Wireless charging device and charging system

Abstract

The invention provides a wireless charging device and a charging system. The wireless charging device comprises a housing, a wireless charging mechanism, a translation driving mechanism, a rotation driving mechanism, a positioning identification mechanism and a control mechanism. The wireless charging mechanism is movably and rotatably connected to the machine shell and used for charging the mobile robot. And the rotation driving mechanism and the translation driving mechanism are arranged independently. And the positioning identification mechanism is arranged on the wireless charging mechanism and is used for acquiring pose information of the mobile robot. The control mechanism is used for controlling the translation driving mechanism to drive the wireless charging mechanism to translate relative to the shell according to the pose information; and / or controlling the rotation driving mechanism to drive the wireless charging mechanism to rotate relative to the shell, so that the wireless charging mechanism is in butt joint with the charging module of the mobile robot, the use safety is improved, full-automatic charging of the mobile robot by the wireless charging device is realized, and the reliability and rapidness of charging are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot charging, and particularly relates to a wireless charging device and a charging system. BACKGROUND

[0002] The existing charging device adopts a contact charging mode to charge a mobile robot. However, physical contact exists between the charging device and the mobile robot, so that the driving motor and the plug-in plug of the charging device and other parts are prone to wear and tear, and there is a risk of sparking in the plugging process of the charging device and the mobile robot, so that the charging device is only suitable for a low-dust and low-humidity environment, thereby limiting the use scenarios of the charging device. SUMMARY

[0003] The present application provides a wireless charging device to solve the technical problem that physical contact exists between the existing charging device and the mobile robot, so that the driving motor and the plug-in plug of the charging device and other parts are prone to wear and tear, and there is a risk of sparking in the plugging process of the charging device and the mobile robot, so that the charging device is only suitable for a low-dust and low-humidity environment, thereby limiting the use scenarios of the charging device.

[0004] In a first aspect, the present application provides a wireless charging device, comprising a casing, a wireless charging mechanism, a translation driving mechanism, a rotation driving mechanism, a positioning and identifying mechanism, and a control mechanism. The wireless charging mechanism is movably and rotatably connected to the casing and is used to charge a mobile robot. The translation driving mechanism is in transmission connection with the wireless charging mechanism. The rotation driving mechanism is in transmission connection with the wireless charging mechanism and is independently arranged with the translation driving mechanism. The positioning and identifying mechanism is arranged on the wireless charging mechanism and is used to obtain pose information of the mobile robot. The control mechanism is in electrical connection with the positioning and identifying mechanism, the wireless charging mechanism, the translation driving mechanism, and the rotation driving mechanism, and is used to control the translation driving mechanism to drive the wireless charging mechanism to move translationally relative to the casing according to the pose information; and / or, control the rotation driving mechanism to drive the wireless charging mechanism to rotate relative to the casing, so that the wireless charging mechanism is in butt joint connection with a charging module of the mobile robot.

[0005] In conjunction with the first aspect, in some implementations of the first aspect, the wireless charging device further includes a mobile platform movably connected to the housing, a wireless charging mechanism rotatably connected to the mobile platform, a translational drive mechanism and a rotational drive mechanism both connected to the mobile platform, the translational drive mechanism driving the wireless charging mechanism and the rotational drive mechanism to translate relative to the housing, and the rotational drive mechanism driving the wireless charging mechanism to rotate relative to the mobile platform about the height direction of the wireless charging device.

[0006] In conjunction with the first aspect, in some implementations of the first aspect, the rotation drive mechanism includes a rotation drive member and a rotation transmission member, one end of the rotation transmission member is connected to the rotation drive member, the other end of the rotation transmission member is connected to the wireless charging mechanism, the rotation drive member is fixed to the mobile platform, and is used to drive the rotation transmission member to drive the wireless charging mechanism to rotate around the height direction of the wireless charging device.

[0007] In conjunction with the first aspect, in some implementations of the first aspect, the rotation drive mechanism further includes a connector and a connecting shaft. One end of the connector is rotatably connected to the mobile platform or the rotation drive via the connecting shaft. One end of the connector is fixedly connected to the wireless charging mechanism. The central axis of the connecting shaft is parallel to the height direction of the wireless charging device. The connector and the rotation transmission component are arranged at intervals in the height direction of the wireless charging device.

[0008] In conjunction with the first aspect, in some implementations of the first aspect, the rotation drive mechanism further includes at least one support rod, each of the support rods being connected between the connector and the rotation transmission member.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, the wireless charging device further includes a first heat sink, which is disposed on the side of the wireless charging mechanism facing the rotation drive mechanism and located between the connector and the rotation transmission member.

[0010] In conjunction with the first aspect, in some implementations of the first aspect, the housing is provided with a mounting cavity and a through hole communicating with the mounting cavity. The translation drive mechanism, the control mechanism, and the moving platform are disposed within the mounting cavity. One end of the rotation drive mechanism is connected to the moving platform, and the other end of the rotation drive mechanism rotatably passes through the through hole and is fixedly connected to the wireless charging mechanism. The wireless charging device further includes a flexible protective cover, which is sleeved on the outside of the rotation drive mechanism and is sealed to the wireless charging mechanism and the housing.

[0011] With reference to the first aspect, in some implementations of the first aspect, the translation driving mechanism includes a first translation driving member disposed on the moving platform and configured to drive the wireless charging mechanism to move in a translation plane, wherein the translation plane is parallel to a height direction of the wireless charging device and parallel to a width direction of the wireless charging device.

[0012] With reference to the first aspect, in some implementations of the first aspect, the moving platform includes a sliding frame, a guide rail and a sliding table, the guide rail is slidingly connected to the sliding frame in the height direction of the wireless charging device, the sliding table is slidingly connected to the guide rail in the length direction of the wireless charging device and connected with the wireless charging mechanism; the first translation driving member includes a first driving motor, a second driving motor, a first transmission belt and a second transmission belt, the first transmission belt is fixedly connected to the sliding table, the first driving motor is disposed on a first side of the sliding frame in the width direction of the wireless charging device and configured to drive the first transmission belt to drive the wireless charging mechanism to move in the width direction and the height direction of the wireless charging device synchronously; the second transmission belt is fixedly connected to the sliding table, the second driving motor is disposed on a second side of the sliding frame in the width direction of the wireless charging device and configured to drive the second transmission belt to drive the wireless charging mechanism to move in the width direction and the height direction of the wireless charging device synchronously.

[0013] With reference to the first aspect, in some implementations of the first aspect, the first translation driving member further includes a first driving wheel, a second driving wheel, a plurality of first driven wheels and a plurality of second driven wheels, the first driving wheel is in transmission connection with the first driving motor, the first transmission belt is rotatably sleeved outside the first driving wheel and the plurality of first driven wheels, the second driving wheel is in transmission connection with the second driving motor, and the second transmission belt is rotatably sleeved outside the second driving wheel and the plurality of second driven wheels.

[0014] With reference to the first aspect, in some implementations of the first aspect, the first driving motor and the second driving motor have a symmetry axis parallel to the height direction of the wireless charging device, the first driving wheel and the second driving wheel are symmetrically disposed relative to the symmetry axis; the plurality of first driven wheels and the plurality of second driven wheels are symmetrically disposed relative to the symmetry axis.

[0015] With reference to the first aspect, in some implementations of the first aspect, the first translation driving member further includes a linkage wheel, the linkage wheel is disposed on the moving platform, the first transmission belt and the second transmission belt are spaced apart and rotatably abut on the linkage wheel and cross each other at the linkage wheel.

