Docking mechanism and charging equipment

Abstract

The invention belongs to the technical field of mobile robot charging, and particularly relates to a docking mechanism and charging equipment, the docking mechanism comprises a charging connector, a fixed mounting part, a movable mounting part and a main guiding assembly, the fixed mounting part and the movable mounting part are distributed at intervals in the front-back direction, and the movable mounting part is used for mounting the charging connector; the main guiding assembly is connected between the fixed installation part and the movable installation part, and the main guiding assembly is configured to enable the charging connector to move in the front-back direction, swing in the left-right direction and swing in the up-down direction. By arranging the main guiding assembly, the charging connector is elastically installed, and when the charging connector is in butt joint with the mobile robot, the charging connector can move in multiple directions, so that the charging connector is in precise butt joint with the mobile robot, the risk of damage to the charging connector is reduced, and meanwhile the requirement for the positioning precision of the mobile robot is lowered.

Description

Technical Field

[0001] This invention relates to the field of mobile robot charging technology, and in particular to a docking mechanism and charging equipment. Background Technology

[0002] Mobile robots are robotic devices capable of autonomous navigation and automatic transport of materials or goods, finding wide application in logistics, warehousing, and manufacturing. Equipped with batteries, sensors, navigation systems, and control systems, they can perceive their surroundings, navigate autonomously, avoid obstacles, and complete the transport of materials or goods, achieving automated material flow management. When the mobile robot's own battery is low, it can autonomously travel to a charging station and recharge via the charging plug to ensure sufficient power for transporting materials.

[0003] Existing charging stations mainly come in two types: manual and automatic. Manual charging stations require a person to insert the charging plug into a mobile robot for charging, which has a low degree of automation. Automatic charging stations require the mobile robot to autonomously dock with the charging station, which has a higher degree of automation, but has problems such as complex structure, high cost, unreliable docking, and high requirements for the positioning accuracy of the mobile robot. Summary of the Invention

[0004] The purpose of this invention is to provide a docking mechanism and a charging device, in which the charging connector can be displaced in multiple directions to enable precise docking between the charging connector and the mobile robot, thereby reducing the risk of damage to the charging connector and lowering the positioning accuracy requirements of the mobile robot.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] The partner organizations include:

[0007] Charging connector;

[0008] A fixed mounting component and a movable mounting component are distributed at intervals along the front-to-back direction, and the movable mounting component is used to install the charging connector;

[0009] A guiding component is connected between the fixedly mounted movable component and the charging connector, the guiding component being configured to cause the movable component and the charging connector to move in the front-back direction, swing in the left-right direction, and swing in the up-down direction.

[0010] As a preferred technical solution for the charging connector, the elastic component includes:

[0011] The elastic element is suspended from the upper end of the movable mounting component;

[0012] Four dominant directional elastic elements are connected between the fixed mounting component and the movable mounting component, and the four dominant directional elastic elements are distributed in a 2*2 matrix.

[0013] As a preferred technical solution for the charging connector, the movable mounting component is provided with four main guide posts, the end of each main guide post facing away from the movable mounting component is a free end, the four main guide posts correspond one-to-one with the four main guide elastic members, and a portion of the main guide elastic member is sleeved on the main guide post.

[0014] As a preferred technical solution for the charging connector, the fixed mounting component is provided with four positioning grooves, and the four positioning grooves correspond one-to-one with the four main directional elastic elements. The end of the main directional elastic element that is away from the movable mounting component is located in the positioning groove.

[0015] As a preferred technical solution for the charging connector, the elastic component further includes two balancing elastic elements, which are located on both sides of the fixed mounting member and the movable mounting member along the left-right direction, respectively. One end of the balancing elastic element is connected to the fixed mounting member, and the other end is connected to the movable mounting member.

[0016] As a preferred technical solution for the charging connector, both of the balance elastic elements are inclined, and the ends of the two balance elastic elements connected to the fixed mounting member are inclined in a direction away from each other.

