Magnetic attraction traction device of mobile robot and operation method

Abstract

The invention belongs to the technical field of mobile robots, and particularly discloses a mobile robot magnetic attraction traction device and an operation method.The traction device is used for a tractor and a battery vehicle and comprises a front vehicle frame and a rear vehicle frame, one side of the front vehicle frame is matched with the tractor, and the other side of the front vehicle frame is magnetically matched with the rear vehicle frame; the side, away from the front vehicle frame, of the rear vehicle frame is matched with the battery vehicle. The front vehicle frame is provided with a transverse traction rod and a longitudinal traction rod and used for being attached to a tractor. The two longitudinal traction rods are symmetrically arranged at the two ends of the transverse traction rod; steel frame mechanisms are symmetrically arranged on the rear vehicle frame, one sides of the steel frame mechanisms are connected with the battery vehicle in a matched mode, and the other sides of the steel frame mechanisms are movably connected with electromagnets through spherical hinge structures. According to the invention, the connection stability and reliability are improved, the falling risk under the condition of complex terrain or load change is reduced, and automatic traction is realized.

Description

Technical Field

[0001] This invention belongs to the field of mobile robot technology, specifically relating to a magnetic traction device and its operation method for mobile robots. Background Technology

[0002] With the rapid development of global technology, robots, drones, and autonomous driving technologies have become core driving forces for social progress and industrial upgrading. Especially in the fields of intelligent transportation and logistics, the trends of automation and unmanned operation are profoundly changing traditional models. At the same time, the penetration rate of new energy vehicles continues to rise rapidly, but the lagging development of charging infrastructure is becoming increasingly prominent, leading to many electric vehicle users facing the dilemma of "charging difficulties," and highlighting the growing contradiction between the supply and demand of charging infrastructure. In older urban communities, parking lots with limited space, and remote areas, the problem of insufficient charging pile coverage is becoming increasingly prominent due to factors such as scarce land resources, limited grid capacity, and high construction costs, leaving users generally facing inconvenience in charging and range anxiety.

[0003] To address this challenge, mobile charging solutions have emerged. However, existing mobile charging devices generally suffer from drawbacks such as large size, reliance on manual driving, and lack of autonomous obstacle avoidance capabilities. They are ill-suited for complex terrain environments and have limited single-charge capacity, failing to meet the demand for efficient charging. Traditional charging robots rely heavily on manual intervention during operation; the insertion, removal, and fixing of the charging gun must be done manually, making full automation impossible. Furthermore, the charging port alignment accuracy is insufficient, resulting in poor connection stability and a tendency to detach under operational vibrations, compromising reliability. More critically, traditional charging robots are prone to torsional deformation under uneven load distribution or complex terrain conditions, causing the connection between the charging gun and the vehicle interface to loosen or even separate, posing a significant risk of detachment and severely impacting the safety and continuity of the charging process. Summary of the Invention

[0004] The purpose of this invention is to provide a magnetic traction device and operating method for a mobile robot, which helps to improve connection stability and reliability, reduce the risk of detachment under complex terrain or load change conditions, and realize automated traction.

[0005] To achieve the above objectives, the present invention employs the following technical solution: According to a first aspect of the invention, a magnetic traction device for a mobile robot is provided, applicable to tractor vehicles and battery vehicles, comprising a front frame and a rear frame. One side of the front frame engages with the tractor unit, and the other side magnetically engages with the rear frame; the side of the rear frame furthest from the front frame engages with the battery vehicle. The front frame is equipped with a lateral drawbar and a longitudinal drawbar for fitting snugly against the tractor; the two longitudinal drawbars are symmetrically positioned at both ends of the lateral drawbar. The rear frame is symmetrically equipped with a steel frame mechanism. One side of the steel frame mechanism is connected to the battery vehicle, and the other side is movably connected to an electromagnet through a ball joint structure.

[0006] Using the above technical solution, the electromagnet serves as the connection medium between the front and rear vehicle frames, providing continuous magnetic attraction to maintain their stable connection. The rigid structure of the steel frame in the rear vehicle frame, in conjunction with the battery vehicle, and through the dynamic adjustment capability of the ball joint structure, effectively suppresses torsional deformation caused by uneven loads or terrain undulations, thereby improving the overall reliability and adaptability of the connection and achieving a stable connection between the battery vehicle and the tractor in complex terrain.

[0007] The rear frame is equipped with a ball joint structure, which provides multi-directional rotational freedom and can dynamically absorb torsional stress caused by uneven road surfaces or steering movements during traction, reducing mechanical wear and extending the service life of the device.

[0008] According to one embodiment of the present invention, the front vehicle frame further includes a first towing member; a second towing member is disposed at the end of the longitudinal traction bar away from the transverse traction bar; the first towing member is disposed below the transverse traction bar; both the first towing member and the second towing member are used to cooperate with the tractor.

