Wireless charging device suitable for mobile robot and capable of realizing active docking

Abstract

The invention relates to an active docking wireless charging device suitable for a mobile robot, which comprises an active docking charging end and a mobile receiving end, the active docking charging end is fixedly arranged in a charging station, the mobile receiving end is installed on the mobile robot, and when the mobile robot needs to be charged, the active docking charging end is connected with the mobile receiving end. The mobile robot moves towards the interior of the charging station and performs wireless charging through the active docking charging end; the active butt joint charging end comprises a wireless charging transmitting device, a fixing plate, an X-axis linear bearing assembly, a Y-axis linear bearing assembly, an electric push rod assembly and a fixing support. The mobile receiving end comprises a wireless charging receiving device and a guide column. The automation degree of the mobile robot in daily work is improved, the working intensity of operators is relieved, and the working efficiency of the mobile robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless charging, and in particular to an active docking wireless charging device suitable for a mobile robot. Background Art

[0002] With the rapid development of human society, more and more mobile robots are used in industry or daily life. Mobile robots need to be charged regularly to maintain long working time. Robots in the industrial field, such as photovoltaic cleaning robots, work in harsh environments, such as high temperature, high humidity, high dust, etc., and have long working hours, such as 7X24 hours. Therefore, robots that can be automatically and stably charged are more popular in the market.

[0003] Compared with plug-in and contact charging systems, wireless charging does not require the charging structure on the machine body to contact the positive and negative poles of the charging station. Therefore, pollutants such as dust and rain in the robot's working environment cannot corrode or damage the charging system, greatly improving the stability and service life of the charging station.

[0004] Therefore, it is necessary to design a wireless charging device with wireless charging and active docking of the wireless charging transmitter and receiver, so as to adapt to mobile robots with different control technologies such as remote control, vision, RTK, etc. Summary of the invention

[0005] The purpose of the present invention is to provide an active docking wireless charging device suitable for a mobile robot to solve the problems raised in the above background technology. To achieve the above purpose, the present invention provides the following technical solutions: an active docking wireless charging device suitable for a mobile robot, comprising an active docking charging terminal and a mobile receiving terminal, wherein the active docking charging terminal is fixedly arranged in a charging station, and the mobile receiving terminal is installed on the mobile robot. When the mobile robot needs to be charged, the mobile robot moves into the charging station and performs wireless charging through the active docking charging terminal, wherein:

[0006] The active docking charging end includes a wireless charging transmitter, a fixing plate, an X-axis linear bearing assembly, a Y-axis linear bearing assembly, an electric push rod assembly and a fixing bracket, the X-axis linear bearing assembly includes a first X-axis guide rail and a second X-axis guide rail parallel to each other, the first X-axis guide rail is fixedly arranged on one side of the fixing bracket, the first X-axis guide rail is slidably connected with a first X-axis linear bearing and a second X-axis linear bearing, the second X-axis guide rail is fixedly arranged on the other side of the fixing bracket, and the second X-axis guide rail is slidably connected with a third X-axis linear bearing and a fourth X-axis linear bearing;

[0007] The Y-axis linear bearing assembly comprises a first Y-axis guide rail and a second Y-axis guide rail, the two ends of the first Y-axis linear guide rail are respectively fixedly arranged on the first X-axis linear bearing and the third X-axis linear bearing, the first Y-axis guide rail is slidably connected with the first Y-axis linear bearing, the two ends of the second Y-axis linear guide rail are respectively fixedly arranged on the second X-axis linear bearing and the fourth X-axis linear bearing, and the second Y-axis guide rail is slidably connected with the second Y-axis linear bearing;

[0008] The fixing plate is fixedly arranged on the first Y-axis linear bearing and the second Y-axis linear bearing, and one side of the fixing plate is concavely formed with a V-shaped guide groove; the wireless charging transmitter is connected to the wireless charging host, and the wireless charging transmitter is fixedly arranged on the fixing plate through a plurality of hexagonal studs; the electric push rod assembly includes an electric push rod and a connecting assembly, the connecting assembly includes a first connecting plate, a second connecting plate and a fixing assembly, one end of the first connecting plate is fixedly connected to the upper end of the second connecting plate, the first connecting plate is fixedly arranged on the lower surfaces of the two second Y-axis linear bearings, the fixing assembly is fixedly arranged on the middle position of the second connecting plate, one end of the electric push rod is movably connected to the fixing assembly through a connecting shaft, and the other end of the electric push rod is fixedly arranged on the fixing bracket;

