Self-adaptive adjusting device for charging pile for robot to go up and down cabin

Abstract

The invention discloses a robot upper and lower cabin charging pile self-adaptive adjusting device which comprises a machine device, the top end of the machine device is fixedly connected with a control panel, the bottom end of the machine device is fixedly connected with a charging upper cabin, a charging lower cabin is arranged below the charging upper cabin, and a charging fixing assembly is arranged in the charging lower cabin. And the charging retention assembly comprises a supporting plate, the top end of the supporting plate is fixedly connected with a charging device, the bottom end of the supporting plate is fixedly connected with an annular piece, and the interior of the annular piece is fixedly connected with an air box. The device can adapt to charging upper cabins of different specifications.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to an adaptive adjustment device for charging stations in the upper and lower compartments of a robot. Background Technology

[0002] Hotel robot charging stations are mostly installed in the hotel's back-end area, corridor corners, or dedicated robot rooms. They are compact in design and do not take up service space. The surface is equipped with anti-slip positioning grooves and docking guide lights. Some high-end models come with automatic opening and closing dust covers to prevent dust accumulation at the interfaces.

[0003] Traditional charging piles typically have a fixed charging docking structure, with their dimensions, interface positions, and support spacing all customized for specific charging compartment specifications, making it impossible to flexibly adjust them according to differences in charging compartment specifications. Summary of the Invention

[0004] This invention discloses an adaptive adjustment device for robot upper and lower compartment charging piles, which aims to solve the technical problem that traditional charging piles are difficult to adapt to charging upper compartments of different specifications, requiring targeted modifications for specific specifications, resulting in limited usage scenarios and poor versatility.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: An adaptive adjustment device for the upper and lower charging stations of a robot includes a mechanical device. A control panel is fixedly connected to the top of the mechanical device, and an upper charging station is fixedly connected to the bottom of the mechanical device. A lower charging station is located below the upper charging station. A charging positioning component is located inside the lower charging station. The charging positioning component includes a support plate, and a charging device is fixedly connected to the top of the support plate. An annular component is fixedly connected to the bottom of the support plate, and an air box is fixedly connected inside the annular component.

[0006] In one optional embodiment, both sides of the air box are fixedly connected to a diversion pipe, an air pump is installed on the outside of each diversion pipe, and an air flow pipe is fixedly connected to the vacuum end of each vacuum pump.

[0007] In one optional embodiment, a pre-pipe is provided at the front end of the air box and a rear-pipe is provided at the rear end of the air box. Vacuum nozzles are fixedly connected to the top ends of the pre-pipe, rear-pipe, and airflow pipe. The top ends of the vacuum nozzles are in contact with the upper charging chamber. The vacuum nozzles are all located on the outside of the charging device, and multiple round holes are provided on the support plate. The outside of the airflow pipe and the pre-pipe and rear-pipe are fixedly connected to the inside of the round holes.

[0008] In one alternative embodiment, a telescopic electric rod is fixedly connected between each of the two shunt pipes. The bottom end of the telescopic electric rod is fixedly connected to the inside of the bottom end of the charging lower compartment. Multiple sliding rods are fixedly connected to the inside of the bottom end of the charging lower compartment, and a support plate is slidably connected to the outside of the sliding rods. Multiple positioners are fixedly connected to the top of the support plate.

[0009] In one optional embodiment, the lower charging compartment is provided with two detachment detection components located on both sides of the charging fixation component. Each detachment detection component includes a fixing plate with a slot at the bottom. A descending plate is provided inside the slot, with the top of the descending plate fixedly connected to the bottom of the support plate. A connecting rod is fixedly connected to one side of the descending plate.

[0010] In one alternative embodiment, a movable frame is fixedly connected to one end of the connecting rod near the fixed plate, a pointer is fixedly connected to the front end of the movable frame, and a scale plate is fixedly connected to the bottom end of the fixed plate, with the scale plate located inside the movable frame.

[0011] In one optional embodiment, a lifting device is provided on both sides of the scale plate. A connecting plate is fixedly connected to the top of each lifting device, and the bottom of each lifting device is fixedly connected to the bottom of the charging lower compartment. A stop pad is fixedly connected to the top of each end of the connecting plate, a compression spring is fixedly connected to the middle of the top of the connecting plate, a stop plate is fixedly connected to the top of each compression spring, and a spring rod is fixedly connected to the bottom of each end of the connecting plate. The bottom of the spring rod is fixedly connected to the bottom of the charging lower compartment.

[0012] In one optional embodiment, the lower charging compartment is provided with two Z-shaped connectors. The top of each Z-shaped connector is fixedly connected to a sliding rail, and the top of each sliding rail is slidably connected to a sliding plate. The top of the sliding plate contacts the bottom of the upper charging compartment. The front end of the lower charging compartment is provided with a slot, and multiple round rods are fixedly connected inside the slot. Multiple sliding rollers are movably connected to the outer side of each round rod.