[0009] The front frame is directly connected to the tractor by the first towing component, which helps to improve tensile strength and impact resistance, and adapt to the high-strength traction requirements under complex working conditions.

[0010] According to one embodiment of the present invention, the second towing member is toothed, and the tractor is equipped with a toothed engagement groove, wherein the second towing member can engage with the toothed engagement groove.

[0011] The second drag link provides a precise docking position and distributes load stress. As part of the front frame force transmission link, the second drag link helps improve the response speed of front frame stress distribution and ensures connection stability.

[0012] According to one embodiment of the present invention, the front frame is equipped with an adsorption plate, which is arranged parallel to the plane of the lateral traction bar. The adsorption plate is made of magnetic material and is used to magnetically cooperate with an electromagnet.

[0013] The suction plate works in conjunction with an electromagnet to achieve a fast and reliable magnetic connection. The size and position of the suction plate are precisely designed to ensure high-precision alignment with the electromagnet.

[0014] According to one embodiment of the present invention, the ball joint structure includes a fixedly connected ball joint base and a connecting contact head. The ball joint base is connected to the steel frame mechanism via a flange; the connecting contact head is connected to an electromagnet.

[0015] The ball joint structure is connected to the steel frame mechanism via a flange, providing multi-degree-of-freedom rotation and effectively absorbing and buffering the torsional torque generated during traction, thereby protecting the structure of the tractor and the battery-loaded vehicle from damage.

[0016] Furthermore, the ball joint structure is equipped with sensors to monitor the relative pose of the front and rear vehicle frames.

[0017] According to one embodiment of the present invention, the steel frame mechanism is a frame structure with notches, which are used to cooperate with the frame of the battery vehicle.

[0018] According to one embodiment of the present invention, the steel frame mechanism includes two L-shaped steel frame bases, which are connected end to end to form a frame structure with notches.

[0019] According to one embodiment of the present invention, a connector is provided at the notch of the steel frame mechanism, and the connector includes a flat connecting plate.

[0020] According to one embodiment of the present invention, the electromagnet is used in conjunction with a relay, and the current of the electromagnet is adjustable.

[0021] Furthermore, based on real-time parameters such as the weight of the battery vehicle, real-time acceleration, and the slope of the path, the electromagnet current is automatically adjusted to achieve dynamic adjustment of the adsorption force.

[0022] According to a second aspect of the present invention, a method for operating a magnetic traction device for a mobile robot is provided, comprising the following steps: The front and rear vehicle frames are fixedly connected to the tractor and battery vehicle, respectively. The electromagnet is energized, and the end of the front frame away from the tractor is magnetically engaged with the end of the rear frame away from the battery vehicle through the electromagnet. Start the tractor unit, and the battery vehicle will move by coordinating the front and rear vehicle frames. The load operation data of the tractor is collected in real time, and the magnetic force of the electromagnet is adjusted based on the load operation data of the tractor.

[0023] Compared with the prior art, the present invention has at least the following beneficial effects: 1. This invention achieves magnetic engagement between the front and rear vehicle frames via electromagnets, and combines a ball joint structure to adapt to relative positional changes. This effectively solves the problem of loosening caused by torsional deformation in traditional flexible connection structures under uneven load distribution or complex terrain conditions. It has the advantages of improving connection stability and reliability, reducing the risk of detachment, and realizing automated traction process.

[0024] 2. This invention uses a transverse traction rod and a longitudinal traction rod to mechanically balance the vertical and transverse torsional moments respectively. By cooperating with the first dragging component, a three-dimensional force compensation mechanism is formed, which effectively suppresses swaying and deviation during the traction process and improves the overall stability. The setting of the second dragging component improves the vibration resistance and reliability of the traction connection. It can effectively disperse the load stress in dynamic movement and avoid the defects of easy slippage of traditional smooth surface connections. Attached Figure Description

[0025] The accompanying drawings, which form part of this specification, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the assembly structure of the magnetic traction device for a mobile robot according to Embodiment 1 of the present invention; Figure 2 for Figure 1 A partially enlarged structural diagram of section A in the middle; Figure 3 This is a schematic diagram of the cooperation structure between the front frame and the rear frame of Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the front frame structure of Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the rear frame structure of Embodiment 1 of the present invention; Figure 6 for Figure 5 A magnified schematic diagram of a portion of section B in the middle; Figure 7 for Figure 5 A magnified schematic diagram of a portion of the C section.

[0026] Reference numerals: 11. Tractor vehicle; 12. Battery vehicle; 20. Front frame; 21. Lateral traction bar; 22. Longitudinal traction bar; 23. First towing component; 24. Adsorption plate; 25. Second towing component; 26. Reinforcing beam; 30. Rear frame; 31. Steel frame structure; 32. Notch; 33. Steel frame base; 34. Connector; 35. Connecting plate; 36. Electromagnet; 37. Flange; 40. Ball joint structure; 41. Ball joint base; 42. Connecting contact. Detailed Implementation

[0027] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0028] The following detailed description is exemplary and intended to provide further detailed explanation of the invention. Unless otherwise specified, all technical terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this invention is for describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention.