[0009] The mobile receiving end includes a wireless charging receiving device and a guide column, wherein the guide column is vertically fixed on the upper cover of the mobile robot, and the wireless charging receiving device is fixed on the upper cover of the mobile robot. When the mobile robot moves to the charging position in the charging station for wireless charging, the electric push rod drives the fixed plate to start to retract the electric push rod along the stroke direction of the X-axis linear bearing assembly. When the guide column on the upper cover of the mobile robot is inserted into the V-shaped guide groove on the fixed plate, the electric push rod drives the wireless charging transmitting device on the fixed plate to move toward the wireless charging receiving device on the upper cover. When the wireless charging receiving device is aligned with the wireless charging transmitting device, wireless charging begins.

[0010] The fixing bracket comprises a first cross bar, a second cross bar, a first longitudinal bar, a reinforcing bar and a second longitudinal bar, wherein:

[0011] The two ends of the first cross bar are respectively fixedly set on the front ends of the first longitudinal bar and the second longitudinal bar, the two ends of the second cross bar are respectively fixedly set on the rear ends of the first longitudinal bar and the second longitudinal bar, the front end of the reinforcing bar is fixedly set on the rear side wall of the first cross bar, and the rear end of the reinforcing bar is fixedly set on the front side wall of the second cross bar.

[0012] The right end of the electric push rod is movably arranged on the side wall of the second longitudinal rod through a mounting assembly, and the electric push rod is located above the reinforcing rod.

[0013] The first X-axis guide rail is fixedly arranged on the first crossbar, and the second X-axis guide rail is fixedly arranged on the second crossbar.

[0014] It also includes a return assembly, which includes a first return spring and a second return spring, the front end of the first return spring is fixedly set on the first cross bar, and the rear end of the second return spring is fixedly set on the front part of the lower side wall of the fixed plate, the rear end of the second return spring is fixedly set on the second cross bar, and the front end of the second return spring is fixedly set on the rear part of the lower side wall of the fixed plate.

[0015] A third hanging ring is fixedly provided on the front portion of the lower side wall of the fixed plate between the first Y-axis guide rail and the second Y-axis guide rail, a first hanging ring is fixedly provided on the left portion of the rear side wall of the first cross bar, a front end of the first return spring is fixedly provided in the first hanging ring, and a rear end of the second return spring is fixedly provided in the third hanging ring.

[0016] A second lifting ring is fixedly arranged on the left side of the front side wall of the second cross bar, a fourth lifting ring is fixedly arranged on the rear portion of the lower side wall of the fixed plate located between the first Y-axis guide rail and the second Y-axis guide rail, a front end of the second return spring is fixedly arranged in the fourth lifting ring, and a rear end of the second return spring is fixedly arranged in the second lifting ring

[0017] A first fixed seat and a third fixed seat are respectively fixedly arranged at both ends of the first Y-axis guide rail, the first fixed seat is fixedly arranged on the first X-axis linear bearing, and the third fixed seat is fixedly arranged on the third X-axis linear bearing.

[0018] A second fixed seat and a fourth fixed seat are respectively fixedly arranged at both ends of the second Y-axis guide rail, the second fixed seat is fixedly arranged on the second X-axis linear bearing, and the fourth fixed seat is fixedly arranged on the fourth X-axis linear bearing.

[0019] The bottom inner wall of the V-shaped guide groove is concave to form a semicircular positioning groove. When the guide column is inserted into the semicircular positioning groove on the V-shaped guide groove, the travel switch on the fixed plate is triggered, and the electric push rod in the electric push rod assembly stops the contraction movement.

