Automatic recharging device of mobile robot

Abstract

The utility model relates to the technical field of robot charging, in particular to an automatic recharging device of a mobile robot, which comprises a plug arranged on the rear surface of a mobile robot main body and a charging pile arranged on the ground, the front surface of the charging pile is fixedly connected with a socket, and the inner side surface of the charging pile is rotatably connected with an overturning frame. A first swing frame is rotationally connected to the inner surface of the overturning frame in an embedded mode, and a second swing frame is rotationally connected to the inner surface of the overturning frame. The first swing frame and the second swing frame are in a splayed shape, the distance between the first swing frame and the second swing frame at the position away from the charging pile is large, and the distance between the first swing frame and the second swing frame at the position close to the charging pile is small; when the gear motor is turned over, the second swing frame and the first swing frame move inwards to clamp and guide the mobile robot body, and butt joint of a plug and a socket is facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of robot charging, in particular to an automatic recharging device for a mobile robot. Background Art

[0002] In the prior art, mobile robots have functions such as map construction and path planning. When a charging base signal is detected, the area of ​​the charging base will be marked on the map. When the battery is low, a path to the charging base will be planned according to the map to guide the robot to find the charging base. However, the devices in the prior art have certain disadvantages when used. For example, the automatic recharging device for a mobile machine chassis recorded in announcement number CN219927506U relates to the technical field of mobile energy storage charging robots, including a mobile robot and a charging pile. The mobile robot is equipped with a plug, and the charging pile is equipped with a charging base.

[0003] The above-mentioned device charges the mobile robot by adopting an external auxiliary moving alignment method, which can reduce the error generated by the mobile robot during charging and movement, ensure the stability of the mobile robot during the charging process, and prevent the plug from loosening in the slot. However, the first connecting rod and the second connecting rod rotate towards each other, so that the plug block can be rotated out or inserted into the two limit blocks. Since the distance between the two limit blocks is small, the position of the plug block needs to be adjusted. The difficulty here is relatively large, no less than the docking of the socket plug. Therefore, the position of the mobile robot body needs to be repeatedly adjusted, resulting in unsatisfactory efficiency of plug and socket docking. Utility Model Content

[0004] The purpose of the utility model is to provide an automatic recharging device for a mobile robot to solve the problems raised in the above background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] An automatic recharging device for a mobile robot comprises a plug installed on the rear surface of a mobile robot body and a charging pile installed on the ground, wherein the front surface of the charging pile is fixedly connected to a socket, the inner surface of the charging pile is rotatably connected to a flip frame, the inner surface of the flip frame is embedded and rotatably connected to a No. 1 swing frame, the inner surface of the flip frame is rotatably connected to a No. 2 swing frame, the lower surface of the No. 1 swing frame is fixedly connected to a No. 1 gear, the lower surface of the No. 2 swing frame is fixedly connected to a No. 2 gear, the upper surface of the flip frame is fixedly connected to a reduction motor, the rear surface of the mobile robot body is fixedly connected to a stepping motor, and the No. 1 swing frame and the No. 2 swing frame are internally movably connected to a conveyor belt.

[0007] Furthermore, a laser radar is embedded and connected to the upper surface of the mobile robot body, and a moving wheel is rotatably connected to the lower surface of the mobile robot body.

[0008] Furthermore, the first gear and the second gear are meshed and connected, and the output end of the reduction motor is fixedly connected to the second swing frame.

[0009] Furthermore, the interior of the No. 1 swing frame and the No. 2 swing frame are both rotatably connected to two transmission rollers, the conveyor belt is nested in the outer surface of the transmission roller, the interior of the No. 1 swing frame and the No. 2 swing frame are rotatably connected to support rollers, the upper surfaces of the No. 1 swing frame and the No. 2 swing frame are fixedly connected to power motors, and the output end of the power motor is fixedly connected to the transmission rollers.

[0010] Preferably, a worm is fixedly connected to the output end of the stepper motor, a worm wheel is fixedly connected to the side surface of the flip frame, and the worm and the worm wheel are meshingly connected.