[0017] As a preferred technical solution for the charging connector, the docking mechanism further includes a front guide assembly. The front guide assembly includes a first front mounting member, a second front mounting member, a front guide post, and a front guide elastic member. The first front mounting member and the second front mounting member are spaced apart along the front-rear direction. The first front mounting member is disposed on the movable mounting member, and the charging connector is mounted on the second front mounting member. One end of the front guide post is connected to one of the first front mounting member and the second front mounting member, and the other end passes through the other and slides in cooperation with it. The front guide elastic member is sleeved on the portion of the front guide post located between the first front mounting member and the second front mounting member.

[0018] As a preferred technical solution for the charging connector, there are four front guide posts and four front guide elastic elements, which correspond one-to-one, and the four front guide posts and four front guide elastic elements are distributed in a 2*2 matrix.

[0019] The charging device includes a housing, a charger, and a docking mechanism as described in any of the above embodiments. The charger is disposed inside the housing, the docking mechanism is installed in the housing, and the charging connector protrudes from the housing. The charger is electrically connected to the charging connector.

[0020] As a preferred technical solution for charging equipment, the fixed mounting component can be adjusted in position relative to the housing along the vertical direction.

[0021] The beneficial effects of this invention are:

[0022] This invention provides a docking mechanism, including a charging connector, a fixed mounting component, a movable mounting component, and a guiding component. The fixed mounting component and the movable mounting component are spaced apart along the front-to-back direction, and the movable mounting component is used to mount the charging connector. The guiding component connects the fixed mounting component and the movable mounting component, and is configured to allow the charging connector to move in the front-to-back direction, swing left-to-right, and swing up-down directions. By setting the guiding component, the charging connector is elastically mounted. When docking with a mobile robot, the charging connector can undergo multi-directional displacement, enabling precise docking between the charging connector and the mobile robot, reducing the risk of damage to the charging connector, and simultaneously lowering the positioning accuracy requirements of the mobile robot. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the charging device provided in an embodiment of the present invention;

[0024] Figure 2 This is an exploded view of the charging device provided in an embodiment of the present invention;

[0025] Figure 3 This is an exploded structural diagram of the lower housing and charging module involved in the embodiments of the present invention;

[0026] Figure 4 This is a schematic diagram of the charging module structure, excluding the charger, involved in the embodiments of the present invention. Figure 1 ;

[0027] Figure 5 This is a schematic diagram of the charging module structure, excluding the charger, involved in the embodiments of the present invention. Figure 2 ;

[0028] Figure 6 This is a schematic diagram of the lower housing structure involved in an embodiment of the present invention;

[0029] Figure 7 This is a schematic diagram of the structure of the fixing and mounting component designed according to an embodiment of the present invention;

[0030] Figure 8 This is a structural schematic diagram of the fixed mounting component, the movable mounting component, and the second elastic component involved in the embodiments of the present invention;

[0031] Figure 9 yes Figure 8 A sectional view;

[0032] Figure 10 This is a schematic diagram illustrating the movement of the movable mounting component along the front-to-back direction according to an embodiment of the present invention;

[0033] Figure 11 This is a schematic diagram of the movable mounting component involved in the embodiment of the present invention swinging in the left-right direction;

[0034] Figure 12 This is a schematic diagram of the movable mounting component involved in the embodiment of the present invention swinging in the up-down direction.