[0016] With reference to the first aspect, in some implementations of the first aspect, the wireless charging device further comprises a support base, the support base is located at a bottom of the housing, the housing is fixedly connected to one side of the support base in a length direction of the wireless charging device, and forms a receiving space with the support base, and the wireless charging mechanism is movably received in the receiving space.

[0017] With reference to the first aspect, in some implementations of the first aspect, the translation driving mechanism further comprises a second translation driving member, the second translation driving member is movably connected to the support base and fixedly connected to the moving platform, and is configured to drive the moving platform to move the wireless charging mechanism in the length direction of the wireless charging device, wherein the length direction of the wireless charging device is perpendicular to the width direction of the wireless charging device and perpendicular to the height direction of the wireless charging device.

[0018] With reference to the first aspect, in some implementations of the first aspect, the housing is provided with a mounting cavity, the moving platform is movably arranged in the mounting cavity, the support base is provided with a receiving cavity and a movable hole, the movable hole is in communication with the receiving cavity and the mounting cavity, the second translation driving member comprises a third driving motor and a translation transmission element, the translation transmission element is movably arranged in the movable hole and fixedly connected to the moving platform, the third driving motor is arranged in the receiving cavity and in transmission connection with the translation transmission element, and the third driving motor is configured to drive the translation transmission element to move the moving platform, the translation driving mechanism, the rotation driving mechanism and the wireless charging mechanism in a second translation direction.

[0019] With reference to the first aspect, in some implementations of the first aspect, the wireless charging device further comprises a telescopic protective cover, two ends of the telescopic protective cover in the length direction of the wireless charging device are sealingly connected to the support base and the translation transmission element respectively, and two side portions of the telescopic protective cover in the width direction of the wireless charging device are sealingly connected to two edges of the movable hole in the width direction of the wireless charging device, wherein a telescopic direction of the telescopic protective cover is parallel to the length direction of the wireless charging device.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the translational transmission element includes a first transmission part and a second transmission part, the first transmission part being connected to the third drive motor and the second transmission part being fixedly connected to the moving platform, the first transmission part being configured as a screw, the second transmission part being configured as a slider, and having a screw hole for screwing into the screw; or, the first transmission part being configured as a transmission gear, and the second transmission part having a transmission rack meshing with the transmission gear.

[0021] In conjunction with the first aspect, in some implementations of the first aspect, one of the support base and the first transmission part is provided with a slide rail, and the other of the support base and the first transmission part is provided with a slide groove that slides in cooperation with the slide rail.

[0022] In conjunction with the first aspect, in some implementations of the first aspect, the wireless charging device further includes a mounting bracket, the housing is provided with a mounting cavity and a ventilation hole communicating with the mounting cavity, the mounting bracket is disposed in the mounting cavity and located on the side of the mobile platform facing away from the wireless charging mechanism in the length direction of the wireless charging device, the control mechanism is mounted on the mounting bracket, the wireless charging device further includes at least one second heat sink, the mounting bracket is provided with at least one second heat sink on one side of the width direction of the wireless charging device, and the mounting bracket is provided with a plurality of heat dissipation holes on the other side of the width direction of the wireless charging device, the plurality of heat dissipation holes communicating with the ventilation hole through the mounting cavity.

[0023] In conjunction with the first aspect, in some implementations of the first aspect, the housing is provided with a breathable and waterproof structure at the ventilation hole, and the breathable and waterproof structure is configured as a louver structure or a breathable and waterproof membrane.

[0024] In conjunction with the first aspect, in some implementations of the first aspect, the housing is provided with the ventilation hole on one side of the wireless charging device along its length.

[0025] In conjunction with the first aspect, in some implementations of the first aspect, the wireless charging device further includes an indicator structure disposed on the housing and used to output prompt information, the prompt information being used to characterize the charging status of the wireless charging device.

[0026] In conjunction with the first aspect, in some implementations of the first aspect, the positioning and identification mechanism is configured as a visual sensor or a ranging sensor, wherein the visual sensor includes a monocular visual sensor or a binocular visual sensor, and the ranging sensor includes an optical rangefinder, an acoustic rangefinder, a radio wave rangefinder, or a structured light sensor.

[0027] In conjunction with the first aspect, in some implementations of the first aspect, the wireless charging mechanism includes a charging housing and a charging coil, the charging coil being disposed within the charging housing, and one of the charging coil and the charging module being configured as an electromagnetic induction transmitting coil, and the other of the charging coil and the charging module being configured as an electromagnetic induction receiving coil; or, one of the charging coil and the charging module being configured as a magnetic resonance transmitting coil, and the other of the charging coil and the charging module being configured as a magnetic resonance receiving coil.

[0028] Secondly, this application provides a charging system, including a mobile robot and a wireless charging device as described above. The mobile robot is equipped with a charging module, and the wireless charging device is wirelessly connected to the charging module and used to charge the mobile robot.

[0029] The wireless charging device and charging system proposed in this application have several advantages. First, the wireless charging mechanism is wirelessly connected to the charging module of the mobile robot, thereby reducing wear and tear between the charging device and the mobile robot, improving safety, and expanding the application scenarios of the wireless charging device. Second, the control mechanism can control the translation drive mechanism to move the wireless charging mechanism relative to the housing and control the rotation drive mechanism to rotate the wireless charging mechanism relative to the housing based on the pose information of the mobile robot. This allows the wireless charging mechanism to dock with the charging module of the mobile robot, thereby achieving fully automated charging of the mobile robot by the wireless charging device. Furthermore, the wireless charging device can adapt to the pose of the mobile robot, improving the reliability and speed of docking and charging. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0031] Figure 1 This is a schematic diagram of the charging system provided in the embodiments of this application.

[0032] Figure 2 yes Figure 1 A schematic diagram of the wireless charging device.

[0033] Figure 3 yes Figure 2 An exploded view of the wireless charging device.

[0034] Figure 4 yes Figure 2An enlarged view of the first part of the wireless charging device.

[0035] Figure 5 yes Figure 2 An enlarged view of the second part of the wireless charging device.

[0036] Figure 6 yes Figure 2 An enlarged view of the third part of the wireless charging device.

[0037] Figure 7 yes Figure 6 The enlarged view of the wireless charging device in the image omits the retractable protective cover.

[0038] Figure 8 yes Figure 2 An enlarged view of the fourth part of the wireless charging device.

[0039] Figure 9 yes Figure 2 A schematic diagram of the back of the wireless charging device.

[0040] Key component symbols: Charging system - 1000; Mobile robot - 100; Device body - 110; Charging module - 120; Wireless charging device - 200; Housing - 10; Mounting cavity - 101; Through hole - 102; Ventilation hole - 103; Connecting hole - 104; First housing - 11; Second housing - 12; Mounting bracket - 13; Heat dissipation hole - 1301; Breathable and waterproof structure - 14; Indicating structure - 15; Moving platform - 20; Carriage - 21; Guide rail - 22; Slide table - 23; Support base - 30; Storage space - 301; Receiving cavity - 302; Movable hole - 303; Wireless charging mechanism - 40; Charging housing - 41; Charging coil - 42; Translation drive mechanism - 50; First translation drive component - 510; First drive motor - 51; Second drive... 52. Drive motor; 53. First transmission belt; 54. Second transmission belt; 55. First drive pulley; 56. Second drive pulley; 57. First driven pulley; 58. Second driven pulley; 59. Linkage pulley; 520. Second translation drive component; 521. Third drive motor; 522. Translation transmission element; 5221. First transmission part; 5222. Second transmission part; 5222. Slide rail; 523. Slide groove; 524. Rotation drive mechanism; 60. Rotation drive component; 61. Rotation transmission component; 62. Connecting component; 63. Connecting shaft; 64. Support rod; 65. Positioning and identification mechanism; 70. Control mechanism; 80. First heat sink; 91. Second heat sink; 92. Flexible protective cover; 95. Telescopic protective cover; 96. Axis of symmetry; P; Length direction; X; Width direction; Z. Detailed Implementation

[0041] The following embodiments of this application will be described in conjunction with the accompanying drawings.

