Robot charging mechanism

Abstract

The embodiment of the utility model relates to the technical field of robot charging, and provides a robot charging mechanism which is arranged on a robot shell, the robot shell is provided with a containing cavity and an opening, and the containing cavity communicates with the exterior of the robot shell through the opening; the robot charging mechanism comprises a driving assembly and a plug assembly, and the driving assembly is located in the accommodating cavity; the plug assembly is provided with a first end and a second end, the first end of the plug assembly is a charging end, and the second end of the plug assembly is in transmission connection with the driving assembly; the robot charging mechanism at least has a first state and a second state, in the first state, the driving assembly drives the plug assembly to enable the charging end located in the containing cavity to move to the outside of the robot shell from the opening for charging, and in the second state, the driving assembly drives the plug assembly to enable the charging end located in the containing cavity to move to the outside of the robot shell. Therefore, the charging end located outside the robot shell moves back into the containing cavity from the opening. The embodiment of the utility model is at least beneficial to solving the problem that the charging device is exposed.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robot charging technology, and in particular to a robot charging mechanism. Background Art

[0002] With the development of robotics technology, robots are gradually used in daily life and industrial manufacturing. For robots powered by built-in batteries, research on battery charging methods has become an important direction for the development of robots.

[0003] At present, the more traditional charging methods in the field of robots include contact charging and wireless charging. Contact charging includes side charging contact charging and bottom charging contact charging. Contact charging mainly involves the charging electrode on the robot body and the electrode on the charging pile docking to charge the robot battery. However, the charging device is exposed in the current contact charging scheme, which poses a potential safety hazard. Wireless charging uses the paired electromagnetic coils drawn from the robot body and the charging pile to charge in a suitable distance range. However, it has not yet been promoted due to the lack of supporting facilities and low charging efficiency. Utility Model Content

[0004] The embodiment of the present application provides a robot charging mechanism, which at least helps to solve the problem of exposed charging devices.

[0005] An embodiment of the present application provides a robot charging mechanism, which is arranged in a robot shell, the robot shell having a accommodating cavity and an opening, the accommodating cavity being connected to the outside of the robot shell through the opening; the robot charging mechanism includes a driving assembly and a plug assembly, the driving assembly is located in the accommodating cavity; the plug assembly has a first end and a second end, the first end of the plug assembly is a charging end, and the second end of the plug assembly is transmission-connected to the driving assembly; the robot charging mechanism has at least a first state and a second state, in the first state, the driving assembly drives the plug assembly so that the charging end located in the accommodating cavity moves from the opening to the outside of the robot shell for charging, and in the second state, the driving assembly drives the plug assembly so that the charging end located outside the robot shell moves from the opening back into the accommodating cavity.

[0006] In some embodiments, the robot charging mechanism also includes a first baffle, which is pivotally connected to the opening. In the first state, the charging end presses against the first baffle to open the first baffle to the outside of the robot shell, and the charging end moves from the opening to the outside of the robot shell; in the second state, the charging end moves from the opening back into the accommodating cavity, and the first baffle closes the opening.

[0007] In some embodiments, the plug assembly includes: a plug, a plug shell and a bracket, wherein the first end of the bracket is connected to the plug, the second end of the bracket is the second end of the plug assembly, the plug shell is sleeved on the outer ring of the plug, and the plug shell is open at the end away from the bracket.

[0008] In some embodiments, the charging pile has a charging slot and an electrode sheet located in the charging slot. During charging, the outer ring of the plug shell extends into the charging slot, and the outer ring of the plug shell is opposite to the inner wall of the charging slot, and the electrode sheet extends into the plug shell and contacts the plug.

[0009] In some embodiments, the robot charging mechanism also includes: a pile Hall plate, which is located on the outer wall of the plug housing; a first magnet, which is located on the inner wall of the charging slot; when the distance between the pile Hall plate and the first magnet is within a first preset range, the pile Hall plate sends a charging signal, and the charging pile responds to the charging signal to charge the plug from the charging slot.

[0010] In some embodiments, the driving assembly includes: a motor, a screw and a screw nut sleeved on the outer ring of the screw; the second end of the plug assembly is connected to the screw nut, and the motor shaft of the motor drives the screw to rotate to drive the screw nut to move along the axial direction of the screw, thereby driving the plug assembly to move along the axial direction of the screw.

[0011] In some embodiments, the robot charging mechanism also includes a base bracket arranged in the accommodating cavity, the base bracket includes a main body, the main body has a first surface and a second surface relative to each other, the first surface is fixed to the inner wall of the robot shell, and the drive assembly is fixed to the second surface.

