Charging connection module and applicable electric mobile machine tool thereof

Abstract

The utility model relates to a charging connection module and an applicable electric mobile machine tool thereof. The charging conductive connection module is arranged on the electric mobile machine tool and is configured to be in aligned conductive connection with a charging connector of charging equipment. The charging guide connection module comprises a shell, an electric connector, a sensing module and a position adjusting module. The shell is pivoted to a machine body of the electric mobile machine and can be contained in or rotated out of a containing groove part of the machine body. The electric connector is movably arranged on the shell. The sensing module is disposed in the housing and is configured to sense a positional relationship between the electrical connector and a charging connector of the charging device to correspondingly output a sensing signal. The position adjusting module is arranged on the shell and connected with the electric connector so as to drive the electric connector to move according to the sensing signal, so that the electric connector and the charging connector are aligned and connected in a guiding mode, and electric energy transmission is facilitated.

Description

Technical Field

[0001] This case relates to a conductor module, particularly a charging conductor module and the electric mobile machinery to which it is applicable. Background Technology

[0002] With the rapid development of chip technology and breakthroughs in artificial intelligence, high computing power has significantly enhanced the mobility and perception capabilities of service robots, making them a new type of electric mobile machinery that is likely to be widely used and implemented in the near future. These electric mobile machines typically require rechargeable batteries to provide sufficient power for operation. When the battery capacity decreases or becomes insufficient, the electric mobile machine needs to be recharged to replenish its power. However, existing robots usually require manual battery replacement or the robot to be moved to a fixed location before its electrical connector is manually plugged into a charging device. Due to the complex shape and structure of robots, performing these charging operations is not only cumbersome and inconvenient but also consumes significant manpower and time.

[0003] Therefore, it is necessary to provide a charging connection module and an electric mobile device applicable to it to solve the problems and deficiencies faced by the existing technology. Utility Model Content

[0004] The purpose of this invention is to provide a charging connection module and an applicable electric mobile machine. The charging connection module is disposed in the electric mobile machine (e.g., a service robot) and includes a sensing module and a position adjustment module. The charging connection module can be automatically stored or moved out of the receiving slot of the electric mobile machine. Through the sensing action of the sensing module and the position adjustment of the electrical connector by the position adjustment module, the electrical connector of the charging connection module can be automatically aligned and connected with the charging connector of the charging device, so as to realize the autonomous charging operation of the electric mobile machine without human intervention, thus saving manpower and time costs.

[0005] To achieve the above objectives, a broad embodiment of this invention provides a charging connection module disposed on an electric mobile device and configured to align and connect with the charging connector of a charging device. The electric mobile device includes a body having a receiving slot. The charging connection module includes a housing, an electrical connector, a sensing module, and a position adjustment module. The housing of the charging connection module is pivotally connected to the body and can be housed or rotated out of the receiving slot. The electrical connector is movably disposed on the housing. The sensing module is disposed on the housing and configured to sense the positional relationship between the electrical connector and the charging connector of the charging device, and output a sensing signal accordingly. The position adjustment module is disposed on the housing and connected to the electrical connector, configured to move the electrical connector according to the sensing signal, so that the electrical connector is aligned and connected with the charging connector of the charging device, so as to transfer electrical energy from the charging device to the electric mobile device.

[0006] In one embodiment of the present invention, it further includes a controller electrically connected to the sensing module and the position adjustment module, and configured to receive the sensing signal and correspondingly output a control signal to the position adjustment module to control the position adjustment module to drive the electrical connector to move.

[0007] In one embodiment of the present invention, the housing includes a cover plate, a bottom plate, a first side wall, a second side wall, a third side wall, a fourth side wall, and an accommodating space. The cover plate, the bottom plate, the first side wall, the second side wall, the third side wall, and the fourth side wall are interconnected to define the accommodating space. The cover plate and the bottom plate are disposed opposite to each other, the first side wall and the second side wall are disposed opposite to each other, the third side wall and the fourth side wall are disposed opposite to each other, and the first side wall and the second side wall are connected between the third side wall and the fourth side wall.

[0008] In one embodiment of the present invention, it further includes a rotating shaft, wherein the housing includes an extension portion extending outward from the first sidewall and having a channel, the channel being connected to the accommodating space, wherein the rotating shaft is disposed within the channel of the extension portion, and a first end and a second end of the rotating shaft are respectively exposed at two opposite ends of the extension portion, the first end and the second end of the rotating shaft being pivotally connected to the body, wherein the housing includes a first opening and a second opening, respectively disposed on the second sidewall and penetrating the second sidewall, wherein the electrical connector is located at the first opening.

[0009] In one embodiment of this utility model, the position adjustment module includes:

[0010] A first drive unit, disposed in the housing and located in the receiving space, is configured to drive the rotating shaft to rotate, and includes:

[0011] A first motor, having a first motor shaft; and

[0012] A first gear set includes a first gear and a second gear, wherein the first gear is sleeved and fixed to one end of the first motor shaft, and the second gear is sleeved and fixed to a middle section of the rotating shaft and meshes with the first gear. The first motor is controlled and driven to rotate the first motor shaft, thereby driving the first gear to rotate. The first gear drives the second gear to rotate accordingly, so that the rotating shaft rotates to drive the charging conductive module to be received or rotated out of the receiving slot.

