Mobile robot charging cabinet with built-in telescopic butt joint structure

Abstract

The utility model relates to the technical field of mobile robot charging cabinets, in particular to a mobile robot charging cabinet with a built-in telescopic butt joint structure, which comprises a cabinet body and a robot body, a charging cavity is arranged in the cabinet body, and a charging plug is fixedly mounted at the center of the rear side of a base of the robot body through a connecting seat. The bottom of the rear wall of an inner cavity of the charging cavity is fixedly connected with a butt joint box, the front side of the butt joint box is provided with a butt joint assembly, the butt joint assembly comprises a movable groove horizontally formed in the center of the front wall of the butt joint box, the interior of the movable groove is horizontally and slidably connected with a charging socket, and the charging socket is matched with the charging plug. Through the synergistic effect of horn mouth guiding and elastic resetting of the butt joint assembly and magnetic repulsive force, horizontal alignment deviation of charging of the robot body is adapted to achieve accurate butt joint, butt joint stability and follow-up stability are guaranteed, charging efficiency and reliability are improved, the service life of parts is prolonged, and the requirement for automatic high-frequency charging is met.

Description

TECHNICAL FIELD

[0001] The utility model relates to mobile robot charging cabinet technical field, concretely is a kind of mobile robot charging cabinet of built-in telescopic docking structure. BACKGROUND

[0002] Mobile robot charging cabinet is integrated intelligent charging equipment specially designed for various mobile robots such as AGV, AMR, which can complete automatic docking of charging interface through robot autonomous navigation positioning during work, and is widely used in intelligent manufacturing workshop, warehouse logistics center and other scenes, is the key supporting facilities to ensure the continuous and stable operation of mobile robot, realize unmanned operation;

[0003] The charging docking structure of existing mobile robot charging cabinet is mostly fixedly arranged, and the position of charging socket is difficult to adjust, while mobile robot is prone to horizontal alignment deviation during autonomous navigation into charging cavity due to various factors, on the one hand, the navigation system of robot can be disturbed by external factors such as ground flatness, obstacle shielding at charging cavity entrance, environmental light change, etc., resulting in slight deviation of navigation path, on the other hand, robot is prone to slight skidding and yawing during driving, and load change of robot body also affects driving posture, further amplifying alignment error.

[0004] Once robot appears horizontal alignment deviation, fixed-position charging socket is difficult to accurately align with charging plug of robot, directly leading to that charging plug cannot be inserted into socket, and causing docking failure and charging problem, even if forced insertion, it will also cause hard wear of plug and socket, causing poor contact, short circuit and other faults, not only reducing the stability and efficiency of charging, but also greatly shortening the service life of charging plug and socket, difficult to meet the automatic and high-frequency charging operation requirements of mobile robot, therefore, a mobile robot charging cabinet with built-in telescopic docking structure is proposed to solve the above problems. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a kind of mobile robot charging cabinet with built-in telescopic docking structure to solve the problems raised in the above background.

[0006] To achieve the above object, the utility model provides the following technical scheme:

[0007] The utility model provides a mobile robot charging cabinet of built -in telescopic butt joint structure, including cabinet and robot body, the inside of cabinet is provided with charging chamber, the rear side center of robot body base is fixedly installed with the charging plug through the connecting seat, the rear wall bottom of charging chamber inner chamber is fixedly connected with the docking box, the front side of docking box is equipped with docking assembly, docking assembly includes the movable slot of horizontal opening in the center of docking box front wall, the inside horizontal sliding connection of movable slot has the charging socket, charging socket is matched with charging plug, the front side of docking box is equipped with docking guide cover, docking guide cover is hollow and front and back opening setting, the both sides symmetry of docking guide cover is equipped with reset structure.

[0008] As the further optimization of the utility model, wherein: the docking guide cover is a horn mouth shaped cover with a large front end opening and a small rear end opening, the rear end opening of the docking guide cover is adapted to and fixedly connected with the charging socket.

[0009] As the further optimization of the utility model, wherein: the reset structure includes a first fixed seat fixedly connected to the front wall of the docking box, a fixed disc embedded and fixedly connected to the front side of the first fixed seat, a movable disc with the same specification provided on the side of the fixed disc close to the movable slot, and the movable disc and the fixed disc are coaxially arranged.