[0035] In the picture:

[0036] 10. Cabinet; 11. Lower Cabinet; 111. Cover; 1111. Second Cable Inlet; 1112. Cable Outlet; 1113. First Ventilation Hole; 112. Base Plate; 113. Mounting Bracket; 1131. Waist-shaped Hole; 1132. First Cable Pass-through Hole; 12. Upper Cabinet; 121. Clearance Notch; 122. First Cable Inlet; 123. Second Ventilation Hole; 124. Handle;

[0037] 20. Docking mechanism; 21. Front guide assembly; 211. First front mounting component; 212. Second front mounting component; 213. Front guide post; 214. Front guide elastic component; 22. Charging connector; 231. Fixed mounting component; 2311. Positioning groove; 2312. Hanging post; 2313. Connecting hole; 2314. Second fixing hole; 2315. Second cable passage hole; 232. Movable mounting component; 2321. Second hanging hole; 2322. Hanging hole; 2323. Third cable passage hole; 233. Hanging elastic component; 234. Hanging bracket; 2341. First hanging hole; 235. Main directional elastic component; 236. Main directional post; 237. Balancing elastic component; 238. Fixing component;

[0038] 30. Protective coil; 40. Relay; 50. Circuit breaker; 60. Control module; 70. Charger. Detailed Implementation

[0039] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0040] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0042] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not 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 present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0043] like Figures 1 to 12 As shown, this embodiment of the invention provides a charging device for charging a mobile robot. The mobile robot determines the location of the charging device through a navigation system, thereby automatically docking with the charging device for charging. The charging device includes a housing 10, a charger 70, and a docking mechanism 20. The charger 70 is disposed inside the housing 10 and is used to convert 220V AC power into a calibrated output voltage.

[0044] The docking mechanism 20 includes a charging connector 22, a fixed mounting component 231, a movable mounting component 232, and a main directional component.

[0045] A mounting bracket 231 is disposed on the housing 10. Optionally, the mounting bracket 231 can be adjusted in position relative to the housing 10 along the vertical direction of the charging equipment to adjust the height of the mounting bracket 231 according to the flatness of the ground at the project site. (Refer to...) Figure 3 , Figure 6 and Figure 7In this embodiment, a mounting bracket 113 is provided on the housing 10, and a fixing mounting member 231 is mounted on the mounting bracket 113. The mounting bracket 113 is provided with an oblong hole 1131 extending along the vertical direction of the charging device. The fixing mounting member 231 is provided with a connecting hole 2313. The connecting member connects the fixing mounting member 231 to the mounting bracket 113 through the connecting hole 2313 and the oblong hole 1131. For example, the number of oblong holes 1131, connecting holes 2313, and connecting members are all four, but this is not a limitation.

[0046] Reference Figure 4 and Figure 5 as well as Figure 8 and Figure 9 Movable mounting component 232 and fixed mounting component 231 are spaced apart along the front-rear direction of the charging device. Movable mounting component 232 is used to mount charging connector 22. A guiding component connects the fixed mounting component 231 and the movable mounting component 232, enabling the movable mounting component 232 to be flexibly mounted. The guiding component is configured to allow the movable mounting component 232 and charging connector 22 to move along the front-rear direction, swing left-right, and swing up-down along the charging device. Charging connector 22 is electrically connected to charger 70 and is used to dock with the mobile robot. When docking with the mobile robot, charging connector 22 can undergo multi-directional displacement to ensure precise docking, reduce the risk of damage to charging connector 22, and lower the positioning accuracy requirements of the mobile robot.

[0047] The main directional component includes a hanging elastic element 233 and a main directional elastic element 235. The hanging elastic element 233 is suspended from the upper end of the movable mounting component 232 and is used to balance the weight of the movable mounting component 232 and the charging connector 22. In this embodiment, a hanging bracket 234 is provided on the fixed mounting component 231, and the hanging bracket 234 is used to install the hanging elastic element 233. The hanging bracket 234 is Z-shaped. A first fixing hole is provided on the lower plate of the hanging bracket 234, and a second fixing hole 2314 is provided on the fixing mounting member 231. The fixing member 238 connects the lower plate of the hanging bracket 234 to the fixing mounting member 231 through the first and second fixing holes 2314. The upper plate of the hanging bracket 234 is connected to the hanging elastic member 233. A first hanging hole 2341 is provided on the upper plate of the hanging bracket 234, and a second hanging hole 2321 is provided on the movable mounting member 232. One end of the hanging elastic member 233 is connected to the first hanging hole 2341, and the other end is connected to the second hanging hole 2321. In this embodiment, there are two hanging elastic members 233, but it is not limited to this. In this embodiment, both hanging elastic members 233 are inclined, and the ends of the two hanging elastic members 233 connected to the hanging bracket 234 are inclined in a direction away from each other.