[0013] In one embodiment of this utility model, the position adjustment module includes:

[0014] A second drive unit is disposed in the housing and located in the receiving space, and is configured to drive the electrical connector to move, wherein the second drive unit includes:

[0015] A second motor, having a second motor shaft;

[0016] A second gear set includes a third gear, a fourth gear, and a fifth gear, wherein the third gear is sleeved and fixed to one end of the second motor shaft, the fourth gear is disposed in the housing and meshes with the third gear, and the fifth gear is disposed in the housing and meshes with the fourth gear; and

[0017] A retractable structure having a first connecting part, a second connecting part, a third connecting part and a retractable part, wherein the first connecting part is connected to the fifth gear, the second connecting part is connected to the electrical connector, the third connecting part is fixed to the housing, and the retractable part is connected between the first connecting part, the second connecting part and the third connecting part.

[0018] The second motor is controlled and driven to rotate its shaft, thereby rotating the third gear. The third gear then rotates the fourth gear, which in turn rotates the fifth gear. The fifth gear causes the retractable structure to extend, pushing the electrical connector outward from the first opening to align with the charging connector of the charging device. Alternatively, the fifth gear causes the retractable structure to retract, allowing the electrical connector to be housed within the housing's accommodating space.

[0019] In one embodiment of this utility model, when the electric mobile machine performs an autonomous charging operation and moves to a specific position of the charging device, the first drive unit of the charging guide module drives the charging guide module to rotate out of the receiving slot. The first drive unit and the second drive unit, according to the control signal of the controller, cause the charging guide module to rotate to align with the charging connector of the charging device, and cause the telescopic structure to be in the extended state, so as to drive the electrical connector to align and connect with the charging connector of the charging device.

[0020] In one embodiment of the present invention, it further includes a first stop and a second stop, which are respectively disposed on the housing and adjacent to an outer periphery of the fifth gear. The outer periphery of the fifth gear has a first abutment and a second abutment, which are separated from each other. The first abutment abuts against the first stop to restrict the retractable structure in the retracted state, and the second abutment abuts against the second stop to restrict the retractable structure in the extended state.

[0021] In one embodiment of this utility model, the sensing module includes:

[0022] A first sensor is disposed in the housing, located in the accommodating space and adjacent to the second opening, for sensing the positional relationship between the electrical connector and the charging connector of the charging device, and correspondingly outputting the sensing signal.

[0023] In one embodiment of this utility model, the sensing module includes:

[0024] A second sensor is disposed in the housing, located in the accommodating space and adjacent to the retractable structure, for sensing whether the electrical connector is subjected to an external force and outputting the sensing signal accordingly.

[0025] In one embodiment of the present invention, it further includes a cable electrically connected to the electrical connector, wherein the housing includes a cable opening disposed on the base plate and extending through the base plate, wherein the cable passes through the cable opening.

[0026] To achieve the above objectives, another broad embodiment of this application provides an electric mobile appliance, including a body, a moving unit, a rechargeable battery, at least one charging connector module, and a main control unit. The body has at least one receiving slot. The moving unit is connected to the body to drive the body's movement. The rechargeable battery is disposed inside the body and is configured to store electrical energy and provide the electrical energy required for the operation of the electric mobile appliance. At least one charging connector module is configured to align and connect with at least one charging connector of a charging device, and each charging connector module includes a housing, an electrical connector, a sensing module, and a position adjustment module. The housing of the charging connector module is pivotally connected to the body and can be received or rotated out of the corresponding receiving slot. The electrical connector is movably disposed in the housing. The sensing module is disposed in the housing and is configured to sense the positional relationship between the electrical connector and the corresponding charging connector of the charging device, and output a sensing signal accordingly. A position adjustment module is disposed in the housing and connected to an electrical connector. It is configured to move the electrical connector based on a sensing signal, aligning and connecting the connector with the corresponding charging connector of the charging device to transfer electrical energy from the charging device to the rechargeable battery of the electric mobile device. A main control unit is disposed inside the body and electrically connected to the moving unit and the aforementioned at least one charging connection module to control the operation of the moving unit and the aforementioned at least one charging connection module.

[0027] In one embodiment of the present invention, the electric mobile device is a service robot. The body includes a torso and two arms disposed on opposite sides of the torso. The charging device has at least one charging connector, which includes two charging connectors. The electric mobile device has at least one charging connection module, which includes two charging connection modules, which are respectively disposed on opposite sides of the torso and adjacent to the two arms.

[0028] In one embodiment of the present invention, the charging connector module further includes a controller electrically connected to the sensing module and the position adjustment module, and configured to receive the sensing signal and correspondingly output a control signal to the position adjustment module to control the position adjustment module to drive the electrical connector to move. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of an electric mobile machine and an exemplary charging device according to an embodiment of this case;

[0030] Figure 2A This is a schematic diagram of the external structure of a charging connection module according to an embodiment of this case;

[0031] Figure 2B for Figure 2A The diagram shows the external structure of the charging connector module from another perspective.

[0032] Figure 3 for Figure 2A The diagram shows the structure of the charging connection module.