[0013] In one optional embodiment, two motor mounts are fixedly connected inside the lower charging compartment. Each motor mount is fixedly connected to a bidirectional motor. The power output shafts at both ends of the bidirectional motors are connected to threaded rods via couplings. The ends of the threaded rods furthest from the bidirectional motors are movably connected to sliding bases. The bottom end of the sliding bases is fixedly connected to the bottom end of the lower charging compartment.

[0014] In one optional embodiment, movable parts are movably connected to the outer sides of multiple threaded rods. The bottom ends of the movable parts are movably connected to the top end of the slide base. A right shaft and a left shaft are respectively provided at the top end of the movable parts. A positioning part is provided at the intersection of the right shaft and the left shaft. Short-distance tracks are movably connected to the top ends of the right shaft and the left shaft. Lifting frames are fixedly connected to the top ends of the short-distance tracks. Multiple telescopic rods are fixedly connected to the bottom ends of the lifting frames. Multiple pressing springs are fixedly connected to the bottom ends of the lifting frames. The pressing springs are all located on the outer sides of the telescopic rods. The bottom ends of the telescopic rods and the pressing springs are fixedly connected to the bottom end of the charging lower compartment. The top end of the fixing plate is fixedly connected to the bottom end of the lifting frame.

[0015] As can be seen from the above, the adaptive adjustment device for the robot upper and lower compartment charging pile provided by the present invention has an adjustment logic that can be coordinated with the overall device, adapting to charging upper compartments of different specifications. Through the flexible fit of telescopic adjustment and vacuum adsorption, it is compatible with diverse usage scenarios and achieves the technical effect of not requiring targeted modification. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the adaptive adjustment device for the robot's upper and lower cabin charging piles proposed in this invention.

[0017] Figure 2 This is a schematic diagram of the charging upper compartment structure of the adaptive adjustment device for the robot upper and lower compartment charging piles proposed in this invention.

[0018] Figure 3 This is a schematic diagram of the internal structure of the upper charging compartment of the adaptive adjustment device for the robot upper and lower charging piles proposed in this invention.

[0019] Figure 4 This is a schematic diagram of the Z-shaped connector structure of the adaptive adjustment device for the robot's upper and lower cabin charging piles proposed in this invention.

[0020] Figure 5 This is a schematic diagram of the charging and positioning component structure of the adaptive adjustment device for the robot's upper and lower cabin charging piles proposed in this invention.

[0021] Figure 6 This is a schematic diagram of the charging and positioning component of the adaptive adjustment device for the robot's upper and lower cabin charging piles proposed in this invention.

[0022] Figure 7 This is a schematic diagram of the detachment detection component of the adaptive adjustment device for the robot's upper and lower cabin charging piles proposed in this invention.

[0023] Figure 8 This is a schematic diagram of the detachment detection component of the adaptive adjustment device for the robot's upper and lower cabin charging piles proposed in this invention.

[0024] In the diagram: 1. Machine device; 2. Control panel; 3. Upper charging chamber; 4. Sliding plate; 5. Lower charging chamber; 6. Round rod; 7. Sliding roller; 8. Sliding track; 9. Left shaft; 10. Positioning component; 11. Right shaft; 12. Short track; 13. Motor base; 14. Charging positioning assembly; 1401. Support plate; 1402. Sliding rod; 1403. Positioner; 1404. Charging device; 1405. Ring component; 1406. Diversion pipe; 1407. Vacuum pump; 1408. Rear pipe; 1409. Telescopic electric rod; 1410. Airflow pipe; 1411. 1412. Air suction head; 1413. Air box; 1414. Pre-load tube; 15. Bidirectional motor; 16. Threaded rod; 17. Moving part; 18. Drop detection assembly; 1801. Fixed plate; 1802. Lowering plate; 1803. Pointer; 1804. Moving frame; 1805. Connecting rod; 1806. Scale plate; 1807. Spring rod; 1808. Abutment pad; 1809. Abutment plate; 1810. Connecting plate; 1811. Lifting device; 1812. Compression spring; 19. Telescopic rod; 20. Pressing spring; 21. Slide base; 22. Lifting frame; 23. Z-type connector. Detailed Implementation

[0025] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0026] The adaptive adjustment device for robot upper and lower compartment charging piles disclosed in this invention is mainly used in scenarios where traditional charging piles are difficult to adapt to charging upper compartments of different specifications, requiring targeted modifications for specific specifications, resulting in limited usage scenarios and poor versatility.

