Wireless charging passive flexible docking device for automatic guided vehicle

Abstract

The invention provides a wireless charging passive flexible docking device for an automatic guided vehicle, and the device comprises a movable device which is arranged at the front end of the advancing direction of the movable device and is provided with a receiving end and a first guide structure; the charging equipment comprises a base; the plate-shaped piece is movably arranged on the base, the first end face, facing the movable equipment, of the plate-shaped piece is provided with a transmitting end, namely a second guide structure, and in the state that the movable equipment is close to the plate-shaped piece, the second guide structure is in sliding fit with the first guide piece, so that the transmitting end translates in the first direction and / or the second direction along with the plate-shaped piece; the transmitting end moves to a target position opposite to the receiving end; wherein the first direction is orthogonal to the second direction.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wireless charging of automated guided vehicles, and in particular to a passive compliant docking device for wireless charging of automated guided vehicles. BACKGROUND

[0002] With the continuous improvement of industrial automation level, mobile devices such as automated guided vehicles (AGV) are increasingly widely used in complex industrial scenarios such as logistics, metallurgy, and chemical industry. Such scenarios are often accompanied by harsh environmental conditions such as high temperature, high humidity, and high dust, and the devices usually need to run continuously for a long time. Compared with traditional plug-in or contact charging methods, wireless charging technology is gradually becoming an ideal energy supply solution for mobile devices due to its high safety, convenient operation, and no need for human intervention.

[0003] However, in practical applications, wireless charging technology still faces a key challenge: to achieve efficient energy transmission, the transmitting end and the receiving end of the system must maintain a good alignment relationship in space. Usually, the system requires the cross marks at the center of the receiving end coil and the cross marks at the center of the transmitting end coil to be aligned with each other, and the vertical distance between them needs to be controlled within the range of 10-60 mm, the horizontal offset in the X-axis direction should not exceed 50 mm, and the horizontal offset in the Y-axis direction should be less than 10 mm.

[0004] In actual operation, when the mobile device automatically drives into the charging position, it is difficult to completely avoid parking positioning errors, which puts higher requirements on the stable operation of the wireless charging system. SUMMARY

[0005] To solve the above and other aspects of at least one technical problem in the prior art, the present application provides a passive compliant docking device for wireless charging of automated guided vehicles to reduce positioning errors when the mobile device is parked at the charging position.

[0006] The present application provides a passive compliant docking device for wireless charging of automated guided vehicles, comprising: a mobile device, a front end in the direction of travel of the mobile device, the mobile device having a receiving end and a first guide structure; a charging device comprising: a base; a plate-shaped member movably disposed on the base, the plate-shaped member being provided with a transmitting end, i.e. a second guide structure, on the first end face facing the mobile device, in the state that the mobile device approaches the plate-shaped member, the second guide structure is in sliding cooperation with the first guide piece, so that the transmitting end translates along the first direction and / or the second direction with the plate-shaped member, so as to move the transmitting end to the target position opposite the receiving end; wherein the first direction is orthogonal to the second direction.

[0007] According to an embodiment of the present application, one of the first guiding structure and the second guiding structure forms a protrusion, and the other forms a recess that is fitted with the protrusion.

[0008] According to an embodiment of the present application, the first guiding structure comprises a groove, and the second guiding structure comprises a tapered block. The tapered block is configured as a tapered structure along the first direction. The end of the tapered block away from the plate-shaped member has a first width, and the end of the tapered block close to the plate-shaped member has a second width, which is greater than the first width.

[0009] According to an embodiment of the present application, the first guiding structure further comprises at least two guide wheel sets, which are symmetrically arranged at both sides of the groove. Each of the guide wheel sets comprises at least one guide wheel. The distance between the at least two guide wheel sets is configured to be greater than the first width and less than or equal to the second width.

[0010] According to an embodiment of the present application, the charging device further comprises a sliding assembly arranged on the base and configured to slide relative to the base along the first direction. The plate-shaped member is arranged on the sliding assembly and configured to slide with the sliding assembly relative to the base along the second direction.