[0029] Example 1 This embodiment provides a magnetic traction device for a mobile robot, applied in the field of mobile charging, specifically for a traction vehicle 11 and its towed battery vehicle 12, such as... Figure 1 As shown, the magnetic traction device for the mobile robot includes a front frame 20 and a rear frame 30.

[0030] One side of the front frame 20 is engaged with the tractor 11, and the other side is magnetically engaged with the rear frame 30; the side of the rear frame 30 away from the front frame 20 is engaged with the battery vehicle 12. See Figure 3 and Figure 4 The front frame 20 is equipped with a transverse drawbar 21 and a longitudinal drawbar 22 for fitting closely with the tractor 11; the two longitudinal drawbars 22 are symmetrically arranged at both ends of the transverse drawbar 21. See Figure 3 and Figure 5 The rear frame 30 is symmetrically provided with a steel frame mechanism 31. One side of the steel frame mechanism 31 is connected to the battery vehicle 12, and the other side is movably connected to the electromagnet 36 through a ball joint structure 40.

[0031] The tractor 11 provides the movement and traction power for the entire magnetic traction device, and can serve as a chassis for autonomous robot movement, with automatic driving and positioning capabilities.

[0032] See Figure 1 and Figure 2 The front frame 20 is mounted on the tractor 11 and serves as an intermediate structure connecting the tractor 11 and the rear frame 30. This structure ensures a stable connection between the tractor 11 and the battery vehicle 12, guaranteeing the transmission and distribution of force. Generally, the front frame 20 can be fixed to the tractor 11 by welding, riveting, or bolting to ensure a stable fit between the two.

[0033] In this embodiment, a first towing member 23 is disposed below the front vehicle frame 20. The first towing member 23 cooperates with components such as the transverse traction rod 21 and the longitudinal traction rod 22 to form the main structure of the front vehicle frame 20, which is in the shape of a "U" and is used to insert and engage with the rear end of the tractor 11. In the "U"-shaped structure of the front vehicle frame 20, the longitudinal traction rod 22 and the first towing member 23 form an extended end set at the top and bottom, and the longitudinal traction rod 22 and the first towing member 23 are connected by multiple connecting rods or connecting plates. The first towing member 23 is a mechanical structure used to enhance the connection stability between the front vehicle frame 20 and the tractor 11, and it can be implemented by means of a metal hook, a buckle, or a similar device with binding force.

[0034] In this embodiment, the first towing component 23 can be made of solid steel and fixedly connected to the bottom of the tractor 11 by bolts or the like. The first towing component 23, made of solid steel, is directly connected to the tractor 11. Through the dual protection of material properties and structural design, it can prevent the front frame 20 from tilting upwards due to bumps or changes in slope, thereby suppressing vertical displacement, significantly improving tensile strength and impact resistance, and adapting to the high-strength traction requirements under complex working conditions.

[0035] The lateral drawbar 21 is located above the first towing member 23 and is used to balance the traction force, effectively counteracting the vertical torsional moment caused by the imbalance at the traction point, and ensuring the stability of the traction process. The lateral drawbar 21 serves as the main load-bearing structure for balancing the traction force, while two longitudinal drawbars 22 are symmetrically arranged at both ends of the lateral drawbar 21, that is, distributed on the left and right sides of the front vehicle frame 20. This helps to enhance lateral rigidity, resist lateral torsional forces, and also disperse lateral impacts. Therefore, under turning or bumpy road conditions, the traction force can be evenly distributed, avoiding loosening or detachment problems caused by localized stress concentration.

[0036] The lateral traction rod 21 and the longitudinal traction rod 22 respectively perform mechanical balancing on the vertical and lateral torsional moments. By cooperating with the first dragging component 23, they form a three-dimensional force compensation mechanism, which effectively suppresses swaying and deviation during the traction process and improves overall stability.

[0037] An adsorption plate 24 is also provided between the transverse traction rod 21 and the first towing member 23. The adsorption plate 24 is parallel to the plane of the transverse traction rod 21 and is made of magnetic material for magnetic engagement with the electromagnet 36. Generally, two adsorption plates 24 are symmetrically arranged below the transverse traction rod 21, each engaging with one of the two electromagnets 36 in the rear frame 30. More specifically, the two adsorption plates 24 can extend downwards corresponding to the two ends of the transverse traction rod 21 and are connected to the first towing member 23 via connecting rods or connecting plates. In this way, the adsorption area of ​​the front frame 20 and the rear frame 30 is increased, and the adsorption points are symmetrically arranged on both sides, which helps to ensure the stability of the magnetic engagement structure. In this embodiment, the adsorption plate 24 is made of DT4C magnetic material and is matched with the electromagnet 36 on the rear frame 30 to achieve a fast and reliable magnetic connection; its size and position are precisely designed to ensure high-precision alignment with the electromagnet 36. The electromagnet 36 is coupled with a relay, and the current of the electromagnet 36 is adjustable. Furthermore, based on real-time parameters such as the weight of the battery vehicle 12, real-time acceleration, and the slope of the path, the current of the electromagnet 36 is automatically adjusted to achieve dynamic adjustment of the adsorption force.

