Self-adaptive wireless charging device suitable for robot wireless charging

Abstract

The invention relates to a self-adaptive wireless charging device suitable for robot wireless charging, the self-adaptive wireless charging device comprises a self-adaptive charging end and a mobile receiving end, the self-adaptive charging end is fixedly arranged in a charging station, the mobile receiving end is installed on a mobile robot, and when the mobile robot needs to be charged, the mobile robot moves into the charging station; the self-adaptive charging end comprises a fixed charging module, a fixed plate, a first sliding mechanism, a second sliding mechanism and a fixed support, and the second sliding mechanism comprises a third polished rod and a fourth polished rod which are parallel to each other; the third polished rod is arranged on one side of the fixing support through the first connecting support, the second connecting support and the third connecting support, and the fourth polished rod is arranged on the other side of the fixing support through the fourth connecting support, the fifth connecting support and the sixth connecting support. The charging stability of the robot is improved, and the service life of the charging system is prolonged; and the working efficiency of the mobile robot is also improved.

Description

Technical Field

[0001] The invention relates to an adaptive wireless charging device suitable for wireless charging of a 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 hours. Robots in the industrial field work in harsh environments, such as high temperature, high humidity, high dust, etc., and have long working hours, such as 7×24 hours. Therefore, robots that can be charged automatically and stably are more popular in the market.

[0003] Compared with plug-in and contact charging systems, wireless charging does not require the machine body to contact the positive and negative poles of the charging station, so dust, rain and other pollutants in the robot's operating environment cannot corrode or damage the charging system, greatly improving the stability and service life of the charging station. However, the transmitter and receiver of 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, making it impossible for the transmitter and receiver of wireless charging to be accurately docked, resulting in failure to charge smoothly.

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

[0005] In view of the above problems existing in the prior art, the main purpose of the present invention is to provide an adaptive wireless charging device suitable for wireless charging of robots.

[0006] The technical solution of the present invention is as follows:

[0007] An adaptive wireless charging device suitable for wireless charging of a robot comprises an adaptive charging terminal and a mobile receiving terminal, wherein the adaptive 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 adaptive charging terminal, wherein:

[0008] The adaptive charging end includes a fixed charging module, a fixed plate, a first sliding mechanism, a second sliding mechanism and a fixed bracket, the second sliding mechanism includes a third light rod and a fourth light rod parallel to each other, the third light rod is fixedly arranged on one side of the fixed bracket through a first connecting bracket, a second connecting bracket and a third connecting bracket, the third light rod is slidably connected with a first linear bearing and a second linear bearing, the fourth light rod is fixedly arranged on the other side of the fixed bracket through a fourth connecting bracket, a fifth connecting bracket and a sixth connecting bracket, and the fourth light rod is slidably connected with a third linear bearing and a fourth linear bearing;

[0009] The fixed plate is fixedly arranged on the second sliding mechanism, and one side of the fixed plate is concave to form a V-shaped guide groove; the fixed charging module is connected to the wireless charging host, and the fixed charging module is fixedly arranged on the fixed plate;

[0010] The fixed charging module includes a wireless charging transmitting module, a transformer module, a leakage protection module and a distribution box. The wireless charging transmitting module includes a wireless charging transmitting coil, a transmitting coil fixing box and a transmitting coil control module. The transmitting coil fixing box includes a transmitting fixing box body and a transmitting box cover arranged on the transmitting fixing box body. The transformer module and the leakage protection module are both arranged inside the distribution box. The transformer module is electrically connected to the leakage protection module and the transmitting coil control module respectively.

[0011] The mobile receiving end includes a mobile charging module and a guide column, wherein the guide column is vertically fixedly arranged on the upper cover of the mobile robot, and the mobile charging module is fixedly arranged on the upper cover of the mobile robot. When the mobile robot moves to the charging station for wireless charging, the guide column is inserted into the inner side of the V-shaped guide groove for positioning, and the mobile charging module starts wireless charging corresponding to the fixed charging module;

[0012] The mobile charging module includes a wireless charging receiving coil, a receiving coil fixing box and a receiving coil control module. The wireless charging receiving coil and the receiving coil control module are both arranged inside the receiving coil fixing box.

[0013] The fixing bracket includes a connecting rod, a first fixing rod, a second fixing rod, a first supporting rod and a second supporting rod, wherein:

[0014] The two ends of the first fixing rod are respectively fixedly arranged on the left ends of the first supporting rod and the second supporting rod, and the two ends of the second fixing rod are respectively fixedly arranged on the right ends of the first supporting rod and the second supporting rod;

[0015] The left end of the connecting rod is fixedly arranged on the right side wall of the first fixing rod, and the right end of the connecting rod is fixedly arranged on the front side wall of the second fixing rod.

