Robot charging device and robot system
By introducing a position adjustment mechanism into the robot charging device, the problem of failure of the plug and socket connection is solved, and the accurate insertion of the plug is achieved, ensuring the reliability of the robot charging.
Patent Information
- Application Number
- CN202510505078.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-22
- Publication Date
- 2025-07-11
AI Technical Summary
During the charging process of the robot, the plug fails to connect with the socket of the charging device, resulting in failure of charging.
A position adjustment mechanism is adopted, including the first and second position adjustment components and a swing assembly. Through the mating movement of these components, the socket can be moved and swung in multiple directions, and the position and inclination are adaptively adjusted to ensure that the plug can be inserted into the socket accurately.
Improves the accuracy of the docking of the plug and the socket, avoids charging failure, and enhances the reliability of the robot charging.
Smart Images
Figure CN120287345A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of robots, and particularly to a robot charging device and a robot system. Background Art
[0002] With the development of technology and the increase in labor costs, more and more robots are applied to people's daily lives and production, such as floor-sweeping robots, wheeled-foot robots, or handling robots.
[0003] Currently, most robots are powered by batteries. When the battery power of the robot is insufficient, it needs to return to the charging device for charging. When charging, the plug on the robot needs to be accurately inserted into the socket of the charging device. However, during the charging process, the robot is moving while the charging device is fixed, and there may be a situation where the plug on the robot fails to dock with the socket of the charging device, resulting in charging failure. Summary of the Invention
[0004] Based on this, it is necessary to provide a robot charging device and a robot system for the problem of how to ensure accurate docking between the plug on the robot and the socket of the charging device.
[0005] In a first aspect, this application provides a robot charging device, including:
[0006] A main body;
[0007] A socket for docking with the plug of the robot to charge the robot;
[0008] A position adjustment mechanism connecting the main body and the socket, the position adjustment mechanism including:
[0009] A first position adjustment component disposed on the main body, the first position adjustment component for reciprocally moving the socket relative to the main body in a first direction;
[0010] A second position adjustment component disposed on the first position adjustment component, the second position adjustment component for reciprocally moving the socket relative to the main body in a second direction, the second direction intersecting the first direction; and
[0011] A swing component disposed on the second position adjustment component and connected to the socket, the swing component for swinging the socket relative to the main body in the first direction and / or the second direction.
[0012] The technical solution is further described below:
[0013] In one embodiment, the first position adjustment assembly includes:
[0014] A bottom plate, which is connected to the main body;
[0015] A first slide rail, which is arranged on the bottom plate and extends along the first direction;
[0016] A first moving seat, which is movably matched with the first slide rail, and the first moving seat is connected to the second position adjustment assembly;
[0017] A first reset assembly, which is arranged on the bottom plate and connected to the first moving seat, and the first reset assembly is used to reset the first moving seat to the initial position when the socket is separated from the plug.
[0018] In one embodiment, the first reset assembly includes:
[0019] Two mounting seats, which are arranged on the bottom plate at intervals along the first direction, and the two mounting seats are respectively located on opposite sides of the first moving seat;
[0020] A mounting shaft, which passes through the first moving seat and has a clearance fit with the first moving seat, the mounting shaft extends along the first direction and both ends of the mounting shaft are respectively fixed to the two mounting seats; two first elastic members are arranged on the mounting shaft, the two first elastic members are respectively located on both sides of the first moving seat, one end of the first elastic member abuts against the mounting seat, and the other end of the first elastic member abuts against the first moving seat.
[0021] In one embodiment, the number of the mounting shafts is multiple, the multiple mounting shafts are arranged at intervals along the second direction, and each mounting shaft is provided with two of the first elastic members.
[0022] In one embodiment, the second position adjustment assembly includes:
[0023] A second slide rail, which is arranged on the first moving seat and extends along the second direction;
[0024] A second moving seat, which is movably matched with the second slide rail, and the second moving seat is connected to the second position adjustment assembly;
[0025] A second reset assembly, which is arranged on the first moving seat and connected to the second moving seat, and the second reset assembly is used to reset the second moving seat to the initial position when the socket is separated from the plug.
[0026] In one embodiment, the second reset assembly includes two deformable members, the two deformable members are respectively in abutting engagement with two ends of the second moving seat in the second direction, and the deformable members can elastically deform in the second direction.
