Charging mechanism, charging port mechanism and autonomous mobile robot

Abstract

The utility model discloses a charging mechanism, a charging port mechanism and an autonomous mobile robot, and the charging mechanism comprises a supporting seat; the charging connectors and the supporting seat are arranged at intervals in the first direction; one end of the elastic rotating piece is connected with the supporting seat, the other end of the elastic rotating piece is connected with the charging connector, and the charging connector drives the other end of the elastic rotating piece to deflect relative to the end of the elastic rotating piece under the action of external force. And when the external force disappears, the other end of the elastic rotating piece drives the charging connector to reset. According to the charging mechanism provided by the utility model, automatic resetting of the charging connector after deflection is realized through the elastic rotating piece, so that the charging mechanism is convenient to use next time, and the use performance is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot charging, in particular to a charging mechanism, a charging port mechanism and an autonomous mobile robot. Background Art

[0002] With the development of science and technology and the progress of society, autonomous mobile robots (AMR) are being used more and more widely. Autonomous mobile robots are usually used in large workshops or warehouses, and usually carry power batteries on their bodies. When the power battery is low, it needs to be charged.

[0003] In the related art, autonomous mobile robots are usually charged by docking charging terminals, that is, the male connector installed on the autonomous mobile robot is docked with the corresponding female connector installed on the charging mechanism, and the male connector is inserted into the female connector during charging to achieve charging. However, during the charging process, the female connector on the charging mechanism is deflected by external force and cannot return to its original position, which requires high positioning accuracy for the autonomous mobile robot that is subsequently charged, increases the difficulty of next use, and reduces the performance of the charging mechanism. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the utility model is to provide a charging mechanism, which realizes automatic reset of the charging connector after deflection through an elastic rotating member, which is convenient for next use and improves the performance.

[0005] Another object of the present invention is to provide a charging port mechanism adapted for the above-mentioned charging mechanism.

[0006] Another object of the present utility model is to provide an autonomous mobile robot adopting the above-mentioned charging port mechanism.

[0007] According to the first aspect of the present invention, the charging mechanism includes: a support base; a charging connector, wherein the charging connector and the support base are arranged at intervals along a first direction; and at least one elastic rotating member, wherein one end of the elastic rotating member is connected to the support base, and the other end of the elastic rotating member is connected to the charging connector, wherein the charging connector is driven by an external force to deflect the other end of the elastic rotating member relative to the one end of the elastic rotating member, and when the external force disappears, the other end of the elastic rotating member drives the charging connector to reset.

[0008] According to the charging structure of the utility model, the elastic rotating part can be deflected under the action of the charging port mechanism, so as to facilitate the coordination between the charging port mechanism and the charging connector, improve the flexibility of coordination, and make it more convenient to use. The elastic rotating part is elastic, and the elastic rotating part can buffer the impact force of the charging port mechanism on the charging mechanism, thereby extending the service life of the charging mechanism. In addition, after the charging port mechanism is separated from the charging mechanism, the elastic rotating part can automatically reset under its own elastic action, so as to facilitate the subsequent precise coordination between the charging port mechanism and the charging mechanism, and the positioning accuracy requirements for the autonomous mobile robot that is subsequently charged are low, which reduces the difficulty of the next use, has high coordination efficiency, and improves the performance of the charging mechanism.

[0009] According to some embodiments of the present invention, the elastic rotating member extends linearly along the first direction.

[0010] According to some embodiments of the utility model, the charging mechanism further includes a moving structure, which is arranged on the support seat, and the moving structure is connected to the charging connector through the elastic rotating member, and the moving structure includes: a guide member, which is arranged on the support seat, and a guide channel is formed on the guide member and passes through the side surfaces of the guide member along the first direction; a guide shaft, one end of the guide shaft is connected to the elastic rotating member through a connecting plate, and the other end of the guide shaft extends through the guide channel, and the guide shaft is movable relative to the guide member along the axial direction of the guide channel; a first elastic member, which is arranged on the outer peripheral side of the guide shaft, and the first elastic member is located between the connecting plate and the guide member.

[0011] According to some embodiments of the present utility model, the motion structure further includes: a limiting member, the limiting member is located on a side of the guide member away from the first elastic member, and the limiting member is connected to the other end of the guide shaft.

[0012] According to some embodiments of the present invention, the outer peripheral cross-sectional area of ​​the limiting member is larger than the cross-sectional area of ​​the guide shaft.

[0013] According to some embodiments of the utility model, a first through hole is formed in the charging connector and passes through the side surfaces of both sides of the charging connector along the first direction. A first detection structure is provided in the first through hole. The first detection structure includes a button, a pressure block, a second elastic member and a pressing member arranged in sequence along the axial direction of the first through hole. The button is located at one end of the first through hole adjacent to the support seat, the pressure block contacts the button, the two ends of the second elastic member are respectively connected to the pressure block and the pressing member, and the end of the pressing member away from the second elastic member extends to the outside of the first through hole. The pressing member and the second elastic member are movable along the axial direction of the first through hole, and the pressing member can press the button through the second elastic member and the pressure block.