[0012] In some embodiments, the plug assembly is located on a side of the driving assembly away from the second surface, and the plug assembly includes a bracket, the bracket including: a bracket body and a side portion, the bracket body is connected to the screw nut, and the side portion extends from the bracket body toward the main body; the base bracket also includes an extension portion, the extension portion extends from the main body toward the bracket body, and the extension portion is opposite to the side portion, and the side portion is slidably connected to the extension portion.

[0013] In some embodiments, the plug assembly has at least a reset position and a charging position, and the robot charging mechanism also includes: a Hall plate bracket, the Hall plate bracket is arranged in the accommodating cavity, and the Hall plate bracket is arranged in parallel with the plug assembly; a starting point Hall plate, the starting point Hall plate is fixed to the first end of the Hall plate bracket; a terminal Hall plate, the terminal Hall plate is fixed to the second end of the Hall plate bracket; a second magnet, the second magnet is fixed to the side of the plug assembly facing the Hall plate bracket; when the plug assembly is in the reset position, the distance between the starting point Hall plate and the second magnet is within a second preset range, the starting point Hall plate sends a first signal to the main control board, and the driving assembly responds to the first signal to drive the plug assembly to move from the reset position to the charging position; when the plug assembly is in the charging position, the distance between the terminal Hall plate and the second magnet is within a third preset range, the terminal Hall plate sends a second signal to the main control board, and the driving assembly stops running in response to the second signal.

[0014] In some embodiments, the robot charging mechanism also includes: a battery, which is disposed in the accommodating cavity; a wire and a drag chain sleeved on the outer ring of the wire, wherein the first end of the wire is electrically connected to the charging end, and the second end of the wire is electrically connected to the battery.

[0015] The technical solution provided by the embodiments of the present application has at least the following advantages:

[0016] An embodiment of the present application provides a robot charging mechanism, including a plug assembly having a charging end, wherein the second end of the plug assembly is transmission-connected to the driving assembly, and the charging mechanism can have at least a first state and a second state. In the first state, the driving assembly drives the plug assembly so that the charging end of the plug assembly extends from the opening of the accommodating cavity to extend to the outside of the shell for charging. In the second state, the driving assembly drives the plug assembly so that the charging end of the plug assembly moves back into the accommodating cavity. In this way, when the robot needs to be charged, the charging end can extend out of the accommodating cavity for charging. After charging is completed, the charging end retracts back into the accommodating cavity and is hidden in the robot shell, which is conducive to solving the problem of exposed charging devices and reducing the risk of people accidentally touching the charging devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0018] Figure 1 A schematic diagram of the structure of a robot charging mechanism provided in an embodiment of the present application, wherein the charging terminal is located in a receiving cavity;

[0019] Figure 2 A schematic diagram of the structure of a robot charging mechanism provided in an embodiment of the present application, wherein the charging terminal is located outside the accommodating cavity;

[0020] Figure 3 An assembly diagram of a robot charging mechanism provided in an embodiment of the present application;

[0021] Figure 4 A schematic diagram of a partial structure of a charging pile provided in an embodiment of the present application;

[0022] Figure 5 A schematic diagram of a partial structure of a robot charging mechanism provided in an embodiment of the present application;

[0023] Figure 6 A schematic diagram of the positional relationship between a magnet and a Hall plate provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] As can be seen from the background technology, the current charging method of robots has problems such as exposed charging devices and low charging efficiency.

[0025] After analysis, it was found that both the traditional side-charging contact charging and the bottom-charging contact charging have the problem of exposed charging devices, and there are certain safety hazards when people come into contact with the charging devices. Specifically, side charging generally relies on the robot to squeeze the spring-loaded electrode sheet on the charging pile. For robots without a brake function, the robot's battery needs to continuously power the drive wheel to keep the robot in the charging position. Therefore, the battery is in a state of charging and discharging at the same time, and the charging efficiency is low, and it has a certain impact on the battery life. Bottom charging is to set the robot's charging electrode sheet at the bottom of the robot, and set the electrode sheet of the bottom charging mechanism fixed upward on the ground accordingly. The robot's charging electrode sheet contacts the electrode sheet of the charging mechanism to achieve charging. However, not all sites have charging mechanisms on the ground. Therefore, some bottom charging sites need to be modified and used, and wire troughs and pits are set on the ground to bury the wires and fix the bottom charging mechanism. Therefore, bottom charging has certain requirements for the site environment.

