Charging device, multi-legged robot and multi-legged robot system

Abstract

The invention relates to the technical field of multi-legged robots, and discloses a charging device, a multi-legged robot and a multi-legged robot system.The charging device is applied to the multi-legged robot and comprises a machine base, a first wireless charging component, an identification component and a first guiding component, and the first wireless charging component is arranged on the machine base; the first wireless charging component is used for charging the multi-legged robot, the identification component is arranged on the machine base and used for identifying the multi-legged robot, and the first guiding component is arranged on the machine base and used for being connected with the multi-legged robot in an inserted mode so that positioning of the charging device and the multi-legged robot can be achieved. The charging device has the advantage of being good in charging effect.

Description

Technical Field

[0001] This application relates to the field of multi-legged robot technology, and more particularly to a charging device, a multi-legged robot, and a multi-legged robot system. Background Technology

[0002] With the development of science and technology, multi-legged robots are widely used in production lines, offices, and medical facilities.

[0003] In related technologies, multi-legged robots have the function of automatically finding charging devices for charging. However, when the multi-legged robot moves to the charging device for charging, there is often an error between the actual position of the multi-legged robot and the ideal charging position, which in turn affects the charging device's ability to charge the multi-legged robot. Summary of the Invention

[0004] This application provides a charging device, a multi-legged robot, and a multi-legged robot system to improve the technical problem of poor charging performance of the charging device.

[0005] In a first aspect, embodiments of this application provide a charging device for use in a multi-legged robot, the charging device comprising:

[0006] Base;

[0007] A first wireless charging component is disposed on the base and is used to charge the multi-legged robot.

[0008] A marking component, disposed on the base, is used for identification by the multi-legged robot; and,

[0009] A first guide component is disposed on the base and is used to connect with the multi-legged robot to achieve positioning of the charging device and the multi-legged robot.

[0010] In some embodiments, the first guide component includes at least one of a first guide hole and a first guide post.

[0011] In some embodiments, the inner circumferential surface of the first guide hole has a first guide ramp, which is used to guide the corresponding part of the multi-legged robot into the first guide hole; and / or,

[0012] The outer peripheral surface of the first guide post has a second guide slope, which is used to guide the first guide post to be inserted into the corresponding hole of the multi-legged robot.

[0013] In some embodiments, the opening of the first guide hole is upward, allowing the corresponding portion of the multi-legged robot to be inserted downward into the first guide hole; and / or,

[0014] The first guide post protrudes upwards to be inserted into the corresponding hole of the multi-legged robot.

[0015] In some embodiments, the top of the first guide member is higher than the top of the first wireless charging member in the vertical direction.

[0016] In some embodiments, the number of the first guide holes is at least two; and / or,

[0017] The number of the first guide posts is at least two.

[0018] In some embodiments, the charging device further includes a fan disposed on the base, the fan being used to dissipate heat from the first wireless charging component.

[0019] In some embodiments, the first wireless charging component includes a first magnetic element for magnetic connection with the multi-legged robot.

[0020] In some embodiments, the first wireless charging component further includes a first coil for wirelessly charging the multi-legged robot.

[0021] The first coil is fixedly connected to the first magnetic component, and both the first coil and the first magnetic component are movably mounted on the base. The first magnetic component can move on the base following the second magnetic component of the multi-legged robot.

[0022] In some embodiments, the first wireless charging component further includes a first carrier, which is slidably disposed on the base, and the first magnetic element and the first coil are both fixedly disposed on the first carrier.

[0023] In some embodiments, the first carrier is provided with a first friction-reducing material layer, which is located on the side of the first carrier opposite to the first magnetic element, and the first friction-reducing material layer is slidably engaged with the base.

[0024] In some embodiments, the first wireless charging component further includes a first cover connected to the base, and the first magnetic element, the first coil, and the first carrier are all disposed between the first cover and the base.

[0025] In some embodiments, the first cover includes a top wall that abuts against the side of the first magnetic element opposite to the first carrier.

[0026] Secondly, embodiments of this application also provide a multi-legged robot, comprising:

[0027] Torso components;

[0028] Multiple legs, said legs being mounted on the torso assembly;

[0029] A second wireless charging component is used to match a charging device so that the charging device can charge the multi-legged robot.

[0030] An identification component, the identification component being used to identify the identification component of the charging device; and,

[0031] The second guide component is used to connect with the charging device to achieve positioning of the charging device and the multi-legged robot.

[0032] In some embodiments, the second guide component includes at least one of a second guide hole and a second guide post.

[0033] In some embodiments, the inner circumferential surface of the second guide hole has a third guide ramp, the third guide ramp being used to guide the corresponding portion of the charging device into the second guide hole; and / or,

[0034] The outer peripheral surface of the second guide post has a fourth guide slope, which is used to guide the second guide post to be inserted into the corresponding hole of the charging device.

[0035] In some embodiments, the second guide member is disposed at the bottom of the torso assembly in the vertical direction.

[0036] In some embodiments, the second wireless charging component includes a second magnetic element for magnetic connection with the charging device.