[0011] Furthermore, the outer surface of the conveyor belt is fixedly connected with a snap-fit ​​frame, the outer surface of the conveyor belt is snap-fitted with a contact block, the interior of the contact block is fixedly connected with a limiting column, the outer surface of the limiting column is nested with a spring, the outer surface of the limiting column is nested with a bayonet, one end of the spring is in contact with the bayonet, the other end of the spring is in contact with the contact block, and the bayonet is inserted into the inside of the snap-fit ​​frame.

[0012] Preferably, a brush plate is detachably connected to the outer surface of the contact block, and bristles are fixedly connected to the outer surface of the brush plate.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] Start the reduction motor, the reduction motor drives the No. 2 swing frame to swing outward, the No. 2 gear drives the No. 1 gear to rotate, so that the No. 1 swing frame swings outward synchronously, so that the No. 1 swing frame and the No. 2 swing frame are in an "eight" shape, the distance between the No. 1 swing frame and the No. 2 swing frame is large at a position far away from the charging pile, and the distance is small at a position close to the charging pile, so that the main body of the mobile robot can move between the No. 2 swing frame and the No. 1 swing frame. When the reduction motor flips, the No. 2 swing frame and the No. 1 swing frame move inward to clamp and guide the main body of the mobile robot, so as to facilitate the docking of the plug and the socket;

[0015] During guidance, the power motor is started, and the output end of the power motor drives the transmission roller to rotate, so that the conveyor belt starts to run. The load-bearing roller supports the conveyor belt, and the mobile robot body is transported to the front surface of the charging pile through the conveyor belt, and the plug and socket are connected in cooperation with the mobile robot body. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1It is an overall schematic diagram of the utility model;

[0017] Figure 2 It is a schematic diagram of the charging pile structure of the utility model;

[0018] Figure 3 This is a schematic diagram of the transmission structure of the second swing frame of the utility model;

[0019] Figure 4 It is a schematic diagram of the cross-sectional structure of the contact block of the utility model.

[0020] In the figure: 1. Mobile robot body; 101. Laser radar; 102. Moving wheel; 103. Plug; 2. Charging pile; 201. Socket; 3. Flip frame; 301. Swing frame No. 1; 302. Swing frame No. 2; 304. Gear No. 1; 305. Gear No. 2; 306. Transmission roller; 307. Load-bearing roller; 308. Power motor; 4. Stepper motor; 401. Worm; 402. Worm wheel; 5. Reduction motor; 6. Conveyor belt; 601. Snap-on frame; 602. Contact block; 603. Pin; 604. Limit column; 605. Spring; 606. Brush plate; 607. Brush hair. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] See also Figure 1-4 In an embodiment of the utility model, an automatic recharging device for a mobile robot comprises a plug 103 installed on the rear surface of a mobile robot body 1 and a charging pile 2 installed on the ground, the front surface of the charging pile 2 is fixedly connected with a socket 201, the inner surface of the charging pile 2 is rotatably connected with a flip frame 3, the inner surface of the flip frame 3 is embedded and rotatably connected with a first swing frame 301, the inner surface of the flip frame 3 is rotatably connected with a second swing frame 302, the lower surface of the first swing frame 301 is fixedly connected with a first gear 304, the lower surface of the second swing frame 302 is fixedly connected with a second gear 305, the upper surface of the flip frame 3 is fixedly connected with a reduction motor 5, the rear surface of the mobile robot body 1 is fixedly connected with a stepping motor 4, the inner parts of the first swing frame 301 and the second swing frame 302 are movably connected with a conveyor belt 6, the upper surface of the mobile robot body 1 is embedded and connected with a laser radar 101, and the lower surface of the mobile robot body 1 is rotatably connected with a moving wheel 102.

[0023] Specifically, when in use, the mobile robot body 1 cooperates with the laser radar 101 and the mobile wheel 102 to move. This is a mature existing technology and will not be described in detail herein. When the mobile robot body 1 is close to the socket 201, the mobile robot body 1 and the socket 201 are adjusted to dock. Due to errors in the docking process, multiple adjustments are required before docking. In order to avoid this situation, the mobile robot body 1 needs to be guided by auxiliary limit. The initial state of the charging pile 2 is as follows: Figure 2 As shown, the stepper motor 4 is started, and the stepper motor 4 makes the No. 1 swing frame 301 and the No. 2 swing frame 302 swing downward, and the reduction motor 5 is started, and the reduction motor 5 makes the No. 1 swing frame 301 and the No. 2 swing frame 302 swing from the inside to the outside or from the outside to the inside. When the charging pile 2 and the conveyor belt 6 are in contact, the charging pile 2 is assisted in limiting and assisted in guiding by swinging, so as to facilitate the docking of the plug 103 and the socket 201, and the conveyor belt 6 can also perform brush cleaning on the surfaces of both sides of the mobile robot body 1, so as to reduce the energy spent by subsequent users in cleaning the mobile robot body 1.

