Mobile robot charging cabinet with multidirectional floating adjusting structure

Abstract

The utility model relates to the technical field of robot charging cabinets, in particular to a mobile robot charging cabinet with a multidirectional floating adjusting structure, which comprises a robot main body, a plurality of groups of floating charging mechanisms are arranged on the outer side of the robot main body, and spacing adjusting mechanisms are arranged on the outer sides of the floating charging mechanisms. The multi-group floating charging mechanism comprises a sliding rail, the outer side of the sliding rail is slidably connected with a first sliding block and a second sliding block, the top of the first sliding block is fixedly connected with a first charging box, the top of the second sliding block is fixedly connected with a second charging box, and the distance adjusting mechanism comprises a stabilizing plate. According to the utility model, through the design of a plurality of groups of charging boxes, a plurality of mobile robots are supported to be charged at the same time, the charging capacity in unit time is greatly improved, the dense charging requirement of small robots can be met, sufficient space can be reserved for large robots, and mutual interference during charging can be avoided.

Description

Technical Field

[0001] This utility model relates to the field of robot charging cabinet technology, specifically a mobile robot charging cabinet with a multi-directional floating adjustment structure. Background Technology

[0002] With the intelligent upgrading of industrial warehousing, smart parks and other scenarios, the application of mobile robots and various vehicle auxiliary equipment is becoming more and more widespread. The collaborative operation of mobile robots of different sizes and models with vehicle auxiliary equipment has become the norm, which puts forward higher requirements for the compatibility of charging equipment, charging efficiency and space utilization.

[0003] Existing mobile robot charging cabinets mostly adopt a single fixed charging position design, which can only be adapted to specific models of mobile robots. In particular, it is difficult to meet the differentiated power supply needs of vehicle auxiliary equipment. Taking the warehousing scenario as an example, light vehicle auxiliary equipment (such as small cargo containers) requires a dense layout of charging positions to ensure continuous power supply during turnover. However, the existing fixed-space charging positions cannot make full use of the cabinet space, resulting in low power supply capacity per unit time, which is difficult to match the dense power supply needs during peak warehousing periods. For heavy vehicle auxiliary equipment (such as AGV towing trailers), which are larger in size and have significantly different charging interface positions from mobile robots, fixed-space charging positions are prone to problems such as collisions between equipment and charging devices or interference between adjacent equipment, which not only affect the stability of power supply but also pose safety hazards.

[0004] Therefore, a mobile robot charging cabinet with a multi-directional floating adjustment structure is proposed to address the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a mobile robot charging cabinet with a multi-directional floating adjustment structure to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A mobile robot charging cabinet with a multi-directional floating adjustment structure includes a robot body, a floating charging mechanism on the outside of the robot body, and a spacing adjustment mechanism on the outside of the floating charging mechanism.

[0008] The floating charging mechanism includes a slide rail, with a first slider and a second slider slidably connected to the outer side of the slide rail. A first charging box is fixedly connected to the top of the first slider, and a second charging box is fixedly connected to the top of the second slider. The spacing adjustment mechanism adjusts the spacing between the first charging box and the second charging box, and the spacing adjustment range between the first charging box and the second charging box is 50mm-500mm.

[0009] The spacing adjustment mechanism includes a stabilizing plate, one end of which is fixedly connected to a micro motor. The output end of the micro motor is fixedly connected to a lead screw. A collar is threaded onto the outer side of the lead screw. A connecting plate is fixedly connected to the outer side of the collar. A moving ring is fixedly connected to the outer side of the connecting plate. A guide post is slidably connected inside the moving ring. The guide post and the moving ring slide together to buffer the impact force of the docking. The spacing adjustment mechanism is used to adjust the spacing of the charging boxes in the floating charging mechanism. The floating charging mechanism can achieve position deviation compensation by sliding the slider.