[0037] In some embodiments, the second wireless charging component further includes a second coil for wirelessly charging the multi-legged robot;

[0038] The second coil is fixedly connected to the second magnetic component, and both the second coil and the second magnetic component are movably mounted on the torso assembly. The second magnetic component can be attracted by the first magnetic component of the charging device and move on the torso assembly.

[0039] In some embodiments, the second wireless charging component further includes a second housing connected to the torso assembly, and the second magnetic element and the second coil are both disposed between the second housing and the torso assembly.

[0040] Thirdly, embodiments of this application also provide a multi-legged robot system, including a charging device and a multi-legged robot, wherein the charging device is used to charge the multi-legged robot;

[0041] Wherein, the charging device is the charging device described above; and / or, the multi-legged robot is the multi-legged robot described above.

[0042] The beneficial effects of the embodiments of this application are as follows:

[0043] When the multi-legged robot needs to be charged, it can identify the location of the charging device by recognizing the markings on the charging device. Then, the multi-legged robot can initially move to the charging device. Next, by connecting the multi-legged robot to the first guide component, it is guided to accurately dock with the charging device, so that the first wireless charging component can be accurately matched with the multi-legged robot, ultimately improving the charging effect of the charging device. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0046] Figure 1 This is a schematic diagram of the structure of a multi-legged robot system provided in an embodiment of this application.

[0047] Figure 2 for Figure 1 A schematic diagram of the multi-legged robot system from another perspective.

[0048] Figure 3 for Figure 1 The diagram shows the first docking scenario of the multi-legged robot system.

[0049] Figure 4 for Figure 1 The diagram shows the second docking scenario of the multi-legged robot system.

[0050] Figure 5 for Figure 1 The diagram shows the structure of the charging device for the multi-legged robot system.

[0051] Figure 6 for Figure 1 The diagram shows a usage scenario of the first wireless charging component of the multi-legged robot system.

[0052] Figure 7 for Figure 1 The diagram shows a usage scenario of the second wireless charging component of the multi-legged robot system.

[0053] Explanation of reference numerals in the attached figures:

[0054] 100. Charging device;

[0055] 11. Base;

[0056] 12. First wireless charging component; 121. First magnetic component; 1211. Second anti-friction material layer; 122. First coil; 123. First carrier; 1231. First anti-friction material layer; 124. First cover; 1241. Top wall; 1242. First annular wall;

[0057] 13. Identification components;

[0058] 14. First guide component; 141. First guide hole; 1411. First guide ramp; 142. First guide post; 1421. Second guide ramp;

[0059] 15. Fan;

[0060] 16. Columns;

[0061] 200. Multi-legged robots;

[0062] 21. Torso assembly;

[0063] 22. Second wireless charging component; 221. Second magnetic component; 2211. Fourth anti-friction material layer; 222. Second coil; 223. Second carrier; 2231. Third anti-friction material layer; 224. Second cover; 2241. Bottom wall; 2242. Second annular wall;

[0064] 23. Identification components;

[0065] 24. Second guide component; 241. Second guide hole; 2411. Third guide ramp; 242. Second guide post; 2421. Fourth guide ramp. Detailed Implementation

[0066] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0067] Please refer to Figure 1 This application provides a charging device 100, which is applied to a multi-legged robot 200, such as a quadruped robot, a hexapod robot, or an octagonal robot. The multi-legged robot 200 can also be any other type of multi-legged robot 200, and this application does not limit it.

[0068] The charging device 100 includes a base 11, a first wireless charging component 12, an identification component 13, and a first guide component 14. The first wireless charging component 12 is disposed on the base 11 and is used to charge the multi-legged robot 200. The identification component 13 is disposed on the base 11 and is used for identification by the multi-legged robot 200. The first guide component 14 is disposed on the base 11 and is used to connect with the multi-legged robot 200 to achieve positioning between the charging device 100 and the multi-legged robot 200.

[0069] When the multi-legged robot 200 needs to be charged, it can identify the marking component 13 of the charging device 100 to determine the location of the charging device 100, and then the multi-legged robot 200 can initially move to the charging device 100. Then, through the insertion of the multi-legged robot 200 and the first guide component 14, the multi-legged robot 200 is guided to accurately dock with the charging device 100, so that the first wireless charging component 12 can accurately match with the multi-legged robot 200, and ultimately improve the charging effect of the charging device 100.

[0070] The above is a general introduction to the charging device 100 according to an embodiment of this application.

[0071] The marking component 13 can serve as a position calibration component. Furthermore, the multi-legged robot 200 can obtain the position information of the charging device 100 by recognizing the position calibration component, so that the multi-legged robot 200 can move to the charging device 100 on its own.

[0072] Please continue to refer to this. Figure 2 The charging device 100 may also include a column 16, through which the marking component 13 is mounted on the base 11. This allows the marking component 13 to be positioned relatively high to facilitate identification by the multi-legged robot 200.

[0073] In some implementations, the identification component 13 may include a QR code or any other arbitrary identification, and this application embodiment does not limit this.