[0024] Embodiment 1

[0025] like Figure 1-3 As shown, the first gear 304 and the second gear 305 are meshed and connected, and the output end of the reduction motor 5 and the second swing frame 302 are fixedly connected.

[0026] In this embodiment, the reduction motor 5 is started, and the reduction motor 5 drives the second swing frame 302 to swing outward, and the second gear 305 drives the first gear 304 to rotate, so that the first swing frame 301 swings outward synchronously, so that the first swing frame 301 and the second swing frame 302 are in an "eight" shape, and the distance between the first swing frame 301 and the second swing frame 302 is large at a position away from the charging pile 2, and the distance is small at a position close to the charging pile 2, so that the mobile robot body 1 can move between the second swing frame 302 and the first swing frame 301. When the reduction motor 5 is flipped, the second swing frame 302 and the first swing frame 301 move inward to clamp and guide the mobile robot body 1, so as to facilitate the docking of the plug 103 and the socket 201.

[0027] like Figure 1-3 As shown, the interior of the No. 1 swing frame 301 and the No. 2 swing frame 302 are both rotatably connected to two transmission rollers 306, the conveyor belt 6 is nested in the outer surface of the transmission roller 306, the interior of the No. 1 swing frame 301 and the No. 2 swing frame 302 are rotatably connected to the support roller 307, the upper surface of the No. 1 swing frame 301 and the No. 2 swing frame 302 is fixedly connected to the power motor 308, and the output end of the power motor 308 is fixedly connected to the transmission roller 306.

[0028] In this embodiment, during guidance, the power motor 308 is started, and the output end of the power motor 308 drives the transmission roller 306 to rotate, so that the conveyor belt 6 starts to run, and the load-bearing roller 307 supports the conveyor belt 6. The mobile robot body 1 is transported to the front surface of the charging pile 2 through the conveyor belt 6, and cooperates with the mobile robot body 1 to complete the docking of the plug 103 and the socket 201. Among them, the power motor 308 controls the start, stop and speed of the two motors through an electronic controller such as a PLC, a single-chip microcomputer, etc., and synchronous operation can be achieved by precisely controlling the input voltage and current of the motor. This is a mature existing technology and no unnecessary elaboration is made in this article.

[0029] like Figure 1-3 As shown, a worm 401 is fixedly connected to the output end of the stepping motor 4, a worm wheel 402 is fixedly connected to the side surface of the flip frame 3, and the worm 401 and the worm wheel 402 are meshingly connected.

[0030] In this embodiment, the output end of the stepping motor 4 drives the worm 401 to rotate, and the worm 401 drives the worm wheel 402 to rotate, so that the flip frame 3 can be flipped, so that the first swing frame 301 and the second swing frame 302 can be turned from Figure 1 The status shown changes to Figure 2 The state shown is convenient for storing the first swing frame 301 and the second swing frame 302 when not in use, thereby reducing the space occupied by the charging pile 2.

[0031] Embodiment 2

[0032] On the basis of the first embodiment, in order to make up for the problem that it is inconvenient to clean the surfaces on both sides of the mobile robot body 1 in the first embodiment.

[0033] like Figure 1-4 As shown, the outer surface of the conveyor belt 6 is fixedly connected with a snap-in frame 601, the outer surface of the conveyor belt 6 is snap-in connected with a contact block 602, the interior of the contact block 602 is fixedly connected with a limiting column 604, the outer surface of the limiting column 604 is nested with a spring 605, the outer surface of the limiting column 604 is nested with a latch 603, one end of the spring 605 is in contact with the latch 603, the other end of the spring 605 is in contact with the contact block 602, and the latch 603 is inserted into the interior of the snap-in frame 601.