[0038] In addition, the battery vehicle 12 can be equipped with an electromagnet relay switch, and the tractor vehicle 11 can be equipped with a signal transmitter. The electromagnet relay switch receives the signal command sent by the signal transmitter and realizes the switching control of the circuit according to the command.

[0039] Further, see Figure 2 and Figure 4 A second towing member 25 is disposed at the end of the longitudinal towing bar 22 away from the transverse towing bar 21. Multiple second towing members 25 can be configured as needed. The second towing member 25 is toothed, and the tractor 11 is equipped with a toothed engagement slot, allowing the second towing member 25 to engage with the toothed engagement slot. The second towing member is a mechanical component with a toothed structure, which can be made of metal material through precision machining to form regularly arranged tooth-like protrusions, achieving a secure connection with the tractor 11 through the toothed design. The toothed engagement slot is configured as a groove structure that matches the toothed second towing member, and can be made by opening and embedding high-strength wear-resistant material on the surface of the tractor 11 to provide a precise mating position and distribute load stress.

[0040] By engaging the second towing member 25 with the toothed locking slot on the tractor 11, lateral fixation is achieved, suppressing the lateral swaying of the front frame 20 during turns or on uneven terrain, preventing loosening of the connection due to torque, and thus ensuring the effective functioning of the longitudinal and lateral towing rods 22 and 21. The mechanical interlocking between the second towing member 25 and the toothed locking slot enhances vibration and impact resistance. This design not only solves the problem of loosening connections under complex terrain or load changes, but also ensures the continuity and safety of the mobile robot's traction process.

[0041] The toothed meshing mechanism fundamentally enhances the vibration resistance and reliability of the traction connection. A precise mechanical interlock is formed between the second towing component and the toothed locking groove, effectively distributing load stress during dynamic movement and avoiding the slippage inherent in traditional smooth surface connections. The toothed locking groove on the tractor 11 matches the tooth profile of the second towing component, ensuring automatic alignment and tight engagement during docking, achieving rapid locking without manual intervention. This positive meshing characteristic provides continuous mechanical constraint during sudden load changes or terrain variations, effectively preventing relative displacement and accidental disengagement, making it particularly suitable for stable traction of mobile robots on uneven terrain or during acceleration and deceleration.

[0042] In addition, a reinforcing beam 26 is connected between the two symmetrically arranged adsorption plates 24. On the one hand, it can improve the structural stability of the front frame 20 and prevent torsional deformation. On the other hand, it can ensure the uniform distribution of traction force and improve traction stability.

[0043] The rear frame 30 is primarily designed to support the battery vehicle 12 and maintain a stable connection with it. The steel frame structure 31 can be made of various rigid materials, such as carbon steel, aluminum alloy, or titanium alloy, and its specific form can be a rectangular frame, a trapezoidal frame, or other geometric structures with sufficient strength. The symmetrical design of the two steel frame structures 31 enhances overall strength and effectively reduces torque deformation caused by uneven stress. This symmetrical structure ensures that the traction force is evenly distributed along both sides, forming a symmetrical force flow path, fundamentally reducing local torque caused by off-center loading.

[0044] The steel frame mechanism 31 and the battery vehicle 12 can be connected by means of slots, clamps or bolts to accommodate different types of battery vehicle 12 structures. In addition, the design of the ball joint structure 40 allows for angular changes between the front frame 20 and the rear frame 30. For example, the ball joint base 41 can achieve multi-degree-of-freedom rotation through a universal joint or similar structure, thereby dynamically adapting to the posture adjustment needs under complex terrain.

[0045] In this embodiment, the steel frame mechanism 31 is a frame structure with a notch 32, which is used to mate with the frame of the battery vehicle 12. The steel frame mechanism 31 provides a stable connection foundation. The notch 32 refers to the unclosed part in the frame structure, which can be designed to match the shape of the battery vehicle 12 frame, thereby improving the tightness of the connection through precise geometric adaptation.