[0042] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. "Fixed connection" means that the two parts are connected to each other and their relative positional relationship remains unchanged after connection. "Rotary connection" means that the two parts are connected to each other and can rotate relative to each other after connection. The term "integral molding" means that during the formation of one of multiple mechanisms, that mechanism is connected to the other mechanisms without requiring further processing (such as bonding, welding, snap-fit ​​connection, screw connection) to connect the two mechanisms together. The directional terms mentioned in the embodiments of this application, such as "top," "bottom," "inner," "outer," and "side," are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of this application, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0043] Please see Figure 1 , Figure 1 This is a schematic diagram of the charging system 1000 provided in an embodiment of this application. The charging system 1000 includes a mobile robot 100 and a wireless charging device 200. The wireless charging device 200 is wirelessly connected to the mobile robot 100 and is used to charge the mobile robot 100. Thus, the wireless charging device 200 is electrically connected to the mobile robot 100 wirelessly, thereby reducing wear and tear between the charging device and the mobile robot 100, improving safety, and expanding the application scenarios of the wireless charging device 200.

[0044] Please refer to the following: Figures 1 to 3 , Figure 2 yes Figure 1 A schematic diagram of the structure of the wireless charging device 200 in the diagram; Figure 3 yes Figure 2An exploded view of the wireless charging device 200. The wireless charging device 200 includes a housing 10, a wireless charging mechanism 40, a translation drive mechanism 50, a rotation drive mechanism 60, a positioning and recognition mechanism 70, and a control mechanism 80. The wireless charging mechanism 40 is movably and rotatably connected to the housing 10 and is used to charge the mobile robot 100. The translation drive mechanism 50 is drivenly connected to the wireless charging mechanism 40. The rotation drive mechanism 60 is drivenly connected to the wireless charging mechanism 40 and is independently arranged from the translation drive mechanism 50. The positioning and recognition mechanism 70 is disposed on the wireless charging mechanism 40 and is used to acquire the pose information of the mobile robot 100. The control mechanism 80 is electrically connected to the positioning and identification mechanism 70, the wireless charging mechanism 40, the translation drive mechanism 50, and the rotation drive mechanism 60, and is used to control the translation drive mechanism 50 to drive the wireless charging mechanism 40 to translate relative to the housing 10 according to the pose information; and / or control the rotation drive mechanism 60 to drive the wireless charging mechanism 40 to rotate relative to the housing 10, so that the wireless charging mechanism 40 docks with the charging module 120 of the mobile robot 100.

[0045] The wireless charging device 200 proposed in this application embodiment has two main features. First, the wireless charging mechanism 40 is wirelessly connected to the charging module 120 of the mobile robot 100, thereby reducing wear and tear between the charging device and the mobile robot 100, improving safety, and expanding the application scenarios of the wireless charging device 200. Second, the control mechanism 80 can control the translation drive mechanism 50 to drive the wireless charging mechanism 40 to translate relative to the housing 10, and control the rotation drive mechanism 60 to drive the wireless charging mechanism 40 to rotate relative to the housing 10, so that the wireless charging mechanism 40 can dock with the charging module 120 of the mobile robot 100. This enables the wireless charging device 200 to fully automatically charge the mobile robot 100, and the wireless charging device 200 can adapt to the position and posture of the mobile robot 100, improving the reliability and speed of docking and charging.

[0046] It should be noted that, Figure 1 The purpose is merely to schematically describe the arrangement of the housing 10, wireless charging mechanism 40, translation drive mechanism 50, rotation drive mechanism 60, positioning identification mechanism 70 and control mechanism 80, and not to make specific limitations on the connection position, connection relationship and specific structure of each component. Figure 1 The structure of the wireless charging device 200 illustrated in this application embodiment is merely a schematic representation and does not constitute a specific limitation on the wireless charging device 200. In other embodiments of this application, the wireless charging device 200 may include components that are larger than... Figure 1The wireless charging device 200 may include, but is not limited to, a temperature sensor, a battery management system, a connecting harness, etc., or may contain more or fewer components, or combinations of certain components, or different components.

[0047] The mobile robot 100 can be, but is not limited to, a lawnmower robot, a cleaning robot, a spraying robot, a line-marking robot, a seeding robot, etc. Understandably, to enable those skilled in the art to better understand the mobile robot 100, a lawnmower robot is used as an example for detailed explanation. It should be noted that the configuration of the mobile robot 100 as a lawnmower robot is for illustrative purposes only, and the embodiments in this application do not impose specific limitations. For example, the product type of the mobile robot 100 can also be set according to actual needs.

[0048] For the sake of accuracy, all references to direction in this article should be expressed in terms of direction. Figure 3 For reference, the term "length direction X" refers to the arrangement direction of the mobile robot 100 and the wireless charging device 200 in the charging state, i.e., the front-to-back direction (where the positive X-axis is front). The term "height direction Z" can refer to the direction perpendicular to the supporting surface on which the wireless charging device 200 is placed, i.e., the vertical direction. Figure 1 The vertical direction (where the positive Z-axis is upward) is defined in the wireless charging device 200. The term "width direction Y" refers to the direction perpendicular to both the length direction X and the height direction Z, i.e., the left-right direction (where the positive Y-axis is right). The length direction X, width direction Y, and height direction Z together constitute the three orthogonal directions of the wireless charging device 200. For ease of description, the front-back, left-right, and up-down positions in this application are relative positions and do not constitute a limitation. The length direction X, width direction Y, and height direction Z of the wireless charging device 200 can be customized according to the specific structure of the product and the viewing angle of the accompanying drawings; this application does not impose specific limitations on these aspects.

[0049] In some embodiments, the wireless charging device 200 further includes a mobile platform 20. The mobile platform 20 is movably connected to the housing 10. The wireless charging mechanism 40 is rotatably connected to the mobile platform 20. A translation drive mechanism 50 and a rotation drive mechanism 60 are both connected to the mobile platform 20. The translation drive mechanism 50 is used to drive the wireless charging mechanism 40 and the rotation drive mechanism 60 to translate relative to the housing 10. The rotation drive mechanism 60 is used to drive the wireless charging mechanism 40 to rotate relative to the mobile platform 20 about the height direction Z of the wireless charging device 200. Therefore, by connecting both the translation drive mechanism 50 and the rotation drive mechanism 60 to the mobile platform 20, on the one hand, the translation drive mechanism 50 and the rotation drive mechanism 60 are decoupled, making control simple and precise and improving the flexibility of the wireless charging device; on the other hand, the translation drive mechanism 50 and the rotation drive mechanism 60 are mounted on the mobile platform 20, reducing motion interference and accumulated errors, improving the control accuracy of the control mechanism 80 on the motion of the translation drive mechanism 50 and the rotation drive mechanism 60, optimizing space utilization, and making it suitable for the miniaturized design of the wireless charging device 200.

[0050] Of course, in some embodiments, the mobile platform 20 can also be set independently of the rotation drive mechanism 60. In other words, the translation drive mechanism 50 is only used to drive the wireless charging mechanism 40 to translate relative to the housing 10. The rotation drive mechanism 60 can be mounted on the housing and is used to drive the wireless charging mechanism 40 to rotate relative to the mobile platform 20 about the height direction Z of the wireless charging device 200.