[0027] Reference Figures 1-8 The adaptive adjustment device for the upper and lower charging stations of the robot includes a machine device 1. A control panel 2 is fixedly connected to the top of the machine device 1, and an upper charging chamber 3 is fixedly connected to the bottom of the machine device 1. A lower charging chamber 5 is provided below the upper charging chamber 3. A charging fixing component 14 is provided inside the lower charging chamber 5. The charging fixing component 14 includes a support plate 1401. A charging device 1404 is fixedly connected to the top of the support plate 1401, and an annular component 1405 is fixedly connected to the bottom of the support plate 1401. An air box 1412 is fixedly connected inside the annular component 1405.

[0028] Machine device 1 serves as the system integration and power base, acting as the core support and power source for the entire device, while also providing a stable mounting reference for the upper components. Internally, machine device 1 integrates a high-voltage power supply module, a power distribution unit, and a wiring storage structure. On one hand, it provides stable power to the control panel 2, charging device 1404, and vacuum adsorption system; on the other hand, through rigid connections (fixed connections to control panel 2 and upper charging chamber 3), it ensures that the upper components will not shift during adjustment, providing a reference coordinate for the precise docking of the lower charging positioning component 14. Its fixed connection at the bottom to the upper charging chamber 3 defines the initial attitude (horizontal docking attitude) of the upper charging chamber 3, giving the charging positioning component 14 within the lower charging chamber 5 a clear target docking area and preventing confusion in adjustment direction. Control panel 2 is the decision-making center for adaptive adjustment. Through its fixed installation at the top (with machine device 1), it ensures that the control module is not affected by vibrations from the movement of the lower actuators, guaranteeing the stability of signal processing.

[0029] The upper charging chamber 3, a flexible docking terminal, is located between the machine device 1 and the lower charging chamber 5, forming a layout that is fixed at the top and adjustable at the bottom. Its fixed posture provides a clear docking target for the lower charging positioning component 14, avoiding accuracy errors caused by bidirectional adjustments. The lower charging chamber 5 provides a closed and guiding working space for the charging positioning component 14, preventing external dust and foreign objects from interfering with the adjustment actions. The charging positioning component 14 is the core execution unit for adaptive adjustment. This component is the direct execution mechanism that achieves multi-specification adaptation, and the collaborative principle of its internal components is the core. The charging device 1404 is the charging and flexible contact actuator. The annular component 1405 serves as a structural positioning and force transmission component, while the air box 1412 is the core for regulating air pressure during vacuum adsorption. The vacuum suction head contacts the bottom of the charging upper chamber 3, utilizing the pressure difference between atmospheric pressure and negative pressure to generate adsorption force, firmly fixing the charging upper chamber 3 to the top of the support plate 1401. At the same time, the flexible suction head material (such as silicone) can adapt to the flatness of the bottom of different sized charging upper chambers, avoiding damage from hard contact. The wrapping fixation of the annular component 1405 ensures that the air box 1412 will not deform under negative pressure, guaranteeing air pressure stability.

[0030] In one alternative implementation, refer to Figure 2 , Figure 3 , Figure 5 and Figure 6 Both sides of the air box 1412 are fixedly connected to the diversion pipes 1406, and the outside of the diversion pipes 1406 is equipped with an air pump, and the vacuum end of the vacuum pump 1407 is fixedly connected to the air flow pipe 1410.

[0031] In this design, a pre-pipe 1413 is provided at the front end of the air box 1412, and a rear pipe 1408 is provided at the rear end of the air box 1412. Vacuum nozzles 1411 are fixedly connected to the top ends of the pre-pipe 1413, the rear pipe 1408, and the airflow pipe 1410. The top ends of the vacuum nozzles 1411 are in contact with the upper charging chamber 3. The vacuum nozzles 1411 are all located on the outside of the charging device 1404, and multiple round holes are provided on the support plate 1401. The outer sides of the airflow pipe 1410, the pre-pipe 1413, and the rear pipe 1408 are all fixedly connected to the inside of the round holes.

[0032] In addition, telescopic electric rods 1409 are fixedly connected between the two diversion pipes. The bottom end of the telescopic electric rods 1409 is fixedly connected to the bottom of the charging lower compartment 5. Multiple sliding rods 1402 are fixedly connected to the bottom of the charging lower compartment 5. The support plate 1401 is slidably connected to the outside of the sliding rods 1402. Multiple positioners 1403 are fixedly connected to the top of the support plate 1401.