[0027] In one embodiment, the deformable member includes a connecting portion and a deformable portion. The connecting portion is connected to the first moving seat, the deformable portion is disposed between the connecting portion and the second moving seat, and the deformable portion is provided with a hollow hole.
[0028] In one embodiment, the swing assembly includes:
[0029] A first rocker arm, the first rocker arm is rotatably connected to the second moving seat, and the first rocker arm can swing relative to the second moving seat in the second direction;
[0030] A second rocker arm, the second rocker arm is rotatably connected to the first rocker arm and connected to the socket, and the second rocker arm can swing relative to the first rocker arm in the first direction;
[0031] A second elastic member, the second elastic member connects the second moving seat and the second rocker arm, and the second elastic member is used to reset the first rocker arm and the second rocker arm to the initial position when the socket is separated from the plug.
[0032] In one embodiment, the second moving seat is provided with a first through hole, the first rocker arm is provided with a first threaded hole aligned with the first through hole, and the swing assembly further includes a first connecting member connecting the second moving seat and the first rocker arm. The first connecting member extends along the first direction, and the first connecting member includes a first smooth section and a first threaded section. The first threaded section is threadedly connected to the first threaded hole, and the first smooth section is disposed in the first through hole and is in clearance fit with the first through hole;
[0033] The first rocker arm is provided with a second through hole, the second rocker arm is provided with a second threaded hole aligned with the second through hole, and the swing assembly further includes a second connecting member connecting the first rocker arm and the second rocker arm. The second connecting member extends along the second direction, and the second connecting member includes a second smooth section and a second threaded section. The second threaded section is threadedly connected to the second threaded hole, and the second smooth section is disposed in the second through hole and is in clearance fit with the second through hole.
[0034] In one embodiment, the socket includes:
[0035] An adapter seat, the adapter seat is connected to the swing assembly;
[0036] A guide cover, which is connected to the adapter base. The guide cover is provided with a socket for the plug to be inserted into.
[0037] A first electrode and a second electrode, which are spaced apart and disposed in the socket.
[0038] In one embodiment, along the direction in which the plug is inserted into the socket, the caliber of the socket gradually decreases; and / or,
[0039] The guide cover includes a top wall, a bottom wall, a first side wall and a second side wall. The top wall, the bottom wall, the first side wall and the second side wall jointly enclose to form the socket. The top wall and the bottom wall are oppositely disposed in the second direction, and the first side wall and the second side wall are oppositely disposed in the first direction. And along the direction in which the plug is inserted into the socket, the top wall and the bottom wall are inclined towards each other, and the first side wall and the second side wall are inclined towards each other.
[0040] In one embodiment, the main body includes a box body and a power adapter disposed in the box body. The socket is disposed outside the box body, and the power adapter is electrically connected to the socket.
[0041] In a second aspect, the present application further provides a robot system, including a robot and the above-mentioned robot charging device. The robot is provided with a plug, and the plug is used for plugging and mating with the socket.
[0042] In the above-mentioned robot charging device and robot system, the socket is connected to the main body through a position adjustment mechanism. The first position adjustment component in the position adjustment mechanism can enable the socket to reciprocate in the first direction, so that the position of the socket in the first direction is adjustable; the second position adjustment component can enable the socket to reciprocate in the second direction, so that the position of the socket in the second direction is adjustable. The swing component can enable the socket to swing in the first direction and the second direction, so that the inclination angle of the socket in the first direction and the second direction is adjustable. In this way, when the plug of the robot is docked with the socket, by using the acting force of the plug on the socket, the socket can adaptively adjust its own position and inclination angle according to the position of the plug, so that the plug can be accurately inserted into the socket, avoiding the failure of the plug to be docked with the socket. BRIEF DESCRIPTION OF THE DRAWINGS
[0043] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application.
[0044] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0045] In addition, the drawings are not drawn to a scale of 1:1, and the relative sizes of the respective elements are only drawn exemplarily in the drawings and not necessarily according to the actual scale. In the drawings:
[0046] Figure 1 It is a schematic structural diagram of a robot charging device in an embodiment.
[0047] Figure 2 is Figure 1 a schematic structural diagram of the robot charging device shown in after hiding the protective cover.