[0051] Please refer to the following: Figure 3 and Figure 4 , Figure 4 yes Figure 2 An enlarged view of the first part of the wireless charging device 200. Exemplarily, in this embodiment, the rotation drive mechanism 60 includes a rotation drive member 61 and a rotation transmission member 62. One end of the rotation transmission member 62 is connected to the rotation drive member 61. The other end of the rotation transmission member 62 is connected to the wireless charging mechanism 40. The rotation drive member 61 is fixed to the mobile platform 20 and is used to drive the rotation transmission member 62 to rotate the wireless charging mechanism 40 around the height direction Z of the wireless charging device 200. Thus, on the one hand, the rotation transmission member 62 increases the distance between the wireless charging mechanism 40 and the rotation drive member 61, allowing the wireless charging mechanism 40 sufficient space to sway left and right; on the other hand, the rotational motion of the drive shaft is converted into the rotational motion of the wireless charging mechanism 40 through the rotation transmission member 62, saving space in the height direction Z of the wireless charging device 200, resulting in a compact structure. Of course, in some embodiments, the rotation drive mechanism 60 may omit the rotation transmission member 62, that is, the rotation drive mechanism 60 may only include the rotation drive member 61.

[0052] In some embodiments, the rotation drive mechanism 60 further includes a connector 63 and a connecting shaft 64. One end of the connector 63 is rotatably connected to the moving platform 20 or the rotation drive member 61 via the connecting shaft 64. One end of the connector 63 is fixedly connected to the wireless charging mechanism 40. The central axis of the connecting shaft 64 is parallel to the height direction Z of the wireless charging device 200. The connector 63 and the rotation transmission member 62 are arranged at intervals along the height direction Z of the wireless charging device 200. Thus, on the one hand, the arrangement of the connector 63 and the connecting shaft 64 can limit the sway of the wireless charging mechanism 40 from the height direction Z of the wireless charging device 200, improve the control accuracy of the rotation drive mechanism 60, reduce energy loss, and reduce the vibration of the wireless charging mechanism 40 during rotation; on the other hand, the interval arrangement of the connector 63 and the rotation transmission member 62 prevents mechanical collisions between the connector 63 and the rotation transmission member 62 during the rotation of the wireless charging mechanism 40, and improves the structural compactness.

[0053] For example, in this embodiment, the connecting shaft 64 is fixedly connected to the connecting member 63 and rotatably connected to the mobile platform 20. For instance, the connecting member 63 and the connecting shaft 64 can be integrally formed; or, the connecting member 63 and the connecting shaft 64 can be separately arranged and fixedly connected. Of course, in some embodiments, the connecting shaft 64 can also be fixedly connected to the mobile platform 20 and rotatably connected to the connecting member 63.

[0054] In some embodiments, the rotation drive mechanism 60 further includes at least one support rod 65. Each support rod 65 is connected between the connector 63 and the rotation transmission member 62. Thus, on the one hand, the support rod 65 enhances the overall structural rigidity and stability of the rotation drive mechanism 60, resists bending and torsional deformation of the rotation transmission member 62, and improves the control accuracy of the rotational motion; on the other hand, the support rod 65 shares the load, reducing vibration and noise of the wireless charging mechanism 40 during rotation, and extending the service life of the rotation drive mechanism 60. Exemplarily, in this embodiment, the drive mechanism includes two support rods 65. The extending direction of the two support rods 65 is parallel to the height direction Z of the wireless charging device 200. The support rod 65 can be rotatably connected between the connector 63 and the rotation transmission member 62, or the support rod 65 can be fixedly connected between the connector 63 and the rotation transmission member 62.

[0055] In some embodiments, the wireless charging device 200 further includes a first heat sink 91. The first heat sink 91 is disposed on the side of the wireless charging mechanism 40 facing the rotation drive mechanism 60, and is located between the connector 63 and the rotation transmission member 62. Thus, on the one hand, by disposing of the first heat sink 91 on the side of the wireless charging mechanism 40 facing the rotation drive mechanism 60, the internal space and airflow of the wireless charging device 200 are fully utilized, and the heat generated by the wireless charging mechanism 40 is promptly discharged to the external environment, thereby extending the service life of the wireless charging mechanism 40; on the other hand, the first heat sink 91 is disposed between the connector 63 and the rotation transmission member 62, thereby providing protection for the first heat sink 91 and preventing it from falling off due to impact.

[0056] For example, in this embodiment, the first heat sink 91 is configured as a fan. Of course, in some embodiments, the first heat sink 91 may also be configured as a heat-conducting structure; or, the first heat sink 91 includes both a fan and a heat-conducting structure. The heat-conducting structure may be, but is not limited to, at least one of copper pipes and heat sink fins.

[0057] The housing 10 has a mounting cavity 101 and a through hole 102 communicating with the mounting cavity 101. The translation drive mechanism 50, control mechanism 80, and moving platform 20 are disposed within the mounting cavity 101. One end of the rotation drive mechanism 60 is connected to the moving platform 20, and the other end of the rotation drive mechanism 60 rotatably passes through the through hole 102 and is fixedly connected to the wireless charging mechanism 40. The wireless charging device 200 also includes a flexible protective cover 95. The flexible protective cover 95 is fitted over the outside of the rotation drive mechanism 60 and is sealed to the wireless charging mechanism 40 and the housing 10. Therefore, on the one hand, the flexible protective cover 95 can prevent external water or dust from entering the mounting cavity 101, thereby reducing cleaning difficulty and improving the service life and operational reliability of the wireless charging device 200; on the other hand, the flexible protective cover 95 can adapt to the rotational deformation of the wireless charging mechanism 40, improving the sealing performance of the sealed cavity; furthermore, the wireless charging mechanism 40 extends outside the mounting cavity 101 via the rotation drive mechanism 60, thereby improving the reliability and flexibility of the wireless charging mechanism 40's rotation or translation relative to the housing 10. The flexible protective cover 95 can be configured as a bellows structure or a sleeve structure, etc. Exemplarily, in this embodiment, the flexible protective cover 95 is a bellows structure.

[0058] Please refer to the following: Figure 2 and Figure 5 , Figure 5 yes Figure 2An enlarged view of the second part of the wireless charging device 200. The translation drive mechanism 50 includes a first translation drive member 510. The first translation drive member 510 is disposed on the mobile platform 20 and is used to drive the wireless charging mechanism 40 to move in a translation plane. The translation plane is parallel to the height direction Z of the wireless charging device 200 and parallel to the width direction Y of the wireless charging device 200. Thus, the arrangement of the first translation drive member 510 enables the wireless drive mechanism to be aligned with the charging module 120 of the mobile robot 100 at a suitable position in the translation plane (i.e., the XZ plane), improving the reliability and speed of the wireless charging device 200 docking and charging with the mobile robot 100.

[0059] In this embodiment, the mobile platform 20 includes a carriage 21, a guide rail 22, and a slide 23. The guide rail 22 is slidably connected to the carriage 21 in the height direction Z of the wireless charging device 200. The slide 23 is slidably connected to the guide rail 22 in the length direction X of the wireless charging device 200 and is connected to the wireless charging mechanism 40. The first translation drive member 510 includes a first drive motor 51, a second drive motor 52, a first transmission belt 53, and a second transmission belt 54. The first transmission belt 53 is fixedly connected to the slide 23. The first drive motor 51 is disposed on the first side of the carriage 21 in the width direction Y of the wireless charging device 200 and is used to drive the first transmission belt 53 to drive the wireless charging mechanism 40 to move synchronously in the width direction Y and the height direction Z of the wireless charging device 200. The second transmission belt 54 is fixedly connected to the slide 23. The second drive motor 52 is located on the second side of the slide 21 in the width direction Y of the wireless charging device 200, and is used to drive the second transmission belt 54 to move the wireless charging mechanism 40 synchronously in the width direction Y and height direction Z of the wireless charging device 200. Thus, on the one hand, the coordinated movement of the first drive motor 51, the second drive motor 52, the first transmission belt 53, and the second transmission belt 54 enables the wireless charging mechanism 40 to move in multiple directions within the translation plane (i.e., the YZ plane), improving the reliability and speed of the wireless charging device 200 docking with the mobile robot 100 for charging, and reducing the load on the mobile platform 20; on the other hand, the first transmission belt 53 and the first transmission belt 54 form a bidirectional tension balance, offsetting the tension between the first transmission belt 53 and the first transmission belt 54, thereby avoiding the problem of inconsistent tension between the first transmission belt 53 and the first transmission belt 54, which increases assembly errors, and reducing the vibration and noise generated by the wireless charging mechanism 40 during movement.