[0011] According to an embodiment of the present application, the base comprises a support arranged on a working surface, at least two bearing seats arranged on the upper portion of the support and spaced apart along the second direction. The bearing seats are provided with first guiding holes penetrating along the first direction.

[0012] According to an embodiment of the present application, the sliding assembly comprises at least two first slide rods extending along the first direction. Each of the first slide rods is arranged in one of the bearing seats and slidably sleeved in the first guiding hole. One end of the first slide rod is connected to the second end surface of the plate-shaped member, and the second end surface is arranged opposite to the first end surface. At least two first slide blocks are arranged at the end of each of the first slide rods facing the movable device. A second slide rod extends along the second direction. Both ends of the second slide rod are respectively sleeved in one of the first slide blocks. The plate-shaped member is slidably sleeved on the outside of the second slide rod.

[0013] According to an embodiment of the present application, the plate-shaped member is provided with a second slide block protruding from the second end surface. The plate-shaped member is slidably sleeved on the outside of the second slide rod through the second slide block.

[0014] According to an embodiment of the present invention, the sliding assembly further includes an elastic element; the elastic element is sleeved on the outside of the first slide rod, and the two ends of the elastic element respectively abut against the bearing seat and the first slider; and / or, the elastic element is sleeved on the outside of the second slide rod, and the two ends of the elastic element respectively abut against the first slider and the second slider.

[0015] According to an embodiment of the present invention, each of the above-mentioned bearing seats is provided with at least two of the above-mentioned first guide holes at intervals along the height direction, and a first slide rod is slidably sleeved in each of the above-mentioned first guide holes.

[0016] According to an embodiment of the present invention, an automated guided vehicle (AGV) wireless charging passive compliant docking device includes a mobile device with a first guiding structure, and a charging device adapted to the first guiding structure to form a passive compliant mechanism. When the mobile device moves toward the charging position, the first guiding structure contacts a second guiding structure disposed on the charging device, and through geometric guidance, forces the transmitting end to translate in two orthogonal directions (left-right and front-back), thereby automatically completing alignment. Furthermore, by placing the receiving end and the first guiding structure at the front end of the mobile device in its direction of travel, other directions of the mobile device, especially the top platform, are freed up to serve as a complete functional area. Attached Figure Description

[0017] The above and other objects, features and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings.

[0018] Figure 1 This diagram illustrates the usage state of the wireless charging passive compliant docking device for automated guided vehicles according to an embodiment of the present invention, showing the mobile device and the charging device in a charging state.

[0019] Figure 2 yes Figure 1 The diagram shows the usage status of the wireless charging passive compliant docking device for automated guided vehicles, where the movable device approaches the charging equipment.

[0020] Figure 3 yes Figure 1 A perspective view of the movable device of the wireless charging passive compliant docking device for the automated guided vehicle shown.

[0021] Figure 4 yes Figure 1 A perspective view of the charging equipment for the wireless charging passive compliant docking device of the automated guided vehicle shown in the figure.

[0022] Figure 5 yes Figure 4 A three-dimensional view of the charging device from another perspective.

[0023] In the accompanying drawings, the meanings of the reference numerals are as follows:

[0024] 100, mobile device; 110, receiving end; 120, guide wheel set; 121, guide wheel; 130, groove;

[0025] 200, charging device; 210, base; 211, support; 212, bearing seat; 220, plate-shaped piece; 230, transmitting end; 240, tapered block; 250, footing; 260, sliding assembly; 261, first sliding rod; 262, first sliding block; 263, second sliding rod; 264, elastic piece; 265, second sliding block. DETAILED DESCRIPTION

[0026] In order to make the objects, technical solutions and advantages of the present application clearer, the following further describes the present application with reference to the embodiments and the accompanying drawings.

[0027] The terms used herein are merely used to describe specific embodiments, and are not intended to limit the present application. The terms "including", "containing" and the like used herein indicate the presence of the stated features, steps, operations and / or components, but do not exclude the presence or addition of one or more other features, steps, operations or components.