[0010] As a further optimization of this utility model, the following features are provided: a sliding groove is provided in the inner wall of the moving ring; a limit plate is fixedly connected to the outer side of the guide post; a transmission rod is fixedly connected to the tail end of the guide post; a U-shaped rod is fixedly connected to the top of the moving ring; a fixing plate is fixedly connected to the outer side of the stabilizing plate; an extension post is fixedly connected to the outer side of the fixing plate; a moving block is slidably connected to the outer side of the extension post; and a scale plate is fixedly connected to the outer side of the extension post.

[0011] As a further optimization of this utility model, the slide rail is fixedly connected to the outside of the robot body, and the first charging box and the second charging box are movably connected to the outside of the slide rail through the first slider and the second slider, respectively.

[0012] As a further optimization of this utility model, the stabilizing plate is fixedly connected to the outside of the first slider, and the other end of the stabilizing plate is located outside the second slider.

[0013] As a further optimization of this utility model, the lead screw is rotatably connected between the stabilizing plate and the slide rail, and the collar is fixedly connected to the outside of the second slider.

[0014] As a further optimization of this utility model, the sliding groove inside the moving ring is adapted to the limiting plate on the outside of the guide post, and the end of the transmission rod away from the guide post is rotatably connected to the side wall of the stabilizing plate.

[0015] As a further optimization of this utility model, the extension column and the scale plate are installed on the outside of the stabilizing plate, and the end of the U-shaped rod away from the moving ring is fixedly connected to the top of the moving block.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] In this invention, the design of multiple charging boxes supports the simultaneous charging of multiple mobile robots, significantly increasing the charging capacity per unit time. It can meet the dense charging needs of small robots while reserving sufficient space for large robots to avoid mutual interference during charging. The micro motor driving the lead screw of the spacing adjustment mechanism rotates, causing the second slider to move along the slide rail, which can flexibly adjust the spacing between the first and second charging boxes. With the scale plate on the outside of the extension column, the adjustment distance can be displayed intuitively, improving the accuracy of spacing adjustment, effectively utilizing the cabinet space, and adapting to the charging needs of mobile robots of different sizes. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the external structure of the No. 1 charging box and the No. 2 charging box of this utility model;

[0020] Figure 3 This is a schematic diagram of the outer structure of the spacing adjustment mechanism of this utility model;

[0021] Figure 4 This is a schematic diagram of the structure between slider No. 1, slider No. 2 and the stabilizing plate of this utility model;

[0022] Figure 5 This is a schematic diagram of the structure of the guide post and the outer side of the moving ring of this utility model;

[0023] Figure 6 This is a schematic diagram of the structure between the lead screw and the guide post of this utility model;

[0024] Figure 7 This is a schematic diagram of the structure on the outer side of the extension column of this utility model;

[0025] Figure 8 This utility model Figure 5 Enlarged view of the structure at point A in the middle.

[0026] In the diagram: 1. Robot body; 2. Floating charging mechanism; 21. Slide rail; 22. Slider 1; 23. Slider 2; 24. Charging box 1; 25. Charging box 2; 3. Spacing adjustment mechanism; 31. Stabilizing plate; 32. Micro motor; 33. Lead screw; 34. Ring; 35. Connecting plate; 36. Guide post; 361. Limiting plate; 362. Transmission rod; 37. Moving ring; 371. Sliding groove; 372. U-shaped rod; 373. Fixing plate; 374. Extension post; 375. Moving block; 376. Scale plate. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0029] Please see Figures 1-8 This utility model provides a technical solution:

[0030] A mobile robot charging cabinet with a multi-directional floating adjustment structure includes a robot body 1, a floating charging mechanism 2 on the outside of the robot body 1, and a spacing adjustment mechanism 3 on the outside of the floating charging mechanism 2.

[0031] The floating charging mechanism 2 includes a slide rail 21. A first slider 22 and a second slider 23 are slidably connected to the outside of the slide rail 21. A first charging box 24 is fixedly connected to the top of the first slider 22, and a second charging box 25 is fixedly connected to the top of the second slider 23. The spacing adjustment mechanism 3 adjusts the spacing between the first charging box 24 and the second charging box 25, and the spacing adjustment range between the first charging box 24 and the second charging box 25 is 50mm-500mm.