[0016] Two ends of the third polished rod are fixedly arranged on two ends of the first fixing rod through the first connecting bracket and the third connecting bracket respectively, and the middle position of the third polished rod is fixedly arranged on the first fixing rod through the second connecting bracket;

[0017] The first linear bearing is located between the first connecting bracket and the second connecting bracket, and the second linear bearing is located between the second connecting bracket and the third connecting bracket.

[0018] Two ends of the fourth polished rod are fixedly arranged on two ends of the second fixed rod through the fourth connecting bracket and the sixth connecting bracket respectively, and the middle position of the fourth polished rod is fixedly arranged on the second fixed rod through the fifth connecting bracket;

[0019] The third linear bearing is located between the fourth connecting bracket and the fifth connecting bracket, and the fourth linear bearing is located between the fifth connecting bracket and the sixth connecting bracket.

[0020] The first sliding mechanism comprises a first sliding assembly and a second sliding assembly, wherein:

[0021] The first sliding assembly includes a first polished rod and a fifth linear bearing, two ends of the first polished rod are fixedly arranged on the first linear bearing and the third linear bearing respectively, and the fifth linear bearing is slidably connected to the first polished rod;

[0022] The second sliding assembly includes a second polished rod and a sixth linear bearing. Two ends of the second polished rod are fixedly arranged on the second linear bearing and the fourth linear bearing respectively. The sixth linear bearing is slidably connected to the second polished rod.

[0023] An alloy steel guide rail is installed on the side of the fixing plate along the side wall of the V-shaped guide groove by screws, and a movable copper sleeve is movably connected to the guide column, and the guide column is slidably connected to the alloy steel guide rail through the movable copper sleeve;

[0024] A fixing slot is arranged on the guide column above the movable copper sleeve, and a retaining spring is arranged in the fixing slot. The retaining spring is used for locking and fixing the movable copper sleeve.

[0025] The transmitting fixing box body has a receiving cavity inside, a transmitting coil fixing plate is fixedly arranged in the receiving cavity, the wireless charging transmitting coil is fixedly arranged on the transmitting coil fixing plate, and the transmitting coil control module is fixedly arranged in the receiving cavity and located above the wireless charging transmitting coil;

[0026] The side wall of the transmitting fixing box body is provided with an indicator light interface, a charging indicator light is installed in the indicator light interface, and the charging indicator light is electrically connected to the transmitting coil control module;

[0027] A transmitting module power interface is also provided on the side wall of the transmitting fixing box body, and the transmitting module power interface is electrically connected to the transmitting coil control module.

[0028] A fixing column is respectively arranged at the four corners of the bottom of the accommodating cavity, each of the fixing columns is provided with a first fixing hole, and the four corners of the transmitting coil fixing plate are respectively provided with second fixing holes, and the transmitting coil fixing plate is fixedly arranged on the tops of the four fixing columns by fastening bolts cooperating with the first fixing holes and the second fixing holes.

[0029] The receiving coil fixing box includes a receiving fixing box body, the lower end of the receiving fixing box body has an opening, the interior of the receiving fixing box body has an installation cavity, the installation cavity is communicated with the opening, a receiving coil fixing plate is fixedly arranged in the installation cavity, the wireless charging receiving coil is fixedly arranged on the receiving coil fixing plate, and the receiving coil control module is fixedly arranged in the installation cavity and is located above the wireless charging receiving coil.

[0030] A connecting portion is provided on the outer side wall of the upper end of the receiving and fixing box body, and a second sealing groove is provided on the lower end surface of the connecting portion. A second sealing ring is provided in the second sealing groove.

[0031] The receiving and fixing box body is fixedly arranged on the upper cover of the mobile robot through the connecting portion.

[0032] The present invention has the following advantages and beneficial effects: the adaptive wireless charging device suitable for wireless charging of robots provided by the embodiment of the present invention, because the device is wireless charging, does not require direct contact between the positive and negative poles of the charging system, so 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 stability of robot charging and the service life of the charging system; at the same time, it also improves the degree of automation of the mobile robot in daily operations, so as to achieve the purpose of reducing the workload of the operator, thereby improving the work efficiency of the mobile robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of the decomposed structure of an adaptive charging terminal provided in an embodiment of the present invention.

[0034] Figure 2 This is an enlarged three-dimensional structural schematic diagram of a first sliding mechanism provided in an embodiment of the present invention.

[0035] Figure 3 This is an enlarged three-dimensional structural schematic diagram of the second sliding mechanism provided in an embodiment of the present invention.