[0020] Beneficial effects of the present invention: The actively dockable wireless charging device suitable for mobile robots provided in the embodiments of the present invention does not require direct contact between the positive and negative poles of the charging system. Therefore, factors such as dust and rain in the working environment of the mobile robot cannot damage or affect the docking device in the wireless charging system, which greatly improves the charging stability of the mobile robot and the service life of the charging system; at the same time, the active docking charging end can make up for the parking position error of the mobile robot's repeated return, and actively allow the wireless charging transmitter (that is, the wireless charging transmitter) in the charging station to dock with the wireless charging receiver (that is, the wireless charging receiver) on the mobile robot, so that any robot adapted to different control technologies can be charged using wireless charging technology, which reduces the design and docking difficulty of robots with different control technologies using wireless charging technology, improves the robot's automation level in daily operations, reduces the operator's workload, and improves the machine's work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the three-dimensional structure of a mobile robot provided in an embodiment of the present invention.

[0022] Figure 2 A left-side structural schematic diagram of a mobile robot provided in an embodiment of the present invention.

[0023] Figure 3 This is a schematic diagram of the front structural view of a mobile robot provided in an embodiment of the present invention.

[0024] Figure 4 A schematic diagram of the top structure of a mobile robot provided by an embodiment of the present invention.

[0025] Figure 5 A schematic diagram of the structure of a mobile robot provided in an embodiment of the present invention, showing a guide column about to be inserted into a V-shaped guide groove before charging.

[0026] Figure 6 A schematic diagram of the top view of the structure of the mobile robot provided by an embodiment of the present invention, in which the guide column contacts the V-shaped guide groove before charging.

[0027] Figure 7 A schematic top view of the structure of a mobile robot provided by an embodiment of the present invention, in which a guide column is inserted into a semicircular positioning groove of a V-shaped guide groove during charging.

[0028] Figure 8 A schematic top view of the structure of an actively dockable wireless charging device suitable for a mobile robot provided in an embodiment of the present invention.

[0029] Fig. 9A side structural schematic diagram of a guide column of a mobile robot provided by an embodiment of the present invention being inserted into a semicircular positioning groove of a V-shaped guide groove during charging.

[0030] Fig.10 A schematic top view of the structure of an actively dockable wireless charging device for a mobile robot provided in an embodiment of the present invention in a docking and charging state.

[0031] Fig.11 A schematic diagram of the three-dimensional structure of an actively dockable wireless charging device for a mobile robot provided in an embodiment of the present invention in a state ready for docking and charging.

[0032] Fig.12 A schematic diagram of the exploded structure of an actively dockable wireless charging device suitable for a mobile robot provided in an embodiment of the present invention.

[0033] Fig.13 A schematic diagram of a three-dimensional structure in which a wireless charging transmitter, a fixing plate, a V-shaped guide groove and a semicircular positioning groove cooperate with each other is provided for an embodiment of the present invention.

[0034] Fig.14 This is an enlarged three-dimensional structural schematic diagram of a fixing bracket provided in an embodiment of the present invention.

[0035] Fig.15 A schematic diagram of a three-dimensional structure in which a fixing plate, a V-shaped guide groove and a semicircular positioning groove cooperate with each other according to an embodiment of the present invention.

[0036] Fig.16 An enlarged three-dimensional structural schematic diagram of an X-axis linear bearing assembly provided in an embodiment of the present invention.

[0037] Fig.17 An enlarged three-dimensional structural schematic diagram of a Y-axis linear bearing assembly provided in an embodiment of the present invention.

[0038] Fig.18 An enlarged three-dimensional structural schematic diagram of an electric push rod assembly provided in an embodiment of the present invention.

[0039] Fig.19 This is a schematic diagram of an enlarged three-dimensional structure of the mounting bracket, guide column, movable copper sleeve and retaining spring provided in an embodiment of the present invention.

[0040] Fig. 20 This is a schematic diagram of an enlarged three-dimensional structure of the mounting bracket, guide column, movable copper sleeve and fixed slot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0042] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0045] See also Figures 1 to 20 As shown, the present invention provides a technical solution: an embodiment of the present invention provides an active docking wireless charging device suitable for a mobile robot, comprising an active docking charging terminal 100 and a mobile receiving terminal, wherein the active docking charging terminal 100 is fixedly arranged in a charging station, and the mobile receiving terminal is installed on a mobile robot 300. When the mobile robot 300 needs to be charged, the mobile robot 300 moves into the charging station and performs wireless charging through the active docking charging terminal 100, wherein:

[0046] The active docking charging end 100 includes a wireless charging transmitter 101, a fixing plate 102, an X-axis linear bearing assembly 103, a Y-axis linear bearing assembly 104, an electric push rod assembly 106 and a fixing bracket 105, wherein the X-axis linear bearing assembly 103 includes a first X-axis guide rail 131 and a second X-axis guide rail 132 parallel to each other, wherein the first X-axis guide rail 131 is fixedly disposed on one side of the fixing bracket 105, and a first X-axis linear bearing 111 and a second X-axis linear bearing 112 are slidably connected to the first X-axis guide rail 131, and the second X-axis guide rail 132 is fixedly disposed on the other side of the fixing bracket 105, and a third X-axis linear bearing 113 and a fourth X-axis linear bearing 114 are slidably connected to the second X-axis guide rail 132;

[0047] The Y-axis linear bearing assembly 104 includes a first Y-axis guide rail 141 and a second Y-axis guide rail 142, the two ends of the first Y-axis linear guide rail 141 are respectively fixedly arranged on the first X-axis linear bearing 111 and the third X-axis linear bearing 113, the first Y-axis guide rail 141 is slidably connected with the first Y-axis linear bearing 121, the two ends of the second Y-axis linear guide rail 142 are respectively fixedly arranged on the second X-axis linear bearing 112 and the fourth X-axis linear bearing 114, and the second Y-axis guide rail 142 is slidably connected with the second Y-axis linear bearing 122;

[0048] The fixing plate 102 is fixedly arranged on the first Y-axis linear bearing 121 and the second Y-axis linear bearing 122, and a V-shaped guide groove 115 is formed inwardly on one side of the fixing plate 102; the wireless charging transmitter 101 is connected to a wireless charging host, and the wireless charging transmitter 101 is fixedly arranged on the fixing plate 105 by a plurality of hexagonal studs; the electric push rod assembly 106 includes an electric push rod 161 and a connecting assembly 162, and the connecting assembly 162 includes a first connecting plate 163, a second connecting plate 164 and a fixing assembly 165, one end of the first connecting plate 163 is fixedly connected to the upper end of the second connecting plate 164, the first connecting plate 163 is fixedly arranged on the lower surfaces of the two second Y-axis linear bearings 122, the fixing assembly 165 is fixedly arranged at the middle position of the second connecting plate 164, one end of the electric push rod 161 is movably connected to the fixing assembly 165 through a connecting shaft 166, and the other end of the electric push rod 161 is fixedly arranged on the fixing bracket;

[0049] The mobile receiving end includes a wireless charging receiving device 201 and a guide column 202. The guide column 202 is vertically fixed on the upper cover 301 of the mobile robot 300. The wireless charging receiving device 201 is fixed on the upper cover 301 of the mobile robot 300. When the mobile robot 300 moves to the charging position in the charging station for wireless charging, the electric push rod 161 drives the fixed plate 102 to start retracting the electric push rod 161 along the stroke direction of the X-axis linear bearing assembly. When the guide column 202 on the upper cover 301 of the mobile robot 300 is inserted into the V-shaped guide groove 115 on the fixed plate 102, the electric push rod 161 drives the wireless charging transmitting device 101 on the fixed plate 102 to move toward the wireless charging receiving device 201 on the upper cover 301. When the wireless charging receiving device 201 is aligned with the wireless charging transmitting device 101, wireless charging begins.

[0050] An embodiment of the present invention provides an actively dockable wireless charging device suitable for a mobile robot, wherein the fixing bracket 105 includes a first crossbar 151, a second crossbar 152, a first longitudinal bar 153, a reinforcing bar 155 and a second longitudinal bar 154, wherein:

[0051] The two ends of the first crossbar 151 are fixedly arranged at the front ends of the first longitudinal bar 153 and the second longitudinal bar 154, respectively. The two ends of the second crossbar 152 are fixedly arranged at the rear ends of the first longitudinal bar 151 and the second longitudinal bar 152, respectively. The front end of the reinforcing rod 155 is fixedly arranged at the rear side wall of the first crossbar 151, and the rear end of the reinforcing rod 155 is fixedly arranged at the front side wall of the second crossbar 152. Through the above design, the fixed bracket 105 is formed by being fixed by the first crossbar 151, the second crossbar 152, the first longitudinal bar 153 and the second longitudinal bar 154, which is convenient for early assembly and later disassembly and maintenance, and has the characteristics of convenient and quick operation. At the same time, by directly fixing the reinforcing rod 155 on the first crossbar 151 and the second crossbar 152, the strength of the fixed bracket 105 can be increased, and the safety and reliability can be improved, thereby achieving the purpose of extending the service life of the fixed bracket 105.

