Movable charging device for robot

Abstract

The invention discloses a robot movable charging device which comprises a device shell provided with a first surface extending in the height direction of the device shell. And the main control module is arranged in the device shell, is electrically connected with the wireless charging transmitting end, and is used for performing charging control on the wireless charging transmitting end. The wireless charging transmitting end is provided with a wireless charging butt joint groove matched with a wireless charging receiving end of the robot, the side, away from the wireless charging butt joint groove, of the wireless charging transmitting end is movably arranged on the first surface in the first direction, and the two sides, in the first direction, of the wireless charging butt joint groove are each provided with a guide structure; the guiding structure is matched with the wireless charging transmitting end to move in the first direction, and the wireless charging receiving end close to the guiding structure in the second direction is guided into the wireless charging butt joint groove. According to the technical scheme, it can be ensured that the mobile robot is smoothly connected with the wireless charging transmitting end during automatic charging, so that the automatic charging efficiency of the mobile robot is greatly improved.

Description

TECHNICAL FIELD

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

[0002] At present, for a mobile robot using a storage battery as a power source, since the unit volume of the storage battery is too large, more space of the mobile robot is occupied, so that the volume of the mobile robot is large and the weight of the mobile robot is heavy, so that more resources are consumed when the mobile robot moves, and thus the working efficiency of the mobile robot is greatly affected. Therefore, in order to improve the working efficiency, the existing mobile robot usually uses a small volume storage battery, and then cooperates with a robot charging device to automatically charge and supplement energy. However, the existing robot charging device, since the wireless charging transmitting end is mainly fixed on the device shell, when the mobile robot automatically charges, the wireless charging receiving end needs to be aligned with the wireless charging transmitting end through horizontal movement, so that the corresponding wireless charging operation can be completed. Therefore, when the existing mobile robot automatically charges, the wireless charging transmitting end of the robot charging device is not successfully connected, so that the mobile robot needs to be connected repeatedly for several times to be successfully connected, and in serious cases, manual assistance is needed for connection, and thus the automatic charging efficiency of the mobile robot is greatly affected. SUMMARY

[0003] The embodiment of the present application provides a robot mobile charging device, which aims to improve the technical problem that the existing robot charging device is not successfully connected with the wireless charging transmitting end when the mobile robot automatically charges, and the automatic charging efficiency of the mobile robot is affected.

[0004] Therefore, the embodiment of the present application provides a robot mobile charging device applied to the automatic charging operation of the mobile robot, which comprises a device shell, a main control module and a wireless charging transmitting end, wherein,

[0005] The device shell has a first surface extending along the height direction of the device shell.

[0006] The main control module is built in the device shell and is electrically connected with the wireless charging transmitting end, so as to control the charging of the wireless charging transmitting end.

[0007] The wireless charging transmitter is provided with a wireless charging docking groove adapted to the wireless charging receiver of the robot. The side of the wireless charging transmitter away from the wireless charging docking groove is movably disposed on the first surface in a first direction. The wireless charging docking groove is provided with a guide structure on each side in the first direction to cooperate with the movement of the wireless charging transmitter in the first direction and guide the wireless charging receiver, which is close to the guide structure in a second direction, into the wireless charging docking groove. The first direction is parallel to the first surface and perpendicular to the height direction of the device housing, and the second direction is perpendicular to the first surface.

[0008] Optionally, in some embodiments of this application, the side of the wireless charging transmitter away from the wireless charging docking groove is also elastically disposed on the first surface in the second direction.

[0009] Optionally, in some embodiments of this application, the side of the wireless charging transmitter away from the wireless charging docking groove is also movably disposed on the first surface in a third direction, the third direction being parallel to the height direction of the device housing.

[0010] Optionally, in some embodiments of this application, the side of the wireless charging transmitter away from the wireless charging docking groove is movably disposed on the first surface in the first direction via a first movable structure;

[0011] The first surface is recessed with a mounting groove. The first movable structure includes a first direction fixing plate and at least one first movable module for moving in the first direction. The first direction fixing plate is installed in the mounting groove and has a second surface parallel to the first surface. The side of the wireless charging transmitter away from the wireless charging docking groove is movably connected to the second surface through at least one of the first movable modules.