[0033] Specifically, the bottom end of the support plate 1401 is slidably connected to the sliding rod 1402. The sliding rod 1402 is fixed inside the bottom end of the lower charging compartment 5, providing guidance for the lifting and lowering of the support plate 1401. The lifting and lowering of the support plate 1401 is driven by the telescopic electric rod 1409. The bottom end of the telescopic electric rod 1409 is fixed inside the lower charging compartment 5, and the top end is connected to the support plate 1401. When the telescopic electric rod 1409 rises, it pushes the support plate 1401 upward, and the support plate 1401 rises smoothly along the axial direction of the sliding rod 1402. At the same time, multiple positioners 1403 installed on the top end of the support plate 1401 are activated synchronously. The positioners 1403 have built-in high-precision distance sensors and position sensors, which can detect the upper charging compartment 3 in real time. The three-dimensional coordinates of the charging part at the bottom are measured, and the detection data is fed back to the control system in real time. Based on the data fed back by the locator 1403, the control system dynamically adjusts the extension length of the telescopic electric rod 1409 and the horizontal angle of the support plate 1401 to ensure that the charging device 1404 at the top of the support plate 1401 can be accurately aligned with the charging part of the charging chamber 3. The error of the entire positioning process is controlled within a very small range, effectively avoiding charging failures caused by misalignment. While the locator 1403 is performing precise calibration, the air box 1412 fixed inside the annular part 1405 at the bottom of the support plate 1401 begins to prepare for vacuum adsorption. The air box 1412 is connected to two diversion pipes 1406 on both sides. A vacuum pump 1407 is installed on the outside. After the vacuum pump 1407 is started, it draws air from the air box 1412 through the diversion pipe 1406, creating a negative pressure environment inside the air box 1412. The front and rear ends of the air box 1412 are connected to a pre-pipe 1413 and a rear-pipe 1408, respectively. The diversion pipes 1406 on both sides are also connected to airflow pipes 1410. Vacuum suction heads 1411 are installed at the top of the pre-pipe 1413, the rear-pipe 1408, and the airflow pipe 1410. These vacuum suction heads 1411 are evenly distributed on the outside of the charging device 1404. The support plate 1401 has multiple round holes. The outer sides of the pre-pipe 1413, the rear-pipe 1408, and the airflow pipe 1410 are fixed inside the round holes to ensure... The pipeline will not loosen or shift during operation. When the vacuum pump 1407 runs continuously, the negative pressure inside the air box 1412 is transmitted to the vacuum head 1411 through various pipelines. At this time, the support plate 1401 continues to rise under the drive of the telescopic electric rod 1409 until the top of the vacuum head 1411 is in close contact with the bottom of the charging upper chamber 3. Since the vacuum head 1411 is made of flexible sealing material, it can completely fit with the contact surface at the bottom of the charging upper chamber 3 to form a sealed space. The vacuum pump 1407 continuously extracts air from the sealed space to form a stable vacuum state. By utilizing the pressure difference between atmospheric pressure and the vacuum environment, a strong suction force is generated to firmly fix the charging upper chamber 3 to the top of the support plate 1401.

[0034] During operation, it can be adjusted in conjunction with the overall device's adjustment logic to fit different specifications of the charging upper compartment 3. Through telescopic adjustment and flexible fitting with vacuum adsorption, it is compatible with diverse usage scenarios and requires no specific modification.

[0035] It should be noted that the design of stable fixation and detachment detection by vacuum adsorption can promptly avoid risks such as equipment tipping and charging short circuits caused by support structure failure, while also buying time for emergency support response and improving equipment operation safety.

[0036] In one alternative implementation, refer to Figure 2 , Figure 3 , Figure 7 and Figure 8 The charging lower compartment 5 is equipped with two detachment detection components 18. The detachment detection components 18 are located on both sides of the charging fixation component 14. The detachment detection component 18 includes a fixing plate 1801. A slot is opened on the bottom of the fixing plate 1801. A descending plate 1802 is arranged inside the slot. The top of the descending plate 1802 is fixedly connected to the bottom of the support plate 1401. A connecting rod 1805 is fixedly connected to the bottom of the descending plate 1802 and one side of the descending plate 1802.

[0037] A movable frame 1804 is fixedly connected to one end of the connecting rod 1805 near the fixed plate 1801. A pointer 1803 is fixedly connected to the front end of the movable frame 1804, and a scale plate 1806 is fixedly connected to the bottom end of the fixed plate 1801. The scale plate 1806 is located inside the movable frame 1804.

[0038] A lifting device 1811 is provided on both sides of the scale plate 1806. A connecting plate 1810 is fixedly connected to the top of the lifting device 1811. The bottom of the lifting device 1811 is fixedly connected to the bottom of the charging lower compartment 5. A stop pad 1808 is fixedly connected to the top of both ends of the connecting plate 1810. A compression spring 1812 is fixedly connected to the middle of the top of the connecting plate 1810. A stop plate 1809 is fixedly connected to the top of the compression spring 1812. A spring rod 1807 is fixedly connected to the bottom of both ends of the connecting plate 1810. The bottom of the spring rod 1807 is fixedly connected to the bottom of the charging lower compartment 5.

