Collision mechanism, mobile robot and robot charging system

Abstract

The utility model relates to the technical field of robots, and discloses a collision mechanism, a mobile robot and a robot charging system.The collision mechanism is applied to the mobile robot, the mobile robot comprises a robot body, and the collision mechanism comprises a shell assembly, an anti-collision shell, a first elastic piece and an electrode assembly; the shell assembly is used for being connected with the robot body. The anti-collision shell is arranged on the side, away from the robot body, of the shell assembly. The first elastic piece is at least partially arranged between the shell assembly and the anti-collision shell and is connected with the shell assembly and the anti-collision shell. The electrode assembly is arranged on the shell assembly or the anti-collision shell, is exposed out of the side away from the robot body and is in charging connection with the robot body. The utility model aims to solve the technical problem that the impact force generated when the mobile robot is in butt joint with the charging base station is too large.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to a collision mechanism, a mobile robot, and a robot charging system. Background Technology

[0002] Currently, mobile robots are widely used in daily life to assist people in performing tasks such as mowing, sweeping, carrying, and patrolling. When a mobile robot works continuously for a long time, its operating speed and response speed will be affected if its battery is insufficient. Therefore, it is necessary to charge the mobile robot in a timely manner to ensure that it maintains optimal working condition.

[0003] In current technology, mobile robots are charged using a direct-contact charging method. Specifically, the robot's electrode assembly establishes an electrical connection with the charging terminal of the charging base station to achieve the charging function. However, the impact force generated when the mobile robot docks with the charging base station is too great, causing damage to the electrode assembly. Utility Model Content

[0004] The purpose of this invention is to provide a collision mechanism, a mobile robot, and a robot charging system to solve the technical problem of excessive impact force generated when a mobile robot docks with a charging base station.

[0005] To achieve the above objectives, this utility model provides a collision mechanism applied to a mobile robot, the mobile robot including a robot body, and the collision mechanism comprising:

[0006] A housing assembly for connecting the robot body;

[0007] A collision-resistant housing is disposed on the side of the housing assembly facing away from the robot body;

[0008] A first elastic member is at least partially disposed between the housing assembly and the anti-collision housing, and connects the housing assembly and the anti-collision housing respectively;

[0009] An electrode assembly is disposed on the housing assembly or the anti-collision housing and exposed on the side of the collision mechanism away from the robot body, for charging connection with the robot body.

[0010] In the collision mechanism of this utility model, the anti-collision housing includes a first position close to the housing assembly and a second position away from the housing assembly;

[0011] The first elastic element releases elastic potential energy to move the anti-collision shell from the first position to the second position;

[0012] When the anti-collision shell is in the first position, the electrode assembly is connected to the robot body for charging.

[0013] In the collision mechanism of this utility model, the electrode assembly is disposed on the housing assembly, and the anti-collision housing is provided with a clearance hole corresponding to the electrode assembly.

[0014] In the collision mechanism of this utility model, the first elastic member is disposed on the housing assembly, the anti-collision housing is provided with a guide post facing the housing assembly, one end of the first elastic member is sleeved and fixed to the guide post, and the other end of the first elastic member abuts against the anti-collision housing.

[0015] In the collision mechanism of this utility model, the housing assembly includes a cover and a base plate. The cover is disposed between the anti-collision housing and the base plate, and the cover and the base plate are assembled and connected to form a receiving cavity.

[0016] The electrode assembly and the first elastic element are spaced apart on the side of the cover facing the anti-collision housing.

[0017] In the collision mechanism of this utility model, the outer edge of the cover is provided with a guide groove, and the anti-collision shell is provided with a guide protrusion corresponding to the guide groove; or the outer edge of the cover is provided with a guide protrusion, and the anti-collision shell is provided with a guide groove corresponding to the guide protrusion.

[0018] The guide protrusion and the guide groove extend along the length direction perpendicular to the housing assembly, and the guide protrusion is embedded in the guide groove.

[0019] In the collision mechanism of this utility model, the housing assembly is provided with a plug-in part, which is used to connect to the robot body;

[0020] The electrode assembly is located at the middle position of the cover along the length direction of the cover, and the plug portion is located at the middle position of the substrate along the length direction of the substrate.

[0021] In the collision mechanism of this utility model, the collision mechanism further includes a second elastic member and a fixing member, the fixing member passing through the cover from the side of the base plate toward the cover and connecting to the insertion part;

[0022] The second elastic element is sleeved on the fixed element, and its two ends are respectively connected to the base plate and the insertion part, so as to generate deformation when the anti-collision shell moves along a direction deviating from the central axis of the robot body.

[0023] In the collision mechanism of this utility model, the plug-in part includes a plug-in member and a snap-fit ​​member for connecting the plug-in member. The plug-in member is used to connect to the robot body, and the snap-fit ​​member is used to lock or release the plug-in member so that the housing assembly is connected or separated from the robot body through the plug-in member.