[0046] The steel frame mechanism 31 with notch 32 effectively solves the connection stability problem caused by loose fit with the battery vehicle 12 frame. The steel frame mechanism 31 adopts a frame structure with notch 32. This design is based on the actual contour characteristics of the battery vehicle 12 frame, allowing the frame structure to closely fit the specific shape of the frame, thereby reducing relative displacement caused by vibration or terrain changes during movement. Notch 32 is used to mate with the battery vehicle 12 frame. By precisely matching the frame geometry, it ensures that the connection point remains stable under various working conditions, avoiding torsional deformation, and thus improving the reliability and safety of the overall traction device in complex environments. Furthermore, the steel frame mechanism 31, together with the electromagnet 36 and the ball joint structure 40, forms a complete magnetic traction system, exhibiting excellent adaptability under uneven loads or complex terrain.

[0047] Furthermore, the steel frame mechanism 31 includes two L-shaped steel frame bases 33, which are connected end-to-end to form a frame structure with a notch 32. The steel frame bases 33 can be made of high-strength steel, aluminum alloy, or composite materials. The two steel frame bases 33 can be connected end-to-end through welding, bolting, or a snap-fit ​​structure to ensure the rigidity transmission of the steel frame mechanism 31 and avoid local stress concentration or structural deformation under complex working conditions.

[0048] Specifically, during the process of cooperating with the battery vehicle 12, the components at the front end of the battery vehicle 12 can extend into the interior of the rear frame 30 through the notch 32 and abut against the inner sidewalls of the two steel frame bases 33 respectively, thereby increasing the contact area between the battery vehicle 12 and the rear frame 30 and ensuring the stability of the connection.

[0049] See Figure 6A connector 34 is provided at the notch 32 of the steel frame mechanism 31. The connector 34 includes a flat connecting plate 35. The connector 34 serves as an interface device to enhance the connection stability at the notch 32 and prevent loosening. The connector 34 can be installed at the notch 32 of the steel frame mechanism 31 by means of bolt fixing, snap-fit ​​connection, or welding, thereby achieving precise positioning and firm fixation. The flat connecting plate 35 has a flat surface, which maximizes the contact area and ensures uniform force distribution during the interaction with the battery vehicle 12. The flat connecting plate 35 can be formed from metal materials, such as aluminum alloy or stainless steel, to meet the requirements of strength and durability, and can be connected and fixed to the battery vehicle 12 by bolts or the like.

[0050] By adding a connector 34 at the notch 32 of the steel frame mechanism 31 and installing a flat connecting plate 35, the relative displacement problem between the battery vehicle 12 and the steel frame mechanism 31 caused by vibration, terrain undulation, or uneven load is effectively solved. The connector 34, as a dedicated interface, guides the battery vehicle 12 frame to quickly align and securely fix to the notch 32 area, thereby suppressing possible torsion or loosening during movement. Simultaneously, the flatness and large contact area of ​​the flat connecting plate 35 ensures uniform distribution of dynamic stress, avoiding the risk of wear or detachment caused by localized stress concentration. Furthermore, this design facilitates rapid alignment between the battery vehicle 12 frame and the connector 34, significantly improving connection reliability and resistance to detachment under complex operating conditions.

[0051] One side of the steel frame mechanism 31 is connected to the battery vehicle 12 through a notch 32 formed by two steel frame bases 33, and the other side is movably connected to an electromagnet 36 through a ball joint structure 40, and then the electromagnet 36 is magnetically connected to the front vehicle frame 20. The ball joint structure 40 allows for angular adjustment between the front vehicle frame 20 and the rear vehicle frame 30, thereby dynamically adapting to the relative posture changes caused by terrain undulations, thus avoiding stress accumulation that may be caused by rigid constraints, and ensuring the reliability and durability of the connection in complex terrain.

[0052] Further, see Figure 7 The ball joint structure 40 includes a fixedly connected ball joint base 41 and a connecting contact head 42. The ball joint base 41 is connected to the steel frame mechanism 31 through a flange 37; the connecting contact head 42 is connected to the electromagnet 36.

[0053] The ball joint base 41 is a mechanical connection component with multi-degree-of-freedom rotation capability. It can be made of high-hardness alloy material to ensure durability under complex stress environments. The flange 37 can be welded to the steel frame structure 31 as a fixed connection point. It can be configured as a connector that matches the spherical geometry of the ball joint base 41. Its design aims to achieve smooth rotation of the ball joint base 41 in three-dimensional space, thereby adapting to angle changes caused by terrain undulations. It also facilitates modular installation and maintenance, supports rapid replacement or upgrade of components of the ball joint structure 40, and reduces later maintenance costs. The connecting contact 42 is a mechanical interface that directly transmits traction force. It can achieve efficient cooperation with the electromagnet 36 through threaded or snap-fit ​​connections. The combination of the ball joint base 41 and the flange 37 allows the front frame 20 and the rear frame 30 to maintain a smooth connection in complex terrain, avoiding the stress concentration problem caused by angle limitations in traditional rigid connections. The direct connection between the connecting contact 42 and the electromagnet 36 ensures efficient transmission of traction force and maintains the synchronization of the overall module movement.