[0074] The above is a brief description of the identification component 13 in the embodiments of this application.

[0075] Please continue to refer to this. Figure 3and Figure 4 In some embodiments, the first guide member 14 includes a first guide hole 141 and / or a first guide post 142.

[0076] It should be noted that in this application, "and / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / ", unless otherwise specified, generally indicates that the related objects before and after it are in an "or" relationship.

[0077] That is to say, the first guide component 14 may include only the first guide hole 141, or only the first guide post 142, or both the first guide hole 141 and the first guide post 142. This application embodiment does not limit this.

[0078] like Figure 3 As shown, in some embodiments, the inner circumferential surface of the first guide hole 141 has a first guide ramp 1411, which is used to guide the corresponding part of the multi-legged robot 200 into the first guide hole 141.

[0079] For example, the multi-legged robot 200 may include a second guide post 242, and a first guide ramp 1411 is used to guide the second guide post 242 into the first guide hole 141.

[0080] The first guide slope 1411 can be a conical surface. Furthermore, along the direction away from the outside of the first guide hole 141, the inner diameter of at least a portion of the first guide hole 141 decreases linearly.

[0081] Of course, the inner diameter of the first guide hole 141 can also decrease non-linearly in the direction away from the outside of the first guide hole 141, and this application embodiment does not limit this.

[0082] In some embodiments, the opening of the first guide hole 141 is arranged facing upward so that the corresponding part of the multi-legged robot 200 can be inserted downward into the first guide hole 141.

[0083] Taking the multi-legged robot 200 as an example, the multi-legged robot 200 can move to a position where the torso component 21 is above the first guide component 14. Then, the legs of the multi-legged robot 200 bend to switch the multi-legged robot 200 from a standing posture to a kneeling posture. During this process, the corresponding part at the bottom of the torso component 21 (such as the second guide post 242) descends and inserts into the first guide hole 141. During the process of the second guide post 242 being inserted into the first guide hole 141, the first guide ramp 1411 can guide the second guide post 242 to achieve the centering positioning of the second guide post 242, thereby improving the docking accuracy between the multi-legged robot 200 and the charging device 100.

[0084] The opening of the first guide hole 141 can be located at the top of the first guide component 14 in the vertical direction.

[0085] In some embodiments, the number of first guide holes 141 is at least two. Furthermore, at least two first guide holes 141 can be used to enable at least two docking points between the charging device 100 and the multi-legged robot 200, ultimately improving the docking accuracy between the multi-legged robot 200 and the charging device 100.

[0086] Of course, in some other embodiments, the number of first guide holes 141 may also be one, and this application embodiment does not limit this.

[0087] like Figure 4 As shown, in some embodiments, the outer peripheral surface of the first guide post 142 has a second guide ramp 1421, which is used to guide the first guide post 142 into the corresponding hole of the multi-legged robot 200.

[0088] For example, the multi-legged robot 200 may include a second guide hole 241, and a second guide ramp 1421 is used to guide the first guide post 142 into the second guide hole 241.

[0089] The second guide slope 1421 can be a conical surface. Furthermore, along the direction near the free end of the first guide post 142, the outer diameter of at least a portion of the first guide post 142 decreases linearly.

[0090] Of course, the outer diameter of at least a portion of the first guide post 142 may decrease non-linearly along the direction near the free end of the first guide post 142, and this embodiment does not limit this.

[0091] In some embodiments, the first guide post 142 protrudes upward for upward insertion into a corresponding hole (such as the second guide hole 241) of the multi-legged robot 200.

[0092] Then, the multi-legged robot 200 can move until the torso assembly 21 is above the first guide member 14; then, the legs of the multi-legged robot 200 bend to switch the multi-legged robot 200 from a standing posture to a kneeling posture. During this process, the first guide post 142 is inserted into the second guide hole 241 at the bottom of the torso assembly 21.

[0093] During the process of inserting the first guide post 142 into the second guide hole 241, the second guide slope 1421 can guide the first guide post 142 to achieve the centering positioning of the first guide post 142, and ultimately improve the docking accuracy between the multi-legged robot 200 and the charging device 100.

[0094] The first guide post 142 may protrude from the top of the first guide component 14 in the vertical direction.

[0095] In some embodiments, the number of first guide posts 142 is at least two. Furthermore, at least two first guide posts 142 can enable at least two docking points between the charging device 100 and the multi-legged robot 200, ultimately improving the docking accuracy between the multi-legged robot 200 and the charging device 100.

[0096] Of course, in some other implementations, the number of first guide posts 142 may also be one, and this application embodiment does not limit this.

[0097] In some embodiments, the top of the first guide member 14 is higher than the top of the first wireless charging member 12 in the vertical direction. Therefore, during the process of the multi-legged robot 200 switching from a standing posture to a kneeling posture, the first guide member 14 can match and position itself with the multi-legged robot 200 before the first wireless charging member 12, thereby avoiding collisions and interference between the multi-legged robot 200 and the first wireless charging member 12 if the position is incorrect.