[0033] Figure 4A This is a partial structural diagram of the electric mobile machinery in this case, in which the charging connection module is housed in the receiving slot of the machine body;

[0034] Figure 4B This is a partial structural diagram of the electric mobile machinery in this case, in which the charging connection module extends out of the receiving slot of the machine body;

[0035] Figure 5A This is a structural diagram of the charging connection module in this case, in which the electrical connector is housed in the accommodating space of the housing;

[0036] Figure 5B This is a schematic diagram of the charging connection module in this case, in which the electrical connector extends out of the housing;

[0037] Figures 6A to 6D This diagram illustrates the structural process of autonomous charging between the electric mobile machinery and the charging equipment in this case.

[0038] [Symbol Explanation]

[0039] 100: Electric mobile machinery

[0040] 200: Charging equipment

[0041] 300: Charging connector

[0042] 1: Body

[0043] 2: Moving Unit

[0044] 3: Rechargeable battery

[0045] 4: Charging connection module

[0046] 5: Casing

[0047] 6: Electrical connectors

[0048] 7: Sensing Module

[0049] 8: Position Adjustment Module

[0050] 9: Controller

[0051] 10: Main control unit

[0052] 11: Receiving Tank Section

[0053] 1a: Trunk

[0054] 1b: Arm

[0055] 40: Rotation axis

[0056] 41: First end

[0057] 42: Second end

[0058] 43: Cable

[0059] 50: Extension

[0060] 51: Cover plate

[0061] 52: Base Plate

[0062] 53: First sidewall

[0063] 54: Second sidewall

[0064] 55: Third sidewall

[0065] 56: Fourth sidewall

[0066] 57: Storage space

[0067] 58: Cable opening

[0068] 59: Opening

[0069] 59a: First opening

[0070] 59b: Second opening

[0071] 501: Channel

[0072] 502: First end

[0073] 503: Second end

[0074] 71: First Sensor

[0075] 72: Second sensor

[0076] 81: First drive unit

[0077] 811: The First Motor

[0078] 812: First gear set

[0079] 813: First motor shaft

[0080] 813a: end

[0081] 814: First Gear

[0082] 815: Second Gear

[0083] 82: Second drive unit

[0084] 821: Second Motor

[0085] 822: Second gear set

[0086] 823: Scalable structure

[0087] 824: Second motor shaft

[0088] 824a: End

[0089] 825: Third Gear

[0090] 826: The Fourth Gear

[0091] 827: The Fifth Gear

[0092] 828: First stop section

[0093] 829: Second stop section

[0094] 827a: First to the top

[0095] 827b: Second to top

[0096] 8231: First connecting part

[0097] 8232: Second connecting part

[0098] 8233: Third connecting part

[0099] 8234: Extendable part

[0100] 8234a: First linkage group

[0101] 8234b: Second Linkage

[0102] 8234c: Third Linkage Detailed Implementation

[0103] Some typical embodiments embodying the features and advantages of this invention will be described in detail in the following description. It should be understood that this invention can have various variations in different forms, all of which do not depart from the scope of this invention, and the descriptions and illustrations herein are for illustrative purposes only and not intended to limit this invention. For example, if the following disclosure describes a first feature disposed on or above a second feature, it indicates that it includes embodiments where the first and second features are in direct contact, and also includes embodiments where additional features can be disposed between the first and second features, so that the first and second features may not be in direct contact. Furthermore, different embodiments in this disclosure may use repeated reference numerals and / or markings. These repetitions are for simplification and clarity and are not intended to limit the relationships between the various embodiments and / or the described appearance structures. Moreover, to facilitate the description of the relationship between one component or feature in the drawings and another component(s) or feature(s), spatially related terms such as "top," "bottom," "upper," "lower," "front," "rear," and similar terms may be used. In addition to the orientations illustrated in the accompanying drawings, spatially relevant terms are used to cover different orientations of the device in use or operation. The device may also be otherwise positioned (e.g., rotated 90 degrees or located in other orientations), and the descriptions of the spatially relevant terms used will be interpreted accordingly. Furthermore, when a component is referred to as “connected to” or “coupled to” another component, it may be directly connected to or coupled to the other component, or there may be intervening components. Although the numerical ranges and parameters of the broad scope of this disclosure are approximate, the values ​​are stated as precisely as possible in specific examples. Additionally, it is understood that while terms such as “first,” “second,” etc., may be used in the claims to describe different components, these components should not be limited by these terms, and the components described accordingly in the embodiments are represented by different component symbols. These terms are used to distinguish different components. For example, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component without departing from the scope of the embodiments. The term “and / or” as thus used includes any or all combinations of one or more of the related listed items.