[0034] In this embodiment, the contact block 602 is in contact with the mobile robot body 1. When the contact block 602 is damaged, the latch 603 is squeezed from the outside to the inside so that the latch 603 squeezes the spring 605, and the latch 603 can be withdrawn from the snap-on frame 601, thereby facilitating the replacement of the contact block 602.

[0035] like Figure 1-4 As shown, a brush plate 606 is detachably connected to the outer surface of the contact block 602 , and bristles 607 are fixedly connected to the outer surface of the brush plate 606 .

[0036] In this embodiment, the brush plate 606 is connected by a threaded assembly and bristles 607, and the No. 2 swing frame 302 and the No. 1 swing frame 301 can swing up and down, so the conveyor belt 6 can be started during the swinging, thereby simply cleaning the dust on the side surface of the mobile robot body 1 and reducing the amount of dust attached to the surfaces of both sides of the mobile robot body 1. At the same time, during the later cleaning, the user can cooperate with the conveyor belt 6 to brush other surfaces of the robot, so that the mobile robot body 1 actively contacts the conveyor belt 6, eliminating the step of brushing the mobile robot body 1 and optimizing the user's cleaning experience.

[0037] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0038] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An automatic recharging device for a mobile robot, comprising a plug (103) mounted on the rear surface of a mobile robot body (1) and a charging pile (2) mounted on the ground, characterized in that: The front surface of the charging pile (2) is fixedly connected to a socket (201); the inner surface of the charging pile (2) is rotatably connected to a flip frame (3); the inner surface of the flip frame (3) is embedded and rotatably connected to a first swing frame (301); the inner surface of the flip frame (3) is rotatably connected to a second swing frame (302); the lower surface of the first swing frame (301) is fixedly connected to a first gear (304); the lower surface of the second swing frame (302) is fixedly connected to a second gear (305); the upper surface of the flip frame (3) is fixedly connected to a reduction motor (5); the rear surface of the mobile robot body (1) is fixedly connected to a stepping motor (4); and the first swing frame (301) and the second swing frame (302) are internally movably connected to a conveyor belt (6).

2. The automatic recharging device for a mobile robot according to claim 1, characterized in that: The upper surface of the mobile robot body (1) is embedded with a laser radar (101), and the lower surface of the mobile robot body (1) is rotatably connected with a moving wheel (102).

3. The automatic recharging device for a mobile robot according to claim 1, characterized in that: The first gear (304) and the second gear (305) are meshed and connected, and the output end of the reduction motor (5) and the second swing frame (302) are fixedly connected.

4. The automatic recharging device for a mobile robot according to claim 1, characterized in that: The first swing frame (301) and the second swing frame (302) are both rotatably connected to two transmission rollers (306), the conveyor belt (6) is nested on the outer surface of the transmission roller (306), the first swing frame (301) and the second swing frame (302) are rotatably connected to a bearing roller (307), the upper surfaces of the first swing frame (301) and the second swing frame (302) are fixedly connected to a power motor (308), and the output end of the power motor (308) is fixedly connected to the transmission roller (306).

5. The automatic recharging device for a mobile robot according to claim 4, characterized in that: The output end of the stepping motor (4) is fixedly connected to a worm (401), the side surface of the flip frame (3) is fixedly connected to a worm wheel (402), and the worm (401) and the worm wheel (402) are meshingly connected.

6. The automatic recharging device for a mobile robot according to claim 1, characterized in that: The outer surface of the conveyor belt (6) is fixedly connected to a snap-fit ​​frame (601), the outer surface of the conveyor belt (6) is snap-fitted to a contact block (602), the interior of the contact block (602) is fixedly connected to a limiting column (604), the outer surface of the limiting column (604) is nested with a spring (605), the outer surface of the limiting column (604) is nested with a snap-fit ​​pin (603), one end of the spring (605) is in contact with the snap-fit ​​pin (603), the other end of the spring (605) is in contact with the contact block (602), and the snap-fit ​​pin (603) is inserted into the interior of the snap-fit ​​frame (601).

7. The automatic recharging device for a mobile robot according to claim 6, characterized in that: The outer surface of the contact block (602) is detachably connected to a brush plate (606), and the outer surface of the brush plate (606) is fixedly connected to bristles (607).

Images