[0010] As the further optimization of the utility model, wherein: the side of the movable disc away from the fixed disc is fixedly connected to the side wall of the docking guide cover through a short rod, an active support rod is fixedly connected to the center of the side of the movable disc close to the fixed disc, and the end of the active support rod close to the fixed disc penetrates through the fixed disc and extends to the side of the fixed disc away from the movable disc.

[0011] As the further optimization of the utility model, wherein: the opposite side of the fixed disc and the movable disc is provided with a mounting groove, a reset spring is sleeved on the outside of the active support rod, and the two ends of the reset spring are fixedly connected to the inner end faces of the adjacent mounting grooves.

[0012] As the further optimization of the utility model, wherein: a first magnetic block is threadedly connected to the end of the active support rod away from the movable disc, a second magnetic block with the same specification is provided on the side of the first magnetic block away from the active support rod, and the first magnetic block and the second magnetic block are coaxially arranged and have a spacing therebetween.

[0013] As the further optimization of the utility model, wherein: a second fixed seat is threadedly connected to the side of the second magnetic block away from the first magnetic block, the rear end of the second fixed seat is fixedly connected to the front wall of the docking box, and the first magnetic block and the second magnetic block are arranged with the same magnetic poles.

[0014] Compared with the prior art, the utility model has the advantages of:

[0015] The utility model discloses a docking assembly is provided, can effectively adapt to the horizontal alignment deviation when the robot body autonomous navigation pours into the charging cavity, through the horn mouth shape guide structure expands the docking accommodation range, guides the charging plug and socket accurate alignment, avoids docking failure and rigid abrasion, simultaneously with the aid of elastic reset and magnetic repulsion force synergies, ensures that docking process is smooth and does not jam, after charging completes, the component fast returns to the initial position, guarantees subsequent docking stability, improves charging efficiency and reliability, prolongs the service life of charging part, satisfies the charging demand of mobile robot automation, high frequency. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the whole structure schematic diagram of the utility model;

[0017] Figure 2 It is the sectional view of the utility model charging cavity;

[0018] Figure 3 It is the structure schematic diagram of the utility model robot body and docking box;

[0019] Figure 4 It is the rear direction structure schematic diagram of the utility model Figure 3 ;

[0020] Figure 5 It is the A place enlarged view of the utility model Figure 4 ;

[0021] Figure 6 It is the sectional view of the utility model docking guide cover;

[0022] Figure 7 It is the structure exploded view of the utility model reset structure.

[0023] In the drawing: 1, cabinet body; 2, robot body; 3, charging cavity; 4, charging plug; 5, docking box; 6, docking assembly; 61, movable slot; 62, charging socket; 63, docking guide cover; 64, reset structure; 641, first fixed seat; 642, fixed disc; 643, movable disc; 644, movable support; 645, mounting groove; 646, reset spring; 647, first magnetic block; 648, second magnetic block; 649, second fixed seat. DETAILED DESCRIPTION

[0024] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings of the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0025] It is to be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments consistent with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components and / or combinations thereof, but do not preclude the presence or addition of one or more other features, steps, operations, devices, components and / or combinations thereof.

[0026] Referring to Figures 1-7 The utility model provides a technical scheme:

[0027] A mobile robot charging cabinet with built-in telescopic docking structure, including cabinet 1 and robot body 2, cabinet 1 inside is set up and charges chamber 3, the rear center of robot body 2 base is fixedly installed with charging plug 4 through connecting seat, the rear wall bottom of charging chamber 3 inner chamber is fixedly connected with docking box 5, the front side of docking box 5 is equipped with docking assembly 6, docking assembly 6 includes the movable slot 61 of the horizontal opening in the center of the front wall of docking box 5, the inside horizontal sliding connection of movable slot 61 has charging socket 62, charging socket 62 is adapted with charging plug 4, the front side of docking box 5 is equipped with docking guide cover 63, docking guide cover 63 is hollow and front and rear opening setting, and the left and right sides of docking guide cover 63 are symmetrically equipped with reset structure 64.

