Plug-in connector structure and robot charging base station
By adopting a design that hinges and slides the electrode bracket to the main bracket in the robot charging base station, combined with a reset component and a detection component, the problem of difficult electrode head docking is solved, and an efficient and reliable charging process is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHENZHEN YUETONG TECHNOLOGY CO LTD
- Filing Date
- 2026-05-26
- Publication Date
- 2026-07-21
AI Technical Summary
In existing robot charging base stations, the docking plug structure cannot provide a large and stable degree of freedom deviation, making it difficult for the electrode head to reliably connect with the electrode hole, resulting in a high probability of charging failure.
The electrode holder is hinged to the main holder and slidably connected to the base, giving the electrode head rotational and translational degrees of freedom. Combined with the reset and detection components, the electrode head can achieve adaptive docking.
It improves docking tolerance and charging success rate, ensures reliable contact between electrode head and electrode hole, reduces structural complexity and maintenance costs, and enhances durability and assembly efficiency.
Smart Images
Figure CN122436747A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of charging device technology, and in particular to a docking plug structure and a robot charging base station. Background Technology
[0002] Currently, when a cleaning robot needs charging, it must first move to a charging station and align its charging port with a docking plug within the station. During this docking process, the electrode tip of the docking plug must be inserted into the electrode hole in the charging port to establish a stable electrical connection. However, in existing charging stations, the docking plug structure cannot provide a large and stable degree of freedom deviation, making it difficult for the electrode tip to reliably connect with the electrode hole when the robot returns to the station for docking, resulting in a high probability of charging failure. Summary of the Invention
[0003] The main objective of this invention is to propose a docking plug structure and a robot charging base station, aiming to solve the technical problem of high charging failure probability in existing robot charging base stations.
[0004] To achieve the above objectives, the present invention provides a mating plug structure comprising: Electrode head; An electrode support, comprising a mounting body and a mounting arm, wherein the electrode head is mounted on the mounting arm; The main bracket is hinged to the side of the mounting body opposite to the mounting arm; The base includes a base panel and a guide post. The base panel has a receiving hole, and the mounting arm passes through the receiving hole. Along the rotation direction of the mounting arm, the wall of the receiving hole is spaced apart from the side wall of the mounting arm. The guide post is vertically mounted on the base panel, and the main bracket is slidably connected to the guide post. A reset assembly, comprising a first reset component and a second reset component, wherein the first reset component is connected to the mounting body and the main bracket respectively, and the second reset component is connected to the guide post and the main bracket respectively.
[0005] In one embodiment, the mounting body has a hinge arm protruding from the side opposite to the mounting arm, the hinge arm has a first hinge hole, the electrode bracket also includes a rotating shaft, the main bracket has a hinge groove, the side wall of the hinge groove has a second hinge hole, the hinge arm extends into the hinge groove, and the rotating shaft passes through the first hinge hole and the second hinge hole.
[0006] In one embodiment, the number of the hinge arm, the hinge slot, and the rotating shaft are all at least two, and each hinge arm extends into one of the hinge slots, with each hinge slot corresponding to a rotating shaft.
[0007] In one embodiment, the first reset member includes multiple tension springs, and the mounting body has multiple connecting blocks on the side away from the mounting arm. The multiple connecting blocks are evenly arranged on both sides of the hinge arm. The main bracket has multiple mounting posts corresponding to the connecting blocks. The two ends of the tension springs are respectively connected to the connecting blocks and the mounting posts. The tension springs are used to automatically center the mounting body.
[0008] In one embodiment, the guide post includes a column body, a limiting piece, and a fixing member. The second reset member includes a compression spring. The main bracket has a sliding hole, and the column body passes through the sliding hole. The compression spring and the limiting piece are both sleeved on the column body. The fixing member is installed on the end of the column body away from the base panel to prevent the limiting piece from coming off the column body. One end of the compression spring abuts against the side of the main bracket away from the base panel, and the other end of the compression spring abuts against the limiting piece.
[0009] In one embodiment, there are multiple guide posts, which are arranged in a rectangular array or a ring array. There are also multiple sliding holes, and each sliding hole corresponds to one of the posts.