[0014] According to some embodiments of the utility model, there are multiple elastic rotating parts, and the multiple elastic rotating parts are arranged at intervals along the second direction, and the other ends of the multiple elastic rotating parts are respectively connected to the two sides of the charging connector along the second direction, and the second direction and the first direction are perpendicular to each other.

[0015] According to some embodiments of the present invention, the elastic rotating member is a rubber member.

[0016] The charging port mechanism according to the second aspect embodiment of the utility model includes: a shell, a matching groove is formed on the shell, and at least a part of the charging connector of the charging mechanism is suitable for matching in the matching groove. The charging mechanism is the charging mechanism according to the above-mentioned first aspect embodiment of the utility model.

[0017] According to some embodiments of the utility model, two second through holes opposite to each other along a second direction are formed on the side wall of the mating groove, and at least one second detection structure is provided on the shell, the second detection structure including: a light-emitting component, the light-emitting component is connected to the outer surface of the shell, the light-emitting component is provided on a side of one of the two second through holes away from the other; a photosensitive component, the photosensitive component is connected to the outer surface of the shell, the photosensitive component is provided on a side of the other of the two second through holes away from the one, and the photosensitive component is used to sense the light emitted by the light-emitting component and transmitted to the photosensitive component through the second through hole.

[0018] According to some embodiments of the present invention, there are multiple second detection structures, and the multiple second detection structures are arranged at intervals along the third direction.

[0019] The autonomous mobile robot according to the third aspect of the present invention comprises the charging port mechanism according to the second aspect of the present invention.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0022] Figure 1 is a schematic diagram of a charging mechanism according to an embodiment of the utility model;

[0023] Figure 2 is a schematic diagram of a charging connector of a charging mechanism according to an embodiment of the utility model;

[0024] Figure 3 is a partial schematic diagram of a charging connector of a charging mechanism according to an embodiment of the utility model;

[0025] Figure 4 is a schematic diagram of a charging mechanism according to an embodiment of the utility model from another angle;

[0026] Figure 5 is a partial cross-sectional view of a charging mechanism according to an embodiment of the utility model, wherein the charging connector is not shown;

[0027] Figure 6 is a schematic diagram of a charging port mechanism according to an embodiment of the utility model;

[0028] Figure 7 is a schematic diagram of a charging port mechanism according to another angle of an embodiment of the utility model;

[0029] Figure 8 is a cross-sectional view of a charging port mechanism according to an embodiment of the utility model;

[0030] Fig. 9 is a cross-sectional view of the charging port mechanism according to another embodiment of the utility model;

[0031] Fig.10 It is a schematic diagram of the assembly of the charging mechanism and the charging port mechanism according to an embodiment of the utility model;

[0032] Fig.11 is a side view of the assembly of the charging mechanism and the charging port mechanism according to an embodiment of the utility model, wherein the charging mechanism is a cross-section;

[0033] Fig.12 is an assembly cross-sectional view of a charging mechanism and a charging port mechanism according to an embodiment of the utility model;

[0034] Fig.13It is an assembly cross-sectional view of a charging mechanism and an autonomous mobile robot according to an embodiment of the utility model.

[0035] Reference numerals:

[0036] 100. Charging mechanism;

[0037] 1. Support seat; 11. Slider;

[0038] 2. Charging connector; 21. First through hole; 211. First detection structure;

[0039] 2111, button; 2112, pressing block; 2113, second elastic member; 2114, pressing member;

[0040] 22. Charging connector plate; 23. Corner plate; 24. Charging terminal female connector; 25. Mounting column;

[0041] 3. Elastic rotating parts;

[0042] 4. Motion structure; 41. Guide member; 411. Guide channel;

[0043] 42. guide shaft; 43. first elastic member; 44. stopper; 45. connecting plate;

[0044] 5. Fastener; 6. Slide rail; 7. Support column; 8. Third elastic member;

[0045] 200, charging port mechanism;

[0046] 201, housing; 2011, matching groove; 2012, second through hole;

[0047] 2013, second detection structure; 2013a, light emitting element; 2013b, photosensitive element;

[0048] 2014, male charging terminal; 2015, charging docking block; 2016, cover plate;

[0049] 2017, installation space; 2018, circuit board;

[0050] 300. Autonomous mobile robot; 301. Cart. DETAILED DESCRIPTION

[0051] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Figure 1-Figure 5 The charging mechanism 100 according to the first aspect of the embodiment of the present utility model is described. In the following description of the present application, the charging mechanism 100 is used for charging the autonomous mobile robot 300 as an example, but it is not limited thereto.

[0052] like Figure 1As shown, the charging mechanism 100 according to the first embodiment of the utility model includes a support base 1, a charging connector 2 and at least one elastic rotating member 3.