[0012] Optionally, in some embodiments of this application, the first active module includes a first guide shaft, two first guide brackets, two first springs, and a first linear bearing. The first guide shaft extends along the first direction, and both ends of the first guide shaft are respectively fixed to the second surface by a first guide bracket. The first linear bearing is slidably sleeved on the first guide shaft and fixedly connected to the side of the wireless charging transmitter away from the wireless charging docking groove. The first guide shaft also has a first spring sleeved on both sides of the first linear bearing, such that both ends of each first spring abut against the first linear bearing and the corresponding first guide bracket.

[0013] Optionally, in some embodiments of this application, the side of the wireless charging transmitter away from the wireless charging docking groove is also elastically disposed on the first surface in the second direction by an elastic structure;

[0014] The elastic structure includes a second-direction fixing plate and at least one elastic module for elastic expansion and contraction in the second direction. The second-direction fixing plate is installed in the mounting groove and has a third surface perpendicular to the first surface. The first-direction fixing plate is movably connected to the third surface through at least one of the elastic modules.

[0015] Optionally, in some embodiments of this application, the elastic module includes a second guide shaft, two second guide brackets, a second spring, and a second linear bearing. The second guide shaft extends along the second direction, and both ends of the second guide shaft are respectively fixed to the third surface by a second guide bracket. The second linear bearing is slidably sleeved on the second guide shaft and fixedly connected to the bottom side of the first direction fixing plate. The second guide shaft also has a second spring sleeved on the side of the second linear bearing away from the wireless charging transmitter, such that both ends of the second spring abut against the second linear bearing and the corresponding second guide bracket, respectively.

[0016] Optionally, in some embodiments of this application, the side of the wireless charging transmitter away from the wireless charging docking groove is also movably disposed on the first surface in a third direction via a second movable structure;

[0017] The second movable structure includes a third-direction fixed plate, an adjustment module for movable adjustment in the third direction, and at least one second movable module for movable movement in the third direction. The third-direction fixed plate is movably connected to the second surface through at least one first movable module and has a fourth surface parallel to the first surface. The side of the wireless charging transmitter away from the wireless charging docking groove is movably connected to the fourth surface through the adjustment module and at least one second movable module.

[0018] Optionally, in some embodiments of this application, the adjustment module includes two lead screw supports, a lead screw, a lead screw nut, and an adjustment component. The two lead screw supports are spaced apart on the fourth surface in the third direction. The lead screw extends along the third direction, and both ends of the lead screw are rotatably mounted on one of the lead screw supports. The lead screw nut is threaded onto the lead screw and is fastened to the side of the wireless charging transmitter away from the wireless charging docking groove. The adjustment component is fastened to either end of the lead screw to drive the lead screw to rotate clockwise or counterclockwise.

[0019] Optionally, in some embodiments of this application, the second active module includes at least one slider and a slide rail, the slide rail extending along the third direction and fixed to the fourth surface, and the side of the wireless charging transmitter away from the wireless charging docking groove is slidably disposed on the slide rail by at least one of the sliders.

[0020] The robot charging device provided in this application, through the aforementioned structural arrangement, allows the mobile robot to automatically charge itself. When the mobile robot moves horizontally towards the area where the wireless charging transmitter's wireless charging docking groove is located (i.e., the wireless charging receiver portion of the mobile robot is aligned with the wireless charging docking groove, without requiring the receiver to be completely aligned), the guide structures on both sides of the wireless charging docking groove in the first direction, combined with the movement of the wireless charging transmitter in the first direction, guide the receiver into the groove, quickly and smoothly completing the docking. This significantly improves the automatic charging efficiency of the mobile robot. Therefore, this technical solution ensures smooth docking between the mobile robot and the wireless charging transmitter during automatic charging, thereby greatly improving the automatic charging efficiency of the mobile robot. Attached Figure Description

[0021] 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 the structures shown in these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of the robot charging device provided in the embodiments of this application;

[0023] Figure 2 for Figure 1 The diagram shows a partial structural schematic of the robot's active charging device;

[0024] Figure 3 for Figure 2 The diagram shows a partial disassembled structure of the robot's active charging device;

[0025] Figure 4 for Figure 3 A schematic diagram of the structure of the first active module of the robot's active charging device;

[0026] Figure 5 for Figure 3 The diagram shows the structure of the elastic module of the robot's active charging device.