[0024] In the collision mechanism of this utility model, the collision mechanism includes a collision triggering element disposed on the cover. The collision triggering element is used to emit a collision signal when the mobile robot is driving normally, and to trigger a charging signal when the electrode assembly is electrically connected to the charging base station.

[0025] In the collision mechanism of this utility model, the collision mechanism includes a power cord;

[0026] The electrode assembly includes a positive electrode and a negative electrode. The positive electrode and the negative electrode are spaced apart along the length direction of the housing assembly. The positive electrode has a first protrusion extending toward the negative electrode, and the negative electrode has a second protrusion extending toward the positive electrode. The first protrusion and the second protrusion are staggered in a direction perpendicular to the length direction of the housing assembly.

[0027] The power cord is connected to the first protrusion and the second protrusion.

[0028] Secondly, this utility model provides a mobile robot, including a robot body and a collision mechanism, wherein the collision mechanism is connected to the robot body.

[0029] Thirdly, this utility model provides a robot charging system, including a charging pile and the mobile robot. The charging pile includes a charging terminal for matching the electrode assembly and a contact for abutting against the anti-collision shell. The charging pile is used to supply power to the mobile robot.

[0030] This utility model provides a collision mechanism, the advantages of which are:

[0031] The collision mechanism of this invention includes a housing assembly, a collision-resistant housing, a first elastic element, and an electrode assembly. The collision mechanism is connected to the robot body. When the mobile robot encounters an obstacle during movement, the collision-resistant housing collides with the obstacle, and the first elastic element is compressed, resulting in elastic deformation. This reduces the impact force generated by the collision and minimizes its transmission to the robot body and other components, protecting them from damage. When the mobile robot needs charging, it moves to the vicinity of a charging base station, and the electrode assembly docks with the charging base station. During docking, the collision-resistant housing collides with the charging base station, and the first elastic element undergoes elastic deformation until the electrode assembly connects with the charging base station and the battery assembly inside the robot body for charging. The first elastic element acts as a buffer, reducing the impact force on the electrode assembly caused by contact with the charging base station, preventing damage to the electrode assembly, and extending its service life. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the structure of the mobile robot provided in an embodiment of the present utility model;

[0034] Figure 2 A schematic diagram of the collision mechanism provided in an embodiment of this utility model;

[0035] Figure 3 An exploded view of the collision mechanism provided in an embodiment of this utility model;

[0036] Figure 4 Another exploded view of the collision mechanism provided in this embodiment of the utility model;

[0037] Figure 5 An exploded view of the housing assembly provided in an embodiment of this utility model;

[0038] Figure 6 for Figure 5 A magnified view of a section at point A in the middle;

[0039] Figure 7 This is a schematic diagram of the structure of the anti-collision shell provided in an embodiment of the present utility model;

[0040] Figure 8 Another exploded view of the housing assembly provided in this embodiment of the utility model;

[0041] Figure 9 An exploded view of the mobile robot provided in this embodiment of the utility model;

[0042] Figure 10 Another structural schematic diagram of the mobile robot provided in this embodiment of the utility model.

[0043] The markings in the image are as follows:

[0044] 10. Shell assembly; 11. Cover; 12. Base plate; 13. Guide groove; 14. Guide protrusion; 15. Insertion part; 151. Insertion piece; 152. Snap-fit ​​piece; 16. Mounting hole; 20. Collision-proof shell; 21. Clearance hole; 22. Guide post; 30. First elastic element; 40. Electrode assembly; 41. Positive electrode plate; 42. Negative electrode plate; 43. First protrusion; 44. Second protrusion; 50. Second elastic element; 60. Fixing piece; 70. Collision triggering element; 80. Power cord; 100. Collision mechanism; 101. Robot body; 102. Snap-fit ​​groove; 103. Sensing module; 104. Drive mechanism; X, length direction; Y, height direction. Detailed Implementation

[0045] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit the scope of this utility model.

[0046] In the description of this utility model, it should be noted that the terms "upper", "lower", "front", "rear", "inner", "outer" and other terms used in this utility model to indicate the orientation or positional relationship are based on the positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device and components referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0047] In the description of this utility model, it should be understood that the terms "first," "second," etc., are used to describe various information, but this information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this utility model, "first" information can also be referred to as "second" information, and similarly, "second" information can also be referred to as "first" information.

[0048] like Figure 1As shown, the mobile robot includes a collision mechanism 100 and a robot body 101. The collision mechanism 100 and the robot body 101 are detachably or fixedly connected. The collision mechanism 100 is used to prevent the robot body 101 from directly colliding with obstacles during the movement of the mobile robot. The collision mechanism 100 can be installed at the front end, rear end, or side of the robot body 101, as long as it can achieve the anti-collision effect.