[0053] Specifically, the charging connector 2 and the support base 1 are arranged along a first direction (eg Figure 1 One end of the elastic rotating member 3 is connected to the support seat 1, and the other end of the elastic rotating member 3 is connected to the charging connector 2. The charging connector 2 is driven by an external force to deflect the other end of the elastic rotating member 3 relative to the one end of the elastic rotating member 3, and when the external force disappears, the other end of the elastic rotating member 3 drives the charging connector 2 to reset.

[0054] For example, in Figure 1 In the example, the charging connector 2 is located in front of the support seat 1. The rear end of the elastic rotating member 3 is connected to the front side of the support seat 1, and the front end of the elastic rotating member 3 is connected to the charging connector 2. When the charging port mechanism 200 of the autonomous mobile robot 300 needs to cooperate with the charging mechanism 100 to charge the autonomous mobile robot 300, under the action of an external force (such as the charging port mechanism 200), the front end of the elastic rotating member 3 deflects toward the outer peripheral side of the elastic rotating member 3 relative to the rear end of the elastic rotating member 3, that is, the central axis of the elastic rotating member 3 is offset under the action of the external force. Of course, the above-mentioned deflection is not limited to the deflection in the up and down directions and the left and right directions. For example, it can be deflected from 360° in different directions to the outer peripheral side of the elastic rotating member 3. When the external force disappears, the elastic rotating member 3 can be automatically reset under its own elastic action, so as to facilitate the subsequent precise cooperation of the charging port mechanism 200 and the charging mechanism 100, and the positioning accuracy requirements for the autonomous mobile robot 300 to be charged later are low, which reduces the difficulty of the next use, has high cooperation efficiency, and improves the performance of the charging mechanism.

[0055] In addition, the elastic rotating part 3 is elastic. When the autonomous mobile robot 300 is charged, the charging port mechanism 200 and the charging mechanism 100 are assembled along the front-to-back direction. During the assembly, the charging port mechanism 200 has an impact force on the charging mechanism 100. The elastic rotating part 3 can buffer the impact force and avoid damage to the charging mechanism 100, thereby extending the service life of the charging mechanism 100.

[0056] After the autonomous mobile robot 300 is charged, when the charging port mechanism 200 is separated from the charging mechanism 100, the charging port mechanism 200 drives the charging connector 2 of the charging mechanism 100 to deviate, and the elastic rotating member 3 can deflect in multiple directions, thereby effectively ensuring that the charging port mechanism 200 and the charging mechanism 100 are on the same axis during the separation process, which facilitates the separation of the charging port mechanism 200 and the charging mechanism 100, and also avoids the charging mechanism 100 from being damaged by external forces, which helps to further extend the service life of the charging mechanism 100. In addition, the use of the elastic rotating member 3 also increases the direction of deflection of the charging connector 2, improves the flexibility of the use of the charging connector 2, and facilitates use.

[0057] In addition, after the charging port mechanism 200 is separated from the charging mechanism 100, the elastic rotating member 3 can drive the charging connector 2 to reset, that is, drive the charging connector 2 to return to its original position, so that the charging port mechanism 200 and the charging mechanism 100 can be assembled when the autonomous mobile robot 300 is charged again, thereby improving the assembly efficiency. Moreover, it avoids the need to use manpower to restore the charging connector 2 to its original position, which is convenient for operation and reduces labor costs.

[0058] According to the charging structure of the utility model, the elastic rotating member 3 can be deflected under the action of the charging port mechanism 200, so as to facilitate the coordination of the charging port mechanism 200 and the charging connector 2, improve the flexibility of coordination, and make it more convenient to use. The elastic rotating member 3 is elastic, and the elastic rotating member 3 can buffer the impact force of the charging port mechanism 200 on the charging mechanism 100, thereby extending the service life of the charging mechanism 100. In addition, after the charging port mechanism 200 is separated from the charging mechanism 100, the elastic rotating member 3 can automatically reset under the action of its own elasticity, so as to facilitate the subsequent precise coordination of the charging port mechanism 200 and the charging mechanism 100, and the positioning accuracy requirements for the autonomous mobile robot 300 that is subsequently charged are low, which reduces the difficulty of the next use, has high coordination efficiency, and improves the performance of the charging mechanism.

[0059] According to some embodiments of the present invention, referring to Figure 1 , the elastic rotating member 3 extends linearly along the first direction (i.e., the front-to-back direction). Figure 1 In the example, the elastic rotating member 3 is roughly cylindrical. Such a configuration further facilitates the deflection of the elastic rotating member 3 in the up-down direction or the left-right direction, further improves the flexibility of the deflection of the elastic rotating member 3, thereby improving the flexibility of the deflection of the charging connector 2 and improving the performance of the charging mechanism 100. Moreover, the cylindrical elastic rotating member 3 also further facilitates the deflection of the elastic rotating member 3 in multiple directions on the outer peripheral side of the elastic rotating member 3. In addition, the elastic rotating member 3 has a simple structure, low cost of use, and is easy to install. It should be noted that the elastic rotating member 3 is a standard part with low cost of use.