[0036] Figure 4 An enlarged three-dimensional structural schematic diagram of a fixing bracket provided in an embodiment of the present invention.

[0037] Figure 5 A schematic diagram of the three-dimensional structure of an adaptive charging terminal in one direction provided by an embodiment of the present invention.

[0038] Figure 6 A schematic diagram of the three-dimensional structure of the adaptive charging terminal provided in another direction according to an embodiment of the present invention.

[0039] Figure 7 A schematic diagram of the three-dimensional structure of a mobile robot provided in an embodiment of the present invention moving toward an adaptive charging terminal and a guide column beginning to enter a V-shaped guide groove.

[0040] Figure 8 A schematic diagram of the top view of the mobile robot provided by an embodiment of the present invention moving toward an adaptive charging terminal.

[0041] Fig. 9 A schematic diagram of the top view of the structure of the mobile robot provided in an embodiment of the present invention moving toward an adaptive charging terminal and the guide column beginning to enter a V-shaped guide groove.

[0042] Fig.10 A schematic diagram of the three-dimensional structure of a mobile robot provided by an embodiment of the present invention moving toward an adaptive wireless charging device until a guide column and a V-shaped guide groove cooperate with each other.

[0043] Fig.11 A schematic diagram of the top structure of the mobile robot provided in an embodiment of the present invention moving toward an adaptive wireless charging device until the guide column and the V-shaped guide groove cooperate.

[0044] Fig.12 A side structural schematic diagram of a mobile robot provided by an embodiment of the present invention moving toward an adaptive wireless charging device until a guide column and a V-shaped guide groove cooperate.

[0045] Fig.13 A schematic diagram of a three-dimensional structure in which a guide column provided in an embodiment of the present invention cooperates with an upper cover of a mobile robot.

[0046] Fig.14A schematic diagram of a three-dimensional structure in which a guide column and a mounting bracket cooperate with each other according to an embodiment of the present invention.

[0047] Fig.15 A schematic diagram of a three-dimensional structure of an adaptive wireless charging device suitable for wireless charging of a robot and a mobile robot provided in an embodiment of the present invention.

[0048] Fig.16 A schematic side view of the structure of an adaptive wireless charging device suitable for wireless charging of a robot provided in an embodiment of the present invention and cooperating with a mobile robot.

[0049] Fig.17 A schematic diagram of a three-dimensional structure of a mobile receiving terminal and a mobile robot provided in an embodiment of the present invention.

[0050] Fig.18 A schematic diagram of the structure of the wireless charging transmitter module and the distribution box provided in an embodiment of the present invention.

[0051] Fig.19 This is an enlarged three-dimensional structural schematic diagram of a wireless charging transmitter module provided in an embodiment of the present invention.

[0052] Fig. 20 This is a schematic diagram of an enlarged and exploded structure of a wireless charging transmitter module provided in an embodiment of the present invention.

[0053] Fig.21 This is an enlarged three-dimensional structural schematic diagram of the transmission fixing box body, the wireless charging transmission coil and the transmission coil control module provided in an embodiment of the present invention.

[0054] Fig. 22 This is an enlarged three-dimensional structural schematic diagram of the launch fixing box body provided in an embodiment of the present invention.

[0055] Fig.23 This is an enlarged three-dimensional structural schematic diagram of a receiving coil fixing box provided in an embodiment of the present invention.

[0056] Fig.24 This is a schematic diagram of an enlarged exploded structure of a receiving coil fixing box provided in an embodiment of the present invention.

[0057] Fig.25 This is an enlarged three-dimensional structural schematic diagram of a receiving and fixing box body provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0058] 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.

[0059] 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.

[0060] 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.

[0061] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0062] like Figures 1 to 25 As shown: An adaptive wireless charging device suitable for wireless charging of a robot provided by an embodiment of the present invention comprises an adaptive charging terminal and a mobile receiving terminal, wherein the adaptive charging terminal 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 adaptive charging terminal, wherein:

[0063] The adaptive charging end includes a fixed charging module, a fixed plate 102, a first sliding mechanism 103, a second sliding mechanism 104 and a fixed bracket 105, the second sliding mechanism 104 includes a third light rod 155 and a fourth light rod 106 parallel to each other, the third light rod 155 is fixedly arranged on one side of the fixed bracket 105 through a first connecting bracket 1041, a second connecting bracket 1042 and a third connecting bracket 1043, the third light rod 155 is slidably connected with a first linear bearing 107 and a second linear bearing 108, the fourth light rod 106 is fixedly arranged on the other side of the fixed bracket 105 through a fourth connecting bracket 1044, a fifth connecting bracket 1045 and a sixth connecting bracket 1046, the fourth light rod 106 is slidably connected with a third linear bearing 109 and a fourth linear bearing 110;