[0098] The above is a brief introduction to the first guide component 14 in the embodiments of this application. The technical solutions of the embodiments of this application will be further introduced below in conjunction with the first wireless charging component 12.

[0099] Please continue to refer to this. Figure 5 In some embodiments, the charging device 100 further includes a fan 15, which is disposed on the base 11 and is used to dissipate heat from the first wireless charging component 12.

[0100] For example, the air outlet of the fan 15 is directed toward the first wireless charging component 12, so that the air flowing out of the fan 15 can blow toward the first wireless charging component 12 to dissipate heat from the first wireless charging component 12.

[0101] The fan 15 can be a cross-flow fan 15, an axial flow fan 15, a centrifugal fan 15, etc., and the embodiment itself does not limit this.

[0102] Please continue to refer to this. Figure 6 In some embodiments, the first wireless charging component 12 includes a first magnetic element 121, which is used for magnetic connection with the multi-legged robot 200. Furthermore, the first magnetic element 121 enables magnetic attraction and fixation between the first wireless charging component 12 and the multi-legged robot 200, thereby improving the stability and reliability of the connection between the first wireless charging component 12 and the multi-legged robot 200, and thus improving the charging effect of the charging device 100.

[0103] The first magnetic component 121 can be a permanent magnet.

[0104] In some embodiments, the first wireless charging component 12 further includes a first coil 122 for wirelessly charging the multi-legged robot 200.

[0105] Understandably, if the first wireless charging component 12 uses a plug-in electrical connector or a flexible contact electrical connector to connect with the multi-legged robot 200, on the one hand, during the docking process between the multi-legged robot 200 and the charging device 100, the electrical connector may be deformed or damaged due to the incorrect position of the multi-legged robot 200. On the other hand, after multiple dockings, the electrical connector may wear out. These situations can easily lead to abnormal charging of the first wireless charging component 12.

[0106] In contrast, the wireless charging method using the first coil 122 in this embodiment can avoid the first coil 122 being damaged by collision or wear, thereby ensuring that the charging device 100 continuously provides stable and reliable charging to the multi-legged robot 200.

[0107] In some embodiments, the first coil 122 is fixedly connected to the first magnetic element 121, and both the first coil 122 and the first magnetic element 121 are movably mounted on the base 11. The first magnetic element 121 can move on the base 11 following the second magnetic element 221 of the multi-legged robot 200.

[0108] For example, please continue to refer to Figure 7 The multi-legged robot 200 may have a second magnetic element 221. The first magnetic element 121 is used for magnetic connection with the second magnetic element 221.

[0109] The first magnetic component 121 can be a permanent magnet.

[0110] During the docking process between the multi-legged robot 200 and the charging device 100, the second magnetic component 221 of the multi-legged robot 200 can magnetically attract the first magnetic component 121 of the charging device 100 to a suitable position, thereby driving the first coil 122 to a suitable position to charge the multi-legged robot 200.

[0111] Therefore, in this embodiment, the multi-legged robot 200 can move to the charging device 100 by recognizing the identification component 13, thereby achieving initial matching between the multi-legged robot 200 and the charging device 100; then, the charging device 100 and the multi-legged robot 200 are precisely positioned by the insertion of the first guide component 14 into the multi-legged robot 200; finally, the first coil 122 and the multi-legged robot 200 are precisely positioned again by the magnetic connection between the first magnetic component 121 and the multi-legged robot 200, so that the first coil 122 can be accurately matched with the multi-legged robot 200, thereby improving the charging effect of the charging device 100 on the multi-legged robot 200.

[0112] In some embodiments, the first wireless charging component 12 further includes a first carrier 123, which is slidably disposed on the base 11, and the first magnetic component 121 and the first coil 122 are both fixedly disposed on the first carrier 123.

[0113] Furthermore, the first carrier 123 can both connect and fix the first magnetic component 121 and the first coil 122, and also slide the first magnetic component 121 and the first coil 122 onto the base 11.

[0114] In some embodiments, the first carrier 123 is provided with a first friction-reducing material layer 1231, which is located on the side of the first carrier 123 away from the first magnetic element 121, and the first friction-reducing material layer 1231 is slidably engaged with the base 11.

[0115] Furthermore, the friction between the first carrier 123 and the base 11 can be reduced by the first friction-reducing material layer 1231, so that the first carrier 123 can slide more smoothly.

[0116] The first friction-reducing material layer 1231 may include a polytetrafluoroethylene material layer, a polyoxymethylene material layer, a polyamide material layer, etc., and the embodiments of this application do not limit this.

[0117] The first friction-reducing material layer 1231 can be a coating formed by spraying or a composite layer fixed by hot pressing or other methods. This application does not limit this.

[0118] In some embodiments, the first wireless charging component 12 further includes a first cover 124, which is connected to the base 11, and the first magnetic element 121 and the first coil 122 are both disposed between the first cover 124 and the base 11.

[0119] Furthermore, the first cover 124 can provide protection for the first magnetic element 121 and the first coil 122 to prevent damage to the first magnetic element 121 and the first coil 122 from collisions with other parts of the charging device 100 or the multi-legged robot 200.