[0052] The right end of the electric push rod 161 is movably disposed on the side wall of the second longitudinal rod 154 through a mounting assembly 167 , and the electric push rod 161 is located above the reinforcing rod 155 .

[0053] The first X-axis guide rail 131 is fixedly arranged on the first crossbar 151, and the second X-axis guide rail 132 is fixedly arranged on the second crossbar 152. Specifically, the first X-axis guide rail 131 is fixedly arranged on the first crossbar 151 through the first support assembly, and the second X-axis guide rail 132 is fixedly arranged on the second crossbar 152 through the second support assembly, thereby facilitating early assembly and later disassembly, and improving safety and reliability.

[0054] An embodiment of the present invention provides an actively dockable wireless charging device suitable for a mobile robot, which also includes a homing component, wherein the homing component includes a first homing spring (not shown in the figure) and a second homing spring (not shown in the figure), wherein the front end of the first homing spring is fixedly disposed on the first cross bar 151, and the rear end of the second homing spring is fixedly disposed on the front portion of the lower side wall of the fixed plate 102, the rear end of the second homing spring is fixedly disposed on the second cross bar 152, and the front end of the second homing spring is fixedly disposed on the rear portion of the lower side wall of the fixed plate 102.

[0055] A third hanging ring 173 is fixedly provided at the front portion of the lower side wall of the fixed plate 102 between the first Y-axis guide rail 141 and the second Y-axis guide rail 142, a first hanging ring 171 is fixedly provided at the left portion of the rear side wall of the first cross bar 151, a front end of the first return spring is fixedly provided in the first hanging ring 171, and a rear end of the second return spring is fixedly provided in the third hanging ring 173.

[0056] A second lifting ring 172 is fixedly arranged on the left side of the front side wall of the second cross bar 152, and a fourth lifting ring 174 is fixedly arranged on the rear portion of the lower side wall of the fixing plate 102 between the first Y-axis guide rail 141 and the second Y-axis guide rail 142, and the front end of the second return spring is fixedly arranged in the fourth lifting ring 174, and the rear end of the second return spring is fixedly arranged in the second lifting ring 172.

[0057] The first fixed seat 181 and the third fixed seat 183 are fixedly disposed at both ends of the first Y-axis guide rail 141, respectively. The first fixed seat 181 is fixedly disposed on the first X-axis linear bearing 111, and the third fixed seat 183 is fixedly disposed on the third X-axis linear bearing 113. Through the above design, that is, the two ends of the first Y-axis guide rail 141 are fixedly connected to the first X-axis linear bearing 111 and the third X-axis linear bearing 113 through the first fixed seat 181 and the third fixed seat 183, respectively, so as to realize the left-right sliding of the first Y-axis guide rail 141 along the first X-axis guide rail 131 and the second X-axis guide rail 132.

[0058] The second two ends of the second Y-axis guide rail 142 are respectively fixedly provided with a second fixed seat 182 and a fourth fixed seat 184, the second fixed seat 182 is fixedly provided on the second X-axis linear bearing 112, and the fourth fixed seat 184 is fixedly provided on the fourth X-axis linear bearing 114. Through the above design, that is, the two ends of the second Y-axis guide rail 142 are respectively fixedly connected to the second X-axis linear bearing 112 and the fourth X-axis linear bearing 114 through the second fixed seat 182 and the fourth fixed seat 184, so as to realize the left-right sliding of the second Y-axis guide rail 142 along the first X-axis guide rail 131 and the second X-axis guide rail 132.

[0059] The bottom inner wall of the V-shaped guide groove 115 is concave to form a semicircular positioning groove 116. When the guide column is inserted into the semicircular positioning groove 116 on the V-shaped guide groove 115, the travel switch 107 on the fixed plate 102 is triggered, and the electric push rod 161 in the electric push rod assembly 106 stops the contraction movement.