[0028] All terms used herein, including technical and scientific terms, have meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted in a manner consistent with the context of the present specification, and should not be interpreted in an idealized or overly formal manner.

[0029] In the case of using expressions similar to "at least one of A, B, and C, etc.", it should be generally interpreted that the meaning of the expression is at least one of the items listed before the conjunction, without excluding others not listed. For example, the expression "a system having at least one of A, B, and C" should include, but not be limited to, a system having A alone, a system having B alone, a system having C alone, a system having both A and B, a system having both A and C, a system having both B and C, and / or a system having A, B, and C, etc. In the case of using expressions similar to "at least one of A, B, or C, etc.", it should be generally interpreted that the meaning of the expression is at least one of the items listed before the conjunction, without excluding others not listed. For example, the expression "a system having at least one of A, B, or C" should include, but not be limited to, a system having A alone, a system having B alone, a system having C alone, a system having both A and B, a system having both A and C, a system having both B and C, and / or a system having A, B, and C, etc.

[0030] With the continuous improvement of industrial automation level, the application of automatic guided vehicle (AGV) in complex industrial scenes such as metallurgy and chemical industry is increasingly widespread. Taking an electrolytic aluminum plant area as an example, the AGV undertakes heavy tasks such as aluminum block transfer and needs to work continuously without interruption, so it needs to automatically return to a specified position for energy supply during the gap of high-intensity work.

[0031] Compared to plug-in or contact charging systems, wireless charging technology has become an ideal charging solution for AGVs due to its advantages such as safety, convenience, and the elimination of the need for manual plugging and unplugging. Wireless charging eliminates the need for physical contact, avoiding corrosion and damage to the charging system from environmental pollutants such as dust and rain, thus improving system stability and lifespan.

[0032] However, wireless charging requires precise spatial alignment between the transmitter and receiver to ensure efficient energy transfer. In practical applications, when an AGV automatically docks at a charging station, positioning errors (typically within ±10cm) are unavoidable, causing lateral misalignment between the transmitter and receiver. Related technologies often employ high-precision positioning control or mechanical docking structures to ensure charging alignment. For example, calibration systems based on binocular cameras and artificial intelligence algorithms can achieve good alignment, but their complex structure, high cost, and maintenance difficulties make them challenging. Mechanical docking structures, such as sliding rail solutions, can only achieve single-axis adjustment and cannot handle the bidirectional errors commonly encountered when vehicles dock.

[0033] Therefore, how to provide a wireless charging system that is simple in structure, requires no active control, and can adaptively adjust the position of the transmitter relative to the receiver has become an urgent technical problem to be solved.

[0034] Figure 1 The diagram illustrates the usage state of the wireless charging passive compliant docking device for automated guided vehicles according to an embodiment of the present invention, showing the mobile device and the charging device in a charging state. Figure 2 yes Figure 1 The diagram shows the usage status of the wireless charging passive compliant docking device for automated guided vehicles, where the movable device approaches the charging equipment.

[0035] According to embodiments of this disclosure, referring to Figure 1 and Figure 2 As shown, the wireless charging passive compliant docking device for automated guided vehicles includes a mobile device 100 and a charging device 200. The mobile device 100 has a receiver 110 and a first guide structure at its front end along its direction of travel. The charging device 200 includes a base 210 and a plate-shaped member 220. The plate-shaped member 220 is movably disposed on the base 210. A transmitter 230 and a second guide structure are disposed on the first end face of the plate-shaped member facing the mobile device 100. When the mobile device 100 is close to the plate-shaped member 220, the second guide structure slides with the first guide member, causing the transmitter 230 to translate along the first and / or second directions with the plate-shaped member 220, thereby moving the transmitter 230 to a target position opposite to the receiver 110. The first and second directions are orthogonal.

[0036] In some illustrative embodiments, reference is made to Figure 1 and Figure 2 As shown, the mobile device 100 includes, but is not limited to, at least one of AGV, Autonomous Mobile Robot (AMR), service robot, and unmanned forklift. Specifically, taking an AGV as an example, the transmitter 230 and the first guide structure are, but are not limited to, located at the front (or rear) of the AGV along its length. That is, when the AGV moves forward (or backward), the transmitter 230 and the first guide structure are arranged side-by-side along the width direction. Here, the first direction can be understood as the length direction of the AGV, and the second direction can be understood as the width direction of the AGV.