[0032] The spacing adjustment mechanism 3 includes a stabilizing plate 31, one end of which is fixedly connected to a micro motor 32. The output end of the micro motor 32 is fixedly connected to a lead screw 33. A collar 34 is threadedly connected to the outside of the lead screw 33. A connecting plate 35 is fixedly connected to the outside of the collar 34. A moving ring 37 is fixedly connected to the outside of the connecting plate 35. A guide post 36 is slidably connected inside the moving ring 37. The guide post 36 and the moving ring 37 slide together to buffer the impact force of the docking. The spacing adjustment mechanism 3 is used to adjust the spacing of the charging boxes in the floating charging mechanism 2. The floating charging mechanism 2 can achieve position deviation compensation by sliding the slider.

[0033] It should be noted that: at least two sets of charging boxes are provided on the slide rail 21. The slide rail 21 is fixedly connected to the outside of the robot body 1. The first charging box 24 and the second charging box 25 are movably connected to the outside of the slide rail 21 through the first slider 22 and the second slider 23, respectively. The stabilizing plate 31 is fixedly connected to the outside of the first slider 22, and the other end of the stabilizing plate 31 is located on the outside of the second slider 23. The lead screw 33 is rotatably connected between the stabilizing plate 31 and the slide rail 21. The collar 34 is fixedly connected to the outside of the second slider 23. Since the distance between the first charging box 24 and the second charging box 25 can be adjusted from 50 to 500 mm, it can meet the charging needs of small intensive mobile robots and large AGV tractor trailers.

[0034] Furthermore, the floating charging mechanism 2, as the core actuator for realizing charging docking and position deviation compensation, is assembled on the outside of the robot body 1. It mainly consists of a slide rail 21, a first slider 22, a second slider 23, a first charging box 24, and a second charging box 25. The slide rail 21 is assembled on the outside of the robot body 1 in a fixed connection manner, providing a guiding reference for the sliding of the slider.

[0035] Specifically: Slider 1 22 and Slider 23 are symmetrically slidably connected to the outside of slide rail 21, and can make horizontal linear displacement along slide rail 21. Charging box 1 24 and Charging box 25 are respectively fixedly connected and installed on top of slider 1 22 and slider 23, and move synchronously with the slider to adjust the charging position. At the same time, with the sliding cooperation between the slider and slide rail 21, it has multi-directional floating compensation capability. The spacing adjustment mechanism 3 is used to adjust the spacing of the charging boxes in the floating charging mechanism 2. The floating charging mechanism 2 realizes position deviation compensation through slider sliding, and at the same time, with the sliding structure of guide post and moving ring, it buffers the impact force of docking, forming a collaborative working mode of 'spacing adjustment + deviation compensation + buffering'.

[0036] Furthermore, the micro motor 32 is fixedly connected to one end of the stabilizing plate 31, and its output end is fixedly connected to the lead screw 33 to provide power for spacing adjustment. The lead screw 33 is rotatably connected between the stabilizing plate 31 and the slide rail 21, and a collar 34 is threaded on the outside. The collar 34 is fixedly connected to the outside of the second slider 23 to realize the transmission of power from the motor to the slider.

[0037] Meanwhile, the micro motor 32, model 42BYGH4818, has a rated voltage of 12V, a rated power of 50W, an output torque of 0.8N / m, and a speed range of 0-300rpm. It has forward and reverse rotation functions to meet the power requirements of spacing adjustment. The lead screw 33 adopts a trapezoidal thread structure with a pitch of 4mm, a lead of 4mm, an outer diameter of 20mm, and a length set to 500mm-1200mm according to the single-layer length of the cabinet. It is made of 45# steel and the surface is galvanized for rust prevention. The spacing adjustment accuracy can reach ±0.5mm. Through the stepping control of the micro motor 32 and the visual assistance of the scale plate 376, the accuracy of spacing adjustment is ensured.