[0039] Specifically, throughout the entire charging process, the detachment detection component 18 is always in real-time monitoring mode, providing dual protection for charging safety. There are two sets of detachment detection components 18, installed on both sides of the charging fixation component 14. When the support plate 1401 accidentally detaches or loosens during charging, the support plate 1401 will drive the descending plate 1802 to move downwards synchronously. One side of the descending plate 1802 is fixedly connected to the connecting rod 1805, and the end of the connecting rod 1805 away from the descending plate 1802 is connected to the movable frame 1804. The movable frame 1804 is fitted onto the outside of the scale plate 1806, and a pointer 1803 is fixedly installed at the front end of the movable frame 1804. The scale plate 1806 has clear scale lines marked on it for accurately displaying the descent distance. As the descending plate 1802 moves downwards, the connecting rod 1805 drives the movable frame 1804 to move synchronously along the scale plate 1806, and the pointer 1803 will point to the corresponding scale in real time. The operator can observe the position of the pointer 1803. The system provides a direct view of the extent of the support plate 1401's detachment, while the control system collects scale data via sensors for digital monitoring. At the instant the descending plate 1802 moves downward, the ascending device 1811 activates, rapidly pushing the connecting plate 1810 upward. The abutment pads 1808 installed at the top of both ends of the connecting plate 1810 first contact the bottom of the charging upper chamber 3. The abutment pads 1808, made of elastic and wear-resistant material, effectively buffer the impact during contact, preventing damage to the charging upper chamber 3. Simultaneously, the compression spring 1812 in the middle of the top of the connecting plate 1810 extends upward, pushing the abutment plate 1809 to tightly adhere to the bottom of the charging upper chamber 3. The abutment plate 1809 and the abutment pad 1808 work together to form a multi-point support structure, quickly and temporarily securing the charging upper chamber 3 to prevent further descent. Simultaneously with the activation of the emergency support, the control system immediately cuts off the charging circuit, stopping the charging operation to avoid safety hazards such as short circuits and leakage caused by the displacement of the charging upper chamber 3.

[0040] In this way, the detachment or loosening status of the support plate 1401 can be captured in real time, the descent distance can be accurately fed back, and the visualization and digital monitoring of faults can be realized to avoid the omission of hidden faults.

[0041] In addition, the lifting device 1811 is activated immediately upon the occurrence of the malfunction, and temporary support is quickly formed through the stop pad 1808 and the stop plate 1809 to prevent the charging upper cabin 3 from falling and minimize the risk of equipment damage.

[0042] In some alternative implementations, refer to Figures 1-4The lower charging compartment 5 has two Z-shaped connectors 23 inside. Each Z-shaped connector 23 has a sliding rail 8 fixedly connected to its top. Each sliding rail 8 has a sliding plate 4 slidably connected to its top. The top of the sliding plate 4 contacts the bottom of the upper charging compartment 3. The front end of the lower charging compartment 5 has a slot, and multiple round rods 6 are fixedly connected inside the slot. Multiple sliding rollers 7 are movably connected to the outer sides of the round rods 6. The lower charging compartment 5 has two motor mounts 13 fixedly connected inside. Each motor mount 13 has a bidirectional motor 15 fixedly connected inside. The power output shafts at both ends of the bidirectional motor 15 are connected to threaded rods 16 via couplings. The ends of the threaded rods 16 furthest from the bidirectional motor 15 are movably connected to a sliding base 21. The bottom end of the sliding base 21 is fixedly connected to the bottom of the lower charging compartment 5. Multiple threaded rods 16 are movably connected to movable parts 17 on their outer sides. The bottom ends of the movable parts 17 are movably connected to the top end of the slide base 21. The top ends of the movable parts 17 are respectively provided with a right shaft 11 and a left shaft 9. A positioning part 10 is provided at the intersection of the right shaft 11 and the left shaft 9. The top ends of the right shaft 11 and the left shaft 9 are movably connected to short-distance rails 12. The top ends of the short-distance rails 12 are fixedly connected to lifting frames 22. The bottom ends of the lifting frames 22 are fixedly connected to multiple telescopic rods 19. The bottom ends of the lifting frames 22 are fixedly connected to multiple pressing springs 20. The pressing springs 20 are all located on the outer side of the telescopic rods 19. The bottom ends of the telescopic rods 19 and the pressing springs 20 are fixedly connected to the bottom end of the charging lower compartment 5. The top end of the fixing plate 1801 is fixedly connected to the bottom end of the lifting frame 22.