[0104] Figure 1 This is a schematic diagram of the structure of an electric mobile machine and an exemplary charging device according to an embodiment of this case. Figure 2A This is a schematic diagram of the external structure of a charging connection module according to an embodiment of this case. Figure 2B for Figure 2A The diagram shows the external structure of the charging connection module from another perspective. Figure 3 for Figure 2A The diagram shows the structure of the charging connection module. Figure 1 , 2AAs shown in Figures 2B and 3, in this embodiment, the electric mobile device 100 is a service robot, but is not limited thereto. In other embodiments, the electric mobile device 100 may also be a mechanical dog or a mobile vehicle, etc. The electric mobile device 100 includes a body 1, a moving unit 2, a rechargeable battery 3, at least one charging connection module 4, and a main control unit 10. The body 1 has at least one receiving slot 11. The moving unit 2 is connected to the body 1 to drive the body 1 to move. The rechargeable battery 3 is disposed inside the body 1 and is configured to store electrical energy and provide the electrical energy required for the operation of the electric mobile device 100. At least one charging connection module 4 is disposed on the body 1 and is configured to be aligned and connected to at least one charging connector 300 of a charging device 200 (or charging pile), wherein each charging connection module 4 includes a housing 5, an electrical connector 6, a sensing module 7, and at least one position adjustment module 8. The housing 5 of the charging connection module 4 is pivotally connected to the body 1 and can be stored or rotated out of the corresponding receiving slot 11. The electrical connector 6 is movably disposed in the housing 5. The sensing module 7 is disposed in the housing 5 and is configured to sense the positional relationship between the electrical connector 6 and the corresponding charging connector 300 of the charging device 200, so as to output a sensing signal accordingly. The position adjustment module 8 is disposed in the housing 5 and connected to the electrical connector 6, so as to move the electrical connector 6 according to the sensing signal, so that the electrical connector 6 is aligned and connected with the corresponding charging connector 300 of the charging device 200, so as to transfer electrical energy from the charging device 200 to the rechargeable battery 3 of the electric mobile device 100. The main control unit 10 of the electric mobile device 100 is disposed inside the body 1 and is electrically connected to the moving unit 2 and the aforementioned at least one charging connection module 4, so as to control the operation of the moving unit 2 and / or the aforementioned at least one charging connection module 4. In this embodiment, since the charging connection module 4 can be automatically stored or transferred out of the receiving slot 11 of the electric mobile machinery 100, and through the sensing action of the sensing module 7 of the charging connection module 4 and the position adjustment module 8 to adjust the position of the electrical connector 6, the electrical connector 6 of the charging connection module 4 can be automatically aligned and connected with the charging connector 300 of the charging device 200, so as to realize the autonomous charging operation of the electric mobile machinery 100 without human intervention, which can save manpower and time costs.

[0105] In some embodiments, such as Figure 1As shown, the electric mobile machinery 100 includes a torso portion 1a and two arm portions 1b disposed on opposite sides of the torso portion 1a. The charging device 200 includes two charging connectors 300, one of which is a positive terminal and the other a negative terminal. The two charging connectors 300 of the charging device 200 can be automatically retracted or extended from their corresponding slots. The electric mobile machinery 100 includes two charging conductive modules 4, respectively disposed on opposite sides of the torso portion 1a and adjacent to the two arm portions 1b. The electrical connectors 6 of the two charging conductive modules 4 of the electric mobile machinery 100 are respectively aligned and connected to the corresponding charging connectors 300 of the two charging connectors 300 of the charging device 200, thereby realizing the transmission of electrical energy.

[0106] In some embodiments, such as Figure 2A , 2B As shown in Figure 3, the housing 5 of the charging connection module 4 includes a cover plate 51, a bottom plate 52, a first side wall 53, a second side wall 54, a third side wall 55, a fourth side wall 56, and an accommodating space 57. The cover plate 51, bottom plate 52, first side wall 53, second side wall 54, third side wall 55, and fourth side wall 56 are interconnected to define the accommodating space 57. The cover plate 51 and bottom plate 52 are opposite to each other, the first side wall 53 and second side wall 54 are opposite to each other, and the third side wall 55 and fourth side wall 56 are opposite to each other. The first side wall 53 and second side wall 54 are connected between the third side wall 55 and fourth side wall 56. The housing 5 also includes at least one cable opening 58, disposed on and penetrating the bottom plate 52. In some embodiments, the housing 5 includes an extension 50 extending outward from the first side wall 53 and having a channel 501 communicating with the accommodating space 57. In some embodiments, the housing 5 includes at least one opening 59, such as a first opening 59a and a second opening 59b. The first opening 59a and the second opening 59 are disposed on the second sidewall 54 and extend through the second sidewall 54, respectively, wherein the electrical connector 6 pair is located in the first opening 59a.

[0107] In some embodiments, such as Figure 1 and 3As shown, the charging connection module 4 also includes a controller 9, which is electrically connected to the sensing module 6 and the position adjustment module 8. The controller receives the sensing signals transmitted by the sensing module 6 and correspondingly generates and outputs control signals to the position adjustment module 8. This controls the position adjustment module 8 to drive the charging connection module 4 to be housed or rotated out of the receiving slot 11 of the body 1, adjust the rotation angle of the charging connection module 4, and drive the electrical connector 6 to move so that the electrical connector 6 is aligned and connected with the charging connector 300 of the charging device 200. In some embodiments, the controller 9 of the charging connection module 4 is electrically connected to the main controller 10, thereby enabling the main controller 10 to control the operation of the charging connection module 4.