[0060] According to some embodiments of the present invention, referring to Figure 1 The charging mechanism 100 further includes a motion structure 4, which is disposed on the support base 1 and connected to the charging connector 2 via an elastic rotating member 3. Figure 1 In the example, the front end of the elastic rotating member 3 is connected to the charging connector 2, and the rear end of the elastic rotating member 3 is connected to the motion structure 4. With this arrangement, the motion structure 4 can move in the front-to-back direction, and the motion structure 4 drives the charging connector 2 to move in the front-to-back direction through the elastic rotating member 3. When the charging connector 2 is assembled with the charging port mechanism 200, the impact force on the charging mechanism 100 can be buffered, further preventing the charging mechanism 100 from being damaged.

[0061] Combination Figure 1 , Figure 4 and Figure 5 The moving structure 4 includes a guide member 41 , a guide shaft 42 and a first elastic member 43 .

[0062] Specifically, the guide member 41 is arranged on the support seat 1, and a guide channel 411 is formed on the guide member 41, which passes through the side surfaces of the guide member 41 along the first direction (i.e., the front-to-back direction). One end of the guide shaft 42 is connected to the elastic rotating member 3 through the connecting plate 45, and the other end of the guide shaft 42 extends out through the guide channel 411. The guide shaft 42 is movable relative to the guide member 41 along the axial direction of the guide channel 411. The first elastic member 43 is arranged on the outer peripheral side of the guide shaft 42, and the first elastic member 43 is located between the connecting plate 45 and the guide member 41.

[0063] For example, in Figure 1 , Figure 4 and Figure 5 In the example, the guide member 41 is connected to the support seat 1, the guide channel 411 passes through the front side and the rear side of the guide member 41, the front end of the guide shaft 42 is connected to the connecting plate 45, the rear end face of the elastic rotating member 3 is connected to the front side of the connecting plate 45, the rear end of the guide shaft 42 extends out through the guide channel 411, the guide shaft 42 can move in the guide channel 411 along the front and rear directions, and the first elastic member 43 is sleeved on the outer peripheral side of the guide shaft 42.

[0064] When the charging mechanism 100 is assembled with the charging port mechanism 200, the charging mechanism 100 is impacted by the charging port mechanism 200 and moves backward. Under the action of the charging connector 2, the elastic rotating member 3 and the connecting plate 45, the guide shaft 42 moves backward relative to the guide member 41 in the guide channel 411, and the first elastic member 43 is in a compressed state. After the charging mechanism 100 is separated from the charging port mechanism 200, the first elastic member 43 returns to its original state, and the first elastic member 43 pushes the charging connector 2, the elastic rotating member 3, the connecting plate 45 and the guide shaft 42 to move forward, and the charging mechanism 100 returns to its original position.

[0065] With such a configuration, on the one hand, the first elastic member 43 can buffer the impact force on the charging connector 2 and prevent the charging mechanism 100 from being damaged. On the other hand, when the first elastic member 43 is in a compressed state, the first elastic member 43 presses the charging connector 2, the elastic rotating member 3 and the connecting plate 45 forward, providing a pressing force, so that the charging connector 2 and the charging port mechanism 200 are firmly docked, thereby improving the stability of the assembly of the charging mechanism 100 and the charging port mechanism 200 and improving the charging effect. Moreover, when the first elastic member 43 returns to its original position, the charging connector 2, the elastic rotating member 3 and the connecting plate 45 are restored to their original positions, which is convenient for the next use of the charging mechanism 100, and also avoids the charging mechanism 100 from generating a large amplitude of vibration, improves the stability of the charging mechanism 100, and further extends the service life of the charging mechanism 100. In addition, the guide channel 411 has a guiding function for the guide shaft 42, effectively ensuring that the guide shaft 42 moves in the front-to-back direction, thereby ensuring that the motion structure 4 moves in the front-to-back direction, so that the motion structure 4 can be used normally for a long time. In addition, the guide channel 411 cooperates with the guide shaft 42 to improve the smoothness of the sliding of the guide shaft 42, avoid the phenomenon of stagnation, and improve the flexibility of the movement structure 4. It should be noted that the first elastic member 43 can be a spring, but is not limited thereto.

[0066] Further, refer to Figure 5 The motion structure 4 further includes a stopper 44, which is located on a side of the guide member 41 away from the first elastic member 43, and is connected to the other end of the guide shaft 42. Figure 5 In the example, the limiting member 44 is located on the rear side of the guide member 41, and the limiting member 44 is connected to the rear end of the guide shaft 42.

[0067] With such a configuration, the guide shaft 42 of the limiter 44 has a limiting function. In the process of the guide shaft 42 moving forward, the front side of the limiter 44 stops against the rear side of the guide member 41 to prevent the guide shaft 42 from escaping from the guide member 41, thereby improving the stability of the use of the guide shaft 42. For example, when the limiter 44 is a hard rubber member, the limiter 44 is also elastic. When the charging mechanism 100 and the charging port mechanism 200 are separated, a buffer is provided for the instantaneous pull-off force generated by the first elastic member 43, thereby protecting the guide member 41 and extending the service life of the guide member 41. However, it is not limited to this. It should be noted that the limiter 44 can also be a part of the guide shaft 42 itself, that is, the end of the guide shaft 42 that exceeds the guide member 41 protrudes toward the outer peripheral side of the guide shaft 42 to form the limiter 44, which is convenient for use. It should be noted that the guide shaft 42, the guide member 41 and the limiter 44 are all standard parts in automation parts with low cost.