[0048] Figure 3 It is a schematic structural diagram of a position adjustment mechanism in an embodiment.
[0049] Figure 4 It is a schematic structural diagram of a first position adjustment component in an embodiment.
[0050] Figure 5 It is a schematic structural diagram of a second position adjustment component in an embodiment.
[0051] Figure 6 It is a schematic structural diagram of a deformable member in an embodiment.
[0052] Figure 7 It is a schematic structural diagram of a swing component in an embodiment.
[0053] Figure 8 is Figure 7 a front view of the swing component shown in.
[0054] Figure 9 is Figure 8 a cross-sectional view of the swing component shown in taken along the A-A section.
[0055] Figure 10 is Figure 8 a cross-sectional view of the swing component shown in taken along the B-B section.
[0056] Figure 11 It is a schematic structural diagram of a socket in an embodiment.
[0057] Explanation of reference numerals:
[0058] 10. Main body; 20. Socket; 21. Adapter base; 22. Guide cover; 221. Socket; 222. Top wall; 223. Bottom wall; 224. First side wall; 225. Second side wall; 23. First electrode; 24. Second electrode; 30. Position adjustment mechanism; 31. First position adjustment component; 311. Bottom plate; 312. First slide rail; 313. First moving seat; 314. Mounting seat; 315. Mounting shaft; 316. First elastic member; 32. Second position adjustment component; 321. Second slide rail; 322. Second moving seat; 3221. First through hole; 323. Deformable member; 3231. Connection portion; 3232. Deformation portion; 3233. Hollow hole; 33. Swing component; 331. First rocker arm; 3311. First threaded hole; 3312. Second through hole; 332. Second rocker arm; 3321. Second threaded hole; 333. Second elastic member; 334. First connecting member; 3341. First threaded section; 3342. First smooth section; 335. Second connecting member; 3351. Second threaded section; 3352. Second smooth section; 40. Protective cover; 50. Plug. Detailed implementation manners
[0059] In order to make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe in detail the specific implementation manners of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein. Those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.
[0060] In the description of the present application, it should be understood that if there are terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application 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. Therefore, it should not be construed as a limitation to the present application.
[0061] In addition, if the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.
[0062] In this application, unless otherwise clearly specified and limited, if terms such as "installed", "connected", "linked", "fixed", etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0063] In this application, unless otherwise clearly specified and limited, if there is a description such as a first feature being "on" or "under" a second feature, its meaning can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over", and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath", and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.
[0064] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If so, the terms "vertical", "horizontal", "up", "down", "left", "right", and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.
[0065] An embodiment of this application provides a robot charging device for charging a robot. Specifically, refer to Figure 1 and Figure 2, the robot charging device of an embodiment includes a main body 10, a socket 20, and a position adjustment mechanism 30. Among them, the socket 20 is used to dock with the plug 50 of the robot for the robot to charge. The position adjustment mechanism 30 connects the main body 10 and the socket 20, and the position adjustment mechanism 30 is used to adaptively adjust the position of the socket 20 according to the insertion position of the plug 50.
[0066] Specifically, referring to Figure 3 , the position adjustment mechanism 30 includes a first position adjustment component 31, a second position adjustment component 32, and a swing component 33. Among them, the first position adjustment component 31 is arranged on the main body 10, and the first position adjustment component 31 is used to enable the socket 20 to reciprocate relative to the main body 10 in a first direction. The second position adjustment component 32 is arranged on the first position adjustment component 31, and the second position adjustment component 32 is used to enable the socket 20 to reciprocate relative to the main body 10 in a second direction. The swing component 33 is arranged on the second position adjustment component 32 and is connected to the socket 20. The swing component 33 is used to enable the socket 20 to swing relative to the main body 10 in the first direction and / or the second direction; where the second direction intersects with the first direction. Exemplarily, in one embodiment, the first direction may be the horizontal left-right direction, and the second direction may be the vertical up-down direction.