[0010] In one embodiment, the docking plug structure further includes a detection component, which includes a detection bracket and an optical coupler sensor. The detection bracket is connected to the base panel, and the optical coupler sensor is installed on the side of the detection bracket away from the base panel. The main bracket is located between the detection bracket and the base panel, and a light-shielding column is provided on the side of the main bracket away from the base panel. The light-shielding column is correspondingly arranged with the detection end of the optical coupler sensor.
[0011] In one embodiment, the detection bracket includes a mounting plate, the main bracket is disposed between the mounting plate and the base plate, and the optocoupler sensor is mounted on the side of the mounting plate opposite to the base plate; The mounting plate has clearance holes, and the light-shielding column is slidably connected to the clearance holes.
[0012] In one embodiment, the mounting arm has a limiting groove, and part of the electrode head is detachably mounted in the limiting groove.
[0013] The present invention also proposes a robot charging base station, including a docking plug structure as described in any of the above embodiments, wherein the robot charging base station further includes a control unit for communicating with a robot.
[0014] The technical solution of this invention employs an electrode support hinged to a main support, and a main support slidably connected to a base. This gives the electrode head one rotational degree of freedom and one translational degree of freedom, allowing it to rotate up and down around a pivot axis and move back and forth relative to the base panel. This avoids the problems of low alignment tolerance and difficult docking caused by insufficient or no degrees of freedom in traditional solutions, while also avoiding the problems of severe electrode head wobbling and unstable contact caused by excessive degrees of freedom. The reasonable coordination of these two degrees of freedom allows the electrode head to adaptively adjust its position and angle within a small range to follow the robot's docking posture when the cleaning robot returns to its charging station, significantly improving docking tolerance and success rate, while ensuring reliable contact and stable charging. Attached Figure Description
[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.
[0016] Figure 1 A schematic diagram of an embodiment of the docking plug structure provided by the present invention; Figure 2 for Figure 1 A schematic diagram of the decomposed structure; Figure 3 for Figure 1 A magnified structural diagram of point A in the middle.
[0017] Explanation of icon numbers: 1. Electrode head; 2. Electrode bracket; 21. Mounting body; 22. Mounting arm; 221. Limiting groove; 23. Hinge arm; 231. First hinge hole; 24. Rotating shaft; 25. Connecting block; 26. First threaded component; 3. Main bracket; 31. Hinge groove; 311. Second hinge hole; 32. Mounting column; 33. Sliding hole; 34. Light-shielding column; 4. Base; 41. Base plate; 411. Accommodating hole; 42. Guide post; 421. Column; 422. Limiting piece; 423. Fixing component; 5. Reset assembly; 51. First reset component; 51a. Tension spring; 52. Second reset component; 52a. Compression spring; 6. Detection component; 61. Detection bracket; 611. Mounting plate; 612. Clearance hole; 613. Second threaded component; 62. Optical coupler sensor.
[0018] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.
[0020] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.
[0021] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.
[0022] When a cleaning robot detects that its battery level is below a set value during a cleaning task, it needs to move to a charging station to recharge. The charging station is equipped with a docking plug, and the corresponding charging port is located on the robot's body. Once the robot reaches the charging station, the docking plug and charging port need to be aligned. The electrode tip on the docking plug needs to be inserted into the electrode hole inside the charging port, making contact between the electrode tip and the conductive part of the inner wall of the electrode hole to achieve current transmission.
[0023] However, according to the applicant's research, there are two main design approaches in the docking plug structures used in commonly used charging base stations. One type of design either fully constrains the electrode head or only allows the electrode head one degree of freedom. When the electrode head is fully constrained, it cannot move during docking with the electrode hole; when the electrode head has only one degree of freedom, it is only allowed to move in the direction the cleaning robot is moving forward or backward. This type of design has too high a constraint, making it impossible for the electrode head to adaptively adjust according to the actual docking posture of the cleaning robot. This results in a small tolerance range for docking deviation, making it difficult for the cleaning robot to accurately dock with the electrode hole when its position or angle deviates slightly, leading to a high charging failure rate for the cleaning robot.