[0049] like Figures 2 to 8 As shown, this embodiment of the present invention provides a collision mechanism 100, which includes a housing assembly 10, a collision shield 20, a first elastic member 30, and an electrode assembly 40. The housing assembly 10 is used to connect to the robot body 101. The collision shield 20 is disposed on the side of the housing assembly 10 away from the robot body 101. The first elastic member 30 is at least partially disposed between the housing assembly 10 and the collision shield 20, and is connected to the housing assembly 10 and the collision shield 20 respectively. The electrode assembly 40 is disposed on the housing assembly 10 or the collision shield 20 and is exposed on the side of the collision mechanism 100 away from the robot body 101. The electrode assembly 40 is used to charge the robot body 101.

[0050] In this embodiment, the housing assembly 10 is used to connect the robot body 101 and is a connecting component between the collision mechanism 100 and the robot body 101.

[0051] The anti-collision shell 20 is located on the side of the shell assembly 10 away from the robot body 101, that is, the shell assembly 10 is located between the anti-collision shell 20 and the robot body 101. The anti-collision shell 20 is used to protect the robot body 101 from direct collision with obstacles during the movement of the mobile robot.

[0052] The first elastic element 30 is connected to the housing assembly 10 and the anti-collision housing 20 at its two ends respectively. When the anti-collision housing 20 is impacted, the first elastic element 30 acts as a buffer, which can reduce the impact force and reduce the impact force transmitted to the robot body 101 and other components.

[0053] The electrode assembly 40 is mounted on the housing assembly 10 or the anti-collision housing 20 and exposed on the side of the housing assembly 10 or the anti-collision housing 20 away from the robot body 101. The electrode assembly 40 is used to connect to the battery assembly inside the robot body 101 for charging, and is used to connect to the charging base station when the anti-collision housing 20 abuts against the charging base station, so that the charging base station charges the battery assembly of the mobile robot.

[0054] It should be noted that the charging connection between the electrode assembly 40 and the robot body 101 means that the charging circuit of the electrode assembly 40 and the robot body 101 is connected, and the voltage of the charging circuit reaches the preset charging voltage. If the charging circuit of the electrode assembly 40 and the robot body 101 is disconnected, or although it is connected but the voltage of the charging circuit does not reach the preset charging voltage (i.e., not fully connected), it indicates that the electrode assembly 40 and the robot body 101 are not connected for charging. When the anti-collision shell 20 abuts against the charging base station, making the charging circuit of the electrode assembly 40 and the robot body 101 fully connected, and the voltage of the charging circuit reaches the preset charging voltage, the electrode assembly 40 and the robot body 101 establish a charging connection.

[0055] Based on the above technical solution, in this embodiment, the collision mechanism 100 is connected to the robot body 101. When the mobile robot encounters an obstacle during its movement, the anti-collision shell 20 collides with the obstacle, the first elastic element 30 is compressed and produces elastic deformation, reducing the impact force generated by the collision and reducing the impact force transmitted to the robot body 101 and other components, thus protecting the robot body 101 and other components from damage.

[0056] When the mobile robot needs charging, it moves to the vicinity of the charging base station, and the electrode assembly 40 docks with the charging base station. During the docking process, the anti-collision shell 20 collides with the charging base station, and the first elastic element 30 is compressed and undergoes elastic deformation until the electrode assembly 40 connects with the charging base station and the battery assembly inside the robot body 101 for charging, so that the charging base station can charge the battery assembly inside the mobile robot. The first elastic element 30 acts as a buffer, which can prevent the electrode assembly 40 from being impacted by contact with the charging base station, thereby preventing damage to the electrode assembly 40 and improving its service life.

[0057] In this embodiment, a collision signal is generated by the collision between the anti-collision shell 20 and the charging base station, so as to fully connect the charging circuit of the electrode assembly 40 and the internal battery assembly of the robot body 101, so that the voltage of the charging circuit reaches the preset charging voltage, thereby protecting the charging circuit and preventing the charging circuit from generating high voltage arcing.

[0058] In one specific embodiment, such as Figure 3 As shown, the electrode assembly 40 is disposed on the housing assembly 10 and exposed on the side away from the robot body 101. When the anti-collision housing 20 abuts against the charging base station, the anti-collision housing 20 moves toward the housing assembly 10, and the first elastic member 30 is compressed until the electrode assembly 40 on the housing assembly 10 is electrically connected to the charging base station.

[0059] In another specific embodiment, the electrode assembly 40 is disposed on the anti-collision housing 20 and exposed on the side away from the robot body 101. When the anti-collision housing 20 abuts against the charging base station, the electrode assembly 40 on the anti-collision housing 20 is electrically connected to the charging base station. At the same time, the anti-collision housing 20 moves toward the housing assembly 10, and the first elastic member 30 is compressed, which plays a buffering role.

[0060] In some embodiments, the first elastic element 30 includes a spring, such as a helical spring structure, a leaf spring structure, a rubber spring structure, etc., which can provide elastic buffering and have a restoring function.

[0061] In some embodiments, the anti-collision housing 20 includes a first position close to the housing assembly 10 and a second position away from the housing assembly 10; the first elastic member 30 releases elastic potential energy to move the anti-collision housing 20 from the first position to the second position; when the anti-collision housing 20 is in the first position, the electrode assembly 40 is charged and connected to the robot body 101.