[0026] As for the contactless wireless charging method, it is currently rarely used in the field of robot charging, and wireless charging has the problems of low charging power and high cost.

[0027] To solve the above problems, an embodiment of the present application provides a robot charging mechanism, wherein the robot charging mechanism includes a plug assembly having a charging end, and the charging mechanism has at least a first state and a second state. In the first state, the driving assembly drives the plug assembly so that the charging end of the plug assembly extends from the opening of the robot shell to the accommodating cavity and extends to the outside of the robot shell for charging. In the second state, the driving assembly drives the plug assembly to move the charging end of the plug assembly back into the accommodating cavity. In this way, when the robot needs to be charged, the charging end can extend out of the accommodating cavity for charging. After charging is completed, the charging end retracts back into the accommodating cavity and is hidden in the robot shell, which is conducive to solving the problem of exposed charging devices.

[0028] The following will be described in detail with reference to the accompanying drawings. However, it will be appreciated by those skilled in the art that in the various embodiments of the present application, many technical details are provided in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present application can be implemented. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0029] Figure 1 A schematic diagram of the structure of a robot charging mechanism provided in an embodiment of the present application, wherein the charging terminal is located in a receiving cavity; Figure 2A schematic diagram of the structure of a robot charging mechanism provided in an embodiment of the present application, wherein the charging terminal is located outside the accommodating cavity; Figure 3 An assembly diagram of a robot charging mechanism provided in an embodiment of the present application.

[0030] refer to Figures 1 to 3 The robot charging mechanism is arranged in the robot shell 100. The robot shell 100 has a accommodating cavity 101 and an opening 102. The accommodating cavity 101 is connected to the outside of the robot shell 100 through the opening 102; the robot charging mechanism includes a driving component 120 and a plug component (not marked). The driving component 120 is located in the accommodating cavity 101. The plug component has a first end 121 and a second end 122. The first end 121 of the plug component is a charging end, and the second end 122 of the plug component is transmission-connected to the driving component 120; the robot charging mechanism has at least a first state and a second state. In the first state, the driving component 120 drives the plug component to move the charging end located in the accommodating cavity 101 from the opening 102 to the outside of the robot shell 100 for charging. In the second state, the driving component 120 drives the plug component to move the charging end located outside the robot shell 100 from the opening 102 back to the accommodating cavity 101.

[0031] In this way, when the robot needs to be charged, the charging end can extend out of the accommodating cavity 101 for charging. After charging is completed, the charging end retracts back into the accommodating cavity 101 and is hidden in the robot shell 100, reducing the risk of people accidentally touching the charging device.

[0032] In some embodiments, the robot charging mechanism provided in the embodiments of the present application can be applied to a service robot or an industrial robot.

[0033] The robot housing 100 is used to protect the plug assembly of the robot in a non-charging state. The accommodating cavity 101 is located in the robot housing 100 and is used to accommodate the driving assembly 120 and the plug assembly in a non-charging state.

[0034] In some embodiments, the robot housing 100 may have multiple accommodating cavities, wherein at least one accommodating cavity 101 is connected to the outside of the housing 100 through an opening 102, and the accommodating cavity 101 is used to accommodate a plug assembly and a drive assembly 120, and the remaining accommodating cavities can be used to install other components of the robot.

[0035] The driving assembly 120 is used to drive the plug assembly to move the charging end of the plug assembly out of the accommodating cavity 101 , or to move the charging end of the plug assembly back into the accommodating cavity 101 .

[0036] Specifically, the second end 122 of the plug assembly is transmission-connected to the driving assembly 120. Driven by the driving assembly 120, the plug assembly can move relative to the shell 100. The charging end of the plug assembly is used to connect to the charging pile, thereby realizing charging the robot using the charging pile.

[0037] In some embodiments, the robot charging mechanism further includes a first baffle 103, which is pivotally connected to the opening 102. In the first state, the charging end abuts against the first baffle 103 to open the first baffle 103 to the outside of the robot housing 100, and the charging end moves from the opening 102 to the outside of the robot housing 100; in the second state, the charging end moves from the opening 102 back into the accommodating cavity 101, and the first baffle 103 closes the opening 102. In this way, when the plug assembly is located in the accommodating cavity 101, the first baffle 103 is in a closed state, and the first baffle 103 blocks the opening 102, so that personnel cannot contact the charged devices inside the robot housing 100, which is conducive to protecting the safety of personnel. In addition, the driving component 120 drives the plug component, so that when the charging end moves out of the accommodating cavity 101 from the opening 102, the first baffle 103 is pushed by the charging end to open to the outside of the robot shell 100, and when the charging end moves back to the accommodating cavity 101, the first baffle 103 can be automatically closed. The first baffle 103 is opened or closed by a relatively simple structural design and in coordination with the moving charging end, which not only avoids manual operation to open or close the first baffle 103, but also realizes the automatic opening or closing of the first baffle 103 at a relatively low cost.