[0048] There are four dominant directional elastic elements 235, each connected between the fixed mounting member 231 and the movable mounting member 232, and arranged in a 2x2 matrix. Because the dominant directional elastic elements 235 extend along the front-rear direction of the charging device, the movable mounting member 232 and the charging connector 22 can move along the front-rear direction of the charging device. (Refer to...) Figure 10 L represents the distance the movable mounting part 232 and the charging connector 22 move back and forth. Since the four main directional elastic elements 235 are arranged in a 2x2 matrix, they can be divided into left and right groups. When the left group of main directional elastic elements 235 is compressed, the movable mounting part 232 and the charging connector 22 swing to the left; when the right group of main directional elastic elements 235 is compressed, the movable mounting part 232 and the charging connector 22 swing to the right. That is, the movable mounting part 232 and the charging connector 22 can swing along the left and right directions of the charging device. (Refer to...) Figure 11 θ represents the angle at which the movable mounting member 232 and the charging connector 22 swing left and right. The four main directional elastic members 235 can also be divided into upper and lower groups. When the upper group of main directional elastic members 235 is compressed, the movable mounting member 232 and the charging connector 22 swing upwards; when the lower group of main directional elastic members 235 is compressed, the movable mounting member 232 and the charging connector 22 swing downwards. That is, the movable mounting member 232 and the charging connector 22 can swing in the vertical direction. (Refer to...) Figure 12 β is the angle at which the movable mounting part 232 and the charging connector 22 swing up and down.

[0049] Furthermore, continue to refer to Figure 4 and Figure 5 as well as Figure 8 and Figure 9 The movable mounting component 232 is provided with four main guide posts 236, with the end of each guide post 236 facing away from the movable mounting component 232 being a free end. Each of the four main guide posts 236 corresponds to one of the four main guide elastic elements 235, with a portion of the main guide elastic element 235 fitted onto the guide post 236. The guide posts 236 are used to support and guide the main guide elastic elements 235. Furthermore, the fixed mounting component 231 is provided with four positioning slots 2311, each corresponding to one of the four main guide elastic elements 235. The end of each main guide elastic element 235 facing away from the movable mounting component 232 is located within the positioning slot 2311, thus facilitating the positioning and installation of the main guide elastic elements 235.

[0050] The main directional component also includes two balancing elastic elements 237, located on either side of the fixed mounting member 231 and the movable mounting member 232 along the left-right direction of the charging device. The fixed mounting member 231 has a hanging post 2312, and the movable mounting member 232 has a hanging hole 2322. One end of each balancing elastic element 237 connects to the hanging post 2312 on the fixed mounting member 231, and the other end connects to the hanging hole 2322 on the movable mounting member 232. Both balancing elastic elements 237 are inclined, with the ends connecting to the fixed mounting member 231 tilted in a direction away from each other. The balancing elastic elements 237 assist the hanging elastic element 233 and the main directional elastic element 235 in resetting after the movable mounting member 232 and the charging connector 22 move.

[0051] In this embodiment, the main guide component is formed by a combination of elastic elements, which has a simple structure and low cost.

[0052] Additionally, the docking mechanism 20 includes a front guide assembly 21, which comprises a first front mounting member 211, a second front mounting member 212, a front guide post 213, and a front guide elastic member 214. The first front mounting member 211 and the second front mounting member 212 are spaced apart along the front-rear direction of the charging device. The first front mounting member 211 is disposed on the movable mounting member 232, and the charging connector 22 is mounted on the second front mounting member 212. One end of the front guide post 213 is connected to one of the first front mounting member 211 and the second front mounting member 212, and the other end passes through the other and slides in cooperation with it. The front guide elastic member 214 is sleeved on the portion of the front guide post 213 located between the first front mounting member 211 and the second front mounting member 212. Under the guidance of the front guide assembly 21, the charging connector 22 can move in the front-rear direction.