[0027] Explanation of icon numbers:

[0028] 1. Robot mobile charging device; 100. Device housing; 110. First surface; 120. Fixing plate mounting frame; 200. Main control module; 300. Wireless charging transmitter; 310. Wireless charging docking groove; 320. Guide structure; 321. Guide slope; 400. Handheld charging port; 500. First mobile structure; 510. First direction fixing plate; 511. Second surface; 520. First mobile module; 521. First guide shaft; 522. First guide bracket; 523. First spring; 524. First... Linear bearing; 600, elastic structure; 610, second direction fixing plate; 611, third surface; 620, elastic module; 621, second guide shaft; 622, second guide bracket; 623, second spring; 624, second linear bearing; 700, second movable structure; 710, third direction fixing plate; 711, fourth surface; 720, adjusting module; 721, lead screw support; 722, lead screw; 723, lead screw nut; 724, adjusting component; 730, second movable module; 731, slider; 732, slide rail.

[0029] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0030] 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 the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0031] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0032] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0033] In one embodiment, such as Figures 1 to 3 As shown in the figure, this application provides a robot charging device 1. The robot charging device 1 may specifically include a device housing 100, a main control module 200, and a wireless charging transmitter 300. The device housing 100 may have a first surface 110 extending along the height direction of the device housing 100. The main control module 200 may be built into the device housing 100 and electrically connected to the wireless charging transmitter 300 for charging control of the wireless charging transmitter 300. The wireless charging transmitter 300 may be provided with a wireless charging docking groove 310 adapted to the robot's wireless charging receiver. The side of the wireless charging transmitter 300 away from the wireless charging docking groove 310 is movably disposed on the first surface 110 in a first direction. A guide structure 320 is provided on each side of the wireless charging docking groove 310 in the first direction to guide the wireless charging receiver, which is close to the guide structure 320 in a second direction, into the wireless charging docking groove 310 in coordination with the movement of the wireless charging transmitter 300 in the first direction. The first direction is parallel to the first surface 110 and perpendicular to the height direction of the device housing 100, and the second direction is perpendicular to the first surface 110.

[0034] It is understood that the robot charging device 1 mentioned in this application embodiment is mainly used in the automatic charging operation of mobile robots. That is, through the autonomous movement of the mobile robot, the wireless charging receiver of the mobile robot docks with the wireless charging docking groove 310 of its wireless charging transmitter 300 to automatically perform wireless charging operation on the mobile robot. Therefore, in order to realize the wireless charging function of its wireless charging transmitter 300, the aforementioned main control module 200 may specifically include a wireless charging control module, a power connector, and a safety protection module, etc. The power connector is used to connect to an external power source. The wireless charging control module supplies the external power source to the wireless charging transmitter 300 with a specific power and controls the wireless charging transmitter 300 to perform wireless charging operation at a specific power. The safety protection module is used to ensure safety during the charging process, such as overcurrent protection, overvoltage protection, and short circuit protection. Generally speaking, the main body of the main control module 200 is mainly set in the upper part of the device housing 100, while the wireless charging transmitter 300 is mainly set in the lower part of the device housing 100 to facilitate autonomous docking during automatic charging of the mobile robot.

[0035] In addition, to meet the charging needs of mobile robots in more scenarios, the mobile charging device 1 of this robot may also include a handheld charging port 400. The handheld charging port 400 is retractable and can be installed on the surface of the device housing 100 other than the first surface 110, and is electrically connected to the main control module 200 so that the mobile robot can be wired charged under the charging control of the main control module 200.

[0036] In this way, when the mobile robot is automatically charged by the robot mobile charging device 1 provided in this application embodiment, it is only necessary to make the mobile robot move horizontally to the area where the wireless charging docking groove 310 of its wireless charging transmitter 300 is located (that is, the wireless charging receiver of the mobile robot is aligned with the wireless charging docking groove 310, but it is not necessary to make the wireless charging receiver of the mobile robot completely aligned with the wireless charging docking groove 310). When the mobile robot moves further towards its wireless charging docking groove 310 along the second direction, the guide structures 320 respectively provided on both sides of the wireless charging docking groove 310 in the first direction, together with the movement of its wireless charging transmitter 300 in the first direction, guide the wireless charging receiver of the mobile robot into its wireless charging docking groove 310, thereby quickly completing the smooth docking between the two, and greatly improving the automatic charging efficiency of the mobile robot.