[0038] In some embodiments, the first blocking piece 103 is connected to a spring, and when the plug assembly is located in the accommodating cavity 101, the first blocking piece 103 is in a closed state under the action of the spring contraction force.

[0039] In some embodiments, the plug 114 assembly includes: a plug 114, a plug shell 110 and a bracket 111, wherein a first end of the bracket 111 is connected to the plug 114, a second end of the bracket 111 is a second end 122 of the plug assembly, the plug shell 110 is sleeved on an outer ring of the plug 114, an end of the plug shell 110 away from the bracket 111 is open to expose the plug 114, and the plug 114 and the plug shell 110 are the second end 122 of the plug assembly.

[0040] The bracket 111 is used to transmit the driving force provided by the driving assembly 120 to the plug 114 and the plug housing 110 .

[0041] It should be noted that the material of the plug housing 110 is an insulating material, and the plug housing 110 insulates and isolates the plug 114 from the outside to prevent people from accidentally touching the plug 114, thereby effectively protecting the safety of people.

[0042] It should be noted that, along the direction from the bracket 111 to the plug 114 , the end of the plug 114 away from the bracket 111 is not higher than the end of the plug housing 110 away from the bracket 111 .

[0043] In some embodiments, reference Figure 3 The plug 114 includes a connecting portion 116 and a conductive portion 115 . The connecting portion 116 is fixed to a first end of the bracket 111 through a connecting member 117 , and the conductive portion 115 is fixed to an end of the connecting portion 116 away from the bracket 111 .

[0044] In some embodiments, the conductive portion 115 may include three pins arranged in parallel. The conductive portion 115 may be made of a metal material having conductive properties.

[0045] Figure 4 A schematic diagram of the partial structure of a charging pile provided in an embodiment of the present application.

[0046] refer to Figures 1 to 4 In some embodiments, the charging pile 200 has a charging slot (not shown) and an electrode sheet located in the charging slot. When charging, the outer ring of the plug housing 110 extends into the charging slot, and the outer ring of the plug housing 110 is opposite to and in contact with the inner wall of the charging slot, and the electrode sheet extends into the plug housing and contacts the plug. It should be noted that when charging, the electrode sheet can be electrically connected to the conductive part 115, thereby realizing charging of the robot.

[0047] When charging, the plug 114 and the plug shell 110 extend out of the accommodating cavity 101 and are inserted into the charging slot. The charging slot wraps the plug 114 and the plug shell 110, avoiding exposure of the charging device, thereby avoiding accidental touching of the charged charging device by personnel during the charging process; when not charging, the concave design of the charging slot also reduces the risk of accidental touching of the electrode sheet in the charging slot by personnel; after the plug shell 110 is inserted into the charging slot, a certain amount of force is required to detach from the charging slot. In this way, even if the robot is powered off for charging, the plug 114 can fully contact the electrode sheet in the charging slot, avoiding the robot's battery from powering the drive wheels and keeping the robot in the charging position. In other words, avoiding the robot's battery from being in a state of charging and discharging at the same time, which is beneficial to improving the charging efficiency.

[0048] In addition, the charging mechanism provided in the embodiment of the present application has a simple structure, low cost, and adopts contact charging, which does not require additional modification of the use environment and can be directly deployed, which is convenient and fast. Compared with the wireless charging method, the charging mechanism provided in the embodiment of the present application has higher charging power and charging efficiency, and better stability.

[0049] In some embodiments, reference Figure 4The charging pile 200 has a second baffle 210 that blocks the charging slot. In the first state, the first end 121 of the plug assembly abuts against the second baffle 210 to open the second baffle 210 into the charging slot. When not charging, the second baffle 210 is in a closed state. The second baffle 210 is used to block the charging slot, which helps to prevent people from accidentally touching the electrode sheet in the charging slot. When charging is required, the second baffle 210 is flipped back when the charging slot is docked with the plug 114. The second baffle 210 is opened or closed by a relatively simple structural design in cooperation with the moving charging end.

[0050] In some embodiments, the second blocking piece 210 may include two blocking pieces.