[0108] In some embodiments, such as Figure 1 , 2A As shown in Figures 2B and 3, the charging connection module 4 further includes a rotating shaft 40 disposed within the channel 501 of the extension 50, with the first end 41 and the second end 42 of the rotating shaft 40 exposed at the first end 502 and the second end 503 of the extension 50, respectively. The first end 41 and the second end 42 of the rotating shaft 40 are pivotally connected to the body 1, allowing the charging connection module 4 to rotate relative to the body 1 via the rotating shaft 40 as the axis, and to be housed or rotated out of the receiving slot 11. In some embodiments, the charging connection module 4 further includes a cable 43 passing through a cable opening 58, with one end of the cable 43 electrically connected to an electrical connector 6 (not shown), and the other end of the cable 43 electrically connected to a circuit board assembly (not shown) inside the electric mobile device 100. This allows the electrical energy received by the electrical connector 6 to be transmitted through this transmission path to a power conversion circuit (not shown) of the circuit board assembly, and then converted to charge the rechargeable battery 3. It should be emphasized that the location of the cable opening 58 is not limited to this, for example, it can be set on the first side wall 53, and can be adjusted according to actual application requirements.

[0109] Figure 4A This is a partial structural diagram of the electric mobile machinery in this case, wherein the charging connection module 4 is housed in the receiving slot 11 of the body 1. Figure 4B This is a partial structural diagram of the electric mobile machinery in this case, wherein the charging connection module 4 is rotated out of the receiving slot 11 of the body 1. Figure 5A This is a schematic diagram of the charging connection module 4 in this case, wherein the electrical connector 6 is housed in the accommodating space of the housing 5. Figure 5A This is a schematic diagram of the charging connection module of this invention, wherein the electrical connector 6 extends outside the housing 5. In some embodiments, such as Figure 3 , 4AAs shown in 4B, 5A, and 5B, the position adjustment module 8 includes a first drive unit 81, which is disposed on the inner surface of the cover plate 51 of the housing 5 and located in the accommodating space 57, so as to drive the rotation shaft 40 to rotate, so that the charging guide module 4 can be stored or rotated out of the receiving slot 11. In other words, the charging guide module 4 is switched to a stored state (e.g., Figure 4A (as shown) or an open state (such as) Figure 4B (As shown). The first drive unit 81 includes a first motor 811 and a first gear set 812. The first motor 811 includes a first motor shaft 813. The first gear set 812 includes a first gear 814 and a second gear 815, wherein the first gear 814 is sleeved and fixed to one end 813a of the first motor shaft 813, and the second gear 815 is sleeved and fixed to a middle section of the rotating shaft 40 and meshes with the first gear 814. When the first drive unit 81 is controlled and driven, the first motor shaft 813 of the first motor 811 rotates, driving the first gear 814 to rotate, and the first gear 814 drives the second gear 815 to rotate accordingly. The second gear 815 further drives the rotating shaft 40 to rotate, thereby causing the rotating shaft 40 to rotate and drive the housing 5 to be received or rotated out of the receiving groove 11. In some embodiments, the first motor 815 of the first drive unit 81 is electrically connected to the controller 9, and the first motor 811 adjusts the number of rotations of the first motor shaft 813 according to the control signal of the controller 9, thereby controlling the rotation angle of the charging conductor module 4.

[0110] In some embodiments, such as Figure 1 , 3 As shown in 4A, 4B, 5A, and 5B, the position adjustment module 8 includes a second drive unit 82, which is disposed on the inner surface of the cover plate 51 of the housing 5 and located in the accommodating space 57. This unit is configured to move the electrical connector 6 toward the charging connector 300 of the charging device 200, and to align and connect the electrical connector 6 with the charging connector 300. In other words, it switches the electrical connector 6 of the charging connection module 4 to a retracted state (e.g., ...). Figure 5A (as shown) or an extended state (such as) Figure 5B(As shown). The second drive unit 82 includes a second motor 821, a second gear set 822, and a retractable structure 823. The second motor 821 includes a second motor shaft 824. The second gear set 822 includes a third gear 825, a fourth gear 826, and a fifth gear 827, wherein the third gear 825 is sleeved and fixed to one end 824a of the second motor shaft 824, the fourth gear 826 is disposed in the housing 5 and meshes with the third gear 825, and the fifth gear 827 is disposed in the housing 5 and meshes with the fourth gear 826. The retractable structure 823 has a first connecting portion 8231, a second connecting portion 8232, a third connecting portion 8233, and a retractable portion 8234. The first connecting portion 8231 is connected to the fifth gear 827, the second connecting portion 8232 is connected to the electrical connector 6, and the third connecting portion 8234 is fixed to the housing 5. The retractable portion 8234 connects the first connecting portion 8231, the second connecting portion 8232, and the third connecting portion 8233. In some embodiments, the retractable structure 823 is a retractable multi-link structure, but this is not a limitation. When the second drive unit 82 is controlled and driven, the second motor shaft 824 of the second motor 821 rotates, driving the third gear 825 to rotate. The third gear 825 drives the fourth gear 826 to rotate accordingly, and the fourth gear drives the fifth gear 827 to rotate. Since the first connecting part 8231 of the retractable structure 823 is connected to the fifth gear 827, the second connecting part 8232 is connected to the electrical connector 6, and the third connecting part 8234 is fixed to the housing 5, when the fifth gear 827 rotates, it drives the first connecting part 8231 to move, causing the retractable part 8234 to move and extend under force, thereby causing the third connecting part 8234 to push the electrical connector 6 to move, thereby switching the electrical connector 6 to the retracted state (e.g., ...). Figure 5A (as shown) and the extended state (as shown) Figure 5B (As shown). In other words, the second drive unit 82 can drive the electrical connector 6 to switch to the aforementioned extended state, so that the electrical connector 6 moves outward from the first opening 59a of the housing 5 to align and connect with the charging connector 300 of the charging device 200, or the second drive unit 82 can drive the electrical connector 6 to switch to the aforementioned retracted state, so that the electrical connector 6 is retracted into the accommodating space 57 of the housing 5. In some embodiments, the first motor 821 of the second drive unit 82 is electrically connected to the controller 9, and the second motor 821 adjusts the number of rotations of the second motor shaft 824 according to the control signal of the controller 9, thereby controlling the position and distance of the electrical connector 6 of the charging connection module 4 from the housing 5.