[0068] According to some embodiments of the present invention, referring to Figure 5, the outer cross-sectional area of ​​the stopper 44 is larger than the cross-sectional area of ​​the guide shaft 42. That is, the outer cross-sectional area of ​​the stopper 44 is larger than the cross-sectional area of ​​the guide channel 411. Thus, it is further effectively ensured that the stopper 44 can limit the guide shaft 42, thereby further preventing the guide shaft 42 from falling off the guide member 41, and further effectively ensuring that the motion structure 4 can be used normally for a long time.

[0069] According to some embodiments of the present invention, referring to Figure 2 and Figure 3 A first through hole 21 is formed in the charging connector 2 and passes through the two side surfaces of the charging connector 2 along a first direction (i.e., the front-to-back direction). A first detection structure 211 is provided in the first through hole 21. The first detection structure 211 includes a button 2111, a pressure block 2112, a second elastic member 2113 and a pressing member 2114 arranged in sequence along the axial direction of the first through hole 21. The button 2111 is located at one end of the first through hole 21 adjacent to the support seat 1, the pressure block 2112 contacts the button 2111, and two ends of the second elastic member 2113 are respectively connected to the pressure block 2112 and the pressing member 2114, and one end of the pressing member 2114 away from the second elastic member 2113 extends to the outside of the first through hole 21, the pressing member 2114 and the second elastic member 2113 are movable along the axial direction of the first through hole 21, and the pressing member 2114 can press the button 2111 through the second elastic member 2113 and the pressure block 2112.

[0070] For example, in Figure 2 and Figure 3 In the example, the first through hole 21 passes through the front side and the rear side of the charging connector 2 in the front-to-back direction. The button 2111, the pressing block 2112, the second elastic member 2113 and the pressing member 2114 are arranged in sequence from the back to the front, the button 2111 is located at the rear end of the first through hole 21, the rear side of the pressing block 2112 is in contact with the front side of the button 2111, the rear end of the second elastic member 2113 is connected to the front end of the pressing block 2112, the front end of the second elastic member 2113 is connected to the rear end of the pressing member 2114, and the front end of the pressing member 2114 extends to the outside of the first through hole 21.

[0071] When the charging mechanism 100 and the charging port mechanism 200 are assembled, the charging port mechanism 200 contacts the front end of the pressing member 2114 and pushes the pressing member 2114 to move backward in the first through hole 21, the second elastic member 2113 is compressed, and the second elastic member 2113 pushes the pressing block 2112 to move backward, so that the pressing block 2112 contacts the button 2111 to connect the circuit, and the autonomous mobile robot 300 starts charging. In this way, it is determined whether the charging mechanism 100 and the charging port mechanism 200 are assembled in place by whether the pressing block 2112 contacts the button 2111, thereby determining whether charging has started, so as to control when charging starts, thereby improving the convenience of using the charging mechanism 100. In addition, the operation is simple and easy to control.

[0072] Further, refer to Figure 1 There are multiple elastic rotating members 3. In the description of the present utility model, "multiple" means two or more. The multiple elastic rotating members 3 are spaced along the second direction (such as Figure 1 The other ends of the multiple elastic rotating members 3 are respectively connected to the two sides of the charging connector 2 along the second direction, and the second direction and the first direction (i.e., the front-to-back direction) are perpendicular to each other.

[0073] For example, in Figure 1 In the example, two elastic rotating members 3 are provided, and the two elastic rotating members 3 are arranged at intervals along the left-right direction. The two elastic rotating members 3 are respectively located on the left and right sides of the charging connector 2, and the front end of one elastic rotating member 3 is connected to the left side of the charging connector 2, and the front end of the other elastic rotating member 3 is connected to the right side of the charging connector 2. In this way, the charging connector 2 and the connecting plate 45 are connected by two elastic rotating members 3, which improves the stability of the charging connector 2, thereby improving the stability of the assembly of the charging connector 2 and the charging port mechanism 200. But not limited to this. It should be noted that the number of elastic rotating members 3 can be specifically set according to actual use to better meet practical applications.

[0074] Optionally, combined Figure 1 , there are multiple motion structures 4, and the multiple motion structures 4 are arranged at intervals along the second direction (i.e., the left-right direction). The multiple motion structures 4 are respectively detachably connected to the upper surface of the support seat 1, and the multiple guide shafts 42 of the multiple motion structures 4 are respectively connected to the connecting plate 45, and the multiple motion structures 4 are located on both sides of the multiple elastic rotating members 3 along the second direction, and the second direction and the first direction are perpendicular to each other. Therefore, the multiple motion structures 4 act on the charging connector 2 through the connecting plate 45 together, which improves the movement reliability and stability of the charging connector 2 in the first direction, and the connecting plate 45 is not easy to deflect, which is more conducive to the cooperation between the charging port mechanism 200 and the charging connector 2.