[0064] The fixed plate 102 is fixedly arranged on the second sliding mechanism 104, and a V-shaped guide groove 115 is formed inwardly on one side of the fixed plate 102; the fixed charging module is connected to the wireless charging host, and the fixed charging module is fixedly arranged on the fixed plate 102;

[0065] The fixed charging module includes a wireless charging transmitting module, a transformer module 1102, a leakage protection module 1103 and a distribution box 1104. The wireless charging transmitting module includes a wireless charging transmitting coil 1111, a transmitting coil fixing box 1110 and a transmitting coil control module 1112. The transmitting coil fixing box 1110 includes a transmitting fixing box body 1113 and a transmitting box cover 1114 arranged on the transmitting fixing box body 1113. The transmitting box cover 1114 is used to seal the transmitting fixing box body 1113. The transformer module 1102 and the leakage protection module 1103 are both arranged inside the distribution box 1104. The transformer module 1102 is electrically connected to the leakage protection module 1103 and the transmitting coil control module 1112 respectively.

[0066] The mobile receiving end includes a mobile charging module and a guide column 202, the guide column 202 is vertically fixed on the upper cover 301 on the mobile robot 300, and the mobile charging module is fixed on the upper cover 301 of the mobile robot 300. When the mobile robot 300 moves to the charging station for wireless charging, the guide column 202 is inserted into the inner side of the V-shaped guide groove 115 for positioning, and the mobile charging module starts wireless charging corresponding to the fixed charging module;

[0067] The mobile charging module includes a wireless charging receiving coil 2211 , a receiving coil fixing box 2210 , and a receiving coil control module 2212 . The wireless charging receiving coil 2211 and the receiving coil control module 2212 are both arranged inside the receiving coil fixing box 2210 .

[0068] The fixing bracket 105 includes a connecting rod 1055, a first fixing rod 1051, a second fixing rod 1052, a first supporting rod 1053 and a second supporting rod 1054, wherein:

[0069] The two ends of the first fixing rod 1051 are respectively fixedly arranged at the left ends of the first support rod 1053 and the second support rod 1054, that is, the front end of the first fixing rod 1051 is fixedly arranged at the right end of the second support rod 1054, and the rear end of the first fixing rod 1051 is fixedly arranged at the right end of the first support rod 1053, and the two ends of the second fixing rod 1052 are respectively fixedly arranged at the right ends of the first support rod 1053 and the second support rod 1054;

[0070] The left end of the connecting rod 1055 is fixedly arranged on the right side wall of the first fixing rod 1051, and the right end of the connecting rod 1055 is fixedly arranged on the left side wall of the second fixing rod 1052. Through the above design, the fixed bracket 105 is fixedly formed by the first fixing rod 1051, the second fixing rod 1052, the first support rod 1053 and the second support rod 1054, 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 arranging the connecting rod 1055 between the first fixing rod 1051 and the second fixing rod 1052, the strength of the fixed bracket 105 can be further improved, that is, the purpose of extending the service life of the fixed bracket 105 is achieved.

[0071] The two ends of the third light rod 155 are respectively fixed to the two ends of the first fixing rod 1051 through the first connecting bracket 1041 and the third connecting bracket 1043, and the middle position of the third light rod 155 is fixed to the first fixing rod 1051 through the second connecting bracket 1042;

[0072] The first linear bearing 107 is located between the first connecting bracket 1041 and the second connecting bracket 1042, and the second linear bearing 108 is located between the second connecting bracket 1042 and the third connecting bracket 1043. Through the above design, that is, the third polished rod 155 is fixedly arranged on the first fixing rod 1051 by fastening bolts and the first connecting bracket 1041, the second connecting bracket 1042 and the third connecting bracket 1043, which facilitates early assembly and later disassembly, and improves safety and reliability.

[0073] The two ends of the fourth light rod 106 are fixedly arranged on the two ends of the second fixing rod 1052 through the fourth connecting bracket 1044 and the sixth connecting bracket 1046 respectively, and the middle position of the fourth light rod 106 is fixedly arranged on the second fixing rod 1052 through the fifth connecting bracket 1045;

[0074] The third linear bearing 109 is located between the fourth connecting bracket 1044 and the fifth connecting bracket 1045, and the fourth linear bearing 110 is located between the fifth connecting bracket 1045 and the sixth connecting bracket 1046. Through the above design, that is, the fourth polished rod 106 is fixedly arranged on the second fixing rod 1052 by fastening bolts and the fourth connecting bracket 1044, the fifth connecting bracket 1045 and the sixth connecting bracket 1046, it is convenient for early assembly and later disassembly, and the safety and reliability are improved.

