the bottom of the charging pile mounting plate (10), the limiting groove (18) is internally slidably connected to a limiting slider (20), both ends of the bottom of the limiting slider (20) are hinged with a first hinge plate (22), the lower end of the first hinge plate (22) is hinged with a second hinge plate (23), the upper end of the second hinge plate (23) is hinged with a hinge block (24), the top of the hinge block (24) is fixedly connected to the bottom of the charging pile mounting plate (10), the lower end of the first hinge plate (22) is fixedly connected with a connecting shaft (25), the outside of the connecting shaft (25) is rotatably connected to a supporting block (26), and a connecting hole (27) matching the connecting shaft (25) is provided in the middle of the supporting block (26).

5. A robot charging device according to claim 4, characterized in that: Both ends of the support block (26) are slidably connected with a positioning rod (28), the bottom of the positioning rod (28) is fixedly connected with a connecting plate (30), the inner side of the connecting plate (30) is rotatably connected with a roller (32), the top of the positioning rod (28) is fixedly connected with an anti-slip plate (29), the lower end of the positioning rod (28) is sleeved with a supporting elastic member (31), the upper end of the supporting elastic member (31) is fixedly connected to the support block (26), and the lower end of the supporting elastic member (31) is fixedly connected to the connecting plate (30).

6. A robot charging device according to claim 4, characterized in that: A positioning column (19) is slidably connected to the middle position of the limiting slide block (20); a reset elastic member (21) is sleeved on one end of the positioning column (19) away from the hinge block (24); one end of the reset elastic member (21) is fixedly connected to the end of the limiting groove (18); and the other end of the reset elastic member (21) is fixedly connected to the limiting slide block (20).

7. A robot charging device according to claim 4 or 6, characterized in that: A hydraulic bin (33) is fixedly connected to one end of the bottom of the charging pile mounting plate (10) away from the hinge block (24); an active piston (34) is slidably connected to the lower end of the hydraulic bin (33); an end of the active piston (34) close to the hinge block (24) abuts against the rotating shaft (4); an upper end of the hydraulic bin (33) is slidably connected to a transmission piston (35); an end of the transmission piston (35) close to the hinge block (24) is fixedly connected to the limit slider (20).

8. A robot charging device according to claim 1, 2, 3, 5 or 6, characterized in that: Limiting plates (2) are fixedly connected to both sides of the upper end of the charging pile outer frame (1).

9. A patrol robot, comprising a robot body (36), a power receiving coil (37) being installed at the bottom of the robot body (36), characterized in that: The robot body (36) is matched with the robot charging device according to any one of claims 1 to 8 through a power receiving coil (37).

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