[0054] Furthermore, the ball joint structure 40 is equipped with sensors, such as miniature displacement sensors, angle sensors, gyroscopes, accelerometers, or optical sensors, to monitor the relative pose of the front frame 20 and the rear frame 30. The introduction of sensors provides real-time feedback to the control system. Based on the collected pose data, the attraction force of the electromagnet 36 can be dynamically adjusted to actively compensate for pose deviations caused by uneven load distribution or terrain changes. If a sudden change in pose is detected or the attraction pressure drops below the lower limit of the safety threshold, it can be determined that the connection is loose. An alarm signal is sent to the control system, activating the emergency braking function of the battery vehicle 12 chassis to prevent a collision.

[0055] The mobile robot magnetic traction device in this embodiment achieves magnetic engagement between the front frame 20 and the rear frame 30 via electromagnets 36, and combines a ball joint structure 40 to adapt to relative posture changes. This effectively solves the problem of traditional flexible connection structures being prone to torsional deformation and loosening under uneven load distribution or complex terrain conditions. It has the advantages of improving connection stability and reliability, reducing the risk of detachment, and realizing automated traction process. It provides an innovative and practical solution to the problem of insufficient charging infrastructure for new energy vehicles, and greatly expands the application scenarios of charging services.

[0056] Example 2 This embodiment provides an operation method for a magnetic traction device for a mobile robot, based on the magnetic traction device for a mobile robot provided in Embodiment 1, including the following steps: The front frame 20 and the rear frame 30 are fixedly connected to the tractor 11 and the battery vehicle 12, respectively. The electromagnet 36 is energized, and the end of the front frame 20 away from the tractor 11 and the end of the rear frame 30 away from the battery vehicle 12 are magnetically engaged by the electromagnet 36. Start the tractor 11, and drive the battery vehicle 12 to move through the cooperation of the front frame 20 and the rear frame 30; Real-time load operation data is collected, and the adsorption force between the front frame 20 and the rear frame 30 is adjusted based on the load operation data.

[0057] Specifically, taking the magnetic traction device for the mobile robot in Example 1 as an example, the operation method is as follows: S1. The front frame 20 and the rear frame 30 are fixedly connected to the tractor 11 and the battery vehicle 12, respectively.

[0058] The first towing component 23, made of solid steel, is fastened to the anti-collision bar of the tractor 11 by bolts, ensuring that the towing component has sufficient load-bearing strength and rigidity, while keeping the traction force reference plane of the towing component horizontal, providing a stable posture basis for subsequent connection.

[0059] The lateral traction bar 21 is installed at a preset position above the first towing member, ensuring that its vertical accuracy with the first towing member 23 meets the requirements to achieve traction balance. The longitudinal traction bar 22 is fitted with the top surface of the tractor 11, and the second towing member 25 is adjusted to the toothed connecting groove on the top surface of the tractor 11 and fitted together, so that the tractor 11 and the various components of the front frame 20 are solidified into a whole, enhancing lateral rigidity.

[0060] Install the adsorption plate 24 at the end of the front frame 20, so that it is above the first towing member 23 and below the lateral traction bar 21, ensuring that the adsorption plate 24 is installed in a precise position and that there is no oil or impurities on the surface that would affect the magnetic attraction effect.

[0061] The symmetrical steel frame mechanism 31 is installed on the chassis beam of the battery vehicle 12, ensuring that the installation position is centered. The connector 34 at the notch 32 of the steel frame mechanism 31 faces the surface of the chassis beam of the battery vehicle 12, and the connecting plate 35 is tightly attached to the chassis beam and fastened with bolts, so that the steel frame mechanism 31 forms a symmetrical force flow path, avoiding uneven force and torque deformation.

[0062] The flange 37 is welded or bolted to a preset position on the side of the steel frame mechanism 31 away from the battery vehicle 12, ensuring that the flange 37 is flat and perpendicular to the steel frame mechanism 31; the ball hinge structure 40 is fixed by the flange 37 to ensure that the ball hinge rotates flexibly without jamming, and at the same time, micro displacement and angle sensors are installed at the ball hinge, and the sensor lines are connected to the control unit to realize the real-time upload of position and posture data.