[0062] Specifically, during the docking process between the mobile robot and the charging pile, the anti-collision shell 20 moves towards the shell assembly 10 until the anti-collision shell 20 is in the first position state. At this point, the electrode assembly 40 is fully connected to the charging circuit of the robot body 101, the voltage of the charging circuit reaches the preset charging voltage, and the charging base station charges the mobile robot through the electrode assembly 40.

[0063] When the anti-collision housing 20 moves away from the housing assembly 10, the anti-collision housing 20 switches from the first position to the second position, the electrode assembly 40 is disconnected from the charging base station, the charging circuit of the electrode assembly 40 and the battery assembly inside the robot body 101 is not connected, and the charging base station no longer charges the mobile robot.

[0064] In some embodiments, such as Figure 3 As shown, the electrode assembly 40 is disposed on the housing assembly 10, and the anti-collision housing 20 is provided with a clearance hole 21 corresponding to the electrode assembly 40.

[0065] Specifically, the electrode assembly 40 is disposed on the side of the housing assembly 10 facing the anti-collision housing 20 (i.e., the side away from the robot body 101), and the clearance hole 21 is disposed on the anti-collision housing 20 at a position corresponding to the electrode assembly 40. When the anti-collision housing 20 does not collide, there is a certain gap between the anti-collision housing 20 and the housing assembly 10, and the electrode assembly 40 is not exposed in the collision mechanism 100; when the anti-collision housing 20 collides, the anti-collision housing 20 moves toward the housing assembly 10, so that the electrode assembly 40 is exposed in the collision mechanism 100 from the position of the clearance hole 21 and electrically connected to the charging base station.

[0066] In some embodiments, such as Figure 4 and Figure 7 As shown, the first elastic member 30 is disposed on the housing assembly 10, and the anti-collision housing 20 is provided with a guide post 22 facing the housing assembly 10. One end of the first elastic member 30 is sleeved and fixed to the guide post 22, and the other end of the first elastic member 30 abuts against the anti-collision housing 20.

[0067] Specifically, the housing assembly 10 has a through hole (not shown in the attached figure) for mounting the first elastic element 30, and the guide post 22 partially passes through this through hole. The first elastic element 30 is a helical spring, and the guide post 22 passes through the helical spring and is fixed to the helical spring by fasteners such as screws. When the anti-collision housing 20 moves towards the housing assembly 10, the helical spring is compressed and deformed because the end of the helical spring near the housing assembly 10 is fixed to the guide post 22; after the external force is removed and the elastic potential energy is released, the helical spring pushes the anti-collision housing 20 away from the housing assembly 10, thereby realizing the reset of the anti-collision housing 20.

[0068] In this embodiment, the guide post 22 also guides the movement of the anti-collision housing 20. When the anti-collision housing 20 moves relative to the housing assembly 10, it can move linearly along the axial direction of the guide post 22, thus preventing the anti-collision housing 20 from shifting or shaking during the collision.

[0069] In some embodiments, such as Figures 3 to 5 As shown, the housing assembly 10 includes a cover 11 and a substrate 12. The cover 11 is disposed between the anti-collision housing 20 and the substrate 12. The cover 11 and the substrate 12 are assembled and connected to form an accommodating cavity. The electrode assembly 40 and the first elastic member 30 are spaced apart on the side of the cover 11 facing the anti-collision housing 20.

[0070] Specifically, the cover 11 is located between the anti-collision housing 20 and the base plate 12. The electrode assembly 40 and the first elastic member 30 are disposed on the side of the cover 11 facing the anti-collision housing 20. The base plate 12 is connected to the side of the cover 11 away from the anti-collision housing 20 and is used to connect the robot body 101. When the anti-collision housing 20 collides with the charging base station, the anti-collision housing 20 moves towards the cover 11. The first elastic member 30 is compressed and undergoes elastic deformation. The electrode assembly 40 on the cover 11 is exposed from the collision mechanism 100 through the avoidance hole 21, thereby electrically connecting with the charging base station.

[0071] In this embodiment, the housing 11 and the substrate 12 are assembled and connected by screws or other fasteners to form a receiving cavity, which is used to house electronic components. These electronic components include indicators, specifically indicator lights, which express the current state of the mobile robot through color, frequency, or a combination of color and frequency. For example, during charging, the indicator light is red when charging is normal and green when fully charged; or it can indirectly indicate charging through a breathing light flashing; or a green light can indicate successful charging and docking.

[0072] In some embodiments, such as Figure 5 and Figure 7 As shown, the outer edge of the cover 11 is provided with a guide groove 13, and the anti-collision housing 20 is provided with a guide protrusion 14 corresponding to the guide groove 13; or the outer edge of the cover 11 is provided with a guide protrusion 14, and the anti-collision housing 20 is provided with a guide groove 13 corresponding to the guide protrusion 14; the guide protrusion 14 and the guide groove 13 extend along the length direction X perpendicular to the housing assembly 10, and the guide protrusion 14 is embedded in the guide groove 13.