[0120] Of course, when the first wireless charging component 12 also includes a first carrier 123, the first carrier 123 can also be disposed between the first cover 124 and the base 11.

[0121] In some embodiments, the first cover 124 includes a top wall 1241 that abuts against the side of the first magnetic element 121 opposite to the first carrier 123.

[0122] Furthermore, on the one hand, the first wireless charging component 12 and the first coil 122 connected to the first wireless charging component 12 can be brought closer to the top wall 1241, thereby allowing the first coil 122 to be closer to the multi-legged robot 200 outside the top wall 1241, thus improving the charging efficiency of the first coil 122; on the other hand, the first carrier 123 can be slidably installed between the base 11 and the top wall 1241 by clamping the first carrier 123 and the first magnetic component 121 between the top wall 1241 and the base 11, thereby giving the first wireless charging component 12 the advantage of simple structure.

[0123] In some embodiments, the first cover 124 further includes a first annular wall 1242. The first annular wall 1242 surrounds and is connected to the outer periphery of the top wall 1241. The first magnetic element 121, the first coil 122, and the first carrier 123 are all disposed on the inner periphery of the first annular wall 1242, thereby defining the active area of ​​the first magnetic element 121, the first coil 122, and the first carrier 123 through the first annular wall 1242.

[0124] In some embodiments, a second anti-friction material layer 1211 may be provided on the side of the first magnetic element 121 facing the top wall 1241, thereby reducing the friction between the first magnetic element 121 and the top wall 1241, so that the first magnetic element 121 can slide more smoothly.

[0125] The second friction-reducing material layer 1211 may include a polytetrafluoroethylene material layer, a polyoxymethylene material layer, a polyamide material layer, etc., and the embodiments of this application do not limit this.

[0126] The second friction-reducing material layer 1211 can be a coating formed by spraying or a composite layer fixed by hot pressing or other methods. This application does not limit this.

[0127] In some embodiments, the first coil 122 may be spaced apart from the top wall 1241 to avoid wear on the first coil 122 by the top wall 1241.

[0128] This application also provides a multi-legged robot 200, which can be a quadruped robot, a hexapod robot, or an octagonal robot, etc. This application does not limit this.

[0129] The multi-legged robot 200 may include a torso assembly 21, multiple legs (not shown), a second wireless charging component 22, an identification component 23, and a second guiding component 24.

[0130] The legs are mounted on the torso assembly 21. A second wireless charging component 22 is used to mate with the charging device 100 so that the charging device 100 can charge the multi-legged robot 200. An identification component 23 is used to identify the identification component 13 of the charging device 100. A second guide component 24 is used to connect with the charging device 100 to achieve positioning between the charging device 100 and the multi-legged robot 200.

[0131] Furthermore, when the multi-legged robot 200 needs to be charged, the multi-legged robot 200 can identify the identification component 13 of the charging device 100 through the identification component 23 to determine the position of the charging device 100, and then the multi-legged robot 200 can initially move to the charging device 100; then, the multi-legged robot 200 can be guided to accurately dock with the charging device 100 through the insertion of the second guide component 24, so that the second wireless charging component 22 can accurately match with the charging device 100, and ultimately improve the charging effect of the charging device 100.

[0132] The above is a general introduction to the multi-legged robot 200 of the embodiments of this application.

[0133] The identification component 23 may include a camera component.

[0134] In some embodiments, the specific structure of the charging device 100 can be referred to the specific structure of the charging device 100 described above, and will not be repeated here in the embodiments of this application.

[0135] The technical solutions of the embodiments of this application will now be described in conjunction with the second guide component 24.

[0136] The second guide component 24 may include a second guide hole 241 and / or a second guide post 242.

[0137] That is to say, the second guide component 24 may include only the second guide hole 241, or only the second guide post 242, or both the second guide hole 241 and the second guide post 242. This application embodiment does not limit this.

[0138] In some embodiments, the inner peripheral surface of the second guide hole 241 has a third guide slope 2411, which is used to guide the corresponding part of the charging device 100 into the second guide hole 241.

[0139] For example, the charging device 100 may include a first guide post 142 and a third guide ramp 2411 for guiding the first guide post 142 into the second guide hole 241.

[0140] The third guide slope 2411 can be a conical surface. Furthermore, along the direction away from the outside of the second guide hole 241, the inner diameter of at least a portion of the second guide hole 241 decreases linearly.

[0141] Of course, the inner diameter of the second guide hole 241 can also decrease non-linearly in the direction away from the outside of the second guide hole 241, and this application embodiment does not limit this.

[0142] In some embodiments, the opening of the second guide hole 241 is arranged downward so that the corresponding part of the charging device 100 (such as the first guide post 142) is inserted upward into the second guide hole 241.