[0043] Specifically, when the robot needs to perform a charging operation, it first moves towards the lower charging chamber 5. Multiple fixed round rods 6 are fitted with freely rotatable sliding rollers 7 in the slots at the front of the lower charging chamber 5. These rollers are smoothed to minimize frictional resistance during robot movement. After the robot's bottom contacts the top of the sliding rollers 7, it uses its own power to push the rollers to rotate along the axis of the round rods 6. With the assistance of the rollers, it smoothly enters the interior area of ​​the lower charging chamber 5 and finally lands precisely on the top of the sliding plate 4. The surface of the sliding plate 4 is made of wear-resistant and non-slip material, effectively preventing displacement or slippage of the robot during subsequent adjustments. The bottom of the sliding plate 4 is slidably connected to the sliding track 8, which is firmly fixed inside the lower charging chamber 5 by a Z-shaped connector 23. The installation position is precisely calibrated and located exactly below the upper charging chamber 3. The bidirectional motor 15 inside the charging lower compartment 5 receives the start command. The bidirectional motor 15 is stably installed inside the motor base 13. After the bidirectional motor 15 starts, the power output shafts at both ends are rigidly connected to the threaded rod 16 through the coupling. As the motor rotates, the threaded rod 16 starts to rotate synchronously. The end of the threaded rod 16 away from the motor is movably connected to the slide base 21. The slide base 21 is fixed inside the bottom of the charging lower compartment 5, providing a stable support point for the threaded rod 16 and ensuring that it will not deviate during rotation. The bottom end of the movable part 17 is slidably connected to the top end of the slide base 21. When the threaded rod 16 rotates, the thread transmission drives the movable part 17 to move linearly along the length of the slide base 21. The top end of the movable part 17 is connected to the right shaft 11 and the left shaft 9 respectively. The two shafts are arranged in a cross shape. The cross position is fixed by the positioning part 10. The positioning part 10 can limit the relative position of the two shafts and ensure that a stable included angle relationship is maintained during the movement. As the movable part 17 moves, the tilt angle of the two intersecting axles gradually changes, slowly lifting upwards from an initial near-horizontal state. The top of the axles is movably connected to the short track 12. During the lifting process, the short track 12 moves upwards synchronously. The top of the short track 12 is fixedly connected to the lifting frame 22. Multiple telescopic rods 19 and pressing springs 20 are evenly distributed at the bottom of the lifting frame 22, and the pressing springs 20 are sleeved on the outside of the telescopic rods 19. When the short track 12 drives the lifting frame 22 to rise, the telescopic rods 19 extend upwards synchronously, and the pressing springs 20 gradually recover their deformation from the initial compressed state, providing upward elastic support for the lifting frame 22 and playing a buffering role to avoid hard impacts during the lifting process. The lifting frame 22 continues to rise until its top end is completely in contact with the bottom end of the upper charging compartment 3. At this time, the control system detects the contact signal through the sensor, the bidirectional motor 15 is turned off, and the telescopic rod 19 and the pressing spring 20 maintain their current state, fixing the lifting frame 22 at this height, thus achieving the initial docking of the upper charging compartment 3 and the lower charging compartment 5. After initial docking, the bottom end of the support plate 1401 is slidably connected to the sliding rod 1402. The sliding rod 1402 is fixed inside the bottom of the charging lower compartment 5, providing guidance for the lifting and lowering of the support plate 1401. The lifting and lowering of the support plate 1401 is driven by the telescopic electric rod 1409. The bottom end of the telescopic electric rod 1409 is fixed inside the charging lower compartment 5, and the top end is connected to the support plate 1401. When the telescopic electric rod 1409 rises, it pushes the support plate 1401 upward, and the support plate 1401 rises smoothly along the axis of the sliding rod 1402. At the same time, multiple positioners 1403 installed on the top of the support plate 1401 are activated synchronously. The positioners 1403 have built-in high-precision distance sensors and position sensors, which can detect charging in real time. The three-dimensional coordinates of the charging part at the bottom of the upper compartment 3 are measured, and the detection data is fed back to the control system in real time. Based on the data fed back by the locator 1403, the control system dynamically adjusts the extension length of the telescopic electric rod 1409 and the horizontal angle of the support plate 1401 to ensure that the charging device 1404 at the top of the support plate 1401 can be accurately aligned with the charging part of the charging upper compartment 3. The error of the entire positioning process is controlled within a very small range, effectively avoiding charging failures caused by docking misalignment. While the locator 1403 is performing precise calibration, the air box 1412 fixed inside the annular part 1405 at the bottom of the support plate 1401 begins to prepare for vacuum adsorption operation. The air box 1412 is connected to the two sides of the diversion pipe 1406 and the diversion pipe 1407 respectively. A vacuum pump 1407 is installed on the outside of the charging device 1404. After the vacuum pump 1407 is started, it draws air from the air box 1412 through the diversion pipe 1406, creating a negative pressure environment inside the air box 1412. The front and rear ends of the air box 1412 are connected to a pre-pipe 1413 and a rear-pipe 1408, respectively. The diversion pipes 1406 on both sides are also connected to airflow pipes 1410. Vacuum suction heads 1411 are installed at the top of the pre-pipe 1413, the rear-pipe 1408, and the airflow pipe 1410. These vacuum suction heads 1411 are evenly distributed on the outside of the charging device 1404. Multiple round holes are opened on the support plate 1401. The outside of the pre-pipe 1413, the rear-pipe 1408, and the airflow pipe 1410 are fixed inside the round holes. To ensure that the pipeline does not loosen or shift during operation, when the vacuum pump 1407 is running continuously, the negative pressure inside the air box 1412 is transmitted to the vacuum head 1411 through various pipelines. At this time, the support plate 1401 continues to rise under the drive of the telescopic electric rod 1409 until the top of the vacuum head 1411 is in close contact with the bottom of the charging upper chamber 3. Since the vacuum head 1411 is made of flexible sealing material, it can completely fit with the contact surface at the bottom of the charging upper chamber 3 to form a sealed space. The vacuum pump 1407 continuously extracts air from the sealed space to form a stable vacuum state. By utilizing the pressure difference between atmospheric pressure and the vacuum environment, a strong suction force is generated to firmly fix the charging upper chamber 3 to the top of the support plate 1401. Throughout the charging process, the detachment detection component 18 remains in real-time monitoring, providing dual protection for charging safety. There are two sets of detachment detection components 18, installed on both sides of the charging fixation component 14. When the support plate 1401 accidentally detaches or loosens during charging, it will cause the descending plate 1802 to move downwards synchronously. One side of the descending plate 1802 is fixedly connected to the connecting rod 1805, and the end of the connecting rod 1805 away from the descending plate 1802 is connected to the movable frame 1804. The movable frame 1804 is fitted onto the outside of the scale plate 1806, and a pointer 1803 is fixedly installed at the front end of the movable frame 1804. The scale plate 1806 has clear graduations for accurately displaying the descent distance. As the descending plate 1802 moves downwards, the connecting rod 1805 causes the movable frame 1804 to move synchronously along the scale plate 1806, and the pointer 1803 will point to the corresponding graduation in real time. Operators can directly observe the position of the pointer 1803. The control system monitors the degree of detachment of the support plate 1401 and collects scale data through sensors for digital monitoring. At the moment the descending plate 1802 moves downward, the ascending device 1811 activates, rapidly pushing the connecting plate 1810 upward. The abutment pads 1808 installed at the top of both ends of the connecting plate 1810 first contact the bottom of the charging upper chamber 3. The abutment pads 1808, made of elastic and wear-resistant material, effectively buffer the impact during contact, preventing damage to the charging upper chamber 3. Simultaneously, the compression spring 1812 in the middle of the top of the connecting plate 1810 extends upward, pushing the abutment plate 1809 to tightly adhere to the bottom of the charging upper chamber 3. The abutment plate 1809 and the abutment pad 1808 work together to form a multi-point support structure, quickly and temporarily fixing the charging upper chamber 3 to prevent further descent. Simultaneously with the activation of the emergency support, the control system immediately cuts off the charging circuit, stopping the charging operation to avoid safety hazards such as short circuits and leakage caused by the displacement of the charging upper chamber 3.

