Automatic charging device for cleaning robot

Abstract

A cleaning robot automatic charging device disclosed by the present invention comprises a support, a rotation assembly, a guide assembly and a charging female head, the rotation assembly is installed on the support, the guide assembly and the charging female head are both installed on the rotation assembly, and when the guide assembly is pushed by an external force, the rotation assembly drives the charging female head and the guide assembly to rotate synchronously. Therefore, the charging female head is relatively parallel to an external charging gun head during butt joint. According to the automatic charging device for the cleaning robot, when the robot runs to a charging position, a charging female head cannot be completely aligned with a charging gun head at charging equipment, angle deviation exists, at the moment, due to the fact that a rotary table plate can rotate, the position of the rotary table plate is adjusted through a guide assembly, and the contact face of the charging female head and the charging gun head is kept flush before contact; dislocation extrusion damage is avoided, charging is convenient, and the service life of equipment is prolonged.

Description

Technical Field

[0001] The present patent application relates to the technical field of cleaning robot charging, and in particular to an automatic charging device for a cleaning robot. Background Art

[0002] With the rapid development of the photovoltaic industry, the use of photovoltaic panels has accumulated, and the surface of solar photovoltaic panels is prone to accumulate sand, dust and other dirt, which will affect the power generation efficiency. Traditional power stations use manual or third-party teams to clean, which has low cleaning efficiency, high price, high water consumption, and greatly increases the operation and maintenance costs of photovoltaic power stations. Therefore, the demand for unmanned automated cleaning robots is increasing.

[0003] Existing large-scale vehicle-mounted cleaning robots generally use pure electric drive for operation. If unmanned operation is to be achieved, unmanned charging is an unavoidable problem.

[0004] The existing charging docking equipment cannot achieve complete alignment accuracy when it is about to make contact, which will cause hard contact between the charging female head and the charging gun head. Long-term use will cause wear and damage to the docking equipment. For this reason, we propose an automatic charging device for a cleaning robot. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, the purpose of this patent application is to provide an automatic charging device for a cleaning robot to solve the above-mentioned problems of the prior art.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An automatic charging device for a cleaning robot, comprising:

[0008] A cleaning robot body, wherein a charging female head which can rotate when driven by an external force is provided at the tail of the cleaning robot body;

[0009] A charging pile, wherein the charging pile is connected to a charging gun head via a cable;

[0010] An alignment device is used to adjust the charging female connector so that the charging gun head is aligned and plugged with the charging female connector to complete the charging of the cleaning robot body.

[0011] Preferably, a rotating mechanism is provided at the tail of the cleaning robot body, and the charging female head is installed on the rotating mechanism. The rotating mechanism is pushed by an external force to adjust the position of the charging female head.

[0012] Preferably, the slewing mechanism comprises a base mounted at the tail of the cleaning robot body, and a slewing assembly is mounted on the base;

[0013] The guide assembly is installed on the rotating assembly. When the guide assembly is pushed by an external force, the rotating assembly drives the charging female head and the guide assembly to rotate synchronously, so that the charging female head and the charging gun head are relatively parallel when docking.

[0014] Preferably, the rotary assembly includes a rotary support plate fixedly mounted on the end surface of the base and a turntable plate rotatably connected to the rotary support plate, one end of the spring is connected to the turntable plate, and the other end of the spring is connected to the base. When the external force disappears, the turntable plate automatically resets under the rebound force of the spring, and the charging female head is fixedly mounted on the turntable plate.

[0015] Preferably, the guide assembly comprises a bracket connected to the turntable plate, the upper end of the bracket is connected to a guide frame with a trumpet-shaped structure and an opening facing outward, and a guide groove for guiding and positioning is provided in the middle of the guide frame.

[0016] Preferably, the alignment device includes a box with a door that can be opened and closed on one side, a driving assembly is installed in the box, and the charging gun head extends into the box. When the door is opened, the driving assembly drives the charging gun head to move out of the box, and the charging gun head docks with the charging female connector to charge the cleaning robot body.

[0017] Preferably, the driving assembly includes a transverse driving mechanism for moving the charging gun head in the front-to-back direction and a longitudinal moving mechanism for moving the charging gun head in the left-to-right direction;

[0018] The lateral driving mechanism includes two groups of linear modules assembled up and down, and the two groups of linear modules move toward each other to increase the moving distance of the charging gun head;

[0019] The longitudinal moving mechanism includes a linear guide rail that moves the charging gun head left and right to adjust the position under the drive of external force. The linear guide rail is installed on the upper part of the transverse driving mechanism, and the charging gun head is installed on the linear guide rail through a bracket.