[0037] In some examples, such as Figures 1 to 5As shown, the aforementioned guide structure 320 can specifically be a guide plate, which has a guide slope 321 that is inclined in the second direction toward the wireless charging docking groove 310. Thus, through the above structural arrangement, the guide slope 321, in conjunction with the movement of its wireless charging transmitter 300 in the first direction, can guide the wireless charging receiver of the mobile robot into its wireless charging docking groove 310.

[0038] In some examples, such as Figures 1 to 5 As shown, the side of the wireless charging transmitter 300 away from the wireless charging docking groove 310 is also elastically disposed on the first surface 110 in a second direction. Thus, with the above structural arrangement, when the wireless charging receiver of the mobile robot docks with the wireless charging docking groove 310 of the wireless charging transmitter 300, the elastic force ensures a tight connection between the two, thereby further improving the automatic charging efficiency of the mobile robot.

[0039] In some examples, such as Figures 1 to 5 As shown, the side of the wireless charging transmitter 300 furthest from the wireless charging docking groove 310 is also movably disposed on the first surface 110 in a third direction, parallel to the height of the device housing 100. Thus, through this structural arrangement, the mounting height of the wireless charging transmitter 300 can be adjusted according to actual needs to meet the charging requirements of different mobile robots with different wireless charging receiver heights.

[0040] In some examples, such as Figures 2 to 4As shown, the side of the wireless charging transmitter 300 away from the wireless charging docking groove 310 can be movably mounted on the first surface 110 in the first direction via a first movable structure 500. The first surface 110 has a recessed mounting groove. The first movable structure 500 includes a first-direction fixing plate 510 and at least one first movable module 520 for movement in the first direction. The first-direction fixing plate 510 is installed in the mounting groove and has a second surface 511 parallel to the first surface 110. The side of the wireless charging transmitter 300 away from the wireless charging docking groove 310 is movably connected to the second surface 511 via at least one first movable module 520. Thus, with the above structural arrangement, the wireless charging transmitter 300 can move relative to the first surface 110 in the first direction via at least one first movable module 520. Furthermore, the first active module 520 includes a first guide shaft 521, two first guide brackets 522, two first springs 523, and a first linear bearing 524. The first guide shaft 521 extends along a first direction, and both ends of the first guide shaft 521 are respectively fixed on the second surface 511 through a first guide bracket 522. The first linear bearing 524 is slidably sleeved on the first guide shaft 521 and fixedly connected to the side of the wireless charging transmitter 300 away from the wireless charging docking groove 310. The first guide shaft 521 is also sleeved with a first spring 523 on both sides of the first linear bearing 524, so that the two ends of each first spring 523 abut against the first linear bearing 524 and the corresponding first guide bracket 522, respectively. Thus, with the above structural configuration, when the mobile robot autonomously moves closer to its wireless charging docking groove 310 along the second direction, it can act on the corresponding guide structure 320. Under the guidance of the guide structure 320, the guide structure 320 is forced to drive the wireless charging transmitter 300 to move in the positive or negative direction of the first direction, so that the wireless charging docking groove 310 is completely aligned with the wireless charging receiver of the mobile robot. At the same time, when the wireless charging transmitter 300 moves in the positive or negative direction of the first direction, it will drive the first linear bearing 524 to move in the positive or negative direction of the first direction along the first guide shaft 521, thereby squeezing the corresponding first spring 523 and generating a force that forces the first linear bearing 524 to move in the negative or positive direction of the first direction along the first guide shaft 521. As a result, after the mobile robot finishes charging and leaves, the wireless charging transmitter 300 can return to its initial position.

[0041] It is understandable that, in order to facilitate the installation of the first direction fixing plate 510 in the mounting slot, a corresponding fixing plate mounting frame 120 may be provided in the mounting slot.