[0038] As a further implementation of this solution, a sliding groove 371 is provided in the inner wall of the moving ring 37, a limit plate 361 is fixedly connected to the outer side of the guide post 36, a transmission rod 362 is fixedly connected to the tail end of the guide post 36, a U-shaped rod 372 is fixedly connected to the top of the moving ring 37, a fixing plate 373 is fixedly connected to the outer side of the stabilizing plate 31, an extension post 374 is fixedly connected to the outer side of the fixing plate 373, a moving block 375 is slidably connected to the outer side of the extension post 374, and a scale plate 376 is fixedly connected to the outer side of the extension post 374.

[0039] It should be noted that: the sliding groove 371 inside the moving ring 37 is adapted to the limiting plate 361 on the outside of the guide post 36; the end of the transmission rod 362 away from the guide post 36 is rotatably connected to the side wall of the stabilizing plate 31; the extension post 374 and the scale plate 376 are installed on the outside of the stabilizing plate 31; the end of the U-shaped rod 372 away from the moving ring 37 is fixedly connected to the top of the moving block 375; the cabinet adopts a layered layout design, with slide rails 21 evenly arranged in the horizontal direction along the outside of the robot body 1 in each layer; each group of floating charging mechanisms 2 is correspondingly assembled on an independent slide rail 21; the vertical distance between two adjacent slide rails 21 is 300mm; the initial distance between two adjacent groups of floating charging mechanisms 2 in the same layer is 200mm; a 150mm maintenance passage is reserved on both sides of the cabinet; and a 200mm wiring space is reserved on the top to ensure that each group of charging mechanisms does not interfere with each other and facilitates equipment maintenance and wiring layout.

[0040] Furthermore: a fixed plate 373 is fixedly connected to the outside of the stabilizing plate 31, an extension column 374 is fixedly connected to the outside of the fixed plate 373, a moving block 375 is slidably connected to the outside of the extension column 374, and a scale plate 376 is fixedly connected to the outside of the extension column 374. The end of the U-shaped rod 372 fixedly connected to the top of the moving ring 37 away from the moving ring 37 is fixedly connected to the top of the moving block 375, forming a spacing visualization display structure.

[0041] Workflow: Through the coordinated operation of the floating charging mechanism 2 and the spacing adjustment mechanism 3, the micro motor 32 in the spacing adjustment mechanism 3 first outputs torque to drive the lead screw 33 to rotate between the stabilizing plate 31 and the slide rail 21. Since the collar 34 is threadedly connected to the lead screw 33 and fixed to the outside of the second slider 23, the rotational motion of the lead screw 33 is converted into the linear motion of the collar 34, which in turn drives the second slider 23 to slide along the slide rail 21, thereby adjusting the spacing between the second charging box 25 and the first charging box 24. During this process, the connecting plate 35 on the outside of the second slider 23 synchronously... The movable ring 37 slides along the guide post 36. The sliding groove 371 on the inner wall of the movable ring 37 is adapted to the limiting plate 361 on the outer side of the guide post 36, which can limit the sliding direction of the movable ring 37 and prevent deviation and jamming. At the same time, the U-shaped rod 372 at the top of the movable ring 37 drives the movable block 375 to slide along the extension post 374. The operator can intuitively read the real-time distance between the two charging boxes through the position of the movable block 375 on the scale plate 376, accurately adjust it to the target value, and turn off the micro motor 32 after adjustment. The distance is locked by the thread self-locking characteristics of the lead screw 33 and the collar 34.

[0042] When the mobile robot experiences a positional deviation while docking and charging, the docking contact force acts on the charging box, causing either slider 22 or slider 23 at the bottom to slide along the slide rail 21, compensating for the horizontal positional deviation. Simultaneously, the transmission rod 362 at the tail end of the guide post 36 rotates relative to the stabilizing plate 31, which, together with the sliding ring 37 along the guide post 36, buffers the docking impact force, preventing rigid collisions from causing interface wear. After charging is completed, the contact force is removed, and the slider returns to its initial position along the slide rail 21, ensuring the consistency of the reference for the next charging docking. The stabilizing plate 31, with one end fixed to the outside of slider 22 and the other end extending to the outside of slider 23, shortens the transmission path for spacing adjustment, improves adjustment accuracy, and ensures that the floating docking action does not affect the stability of the spacing adjustment mechanism 3. Ultimately, it achieves the dual functions of precise spacing adjustment and flexible docking, meeting the charging needs of mobile robots of different sizes.