[0044] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An adaptive adjustment device for a robot to go up and down a charging pile, comprising a machine device (1), characterized in that, The top of the machine device (1) is fixedly connected to a control panel (2), the bottom of the machine device (1) is fixedly connected to a charging upper chamber (3), and a charging lower chamber (5) is provided below the charging upper chamber (3). A charging positioning component (14) is provided inside the charging lower chamber (5). The charging positioning component (14) includes a support plate (1401), and a charging device (1404) is fixedly connected to the top of the support plate (1401). An annular component (1405) is fixedly connected to the bottom of the support plate (1401), and an air box (1412) is fixedly connected inside the annular component (1405).

2. The self-adaptive adjusting device of robot on-off boarding charging pile according to claim 1, characterized in that, Both sides of the air box (1412) are fixedly connected to a diversion pipe (1406), and an air pump is provided on the outside of the diversion pipe (1406). The vacuum end of the vacuum pump (1407) is fixedly connected to an airflow pipe (1410).

3. The adaptive adjustment device for the robot upper and lower compartment charging piles according to claim 2, characterized in that, The front end of the air box (1412) is provided with a pre-pipe (1413), and the rear end of the air box (1412) is provided with a rear pipe (1408). The top ends of the pre-pipe (1413), the rear pipe (1408) and the airflow pipe (1410) are all fixedly connected with vacuum nozzles (1411). The top end of the vacuum nozzles (1411) is in contact with the upper charging chamber (3). The vacuum nozzles (1411) are all located on the outside of the charging device (1404), and multiple round holes are opened on the support plate (1401). The outer sides of the airflow pipe (1410), the pre-pipe (1413), and the rear pipe (1408) are all fixedly connected to the inside of the round holes.