[0111] In some embodiments, such as Figure 5A and 5BAs shown, the telescopic portion 8234 of the telescopic structure 823 includes a first link group 8234a, a second link group 8234b, and a third link group 8234c. The first link group 8234a includes a plurality of first links, which are pivotally connected end-to-end to each other. The second link group 8234b includes a plurality of second links, which are pivotally connected end-to-end to each other. The third link group 8234c includes at least one third link. The number of the plurality of first links in the first link group 8234a is the same as the number of the plurality of second links in the second link group 8234b. The middle sections of each first link in the first link group 8234a and the middle sections of each second link in the second link group 8234b are pivotally aligned and connected to each other via a connecting shaft. The first end of the third link in the third link group 8234c is pivotally connected to a pivot joint of any two first links in the first link group 8234a. The first connecting portion 8231 of the retractable structure 823 is disposed at the second end of the third connecting rod of the third link group 8234c and is pivotally connected to the fifth gear 827. The second connecting portion 8232 of the retractable structure 823 is disposed at a free end of the foremost first link of the first link group 8234a and is pivotally connected to the electrical connector 6. The third connecting portion 8233 of the retractable structure 823 is disposed at a free end of the foremost second link of the second link group 8234b and is fixed to the housing 5. It should be emphasized that the architecture of the retractable structure 823 is not limited to the aforementioned embodiments and can be adjusted according to actual application requirements.

[0112] In some embodiments, such as Figure 3 , 5A As shown in Figure 5B, the second drive unit 82 further includes a first stop portion 828 and a second stop portion 829, respectively disposed on the inner surface of the cover plate 51 of the housing 5 and adjacent to an outer periphery of the fifth gear 827. The outer periphery of the fifth gear 827 has a first abutment 827a and a second abutment 827b, which are spaced apart from each other. When the first abutment 827a of the fifth gear 827 abuts against the first stop portion 828, the fifth gear 827 is restricted from rotating. At this time, the retractable structure 823 is in an unextended state, allowing the electrical connector 6 to be in the aforementioned retracted state (e.g., Figure 5A (As shown). Furthermore, when the second abutment 827b of the fifth gear 827 abuts against the second stop 829, the fifth gear 827 is restricted from rotating. At this time, the telescopic structure 823 is in an extended state, causing the electrical connector 6 to be in the aforementioned extended state (as shown). Figure 5B(As shown). It should be emphasized that the first abutment 827a, the second abutment 827b, the first stop 828, and the second stop 829 are provided to limit the maximum rotation angle and range of the fifth gear 827, and can be configured to limit the position and distance at which the retractable structure 823 drives the electrical connector 6. It should be emphasized that the aforementioned structure is not limited to this embodiment and can be adjusted according to actual application requirements.

[0113] In some embodiments, the first gear 814 and the second gear 815 of the first gear set 812 may be a bevel gear set or a turbine gear set, and are not limited thereto. The third gear 825, the second gear 826, and the third gear 827 of the second gear set 822 may be a bevel gear set, a turbine gear set, or a transmission gear set, and are not limited thereto.

[0114] In some embodiments, such as Figure 1 , 3 As shown in Figures 5A and 5B, the sensing module 7 includes a first sensor 71 disposed in the housing 5, located in the accommodating space 57 and adjacent to the second opening 59b. The first sensor 71 is electrically connected to the controller 9 and is configured to sense the positional relationship between the electrical connector 6 and the charging connector 300 of the charging device 200, and correspondingly outputs a sensing signal to the controller 9. The controller 9 generates a control signal in response to the sensing signal and transmits it to the first drive unit 81 and the second drive unit 823 to control its operation. In some embodiments, the sensing module 7 further includes a second sensor 72 disposed on the inner surface of the cover plate 51 of the housing 5, located in the accommodating space 57 and adjacent to the retractable structure 823. The second sensor 72 is electrically connected to the controller 9 and is configured to sense whether the electrical connector 6 is subjected to an external force, and correspondingly outputs a sensing signal to the controller 9. The controller 9 generates a control signal in response to the sensing signal and transmits it to the first drive unit 81 and the second drive unit 82 to control its operation. In some embodiments, when the charging connection module 4 is aligned and connected to the charging connector 300 of the charging device 200 for power transmission, if the second sensor 72 detects that the electrical connector 6 is subjected to external force or an abnormality occurs and transmits a sensing signal to the controller 9, the controller 9 generates and outputs a control signal based on the aforementioned sensing signal to control the operation of the first drive unit 81 and the second drive unit 823, so that the electrical connector 6 automatically disengages from the charging connector 300 of the charging device 200 and retracts, thereby preventing damage to the charging connection module 4. It should be emphasized that the number, position, and function of the sensors in the sensing module 7 are not limited to the aforementioned embodiments and can be adjusted according to application requirements. In some embodiments, the first sensor 71 and the second sensor 72 may be optical sensors, distance sensors, etc., and are not limited thereto.