[0020] Preferably, the alignment device further comprises a centering component, and the centering component returns the charging gun head to the center position of the transverse driving mechanism.

[0021] Preferably, the centering component includes two centering baffles symmetrically arranged on both sides of the charging gun head. The centering baffles are slidably mounted on a linear guide rail. A guide shaft is hinged on the centering baffle, the other end of which points to the lateral driving mechanism. The two guide shafts are controlled by a driving device to adjust the distance between the two centering baffles to center the charging gun head.

[0022] Preferably, a guide assembly is installed on the bracket to cooperate with the guide assembly to adjust the position of the charging female head. The guide assembly includes a guide seat fixed on the bracket, and the guide seat is connected to a guide rod on the side facing the box door, the end of which exceeds the end position of the charging gun head.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows: in the automatic charging device for the cleaning robot, when the robot drives to the charging position, the charging female head cannot be completely aligned with the charging gun head at the charging device, and there is an angle deviation. At this time, because the turntable plate can rotate, the position of the turntable plate is adjusted by the guide assembly to ensure that the contact surfaces of the charging female head and the charging gun head remain flush before contact, thereby avoiding damage caused by misalignment and extrusion, making charging convenient and extending the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the cleaning robot in charging state of the present invention;

[0025] Figure 2 It is a structural schematic diagram of the rotary mechanism of the present invention;

[0026] Figure 3 It is a structural schematic diagram of the alignment device of the present invention;

[0027] Figure 4 It is a schematic diagram of the assembly structure of the drive component, the centering component and the guide component of the present invention.

[0028] Description of the accompanying figures: cleaning robot body 1, charging female head 11, rotating mechanism 12, base 121, rotating assembly 122, rotating support plate 1221, turntable plate 1222, spring 1223, guide assembly 123, bracket 1231, guide frame 1232, guide groove 12321, charging pile 2, charging gun head 21, alignment device 3, box 31, driving assembly 32, first linear module 321, support plate 322, baffle 3221, second linear module 323, fixing plate 324, guide plate 325, linear guide 326, centering assembly 33, centering baffle 331, guide shaft 332, third linear module 333, guide assembly 34, guide seat 341, guide rod 342, proximity switch 4, cam follower 5. DETAILED DESCRIPTION

[0029] The following describes the implementation of the present patent application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present patent application from the content disclosed in this specification. The present patent application can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present patent application. It should be noted that the embodiments and features in the embodiments in the present application can be combined with each other without conflict.

[0030] See also Figure 1-4 , the present invention provides a technical solution:

[0031] An automatic charging device for a cleaning robot, such as Figure 1 As shown, it includes a cleaning robot body 1, a charging pile 2 and an alignment device 3, wherein, Figure 2 and Figure 3 The tail of the cleaning robot body 1 is provided with a charging female head 11 which can be rotated by external force. The charging pile 2 is connected to a charging gun head 21 through a cable, and the charging gun head 21 is installed inside the alignment device 3. The alignment device 3 adjusts the charging female head 11 to align and plug the charging gun head 21 with the charging female head 11 to complete the charging of the cleaning robot body 1.

[0032] In this embodiment, the tail of the cleaning robot body 1 is provided with a rotating mechanism 12. Figure 2 As shown, the charging female connector 11 is installed on the rotating mechanism 12 . Specifically, the rotating mechanism 12 includes a base 121 installed at the tail of the cleaning robot body 1 , and a rotating component 122 is installed on the base 121 .

[0033] In some examples, such as Figure 2 As shown, the rotating assembly 122 includes a rotating support disk 1221, a turntable plate 1222 and a spring 1223. Specifically, the rotating support disk 1221 is fixedly mounted on the end surface of the base 121, the turntable plate 1222 is rotatably connected to the rotating support disk 1221, one end of the spring 1223 is connected to one side of the upper end of the turntable plate 1222, and the other end is connected to the base 121. When the external force disappears, the turntable plate 1222 automatically resets under the rebound force of the spring 1223, and the charging female head 11 is fixedly mounted on the turntable plate 1222.