[0075] The first sliding mechanism 103 includes a first sliding component and a second sliding component, wherein:

[0076] The first sliding assembly includes a first polished rod 111 and a fifth linear bearing 112. The two ends of the first polished rod 111 are fixedly disposed on the first linear bearing 107 and the third linear bearing 109 respectively. The fifth linear bearing 112 is slidably connected to the first polished rod 111.

[0077] The second sliding assembly includes a second polished rod 113 and a sixth linear bearing 114 . The two ends of the second polished rod 113 are fixedly disposed on the second linear bearing 108 and the fourth linear bearing 110 , respectively. The sixth linear bearing 114 is slidably connected to the second polished rod 113 .

[0078] The first fixed seat 121 and the second fixed seat 122 are fixedly disposed at both ends of the first polished rod 111, respectively. The first fixed seat 121 is fixedly disposed on the first linear bearing 107, and the second fixed seat 122 is fixedly disposed on the third linear bearing 109. Through the above design, that is, the two ends of the first polished rod 111 are fixedly connected to the first linear bearing 107 and the third linear bearing 109 through the first fixed seat 121 and the second fixed seat 122, respectively, so as to realize the forward and backward sliding of the first polished rod 111 along the third polished rod 155 and the fourth polished rod 106.

[0079] The second polished rod 113 is fixedly provided with a third fixing seat 123 and a fourth fixing seat 124 at both ends thereof, the third fixing seat 123 is fixedly provided on the second linear bearing 108, and the fourth fixing seat 124 is fixedly provided on the fourth linear bearing 110. Through the above design, that is, the second polished rod 113 is fixedly connected to the second linear bearing 108 and the fourth linear bearing 110 at both ends thereof through the third fixing seat 123 and the fourth fixing seat 124, respectively, so as to enable the second polished rod 113 to slide forward and backward along the third polished rod 155 and the fourth polished rod 106, thereby enabling the fixing plate 102 on the first polished rod 111 and the second polished rod 113 to slide forward and backward along the third polished rod 155 and the fourth polished rod 106. At the same time, the fixed plate 102 slides left and right along the first polished rod 111 and the second polished rod 113 through the cooperation between the fifth linear bearing 112 and the first polished rod 111 and the cooperation between the sixth linear bearing 114 and the second polished rod 113; that is, the V-shaped guide groove 115 on the fixed plate 102 slides back and forth along the third polished rod 155 and the fourth polished rod 106, and the V-shaped guide groove 115 on the fixed plate 102 slides left and right along the first polished rod 111 and the second polished rod 113.

[0080] The fixed plate 102 is fixedly arranged on the fifth linear bearing 112 and the sixth linear bearing 114, and a V-shaped guide groove 115 is formed inwardly on one side of the fixed plate 102; an alloy steel guide rail 125 is installed on the side wall of the V-shaped guide groove 115 along the side of the fixed plate 102 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, the guide column 202 is slidably connected to the alloy steel guide rail 125 through the movable copper sleeve 204 to achieve a sliding connection with the V-shaped guide groove 115, which can extend the service life of the guide column 202 and improve the safety and reliability.

[0081] 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.

[0082] The transmitting fixing box body 1113 has a receiving cavity 1115 inside, a transmitting coil fixing plate 1116 is fixedly arranged in the receiving cavity 1115, the wireless charging transmitting coil 1111 is fixedly arranged on the transmitting coil fixing plate 1116, and the transmitting coil control module 1112 is fixedly arranged in the receiving cavity 1115 and is located above the wireless charging transmitting coil 1111;

[0083] The side wall of the transmitting fixing box body 1113 is provided with an indicator light interface 1101, and a charging indicator light 1117 is installed in the indicator light interface 1101, and the charging indicator light 1117 is electrically connected to the transmitting coil control module 1112;

[0084] A transmitting module power interface 1118 is also provided on the side wall of the transmitting fixing box body 1113 , and the transmitting module power interface 1118 is electrically connected to the transmitting coil control module 1122 .

[0085] A fixing column 1119 is respectively provided at the four corners of the bottom of the accommodating cavity 1115, and each of the fixing columns 1119 is provided with a first fixing hole 1120. The four corners of the transmitting coil fixing plate 1 are respectively provided with second fixing holes 1121. The transmitting coil fixing plate 1 is fixed to the top of the four fixing columns 1119 by fastening bolts and the first fixing holes 1120 and the second fixing holes 1121.