[0037] Based on this, continue to refer to Figure 1 and Figure 2 As shown, the charging device 200 is positioned opposite the front section of the AGV. Specifically, the charging device 200 includes a base 210, which serves as the mounting base for the plate-shaped component 220 of the charging device 200 (and the transmitter 230 and second guide structure disposed on the plate-shaped component 220). The plate-shaped component 220 includes, but is not limited to, a structure configured as a generally rectangular shape and arranged vertically. The aforementioned generally rectangular shape can be understood as the plate-shaped component 220 having distinct long and short sides, which together form a quadrilateral structure. However, due to the need to install other components, the plate-shaped component may have grooves, protrusions, and rounded corners, and therefore does not strictly conform to the geometric definition of a rectangle. It should be understood that the embodiments of the present invention are not limited thereto.

[0038] For example, the plate-shaped component 220 can also be configured as an ellipse, circle, polygon, openwork frame, or other arbitrary form, specifically to allow the transmitter 230 and the second guide structure to be installed together.

[0039] Furthermore, the plate-shaped member 220 is movably disposed on the base 210, giving itself, the transmitter 230 mounted thereon, and the second guide structure the freedom to move along the first and second directions. Based on this structure, when the movable device 100 moves from such a direction... Figure 2 As shown, the device continues to move from its position near the charging device 200 to the position shown. Figure 1 When the device reaches the final charging position, the first guide structure at its front end will abut against the second guide structure on the charging device 200. During this process, thanks to the bidirectional freedom of movement of the plate-shaped component 220, the transmitter 230 will move accordingly in space along the first and / or second directions, thereby automatically adjusting its spatial attitude and position until it is accurately aligned with the receiver 110 on the mobile device 100, establishing an effective charging docking state.

[0040] It should be noted that the above transmitting end can be specifically a wireless charging transmitting coil fixedly installed on the plate-shaped member 220 and necessary support, shielding, heat dissipation and circuit protection structures thereof, and a function thereof is to convert electric energy into an alternating electromagnetic field. Correspondingly, the receiving end 110 can be specifically a wireless charging receiving coil fixedly installed at the front end of the mobile device 100 and a corresponding power conversion and voltage stabilization circuit thereof, and a function thereof is to capture the alternating electromagnetic field and convert it back to direct current to charge the battery device of the mobile device. The transmitting end 230 and the receiving end 110 are not the focus of protection of the present application, and any device applicable to wireless charging of the mobile device 100 can be selected and applied, and will not be specifically expanded.

[0041] In such an embodiment, the above-mentioned automatic guided vehicle wireless charging passive compliant docking device (including the mobile device 100 and the charging device 200) constitutes a pure mechanical passive compliant mechanism. The automatic guided vehicle wireless charging passive compliant docking device can autonomously convert the parking position error of the automatic guided vehicle (AGV) into a driving force for accurately positioning the charging transmitting end 230.

[0042] Specifically, when the AGV approaches the charging station, the first guide structure installed at the front end thereof will be in contact with the corresponding second guide structure on the charging device 200, and through geometric guidance, the transmitting end 230 is pushed to translate along the mutually orthogonal left-right and front-rear directions, thereby realizing automatic alignment of the transmitting end 230 and the receiving end 110. This process forms a flexible matching mechanism, effectively avoiding damage caused by rigid collision between devices. At the same time, the receiving end 110 and the first guide structure are arranged at the front end of the vehicle head, ensuring the integrity and flatness of the top platform of the AGV, so that it can be used as an accessible functional work area to carry the materials or devices to be transferred, thereby eliminating the interference of the charging and guide structure on the main work space, realizing efficient integration and physical isolation of the carrying function and the charging function in space.