[0042] In some examples, such as Figure 2 , Figure 3 and Figure 5As shown, the side of the wireless charging transmitter 300 away from the wireless charging docking groove 310 is also elastically disposed on the first surface 110 in the second direction via an elastic structure 600. The elastic structure 600 includes a second-direction fixing plate 610 and at least one elastic module 620 for elastic extension and contraction in the second direction. The second-direction fixing plate 610 is installed in the mounting groove and has a third surface 611 perpendicular to the first surface 110. The first-direction fixing plate 510 is movably connected to the third surface 611 via at least one elastic module 620. Thus, with the above structural arrangement, the wireless charging transmitter 300 can be elastically disposed relative to the first surface 110 in the second direction by elastic extension and contraction of at least one elastic module 620. Furthermore, the elastic module 620 includes a second guide shaft 621, two second guide brackets 622, a second spring 623, and a second linear bearing 624. The second guide shaft 621 extends along a second direction, and both ends of the second guide shaft 621 are respectively fixed to the third surface 611 by a second guide bracket 622. The second linear bearing 624 is slidably sleeved on the second guide shaft 621 and fixedly connected to the bottom side of the first direction fixing plate 510. A second spring 623 is also sleeved on the side of the second linear bearing 624 away from the wireless charging transmitter 300, so that both ends of the second spring 623 abut against the second linear bearing 624 and the corresponding second guide bracket 622, respectively. Thus, with the above structural configuration, when the mobile robot moves autonomously along the second direction to dock its wireless charging receiver with the wireless charging docking groove 310 of the wireless charging transmitter 300, the elastic force generated by the second linear bearing 624 pressing the second spring 623 can ensure a tight docking between the two, thereby further improving the automatic charging efficiency of the mobile robot.

[0043] In some examples, such as Figures 1 to 5As shown, the side of the wireless charging transmitter 300 away from the wireless charging docking groove 310 is also movably disposed on the first surface 110 in a third direction via a second movable structure 700. The second movable structure 700 includes a third-direction fixing plate 710, an adjustment module 720 for movable adjustment in the third direction, and at least one second movable module 730 for movable movement in the third direction. The third-direction fixing plate 710 is movably connected to the second surface 511 via at least one first movable module 720 and has a fourth surface 711 parallel to the first surface 110. The side of the wireless charging transmitter 300 away from the wireless charging docking groove 310 is movably connected to the fourth surface 711 via the adjustment module 720 and at least one second movable module 730. Thus, with the above structural arrangement, the wireless charging transmitter 300 can be movably disposed relative to the first surface 110 in a third direction by adjusting the movement of the adjustment module 720 in the third direction, in conjunction with the movement of at least one elastic module 620 in the third direction. Furthermore, the adjustment module 720 includes two lead screw 722 supports 721, lead screw 722, lead screw 722 nuts, and an adjustment component 724. The two lead screw 722 supports 721 are spaced apart on the fourth surface 711 in a third direction. The lead screw 722 extends along the third direction, and both ends of the lead screw 722 are rotatably mounted on the lead screw 722 supports 721. The lead screw 722 nuts are threaded onto the lead screw 722 and are fastened to the side of the wireless charging transmitter 300 away from the wireless charging docking groove 310. The adjustment component 724 is fastened to either end of the lead screw 722 to drive the lead screw 722 to rotate clockwise or counterclockwise. Furthermore, the second active module 730 includes at least one slider 731 and a slide rail 732. The slide rail 732 extends along a third direction and is fixed to the fourth surface 711. The side of the wireless charging transmitter 300 away from the wireless charging docking groove 310 is slidably mounted on the slide rail 732 via at least one slider 731. Thus, with the above structural arrangement, the lead screw 722 can be rotated clockwise or counterclockwise by operating the adjusting member 724. Combined with the sliding guidance of the slider 731 and the slide rail 732 in the third direction, the lead screw 722 nut can drive the wireless charging transmitter 300 to move and adjust relative to the first surface 110 in the third direction. This allows the installation height of the wireless charging transmitter 300 to be adjusted according to actual needs, meeting the charging requirements of different mobile robots with different wireless charging receiver heights.

[0044] It is understood that the adjustment component 724 mentioned in this example may specifically be a flathead adjustment component 724 or a Phillips head adjustment component 724, which can be adjusted by using a flathead screwdriver or a Phillips head screwdriver.

[0045] The above description is merely a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the inventive concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A robot active charging device applied to an automatic charging operation of a mobile robot, characterized by, The device shell, the main control module, and the wireless charging transmitting end are included, The device shell has a first surface extending along the height direction of the device shell; The main control module is built-in in the device shell and is electrically connected with the wireless charging transmitting end to control the charging of the wireless charging transmitting end; The wireless charging transmitting end is provided with a wireless charging docking groove matched with the wireless charging receiving end of the robot, and the side of the wireless charging transmitting end away from the wireless charging docking groove is movably arranged on the first surface in a first direction. The two sides of the wireless charging docking groove in the first direction are respectively provided with a guide structure to cooperate with the movement of the wireless charging transmitting end in the first direction, so as to guide the wireless charging receiving end approaching the guide structure in a second direction into the wireless charging docking groove. The first direction is parallel to the first surface and perpendicular to the height direction of the device shell, and the second direction is perpendicular to the first surface.