[0053] Optionally, there are four front guide posts 213 and four front guide elastic elements 214, each corresponding to one another. The four front guide posts 213 and four front guide elastic elements 214 are arranged in a 2*2 matrix, which makes the guiding movement of the front guide assembly 21 on the charging connector 22 more stable. However, the number and arrangement of the front guide posts 213 and front guide elastic elements 214 are not limited to this.

[0054] When the charging connector 22 docks with the mobile robot, the charging connector 22 will first move in the front-to-back direction under the guidance of the front guide component 21, and then move in the front-to-back direction and / or swing in the left-to-right direction and / or swing in the up-down direction under the guidance of the main guide component. That is, the front guide component 21 first guides the charging connector 22, and then the main guide component guides the charging connector 22 secondly, so that the charging connector 22 can be accurately docked with the mobile robot.

[0055] Reference Figures 1 to 3 The housing 10 includes a lower housing 11 and an upper housing 12. A docking mechanism 20 is disposed in the lower housing 11, and a charger 70 is disposed inside the lower housing 11. In this embodiment, the lower housing 11 includes a cover 111 and a bottom plate 112. The cover 111 and the bottom plate 112 are detachably connected, for example, by screws. The charger 70 is fixed to the bottom plate 112, and the cover 111 covers the outside of the charger 70. A charging connector 22 is disposed outside the lower housing 11, and the docking mechanism 20 installs the charging connector 22 on the upper end of the lower housing 11. The upper housing 12 is fastened to the lower housing 11, and the upper housing 12 and the lower housing 11 are detachably connected, for example, by screws. The upper housing 12 is provided with a clearance notch 121, which is used to avoid the docking mechanism 20. The upper housing 12 is provided with a first inlet hole 122, and the lower housing 11 is provided with a second inlet hole 1111 and an outlet hole 1112. The power cord of the charger 70 passes through the first inlet hole 122 and the second inlet hole 1111 in sequence and is electrically connected to the charger 70. The output wire of the charger 70 is electrically connected to the charging connector 22 through the outlet hole 1112. Optionally, a protective coil 30 is provided in the first inlet hole 122, the second inlet hole 1111, and the outlet hole 1112. In this embodiment, the mounting bracket 113 is provided with a first through hole 1132, the fixed mounting member 231 is provided with a second through hole 2315, and the movable mounting member 232 is provided with a third through hole 2323. The output wire of the charger 70 passes through the outlet hole 1112 and then passes through the first through hole 1132, the second through hole 2315, and the third through hole 2323 in sequence before being electrically connected to the charging connector 22.

[0056] The lower housing 11 has a first heat dissipation hole 1113 on its side wall for dissipating heat from the charger 70. The upper housing 12 has a second heat dissipation hole 123 on its side wall for auxiliary heat dissipation.

[0057] The upper housing 12 is provided with a handle 124 for easy handling of the charging device. The handle 124 can be an inward-facing structure, or it can be an outward-facing structure.

[0058] The charging device provided in this embodiment of the invention also includes a relay 40, which is disposed at the upper end of the lower housing 11. The relay 40 is used to control the on / off state of charging, ensuring that charging is achieved when the mobile robot and the charging device are reliably connected. The charging device provided in this embodiment of the invention also includes a circuit breaker 50, which is disposed on the side wall of the upper housing 12. The circuit breaker 50 provides protection for input and output. The working principles of the relay 40 and the circuit breaker 50 are existing technologies and will not be described in detail here.