[0060] An alloy steel guide rail 125 is installed on the side of the fixed plate 102 along the side wall of the V-shaped guide groove 115 by screws, and a movable copper sleeve 204 is movably connected to the guide column 202, and the guide column 202 is slidably connected to the alloy steel guide rail 125 through the movable copper sleeve 204. By movably connecting the movable copper sleeve 204 to the guide column 202, and fixing the alloy steel guide rail 125 on the side of the fixed plate 102 along the side wall of the V-shaped guide groove 115, and also realizing the sliding connection between the guide column 202 and the V-shaped guide groove 115 through the movable copper sleeve 204, the service life of the guide column 202 can be extended, and the safety and reliability can be improved.

[0061] The guide column 202 is provided with a fixing slot 205 above the movable copper sleeve 204, and a retaining spring 206 is provided in the fixing slot 205. The retaining spring 206 is used to lock and fix the movable copper sleeve 204. In addition, the bottom of the guide column 202 is fixed to the upper cover 301 of the mobile robot 300 through a mounting bracket 207, which is convenient for early assembly and later disassembly.

[0062] The embodiment of the present invention provides a wireless charging device that can be actively docked and is suitable for a mobile robot. The device is wireless charging and does not require direct contact between the positive and negative electrodes of the charging system. Therefore, dust, rain and other factors in the working environment of the photovoltaic cleaning robot cannot damage or affect the docking device in the wireless charging system, which greatly improves the stability of the robot charging and the service life of the charging system. However, the transmitter and receiver of the wireless charging need to be accurately docked, and when the robot controlled by remote control, vision, and RTK repeatedly returns to the charging station, there will inevitably be position deviations, so that the transmitter and receiver of the wireless charging cannot be accurately docked, resulting in failure to charge smoothly. Actively allow the wireless charging transmitter (that is, the wireless charging transmitter) in the charging station to dock with the wireless charging receiver (that is, the wireless charging receiver) on the mobile robot, so that any robot adapted to different control technologies can be charged using wireless charging technology. The design and docking difficulty of mobile robots with different control technologies using wireless charging technology is reduced, the degree of automation of mobile robots in daily operations is improved, the workload of operators is reduced, and the work efficiency of the machine is improved.

[0063] In an embodiment of the present invention, the active docking charging terminal is fixed at a position, such as in a charging station, and the mobile receiving terminal is fixed on the mobile robot. When the mobile robot in operation needs to be charged, the mobile robot 300 returns to the charging station and stops at the charging position in the charging station. At this time, the charging station system receives an instruction that the mobile robot needs to be charged, and the electric push rod 161 drives the fixed plate 102 to retract the support rod along the stroke direction of the X-axis linear bearing assembly (that is, the electric push rod 161 begins to shrink), driving the V-shaped guide groove 115 on the fixed plate 102 to slowly contact the guide column 202 on the upper cover 301 of the mobile robot 300, and the V-shaped guide groove 115 drives the wireless charging generator on the fixed plate 102 to retract the support rod along the stroke direction of the X-axis linear bearing assembly. The transmitting device 101 begins to slowly align with the wireless charging receiving device 201 installed on the upper cover 301 of the mobile robot 300. When the guide column 202 is inserted into the positioning semicircle (i.e., the semicircular positioning groove 116) on the V-shaped guide groove 115, the travel switch 107 is triggered, and the electric push rod 161 stops shrinking. At this time, the wireless charging transmitting device 101 on the fixed plate 102 successfully docks with the wireless charging receiving device 201 installed on the upper cover 301 of the mobile robot 300, and the wireless charging system starts to work to wirelessly charge the mobile robot 300.

[0064] When the mobile robot 300 needs to continue working after being fully charged, its body rotates 180 degrees or directly exits the charging area (i.e., the charging position) backwards, and the fixed plate 102 is automatically reset under the action of the first return spring and the second return spring of the Y-axis linear bearing assembly. When the guide column 202 on the mobile robot 300 is away from the positioning semicircle on the V-shaped guide groove 115, the travel switch 107 is reset. At this time, the support rod on the electric push rod 161 extends (i.e., the electric push rod 161 begins to extend), allowing the fixed plate 102 to move along the travel direction of the X-axis linear bearing assembly to the waiting docking position, waiting for the next time the mobile robot returns for wireless charging.