[0063] An electromagnet 36 is installed at the connecting contact 42 of the ball joint structure 40, ensuring that the electromagnet 36 corresponds to the position of the adsorption plate 24 and that the center of the electromagnet 36 is precisely aligned with the center of the adsorption plate 24. The power supply and control lines of the electromagnet 36 are connected to the output terminal of the remote relay control module. The remote relay control module is fixed in a location on the battery vehicle 12 for easy wiring and maintenance. Its signal input terminal establishes communication with the control system through a wireless communication module (equipped with a 1527 encoding transmission module) to complete the pairing and connection of control signals. At the same time, the relay control module needs to be connected to the power supply of the load battery vehicle 12 to provide working power for itself and the electromagnet 36. The remote relay acts as a "control switch" between the control system and the electromagnet 36, receiving wireless control signals (such as energization, de-energization, and current adjustment signals) sent by the control system and converting the signals into circuit on / off or current adjustment commands to precisely control the working state of the electromagnet 36. On the other hand, the relay has an electrical isolation function, which can effectively isolate the control circuit of the control system from the power circuit of the electromagnet 36, preventing the large current and strong electromagnetic interference generated when the electromagnet 36 is working from affecting the stability of the control system and ensuring communication and control safety. In addition, the relay's wide voltage input (DC 3V~24V) feature allows it to adapt to different specifications of load battery power supply, improving the module's versatility.

[0064] S2. Control the electromagnet 36 to be energized, and connect the end of the front frame 20 away from the tractor 11 and the end of the rear frame 30 away from the battery vehicle 12 through the electromagnet 36. The autonomous driving function of the tractor 11 is activated. The control system of the mobile robot's magnetic traction device adjusts its posture, causing the front frame 20 to slowly approach the rear frame 30. Simultaneously, a robotic arm precisely positions the tractor to ensure that the adsorption plate 24 on the front frame 20 is perfectly aligned with the electromagnet 36 on the rear frame 30, with deviations controlled within the design limits. The electromagnet 36 is then energized, generating a strong magnetic force that tightly attracts the adsorption plate 24, completing the connection between the front frame 20 and the rear frame 30.

[0065] In this way, by combining the front frame 20 and the rear frame 30 with the magnetic cooperation of the electromagnet 36, and introducing the ball joint structure 40 to achieve dynamic angle adjustment, the problem of torsional deformation and detachment caused by uneven load in complex terrain caused by the traditional manual mounting method is solved, thereby improving the connection stability and reliability.

[0066] S3. Start the tractor 11, and drive the battery vehicle 12 to move through the cooperation of the front frame 20 and the rear frame 30.

[0067] S4. During the movement of the battery vehicle 12, the load operation data of the tractor 11 is collected in real time, and the magnetic force of the electromagnet 36 is adjusted based on the load operation data of the tractor 11, that is, the attraction force between the front frame 20 and the rear frame 30 is adjusted.

[0068] During the transfer of the battery vehicle 12 using the aforementioned mobile robot magnetic traction device, the magnetic attraction force between the front frame 20 and the rear frame 30 can be automatically adjusted using an adaptive attraction force adjustment method. The specific method is as follows: S1-1 collects real-time load operation data of tractor 11.

[0069] The load operation data of the tractor 11 includes the total weight of the battery vehicle, the real-time acceleration of the tractor 11 and the battery vehicle 12, and the slope information of the road surface. The total weight of the battery vehicle can be estimated by the drive motor current. Specifically, the output torque is calculated by the motor current, and the total weight of the battery vehicle is deduced by combining the driving resistance (including the load gravity component). The real-time acceleration of the tractor 11 and the battery vehicle 12 can be acquired by the acceleration sensor to determine the dynamic force changes during the traction process. The slope information of the road surface can be acquired by the slope sensor to determine the additional load resistance.

[0070] When a vehicle travels on a slope, a component of gravity is generated along the slope, which constitutes the additional load resistance caused by the slope. First, the slope sensor collects the road slope angle θ. The control system, combined with the estimated total weight M of the load battery vehicle (or the overall traction weight if including the tractor unit 11) and the gravitational acceleration g (taken as 9.8 m / s²), calculates the magnitude of the additional load resistance using the formula F = M × g × sinθ. When the vehicle is going uphill, this resistance is in the opposite direction to the traction force, increasing the traction load; when going downhill, the component of gravity is in the same direction as the traction force, reducing the traction load.

[0071] S1-2 Electromagnet 36 magnetic force adjustment.

[0072] The control system calculates the optimal electromagnet force and corresponding electromagnet current value based on the collected real-time parameters and a preset algorithm.

[0073] When the total weight of the battery vehicle increases, the real-time acceleration of the tractor 11 and battery vehicle 12 increases, or the gradient of the road surface increases, the control system automatically controls the electromagnet 36 to increase the current and enhance the magnetic force to a safe range. When the total weight of the battery vehicle decreases, the real-time acceleration of the tractor 11 and battery vehicle 12 decreases, or the gradient of the road surface decreases, the control system automatically controls the electromagnet 36 to decrease the current, reducing energy consumption while ensuring reliable connection. At the same time, the control system calculates the lower limit of the magnetic force safety threshold of the electromagnet 36 in real time to ensure that the actual attraction force between the front frame 20 and the rear frame 30 is always higher than this threshold.