[0143] Then, the multi-legged robot 200 can move to a position where the second guide component 24 is above the first guide post 142 of the charging device 100; then, the legs of the multi-legged robot 200 bend to switch the multi-legged robot 200 from a standing posture to a kneeling posture. During this process, the second guide component 24 descends so that the first guide post 142 of the charging device 100 is inserted into the second guide hole 241 from bottom to top. During the process of the first guide post 142 being inserted into the second guide hole 241, the third guide ramp 2411 can guide the first guide post 142 to achieve the centering positioning of the first guide post 142, and ultimately improve the docking accuracy between the multi-legged robot 200 and the charging device 100.

[0144] For example, the opening of the second guide hole 241 is located at the bottom of the second guide member 24 in the vertical direction.

[0145] In some embodiments, the second guide member 24 is disposed at the bottom of the torso assembly 21 in the vertical direction. Therefore, during the process of bending the legs of the multi-legged robot 200 to switch the multi-legged robot 200 from a standing posture to a kneeling posture, the torso assembly 21 can drive the second guide member 24 at the bottom to connect with the charging device 100.

[0146] In some embodiments, the number of second guide holes 241 is at least two. Furthermore, at least two docking points can be established between the charging device 100 and the multi-legged robot 200 through the at least two second guide holes 241, ultimately improving the docking accuracy between the multi-legged robot 200 and the charging device 100.

[0147] Of course, in some other embodiments, the number of second guide holes 241 may also be one, and this application embodiment does not limit this.

[0148] In some embodiments, the outer peripheral surface of the second guide post 242 has a fourth guide slope 2421, which is used to guide the second guide post 242 into the corresponding hole of the charging device 100.

[0149] For example, the charging device 100 may include a first guide hole 141, and a fourth guide ramp 2421 is used to guide the second guide post 242 into the first guide hole 141.

[0150] The fourth guide ramp 2421 can be a conical surface. Furthermore, along the direction near the free end of the second guide post 242, the outer diameter of at least a portion of the second guide post 242 decreases linearly.

[0151] Of course, the outer diameter of at least a portion of the second guide post 242 may also decrease non-linearly along the direction near the free end of the second guide post 242, and this embodiment does not limit this.

[0152] In some embodiments, the second guide post 242 protrudes downward for insertion into a corresponding hole (such as the first guide hole 141) of the multi-legged robot 200.

[0153] Then, the multi-legged robot 200 can move to a position where the second guide component 24 is above the first guide hole 141 of the charging device 100; then, the legs of the multi-legged robot 200 bend to switch the multi-legged robot 200 from a standing posture to a kneeling posture. During this process, the second guide component 24 descends so that the second guide post 242 is inserted into the first guide hole 141 of the charging device 100 from bottom to top; during the process of the second guide post 242 being inserted into the first guide hole 141, the fourth guide ramp 2421 can guide the second guide post 242 to achieve the centering positioning of the second guide post 242, and ultimately improve the docking accuracy between the multi-legged robot 200 and the charging device 100.

[0154] The second guide post 242 may protrude from the bottom of the torso assembly 21 in the vertical direction.

[0155] In some embodiments, the number of second guide posts 242 is at least two. Furthermore, at least two second guide posts 242 can enable at least two docking points between the charging device 100 and the multi-legged robot 200, ultimately improving the docking accuracy between the multi-legged robot 200 and the charging device 100.

[0156] Of course, in some other implementations, the number of second guide posts 242 may also be one, and this application embodiment does not limit this.

[0157] The above is a brief introduction to the second guide component 24 in the embodiments of this application. The technical solution of the embodiments of this application will be further introduced below in conjunction with the first wireless charging component 12.

[0158] In some embodiments, the second wireless charging component 22 includes a second magnetic element 221, which is used for magnetic connection with the charging device 100. Furthermore, the second magnetic element 221 enables magnetic attraction and fixation between the second wireless charging component 22 and the charging device 100, thereby improving the stability and reliability of the connection between the second wireless charging component 22 and the charging device 100, and thus improving the charging effect of the charging device 100.

[0159] In some embodiments, the second wireless charging component 22 further includes a second coil 222 for wirelessly charging the multi-legged robot 200.

[0160] For example, the charging device 100 includes a first coil 122, and the first coil 122 and the second coil 222 perform wireless sensing, so that the charging device 100 can wirelessly charge the multi-legged robot 200 through the first coil 122 and the second coil 222.

[0161] Understandably, if the second wireless charging component 22 uses a plug-in electrical connector or a flexible contact electrical connector to connect to the charging device 100, on the one hand, during the docking process between the multi-legged robot 200 and the charging device 100, the electrical connector may be deformed or damaged due to the incorrect position of the multi-legged robot 200. On the other hand, after multiple dockings, the electrical connector may wear out. These situations can easily lead to abnormal charging of the second wireless charging component 22.

[0162] In contrast, the embodiment of this application uses a second coil 222 for wireless charging, which can prevent the second coil 222 from being damaged by collision or wear, thereby ensuring that the charging device 100 continuously provides stable and reliable charging to the multi-legged robot 200.