2. The robotic activity charging device of claim 1, wherein, The side of the wireless charging transmitting end away from the wireless charging docking groove is also elastically arranged on the first surface in the second direction.

3. The robotic activity charging device of claim 2, wherein, The side of the wireless charging transmitting end away from the wireless charging docking groove is also movably arranged on the first surface in a third direction, and the third direction is parallel to the height direction of the device shell.

4. The robotic activity charging device of claim 3, wherein, The side of the wireless charging transmitting end away from the wireless charging docking groove is movably arranged on the first surface in the first direction through a first movable structure; The first surface is recessed with a mounting groove, and the first movable structure includes a first direction fixed plate and at least one first movable module for movement in the first direction. The first direction fixed plate is arranged in the mounting groove and has a second surface parallel to the first surface. The side of the wireless charging transmitting end away from the wireless charging docking groove is movably connected with the second surface through at least one first movable module.

5. The robotic activity charging device of claim 4, wherein, The first movable module includes a first guide shaft, two first guide supports, two first springs, and a first linear bearing. The first guide shaft extends in the first direction, and the two ends of the first guide shaft are respectively fixed on the second surface through a first guide support. The first linear bearing is slidably sleeved on the first guide shaft and fixedly connected with the side of the wireless charging transmitting end away from the wireless charging docking groove. The first guide shaft is also sleeved with a first spring on both sides of the first linear bearing, so that the two ends of each first spring abut against the first linear bearing and the corresponding first guide support.

6. The robotic activity charging device of claim 4, wherein, The side of the wireless charging transmitting end away from the wireless charging docking groove is also elastically arranged on the first surface in the second direction through an elastic structure; The elastic structure comprises a second direction fixed plate and at least one elastic module for elastic expansion in the second direction, the second direction fixed plate is arranged in the mounting groove and has a third surface perpendicular to the first surface, and the first direction fixed plate is movably connected with the third surface through the at least one elastic module.

7. The robotic activity charging device of claim 6, wherein, The elastic module comprises a second guide shaft, two second guide supports, a second spring and a second linear bearing, the second guide shaft is arranged in extension along the second direction, two ends of the second guide shaft are fixed on the third surface through one second guide support respectively, the second linear bearing is slidably sleeved on the second guide shaft and fixedly connected with the bottom side of the first direction fixed plate, and one second spring is sleeved on the second guide shaft away from the side of the second linear bearing away from the wireless charging transmitting end, and the two ends of the second spring are abutted against the second linear bearing and the corresponding second guide support respectively.

8. The robotic activity charging device of claim 4, wherein, The side of the wireless charging transmitting end away from the wireless charging docking groove is movably arranged on the first surface in the third direction through a second movable structure; The second movable structure comprises a third direction fixed plate, an adjusting module for adjusting in the third direction and at least one second movable module for movement in the third direction, the third direction fixed plate is movably connected with the second surface through the at least one first movable module and has a fourth surface parallel to the first surface, and the side of the wireless charging transmitting end away from the wireless charging docking groove is movably connected with the fourth surface through the adjusting module and the at least one second movable module.

9. The robotic activity charging device of claim 8, wherein, The adjusting module comprises two screw rod supports, a screw rod, a screw rod nut and an adjusting piece, the two screw rod supports are arranged in the third direction and spaced apart on the fourth surface, the screw rod is arranged in extension along the third direction, two ends of the screw rod are rotatably arranged on one screw rod support respectively, the screw rod nut is threadedly connected on the screw rod and tightly connected with the side of the wireless charging transmitting end away from the wireless charging docking groove, and the adjusting piece is tightly connected with any end of the screw rod to drive the screw rod to rotate clockwise or counterclockwise.

10. The robotic activity charging device of claim 8, wherein, The second movable module comprises at least one sliding block and a sliding rail, the sliding rail is arranged in extension along the third direction and fixedly arranged on the fourth surface, and the side of the wireless charging transmitting end away from the wireless charging docking groove is slidably arranged on the sliding rail through the at least one sliding block.

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