[0075] According to some embodiments of the utility model, the elastic rotating member 3 is a rubber member. For example, the rubber member is elastic at room temperature, can be deformed under the action of external force, and can return to its original state after the external force is removed. Therefore, the elastic rotating member 3 is deformed under the action of external force, so that one end of the elastic rotating member 3 can be deflected relative to the other end of the elastic rotating member 3, and the elastic rotating member 3 can return to its original state after deformation, so that the elastic rotating member 3 can be used normally for a long time.

[0076] Optionally, refer to Figure 2 and Figure 3 , the charging mechanism 100 also includes a plurality of fasteners 5. The charging connector 2 includes two charging connector plates 22, and the two charging connector plates 22 are connected by a plurality of fasteners 5. Corner plates 23 are respectively provided on the left and right sides of the charging connector 2, and the cross-sectional shape of the corner plate 23 is roughly "L"-shaped. One end of the corner plate 23 is connected to the side of the charging connector 2 by a fastener 5, and the other end of the corner plate 23 is connected to the front end of the corresponding elastic rotating member 3 by a fastener 5. Two charging terminal female heads 24 arranged at intervals in the up and down directions are provided between the two charging connector plates 22, and the pressing member 2114 is located between the two charging terminal female heads 24. The guide shaft 42 is connected to the connecting plate 45 by a fastener 5. The limiter 44 is connected to the guide shaft 42 by a fastener 5. The guide member 41 is connected to the support seat 1 by a fastener 5. As a result, it is convenient for the charging connector 2 to be connected to the elastic rotating member 3, and it is also convenient for the various components of the charging mechanism 100 to be connected to each other, reducing the difficulty of installation. It should be noted that the fastener 5 can be a bolt or a screw. But it is not limited to this.

[0077] Optionally, refer to Figure 1 , a slider 11 is provided on the side of the support seat 1 away from the guide member 41, and a slide rail 6 matching with the slider 11 is provided on the side of the slider 11 away from the support seat 1, and the slide rail 6 extends along the second direction (i.e., the left-right direction), and the slider 11 can move on the slide rail 6 along the extension direction of the slide rail 6. The charging mechanism 100 also includes a plurality of support columns 7 and a plurality of third elastic members 8, and a plurality of mounting columns 25 are provided on the upper side surface of the support seat 1, one end of the third elastic member 8 is connected to the support column 7, and the other end of the third elastic member 8 is connected to the mounting column 25. There are two support columns 7, three elastic members 8 and mounting columns 25 respectively and they correspond to each other, and the two support columns 7 are respectively located on the left and right sides of the support seat 1, and the two support columns 7 are symmetrical along the left-right direction, and the two mounting columns 25 are respectively located on the left and right sides of the support seat 1, and the two mounting columns 25 are symmetrical along the left-right direction.

[0078] After the third elastic member 8 is installed, it is in a pre-tensioned state. When the charging mechanism 100 and the charging port mechanism 200 are separated, the support seat 1 and the components connected to the support seat 1 (such as the charging connector 2, the elastic rotating member 3 and the motion structure 4) can move in the left and right directions on the slide rail 6 under the action of the slider 11, so as to facilitate the separation of the charging mechanism 100 and the charging port mechanism 200. After the charging mechanism 100 and the charging port mechanism 200 are separated, under the action of the two third elastic members 8, the charging mechanism 100 is reset and reset back to the central axis of the charging mechanism 100, so as to facilitate the next use. It should be noted that the slider 11, the slide rail 6 and the third elastic member 8 are all standard parts, and the support column 7 is an ordinary sheet metal part with low cost. The third elastic member 8 can be a spring.

[0079] According to the charging port mechanism 200 of the second embodiment of the utility model, refer to Figure 6 and Fig.10 , including a shell 201, a matching groove 2011 is formed on the shell 201, at least a part of the charging connector 2 of the charging mechanism 100 is suitable for matching in the matching groove 2011, and the charging mechanism 100 is the charging mechanism 100 according to the first aspect embodiment of the utility model.

[0080] For example, in Figure 6 and Fig.10 In the example, the matching groove 2011 is formed on the rear side of the housing 201, and the front end of the charging connector 2 (i.e., at least a portion of the charging connector 2) is matched in the matching groove 2011, and the shape of the matching groove 2011 is roughly conical. Such a configuration facilitates the matching of the charging connector 2 with the charging port mechanism 200 in the matching groove 2011, reduces the difficulty of assembling the charging mechanism 100 and the charging port mechanism 200, and improves the assembly efficiency of the charging mechanism 100 and the charging port mechanism 200. In addition, the side wall of the matching groove 2011 can shield the contact position of the charging mechanism 100 and the charging port mechanism 200 to prevent dust from entering, thereby avoiding affecting the charging effect and improving the charging effect.