[0043] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mobile robot charging cabinet with a multi-directional floating adjustment structure, comprising a robot body (1), characterized in that: A floating charging mechanism (2) is provided on the outside of the robot body (1), and a spacing adjustment mechanism (3) is provided on the outside of the floating charging mechanism (2). The floating charging mechanism (2) includes a slide rail (21), on the outside of which a first slider (22) and a second slider (23) are slidably connected. A first charging box (24) is fixedly connected to the top of the first slider (22), and a second charging box (25) is fixedly connected to the top of the second slider (23). The spacing adjustment mechanism (3) adjusts the spacing between the first charging box (24) and the second charging box (25), and the spacing adjustment range between the first charging box (24) and the second charging box (25) is 50mm-500mm. The spacing adjustment mechanism (3) includes a stabilizing plate (31), one end of which is fixedly connected to a micro motor (32), the output end of which is fixedly connected to a lead screw (33), the outer side of which is threadedly connected to a collar (34), the outer side of which is fixedly connected to a connecting plate (35), the outer side of which is fixedly connected to a moving ring (37), and the inner side of which is slidably connected to a guide post (36). The guide post (36) and the moving ring (37) slide together to buffer the impact force of docking. The spacing adjustment mechanism (3) is used to adjust the spacing of the charging boxes in the floating charging mechanism (2). The floating charging mechanism (2) achieves position deviation compensation by sliding the slider.

2. The mobile robot charging cabinet with a multi-directional floating adjustment structure according to claim 1, characterized in that: The inner wall of the moving ring (37) is provided with a sliding groove (371). A limit plate (361) is fixedly connected to the outer side of the guide post (36). A transmission rod (362) is fixedly connected to the tail end of the guide post (36). A U-shaped rod (372) is fixedly connected to the top of the moving ring (37). A fixing plate (373) is fixedly connected to the outer side of the stabilizing plate (31). An extension post (374) is fixedly connected to the outer side of the fixing plate (373). A moving block (375) is slidably connected to the outer side of the extension post (374). A scale plate (376) is fixedly connected to the outer side of the extension post (374).

3. A mobile robot charging cabinet with a multi-directional floating adjustment structure according to claim 1, characterized in that: The slide rail (21) is fixedly connected to the outside of the robot body (1), and the first charging box (24) and the second charging box (25) are movably connected to the outside of the slide rail (21) through the first slider (22) and the second slider (23), respectively.

4. A mobile robot charging cabinet with a multi-directional floating adjustment structure according to claim 1, characterized in that: The stabilizing plate (31) is fixedly connected to the outside of the first slider (22), and the other end of the stabilizing plate (31) is located outside the second slider (23).

5. A mobile robot charging cabinet with a multi-directional floating adjustment structure according to claim 1, characterized in that: The lead screw (33) is rotatably connected between the stabilizing plate (31) and the slide rail (21), and the collar (34) is fixedly connected to the outside of the second slider (23).

6. A mobile robot charging cabinet with a multi-directional floating adjustment structure according to claim 2, characterized in that: The sliding groove (371) inside the moving ring (37) is adapted to the limiting plate (361) on the outside of the guide post (36), and the end of the transmission rod (362) away from the guide post (36) is rotatably connected to the side wall of the stabilizing plate (31).

7. A mobile robot charging cabinet with a multi-directional floating adjustment structure according to claim 2, characterized in that: The extension column (374) and the scale plate (376) are installed on the outside of the stabilizing plate (31), and the end of the U-shaped rod (372) away from the moving ring (37) is fixedly connected to the top of the moving block (375).

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