[0067] In the above robot charging device, the socket 20 is connected to the main body 10 through the position adjustment mechanism 30. The first position adjustment component 31 in the position adjustment mechanism 30 can enable the socket 20 to reciprocate in the first direction, so that the position of the socket 20 in the first direction is adjustable; the second position adjustment component 32 can enable the socket 20 to reciprocate in the second direction, so that the position of the socket 20 in the second direction is adjustable. The swing component 33 can enable the socket 20 to swing in the first direction and the second direction, so that the inclination angle of the socket 20 in the first direction and the second direction is adjustable. Thus, when the plug 50 of the robot is docked with the socket 20, by using the acting force of the plug 50 on the socket 20, the socket 20 can adaptively adjust its own position and inclination angle according to the position of the plug 50, so that the plug 50 can be accurately inserted into the socket 20, avoiding the failure of docking between the plug 50 and the socket 20.
[0068] Referring to Figure 1 , optionally, in one embodiment, the robot charging device further includes a protective cover 40, and the protective cover 40 covers the outside of the socket 20 and the position adjustment mechanism 30. The protective cover 40 can protect the socket 20 and the position adjustment mechanism 30 to prevent external sewage and dust from damaging the socket 20 or the position adjustment mechanism 30. In addition, by covering the outside of the socket 20 and the position adjustment mechanism 30 with the protective cover 40, the socket 20 and the position adjustment mechanism 30 can also be hidden, making the overall appearance of the robot charging device more concise and beautiful.
[0069] See Figure 4 , optionally, in one embodiment, the first position adjusting component 31 includes a bottom plate 311, a first slide rail 312, a first moving seat 313 and a first resetting component. The bottom plate 311 is connected to the main body 10, the first slide rail 312 is disposed on the bottom plate 311 and extends along the first direction, the first moving seat 313 is movably matched with the first slide rail 312, and the first moving seat 313 is connected to the second position adjusting component 32. The first resetting component is disposed on the bottom plate 311 and connected to the first moving seat 313, and the first resetting component is used to reset the first moving seat 313 to the initial position when the socket 20 is separated from the plug 50. Thus, when the plug 50 is docked with the socket 20, if the position of the plug 50 is offset in the first direction (left or right), the force exerted by the plug 50 on the socket 20 can drive the first moving seat 313 to move along the first slide rail 312 (left or right), so as to drive the socket 20 to move in the first direction to a position adapted to the plug 50. After the plug 50 is separated from the socket 20, the limit of the plug 50 on the socket 20 is released, and at this time, the first resetting component can drive the first moving seat 313 and the socket 20 back to the initial position. Exemplarily, in one embodiment, the initial position of the first moving seat 313 is located at the middle position of the first slide rail 312, so that when the socket 20 is docked with the plug 50, the first moving seat 313 can move to a position adapted to the plug 50 more quickly.
[0070] , optionally, in one embodiment, the first resetting component includes two mounting seats 314 and a mounting shaft 315. The two mounting seats 314 are arranged on the bottom plate 311 at intervals along the first direction, and the two mounting seats 314 are respectively located on opposite sides of the first moving seat 313. The mounting shaft 315 passes through the first moving seat 313 and is in clearance fit with the first moving seat 313. The mounting shaft 315 extends along the first direction and both ends of the mounting shaft 315 are respectively fixed to the two mounting seats 314. Two first elastic members 316 are arranged on the mounting shaft 315. The two first elastic members 316 are respectively located on both sides of the first moving seat 313. One end of the first elastic member 316 abuts against the mounting seat 314, and the other end of the first elastic member 316 abuts against the first moving seat 313. Thus, the mounting shaft 315 is fixed by the mounting seat 314, and the first elastic member 316 is fixed by the mounting shaft 315. When the first moving seat 313 is displaced in the first direction, the first elastic member 316 is deformed to store elastic potential energy. After the plug 50 is separated from the socket 20, the elastic potential energy stored by the first elastic member 316 can be used to drive the first moving seat 313 to reset to the initial position. Exemplarily, in one embodiment, the first elastic member 316 can be a spring.
[0071] Further, the number of the mounting shafts 315 is multiple. The multiple mounting shafts 315 are arranged at intervals in the second direction, and two first elastic members 316 are provided on each mounting shaft 315. For example, in this embodiment, two mounting shafts 315 are provided, and the two mounting shafts 315 are respectively arranged on opposite sides of the first sliding rail 312. Two first elastic members 316 are arranged on each mounting seat 314. In this way, the force on the first moving seat 313 can be balanced during movement, and the movement smoothness of the first moving seat 313 can be improved. It can be understood that in other embodiments, the number of the mounting shafts 315 can also be one, three, four, five or more.