[0051] In some embodiments, reference Figure 4 The charging pile 200 includes a charging port 220. Specifically, the outer shell of the charging pile 200 is provided with a charging port 220 extending toward the inside of the charging pile 200. The charging slot is connected to the outside through the charging port 220. The size of the charging port 220 is wide outside and narrow inside, and the minimum size of the charging port 220 in a direction parallel to the surface of the outer shell of the charging pile 200 is consistent with the charging slot. In this way, when the charging end extends from the outside of the charging pile 200 to the charging slot, the charging port 220 with a wide outside and narrow inside can play a guiding role.

[0052] In some embodiments, reference Figure 3 The robot charging mechanism also includes: a pile Hall plate 150, which is located on the outer wall of the plug housing 110; a first magnet (not shown), which is located on the inner wall of the charging slot; when the distance between the pile Hall plate 150 and the first magnet is within a first preset range, the pile Hall plate 150 sends a charging signal, and the charging pile 200 responds to the charging signal and charges the plug 114 from the charging slot. The pile Hall plate 150 and the first magnet cooperate to detect whether the charging end and the charging slot are successfully piled.

[0053] Specifically, when the charging end is inserted into the charging slot, the distance between the first magnet and the pile Hall plate 150 is close, the magnetic field strength of the pile Hall plate 150 becomes stronger, and the voltage of the pile Hall plate 150 is enhanced. When the distance between the pile Hall plate 150 and the first magnet is within the first preset range, the conductive part 115 is in full contact with the electrode sheet in the charging slot. At this time, the pile is in place, and the pile Hall plate 150 outputs a charging signal. Through software control, the charging pile 200 responds to the charging signal and charges the plug 114 from the charging slot. In this way, after the pile is in place, the charging pile 200 charges the plug 114, avoiding the large current flowing from the electrode sheet to the plug 114 when the plug 114 is not in contact with the electrode sheet, causing damage to the plug 114 and the electrode sheet, which is conducive to extending the life of the plug 114 and the electrode sheet.

[0054] It should be noted that the first preset range can be determined according to the contact condition between the plug and the electrode sheet, and the embodiment of the present application does not limit the first preset range.

[0055] In some embodiments, reference Figure 3 A Hall plate shield 151 is also fixed on the plug housing 110. The Hall plate shield 151 is located on the side of the pile Hall plate 150 away from the plug housing 110. The Hall plate shield 151 is used to protect the pile Hall plate 150 and prevent the pile Hall plate 150 from being directly exposed to the external environment and being damaged by other parts.

[0056] Figure 5 A partial structural schematic diagram of a robot charging mechanism provided in an embodiment of the present application.

[0057] refer to Figure 1 and Figure 5 In some embodiments, the driving assembly 120 includes: a motor (not shown), a screw (not shown) and a screw nut 123 sleeved on the outer ring of the screw; the second end 122 of the plug assembly is connected to the screw nut 123, and the motor shaft of the motor drives the screw to rotate, so as to drive the screw nut 123 to move along the axial direction of the screw, thereby driving the plug assembly to move along the axial direction of the screw.

[0058] In some embodiments, the drive assembly 120 may further include a reducer.

[0059] In some embodiments, the drive assembly 120 may include a cylinder and a telescopic rod. The second end of the bracket 111 may be connected to the free end of the telescopic rod. The cylinder drives the telescopic rod to extend and retract, thereby driving the plug assembly to reciprocate along the axial direction of the telescopic rod.

[0060] In some embodiments, reference Figures 1 to 3 The robot charging mechanism further includes a base bracket 130 disposed in the accommodating cavity 101. The base bracket 130 includes a main body 131. The main body 131 has a first surface and a second surface opposite to each other. The first surface is fixed to the inner wall of the robot housing 100, and the driving assembly 120 is fixed to the second surface. The driving assembly 120 is fixed in the accommodating cavity 101 through the base bracket 130, which is conducive to reducing the difficulty of disassembly and assembly of the driving assembly 120.

[0061] In some embodiments, reference Figures 1 to 3The plug assembly is located on the side of the driving assembly 120 away from the second surface. The plug assembly includes a bracket 111. The bracket 111 includes: a bracket body 112 and a side portion 113. The bracket body 112 is connected to the screw nut 123. The side portion 113 extends from the bracket body 112 to the main body 131. The base bracket 130 also includes an extension portion 132. The extension portion 132 extends from the main body 131 to the bracket body 112, and the extension portion 132 is directly opposite to the side portion 113. The side portion 113 and the extension portion 132 are slidably connected. The sliding connection between the side portion 113 and the extension portion 132 is conducive to improving the stability of the plug assembly during reciprocating operation.