[0081] According to some embodiments of the present invention, referring to Figure 6 , Figure 7 and Fig. 9, two second through holes 2012 opposite to each other along a second direction (i.e., left-right direction) are formed on the side wall of the matching groove 2011, and at least one second detection structure 2013 is provided on the housing 201. The second detection structure 2013 includes a light-emitting member 2013a and a photosensitive member 2013b. The light-emitting member 2013a is connected to the outer surface of the housing 201, and the light-emitting member 2013a is provided on a side of one of the two second through holes 2012 away from the other. The photosensitive member 2013b is connected to the outer surface of the housing 201, and the photosensitive member 2013b is provided on a side of the other of the two second through holes 2012 away from the other, and the photosensitive member 2013b is used to sense the light emitted by the light-emitting member 2013a and propagated to the photosensitive member 2013b through the second through hole 2012.

[0082] For example, in Figure 6 , Figure 7 and Fig. 9 In the example, the second through hole 2012 is formed on the front end of the side wall of the matching groove 2011, and the second through hole 2012 penetrates the side wall of the matching groove. The light emitting member 2013a is located on the left side of the second through hole 2012 on the left side wall of the matching groove 2011, and the photosensitive member 2013b is located on the right side of the second through hole 2012 on the right side wall of the matching groove 2011. The light emitted by the light emitting member 2013a passes through the two second through holes 2012 in sequence, and then irradiates the photosensitive member 2013b.

[0083] When the charging connector 2 is not inserted into the matching groove 2011, the light emitted by the light emitting member 2013a can be irradiated onto the photosensitive member 2013b. After the charging connector 2 is inserted into the matching groove 2011, the charging connector 2 blocks the light emitted by the light emitting member 2013a, the light is cut off, and the light does not shine on the photosensitive member 2013b, and the autonomous mobile robot 300 starts charging. Therefore, whether to start charging is determined by whether the photosensitive member 2013b receives light. When the photosensitive member 2013b receives light, charging is not performed. When the photosensitive member 2013b does not receive light, charging is started, so that it is convenient to further determine whether to start charging according to the assembly situation, further improve the safety of charging and add redundancy to the judgment. In addition, through the use of the first detection structure 211 and the second detection structure 213, when one of the detections fails, the other can also be used for detection, which provides double insurance for the charging process, thereby improving the performance and the safety of charging. For example, the light emitting member 2013a can be an LED lamp.

[0084] According to some embodiments of the present invention, referring to Figure 6 , Figure 7 and Figure 8 There are multiple second detection structures 2013, and the multiple second detection structures 2013 are arranged along the third direction (such as Figure 6The upper and lower directions as shown) are arranged at intervals.

[0085] For example, in Figure 6 , Figure 7 and Figure 8 In the example, two second detection structures 2013 are provided, and the two second detection structures 2013 are arranged at intervals in the vertical direction. In this way, detection can be performed from the upper part and the lower part of the matching groove 2011, thereby increasing the detection range, thereby improving the detection accuracy, and further improving the accuracy of judging whether charging is performed.

[0086] Optionally, refer to Fig.10 , Fig.11 and Fig.12 , a plurality of charging terminal male heads 2014 are provided on the shell 201, and the plurality of charging terminal male heads 2014 are arranged at intervals along the third direction (i.e., the up and down direction), and the charging terminal male heads 2014 pass through the side wall of the matching groove 2011, and the charging terminal male heads 2014 are located between the light-emitting component 2013a and the corresponding photosensitive component 2013b. The charging terminal male heads 2014 and the second through hole 2012 are staggered in the up and down direction to avoid blocking the light emitted by the light-emitting component 2013a. During the charging process, charging is achieved by fully matching the charging terminal male heads 2014 with the charging terminal female heads 24. Among them, a thread is formed on the outer peripheral side of the charging terminal male head 2014 to match with a nut provided on the shell 201 to achieve a fixed connection.

[0087] According to some optional embodiments of the present invention, combined with Figure 6-Figure 9 The housing 201 includes a charging docking block 2015 and a cover plate 2016. The matching groove 2011, the second through hole 2012 and the second detection structure 2013 are respectively arranged on the charging docking block 2015. The matching groove 2011 is formed on the rear side of the charging docking block 2015. The cover plate 2016 and the charging docking block 2015 jointly define an installation space 2017. The second detection structure 2013 is located in the installation space 2017. A circuit board 2018 is provided on the side of the charging docking block 2015 away from the matching groove 2011. The second detection structure 2013 is connected to the circuit board 2018 to facilitate the use of the second detection structure 2013. One end of the charging terminal male head 2014 penetrates the front surface of the charging docking block 2015 and extends into the matching groove 2011. The matching groove 2011 is a profile groove, that is, the cross-sectional area of ​​the matching groove 2011 gradually increases from front to back. In addition, the separate setting of the charging docking block 2015 and the cover plate 2016 improves the processing accuracy of the shell 201 and facilitates installation and disassembly.