[0163] In some embodiments, the second coil 222 is fixedly connected to the second magnetic element 221, and both the second coil 222 and the second magnetic element 221 are movably mounted on the torso assembly 21. The second magnetic element 221 can be attracted by the first magnetic element 121 of the charging device 100 and move on the torso assembly 21.

[0164] For example, the charging device 100 may have a first magnetic element 121. A second magnetic element 221 is used to magnetically connect with the first magnetic element 121.

[0165] Therefore, during the docking process between the multi-legged robot 200 and the charging device 100, the first magnetic component 121 of the charging device 100 can magnetically attract the second magnetic component 221 of the multi-legged robot 200 to a suitable position, thereby driving the second coil 222 to a suitable position to charge the multi-legged robot 200.

[0166] Therefore, in this embodiment, the multi-legged robot 200 can move to the charging device 100 by recognizing the identification component 13, thereby achieving initial matching between the multi-legged robot 200 and the charging device 100. Then, through the insertion of the second guide component 24 into the charging device 100, the multi-legged robot 200 can be precisely positioned with the charging device 100. Finally, through the magnetic connection between the second magnetic component 221 and the charging device 100, the second coil 222 is precisely positioned with the charging device 100, ultimately enabling the second coil 222 to accurately match with the charging device 100, thereby improving the charging effect of the charging device 100 on the multi-legged robot 200.

[0167] In some embodiments, the second wireless charging component 22 further includes a second carrier 223, which is slidably disposed on the torso component 21, and the second magnetic element 221 and the second coil 222 are both fixedly disposed on the second carrier 223.

[0168] Furthermore, the second carrier 223 can both connect and fix the second magnetic component 221 and the second coil 222, and also slide the second magnetic component 221 and the second coil 222 onto the torso assembly 21.

[0169] In some embodiments, the second carrier 223 is provided with a third friction-reducing material layer 2231, which is located on the side of the second carrier 223 away from the second magnetic element 221, and the third friction-reducing material layer 2231 is slidably engaged with the torso assembly 21.

[0170] Furthermore, the friction between the second carrier 223 and the torso component 21 can be reduced by the third anti-friction material layer 2231, so that the second carrier 223 can slide more smoothly.

[0171] The third friction-reducing material layer 2231 may include a polytetrafluoroethylene material layer, a polyoxymethylene material layer, a polyamide material layer, etc., and the embodiments of this application do not limit this.

[0172] The third friction-reducing material layer 2231 can be a coating formed by spraying or a composite layer fixed by hot pressing or other methods. This application does not limit this.

[0173] In some embodiments, the second wireless charging component 22 further includes a second cover 224 connected to the torso component 21, and the second magnetic element 221 and the second coil 222 are both disposed between the second cover 224 and the torso component 21.

[0174] Furthermore, the second cover 224 can protect the second magnetic element 221 and the second coil 222 from damage caused by collisions with other parts of the multi-legged robot 200 or the charging device 100.

[0175] Of course, when the second wireless charging component 22 also includes a second carrier 223, the second carrier 223 can also be disposed between the second cover 224 and the torso component 21.

[0176] In some embodiments, the second cover 224 includes a bottom wall 2241 that abuts against the side of the second magnetic element 221 opposite to the second carrier 223.

[0177] Furthermore, on the one hand, the second magnetic element 221 and the second coil 222 connected to the second magnetic element 221 can be brought closer to the bottom wall 2241, thereby allowing the second coil 222 to be closer to the charging device 100 below the bottom wall 2241, thus improving the charging efficiency of the second coil 222; on the other hand, the second carrier 223 can be slidably installed between the base and the bottom wall 2241 by sandwiching the second carrier 223 and the second magnetic element 221 between the bottom wall 2241 and the base, thereby giving the second wireless charging component 22 the advantage of simple structure.

[0178] In some embodiments, the second cover 224 further includes a second annular wall 2242. The second annular wall 2242 surrounds and is connected to the outer periphery of the bottom wall 2241. The second magnetic element 221, the second coil 222, and the second carrier 223 are all disposed on the inner periphery of the second annular wall 2242. Thus, the second annular wall 2242 defines the active areas of the second magnetic element 221, the second coil 222, and the second carrier 223.

[0179] In some embodiments, a fourth anti-friction material layer 2211 may be provided on the side of the second magnetic element 221 facing the bottom wall 2241. This can reduce the friction between the second magnetic element 221 and the bottom wall 2241, allowing the second magnetic element 221 to slide more smoothly.

[0180] The fourth friction-reducing material layer 2211 may include a polytetrafluoroethylene material layer, a polyoxymethylene material layer, a polyamide material layer, etc., and the embodiments of this application do not limit this.

[0181] The fourth friction-reducing material layer 2211 can be a coating formed by spraying or a composite layer fixed by hot pressing or other methods. This application does not limit this.

[0182] In some embodiments, the second coil 222 may be spaced apart from the bottom wall 2241 to avoid the second coil 222 being worn by the bottom wall 2241.

[0183] This application also provides a multi-legged robot system, including a charging device 100 and a multi-legged robot 200, wherein the charging device 100 is used to charge the multi-legged robot 200.