[0062] The plug assembly has at least a reset position and a charging position. When the plug assembly is in the reset position, the length of the portion of the drive assembly 120 located between the bracket 111 and the base bracket 130 is longer in the direction from the first end 121 of the plug assembly to the second end 122 of the plug assembly. This is beneficial to reducing the space occupied by the drive assembly 120 and the plug assembly, and further beneficial to reducing the size of the robot charging mechanism.

[0063] In some embodiments, the screw nut 123 may have a first mounting hole, the bracket body 112 may have a second mounting hole, and the screw passes through the first mounting hole and the second mounting hole to mount the bracket body 112 on the screw nut 123. In some examples, the screw nut 123 may have multiple first mounting holes, the bracket body 112 may have multiple second mounting holes, and the first mounting holes correspond to the second mounting holes one by one.

[0064] In some embodiments, reference Figure 3 The bracket 111 and the base bracket 130 are slidably connected via a slider 161 and a guide rail 160. Specifically, in some examples, a slider 161 is fixed to the surface of the side portion 113 facing the extension portion 132, and a guide rail 160 is fixed to the surface of the extension portion 132 facing the side portion 113. The slider 161 is connected to the guide rail 160 and can slide relative to the guide rail 160.

[0065] In some embodiments, the plug assembly has at least a reset position and a charging position, and the robot charging mechanism also includes: a Hall plate bracket 104, the Hall plate bracket 104 is arranged in the accommodating cavity 101, and the Hall plate bracket 104 is arranged in parallel with the plug assembly, that is, the extension direction of the Hall plate bracket 104 is parallel to the moving direction of the plug assembly; a starting point Hall plate 107, the starting point Hall plate 107 is fixed to the first end of the Hall plate bracket 104; a terminal Hall plate 108, the terminal Hall plate 108 is fixed to the second end of the Hall plate bracket 104; a second magnet 105, the second magnet 105 is fixed to the side of the plug assembly facing the Hall plate bracket 104. In some embodiments, the plug assembly includes a bracket 111, the bracket 111 includes a side portion 113, and the second magnet 105 is fixed to the side of the side portion 113 facing the Hall plate bracket 104.

[0066] The starting point Hall plate 107 and the second magnet 105 cooperate to detect the position of the plug assembly. When the plug assembly is located at the reset position, the distance between the starting point Hall plate 107 and the second magnet 105 is within a second preset range. The starting point Hall plate 107 sends a first signal to the main control board, and the drive assembly 120 responds to the first signal. The main control board controls the drive assembly 120 based on the first signal, so that the drive assembly 120 drives the plug assembly to move from the reset position to the charging position; when the plug assembly is located at the charging position, the distance between the end point Hall plate 108 and the second magnet 105 is within a third preset range. The end point Hall plate 108 sends a second signal to the main control board, and the main control board controls the drive assembly 120 based on the second signal, so that the drive assembly 120 stops running in response to the second signal.

[0067] It should be noted that the second preset range and the third preset range can be determined according to the reset position and the charging position of the plug assembly, and the embodiment of the present application does not limit the second preset range and the third preset range.

[0068] In some embodiments, when charging is not required, the drive component 120 can be in a power-off state. When the plug assembly is in the reset position, the drive component 120 responds to the first signal and the charging trigger signal to drive the plug assembly to move from the reset position to the charging position. It can be understood that the robot's battery needs to be charged in any case other than when the plug assembly is in the reset position. Therefore, the charging action can be triggered by the charging trigger signal. When charging is required, the charging trigger signal can be sent to the main control board through the switch control signal generating module. The main control board that receives the charging trigger signal controls the power supply module of the drive component 120 to supply power to the drive component 120. If the distance between the starting point Hall plate 107 and the second magnet 105 is within the second preset range, the starting point Hall plate 107 sends a first signal to the main control board. The main control board controls the drive component 120 based on the first signal, so that the drive component 120 drives the plug assembly to move from the reset position to the charging position.

[0069] In some embodiments, when charging is in progress, the plug assembly is located at the charging position, the drive assembly 120 is in a power-off state, and the drive assembly 120 responds to a reset trigger signal to drive the plug assembly to move from the charging position to the reset position. That is to say, when the battery of the robot is fully charged and the plug assembly needs to be reset, a reset trigger signal can be sent to the main control board through the switch control signal generating module. The main control board that receives the reset trigger signal can control the drive assembly 120 so that the drive assembly 120 drives the plug assembly to move from the charging position to the reset position.