[0059] The charging device provided in this embodiment of the invention also includes a control module 60, which is disposed at the upper end of the upper housing 12. The control module 60 is used to control the output voltage and current of the charging device, adjusting the charging current and controlling the output on / off state by detecting changes in the battery voltage of the mobile robot. The control module 60 includes a touch screen, indicator lights, and corresponding PCB boards. The output voltage and current of the charging device can be adjusted via the touch screen, and the indicator lights can display four states: normal, running, fault, and warning. The control module 60 is equipped with a communication WIFI module, enabling remote control.

[0060] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A docking mechanism, characterized in that, include: Charging connector (22); A fixed mounting component (231) and a movable mounting component (232) are provided, the fixed mounting component (231) and the movable mounting component (232) being spaced apart in the front-back direction, the movable mounting component (232) being used to install the charging connector (22); A dominant directional component is connected between the fixed mounting member (231) and the movable mounting member (232), the dominant directional component being configured to cause the movable mounting member (232) and the charging connector (22) to move in the front-back direction, swing in the left-right direction, and swing in the up-down direction.

2. The docking mechanism according to claim 1, characterized in that, The dominant directional component includes: The suspension elastic element (233) is suspended at the upper end of the movable mounting element (232); Four dominant elastic elements (235) are connected between the fixed mounting member (231) and the movable mounting member (232), and the four dominant elastic elements (235) are distributed in a 2*2 matrix.

3. The docking mechanism according to claim 2, characterized in that, The movable mounting component (232) is provided with four main guide posts (236). The end of the main guide post (236) facing away from the movable mounting component (232) is a free end. The four main guide posts (236) correspond one-to-one with the four main guide elastic members (235). A portion of the main guide elastic member (235) is sleeved on the main guide post (236).

4. The docking mechanism according to claim 2, characterized in that, The fixed mounting component (231) is provided with four positioning grooves (2311), and the four positioning grooves (2311) correspond one-to-one with the four main directional elastic elements (235). The end of the main directional elastic element (235) away from the movable mounting component (232) is located in the positioning groove (2311).

5. The docking mechanism according to claim 2, characterized in that, The dominant directional component also includes two balancing elastic elements (237), which are located on both sides of the fixed mounting member (231) and the movable mounting member (232) along the left-right direction, respectively. One end of the balancing elastic element (237) is connected to the fixed mounting member (231), and the other end is connected to the movable mounting member (232).

6. The docking mechanism according to claim 5, characterized in that, Both of the balance elastic elements (237) are inclined, and one end of the two balance elastic elements (237) connected to the fixed mounting member (231) is inclined in a direction away from each other.

7. The docking mechanism according to any one of claims 1-6, characterized in that, The docking mechanism (20) further includes a front guide assembly (21), which includes a first front mounting member (211), a second front mounting member (212), a front guide post (213), and a front guide elastic member (214). The first front mounting member (211) and the second front mounting member (212) are spaced apart along the front-rear direction. The first front mounting member (211) is disposed on the movable mounting member (232). The charging connector (22) is installed on the second front mounting member (212). One end of the front guide post (213) is connected to one of the first front mounting member (211) and the second front mounting member (212), and the other end passes through the other and slides with it. The front guide elastic member (214) is sleeved on the portion of the front guide post (213) located between the first front mounting member (211) and the second front mounting member (212).

8. The docking mechanism according to claim 7, characterized in that, The number of the front guide post (213) and the front guide elastic element (214) are four and correspond one-to-one. The four front guide posts (213) and the four front guide elastic elements (214) are distributed in a 2*2 matrix.

9. A charging device, characterized in that, The device includes a housing (10), a charger (70), and a docking mechanism (20) as described in any one of claims 1-8. The charger (70) is disposed inside the housing (10), the docking mechanism (20) is installed in the housing (10), and the charging connector (22) protrudes outside the housing (10). The charger (70) is electrically connected to the charging connector (22).

10. The charging device according to claim 9, characterized in that, The fixed mounting component (231) can be adjusted in position relative to the housing (10) in the vertical direction.

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