[0028] It should be noted that: cabinet 1 is the core bearing structure of robot body 2 charging, charging chamber 3 provides exclusive charging space for robot body 2, guarantees the safety and stability of charging process, and the adaptive design of charging plug 4 and charging socket 62 is the key to realize the transmission of electric energy, docking box 5 provides installation basis for docking assembly 6, and the horizontal guide structure of movable slot 61 gives the freedom degree of translation adjustment to charging socket 62, the horn mouth structure of docking guide cover 63 can effectively compensate the horizontal alignment deviation of charging plug 4, and reset structure 64 can drive docking guide cover 63 and charging socket 62 to return to the initial position after charging is completed;

[0029] As a further implementation of the scheme, the docking guide cover 63 is a horn mouth shaped cover with a large front end opening and a small rear end opening, and the rear end opening of the docking guide cover 63 is adapted and fixedly connected with the charging socket 62.

[0030] It should be noted that the front end large opening and the rear end small opening of the docking guide cover 63 are designed in a horn shape, which greatly improves the accommodation range of the charging plug 4, and can be compatible with the horizontal position deviation of the robot body 2 during charging. The inclined inner wall of the docking guide cover 63 has a guiding and correcting function, which can convert the horizontal thrust of the charging plug 4 into the horizontal thrust of the charging socket 62, realize accurate docking, and ensure the synchronization of the docking guide cover 63 and the charging socket 62, thereby ensuring the continuity and reliability of the docking action.

[0031] As a further embodiment of the present scheme, the reset structure 64 includes a first fixed seat 641 fixedly connected to the front wall of the docking box 5. The front side of the first fixed seat 641 is embedded and fixedly connected with a fixed disc 642. The side of the fixed disc 642 close to the movable slot 61 is provided with a movable disc 643 with the same specification. The movable disc 643 is coaxially arranged with the fixed disc 642. The side of the movable disc 643 away from the fixed disc 642 is fixedly connected with the side wall of the docking guide cover 63 through a short rod. The center of the side of the movable disc 643 close to the fixed disc 642 is fixedly connected with an active support rod 644. The end of the active support rod 644 close to the fixed disc 642 penetrates through the fixed disc 642 and extends to the side of the fixed disc 642 away from the movable disc 643. The opposite sides of the fixed disc 642 and the movable disc 643 are both provided with a mounting groove 645. The outside of the active support rod 644 is sleeved with a reset spring 646. The two ends of the reset spring 646 are respectively fixedly connected with the inner end faces of the adjacent mounting grooves 645.

[0032] It should be noted that the first fixed seat 641 provides stable mounting support for the reset structure 64. The coaxial arrangement of the fixed disc 642 and the movable disc 643 ensures the linearity of the extension and retraction of the reset spring 646, avoiding the occurrence of jamming phenomenon. The design of the active support rod 644 penetrating through the fixed disc 642 can accurately limit the moving direction of the movable disc 643, preventing the docking guide cover 63 from deflecting during translation. The elastic extension and retraction characteristics of the reset spring 646 can store elastic potential energy when the charging plug 4 presses the docking guide cover 63, providing power for subsequent reset action.

[0033] As a further embodiment of the present scheme, the end of the active support rod 644 away from the movable disc 643 is threadedly connected with a first magnetic block 647. The side of the first magnetic block 647 away from the active support rod 644 is provided with a second magnetic block 648 with the same specification. The first magnetic block 647 and the second magnetic block 648 are coaxially arranged with a spacing therebetween. The side of the second magnetic block 648 away from the first magnetic block 647 is threadedly connected with a second fixed seat 649. The rear end of the second fixed seat 649 is fixedly connected with the front wall of the docking box 5. The first magnetic block 647 and the second magnetic block 648 are arranged with the same magnetic poles.

[0034] It should be noted that: the same name magnetic pole setting of the first magnetic block 647 and the second magnetic block 648 provides pre-tightening force for the reset structure 64 by magnetic repulsion, enhances the timeliness and accuracy of the reset action, the threaded connection mode facilitates the disassembly and replacement of the first magnetic block 647 and the second magnetic block 648, and the magnetic repulsion can be adjusted according to actual needs. The fixed connection design of the second fixed seat 649 ensures the position stability of the second magnetic block 648 and guarantees the continuous action of the magnetic repulsion, which assists the reset spring 646 to drive the docking guide cover 63 and the charging socket 62 to reset quickly.