[0034] In some examples, the charging female connector 11 is fixed on the turntable plate 1222 through a mounting base, and the charging female connector 11 is provided with a protective cover fixed on the turntable plate 1222, and a protective door is provided at one end of the protective cover facing outward, such as Figure 2 As shown, the protective door is a double-door structure, and the protective door is installed on the protective cover through a self-resetting hinge. When charging, the charging gun head 21 moves forward to push open the double-door. When charging is completed, the charging gun head 21 retracts, and the double-door automatically resets and closes under the action of the self-resetting hinge to protect the charging female head 11.

[0035] It should be noted that the self-resetting hinge is a common mechanical structure for those skilled in the art and is common knowledge, and its detailed structure will not be described in detail here.

[0036] In this embodiment, if Figure 2As shown, a guide assembly 123 is fixedly mounted on the rotary assembly 122. Specifically, the guide assembly 123 includes a bracket 1231 connected to the turntable plate 1222. The upper end of the bracket 1231 is connected to a guide frame 1232 with a trumpet-shaped structure and an opening facing outward. The middle of the guide frame 1232 is provided with a guide groove 12321 for guiding and positioning. When the guide assembly 123 is pushed by an external force, the rotary assembly 122 drives the charging female connector 11 and the guide assembly 123 to rotate synchronously, so that the charging female connector 11 and the charging gun head 21 are relatively parallel when docking.

[0037] In some examples, such as Figure 2 As shown, a plurality of proximity switches 4 are installed at the front end of the turntable plate 1222 for monitoring the positions of the charging female connector 11 and the charging gun head 21. Specifically, there are two proximity switches 4, which are arranged on both sides of the turntable plate 1222, and a groove is provided at the position where the proximity switch 4 is set to prevent the proximity switch from being damaged by collision due to protrusion.

[0038] In some examples, such as Figure 2 As shown, a plurality of cam followers 5 with ends protruding outward are installed at the front end of the turntable plate 1222. In the present embodiment, there are four cam followers 5, which are arranged at equal distances on the front side of the turntable plate 1222, so as to convert the sliding friction in the adjustment process into rolling friction and reduce wear.

[0039] In some examples, such as Figure 3 and Figure 4 As shown, the alignment device 3 includes a box body 31, and the charging gun head 21 extends into the box body 31, wherein a closable box door is installed on one side of the box body 31 so that the charging gun head 21 extends to the outside, and a driving assembly 32 is installed in the box body 31. When the box door is opened, the driving assembly 32 drives the charging gun head 21 to move outside the box body 31, and the charging gun head 21 is docked with the charging female head 11 for charging the cleaning robot body 1. Specifically, the charging gun head 21 is installed on the driving assembly 32 through a bracket and moves with the driving assembly 32.

[0040] In some examples, such as Figure 4 As shown, the driving assembly 32 includes a transverse driving mechanism for moving the charging gun head 21 in the front-to-back direction and a longitudinal moving mechanism for moving the charging gun head 21 in the left-to-right direction, wherein the transverse driving mechanism includes two groups of linear modules assembled up and down, and the two groups of linear modules move toward each other to increase the moving distance of the charging gun head 21; the longitudinal moving mechanism includes a linear guide rail for moving the charging gun head 21 left and right to adjust the position under the drive of an external force, and the linear guide rail is installed on the upper part of the transverse driving mechanism, and the charging gun head 21 is installed on the linear guide rail through a bracket.

[0041] For some examples, see Figure 3 and Figure 4 The lateral driving mechanism includes a first linear module 321 arranged on the inner bottom wall of the box body 31, and a support plate 322 that moves relative to the first linear module 321 is connected to the slide of the first linear module 321, and a second linear module 323 is installed on the upper end of the support plate 322. The first linear module 321 and the second linear module 323 are the linear modules mentioned above, and a fixed plate 324 is connected to the slide of the second linear module 323, and the linear guide is installed on the fixed plate 324. Specifically, the linear guide includes a guide plate 325 connected to the upper end of the fixed plate 324 and arranged vertically with the fixed plate 324, and a linear guide 326 is connected to the guide plate 325, and the tail of the bracket is connected and fixed to the first slider on the linear guide 326 through a fixed seat.

[0042] In some examples, the front end of the lateral drive mechanism is equipped with an adjustment member that makes the charging gun head 21 relatively flush with the charging female head 11. Specifically, the adjustment member includes a baffle 3221 connected to the front end of the support plate 322, and the baffle 3221 is arranged vertically with the support plate 322, such as Figure 4 As shown, the driving assembly 32 pushes the charging gun head 21 outward. When it is about to contact the charging female connector 11, the blocking bar 3221 first adjusts the position of the charging female connector 11 so that it is flush with the charging gun head 21, so that the charging gun head 21 can be plugged into the charging female connector 11 for charging when it continues to move forward.