[0086] The upper end surface of the launch fixing box body 1113 is provided with a first close groove 1122 around it, and a first sealing ring (not shown in the figure) is provided in the first sealing groove 1122. The launch box cover 1114 is sealed and connected to the upper end of the launch fixing box body 1113 through the first sealing ring. The four corners of the upper end surface of the launch fixing box body 1113 are respectively provided with first mounting holes 1123, and the four corners of the launch box cover 1114 are respectively provided with second mounting holes 1124. The launch box cover 1114 is fixedly connected to the launch fixing box body 1113 through the cooperation of the fastening screws with the first mounting holes 1123 and the second mounting holes 1124.

[0087] The receiving coil fixing box 2210 includes a receiving fixing box body 2213, the lower end of the receiving fixing box body 213 has an opening 2214, the inside of the receiving fixing box body 2213 has an installation cavity 2215, the installation cavity 2215 is communicated with the opening 2214, a receiving coil fixing plate 2216 is fixedly arranged in the installation cavity 2215, the wireless charging receiving coil 2211 is fixedly arranged on the receiving coil fixing plate 2216, and the receiving coil control module 2212 is fixedly arranged in the installation cavity 2215 and is located above the wireless charging receiving coil 2211.

[0088] The upper outer wall of the receiving and fixing box body 2213 is extended outward with a connecting portion 2217, and the lower end surface of the connecting portion 2217 is provided with a second sealing groove 2218, and a second sealing ring is provided in the second sealing groove 2218; the receiving and fixing box body 2213 is fixed on the upper cover 301 of the mobile robot 300 by the connecting portion 2217.

[0089] Through the above design, that is, the connection part 2217 and the receiving and fixing box body 2213 are integrally formed, so the firmness of the connection part 2217 and the receiving and fixing box body 2213 can be improved, and the safety and reliability are improved; at the same time, a plurality of second mounting holes 2219 are provided in the second sealing groove 2218 on the connection part 2217. In addition, by providing a second sealing ring in the second sealing groove 2218, the tightness of the connection part 2217 and the position to be fixed, that is, the upper cover 301 of the mobile robot 300, can be improved.

[0090] The protection level of the indicator light interface 1117 and the transmitting module power interface 1118 is not less than IP67. Connect the 220V mains power to the leakage protection module 1103 in the distribution box 1104, which has been connected to the transformer module 1102, and then electrically connect the transformer module 1102 to the transmitting coil control module 1112 in the wireless charging transmitting module, and then connect the charging indicator light 1117 on the transmitting coil fixing box 1110 in the wireless charging transmitting module, and then fix the fixed charging module above the charging position of the mobile robot 300.

[0091] A third hook 133 and a sixth hook 136 are disposed on the lower surface of the fixing plate 102 between the first polished rod 111 and the second polished rod 113. The third hook 133 and the sixth hook 136 are respectively located on both sides of the V-shaped guide groove 115.

[0092] The side wall of the connecting rod 1055 away from the V-shaped guide groove 115 is provided with a second hook 132 and a fifth hook 135, the second hook 132 and the third hook 133 are located on the same side, the second hook 132 is connected to the third hook 133 through a first return spring, and the fifth hook 135 is connected to the sixth hook 136 through a second return spring. According to the above design, the third hook 133 and the sixth hook 136 are respectively provided at the front and rear of the lower surface of the fixed plate 102, and the second hook 132 and the fifth hook 135 are respectively provided at the front and rear of the left side wall of the connecting rod 1055, and the second hook 132 and the third hook 133 are connected by the first return spring, and the fifth hook 135 and the sixth hook 136 are connected by the second return spring. When the V-shaped guide groove 115 on the fixed plate 102 slides forward and backward along the third light rod 155 and the fourth light rod 106, the first return spring and the second return spring are used to restore the position.

[0093] The first hook 131 is fixedly provided on the inner side wall of the first fixing rod 1051, and the fourth hook 134 is fixedly provided on the inner side wall of the second fixing rod 1052. The first hook 131 is connected to the third hook 133 through a third return spring (not shown in the figure), and the fourth hook 134 is connected to the sixth hook 136 through a fourth return spring (not shown in the figure). According to the above design, that is, the first hook 131 is fixedly provided on the rear side wall of the first fixing rod 1051, and the fourth hook 134 is fixedly provided on the front side wall of the second fixing rod 1052, and the first hook 131 and the third hook 133 are connected through the third return spring, and the fourth hook 134 and the sixth hook 136 are connected through the fourth return spring. When the V-shaped guide groove 115 on the fixing plate 102 slides left and right along the first light rod 111 and the second light rod 112, it is restored to its original position under the action of the third return spring and the fourth return spring.