[0024] Another type of design pursues a multi-degree-of-freedom design for the electrode head (the number of degrees of freedom of the electrode head is greater than or equal to three), so that the electrode head has too many degrees of freedom in space to increase the docking deviation that the docking plug structure can accommodate. However, this design also causes the electrode head to be prone to shaking or twisting during docking, making it difficult to maintain a stable spatial posture and form a reliable contact interface. If the contact between the electrode head and the electrode hole is unstable, it is also not conducive to reducing the charging failure rate.
[0025] Therefore, this invention proposes a docking plug structure to solve the technical problem of high charging failure probability in existing robot charging base stations.
[0026] Please see Figures 1 to 3 In one embodiment of the present invention, the docking plug structure includes an electrode head 1, an electrode support 2, a main support 3, a base 4, and a reset assembly 5. The electrode support 2 includes a mounting body 21 and a mounting arm 22, with the electrode head 1 mounted on the mounting arm 22. The main support 3 is hinged to the side of the mounting body 21 opposite to the mounting arm 22. The base 4 includes a base panel 41 and a guide post 42. The base panel 41 has a receiving hole 411, through which the mounting arm 22 passes. Along the rotation direction of the mounting arm 22, the wall of the receiving hole 411 is spaced apart from the side wall of the mounting arm 22. The guide post 42 is vertically mounted on the base panel 41, and the main support 3 is slidably connected to the guide post 42. The reset assembly 5 includes a first reset member 51 and a second reset member 52. The first reset member 51 is connected to the mounting body 21 and the main support 3, respectively, and the second reset member 52 is connected to the guide post 42 and the main support 3, respectively.
[0027] In this embodiment, the electrode head 1 and the mounting arm 22 are connected by a first threaded component 26, enabling the electrode support 2 to drive the electrode head 1 to move synchronously. The mounting body 21 of the electrode support 2 is directly hinged to the main support 3, and the mounting arm 22 is away from the hinged side of the mounting body 21, allowing the electrode head 1 to rotate relative to the hinge axis. Thus, the electrode head 1 has a first degree of freedom to rotate around the hinge axis. The receiving hole 411 in the base plate 41 can form a limiting fit with the upper and lower sides of the mounting arm 22 to limit the rotation range of the electrode head 1 and prevent the rotation range of the electrode head 1 from exceeding the reset force range of the first reset component 51, thereby improving the reliability of the docking plug structure.
[0028] By slidingly connecting the main support 3 to the guide post 42 and providing a reset force to the main support 3 via the second reset member 52, the main support 3 can move back and forth relative to the base plate 41. This allows the main support 3 to move synchronously back and forth with the electrode head 1 via the electrode support 2, thus giving the electrode head 1 a second degree of freedom to move back and forth. The first and second degrees of freedom work together, allowing the electrode head 1 to move back and forth while rotating up and down, which is beneficial for the electrode head 1 to make adaptive adjustments according to the robot's posture. Moreover, the force transmission path of this structure is relatively clear, and the functions of supporting the rotation and translation of the electrode head 1 are not concentrated on the electrode support 2. This avoids integrating both the first reset member 51 and the second reset member 52 into the electrode support 2, preventing their movement paths from intersecting and eliminating the possibility of mutual interference of the reset forces. This allows the return actions of the rotation and translation degrees of freedom to be executed reliably by themselves. The design of this embodiment enables the electrode head 1 to remain stably in a preset initial position when not docked, and during docking, it can adapt to the robot's actual posture by making rotations and translations, with the range of motion always controlled. This avoids the wobbling common with high degrees of freedom, and also avoids the difficulty in compensating for deviations when there is low degrees of freedom. Therefore, this structure provides a large and stable alignment tolerance, ensuring that the electrode head 1 can reliably insert into the electrode hole every time it docks, significantly improving the charging success rate.