[0115] Figures 6A to 6DThis diagram illustrates the structural flow of the autonomous charging operation between the electric mobile machine and the charging equipment in this case. The electric mobile machine 100 in this case is a service robot with the function of performing autonomous charging operations. The steps of the autonomous charging operation between the electric mobile machine 100 and the charging equipment 200 are briefly described below. First, as... Figure 6A As shown (and see also) Figure 4A and 5A The electric mobile implement 100 moves automatically to the charging device 200 and positions itself there. At this time, the charging connector module 4 of the electric mobile implement 100 is in a retracted state, and the charging connector 30 of the charging device 200 is also in a retracted state. Then, as... Figure 6B As shown, after sensing the positioning of the electric mobile device 100, the charging device 200 automatically extends and opens the charging connector 300. Then, as... Figure 6C As shown (and see also) Figure 3 , 4B When the charging guide module 4 of the electric mobile implement 100 switches from the retracted state to the open state, the first drive unit 81 of the position adjustment module 8 of the charging guide module 4 is controlled and driven to rotate the charging guide module 4 out of the receiving slot 11. Then, as... Figure 6D As shown (and see also) Figure 3 and 5B The charging connection module 4 of the electric mobile device 100 senses the positional relationship between the electrical connector 6 and the charging connector 300 of the charging device 200, and generates a sensing signal. The controller 9 of the charging connection module 4 generates a control signal based on the sensing signal and transmits it to the first drive unit 81 and the second drive unit 82 of the position adjustment module 8 to control its operation, thereby driving the electrical connector 6 to move, thus aligning and connecting the electrical connector 6 with the charging connector 300 of the charging device 200 to achieve power transfer. When the electric mobile device 100 is charging, it has a display (not shown) that shows the current charging status, the capacity of the rechargeable battery, and other information. When the electric mobile device 100 is fully charged, it automatically switches the charging connection module 4 to a retractable state, and the charging connector 300 of the charging device 200 also switches to a retractable state. This allows the electric mobile device 100 to complete autonomous charging and move away from the charging device 200 on its own.

[0116] In summary, this invention provides a charging connection module and an applicable electric mobile machine. The charging connection module is disposed in the electric mobile machine (e.g., a service robot) and includes a sensing module and a position adjustment module. This allows the charging connection module to be automatically stored or moved out of the receiving slot of the electric mobile machine. Through the sensing action of the sensing module and the position adjustment of the electrical connector by the position adjustment module, the electrical connector of the charging connection module can be automatically aligned and connected with the charging connector of the charging device, thereby realizing the autonomous charging operation of the electric mobile machine without human intervention, which can save manpower and time costs.

[0117] It should be noted that the above are merely preferred embodiments for illustrating the present invention, and the present invention is not limited to the described embodiments. The scope of the present invention is determined by the claims. Furthermore, the present invention may be modified in various ways by those skilled in the art, but all such modifications shall not depart from the scope of protection sought by the claims.

Claims

1. A charging conductive module, characterized in that, The electric mobile machinery is configured to align and connect with a charging connector of a charging device, wherein the electric mobile machinery includes a body having a receiving slot, and the charging connector module includes: A housing, pivotally connected to the body, and capable of being housed in or moved out of the receiving slot; An electrical connector is movably mounted on the housing. A sensing module, disposed in the housing, and configured to sense the positional relationship between the electrical connector and the charging connector of the charging device, thereby outputting a sensing signal accordingly; and A position adjustment module is disposed in the housing and connected to the electrical connector, so as to drive the electrical connector to move according to the sensing signal, so that the electrical connector is aligned and connected with the charging connector of the charging device, so as to transmit electrical energy from the charging device to the electric mobile machine.

2. The charging connection module as described in claim 1, characterized in that, It also includes a controller electrically connected to the sensing module and the position adjustment module, and is configured to receive the sensing signal and output a corresponding control signal to the position adjustment module to control the position adjustment module to drive the electrical connector to move.

3. The charging connection module as described in claim 2, characterized in that, The housing includes a cover plate, a bottom plate, a first side wall, a second side wall, a third side wall, a fourth side wall, and an accommodating space. The cover plate, the bottom plate, the first side wall, the second side wall, the third side wall, and the fourth side wall are interconnected to define the accommodating space. The cover plate and the bottom plate are disposed opposite each other, the first side wall and the second side wall are disposed opposite each other, the third side wall and the fourth side wall are disposed opposite each other, and the first side wall and the second side wall are connected between the third side wall and the fourth side wall.

4. The charging connection module as described in claim 3, characterized in that, It also includes a rotating shaft, wherein the housing includes an extension that extends outward from the first sidewall and has a channel that communicates with the accommodating space, wherein the rotating shaft is disposed within the channel of the extension, and a first end and a second end of the rotating shaft are respectively exposed at two opposite ends of the extension, the first end and the second end of the rotating shaft are pivotally connected to the body, wherein the housing includes a first opening and a second opening that are respectively disposed on the second sidewall and penetrate the second sidewall, wherein the electrical connector is located at the first opening.