[0072] It should be noted that in other embodiments, the first reset assembly can also be other elastic structures, which are not limited herein.
[0073] Refer to Figure 5 As shown in, in one embodiment, the second position adjustment assembly 32 includes a second sliding rail 321, a second moving seat 322 and a second reset assembly. The second sliding rail 321 is arranged on the first moving seat 313 and extends in the second direction. The second moving seat 322 is movably engaged with the second sliding rail 321. The second moving seat 322 is connected to the second position adjustment assembly 32. The second reset assembly is arranged on the first moving seat 313 and connected to the second moving seat 322. The second reset assembly is used to reset the second moving seat 322 to the initial position when the socket 20 is separated from the plug 50. Specifically, during the docking process of the plug 50 and the socket 20, when the plug 50 is displaced (upward or downward) in the second direction, the force of the plug 50 on the socket 20 can drive the second moving seat 322 to move along the second sliding rail 321 (upward or downward), so as to drive the socket 20 to move to a position adapted to the plug 50 in the second direction, so that the plug 50 can be accurately inserted into the socket 20. After the plug 50 is separated from the socket 20, the limit of the plug 50 on the socket 20 is released, and at this time, the second reset assembly can drive the second moving seat 322 and the socket 20 back to the initial position. Exemplarily, in one embodiment, the initial position of the second moving seat 322 is located at the middle position of the second sliding rail 321, so that when the second moving seat 322 is docked with the plug 50, the second moving seat 322 can move to a position adapted to the plug 50 more quickly.
[0074] Continue to refer to Figure 5, optionally, in one embodiment, the second reset component includes two deformation members 323. The two deformation members 323 are respectively abutted and cooperated with both ends of the second moving seat 322 in the second direction, and the deformation member 323 can be elastically deformed in the second direction. Thus, by utilizing the elastic deformation ability of the deformation member 323, when the plug 50 is not inserted into the socket 20, the deformation member 323 can support the second moving seat 322 to maintain the second moving seat 322 at the initial position. During the docking process of the plug 50 and the socket 20, if the second moving seat 322 is displaced in the second direction, the deformation member 323 can elastically deform to store elastic potential energy. After the plug 50 is separated from the socket 20, the elastic potential energy stored by the second elastic member 333 can be used to drive the second moving seat 322 to reset to the initial position.
[0075] Specifically, referring to Figure 6 , the deformation member 323 includes a connecting portion 3231 and a deformation portion 3232. The connecting portion 3231 is connected to the first moving seat 313, and the deformation portion 3232 is disposed between the connecting portion 3231 and the second moving seat 322. The deformation portion 3232 is provided with a hollow hole 3233. The hollow hole 3233 provides a deformation space for the deformation portion 3232, so that the deformation portion 3232 has the ability of elastic deformation.
[0076] Exemplarily, in one embodiment, the connecting portion 3231 can be fixed to the second moving seat 322 by screws. In other embodiments, the connecting portion 3231 can also be bonded to the second moving seat 322 by glue.
[0077] As Figure 6 shown, the deformation portion 3232 has an X-shaped structure, thereby improving the elastic deformation ability of the deformation portion 3232. Further, two deformation portions 3232 are provided on the deformation member 323, and the two deformation portions 3232 are respectively located on both sides of the second slide rail 321, so as to ensure the force balance of the second moving seat 322 and improve the smoothness of the second moving seat 322 during movement.
[0078] It can be understood that, in other embodiments, the deformation member 323 can be an elastic structural member such as a spring, which is not limited herein.
[0079] Referring to Figures 7 to 10, in one embodiment, the swing assembly 33 includes a first rocker arm 331, a second rocker arm 332, and a second elastic member 333. The first rocker arm 331 is rotatably connected to the second moving seat 322. The first rocker arm 331 can swing relative to the second moving seat 322 in the second direction, that is, the first rocker arm 331 can swing up and down. The second rocker arm 332 is rotatably connected to the first rocker arm 331 and is connected to the socket 20. The second rocker arm 332 can swing relative to the first rocker arm 331 in the first direction; that is, the second rocker arm 332 can swing left and right. The second elastic member 333 connects the second moving seat 322 and the second rocker arm 332. The second elastic member 333 is used to reset the first rocker arm 331 and the second rocker arm 332 to the initial position when the socket 20 is separated from the plug 50.