[0029] Furthermore, the electrode bracket 2 in this embodiment is provided with two mounting arms 22, each of which is connected to the mounting body 21. Each mounting arm 22 is connected to an electrode head 1 via a first threaded component 26. After both electrode heads 1 are connected to the robot's electrode holes, a circuit can be formed between the robot and the robot charging base station to achieve the purpose of replenishing the robot's power. In this embodiment, the first reset component 51 and the second reset component 52 are of the type of either a metal spring or an air spring.
[0030] According to the technical solution of this embodiment, by hinged electrode support 2 to main support 3 and slidably connected main support 3 to base 4, electrode head 1 has one rotational degree of freedom and one translational degree of freedom, allowing electrode head 1 to rotate up and down around axis 24 and move back and forth relative to base plate 41. This avoids the problems of low alignment tolerance and difficult docking caused by insufficient or no degrees of freedom in traditional solutions, while also avoiding the problems of severe wobbling and unstable contact caused by excessive degrees of freedom. The reasonable coordination of the two degrees of freedom allows electrode head 1 to adaptively adjust its position and angle within a small range to follow the robot's docking posture when the cleaning robot returns to charging, without excessive wobbling, significantly improving docking tolerance and success rate, while ensuring reliable contact and stable charging.
[0031] It should also be noted that the multi-degree-of-freedom docking plug structure of electrode head 1 is not only complex and costly, but also significantly less durable than docking plug structures with only one degree of freedom or no degree of freedom. The technical solution provided in this embodiment uses only one hinge structure to achieve rotational freedom and one sliding connection structure to achieve translational freedom. These two are independent and simple mechanical connections, requiring fewer parts and having clear assembly relationships. There is no need to use easily worn components such as ball joints or universal joints. Therefore, the docking plug structure of this embodiment exhibits less wear on the moving parts during long-term use, and the force path of the reset component 5 is singular, making it less prone to fatigue fracture or jamming, thus improving overall durability. Furthermore, due to its simple structure and convenient assembly, its manufacturing and maintenance costs are lower than conventional multi-degree-of-freedom designs, giving it high practical value.
[0032] In one embodiment of the present invention, please refer to Figure 1 and Figure 2 The mounting body 21 has a hinge arm 23 protruding from the side opposite to the mounting arm 22. The hinge arm 23 has a first hinge hole 231. The electrode support 2 also includes a rotating shaft 24. The main support 3 has a hinge groove 31, and a second hinge hole 311 is formed on the side wall of the hinge groove 31. The hinge arm 23 extends into the hinge groove 31, and the rotating shaft 24 passes through the first hinge hole 231 and the second hinge hole 311. To ensure that the hinge arm 23 can rotate relative to the hinge groove 31, the rotation direction of the hinge arm 23 is as follows: Figure 1In the vertical direction, a gap is provided between the side wall of the hinge arm 23 and the inner wall of the hinge groove 31. The width of this gap needs to match the gap width between the side wall of the mounting arm 22 and the wall of the receiving hole 411. This hinge mechanism achieves the hinged engagement between the electrode support 2 and the main support 3 through the rotating shaft 24 passing through the first hinge hole 231 and the second hinge hole 311. The structure is simple and helps to improve the stability of the electrode support 2 during rotation. Moreover, during assembly, it is only necessary to align the hinge arm 23 with the hinge groove 31, insert it, and pass it through the rotating shaft 24 to complete the assembly. No additional fasteners or complex alignment processes are required, which helps to improve assembly efficiency.
[0033] In one embodiment of the present invention, a limiting cap is provided at one end of the rotating shaft 24 and a retaining ring groove is provided at the other end. After assembly, the retaining ring locks the rotating shaft 24 to prevent it from coming out of the hinge groove 31, thereby enhancing the anti-loosening capability of the hinge mechanism in the robot reciprocating charging environment.
[0034] In one embodiment of the present invention, please continue reading. Figure 2 The electrode support 2 has at least two hinge arms 23, hinge slots 31, and rotating shafts 24, with each hinge arm 23 extending into a corresponding hinge slot 31. The hinge slots 31 and rotating shafts 24 are arranged in a one-to-one correspondence, and all rotating shafts 24 are coaxial. This arrangement creates a multi-axis hinge structure between the electrode support 2 and the main support 3. This structure effectively disperses the eccentric load on the electrode head 1 during docking, avoiding the torsion or lateral swaying that is easily generated by a single-axis hinge structure, thereby improving the stability of the electrode head 1's movement in the plane of rotation.