[0070] The principles of the sensing method between the pile Hall plate 150 and the first magnet, the sensing method between the starting point Hall plate 107 and the second magnet 105, and the sensing method between the end point Hall plate 108 and the second magnet 105 are as follows:

[0071] Figure 6 A schematic diagram of the position relationship between a magnet and a Hall plate provided in an embodiment of the present application, referring to Figure 6 The Hall plate 300 uses the principle of electromagnetic induction to determine whether the magnet 301 reaches the corresponding position of the sensing area of ​​the Hall plate 300. When the distance between the two is within a preset range, the Hall plate will output a high level or a low level to the main control board, thereby controlling the working state of the drive component.

[0072] In some embodiments, when the distance between the magnet 301 and the center line A-A1 of the Hall plate 300 is 0-3 mm along the first direction X, the Hall plate 300 can sense the magnet 301. When the distance between the magnet 301 and the Hall plate 300 is 0-12 mm along the second direction Y, the Hall plate 300 can sense the magnet 301.

[0073] In some embodiments, reference Figures 1 to 3The robot charging mechanism further includes: a battery, which can be arranged in the accommodating cavity; a wire 140 and a drag chain 141 sleeved on the outer ring of the wire 140, wherein the first end of the wire 140 is electrically connected to the charging end, specifically, the first end of the wire 140 can be connected to the conductive part 115, and the second end of the wire 140 is electrically connected to the battery. The drag chain 141 is used to protect the wire 140 when the wire 140 moves with the plug 114, so as to prevent the wire 140 from bending and suffocating.

[0074] In some embodiments, the robot charging mechanism also includes a connector 142 and a connector bracket 106. The connector bracket 106 is fixed to the side wall of the shell 100 facing the accommodating cavity 101. The connector 142 is fixed on the connector bracket 106. The second end of the wire 140 is connected to the connector 142, and the connector 142 is electrically connected to the battery.

[0075] The above-mentioned embodiment provides a robot charging mechanism with a simple structure, small size, high stability, safety and low cost. The robot charging mechanism includes a driving assembly 120 for pushing the plug assembly and retracting the plug assembly, a guide rail 160 and a slider 161 for improving docking stability, a plug housing 110 and a plug 114 for docking with the charging pile 200, a drag chain 141 sleeved on the outer ring of the wire 140, and a pile Hall plate 150 and a first magnet for detecting whether the pile is successfully docked.

[0076] The charging mechanism provided by the embodiment of the present application has the following advantages compared with the traditional side charging and bottom charging methods: when not charging, the plug 114 is hidden in the robot shell 100, and the electrode sheet of the charging pile 200 is arranged in the concave charging slot, and when not charging, the second baffle 210 blocks the charging slot to prevent people from accidentally touching it; when charging is required, when the plug 114 is docked with the charging slot, the second baffle 210 is flipped back and opened; when charging, the charging end extends out of the accommodating cavity 101 and is inserted into the charging slot, and the charging device is wrapped and not exposed to the external environment, thereby preventing people from accidentally touching the charging device; after the plug shell 110 is inserted into the charging slot, a certain amount of force is required to detach from the charging slot, so that even if the robot is powered off for charging, the plug 114 can fully contact the electrode sheet in the charging slot, thereby preventing the robot's battery from powering the driving wheel and keeping the robot in the charging position, that is, preventing the robot battery from being in a state of charging and discharging at the same time, which is conducive to improving the charging efficiency; no additional modification of the use environment is required, and it can be directly deployed, which is convenient and fast;

[0077] Compared with the wireless charging method, the robot charging mechanism provided in the embodiment of the present application does not require additional modification of the use environment and can be directly deployed, which is convenient and fast. The robot charging mechanism provided in the embodiment of the present application adopts contact charging, and has high charging power and charging efficiency, good stability, simple structure and low cost.

[0078] Those skilled in the art can understand that the above-mentioned embodiments are specific examples of the present invention, and in practical applications, various changes can be made to the embodiments in form and detail without departing from the spirit and scope of the present invention. Any person skilled in the art can make their own changes and modifications without departing from the spirit and scope of the present invention, so the protection scope of the present invention shall be based on the scope defined in the claims.