[0043] In addition, since the entire alignment process is completely based on the physical interaction between mechanical structures, it does not need to rely on any electronic sensors, control circuits or software algorithms, and the system also shows typical passive working characteristics. In this way, it has very high operation reliability, as well as lower manufacturing cost and maintenance demand.

[0044] According to an embodiment of the present disclosure, one of the first guide structure and the second guide structure forms a convex portion, and the other forms a concave portion fitted with the convex portion.

[0045] Figure 3 is Figure 1 A perspective view of the mobile device 100 of the automatic guided vehicle wireless charging passive compliant docking device shown in FIG. 1.

[0046] Specifically, referring to Figures 1 to 3As shown, in some illustrative embodiments, the first guiding structure includes a groove 130 disposed at the end of the movable device 100 facing the charging device 200. The second guiding structure includes a tapered block 240 configured as a tapered structure in the first direction. In particular, the end of the tapered block 240 away from the plate-shaped member 220 has a first width, and the end of the tapered block 240 close to the plate-shaped member has a second width, which is greater than the first width.

[0047] Further, the first guiding structure further includes at least two guide wheel sets 120 symmetrically disposed at both sides of the slot of the groove 130, and each guide wheel set 120 includes at least one guide wheel 121. The distance between the at least two guide wheel sets 120 is configured to be greater than the first width and less than or equal to the second width.

[0048] In some illustrative embodiments, referring to Figures 1 to 3 As shown, the first guiding structure includes but is not limited to a groove 130, and a pair of guide wheel sets 120 are symmetrically disposed at both sides (in the second direction) of the opening position of the groove 130, and each guide wheel set 120 includes a plurality of guide wheels 121 stacked from top to bottom. Correspondingly, the second guiding structure of the plate-shaped member 220 includes but is not limited to a tapered block 240 having a small-diameter end and a large-diameter end, wherein the small-diameter end is outwardly arranged to face the movable device 100, and the large-diameter end is fixedly connected to the plate-shaped member 220. In particular, the width of the small-diameter end of the tapered block 240 is the first width, and the width of the large-diameter end of the tapered block 240 is the second width, which is significantly greater than the first width. Correspondingly, the distance between the two guide wheel sets 120 can be the same as the second width, so that the large-diameter end of the tapered block 240 is in rolling cooperation with the guide wheel sets 120; of course, the distance between the guide wheel sets 120 can also be less than the second width and greater than the first width, so that the transition part between the large-diameter end and the small-diameter end of the tapered block 240 is in rolling cooperation with the guide wheel sets 120.

[0049] In such an embodiment, when the movable device 100 approaches the charging device 200, the groove 130 at the front end of the movable device 100 will try to be set outside the tapered block 240. If there is a positioning error in the transverse direction (i.e., the second direction) between the groove 130 and the tapered block 240, the slope of the tapered block 240 from the large-diameter end to the small-diameter end will be in contact with the guide wheels 121 on one side or both sides. At this time, the kinetic energy of the movable device 100 continuously advancing is converted into a transverse force through the rolling friction between the guide wheels 121 and the slope, and finally the transverse force is used to push the plate-shaped member 220 and the launch end 230 disposed thereon to produce a transverse displacement, forming an adaptive dynamic correction process.

[0050] As the mobile device 100 continues to move forward (i.e., further approaching the charging device 200), the conical block 240 gradually penetrates deeper into the groove 130 until its large-diameter end is fully embedded between the two guide wheel assemblies 120 and simultaneously and tightly engages with the guide wheels 121 on both sides. This signifies that lateral alignment is complete, and the transmitter 230 and receiver 110 are precisely collinearly aligned laterally. Subsequently, the mobile device 100 continues to move forward, pushing the laterally positioned conical block 240 to move the plate-shaped component 220 backward along the vehicle's direction of travel, thereby automatically adjusting and ultimately locking the target position between the transmitter 230 and receiver 110. It should be understood that embodiments of the present invention are not limited thereto.

[0051] For example, the groove 130 and guide wheel assembly 120 of the first guide structure can also be provided on the plate-shaped part 220, and correspondingly, the conical block 240 of the second guide structure can also be adapted to be provided on the mobile device 100.