[0073] Specifically, the housing assembly 10 has a length direction X and a height direction Y. In this embodiment, the collision mechanism 100 is installed at the front end of the robot body 101. In the length direction X of the cover 11, a guide groove 13 is provided on the outer edge of the cover 11. The anti-collision housing 20 has a guide protrusion 14 on the side facing the cover 11. The guide protrusion 14 and the guide groove 13 extend along the length direction X perpendicular to the housing assembly 10, and the guide protrusion 14 is embedded in the guide groove 13. When the anti-collision housing 20 moves towards the cover 11 (i.e., the forward direction of the mobile robot), the guide protrusion 14 moves along the guide groove 13 so that the anti-collision housing 20 moves in the forward direction of the mobile robot, avoiding the anti-collision housing 20 from deviating during the collision.

[0074] In this embodiment, multiple guide grooves 13 are provided on the upper and lower edges of the cover 11, and multiple guide protrusions 14 are provided on the anti-collision housing 20. Each guide protrusion 14 is embedded in a corresponding guide groove 13, restricting the movement trajectory of the anti-collision housing 20 and enhancing the stability of its movement. On the other hand, during frequent collisions and vibrations of the anti-collision housing 20, the anti-collision housing 20 remains tightly connected to the cover 11, preventing the anti-collision housing 20 from completely detaching from the cover 11.

[0075] For example, such as Figure 5 and Figure 7 As shown, two guide grooves 13 are spaced apart on the upper edge of the cover 11, and two guide grooves 13 are spaced apart on the lower edge of the cover 11. The anti-collision shell 20 is provided with four guide protrusions 14, and each guide protrusion 14 is embedded into each guide groove 13 in a corresponding manner.

[0076] In some embodiments, the outer edge of the cover 11 is provided with a guide protrusion 14, and the anti-collision housing 20 is provided with a guide groove 13 corresponding to the guide protrusion 14; the guide protrusion 14 and the guide groove 13 extend along the length direction X of the vertical housing assembly 10, and the guide protrusion 14 is embedded in the guide groove 13.

[0077] Specifically, in the length direction X of the cover 11, a guide protrusion 14 is provided on the outer edge of the cover 11, and a guide groove 13 is provided on the side of the anti-collision housing 20 facing the cover 11. The guide protrusion 14 and the guide groove 13 extend along the length direction X of the vertical housing assembly 10, and the guide protrusion 14 is embedded in the guide groove 13. When the anti-collision housing 20 moves toward the cover 11, the guide protrusion 14 moves along the guide groove 13, so that the anti-collision housing 20 moves along the length direction X of the vertical housing assembly 10, thereby preventing the anti-collision housing 20 from deviating during the collision.

[0078] In some embodiments, such as Figure 2 , Figure 3 and Figure 5 As shown, the housing assembly 10 is provided with a plug-in portion 15, which is used to connect the robot body 101; the electrode assembly 40 is located at the middle position of the housing 11 along the length direction X of the housing 11, and the plug-in portion 15 is located at the middle position of the substrate 12 along the length direction X of the substrate 12.

[0079] Specifically, the robot body 101 is provided with an interface, into which a plug-in portion 15 is inserted to achieve a detachable connection between the housing assembly 10 and the robot body 101. In this embodiment, the plug-in portion 15 is located in the middle of the base plate 12 along the length direction X, improving the balance of the housing assembly 10 and making the connection between the housing assembly 10 and the robot body 101 more stable. The electrode assembly 40 is located in the middle of the cover 11, achieving electrical connection between the electrode assembly 40 and the battery assembly inside the robot body 101 within a shorter distance, reducing signal transmission loss and interference, and improving the stability of transmission during charging docking.

[0080] In some embodiments, such as Figure 5 As shown, along the length direction X of the cover 11, the electrode assembly 40 is provided with first elastic members 30 on both sides.

[0081] Specifically, based on the electrode assembly 40 being located in the middle of the housing 11, this embodiment provides first elastic elements 30 on both the left and right sides of the electrode assembly 40. One or more first elastic elements 30 can be provided. On the one hand, the buffer area of ​​the first elastic element 30 can be expanded to improve the buffering effect; on the other hand, multiple first elastic elements 30 play a role in balancing the bounce, so that the anti-collision housing 20 maintains stable movement during the movement.

[0082] In some embodiments, such as Figure 5 As shown, the collision mechanism 100 also includes a second elastic member 50 and a fixing member 60. The fixing member 60 passes through the cover 11 from the side of the base plate 12 toward the cover 11 and is connected to the insertion part 15. The second elastic member 50 is sleeved on the fixing member 60. The two ends of the second elastic member 50 are respectively connected to the base plate 12 and the insertion part 15, so as to generate deformation when the anti-collision shell 20 moves along the direction deviating from the central axis of the robot body 101.