[0043] As another embodiment of the present invention, the alignment device 3 further includes a centering component 33 , and the centering component 33 enables the charging gun head 21 to return to the center position of the transverse driving mechanism.

[0044] In some examples, such as Figure 4 As shown, the centering component 33 includes two centering baffles 331 symmetrically arranged on both sides of the charging gun head 21, and the centering baffles 331 are slidably installed on the linear guide rail. Specifically, the centering baffle 331 is fixed on the second slider on the linear guide rail 326, and the two second sliders are located on both sides of the first slider and are symmetrically arranged. A guide shaft 332 is hinged on the centering baffle 331, and the other end of the guide shaft 332 points to the horizontal driving mechanism. The two guide shafts 332 are controlled by the driving device to adjust the distance between the two centering baffles 331 to center the charging gun head 21. Specifically, the driving device is a third linear module 333, which is mounted on a fixed plate 324, and two guide shafts 332 are hinged on a slider of the third linear module 333. The third linear module 333 drags two centering baffles 331 through two guide shafts 332 respectively, so that the module moves in opposite directions or toward each other along the linear guide rail 326. When the module moves toward each other, it plays a centering role, which can ensure that the charging gun head 21 is in the middle position after charging is completed; when the module moves in the opposite direction, the moving distance of the charging gun head 21 on the linear guide rail 326 increases, thereby expanding the range of docking alignment.

[0045] It should be noted that a controller is provided in the box body 31, which is used to control the first linear module 321, the second linear module 323 and the third linear module 333. The first linear module 321 and the second linear module 323 are controlled to drive the charging gun head 21 to move forward and backward, and the third linear module 333 is controlled to limit the range of left and right movement of the charging gun head 21. The linear modules and controllers are electrical equipment well known to people in this field, and their functions and effects are obvious, so they will not be described in detail here.

[0046] For some examples, see Figure 4 A guide assembly 34 is installed on the bracket of the charging gun head 21. The guide assembly 34 cooperates with the guide assembly 123 to adjust the position of the charging female connector 11. The guide assembly 34 includes a guide seat 341 fixed on the bracket. The guide seat 341 is connected to a guide rod 342 on the side facing the box door. The end of the guide rod 342 exceeds the end position of the charging gun head 21 so as to reach the guide frame 1232 in advance and adjust the position of the charging female connector 11.

[0047] When the cleaning robot needs to be charged, the first linear module 321 works to push the second linear module 323 to move outward as a whole, thereby driving the linear guide 326, the third linear module 333 and the charging gun head 21 to move outward, and the guide rod 342 on the charging gun head 21 abuts against the guide frame 1232 on the guide assembly 123, thereby adjusting the position of the rotating charging female head 11. Under the reaction force of the guide frame 1232, the charging gun head 21 moves on the linear guide 326 to accurately align the charging gun head 21 with the charging female head 11, thereby expanding the adjustment range, that is, increasing the error range of the stop position of the cleaning robot body 1; at the same time, the third linear module 333 pushes the two guide shafts 332 forward to expand the distance between the two centering baffles 331, thereby expanding the moving distance of the charging gun head 21 on the linear guide 326, and the baffle 3221 can also adjust the position of the charging female head 11 to allow the charging female head 11 is flush with the charging gun head 21, and when the blocking bar 321 is against the rotating assembly 122, the position of the charging female head 11 is limited, and then the second linear module 323 pushes the linear guide rail 326 to continue to move outward, so that the charging gun head 21 is plugged into the charging female head 11, and the charging is completed. When the guide rod 342 is inserted into the guide groove 12321 of the guide frame 1232, and the charging gun head 21 is flush with the charging female head 11 at this time, the movement of the charging gun head 21 is not affected; after the charging is completed, the second linear module 323 works to drive the charging gun head 21 to disengage from the charging female head 11, and the guide rod 342 disengages from the guide groove 12321 of the guide frame 1232, and the third linear module 333 drives the two guide shafts 332 to move back, and the two centering baffles 331 move toward each other to center the charging gun head 21. Finally, the first linear module 321 is retracted as a whole into the box body 31, and the box door is closed to end the charging.

[0048] The above embodiments are merely illustrative of the principles and effects of this patent application, and are not intended to limit this patent application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of this patent application. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the relevant technical field without departing from the spirit and technical ideas disclosed in this patent application should still be covered by the claims of this patent application.