[0060] In this embodiment, for example, the carriage 21 is generally a rectangular frame. The extension direction of the guide rail 22 is parallel to the width direction Y of the wireless charging device 200. The slide table 23 is slidably disposed relative to the slide rail 523 along the extension direction of the slide rail 523. Both the first transmission belt 53 and the second transmission belt 54 are configured as open-loop structures. The two ends of the first transmission belt 53 are respectively fixedly connected to both sides of the slide table 23 in the width direction Y of the wireless charging device 200, and the two ends of the second transmission belt 54 are also respectively fixedly connected to both sides of the slide table 23 in the width direction Y of the wireless charging device 200. Of course, in some embodiments, the first transmission belt 53 and the second transmission belt 54 can also be configured as closed-loop structures. The slide table 23 is fixedly sleeved on the first transmission belt 53 and the second transmission belt 54. The first transmission belt 53 and the second transmission belt 54 are arranged to avoid interference between the first transmission belt 53 and the second transmission belt, thereby improving the control accuracy of the first translation drive member 510 on the movement of the translation drive mechanism 50.

[0061] In some embodiments, the first translation drive 510 further includes a first drive wheel 55, a second drive wheel 56, a plurality of first driven wheels 57, and a plurality of second driven wheels 58. The first drive wheel 55 is drivenly connected to the first drive motor 51. A first transmission belt 53 is rotatably sleeved on the outside of the first drive wheel 55 and the plurality of first driven wheels 57. The second drive wheel 56 is drivenly connected to the second drive motor 52. A second transmission belt 54 is rotatably sleeved on the outside of the second drive wheel 56 and the plurality of second driven wheels 58. Thus, the arrangement of the first drive wheel 55, the second drive wheel 56, the plurality of first driven wheels 57, and the plurality of second driven wheels 58 allows for flexible adjustment of the arrangement direction of the first transmission belt 53 and the second transmission belt 54, avoiding motion interference, and improving the smoothness and reliability of the movement of the slide table 23 and the wireless charging mechanism 40 driven by the first transmission belt 53 and the second transmission belt 54 in the translation plane.

[0062] The number of multiple first driven wheels 57 and multiple second driven wheels 58 are the same, and they are arranged in a one-to-one correspondence. For example, in this embodiment, there are four of each type of driven wheel 57 and multiple second driven wheels 58. Two of the first driven wheels 57 are located on both sides of the top of the carriage 21 in the width direction Y of the wireless charging device 200, and the other two first driven wheels 57 are located on both sides of the slide rail 523 in the width direction Y of the wireless charging device 200, arranged diagonally. Similarly, two of the second driven wheels 58 are located on both sides of the top of the carriage 21 in the width direction Y of the wireless charging device 200, and the other two second driven wheels 58 are located on both sides of the slide rail 523 in the width direction Y of the wireless charging device 200, arranged diagonally.

[0063] Of course, in some embodiments, the number of the plurality of first driven wheels 57 and the plurality of second driven wheels 58 may be different. It should be noted that the number and arrangement of the plurality of first driven wheels 57 and the plurality of second driven wheels 58 can be set according to the actual situation, and the embodiments of this application do not impose specific limitations.

[0064] In some embodiments, the first drive motor 51 and the second drive motor 52 are connected by a symmetry axis P parallel to the height direction Z of the wireless charging device 200. The first drive wheel 55 and the second drive wheel 56 are symmetrically arranged relative to the symmetry axis P; a plurality of first driven wheels 57 and a plurality of second driven wheels 58 are symmetrically arranged relative to the symmetry axis P. Thus, on the one hand, based on the symmetrical arrangement of the first transmission belt 53 and the second transmission belt 54, the control difficulty of the wireless charging mechanism 40 moving in the translation plane is reduced, the control accuracy of the wireless charging mechanism 40 moving in the translation plane is improved, and the overall force uniformity of the wireless charging device 200 is improved; on the other hand, a bidirectional tension balance is formed between the first transmission belt 53 and the second transmission belt 54, offsetting the tension between the first transmission belt 53 and the second transmission belt 54, thereby avoiding the problem of increased assembly errors due to inconsistent tension between the first transmission belt 53 and the second transmission belt 54, and reducing the vibration and noise generated by the wireless charging mechanism 40 during movement.

[0065] Understandably, when the first drive motor 51 rotates counterclockwise and the second drive motor 52 stops working, the first drive motor 51 drives the moving platform 20 to move the wireless charging mechanism 40 by a first displacement along the positive Z-axis, denoted as +ΔZ, and simultaneously moves it by a second displacement along the positive Y-axis, denoted as +ΔY, where ΔZ = ΔY. When the first drive motor 51 rotates clockwise and the second drive motor 52 stops working, the first drive motor 51 drives the moving platform 20 to move the wireless charging mechanism 40 by a first displacement along the negative Z-axis, denoted as -ΔZ, and simultaneously moves it by a second displacement along the negative Y-axis, denoted as -ΔY, where ΔZ = ΔY. When the second drive motor 52 rotates counterclockwise and the first drive motor 51 stops working, the second drive motor 52 drives the moving platform 20 to move the wireless charging mechanism 40 by a first displacement along the negative Z-axis, denoted as -ΔZ, and simultaneously moves it by a second displacement along the positive Y-axis, denoted as ΔY, where ΔZ = ΔY. When the second drive motor 52 rotates clockwise and the first drive motor 51 stops working, the second drive motor 52 drives the moving platform 20 to move the wireless charging mechanism 40 by a first displacement along the positive Z-axis, denoted as +ΔZ, and simultaneously moves it by a second displacement along the negative Y-axis, denoted as -ΔY, where ΔZ = ΔY. When the first drive motor 51 rotates clockwise and the second drive motor 52 rotates counterclockwise, both the first drive motor 51 and the second drive motor 52 jointly drive the moving platform 20 to move the wireless charging mechanism 40 along the negative Z-axis. When the first drive motor 51 rotates counterclockwise and the second drive motor 52 rotates clockwise, both motors together drive the moving platform 20, causing the wireless charging mechanism 40 to move along the positive Z-axis. When both motors rotate clockwise and clockwise, both motors together drive the moving platform 20, causing the wireless charging mechanism 40 to move along the negative Y-axis. When both motors rotate counterclockwise and counterclockwise, both motors together drive the moving platform 20, causing the wireless charging mechanism 40 to move along the positive Y-axis.

[0066] In some embodiments, the first translation drive 510 further includes a linkage wheel 59, which is disposed on the moving platform 20. The first transmission belt 53 and the second transmission belt 54 are spaced apart and rotatably abut against the linkage wheel 59, and are arranged in a cross configuration at the linkage wheel 59. This avoids interference wear between the first transmission belt 53 and the second transmission belt during rotation; and the linkage wheel 59 can synchronize the rotational speeds of the first transmission belt 53 and the second transmission belt 54, improving the stability and reliability of the movement of the wireless charging mechanism 40. Exemplarily, in this embodiment, the linkage wheel 59 is located at the top of the carriage 21 at the midpoint of the width direction Y of the wireless charging device 200.