Claims

1. A robot charging mechanism, provided in a robot housing, characterized in that: The robot housing has a receiving cavity and an opening, and the receiving cavity is connected to the outside of the robot housing through the opening; The robot charging mechanism includes a driving component and a plug component. The driving assembly is located in the accommodating cavity; The plug assembly has a first end and a second end, the first end of the plug assembly is a charging end, and the second end of the plug assembly is transmission-connected to the drive assembly; The robot charging mechanism has at least a first state and a second state. In the first state, the driving component drives the plug component so that the charging end located in the accommodating cavity moves from the opening to the outside of the robot shell for charging. In the second state, the driving component drives the plug component so that the charging end located outside the robot shell moves from the opening back into the accommodating cavity.

2. The robot charging mechanism according to claim 1, characterized in that: The robot charging mechanism further includes a first blocking piece, the first blocking piece being pivotally connected to the opening, In the first state, the charging end abuts against the first blocking piece to open the first blocking piece to the outside of the robot shell, and the charging end moves from the opening to the outside of the robot shell; In the second state, the charging end moves from the opening back into the accommodating cavity, and the first blocking piece closes the opening.

3. The robot charging mechanism according to claim 1, characterized in that: The plug assembly comprises: A plug, a plug shell and a bracket, wherein the first end of the bracket is connected to the plug, the second end of the bracket is the second end of the plug assembly, the plug shell is sleeved on the outer ring of the plug, and the plug shell is open at the end away from the bracket.

4. The robot charging mechanism according to claim 3, characterized in that: The charging pile has a charging slot and an electrode sheet located in the charging slot. During charging, the outer ring of the plug shell extends into the charging slot, and the outer ring of the plug shell is opposite to the inner wall of the charging slot, and the electrode sheet extends into the plug shell and contacts the plug.

5. The robot charging mechanism according to claim 4, characterized in that: The robot charging mechanism also includes: A pile Hall plate, the pile Hall plate is located on the outer side wall of the plug housing; A first magnet, wherein the first magnet is located on an inner wall of the charging slot; When the distance between the pair of Hall plates and the first magnet is within a first preset range, the pair of Hall plates sends a charging signal, and the charging pile charges the plug from the charging socket in response to the charging signal.

6. The robot charging mechanism according to claim 1, characterized in that: The driving assembly comprises: a motor, a screw and a screw nut sleeved on the outer ring of the screw; The second end of the plug assembly is connected to the lead screw nut, and the motor shaft of the motor drives the lead screw to rotate, so as to drive the lead screw nut to move along the axial direction of the lead screw, thereby driving the plug assembly to move along the axial direction of the lead screw.

7. The robot charging mechanism according to claim 6, characterized in that: The robot charging mechanism also includes a base bracket arranged in the accommodating cavity, the base bracket includes a main body, the main body has a first surface and a second surface opposite to each other, the first surface is fixed to the inner wall of the robot shell, and the driving assembly is fixed to the second surface.

8. The robot charging mechanism according to claim 7, characterized in that: The plug assembly is located on a side of the driving assembly away from the second surface, the plug assembly includes a bracket, the bracket includes: a bracket body and a side portion, the bracket body is connected to the screw nut, and the side portion extends from the bracket body to the main body; The base bracket also includes an extension portion, which extends from the main body portion toward the bracket body, and the extension portion is directly opposite to the side portion, and the side portion is slidably connected to the extension portion.

9. The robot charging mechanism according to any one of claims 1 to 8, characterized in that: The plug assembly has at least a reset position and a charging position, and the robot charging mechanism further comprises: A Hall plate bracket, wherein the Hall plate bracket is arranged in the accommodating cavity, and the Hall plate bracket is arranged in parallel with the plug assembly; A starting point Hall plate, wherein the starting point Hall plate is fixed to a first end of the Hall plate bracket; A terminal Hall plate, wherein the terminal Hall plate is fixed to the second end of the Hall plate bracket; a second magnet, wherein the second magnet is fixed to a side of the plug assembly facing the Hall plate bracket; When the plug assembly is located at the reset position, the distance between the starting point Hall plate and the second magnet is within a second preset range, the starting point Hall plate sends a first signal to the main control board, and the driving assembly drives the plug assembly to move from the reset position to the charging position in response to the first signal; When the plug assembly is located at the charging position, the distance between the endpoint Hall plate and the second magnet is within a third preset range, the endpoint Hall plate sends a second signal to the main control board, and the drive assembly stops running in response to the second signal.

10. The robot charging mechanism according to any one of claims 1 to 8, characterized in that: The robot charging mechanism also includes: A battery, wherein the battery is disposed in the accommodating cavity; A wire and a drag chain sleeved on the outer ring of the wire, wherein the first end of the wire is electrically connected to the charging end, and the second end of the wire is electrically connected to the battery.

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