Claims

1. An automatic charging device for a cleaning robot, characterized in that: include: A cleaning robot body (1), wherein the tail of the cleaning robot body (1) is provided with a charging female head (11) which can rotate when driven by an external force; A charging pile (2), wherein the charging pile (2) is connected to a charging gun head (21) via a cable; An alignment device (3) is provided, wherein the alignment device (3) adjusts the charging female connector (11) so as to align and plug the charging gun head (21) with the charging female connector (11), thereby completing the charging of the cleaning robot body (1).

2. The automatic charging device for a cleaning robot according to claim 1, characterized in that: The tail of the cleaning robot body (1) is provided with a rotating mechanism (12), and the charging female head (11) is mounted on the rotating mechanism (12). The rotating mechanism (12) is pushed under the action of an external force to adjust the position of the charging female head (11).

3. The automatic charging device for a cleaning robot according to claim 2, characterized in that: The rotating mechanism (12) comprises a base (121) mounted on the tail of the cleaning robot body (1), and a rotating assembly (122) is mounted on the base (121); A guide assembly (123) is installed on the rotating assembly (122). When the guide assembly (123) is pushed by an external force, the rotating assembly (122) drives the charging female connector (11) and the guide assembly (123) to rotate synchronously, so that the charging female connector (11) and the charging gun head (21) are relatively parallel when docking.

4. The automatic charging device for a cleaning robot according to claim 3, characterized in that: The rotary assembly (122) comprises a rotary support disk (1221) fixedly mounted on the end surface of the base (121) and a turntable plate (1222) rotatably connected to the rotary support disk (1221); one end of a spring (1223) is connected to the turntable plate (1222); the other end of the spring (1223) is connected to the base (121); when the external force disappears, the turntable plate (1222) automatically resets under the rebound force of the spring (1223); and the charging female connector (11) is fixedly mounted on the turntable plate (1222).

5. The automatic charging device for a cleaning robot according to claim 3, characterized in that: The guide assembly (123) comprises a bracket (1231) connected to the turntable plate (1222); the upper end of the bracket (1231) is connected to a guide frame (1232) having a trumpet-shaped structure and an opening facing outward; and a guide groove (12321) for guiding and positioning is provided in the middle of the guide frame (1232).

6. The automatic charging device for a cleaning robot according to claim 5, characterized in that: The alignment device (3) comprises a box body (31) with a box door installed on one side that can be opened and closed, a driving assembly (32) installed in the box body (31), and the charging gun head (21) extends into the box body (31). When the box door is opened, the driving assembly (32) drives the charging gun head (21) to move outside the box body (31), and the charging gun head (21) is connected to the charging female head (11) for charging the cleaning robot body (1).

7. The automatic charging device for a cleaning robot according to claim 6, characterized in that: The driving assembly (32) comprises a transverse driving mechanism for moving the charging gun head (21) in the front-rear direction and a longitudinal moving mechanism for moving the charging gun head (21) in the left-right direction; The lateral driving mechanism comprises two groups of linear modules assembled up and down, and the two groups of linear modules move towards each other to increase the moving distance of the charging gun head (21); The longitudinal moving mechanism comprises a linear guide rail which moves the charging gun head (21) left and right to adjust the position under the driving force of an external force. The linear guide rail is installed on the upper part of the transverse driving mechanism, and the charging gun head (21) is installed on the linear guide rail via a bracket.

8. The automatic charging device for a cleaning robot according to claim 6, characterized in that: The alignment device (3) also includes a centering component (33), and the centering component (33) causes the charging gun head (21) to return to the center position of the transverse driving mechanism.

9. The automatic charging device for a cleaning robot according to claim 8, characterized in that: The centering assembly (33) comprises two centering baffles (331) symmetrically arranged on both sides of the charging gun head (21); the centering baffles (331) are slidably mounted on the linear guide rail; a guide shaft (332) is hingedly connected to the centering baffle (331) with the other end pointing to the transverse driving mechanism; the two guide shafts (332) are controlled by a driving device to adjust the distance between the two centering baffles (331) so as to center the charging gun head (21).

10. The automatic charging device for a cleaning robot according to claim 6, characterized in that: The bracket is provided with a guide assembly (34) which cooperates with the guide assembly (123) to adjust the position of the charging female connector (11). The guide assembly (34) comprises a guide seat (341) fixed on the bracket. The guide seat (341) is connected to a guide rod (342) on the side facing the box door, the end of which exceeds the end position of the charging gun head (21).

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