[0094] The mobile charging module is installed on the upper cover 301 of the mobile robot 300, and then the mobile charging module is connected to the battery charging line of the mobile robot 300. After the mobile robot 300 performs cleaning operations for a period of time, when the battery power reaches the value set by the system that needs to be returned to charge, the mobile robot 300 returns to charge. When the mobile robot 300 stops at the charging position, the mobile charging module on its upper cover 301 starts to communicate and dock with the fixed charging module. After successful docking, the battery of the mobile robot 300 starts to be wirelessly charged.

[0095] Specifically, when the mobile robot 300 needs to be charged, the mobile robot 300 moves into the charging station, and the guide column 202 of the mobile receiving end of the mobile robot 300 begins to be inserted into the V-shaped guide groove 115 on the fixed plate 102. When the mobile robot 300 continues to move forward, the fixed charging module on the fixed plate 102 of the adaptive charging end begins to slowly align with the mobile charging module installed on the upper cover 301 of the mobile robot 300 along the V-shaped track of the V-shaped guide groove 115. When the guide column 202 is inserted into the innermost side of the V-shaped guide groove 115, the fixed charging module on the fixed plate 102 is aligned with the mobile charging module on the mobile robot 300, and the wireless charging system starts to work to charge the mobile robot 300. When the mobile robot 300 needs to continue working after being fully charged, its body rotates 180 degrees or directly exits the charging area backwards, and the V-shaped guide groove 115 on the fixed plate 102 automatically resets under the action of the first return spring, the second return spring, the third return spring and the fourth return spring.

[0096] An adaptive wireless charging device suitable for wireless charging of robots provided by an embodiment of the present invention is wireless charging and does not require direct contact between the positive and negative poles of the charging system. Therefore, factors such as dust and rain in the robot's operating environment cannot damage or affect the docking device in the wireless charging system, greatly improving the stability of the robot's charging and the service life of the charging system. The adaptive wireless charging device can flexibly design the adaptive range size according to the repeated positioning error affected by the different control technologies of the robot and the on-site environment, so that any robot adapted to different control technologies can be charged using wireless charging technology. The design and docking difficulty of robots with different control technologies using wireless charging technology is reduced, the degree of automation of robots in daily operations is improved, the workload of operators is reduced, and the work efficiency of the machine is improved.

[0097] Finally, it should be noted that the above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An adaptive wireless charging device suitable for wireless charging of robots, characterized in that: It includes an adaptive charging terminal and a mobile receiving terminal, wherein the adaptive 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 adaptive charging terminal, wherein: The adaptive charging end includes a fixed charging module, a fixed plate, a first sliding mechanism, a second sliding mechanism and a fixed bracket, the second sliding mechanism includes a third light rod and a fourth light rod parallel to each other, the third light rod is fixedly arranged on one side of the fixed bracket through a first connecting bracket, a second connecting bracket and a third connecting bracket, the third light rod is slidably connected with a first linear bearing and a second linear bearing, the fourth light rod is fixedly arranged on the other side of the fixed bracket through a fourth connecting bracket, a fifth connecting bracket and a sixth connecting bracket, and the fourth light rod is slidably connected with a third linear bearing and a fourth linear bearing; The fixed plate is fixedly arranged on the second sliding mechanism, and one side of the fixed plate is concave to form a V-shaped guide groove; the fixed charging module is connected to the wireless charging host, and the fixed charging module is fixedly arranged on the fixed plate; The fixed charging module includes a wireless charging transmitting module, a transformer module, a leakage protection module and a distribution box. The wireless charging transmitting module includes a wireless charging transmitting coil, a transmitting coil fixing box and a transmitting coil control module. The transmitting coil fixing box includes a transmitting fixing box body and a transmitting box cover arranged on the transmitting fixing box body. The transformer module and the leakage protection module are both arranged inside the distribution box. The transformer module is electrically connected to the leakage protection module and the transmitting coil control module respectively. The mobile receiving end includes a mobile charging module and a guide column, wherein the guide column is vertically fixedly arranged on the upper cover of the mobile robot, and the mobile charging module is fixedly arranged on the upper cover of the mobile robot. When the mobile robot moves to the charging station for wireless charging, the guide column is inserted into the inner side of the V-shaped guide groove for positioning, and the mobile charging module starts wireless charging corresponding to the fixed charging module; The mobile charging module includes a wireless charging receiving coil, a receiving coil fixing box and a receiving coil control module. The wireless charging receiving coil and the receiving coil control module are both arranged inside the receiving coil fixing box.