[0184] In some embodiments, the charging device 100 is the charging device 100 described above, and the embodiments of this application will not be repeated here.

[0185] In some embodiments, the multi-legged robot 200 is the multi-legged robot 200 described above, and the embodiments of this application will not be repeated here.

[0186] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0187] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0188] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0189] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A charging device, characterized in that, The charging device, used in multi-legged robots, includes: Base; A first wireless charging component is disposed on the base and is used to charge the multi-legged robot. A marking component, the marking component being disposed on the base, the marking component being used for identification by the multi-legged robot; and, A first guide component is disposed on the base and is used to connect with the multi-legged robot to achieve positioning of the charging device and the multi-legged robot.

2. The charging device according to claim 1, characterized in that, The first guide component includes at least one of a first guide hole and a first guide post.

3. The charging device according to claim 2, characterized in that, The inner circumferential surface of the first guide hole has a first guide slope, which is used to guide the corresponding part of the multi-legged robot into the first guide hole; and / or, The outer peripheral surface of the first guide post has a second guide slope, which is used to guide the first guide post to be inserted into the corresponding hole of the multi-legged robot.

4. The charging device according to claim 2, characterized in that, The opening of the first guide hole is upward, so that the corresponding part of the multi-legged robot can be inserted downward into the first guide hole; and / or, The first guide post protrudes upwards to be inserted into the corresponding hole of the multi-legged robot.

5. The charging device according to claim 4, characterized in that, In the vertical direction, the top of the first guide component is higher than the top of the first wireless charging component.

6. The charging device according to claim 2, characterized in that, The number of the first guide holes is at least two; and / or, The number of the first guide posts is at least two.

7. The charging device according to any one of claims 1 to 6, characterized in that, The charging device also includes a fan, which is disposed on the base and is used to dissipate heat from the first wireless charging component.

8. The charging device according to any one of claims 1 to 6, characterized in that, The first wireless charging component includes a first magnetic element, which is used to magnetically connect with the multi-legged robot.

9. The charging device according to claim 8, characterized in that, The first wireless charging component further includes a first coil, which is used to wirelessly charge the multi-legged robot; The first coil is fixedly connected to the first magnetic component, and both the first coil and the first magnetic component are movably mounted on the base. The first magnetic component can move on the base following the second magnetic component of the multi-legged robot.

10. The charging device according to claim 9, characterized in that, The first wireless charging component further includes a first carrier, which is slidably disposed on the base, and the first magnetic component and the first coil are both fixedly disposed on the first carrier.

11. The charging device according to claim 10, characterized in that, The first carrier is provided with a first friction-reducing material layer, which is located on the side of the first carrier away from the first magnetic component, and the first friction-reducing material layer is slidably engaged with the base.

12. The charging device according to claim 10, characterized in that, The first wireless charging component further includes a first cover, which is connected to the base, and the first magnetic element, the first coil, and the first carrier are all disposed between the first cover and the base.

13. The charging device according to claim 12, characterized in that, The first cover includes a top wall that abuts against the side of the first magnetic element opposite to the first carrier.

14. A multi-legged robot, characterized in that, include: Torso components; Multiple legs, wherein the multiple legs are mounted on the torso assembly; A second wireless charging component is used to match a charging device so that the charging device can charge the multi-legged robot. An identification component, the identification component being used to identify the identification component of the charging device; and, The second guide component is used to connect with the charging device to achieve positioning of the charging device and the multi-legged robot.

15. The multi-legged robot according to claim 14, characterized in that, The second guide component includes at least one of a second guide hole and a second guide post.

16. The multi-legged robot according to claim 15, characterized in that, The inner circumferential surface of the second guide hole has a third guide slope, which is used to guide the corresponding part of the charging device into the second guide hole; and / or, The outer peripheral surface of the second guide post has a fourth guide slope, which is used to guide the second guide post to be inserted into the corresponding hole of the charging device.

17. The multi-legged robot according to claim 16, characterized in that, The second guide component is disposed at the bottom of the torso assembly in the vertical direction.

18. The multi-legged robot according to any one of claims 14 to 17, characterized in that, The second wireless charging component includes a second magnetic element, which is used for magnetic connection with the charging device.

19. The multi-legged robot according to claim 18, characterized in that, The second wireless charging component also includes a second coil, which is used to wirelessly charge the multi-legged robot; The second coil is fixedly connected to the second magnetic component, and both the second coil and the second magnetic component are movably mounted on the torso assembly. The second magnetic component can be attracted by the first magnetic component of the charging device and move on the torso assembly.

20. The multi-legged robot according to claim 19, characterized in that, The second wireless charging component also includes a second cover, which is connected to the torso assembly. The second magnetic element and the second coil are both disposed between the second cover and the torso assembly.

21. A multi-legged robot system, characterized in that, It includes a charging device and a multi-legged robot, wherein the charging device is used to charge the multi-legged robot; Wherein, the charging device is the charging device according to any one of claims 1 to 13; and / or, the multi-legged robot is the multi-legged robot according to any one of claims 14 to 20.

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