[0052] For example, the second guide block mentioned above can also be other block structures or frame structures with large-diameter ends and small-diameter ends.

[0053] Figure 4 yes Figure 1 A perspective view of the charging device 200 of the wireless charging passive compliant docking device for automated guided vehicles. Figure 5 yes Figure 4 A perspective view of the charging device 200 from another angle.

[0054] Reference Figure 4 and Figure 5 As shown, according to an embodiment of this disclosure, the charging device 200 further includes a sliding assembly 260. The sliding assembly 260 is disposed on the base 210 and configured to slide relative to the base 210 along a first direction. A plate-shaped member 220 is disposed on the sliding assembly 260 and configured to slide relative to the base 210 along a second direction with the sliding assembly 260.

[0055] Reference Figure 4 and Figure 5 As shown, according to an embodiment of this disclosure, the base 210 includes a support 211 and at least two bearing seats 212. The support 211 is disposed on a working surface (specifically, it can be the ground or the surface of the area where the mobile device 100 operates). At least two bearing seats 212 are disposed on the upper part of the support 211 and are spaced apart along a second direction. Each bearing seat 212 is provided with a first guide hole extending along a first direction.

[0056] Reference Figure 4 and Figure 5As shown, according to embodiments of the present disclosure, the sliding assembly 260 comprises at least two first sliding rods 261, at least two first sliding blocks 262, and a second sliding rod 263. The first sliding rods 261 extend along a first direction, each of the first sliding rods 261 is disposed in a bearing seat 212 and is slidably sleeved in a first guide hole, one end of the first sliding rod 261 is connected to a second end surface of the plate-shaped member 220, and the second end surface is disposed opposite to the first end surface. Each of the first sliding blocks 262 is disposed at an end of one of the first sliding rods 261 facing the mobile device 100. The second sliding rod 263 extends along a second direction, both ends of the second sliding rod 263 are respectively sleeved in one of the first sliding blocks 262, and the plate-shaped member 220 is slidably sleeved outside the second sliding rod 263.

[0057] Referring to Figure 4 and Figure 5 As shown, according to embodiments of the present disclosure, each of the bearing seats 212 is spaced apart along a height direction and is provided with at least two first guide holes, and each of the first sliding rods 261 is slidably sleeved in one of the first guide holes.

[0058] Referring to Figure 4 and Figure 5 As shown, according to embodiments of the present disclosure, the plate-shaped member 220 is provided with a second sliding block 265 protruding from the second end surface, and the plate-shaped member 220 is slidably sleeved outside the second sliding rod 263 through the second sliding block 265.

[0059] Referring to the accompanying Figure 4 and Figure 5 As shown, in some illustrative embodiments, the support 211 of the base 210 comprises, but is not limited to, a frame structure configured as a cube, and four corners of the frame structure are respectively provided with a footing 250 to adjust the height of the base 210 on a working surface, so that the top of the base 210 is as parallel as possible to the working surface. The top of the base 210 is symmetrically provided with two bearing seats 212 along the second direction. In detail, each of the bearing seats 212 is provided with a first guide hole penetrating along the first direction. Further, each of the first guide holes is sleeved with a first sliding rod 261. Each of the bearing seats 212 can be provided with two or more first sliding rods 261 along the height direction, so as to disperse the stress of the first sliding rod 261 and the first guide hole, and make the sliding of the first sliding rod 261 along the first direction more smooth.

[0060] In some illustrative embodiments, one end of the first slide rod 261 is fixedly connected to a first slide block 262. Further, a second slide rod 263 extending in the second direction is arranged to pass through the first slide block 262. Further still, a second slide block 265 arranged on the second end surface (i.e. the back surface) of the plate-shaped member 220 has a second guide hole extending in the second direction, and the second slide block 265 is slidingly sleeved on the outside of the second slide rod 263 through the second guide hole, so that the plate-shaped member 220 has a bidirectional (i.e. the first direction and the second direction) degree of freedom. The first slide rod 261 and the second slide rod 263 include, but are not limited to, a light rod structure.