5. The charging connection module as described in claim 4, characterized in that, This position adjustment module includes: A first drive unit, disposed in the housing and located in the receiving space, is configured to drive the rotating shaft to rotate, and includes: A first motor, having a first motor shaft; and A first gear set includes a first gear and a second gear, wherein the first gear is sleeved and fixed to one end of the first motor shaft, and the second gear is sleeved and fixed to a middle section of the rotating shaft and meshes with the first gear. The first motor is controlled and driven to rotate the first motor shaft, thereby driving the first gear to rotate. The first gear drives the second gear to rotate accordingly, so that the rotating shaft rotates to drive the charging conductive module to be received or rotated out of the receiving slot.

6. The charging connection module as described in claim 5, characterized in that, This position adjustment module includes: A second drive unit is disposed in the housing and located in the receiving space, and is configured to drive the electrical connector to move, wherein the second drive unit includes: A second motor, having a second motor shaft; A second gear set includes a third gear, a fourth gear, and a fifth gear, wherein the third gear is sleeved and fixed to one end of the second motor shaft, the fourth gear is disposed in the housing and meshes with the third gear, and the fifth gear is disposed in the housing and meshes with the fourth gear; and A retractable structure having a first connecting part, a second connecting part, a third connecting part and a retractable part, wherein the first connecting part is connected to the fifth gear, the second connecting part is connected to the electrical connector, the third connecting part is fixed to the housing, and the retractable part is connected between the first connecting part, the second connecting part and the third connecting part. The second motor is controlled and driven to rotate its shaft, thereby rotating the third gear. The third gear then rotates the fourth gear, which in turn rotates the fifth gear. The fifth gear causes the retractable structure to extend, pushing the electrical connector outward from the first opening to align with the charging connector of the charging device. Alternatively, the fifth gear causes the retractable structure to retract, allowing the electrical connector to be housed within the housing's accommodating space.

7. The charging connection module as described in claim 6, characterized in that, When the electric mobile machine performs an autonomous charging operation and moves to a specific position of the charging device, the first drive unit of the charging guide module drives the charging guide module to rotate out of the receiving slot. The first drive unit and the second drive unit, according to the control signal of the controller, cause the charging guide module to rotate to align with the charging connector of the charging device, and cause the telescopic structure to be in the extended state, so as to drive the electrical connector to align and connect with the charging connector of the charging device.

8. The charging connection module as described in claim 6, characterized in that, It also includes a first stop and a second stop, which are respectively disposed in the housing and adjacent to an outer periphery of the fifth gear. The outer periphery of the fifth gear has a first abutment and a second abutment, which are separated from each other. The first abutment abuts against the first stop to restrict the telescopic structure in the retracted state, and the second abutment abuts against the second stop to restrict the telescopic structure in the extended state.

9. The charging connection module as described in claim 6, characterized in that, The sensing module includes: A first sensor is disposed in the housing, located in the accommodating space and adjacent to the second opening, for sensing the positional relationship between the electrical connector and the charging connector of the charging device, and correspondingly outputting the sensing signal.

10. The charging connection module as described in claim 9, characterized in that, The sensing module includes: A second sensor is disposed in the housing, located in the accommodating space and adjacent to the retractable structure, for sensing whether the electrical connector is subjected to an external force and outputting the sensing signal accordingly.

11. The charging connection module as described in claim 3, characterized in that, It also includes a cable electrically connected to the electrical connector, wherein the housing includes a cable opening disposed on and through the base plate, wherein the cable passes through the cable opening.

12. An electric mobile implement, characterized in that, include: A body having at least one receiving trough; A mobile unit is connected to the main body to drive the main body to move; A rechargeable battery is located inside the body and is configured to store electrical energy and provide the electrical energy required for the operation of the electric mobile machinery; At least one charging lead module is configured to be aligned and connected to at least one charging connector of a charging device, and each of the charging lead modules includes: A housing, pivotally connected to the body, and capable of being housed or moved out of the corresponding receiving slot; An electrical connector is movably mounted on the housing. A sensing module is disposed in the housing and configured to sense the positional relationship between the electrical connector and the corresponding charging connector of the charging device, so as to output a sensing signal accordingly. A position adjustment module is disposed in the housing and connected to the electrical connector, so as to drive the electrical connector to move according to the sensing signal, so that the electrical connector is aligned and connected with the corresponding charging connector of the charging device, so as to transfer electrical energy from the charging device to the rechargeable battery. as well as A main control unit is disposed inside the body and electrically connected to the moving unit and the at least one charging connection module to control the operation of the moving unit and the at least one charging connection module.

13. The electric mobile machinery as described in claim 12, characterized in that, The electric mobile device is a service robot. The body includes a torso and two arms located on opposite sides of the torso. The charging device has at least one charging connector, which includes two charging connectors. The electric mobile device has at least one charging connection module, which includes two charging connection modules, respectively located on opposite sides of the torso and adjacent to the two arms.

14. The electric mobile machinery as described in claim 12, characterized in that, The charging connection module also includes a controller, which is electrically connected to the sensing module and the position adjustment module, and is configured to receive the sensing signal and output a corresponding control signal to the position adjustment module to control the position adjustment module to drive the electrical connector to move.

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