[0080] Specifically, by the up-and-down swing of the first rocker arm 331, the up-and-down inclination angle of the socket 20 can be changed. By the left-and-right swing of the second rocker arm 332, the left-and-right inclination angle of the socket 20 can be changed. Thus, when the insertion angle of the plug 50 is inclined, the force exerted by the plug 50 on the socket 20 can drive the first rocker arm 331 or the second rocker arm 332 to swing, thereby changing the inclination angle of the socket 20 so that the inclination angle of the socket 20 adapts to the insertion angle of the plug 50. After the plug 50 is separated from the socket 20, the elastic force of the second elastic member 333 can reset the first rocker arm 331 and the second rocker arm 332 to the initial position. Exemplarily, the initial position of the first rocker arm 331 and the second rocker arm 332 is the position where the inclination angle of the first rocker arm 331 is 0° and the inclination angle of the second rocker arm 332 is 0°. In one embodiment, the second elastic member 333 can be a spring.
[0081] Specifically, referring to Figure 9 , in one embodiment, the second moving seat 322 is provided with a first through hole 3221, and the first rocker arm 331 is provided with a first threaded hole 3311 that is aligned with the first through hole 3221. The swing assembly 33 further includes a first connecting member 334 that connects the second moving seat 322 and the first rocker arm 331. The first connecting member 334 extends in the first direction. The first connecting member 334 includes a first smooth section 3342 and a first threaded section 3341. The first threaded section 3341 is threadedly connected to the first threaded hole 3311. The first smooth section 3342 is disposed in the first through hole 3221 and is in clearance fit with the first through hole 3221. Thus, the first rocker arm 331 can rotate relative to the second moving seat 322 with the first connecting member 334 as the rotation axis to realize the swing of the first rocker arm 331 in the second direction. Further, the number of the first connecting members 334 is two, and the two first connecting members 334 are respectively disposed on both sides of the first rocker arm 331 in the first direction, thereby improving the rotation stability of the first rocker arm 331.
[0082] Similarly, referring to Figure 10, the first rocker arm 331 is provided with a second through hole 3312, and the second rocker arm 332 is provided with a second threaded hole 3321 aligned with the second through hole 3312. The swing assembly 33 further includes a second connecting member 335 connecting the first rocker arm 331 and the second rocker arm 332. The second connecting member 335 extends in the second direction. The second connecting member 335 includes a second smooth section 3352 and a second threaded section 3351. The second threaded section 3351 is threadedly connected to the second threaded hole 3321. The second smooth section 3352 is inserted into the second through hole 3312 and is in clearance fit with the second through hole 3312. In this way, the second rocker arm 332 can rotate relative to the first rocker arm 331 with the second connecting member 335 as the rotation axis, so as to realize the swing of the second rocker arm 332 in the first direction. Further, the number of the second connecting members 335 is two, and the two second connecting members 335 are respectively arranged on both sides of the second rocker arm 332 in the second direction, thereby improving the rotation stability of the second rocker arm 332.
[0083] See Figure 11 , in an embodiment, the socket 20 includes an adapter base 21, a guide cover 22, a first electrode 23 and a second electrode 24. The adapter base 21 is connected to the first rocker arm 331 of the swing assembly 33. The guide cover 22 is connected to the adapter base 21. The guide cover 22 is provided with a socket 221 for the plug 50 to be inserted. The first electrode 23 and the second electrode 24 are spaced apart and arranged in the socket 221. The first electrode 23 and the second electrode 24 are respectively used for electrically connecting to the positive and negative poles of the power supply. In this way, after the plug 50 of the robot is inserted into the socket 221, it can be in electrical contact with the first electrode 23 and the second electrode 24, so as to realize charging the robot. Exemplarily, both the first electrode 23 and the second electrode 24 are magnetic adsorption electrodes, thereby improving the contact reliability between the plug 50 and the first electrode 23 and the second electrode 24.