[0035] In one embodiment of the present invention, please refer to Figure 2 The first reset component 51 includes multiple tension springs 51a. Multiple connecting blocks 25 are provided on the side of the mounting body 21 opposite to the mounting arm 22. These connecting blocks 25 are evenly distributed on both sides of the hinge arm 23. The main support 3 has multiple mounting posts 32 corresponding to the connecting blocks 25. The two ends of the tension springs 51a are connected to the connecting blocks 25 and the mounting posts 32, respectively. The tension springs 51a are used to automatically center the mounting body 21. Automatic centering means that after the electrode head 1 disengages from the electrode hole, the tension springs 51a can automatically drive the mounting body 21 back to its initial state, where the mounting arm 22 is in the middle position of the receiving hole 411. In this embodiment, the number of tension springs 51a is at least four, symmetrically distributed on both sides of the hinge arm 23. The connecting blocks 25 and mounting posts 32 are all corresponding to the tension springs 51a.
[0036] In this embodiment, by employing multiple tension springs 51a and symmetrically arranging connecting blocks 25 and mounting posts 32 on both sides of the hinge arm 23, the restoring force of the tension springs 51a on the mounting body 21 is evenly distributed and symmetrically oriented. This improves the smoothness and certainty of the restoring action of the mounting body 21, thereby enhancing the long-term reliability and repeatability of the docking plug structure.
[0037] In one embodiment of the present invention, please refer to Figure 2 and Figure 3 The guide post 42 includes a post body 421, a limiting piece 422, and a fixing member 423. The second reset member 52 includes a compression spring 52a. The main support 3 has a sliding hole 33, through which the post body 421 passes. The compression spring 52a and the limiting piece 422 are both sleeved on the post body 421. The fixing member 423 is installed at the end of the post body 421 away from the base panel 41 to prevent the limiting piece 422 from falling out of the post body 421. One end of the compression spring 52a abuts against the side of the main support 3 away from the base panel 41, and the other end of the compression spring 52a abuts against the limiting piece 422. The limiting piece 422 is made of engineering plastic or metal. The fixing member 423 includes one of a screw and a pin to prevent the limiting piece 422 from falling out of the post body 421 under the action of the compression spring 52a. During the assembly of the docking plug structure in this embodiment, the electrode support 2 needs to be hinged to the main support 3 via the pivot 24 first. Then, the main support 3 is sleeved on the column 421 through the sliding hole 33 and moves forward, so that the main support 3 is aligned with the inner side of the base plate 41 (i.e., Figure 1 The compression spring 52a is fitted onto the rear side of the main bracket 3 and then the compression spring 52a is sleeved on the column 421 and the limiting piece 422 and the fixing piece 423 are installed, so that the two ends of the compression spring 52a abut against the rear side of the main bracket 3 and the front side of the limiting piece 422 respectively.
[0038] Furthermore, in this embodiment, there are multiple guide posts 42, which are arranged in a rectangular array or a ring array. There are also multiple sliding holes 33, and each sliding hole 33 corresponds to a post 421.
[0039] Thus, when the main support 3 moves away from the base panel 41 due to the thrust applied to the electrode head 1 during robot docking, the compression spring 52a is compressed and stores elastic potential energy. After the electrode head 1 is correctly aligned with the electrode hole, the frictional force between the electrode head 1 and the electrode hole is less than the restoring force provided by the compression spring 52a. At this time, the compression spring 52a releases energy, pushing the main support 3 back towards the base panel 41 to ensure the contact area between the electrode head 1 and the electrode hole, thereby ensuring a stable electrical connection can be established between the electrode head 1 and the electrode hole. The evenly distributed design of multiple guide posts 42 can prevent the main support 3 from tilting or getting stuck during sliding, ensuring that the direction of translational freedom is always perpendicular to the base panel 41, and improving the stability of the main support 3 during sliding.