[0083] Specifically, when the mobile robot is subjected to collisions from different directions, the anti-collision shell 20 moves in different directions. When the anti-collision shell 20 moves along a direction deviating from the central axis (forward direction) of the robot body 101, the second elastic element 50 deforms; after the impact force disappears, the second elastic element 50 resets the collision mechanism 100, thereby preventing the collision mechanism 100 from deflecting.

[0084] In this embodiment, the second elastic element 50 can be a spring structure.

[0085] In some embodiments, such as Figure 8 As shown, the plug-in part 15 includes a plug-in member 151 and a snap-fit ​​member 152 for connecting the plug-in member 151. The plug-in member 151 is used to connect to the robot body 101, and the snap-fit ​​member 152 is used to lock or release the plug-in member 151 so that the housing assembly 10 is connected or separated from the robot body 101 through the plug-in member 151.

[0086] Specifically, the connector 151 is inserted into the corresponding interface of the robot body 101, and then the connector 151 is locked by the snap-fit ​​connector 152 to connect the housing assembly 10 to the robot body 101. When it is necessary to replace the collision mechanism 100, the connector 151 is released by the snap-fit ​​connector 152 to remove the collision mechanism 100 from the robot body 101. In this embodiment, the locking function of the snap-fit ​​connector 152 ensures that the connector 151 remains tightly connected to the robot body 101, preventing the collision mechanism 100 from detaching from the robot body 101.

[0087] In some embodiments, such as Figure 5 As shown, the collision mechanism 100 includes a collision triggering element 70, which is disposed on the housing 11. The collision triggering element 70 is used to emit a collision signal when the mobile robot is moving normally.

[0088] Specifically, the collision triggering element 70 is located on the housing 11. When the mobile robot is moving normally, the anti-collision housing 20 is collided with and moves towards the housing 11, and comes into contact with the collision triggering element 70. The collision triggering element 70 responds quickly and sends a collision signal, which is transmitted to the controller of the mobile robot. The mobile robot takes corresponding measures according to the collision signal, such as stopping or adjusting its posture, thereby reducing the damage caused by the collision to the mobile robot.

[0089] In some embodiments, the collision triggering element 70 is used to trigger a charging signal when the electrode assembly 40 is electrically connected to the charging base station.

[0090] Specifically, after the electrode assembly 40 is docked and stably connected to the charging base station, the collision triggering element 70 triggers a charging signal to ensure the safety and reliability of the charging process. Furthermore, the charging signal triggering function can be integrated with the mobile robot's charging management system to automate the charging process. When the collision triggering element 70 triggers the charging signal, the charging management system automatically adjusts charging parameters, such as charging current and charging voltage, to adapt to different battery states and charging requirements, thereby improving charging efficiency and battery life.

[0091] In some embodiments, the collision triggering element 70 includes at least one of a micro switch, a pressure sensor, and a Hall sensor.

[0092] For example, the collision triggering element 70 includes a micro switch. When the anti-collision housing 20 is impacted and moves toward the cover 11, the anti-collision housing 20 touches the micro switch, causing the contacts of the micro switch to be displaced, thereby emitting a collision signal.

[0093] For example, the collision triggering element 70 includes a pressure sensor that measures the pressure exerted on the housing 11 upon collision. By setting different pressure thresholds, different degrees of collisions can be distinguished, such as minor collisions and severe collisions. For minor collisions, the mobile robot can take deceleration measures; for severe collisions, the mobile robot immediately stops operating and issues an alarm.

[0094] For example, the collision triggering element 70 includes a Hall sensor mounted on the electrode assembly 40 or the charging base station. The Hall sensor determines whether the electrode assembly 40 has accurately reached the charging position by detecting changes in the magnetic field. When the electrode assembly 40 enters the charging area, the Hall sensor triggers a charging signal, improving the accuracy of charging triggering.

[0095] In some embodiments, such as Figure 5 As shown, the collision mechanism 100 includes a plurality of collision triggering elements 70, which are spaced apart on both sides of the electrode assembly 40 along the length direction X of the housing 11.

[0096] Specifically, multiple collision triggering elements 70 are redundantly configured. If one collision triggering element 70 malfunctions or is damaged, the remaining collision triggering elements 70 can still emit a collision signal or trigger a charging signal, thereby improving the reliability of the triggering signal.

[0097] In some embodiments, collision triggering elements 70 are provided on both sides of the electrode assembly 40. When the electrode assembly 40 approaches the charging base station, the collision triggering elements 70 on both sides simultaneously trigger charging signals. Based on the charging signal information of all collision triggering elements 70, it is determined whether the electrode assembly 40 has reached the charging position, thereby establishing an electrical connection with the charging base station. For example, if a collision triggering element 70 fails to trigger a charging signal, it is determined that the electrode assembly 40 has not fully established an electrical connection with the charging base station, and in this case, the charging base station does not charge the mobile robot.

[0098] In some embodiments, such as Figure 5 As shown, the housing 11 is provided with a mounting hole 16, and the collision triggering element 70 is assembled in the mounting hole 16; the collision triggering element 70 is at least partially located in the accommodating cavity.