4. The adaptive adjustment device for the robot upper and lower compartment charging piles according to claim 3, characterized in that, Telescopic electric rods (1409) are fixedly connected between the two diversion pipes. The bottom end of the telescopic electric rods (1409) is fixedly connected to the bottom end of the charging lower chamber (5). Multiple sliding rods (1402) are fixedly connected to the bottom end of the charging lower chamber (5). The support plate (1401) is slidably connected to the outside of the sliding rods (1402). Multiple positioners (1403) are fixedly connected to the top end of the support plate (1401).

5. The adaptive adjustment device for the robot upper and lower cabin charging piles according to claim 1, characterized in that, The charging lower compartment (5) is equipped with two detachment detection components (18). The detachment detection components (18) are located on both sides of the charging fixation component (14). The detachment detection components (18) include a fixing plate (1801). A slot is provided below the fixing plate (1801). A descending plate (1802) is provided inside the slot. The top of the descending plate (1802) is fixedly connected to the bottom of the support plate (1401). A connecting rod (1805) is fixedly connected to one side of the descending plate (1802).

6. The adaptive adjustment device for the robot upper and lower compartment charging piles according to claim 5, characterized in that, The connecting rod (1805) is fixedly connected to a movable frame (1804) at one end near the fixed plate (1801). A pointer (1803) is fixedly connected to the front end of the movable frame (1804), and a scale plate (1806) is fixedly connected to the bottom end of the fixed plate (1801). The scale plate (1806) is located inside the movable frame (1804).

7. The adaptive adjustment device for the robot upper and lower cabin charging piles according to claim 6, characterized in that, The scale plate (1806) is provided with lifting devices (1811) on both sides. The top of each lifting device (1811) is fixedly connected to a connecting plate (1810). The bottom of each lifting device (1811) is fixedly connected to the bottom of the charging lower compartment (5). The top of each end of the connecting plate (1810) is fixedly connected to a stop pad (1808). The middle of the top of each connecting plate (1810) is fixedly connected to a compression spring (1812). The top of each compression spring (1812) is fixedly connected to a stop plate (1809). The bottom of each end of the connecting plate (1810) is fixedly connected to a spring rod (1807). The bottom of each spring rod (1807) is fixedly connected to the bottom of the charging lower compartment (5).

8. The adaptive adjustment device for the robot upper and lower compartment charging piles according to claim 5, characterized in that, The lower charging compartment (5) is provided with two Z-shaped connectors (23). The top of each Z-shaped connector (23) is fixedly connected to a sliding rail (8). The top of each sliding rail (8) is slidably connected to a sliding plate (4). The top of the sliding plate (4) is in contact with the bottom of the upper charging compartment (3). The front end of the lower charging compartment (5) is provided with a slot, and multiple round rods (6) are fixedly connected inside the slot. Multiple sliding rollers (7) are movably connected to the outside of the round rods (6).

9. The adaptive adjustment device for the robot upper and lower compartment charging piles according to claim 8, characterized in that, The charging lower compartment (5) has two motor mounts (13) fixedly connected inside. Each motor mount (13) has a bidirectional motor (15) fixedly connected inside. The power output shafts at both ends of the bidirectional motor (15) are connected to threaded rods (16) via couplings. The end of the threaded rod (16) away from the bidirectional motor (15) is movably connected to a sliding base (21). The bottom end of the sliding base (21) is fixedly connected to the bottom end of the charging lower compartment (5).

10. The adaptive adjustment device for the robot upper and lower cabin charging piles according to claim 9, characterized in that, Each of the multiple threaded rods (16) is movably connected to a movable part (17) on its outer side. The bottom end of each movable part (17) is movably connected to the top end of the slide base (21). A right shaft (11) and a left shaft (9) are respectively provided at the top end of each movable part (17). A positioning part (10) is provided at the intersection of the right shaft (11) and the left shaft (9). A short track (12) is movably connected to the top end of each right shaft (11) and the left shaft (9). The top of each of the components is fixedly connected to a lifting frame (22), the bottom of the lifting frame (22) is fixedly connected to multiple telescopic rods (19), the bottom of the lifting frame (22) is fixedly connected to multiple pressing springs (20), the pressing springs (20) are all located outside the telescopic rods (19), the bottom of the telescopic rods (19) and the pressing springs (20) are fixedly connected to the bottom of the charging lower compartment (5), and the top of the fixing plate (1801) is fixedly connected to the bottom of the lifting frame (22).

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