[0067] For example, in this embodiment, the wireless charging device 200 further includes a support base 30, which is located at the bottom of the housing 10. The housing 10 is fixedly connected to one side of the support base 30 along the longitudinal direction X of the wireless charging device 200, forming a storage space 301 with the support base 30. The wireless charging mechanism 40 is movably stored in the storage space 301. Thus, by concealing the wireless charging mechanism 40 within the storage space 301 formed by the support base 30 and the housing 10, the problem of mechanical collision caused by the protruding wireless charging mechanism 40 is avoided, thereby improving the safety and aesthetics of the wireless charging mechanism 40. Of course, in some embodiments, the wireless charging mechanism 40 may also extend beyond the storage space 301 along the longitudinal direction X of the wireless charging device 200.

[0068] Please refer to the following: Figure 3 , Figure 6 and Figure 7 , Figure 6 yes Figure 2 An enlarged view of the third part of the wireless charging device 200. Figure 7 yes Figure 6 The enlarged view of the wireless charging device 200, omitting the telescopic protective cover 96, is shown. In some embodiments, the translation drive mechanism 50 further includes a second translation drive member 520. The second translation drive member 520 is movably connected to the support base 30 and fixedly connected to the mobile platform 20. The second translation drive member 520 is used to drive the mobile platform 20 to move the wireless charging mechanism 40 in the longitudinal direction X of the wireless charging device 200. The longitudinal direction X of the wireless charging device 200 is perpendicular to the width direction Y of the wireless charging device 200 and perpendicular to the height direction Z of the wireless charging device 200. Therefore, the second translation drive member 520 can drive the wireless charging mechanism 40 closer to or further away from the mobile robot 100, thereby improving the reliability and speed of the wireless charging device 200 docking and charging with the mobile robot 100.

[0069] In this embodiment, for example, a mounting cavity 101 is provided inside the housing 10. The mobile platform 20 is movably disposed within the mounting cavity 101. The support base 30 is provided with a receiving cavity 302 and a movable hole 303. The movable hole 303 communicates with the receiving cavity 302 and the mounting cavity 101. The second translation drive member 520 includes a third drive motor 521 and a translation transmission element 522. The translation transmission element 522 is movably disposed through the movable hole 303 and is fixedly connected to the mobile platform 20. The third drive motor 521 is disposed within the receiving cavity 302 and is drively connected to the translation transmission element 522. The third drive motor 521 is used to drive the translation transmission element 522 to move the mobile platform 20, the translation drive mechanism 50, the rotation drive mechanism 60, and the wireless charging mechanism 40 in a second translation direction. Therefore, by connecting the first translation drive 510 and the second translation drive 520 to the mobile platform 20, on the one hand, the first translation drive 510 and the second translation drive 520 are decoupled, making control simple and precise, and improving the flexibility of the wireless charging device; on the other hand, the first translation drive 510 and the second translation drive 520 are both mounted on the mobile platform 20, and the second translation drive 520 can drive the first translation drive 510, the rotation mechanism and the wireless charging mechanism 40 to move synchronously, reducing motion interference and accumulated errors, improving the control accuracy of the control mechanism 80 on the motion of the first translation drive 510 and the second translation drive 520, optimizing space utilization, and making it suitable for the miniaturized design of the wireless charging device 200.

[0070] In some embodiments, the wireless charging device 200 further includes a telescopic protective cover 96. The telescopic protective cover 96 is sealed to the support base 30 and the translational transmission element 522 at both ends in the longitudinal direction X of the wireless charging device 200. The two sides of the telescopic protective cover 96 in the width direction Y of the wireless charging device 200 are sealed to the two edges of the movable hole 303 in the width direction Y of the wireless charging device 200. The telescopic direction of the telescopic protective cover 96 is parallel to the longitudinal direction X of the wireless charging device 200. Therefore, on the one hand, the telescopic protective cover 96 prevents external water or dust from entering the accommodating cavity 302, thereby reducing cleaning difficulty and improving the service life and operational reliability of the wireless charging device 200; on the other hand, the telescopic protective cover 96 can adapt to the adaptive deformation of the wireless charging mechanism 40 moving in the longitudinal direction X, improving the sealing performance of the accommodating cavity 302. The telescopic protective cover 96 can be configured as a bellows structure or a sleeve structure, etc. Exemplarily, in this embodiment, the telescopic protective cover 96 is a bellows structure.

[0071] Exemplarily, in this embodiment, the translational transmission element 522 includes a first transmission part 5221 and a second transmission part 5222. The first transmission part 5221 is connected to the third drive motor 521 and the second transmission part 5222. The second transmission part 5222 is fixedly connected to the moving platform 20. The first transmission part 5221 is configured as a screw. The second transmission part 5222 is configured as a slider and is provided with a screw hole for screwing into the screw. Of course, in some embodiments, the first transmission part 5221 can be configured as a transmission gear, and the second transmission part 5222 is provided with a transmission rack that meshes with the transmission gear. Thus, the cooperative use of the first transmission part 5221 and the second transmission part 5222 can improve the stability and reliability of the second translational drive 520 driving the moving platform 20, and can improve the space utilization of the wireless charging device 200 in the length direction X.

[0072] One of the support base 30 and the first transmission part 5221 is provided with a slide rail 523, and the other of the support base 30 and the first transmission part 5221 is provided with a groove 524 that slides with the slide rail 523, thereby improving the stability and reliability of the movement of the moving platform 20 driven by the second translation drive member 520. For example, in this embodiment, the bottom wall of the support base 30 is provided with a slide rail 523, and the first transmission part 5221 is provided with a groove 524 that slides with the slide rail 523, thereby preventing powder or metal debris from remaining inside the sliding cabinet and improving the stability and reliability of the movement of the moving platform 20 driven by the second translation drive member 520.

[0073] Please refer to it again. Figure 3 and Figure 8 , Figure 8 yes Figure 2This is an enlarged view of the fourth part of the wireless charging device 200. The wireless charging device 200 also includes a mounting bracket 13. The housing 10 is provided with a mounting cavity 101 and a ventilation hole 103 communicating with the mounting cavity 101. The mounting bracket 13 is disposed within the mounting cavity 101 and is located on the side of the mobile platform 20 facing away from the wireless charging mechanism 40 in the longitudinal direction X of the wireless charging device 200. The control mechanism 80 is mounted on the mounting bracket 13. The wireless charging device 200 also includes at least one second heat sink 92. The mounting bracket 13 is provided with at least one second heat sink 92 on one side of the wireless charging device 200 in the width direction Y. The mounting bracket 13 is provided with a plurality of heat dissipation holes 1301 on the other side of the wireless charging device 200 in the width direction Y. The plurality of heat dissipation holes 1301 communicate with the ventilation hole 103 through the mounting cavity 101. Therefore, on the one hand, by setting the mounting bracket 13 on the side of the mobile platform 20 facing away from the wireless charging mechanism 40 and mounting the control mechanism 80 on the mounting bracket 13, the impact of the heat generated by the control mechanism 80 on the wireless charging mechanism 40 is reduced; on the other hand, the second heat sink 92 is set on the side of the mounting bracket 13 in the width direction Y of the wireless charging device 200, thereby making full use of the internal space and airflow of the wireless charging device 200, and timely dissipating the heat generated by the control mechanism 80 and the wireless charging mechanism 40 to the external environment, thereby extending the service life of the wireless charging mechanism 40.