[0099] Specifically, the mounting hole 16 penetrates the housing 11, a part of the collision triggering element 70 is assembled in the mounting hole 16, and another part of the collision triggering element 70 is located in the receiving cavity formed by the assembly of the housing 11 and the substrate 12. The collision triggering element 70 can accurately trigger a signal when there is an accidental collision or charging trigger.

[0100] In some embodiments, such as Figure 6 and Figure 8 As shown, the collision mechanism 100 includes a power line 80; the electrode assembly 40 includes a positive electrode 41 and a negative electrode 42, the positive electrode 41 and the negative electrode 42 are spaced apart along the length direction X of the housing assembly 10, the positive electrode 41 has a first protrusion 43 extending toward the negative electrode 42, the negative electrode 42 has a second protrusion 44 extending toward the positive electrode 41, the first protrusion 43 and the second protrusion 44 are staggered in the length direction perpendicular to the housing assembly 10; the power line 80 is connected to the first protrusion 43 and the second protrusion 44.

[0101] Specifically, the power cord 80 includes a positive connection wire and a negative connection wire. The power cord 80 is electrically connected to the control module and battery assembly of the mobile robot through an electrical interface. The electrode assembly 40 includes a positive electrode plate 41 and a negative electrode plate 42, which are spaced apart along the length direction X. A first protrusion 43 extends toward the negative electrode plate 42, and a second protrusion 44 extends toward the positive electrode plate 41. The first protrusion 43 and the second protrusion 44 are staggered in the height direction Y. The positive connection wire connects to the first protrusion 43, and the negative connection wire connects to the second protrusion 44. The power cord 80 is respectively located at the protrusion positions of the two electrode plates, making the internal wiring of the power cord 80 simpler. This avoids the power cord 80 from being disconnected from the electrode assembly 40 due to positional movement when the second elastic member 50 is activated, and prevents the power cord 80 from being squeezed or pulled, reducing the risk of damage to the power cord 80.

[0102] Secondly, such as Figure 9 As shown, this utility model embodiment provides a mobile robot, including a robot body 101 and a collision mechanism 100, the collision mechanism 100 being connected to the robot body 101.

[0103] Specifically, the collision mechanism 100 is detachably or fixedly connected to the robot body 101. For example, the front end of the robot body 101 is provided with a snap-fit ​​groove 102, and the collision mechanism 100 is inserted into the snap-fit ​​groove 102 through the plug-in part 15, thereby connecting and fixing itself to the robot body 101.

[0104] In this embodiment, when the mobile robot encounters an obstacle during operation, the collision mechanism 100 senses the collision and transmits a signal to the mobile robot. The mobile robot responds accordingly based on the received signal, such as stopping or adjusting its direction, to avoid serious collisions with the obstacle and protect the safety of the mobile robot and its surrounding environment. When the mobile robot needs charging, it moves to the location of the charging base station and docks with it via the electrode assembly 40 on the collision mechanism 100. The charging base station then charges the mobile robot.

[0105] For example, a mobile robot may be a lawnmower, a sweeping robot, a cleaning robot, an inspection robot, or a transport robot.

[0106] In some embodiments, the slot 102 is located at the rear end of the robot body 101, or at the front and rear ends of the robot body 101, and the mobile robot makes the electrode assembly 40 on the collision mechanism 100 electrically connected to the charging base station by moving forward or backward.

[0107] In some embodiments, such as Figure 9As shown, the electrode assembly 40 is disposed on the housing assembly 10 and is exposed on the side of the collision mechanism 100 away from the robot body 101 through the avoidance hole 21 of the anti-collision housing 20.

[0108] In some embodiments, such as Figure 10 As shown, the electrode assembly 40 is disposed on the anti-collision housing 20 and exposed on the side of the collision mechanism 100 away from the robot body 101.

[0109] In some embodiments, such as Figure 10 As shown, the mobile robot also includes a sensing module 103, which is located on the robot body 101 and is used to identify information about the charging base station.

[0110] For example, the sensing module 103 includes an infrared sensor for emitting infrared signals, and the mobile robot maintains a preset position when it receives the reflected infrared signals.

[0111] For example, the perception module 103 includes a visual sensor (such as a camera), which sets a QR code at the location of the charging pile in the charging base station, or there is an identification object on the charging pile. The camera identifies the information of the QR code, determines the positional relationship between the mobile robot and the charging pile, and controls the mobile robot to move towards the charging pile.

[0112] For example, the sensing module 103 includes a laser sensor, which is a lidar, and identifies the specific information of the charging pile of the charging base station by laser scanning.

[0113] In some embodiments, such as Figure 9 As shown, the mobile robot includes a drive mechanism 104, which is connected to the robot body 101. The drive mechanism 104 is used to drive the mobile robot to move. The drive mechanism 104 is a drive wheel, which is driven by a motor to make the mobile robot move forward or backward.

[0114] Of course, mobile robots also include control components, battery components, wireless communication components, etc., and this embodiment does not impose specific limitations.