[0065] An alloy steel guide rail 125 is installed on the side wall of the V-shaped guide groove 115 of the fixed plate 102, which cooperates with the movable copper sleeve 204 on the guide column 202. When the movable copper sleeve 204 is worn due to long-term sliding friction, it can be replaced manually, which is convenient and quick.

[0066] When the guide post 202 on the mobile robot 300 is inserted into the positioning semicircle on the V-shaped guide groove 115, the limit travel switch 107 is triggered, and the electric push rod 161 remains stationary. At this time, the wireless charging transmitting device 101 and the wireless charging receiving device 201 are successfully docked.

[0067] The first return spring and the second return spring are both tension springs. When the mobile robot 300 is not charged, the first return spring and the second return spring move the fixed plate 102 to the center position in the Y-axis direction. When the mobile robot is charged, the first return spring and the second return spring are both in a stretched state, and the V-shaped guide groove 115 on the fixed plate 102 can adapt to each other.

[0068] Compared with plug-in and contact-type robot charging systems, wireless charging does not have direct contact between positive and negative electrodes, and does not require direct contact between the positive and negative electrodes of the charging system. Therefore, dust, rain and other factors in the working environment of the mobile robot cannot damage or affect the docking of the charging system, which greatly improves the stability and service life of the charging system. In addition, the automatic docking wireless charging device can be adapted to any mobile robot with low repeatable positioning accuracy, such as mobile robots using remote control, vision, RTK and other control technologies. It reduces the technical threshold for fully automatic return charging of mobile robots.

[0069] The above shows and describes the basic principles, main features and advantages of the present invention. Technical personnel in this industry should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An active docking wireless charging device suitable for a mobile robot, characterized in that: It includes an active docking charging terminal and a mobile receiving terminal, wherein the active docking charging terminal is fixedly arranged in a charging station, and the mobile receiving terminal is installed on a mobile robot. When the mobile robot needs to be charged, the mobile robot moves into the charging station and performs wireless charging through the active docking charging terminal, wherein: The active docking charging end includes a wireless charging transmitter, a fixing plate, an X-axis linear bearing assembly, a Y-axis linear bearing assembly, an electric push rod assembly and a fixing bracket, the X-axis linear bearing assembly includes a first X-axis guide rail and a second X-axis guide rail parallel to each other, the first X-axis guide rail is fixedly arranged on one side of the fixing bracket, the first X-axis guide rail is slidably connected with a first X-axis linear bearing and a second X-axis linear bearing, the second X-axis guide rail is fixedly arranged on the other side of the fixing bracket, and the second X-axis guide rail is slidably connected with a third X-axis linear bearing and a fourth X-axis linear bearing; The Y-axis linear bearing assembly comprises a first Y-axis guide rail and a second Y-axis guide rail, the two ends of the first Y-axis linear guide rail are respectively fixedly arranged on the first X-axis linear bearing and the third X-axis linear bearing, the first Y-axis guide rail is slidably connected with the first Y-axis linear bearing, the two ends of the second Y-axis linear guide rail are respectively fixedly arranged on the second X-axis linear bearing and the fourth X-axis linear bearing, and the second Y-axis guide rail is slidably connected with the second Y-axis linear bearing; The fixing plate is fixedly arranged on the first Y-axis linear bearing and the second Y-axis linear bearing, and one side of the fixing plate is concavely formed with a V-shaped guide groove; the wireless charging transmitter is connected to the wireless charging host, and the wireless charging transmitter is fixedly arranged on the fixing plate through a plurality of hexagonal studs; the electric push rod assembly includes an electric push rod and a connecting assembly, the connecting assembly includes a first connecting plate, a second connecting plate and a fixing assembly, one end of the first connecting plate is fixedly connected to the upper end of the second connecting plate, the first connecting plate is fixedly arranged on the lower surfaces of the two second Y-axis linear bearings, the fixing assembly is fixedly arranged on the middle position of the second connecting plate, one end of the electric push rod is movably connected to the fixing assembly through a connecting shaft, and the other end of the electric push rod is fixedly arranged on the fixing bracket; The mobile receiving end includes a wireless charging receiving device and a guide column, wherein the guide column is vertically fixed on the upper cover of the mobile robot, and the wireless charging receiving device is fixed on the upper cover of the mobile robot. When the mobile robot moves to the charging position in the charging station for wireless charging, the electric push rod drives the fixed plate to start to retract the electric push rod along the stroke direction of the X-axis linear bearing assembly. When the guide column on the upper cover of the mobile robot is inserted into the V-shaped guide groove on the fixed plate, the electric push rod drives the wireless charging transmitting device on the fixed plate to move toward the wireless charging receiving device on the upper cover. When the wireless charging receiving device is aligned with the wireless charging transmitting device, wireless charging begins.