[0084] Optionally, in an embodiment, along the direction in which the plug 50 is inserted into the socket 20, the diameter of the socket 221 of the guide cover 22 gradually decreases. For example, the socket 221 is conical, trumpet-shaped or trapezoidal. In this way, during the process of the plug 50 being inserted into the socket 221, the guide cover 22 can guide the socket 20 to move or swing to a position adapted to the plug 50.
[0085] Specifically, the guide cover 22 includes a top wall 222, a bottom wall 223, a first side wall 224 and a second side wall 225. The top wall 222, the bottom wall 223, the first side wall 224 and the second side wall 225 jointly enclose to form the socket 221. The top wall 222 and the bottom wall 223 are oppositely arranged in the second direction. The first side wall 224 and the second side wall 225 are oppositely arranged in the first direction. And along the direction in which the plug 50 is inserted into the socket 20, the top wall 222 and the bottom wall 223 are inclined towards each other, and the first side wall 224 and the second side wall 225 are inclined towards each other.
[0086] Specifically, during the docking process of the plug 50 and the socket 20, if the plug 50 has a position offset or an angular offset in the first direction, the plug 50 will first collide with the first side wall 224 or the second side wall 225. Since the first side wall 224 and the second side wall 225 are inclined towards each other, and under the action of the first position adjustment component 31 and the swing component 33, the socket 20 can be moved or swung in the first direction, so that the position of the socket 20 is adaptively adjusted to a position adapted to the plug 50.
[0087] Similarly, when the plug 50 has a position offset or an insertion angle offset in the second direction, the plug 50 will first collide with the top wall 222 or the bottom wall 223. Since the top wall 222 and the bottom wall 223 are inclined towards each other, and under the action of the second position adjustment component 32 and the swing component 33, the socket 20 can be moved or swung in the second direction, so that the position of the socket 20 is adaptively adjusted to a position adapted to the plug 50.
[0088] Optionally, in an embodiment, the main body 10 includes a box body and a power adapter disposed in the box body. The socket 20 is disposed outside the box body, and the power adapter is electrically connected to the socket 20. The power adapter is used to control the output current and voltage of the socket 20.
[0089] An embodiment of the present application further provides a robot system. Specifically, the robot system of an embodiment includes a robot and the robot charging device of any of the above embodiments. The robot is provided with a plug 50 for charging, and the plug 50 is inserted and cooperated with the socket 20.
[0090] In the above robot system, the robot charging device connects the socket 20 and the main body 10 through the position adjustment mechanism 30. The first position adjustment component 31 in the position adjustment mechanism 30 can reciprocally move the socket 20 in the first direction, so that the position of the socket 20 in the first direction is adjustable; the second position adjustment component 32 can reciprocally move the socket 20 in the second direction, so that the position of the socket 20 in the second direction is adjustable, and the swing component 33 can swing the socket 20 in the first direction and the second direction, so that the inclination angle of the socket 20 in the first direction and the second direction is adjustable. In this way, when the plug 50 of the robot is docked with the socket 20, by using the acting force of the plug 50 on the socket 20, the socket 20 can adaptively adjust its own position and inclination angle according to the position of the plug 50, so that the plug 50 can be accurately inserted into the socket 20, avoiding the failure of the docking between the plug 50 and the socket 20.
[0091] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.
[0092] The above-described embodiments only express several implementation manners of the present application, and the description thereof is relatively specific and detailed. However, it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.
Claims
1. A robot charging device, characterized in that, Comprising: A main body; A socket for docking with a plug of a robot to charge the robot; A position adjustment mechanism connecting the main body and the socket, the position adjustment mechanism comprising: A first position adjustment component disposed on the main body for reciprocally moving the socket relative to the main body in a first direction; A second position adjustment component disposed on the first position adjustment component for reciprocally moving the socket relative to the main body in a second direction, the second direction intersecting the first direction; and A swing component disposed on the second position adjustment component and connected to the socket for swinging the socket relative to the main body in the first direction and / or the second direction.
2. The robot charging device according to claim 1, wherein The first position adjustment component comprises: A bottom plate connected to the main body; A first slide rail disposed on the bottom plate and extending along the first direction; A first moving seat movably engaged with the first slide rail and connected to the second position adjustment component; A first reset component disposed on the bottom plate and connected to the first moving seat for resetting the first moving seat to an initial position when the socket is separated from the plug.