[0040] In one embodiment of the present invention, please refer to Figure 1 and Figure 2 The docking plug structure also includes a detection component 6, which includes a detection bracket 61 and an optical coupler sensor 62. The detection bracket 61 is connected to the base panel 41, and the optical coupler sensor 62 is installed on the side of the detection bracket 61 away from the base panel 41. The main bracket 3 is located between the detection bracket 61 and the base panel 41. The side of the main bracket 3 away from the base panel 41 is provided with a light-shielding column 34, and the light-shielding column 34 is correspondingly set with the detection end of the optical coupler sensor 62.
[0041] According to the technical solution of this embodiment, when the electrode head 1 is inserted into the electrode hole and pushes the main support 3 to move, the light-shielding column 34 moves accordingly and enters the detection area of the optocoupler sensor 62, thereby generating an on / off signal to accurately determine whether the electrode head 1 has been properly docked. Compared with contact detection methods such as microswitches, the optocoupler sensor 62 has the advantages of no mechanical wear, fast response speed, and high long-term working stability. At the same time, in this embodiment, the detection support 61 is independently installed on the base panel 41, and the light-shielding column 34 moves as a whole with the main support 3. This is equivalent to using the detection support 61 to cover the main support 3 and electrode support 2, which can not only provide a certain degree of protection for the main support 3 and electrode support 2, but also avoid interference between the signal detection movement path and the motion mechanism, effectively improving the reliability and anti-interference capability of docking status detection, and providing a precise charging ready signal for the robot control system.
[0042] Furthermore, in this embodiment, the detection bracket 61 includes a mounting plate 611, a main bracket 3 disposed between the mounting plate 611 and the base plate 41, and an optocoupler sensor 62 mounted on the side of the mounting plate 611 facing away from the base plate 41. The mounting plate 611 has a clearance hole 612, and the light-shielding column 34 is slidably connected to the clearance hole 612. The mounting plate 611 has wing plates on both sides, and the wing plates are connected to the base plate 41 via a second threaded component 613, so that there is space between the base plate 41 and the mounting plate 611 sufficient to accommodate the electrode bracket 2 and the main bracket 3. With this configuration, on the one hand, the movement path of the light-shielding column 34 is constrained and guided by the clearance hole 612, ensuring that the light-shielding column 34 always moves along the axial direction when moving back and forth with the main bracket 3, without lateral swaying or jamming, so that it can reliably enter the detection area of the optocoupler sensor 62; on the other hand, the main bracket 3 is located between the mounting plate 611 and the base plate 41, and the mounting plate 611 also plays a role in limiting the position of the main bracket 3, preventing the main bracket 3 from moving excessively and causing the electrode head 1 to be completely retracted into the receiving hole 411, thus making it impossible to dock with the electrode hole.
[0043] In one embodiment of the invention, please refer to Figure 2 The mounting arm 22 has a limiting groove 221, and part of the electrode head 1 can be detachably mounted in the limiting groove 221. In this way, the limiting groove 221 can be used to circumferentially position and constrain the electrode head 1, preventing the electrode head 1 from deflecting under docking pressure or long-term use, and ensuring that the electrode head 1 is always in the preset working posture. At the same time, the detachable design allows the electrode head 1 to be replaced individually after wear or damage, without having to replace the entire mounting arm 22 or electrode bracket 2, reducing maintenance costs and repair difficulty, and improving the maintainability and economy of the docking plug structure.
[0044] This invention also proposes a robot charging base station, which includes a docking plug structure. The specific structure of the docking plug structure is as described in the above embodiments. Since this robot charging base station adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated here. The robot charging base station also includes a control unit for communicating with the robot. By setting the control unit and establishing a communication connection with the robot, the robot charging base station can exchange status information with the robot in real time. During the docking process, the robot charging base station can obtain data such as the robot's arrival signal, charging request, and battery voltage through communication, and control the connection and disconnection of the charging circuit accordingly to avoid arcing caused by the electrode head 1 being energized during docking. Furthermore, the robot can detect the charging status and provide feedback to the robot charging base station. In conjunction with the design of the detection component 6, if the optocoupler sensor 62 has detected the light-blocking column 34 during this charging docking process, the control unit establishes communication with the robot to determine whether the robot is in a charging state. If the robot is in a charging state, the robot stops moving; if the robot is not in a charging state, the control unit controls the robot to re-enter the docking process.