[0074] For example, in this embodiment, the second heat sink 92 is configured as a fan. Of course, in some embodiments, the second heat sink 92 may also be configured as a heat-conducting structure; or, the second heat sink 92 may include both a fan and a heat-conducting structure. The heat-conducting structure may be, but is not limited to, at least one of copper pipes and heat sink fins.

[0075] Please refer to the following: Figure 3 , Figure 8 and Figure 9 , Figure 9 yes Figure 2 The diagram shows the structure of the back of the wireless charging device 200. The housing 10 has a breathable and waterproof structure 14 at the ventilation hole 103. The breathable and waterproof structure 14 is configured as a louver structure or a breathable and waterproof membrane, thereby improving the heat dissipation effect of the wireless charging device 200 and improving the sealing performance of the mounting cavity 101.

[0076] For example, in this embodiment, the housing 10 has a ventilation hole 103 on one side of the wireless charging device 200 along the length direction X, thereby preventing heat discharged through the hole from spreading to one side of the wireless charging mechanism 40 and affecting the charging efficiency and service life of the wireless charging mechanism 40. Of course, in some embodiments, the ventilation hole 103 may also be provided on at least one side of the housing 10 along the width direction Y of the wireless charging device 200. There may be one or more ventilation holes 103, and the number and location of the ventilation holes 103 can be set according to the actual situation. This application embodiment does not make specific limitations.

[0077] Exemplarily, in this embodiment, the housing 10 includes a first housing 11 and a second housing 12. The second housing 12 is separately disposed from the first housing 11 and covers the outside of the first housing 11. The first housing 11 is provided with a mounting cavity 101 and a through hole 102. The first housing 11 is also provided with a connecting hole 104. The connecting hole 104 communicates with the mounting cavity 101 and is disposed opposite to the through hole 102 in the longitudinal direction X of the wireless charging device 200, thereby reducing wind resistance and improving the airflow exchange efficiency in the mounting cavity 101. The second housing 12 is provided with a ventilation hole at the position corresponding to the connecting hole 104. Of course, in some embodiments, the first housing 11 and the second housing 12 can be integrated into a single structure, and this application embodiment does not specifically limit this.

[0078] In some embodiments, the wireless charging device 200 further includes an indicator structure 15, which is disposed on the housing 10 and used to output prompt information indicating the charging status of the wireless charging device 200. Thus, users can promptly understand the charging status of the wireless charging device 200 based on the prompt information output by the indicator structure, improving the user experience.

[0079] A positioning and identification mechanism 70 is disposed on the wireless charging mechanism 40. The positioning and identification mechanism 70 is configured as a vision sensor or a ranging sensor. The vision sensor includes a monocular vision sensor or a binocular vision sensor, and the ranging sensor includes an optical rangefinder, an acoustic rangefinder, a radio wave rangefinder, or a structured light sensor. Therefore, by disposing the positioning and identification mechanism 70 on the wireless charging mechanism 40, the positioning mechanism can follow the movement of the wireless charging mechanism 40, improving the accuracy of positioning the mobile robot 100. Exemplarily, in this embodiment, the positioning and identification mechanism 70 is disposed on the top of the wireless charging mechanism 40, and the positioning and identification mechanism 70 is configured as a binocular vision sensor.

[0080] Understandably, when the mobile robot 100 stops at a designated position at the front end of the wireless charging device 200, the mobile robot 100 can send a charging command to the wireless charging device 200. The binocular vision sensor of the positioning and identification mechanism 70 can track and match the positioning identification structure (such as LOGO) of the mobile robot 100. After the positioning and identification mechanism 70 and the mobile robot 100 complete the matching of identity information, the control mechanism 80 of the wireless charging device 200 sends a working command to at least one of the translation drive mechanism 50 and the rotation drive mechanism 60 to realize that the wireless charging mechanism 40 adaptively completes the alignment with the charging module 120 of the mobile robot 100. Specifically, the wireless charging mechanism 40 can move up, down, left, and right on the drive frame of the first horizontal drive member within a translational surface parallel to the height direction Z of the wireless charging device 200, and can deflect relative to the fixed seat under the drive of the rotation drive mechanism 60. It can also move back and forth relative to the fixed seat in the length direction X of the wireless charging device 200 under the drive of the second horizontal drive member. This allows the wireless charging mechanism 40 of the wireless charging device 200 to be in the optimal position and distance, and enables fast, automatic, and efficient charging of the charging module 120 of the mobile robot 100, thereby improving the charging efficiency of the wireless charging device 200.

[0081] Please refer to it again. Figure 1 The wireless charging mechanism 40 includes a charging housing 41 and a charging coil 42, with the charging coil 42 disposed within the charging housing 41. One of the charging coil 42 and the charging module 120 is configured as an electromagnetic induction transmitting coil, and the other is configured as an electromagnetic induction receiving coil; alternatively, one of the charging coil 42 and the charging module 120 is configured as a magnetic resonance transmitting coil, and the other is configured as a magnetic resonance receiving coil, thereby ensuring the reliability and stability of wireless charging between the wireless charging device 200 and the mobile robot 100.

[0082] The above description is merely a specific implementation of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A wireless charging device, characterized in that, include: chassis; A wireless charging mechanism is movably and rotatably connected to the housing and is used to charge the mobile robot. A translation drive mechanism, wherein the translation drive mechanism is connected to the wireless charging mechanism in a transmission manner; A rotation drive mechanism is connected to the wireless charging mechanism and is independently configured from the translation drive mechanism. A positioning and identification mechanism is disposed on the wireless charging mechanism and is used to acquire the pose information of the mobile robot; A control mechanism is electrically connected to the positioning and identification mechanism, the wireless charging mechanism, the translation drive mechanism, and the rotation drive mechanism, and is used to control the translation drive mechanism to drive the wireless charging mechanism to translate relative to the housing according to the pose information; and / or control the rotation drive mechanism to drive the wireless charging mechanism to rotate relative to the housing, so that the wireless charging mechanism docks with the charging module of the mobile robot.

2. The wireless charging device according to claim 1, characterized in that, The wireless charging device further includes a mobile platform, which is movably connected to the housing. The wireless charging mechanism is rotatably connected to the mobile platform. The translation drive mechanism and the rotation drive mechanism are both connected to the mobile platform. The translation drive mechanism is used to drive the wireless charging mechanism and the rotation drive mechanism to translate relative to the housing. The rotation drive mechanism is used to drive the wireless charging mechanism to rotate relative to the mobile platform about the height direction of the wireless charging device.

3. The wireless charging device according to claim 2, characterized in that, The rotation drive mechanism includes a rotation drive component and a rotation transmission component. One end of the rotation transmission component is connected to the rotation drive component, and the other end of the rotation transmission component is connected to the wireless charging mechanism. The rotation drive component is fixed to the mobile platform and is used to drive the rotation transmission component to rotate the wireless charging mechanism around the height direction of the wireless charging device.

4. The wireless charging device according to claim 3, characterized in that, The rotation drive mechanism further includes a connector and a connecting shaft. One end of the connector is rotatably connected to the mobile platform or the rotation drive via the connecting shaft. One end of the connector is fixedly connected to the wireless charging mechanism. The central axis of the connecting shaft is parallel to the height direction of the wireless charging device. The connector and the rotation transmission component are arranged at intervals in the height direction of the wireless charging device.

5. The wireless charging device according to claim 4, characterized in that, The rotation drive mechanism further includes at least one support rod, each of which is connected between the connector and the rotation transmission member.

6. The wireless charging device according to claim 4, characterized in that, The wireless charging device further includes a first heat sink, which is disposed on the side of the wireless charging mechanism facing the rotation drive mechanism and located between the connector and the rotation transmission component.