[0061] In such an embodiment, the first slide block 262, the second slide rod 263, and the second slide block 265 (fixedly connected to the plate-shaped member 220) together form a "slide block-slide rod-slide block" composite transmission chain. This transmission chain structure realizes effective decoupling and synthesis of the movement of the plate-shaped member relative to the first direction and the second direction which are orthogonal to each other. When the conical block 240 is subjected to a transverse (second direction) force, the plate-shaped member 220 slides along the second slide rod 263 through the second slide block 265, driving the emission end 230 and the second guide structure to move synchronously in the transverse direction; when subjected to a longitudinal (first direction) force, the second slide rod 263 together with the plate-shaped member 220 drives the first slide rod 261 through the first slide block 262, so that the first slide rod 261 slides relative to the bearing seat 212 in the longitudinal direction. In this way, through this layered transmission mechanism, the charging device can realize independent transmission and synthesis of bidirectional movement while maintaining structural rigidity, ensuring the adaptive positioning of the emission end 230 in the vertical plane with the receiving end 110.

[0062] Referring to Figure 4 and Figure 5 According to an embodiment of the present disclosure, the sliding assembly 260 further includes a resilient member 264. The resilient member 264 is sleeved on the outside of the first slide rod 261, and the two ends of the resilient member 264 abut against the bearing seat 212 and the first slide block 262, respectively. And / or, the resilient member 264 is sleeved on the outside of the second slide rod 263, and the two ends of the resilient member 264 abut against the first slide block 262 and the second slide block 265, respectively.

[0063] In some illustrative embodiments, referring to Figure 4 and Figure 5As shown, the sliding assembly 260 is provided with elastic members 264 sleeved outside the first sliding rod 261 and the second sliding rod 263. In detail, the elastic members 264 on the first sliding rod 261 abut against the portions of the bearing seat 212 and the first sliding block 262 respectively, thereby forming a return mechanism along the longitudinal direction (i.e. for the first direction). Similarly, the elastic members 264 on the second sliding rod 263 abut against the portions of the first sliding block 262 and the second sliding block 265 respectively, thereby forming a return mechanism along the transverse direction (i.e. for the second direction). The elastic members 264 include, but are not limited to, compression springs.

[0064] In such an embodiment, the elastic members 264 arranged along the two directions respectively enable the elastic members 264 to compress the corresponding springs when the emitting end 230 is forced to move in the transverse direction or the longitudinal direction, thereby accumulating return energy. When the external force applied by the movable device 100 disappears (e.g. after the movable device 100 is charged and leaves), the elastic force provided by the elastic members 264 can be used as a restoring force to accurately return the plate-shaped member 220 to the initial position, thereby achieving flexible buffering and automatic return in both directions. The entire return process is completely completed based on the mechanical structure autonomously, without the need for external control, thereby ensuring the reliability and durability of the system under frequent docking conditions. Moreover, since the elastic members 264 are compression springs, the elastic members 264 can also avoid fatigue failure problems compared with other structures such as tensile springs.

[0065] It should be further noted that the directional terms mentioned in the embodiments, such as "up", "down", "front", "back", "left", "right", etc., are only with reference to the drawings, and are not intended to limit the protection scope of the present application. Throughout the drawings, the same elements are identified by the same or similar reference numerals. When the conventional structures or configurations may cause confusion in understanding the present application, the conventional structures or configurations will be omitted.

[0066] The embodiments of the present application have been described above. However, these embodiments are only for illustrative purposes, and are not intended to limit the scope of the present application. Although each embodiment is described above, this does not mean that the measures in each embodiment cannot be used advantageously in combination. The scope of the present application is defined by the appended claims and their equivalents. Without departing from the scope of the present application, those skilled in the art can make various substitutions and modifications, which should all fall within the scope of the present application.