3. The robot charging device according to claim 2, wherein, The first reset component comprises: Two mounting seats spaced along the first direction on the bottom plate and respectively located on opposite sides of the first moving seat; A mounting shaft passing through the first moving seat and having a clearance fit with the first moving seat, the mounting shaft extending along the first direction and having its two ends respectively fixed to the two mounting seats; two first elastic members are provided on the mounting shaft, the two first elastic members being respectively located on opposite sides of the first moving seat, one end of the first elastic member abutting against the mounting seat and the other end of the first elastic member abutting against the first moving seat.
4. The robot charging device according to claim 3, wherein, The number of the mounting shafts is multiple, the multiple mounting shafts are spaced along the second direction, and each mounting shaft is provided with two of the first elastic members.
5. The robot charging device according to claim 2, wherein The second position adjustment component comprises: A second slide rail disposed on the first moving seat and extending along the second direction; A second moving seat movably engaged with the second slide rail and connected to the second position adjustment component; A second reset component disposed on the first moving seat and connected to the second moving seat for resetting the second moving seat to an initial position when the socket is separated from the plug.
6. The robot charging device according to claim 5, wherein, The second reset component comprises two deformable members respectively abutting and cooperating with two ends of the second moving seat in the second direction, the deformable members being elastically deformable in the second direction.
7. The robot charging device according to claim 6, characterized in that, The deformable member includes a connecting portion and a deformable portion. The connecting portion is connected to the first moving seat, and the deformable portion is disposed between the connecting portion and the second moving seat. The deformable portion is provided with a hollow hole.
8. The robot charging device according to claim 5, characterized in that The swinging assembly includes: A first rocker arm, which is rotatably connected to the second moving seat. The first rocker arm can swing relative to the second moving seat in the second direction; A second rocker arm, which is rotatably connected to the first rocker arm and connected to the socket. The second rocker arm can swing relative to the first rocker arm in the first direction; A second elastic member, which connects the second moving seat and the second rocker arm. The second elastic member is used to reset the first rocker arm and the second rocker arm to the initial position when the socket is separated from the plug.
9. The robot charging device according to claim 8, wherein: The second moving seat is provided with a first through hole, and the first rocker arm is provided with a first threaded hole aligned with the first through hole. The swinging assembly further includes a first connecting member connecting the second moving seat and the first rocker arm. The first connecting member extends along the first direction. The first connecting member includes a first smooth section and a first threaded section. The first threaded section is threadedly connected to the first threaded hole, and the first smooth section is disposed in the first through hole and is in clearance fit with the first through hole; The first rocker arm is provided with a second through hole, and the second rocker arm is provided with a second threaded hole aligned with the second through hole. The swinging assembly further includes a second connecting member connecting the first rocker arm and the second rocker arm. The second connecting member extends along the second direction. The second connecting member includes a second smooth section and a second threaded section. The second threaded section is threadedly connected to the second threaded hole, and the second smooth section is disposed in the second through hole and is in clearance fit with the second through hole.
10. The robot charging device according to claim 1, characterized in that, The socket includes: An adapter seat, which is connected to the swinging assembly; A guide cover, which is connected to the adapter seat. The guide cover is provided with a socket for the plug to be inserted; A first electrode and a second electrode, which are spaced apart and disposed in the socket.
11. The robot charging device according to claim 10, wherein: Along the direction in which the plug is inserted into the socket, the diameter of the socket gradually decreases; and / or, The guide cover includes a top wall, a bottom wall, a first side wall and a second side wall. The top wall, the bottom wall, the first side wall and the second side wall jointly enclose the socket. The top wall and the bottom wall are oppositely disposed in the second direction, and the first side wall and the second side wall are oppositely disposed in the first direction. And along the direction in which the plug is inserted into the socket, the top wall and the bottom wall are inclined towards each other, and the first side wall and the second side wall are inclined towards each other.
12. The robot charging device according to claim 1, characterized in that: The main body includes a box body and a power adapter disposed in the box body. The socket is disposed outside the box body, and the power adapter is electrically connected to the socket.
13. A robot system, characterized in that, It includes a robot and the robot charging device according to any one of claims 1-12. The robot is provided with a plug, and the plug is used for plugging and mating with the socket.