2. The adaptive wireless charging device for wireless charging of robots according to claim 1, characterized in that: The fixing bracket includes a connecting rod, a first fixing rod, a second fixing rod, a first supporting rod and a second supporting rod, wherein: The two ends of the first fixing rod are respectively fixedly arranged on the left ends of the first supporting rod and the second supporting rod, and the two ends of the second fixing rod are respectively fixedly arranged on the right ends of the first supporting rod and the second supporting rod; The left end of the connecting rod is fixedly arranged on the right side wall of the first fixing rod, and the right end of the connecting rod is fixedly arranged on the front side wall of the second fixing rod.

3. The adaptive wireless charging device for wireless charging of robots according to claim 2, characterized in that: Two ends of the third polished rod are fixedly arranged on two ends of the first fixing rod through the first connecting bracket and the third connecting bracket respectively, and the middle position of the third polished rod is fixedly arranged on the first fixing rod through the second connecting bracket; The first linear bearing is located between the first connecting bracket and the second connecting bracket, and the second linear bearing is located between the second connecting bracket and the third connecting bracket.

4. The adaptive wireless charging device for wireless charging of robots according to claim 3, characterized in that: Two ends of the fourth polished rod are fixedly arranged on two ends of the second fixed rod through the fourth connecting bracket and the sixth connecting bracket respectively, and the middle position of the fourth polished rod is fixedly arranged on the second fixed rod through the fifth connecting bracket; The third linear bearing is located between the fourth connecting bracket and the fifth connecting bracket, and the fourth linear bearing is located between the fifth connecting bracket and the sixth connecting bracket.

5. The adaptive wireless charging device for wireless charging of robots according to claim 4, characterized in that: The first sliding mechanism comprises a first sliding assembly and a second sliding assembly, wherein: The first sliding assembly includes a first polished rod and a fifth linear bearing, two ends of the first polished rod are fixedly arranged on the first linear bearing and the third linear bearing respectively, and the fifth linear bearing is slidably connected to the first polished rod; The second sliding assembly includes a second polished rod and a sixth linear bearing. Two ends of the second polished rod are fixedly arranged on the second linear bearing and the fourth linear bearing respectively. The sixth linear bearing is slidably connected to the second polished rod.

6. The adaptive wireless charging device for wireless charging of robots according to claim 1, characterized in that: An alloy steel guide rail is installed on the side of the fixing plate along the side wall of the V-shaped guide groove by screws, and a movable copper sleeve is movably connected to the guide column, and the guide column is slidably connected to the alloy steel guide rail through the movable copper sleeve; A fixing slot is arranged on the guide column above the movable copper sleeve, and a retaining spring is arranged in the fixing slot. The retaining spring is used for locking and fixing the movable copper sleeve.

7. The adaptive wireless charging device for wireless charging of robots according to claim 1, characterized in that: The transmitting fixing box body has a receiving cavity inside, a transmitting coil fixing plate is fixedly arranged in the receiving cavity, the wireless charging transmitting coil is fixedly arranged on the transmitting coil fixing plate, and the transmitting coil control module is fixedly arranged in the receiving cavity and located above the wireless charging transmitting coil; The side wall of the transmitting fixing box body is provided with an indicator light interface, a charging indicator light is installed in the indicator light interface, and the charging indicator light is electrically connected to the transmitting coil control module; A transmitting module power interface is also provided on the side wall of the transmitting fixing box body, and the transmitting module power interface is electrically connected to the transmitting coil control module.

8. The adaptive wireless charging device for wireless charging of robots according to claim 7, characterized in that: A fixing column is respectively arranged at the four corners of the bottom of the accommodating cavity, each of the fixing columns is provided with a first fixing hole, and the four corners of the transmitting coil fixing plate are respectively provided with second fixing holes, and the transmitting coil fixing plate is fixedly arranged on the tops of the four fixing columns by fastening bolts cooperating with the first fixing holes and the second fixing holes.

9. The adaptive wireless charging device for wireless charging of robots according to claim 1, characterized in that: The receiving coil fixing box includes a receiving fixing box body, the lower end of the receiving fixing box body has an opening, the interior of the receiving fixing box body has an installation cavity, the installation cavity is communicated with the opening, a receiving coil fixing plate is fixedly arranged in the installation cavity, the wireless charging receiving coil is fixedly arranged on the receiving coil fixing plate, and the receiving coil control module is fixedly arranged in the installation cavity and is located above the wireless charging receiving coil.

10. The adaptive wireless charging device for wireless charging of robots according to claim 9, characterized in that: A connecting portion is provided on the outer side wall of the upper end of the receiving and fixing box body, and a second sealing groove is provided on the lower end surface of the connecting portion. A second sealing ring is provided in the second sealing groove. The receiving and fixing box body is fixedly arranged on the upper cover of the mobile robot through the connecting portion.

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