2. The active docking wireless charging device for a mobile robot according to claim 1, characterized in that: The fixing bracket comprises a first cross bar, a second cross bar, a first longitudinal bar, a reinforcing bar and a second longitudinal bar, wherein: The two ends of the first cross bar are respectively fixedly set on the front ends of the first longitudinal bar and the second longitudinal bar, the two ends of the second cross bar are respectively fixedly set on the rear ends of the first longitudinal bar and the second longitudinal bar, the front end of the reinforcing bar is fixedly set on the rear side wall of the first cross bar, and the rear end of the reinforcing bar is fixedly set on the front side wall of the second cross bar.

3. The active docking wireless charging device for a mobile robot according to claim 2, characterized in that: The right end of the electric push rod is movably arranged on the side wall of the second longitudinal rod through a mounting assembly, and the electric push rod is located above the reinforcing rod.

4. The active docking wireless charging device for a mobile robot according to claim 2, characterized in that: The first X-axis guide rail is fixedly arranged on the first crossbar, and the second X-axis guide rail is fixedly arranged on the second crossbar.

5. The active docking wireless charging device for a mobile robot according to claim 2, characterized in that: It also includes a return assembly, which includes a first return spring and a second return spring, the front end of the first return spring is fixedly set on the first cross bar, and the rear end of the second return spring is fixedly set on the front part of the lower side wall of the fixed plate, the rear end of the second return spring is fixedly set on the second cross bar, and the front end of the second return spring is fixedly set on the rear part of the lower side wall of the fixed plate.

6. The active docking wireless charging device for a mobile robot according to claim 5, characterized in that: A third hanging ring is fixedly provided on the front portion of the lower side wall of the fixed plate between the first Y-axis guide rail and the second Y-axis guide rail, a first hanging ring is fixedly provided on the left portion of the rear side wall of the first cross bar, a front end of the first return spring is fixedly provided in the first hanging ring, and a rear end of the second return spring is fixedly provided in the third hanging ring.

7. The active docking wireless charging device for a mobile robot according to claim 5, characterized in that: A second lifting ring is fixedly provided on the left side of the front side wall of the second cross bar, a fourth lifting ring is fixedly provided on the rear part of the lower side wall of the fixed plate located between the first Y-axis guide rail and the second Y-axis guide rail, a front end of the second return spring is fixedly provided in the fourth lifting ring, and a rear end of the second return spring is fixedly provided in the second lifting ring.

8. The active docking wireless charging device for a mobile robot according to claim 1, characterized in that: A first fixed seat and a third fixed seat are respectively fixedly arranged at both ends of the first Y-axis guide rail, the first fixed seat is fixedly arranged on the first X-axis linear bearing, and the third fixed seat is fixedly arranged on the third X-axis linear bearing.

9. The active docking wireless charging device for a mobile robot according to claim 1, characterized in that: A second fixed seat and a fourth fixed seat are respectively fixedly arranged at both ends of the second Y-axis guide rail, the second fixed seat is fixedly arranged on the second X-axis linear bearing, and the fourth fixed seat is fixedly arranged on the fourth X-axis linear bearing.

10. The active docking wireless charging device for a mobile robot according to claim 1, characterized in that: The bottom inner wall of the V-shaped guide groove is concave to form a semicircular positioning groove. When the guide column is inserted into the semicircular positioning groove on the V-shaped guide groove, the travel switch on the fixed plate is triggered, and the electric push rod in the electric push rod assembly stops the contraction movement.

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