[0045] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformations made based on the technical concept of the present invention and the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.
Claims
1. A mating plug structure, characterized in that, include: Electrode head; An electrode support, comprising a mounting body and a mounting arm, wherein the electrode head is mounted on the mounting arm; The main bracket is hinged to the side of the mounting body opposite to the mounting arm; The base includes a base panel and a guide post. The base panel has a receiving hole, and the mounting arm passes through the receiving hole. Along the rotation direction of the mounting arm, the wall of the receiving hole is spaced apart from the side wall of the mounting arm. The guide post is vertically mounted on the base panel, and the main bracket is slidably connected to the guide post. A reset assembly, comprising a first reset component and a second reset component, wherein the first reset component is connected to the mounting body and the main bracket respectively, and the second reset component is connected to the guide post and the main bracket respectively.
2. The mating plug structure as described in claim 1, characterized in that, The mounting body has a hinge arm protruding from the side opposite to the mounting arm. The hinge arm has a first hinge hole. The electrode bracket also includes a rotating shaft. The main bracket has a hinge groove. The side wall of the hinge groove has a second hinge hole. The hinge arm extends into the hinge groove. The rotating shaft passes through the first hinge hole and the second hinge hole.
3. The mating plug structure as described in claim 2, characterized in that, The number of the hinge arm, the hinge slot, and the rotating shaft are all at least two, and each hinge arm extends into a corresponding hinge slot. The hinge slots and the rotating shafts are arranged in a one-to-one correspondence.
4. The mating plug structure as described in claim 2, characterized in that, The first reset component includes multiple tension springs. The mounting body has multiple connecting blocks on the side opposite to the mounting arm. The multiple connecting blocks are evenly arranged on both sides of the hinge arm. The main bracket has multiple mounting columns corresponding to the connecting blocks. The two ends of the tension springs are connected to the connecting blocks and the mounting columns respectively. The tension springs are used to automatically center the mounting body.
5. The mating plug structure as described in claim 1, characterized in that, The guide post includes a column body, a limiting piece, and a fixing member. The second reset member includes a compression spring. The main bracket has a sliding hole, through which the column body passes. The compression spring and the limiting piece are both sleeved on the column body. The fixing member is installed on the end of the column body away from the base panel to prevent the limiting piece from coming off the column body. One end of the compression spring abuts against the side of the main bracket away from the base panel, and the other end of the compression spring abuts against the limiting piece.
6. The mating plug structure as described in claim 5, characterized in that, The guide posts are multiple in number and arranged in a rectangular or circular array. The sliding holes are also multiple and correspond one-to-one with each of the guide posts.
7. The mating plug structure as described in claim 1, characterized in that, The docking plug structure also includes a detection component, which includes a detection bracket and an optical coupler sensor. The detection bracket is connected to the base panel, and the optical coupler sensor is installed on the side of the detection bracket away from the base panel. The main bracket is located between the detection bracket and the base panel, and a light-shielding column is provided on the side of the main bracket away from the base panel. The light-shielding column is correspondingly set with the detection end of the optical coupler sensor.
8. The mating plug structure as described in claim 7, characterized in that, The detection bracket includes a mounting plate, the main bracket is disposed between the mounting plate and the base plate, and the optical coupler sensor is mounted on the side of the mounting plate opposite to the base plate; The mounting plate has clearance holes, and the light-shielding column is slidably connected to the clearance holes.
9. The mating plug structure as described in claim 1, characterized in that, The mounting arm has a limiting groove, and part of the electrode head can be detachably installed in the limiting groove.
10. A robot charging base station, characterized in that, Including the docking plug structure as described in any one of claims 1 to 9, the robot charging base station further includes a control unit for communicating with the robot.