[0088] According to the autonomous mobile robot 300 of the third aspect of the present invention, Fig.13 , including a charging port mechanism 200 according to the above-mentioned second aspect embodiment of the utility model.

[0089] According to the autonomous mobile robot 300 of the utility model, by adopting the above-mentioned charging port mechanism 200, the accuracy of plugging in the autonomous mobile robot 300 when charging is improved, and it is also convenient for the charging port mechanism 200 of the autonomous mobile robot 300 to be separated from the charging mechanism 100 when the autonomous mobile robot 300 is fully charged. For example, the autonomous mobile robot 300 includes a connected main body (not shown) and a cart 301, the cart 301 can drive the main body to move, and the charging port mechanism 200 is arranged on the cart 301.

[0090] Other structures and operations of the charging mechanism 100, the charging port mechanism 200 and the autonomous mobile robot 300 according to the embodiment of the utility model are well known to ordinary technicians in the field and will not be described in detail here.

[0091] In the description of the present invention, it should be understood that the terms "center", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "inside", "outside", "axial", "radial", "circumferential" and the like indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0092] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example.

[0093] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A charging mechanism, characterized in that: include: Support seat; A charging connector, wherein the charging connector and the support base are arranged at intervals along a first direction; At least one elastic rotating member, one end of the elastic rotating member is connected to the support seat, and the other end of the elastic rotating member is connected to the charging connector. When the charging connector is subjected to an external force, the other end of the elastic rotating member can be deflected relative to the one end of the elastic rotating member, and when the external force disappears, the other end of the elastic rotating member drives the charging connector to reset.

2. The charging mechanism according to claim 1, characterized in that: The elastic rotating member extends linearly along the first direction.

3. The charging mechanism according to claim 1, characterized in that: It further comprises a motion structure, the motion structure is arranged on the support seat, the motion structure is connected to the charging connector through the elastic rotating member, and the motion structure comprises: A guide member, the guide member is arranged on the support seat, and a guide channel is formed on the guide member and passes through the side surfaces of both sides of the guide member along the first direction; A guide shaft, one end of which is connected to the elastic rotating member through a connecting plate, the other end of which extends through the guide channel, and the guide shaft is movable relative to the guide member along the axial direction of the guide channel; A first elastic member, wherein the first elastic member is arranged on the outer peripheral side of the guide shaft, and the first elastic member is located between the connecting plate and the guide member.

4. The charging mechanism according to claim 3, characterized in that: The motion structure also includes: A limiting member, wherein the limiting member is located on a side of the guide member away from the first elastic member, and the limiting member is connected to the other end of the guide shaft.

5. The charging mechanism according to claim 4, characterized in that: The outer peripheral cross-sectional area of ​​the limiting member is larger than the cross-sectional area of ​​the guide shaft.

6. The charging mechanism according to claim 1, characterized in that: The charging connector has a first through hole formed therein and penetrating through two side surfaces of the charging connector along the first direction, and a first detection structure is disposed in the first through hole. The first detection structure includes a button, a pressure block, a second elastic member and a pressing member arranged in sequence along the axial direction of the first through hole, the button is located at one end of the first through hole adjacent to the support seat, the pressure block contacts the button, the two ends of the second elastic member are respectively connected to the pressure block and the pressing member, one end of the pressing member away from the second elastic member extends to the outside of the first through hole, the pressing member and the second elastic member are movable along the axial direction of the first through hole, and the pressing member can press the button through the second elastic member and the pressure block.

7. The charging mechanism according to claim 1, characterized in that: There are multiple elastic rotating parts, and the multiple elastic rotating parts are arranged at intervals along the second direction. The other ends of the multiple elastic rotating parts are respectively connected to the two sides of the charging connector along the second direction, and the second direction and the first direction are perpendicular to each other.

8. The charging mechanism according to any one of claims 1 to 7, characterized in that: The elastic rotating member is a rubber member.

9. A charging port mechanism, characterized in that: include: A shell having a matching groove formed on the shell, at least a portion of the charging connector of the charging mechanism is suitable for matching in the matching groove, and the charging mechanism is a charging mechanism according to any one of claims 1-8.

10. The charging port mechanism according to claim 9, characterized in that: Two second through holes opposite to each other along a second direction are formed on the side wall of the matching groove, and at least one second detection structure is provided on the housing, and the second detection structure includes: a light emitting member connected to the outer surface of the housing, and arranged on a side of one of the two second through holes away from the other; A photosensitive member connected to the outer surface of the shell, the photosensitive member is arranged on a side of the other of the two second through holes away from one of the two second through holes, and the photosensitive member is used to sense the light emitted by the light emitting member and transmitted to the photosensitive member through the second through hole.

11. The charging port mechanism according to claim 10, characterized in that: There are a plurality of the second detection structures, and the plurality of the second detection structures are arranged at intervals along the third direction.

12. An autonomous mobile robot, characterized in that: Comprising a charging port mechanism according to any one of claims 9-11.

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