7. The wireless charging device according to claim 2, characterized in that, The housing has a mounting cavity and a through hole communicating with the mounting cavity. The translation drive mechanism, the control mechanism, and the moving platform are disposed in the mounting cavity. One end of the rotation drive mechanism is connected to the moving platform, and the other end of the rotation drive mechanism rotatably passes through the through hole and is fixedly connected to the wireless charging mechanism. The wireless charging device also includes a flexible protective cover, which is sleeved on the outside of the rotation drive mechanism and is sealed to the wireless charging mechanism and the housing.

8. The wireless charging device according to claim 2, characterized in that, The translation drive mechanism includes a first translation drive member, which is disposed on the mobile platform and is used to drive the wireless charging mechanism to move in a translation plane, wherein the translation plane is parallel to the height direction of the wireless charging device and parallel to the width direction of the wireless charging device.

9. The wireless charging device according to claim 8, characterized in that, The mobile platform includes a carriage, a guide rail, and a slide table. The guide rail is slidably connected to the carriage in the height direction of the wireless charging device, and the slide table is slidably connected to the guide rail in the length direction of the wireless charging device and connected to the wireless charging mechanism. The first translation drive includes a first drive motor, a second drive motor, a first transmission belt, and a second transmission belt. The first transmission belt is fixedly connected to the slide table. The first drive motor is disposed on a first side of the carriage in the width direction of the wireless charging device and is used to drive the first transmission belt to drive the wireless charging mechanism to move synchronously in the width and height directions of the wireless charging device. The second transmission belt is fixedly connected to the slide table. The second drive motor is disposed on a second side of the carriage in the width direction of the wireless charging device and is used to drive the second transmission belt to drive the wireless charging mechanism to move synchronously in the width and height directions of the wireless charging device.

10. The wireless charging device according to claim 9, characterized in that, The first translation drive component further includes a first driving wheel, a second driving wheel, a plurality of first driven wheels, and a plurality of second driven wheels. The first driving wheel is driven by the first drive motor. The first transmission belt is rotatably sleeved on the outside of the first driving wheel and the plurality of first driven wheels. The second driving wheel is driven by the second drive motor. The second transmission belt is rotatably sleeved on the outside of the second driving wheel and the plurality of second driven wheels.

11. The wireless charging device according to claim 10, characterized in that, The first drive motor and the second drive motor have an axis of symmetry parallel to the height direction of the wireless charging device, and the first drive wheel and the second drive wheel are symmetrically arranged with respect to the axis of symmetry; a plurality of first driven wheels and a plurality of second driven wheels are symmetrically arranged with respect to the axis of symmetry.

12. The wireless charging device according to claim 10, characterized in that, The first translation drive component also includes a linkage wheel, which is disposed on the moving platform. The first transmission belt and the second transmission belt are spaced apart and rotatably abut against the linkage wheel, and are arranged in a cross pattern at the linkage wheel.

13. The wireless charging device according to claim 2, characterized in that, The wireless charging device also includes a support base located at the bottom of the housing. The housing is fixedly connected to the support base on one side of the wireless charging device along its length and forms a storage space with the support base. The wireless charging mechanism is movably stored in the storage space.

14. The wireless charging device according to claim 13, characterized in that, The translation drive mechanism further includes a second translation drive component, which is movably connected to the support base and fixedly connected to the mobile platform. The second translation drive component is used to drive the mobile platform to move the wireless charging mechanism in the length direction of the wireless charging device. The length direction of the wireless charging device is perpendicular to the width direction of the wireless charging device and perpendicular to the height direction of the wireless charging device.

15. The wireless charging device according to claim 14, characterized in that, The housing has an installation cavity, and the mobile platform is movably disposed within the installation cavity. The support base has a receiving cavity and a movable hole, the movable hole being connected to the receiving cavity and the installation cavity. The second translation drive component includes a third drive motor and a translation transmission element. The translation transmission element is movably disposed through the movable hole and fixedly connected to the mobile platform. The third drive motor is disposed within the receiving cavity and is drively connected to the translation transmission element. The third drive motor is used to drive the translation transmission element to move the mobile platform, the translation drive mechanism, the rotation drive mechanism, and the wireless charging mechanism in a second translation direction.

16. The wireless charging device according to claim 15, characterized in that, The wireless charging device also includes a telescopic protective cover, which is sealed to the support base and the translational transmission element at both ends in the length direction of the wireless charging device, and the telescopic protective cover is sealed to the two edges of the movable hole in the width direction of the wireless charging device at the two sides in the width direction of the wireless charging device, wherein the telescopic direction of the telescopic protective cover is parallel to the length direction of the wireless charging device.

17. The wireless charging device according to claim 15, characterized in that, The translational transmission element includes a first transmission part and a second transmission part. The first transmission part is connected to the third drive motor and the second transmission part, and the second transmission part is fixedly connected to the moving platform. The first transmission part is configured as a screw, and the second transmission part is configured as a slider and is provided with a screw hole for screwing into the screw. Alternatively, the first transmission part is configured as a transmission gear, and the second transmission part is provided with a transmission rack that meshes with the transmission gear.

18. The wireless charging device according to claim 17, characterized in that, One of the support base and the first transmission part is provided with a slide rail, and the other of the support base and the first transmission part is provided with a slide groove that slides in cooperation with the slide rail.

19. The wireless charging device according to claim 2, characterized in that, The wireless charging device further includes a mounting bracket. The housing is provided with a mounting cavity and a ventilation hole communicating with the mounting cavity. The mounting bracket is disposed in the mounting cavity and located on the side of the mobile platform facing away from the wireless charging mechanism in the length direction of the wireless charging device. The control mechanism is mounted on the mounting bracket. The wireless charging device further includes at least one second heat sink. The mounting bracket is provided with at least one second heat sink on one side of the width direction of the wireless charging device, and the mounting bracket is provided with multiple heat dissipation holes on the other side of the width direction of the wireless charging device. The multiple heat dissipation holes are connected to the ventilation hole through the mounting cavity.

20. The wireless charging device according to claim 19, characterized in that, The housing is provided with a breathable and waterproof structure at the ventilation hole, and the breathable and waterproof structure is configured as a louver structure or a breathable and waterproof membrane.

21. The wireless charging device according to claim 19, characterized in that, The housing has the ventilation hole on one side along the length of the wireless charging device.

22. The wireless charging device according to any one of claims 1-21, characterized in that, The wireless charging device also includes an indicator structure disposed on the housing and used to output prompt information, which is used to indicate the charging status of the wireless charging device.

23. The wireless charging device according to any one of claims 1-21, characterized in that, The positioning and identification mechanism is configured as a visual sensor or a ranging sensor. The visual sensor includes a monocular visual sensor or a binocular visual sensor, and the ranging sensor includes an optical rangefinder, an acoustic rangefinder, a radio wave rangefinder, or a structured light sensor.

24. The wireless charging device according to any one of claims 1-21, characterized in that, The wireless charging mechanism is disposed on the wireless charging unit. The wireless charging unit includes a charging housing and a charging coil. The charging coil is disposed inside the charging housing. One of the charging coil and the charging module is configured as an electromagnetic induction transmitting coil, and the other of the charging coil and the charging module is configured as an electromagnetic induction receiving coil; or, one of the charging coil and the charging module is configured as a magnetic resonance transmitting coil, and the other of the charging coil and the charging module is configured as a magnetic resonance receiving coil.

25. A charging system, characterized in that, The device includes a mobile robot and a wireless charging device as described in any one of claims 1-24, wherein the mobile robot is equipped with a charging module, and the wireless charging mechanism is wirelessly connected to the charging module and used to charge the mobile robot.

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