[0074] In addition, operators can monitor the magnetic force adjustment status of the electromagnet 36 in real time through the control interface of the tractor 11 or the battery vehicle 12, including the current electromagnet current, magnetic force value, lower limit of the safety threshold, and various collected parameters. If abnormal parameters cause the magnetic force to approach the lower limit of the threshold, the control system will automatically issue a warning to remind the operator to pay attention to the road conditions and equipment status.

[0075] Furthermore, to avoid a sudden loss of magnetic force and subsequent disengagement due to power outage, the following safe power-off procedure must be strictly followed. This procedure can be triggered manually or automatically by the system: When a power outage is required (such as after completing a traction task or equipment maintenance), first park the tractor 11 and battery vehicle 12 on a flat road surface, and apply the parking brake to the tractor 11 to ensure the vehicles are stationary and stable. Trigger the "emergency boost mode" through the control system to immediately increase the current to the electromagnet 36, briefly boosting the magnetic force to its peak value and enhancing connection reliability.

[0076] After activating the emergency suction boost mode, the energy retention module works synchronously, providing short-term power to the electromagnet 36 through the energy storage element to maintain the suction force. During this period, the operator can safely disconnect the main power supply. The power supply duration of the energy retention module must be designed to meet the needs of power outage operations and emergency handling, ensuring that the suction force can still be maintained until the operator completes the separation of the front and rear vehicle frames 30 or takes other safety measures after the main power supply is disconnected.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A magnetic traction device for a mobile robot, characterized in that, Applied to tractor (11) and battery vehicle (12); including front frame (20) and rear frame (30); One side of the front frame (20) is engaged with the tractor (11), and the other side is magnetically engaged with the rear frame (30) via an electromagnet (36); the side of the rear frame (30) away from the front frame (20) is engaged with the battery vehicle (12). The front frame (20) is equipped with a transverse traction bar (21) and a longitudinal traction bar (22) for fitting closely with the tractor (11); the two longitudinal traction bars (22) are symmetrically arranged at both ends of the transverse traction bar (21); The rear frame (30) is symmetrically provided with a steel frame mechanism (31). One side of the steel frame mechanism (31) is connected to the battery vehicle (12), and the other side is movably connected to the electromagnet (36) through a ball joint structure (40).

2. The magnetic traction device for mobile robots according to claim 1, characterized in that, The front frame (20) also includes a first towing member (23); a second towing member (25) is disposed at the end of the longitudinal traction bar (22) away from the transverse traction bar (21); the first towing member (23) is disposed below the transverse traction bar (21); Both the first towing member (23) and the second towing member (25) are used to cooperate with the tractor (11).

3. The magnetic traction device for mobile robots according to claim 2, characterized in that, The second towing member (25) is toothed, and the tractor (11) is equipped with a toothed engagement groove, which the second towing member (25) can engage with.

4. The magnetic traction device for a mobile robot according to claim 1, characterized in that, The front frame (20) is equipped with an adsorption plate (24), which is arranged parallel to the plane of the transverse traction rod (21). The adsorption plate (24) is made of magnetic material and is used to magnetically cooperate with the electromagnet (36).

5. The magnetic traction device for a mobile robot according to claim 1, characterized in that, The ball joint structure (40) includes a fixedly connected ball joint base (41) and a connecting contact head (42). The ball joint base (41) is connected to the steel frame mechanism (31) through a flange (37). The connecting contact head (42) is connected to the electromagnet (36).

6. The magnetic traction device for a mobile robot according to claim 1, characterized in that, The steel frame mechanism (31) is a frame structure with a notch (32) for cooperating with the frame of the battery vehicle (12).

7. The magnetic traction device for a mobile robot according to claim 6, characterized in that, The steel frame structure (31) includes two L-shaped steel frame bases (33), which are connected end to end to form a frame structure with a notch (32).

8. The magnetic traction device for a mobile robot according to claim 6, characterized in that, A connector (34) is provided at the notch (32) of the steel frame mechanism (31), the connector (34) including a flat connecting plate (35).

9. The magnetic traction device for a mobile robot according to claim 1, characterized in that, It also includes a relay for adjusting the current of the electromagnet (36).

10. The operation method of the magnetic traction device for a mobile robot, characterized in that, The magnetic traction device for mobile robots according to any one of claims 1-9 includes the following steps: The front frame (20) and the rear frame (30) are fixedly connected to the tractor (11) and the battery vehicle (12) respectively; The electromagnet (36) is energized, and the end of the front frame (20) away from the tractor (11) and the end of the rear frame (30) away from the battery vehicle (12) are magnetically connected by the electromagnet (36). Start the tractor (11), and drive the battery vehicle (12) to move through the cooperation of the front frame (20) and the rear frame (30); The load operation data of the tractor (11) is collected in real time, and the magnetic force of the electromagnet (36) is adjusted based on the load operation data of the tractor (11).

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