Claims

1. A passive compliant docking device for wireless charging of automated guided vehicles, characterized in that, The application relates to a mobile device (100) and a charging device (200). The mobile device (100) comprises a front end along a direction of travel of the mobile device (100), and a receiving end (110) and a first guide structure. The charging device (200) comprises a base (210) and a plate-shaped member (220) movably arranged on the base (210). The plate-shaped member (220) is provided with a transmitting end (230) and a second guide structure at a first end face of the plate-shaped member (220) facing the mobile device (100). In a state where the mobile device (100) is close to the plate-shaped member (220), the second guide structure is in sliding cooperation with the first guide structure, so that the transmitting end (230) is translated along a first direction and / or a second direction with the plate-shaped member (220) to move to a target position opposite to the receiving end (110). The first direction is orthogonal to the second direction.

2. The automated guided vehicle wireless charging passive compliant docking device of claim 1, wherein, One of the first guide structure and the second guide structure forms a convex part, and the other forms a concave part embedded with the convex part.

3. The wireless charging passive compliant docking device for an automated guided vehicle of claim 2, wherein, The first guide structure comprises a groove (130) arranged at an end of the mobile device (100) facing the charging device (200). The second guide structure comprises a tapered block (240) configured as a tapered structure along the first direction. An end of the tapered block (240) away from the plate-shaped member (220) has a first width, and an end of the tapered block (240) close to the plate-shaped member has a second width greater than the first width.

4. The automated guided vehicle wireless charging passive compliant docking device of claim 3, wherein, The first guide structure further comprises at least two guide wheel sets (120) symmetrically arranged at both sides of a slot of the groove (130). Each guide wheel set (120) comprises at least one guide wheel (121).

5. The automated guided vehicle wireless charging passive compliant docking device of any one of claims 1 to 4, wherein, The distance between the at least two guide wheel sets (120) is greater than the first width and less than or equal to the second width. The charging device (200) further comprises a sliding assembly (260) arranged on the base (210) and configured to slide relative to the base (210) along the first direction. The plate-shaped member (220) is arranged on the sliding assembly (260) and configured to slide relative to the base (210) along the second direction with the sliding assembly (260).

6. The automated guided vehicle wireless charging passive compliant docking device of claim 5, wherein, The base (210) comprises a support (211) arranged on a working surface, and at least two bearing seats (212) arranged on an upper portion of the support (211) and spaced apart along the second direction. The bearing seat (212) is provided with a first guide hole penetrating through along the first direction. The sliding assembly (260) comprises 7. The automated guided vehicle wireless charging passive compliant docking device of claim 6, wherein, ​ at least two first sliding rods (261) extending along a first direction, each of the first sliding rods (261) being disposed on one of the bearing seats (212) and being slidably sleeved in the first guide holes, one end of the first sliding rods (261) being connected to a second end surface of the plate-shaped member (220), the second end surface being opposite to the first end surface; at least two first sliding blocks (262), each of the first sliding blocks (262) being disposed on an end of one of the first sliding rods (261) facing the movable device (100); a second sliding rod (263) extending along a second direction, both ends of the second sliding rod (263) being respectively sleeved in one of the first sliding blocks (262), the plate-shaped member (220) being slidably sleeved outside the second sliding rod (263).

8. The automated guided vehicle wireless charging passive compliant docking device of claim 7, wherein, The plate-shaped member (220) is provided with a second sliding block (265) protruding from the second end surface, and the plate-shaped member (220) is slidably sleeved outside the second sliding rod (263) through the second sliding block (265).

9. The automated guided vehicle wireless charging passive compliant docking device of claim 8, wherein, The sliding assembly (260) further comprises a resilient member (264); The resilient member (264) is sleeved outside the first sliding rods (261), and both ends of the resilient member (264) are respectively abutted between the bearing seats (212) and the first sliding blocks (262); and / or, the resilient member (264) is sleeved outside the second sliding rod (263), and both ends of the resilient member (264) are respectively abutted between the first sliding blocks (262) and the second sliding block (265).

10. The automated guided vehicle wireless charging passive compliant docking device of any one of claims 7 to 9, wherein, Each of the bearing seats (212) is spaced apart along a height direction and provided with at least two first guide holes, and each of the first guide holes is slidably sleeved with one of the first sliding rods (261).

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