[0115] Thirdly, this utility model embodiment provides a robot charging system (not shown in the drawings), including a charging pile and a mobile robot. The charging pile includes a charging terminal for matching with the electrode assembly 40 and a contact for abutting against the anti-collision shell 20. The charging pile is used to supply power to the mobile robot.

[0116] Specifically, the charging base station is equipped with one or more charging piles, each with charging terminals and contacts. During the docking process between the mobile robot and the charging pile, the contacts abut against the anti-collision housing 20, causing the anti-collision housing 20 to move towards the housing assembly 10. When the anti-collision housing 20 is in the first position, the electrode assembly 40 is electrically connected to the charging terminals, enabling the charging base station (or charging pile) to charge the mobile robot.

[0117] It should be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0118] The sequence numbers of the above-described embodiments of this utility model are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A collision mechanism applied to a mobile robot, the mobile robot comprising a robot body, characterized in that, The collision mechanism includes: A housing assembly for connecting the robot body; A collision-resistant housing is disposed on the side of the housing assembly facing away from the robot body; A first elastic member is at least partially disposed between the housing assembly and the anti-collision housing, and connects the housing assembly and the anti-collision housing respectively; An electrode assembly is disposed on the housing assembly or the anti-collision housing and exposed on the side of the collision mechanism away from the robot body, for charging connection with the robot body.

2. The collision mechanism according to claim 1, characterized in that, The impact-resistant housing includes a first position close to the housing assembly and a second position away from the housing assembly; The first elastic element releases elastic potential energy to move the anti-collision shell from the first position to the second position; When the anti-collision shell is in the first position, the electrode assembly is connected to the robot body for charging.

3. The collision mechanism according to claim 1, characterized in that, The electrode assembly is disposed on the housing assembly, and the anti-collision housing is provided with clearance holes corresponding to the electrode assembly.

4. The collision mechanism according to claim 3, characterized in that, The first elastic element is disposed on the housing assembly, and the anti-collision housing is provided with a guide post facing the housing assembly. One end of the first elastic element is sleeved and fixed to the guide post, and the other end of the first elastic element abuts against the anti-collision housing.

5. The collision mechanism according to claim 3, characterized in that, The housing assembly includes a cover and a base plate, the cover being disposed between the anti-collision housing and the base plate, and the cover and the base plate being assembled and connected to form an accommodating cavity; The electrode assembly and the first elastic element are spaced apart on the side of the cover facing the anti-collision housing.

6. The collision mechanism according to claim 5, characterized in that, The outer edge of the cover is provided with a guide groove, and the anti-collision shell is provided with a guide protrusion corresponding to the guide groove; or the outer edge of the cover is provided with a guide protrusion, and the anti-collision shell is provided with a guide groove corresponding to the guide protrusion. The guide protrusion and the guide groove extend along the length direction perpendicular to the housing assembly, and the guide protrusion is embedded in the guide groove.

7. The collision mechanism according to claim 5, characterized in that, The housing assembly is provided with a plug-in portion for connecting to the robot body; The electrode assembly is located at the middle position of the cover along the length direction of the cover, and the plug portion is located at the middle position of the substrate along the length direction of the substrate.

8. The collision mechanism according to claim 7, characterized in that, The collision mechanism further includes a second elastic member and a fixing member, the fixing member passing through the cover from the side of the base plate toward the cover and connecting to the insertion part; The second elastic element is sleeved on the fixed element, and its two ends are respectively connected to the base plate and the insertion part, so as to generate deformation when the anti-collision shell moves along a direction deviating from the central axis of the robot body.

9. The collision mechanism according to claim 7, characterized in that, The connector includes a connector and a snap-fit ​​connector for connecting the connector. The connector is used to connect to the robot body, and the snap-fit ​​connector is used to lock or release the connector so that the housing assembly is connected to or separated from the robot body through the connector.

10. The collision mechanism according to claim 5, characterized in that, The collision mechanism includes a collision triggering element disposed on the housing. The collision triggering element is used to emit a collision signal when the mobile robot is moving normally, and to trigger a charging signal when the electrode assembly is electrically connected to the charging base station.

11. The collision mechanism according to claim 1, characterized in that, The collision mechanism includes a power cord; The electrode assembly includes a positive electrode and a negative electrode. The positive electrode and the negative electrode are spaced apart along the length direction of the housing assembly. The positive electrode has a first protrusion extending toward the negative electrode, and the negative electrode has a second protrusion extending toward the positive electrode. The first protrusion and the second protrusion are staggered in a direction perpendicular to the length direction of the housing assembly. The power cord is connected to the first protrusion and the second protrusion.

12. A mobile robot, characterized in that, It includes a robot body and a collision mechanism as described in any one of claims 1 to 11, the collision mechanism being connected to the robot body.

13. A robot charging system, characterized in that, The invention includes a charging station and a mobile robot as described in claim 12, wherein the charging station includes a charging terminal for mating with the electrode assembly and a contact for abutting against the anti-collision housing, and the charging station is used to supply power to the mobile robot.

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