[0035] Workflow: Before the charging operation starts, the docking assembly 6 is in the initial reset state, under the combined action of the natural extension and contraction elastic force of the reset spring 646 and the magnetic repulsion generated by the same name magnetic poles of the first magnetic block 647 and the second magnetic block 648, the movable disc 643 and the fixed disc 642 maintain a relatively stable distance, the movable support rod 644 is in a horizontal straight state, driving the docking guide cover 63 and the charging socket 62 to be stably positioned at the center position of the movable groove 61, at this time the charging socket 62 maintains stable electrical connection with the power supply line inside the cabinet 1 through the docking box 5, preparing for the subsequent charging docking;

[0036] When the robot body 2 needs to be charged, the robot body 2 pours into the charging cavity 3 inside the cabinet 1 according to the preset path. In this process, even if there is a horizontal alignment deviation of the robot body 2, the charging plug 4 at the back of the base can successfully contact the trumpet-shaped inclined inner wall of the docking guide cover 63 within the accommodating range of the large opening at the front end of the docking guide cover 63. With the robot body 2 continuously pouring backward, the charging plug 4 generates a horizontal extrusion thrust on the inclined inner wall of the docking guide cover 63, which is converted into a driving force to drive the docking guide cover 63 to move horizontally under the guidance of the inclined inner wall, so that the docking guide cover 63 drives the charging socket 62 to move horizontally along the movable groove 61. Until the charging plug 4 and the charging socket 62 are accurately aligned and completely inserted, the stable electrical docking of the two is realized. At this time, the robot body 2 stops pouring and starts to obtain power from the cabinet 1 through the cooperation of the charging plug 4 and the charging socket 62, completing the charging start process.

[0037] In the process that the charging plug 4 extrudes the docking guide cover 63 and drives the charging socket 62 to move and align, the docking guide cover 63 drives the movable disc 643 on one side to move to the direction close to the corresponding fixed disc 642, the movable support rod 644 on the movable disc 643 on the side is synchronously slid along the through hole of the fixed disc 642, the corresponding reset spring 646 is compressed and stores elastic potential energy, and the movable support rod 644 on the side drives the first magnetic block 647 to move to the direction close to the second magnetic block 648, the magnetic repulsion between the two increases as the interval decreases, and at the same time, the movable disc 643 on the other side is driven by the docking guide cover 63 to move to the direction away from the corresponding fixed disc 642, the reset spring 646 on the side is stretched and synchronously stores elastic potential energy, and the corresponding first magnetic block 647 moves to the direction away from the second magnetic block 648, the magnetic repulsion decreases as the interval increases, and the elastic deformation of the reset structure 64 on the two sides and the change of the magnetic repulsion together adapt to the translation adjustment of the docking guide cover 63, so that the docking process is stable and does not jam;

[0038] When the robot body 2 completes charging, the robot body 2 reverses out of the charging cavity 3 along the pouring direction, the charging plug 4 gradually separates from the charging socket 62, the extrusion pushing force of the docking guide cover 63 disappears, at this time, the reset springs 646 on the two sides are synchronously released from the elastic potential energy, push the movable discs 643 on the two sides to move to the initial position, and the magnetic repulsion between the first magnetic block 647 and the second magnetic block 648 cooperates to provide auxiliary pushing force for the reset of the movable disc 643, accelerates the movable support rod 644, the docking guide cover 63 and the charging socket 62 to return to the central initial position along the movable groove 61, and after the docking assembly 6 is completely reset, the whole charging process is completed, and the charging cabinet returns to the standby state and waits for the next charging operation.

[0039] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. A mobile robot charging cabinet with built-in telescopic docking structure, comprising a cabinet body (1) and a robot body (2), characterized in that: The cabinet (1) is internally provided with a charging cavity (3), a charging plug (4) is fixedly installed at the rear center of the base of the robot body (2) through a connecting seat, a docking box (5) is fixedly connected to the bottom of the rear wall of the inner cavity of the charging cavity (3), and a docking assembly (6) is arranged on the front side of the docking box (5). The docking assembly (6) comprises a movable slot (61) horizontally formed at the center of the front wall of the docking box (5), a charging socket (62) is horizontally and slidably connected in the movable slot (61), the charging socket (62) is matched with the charging plug (4), a docking guide cover (63) is arranged on the front side of the docking box (5), the docking guide cover (63) is hollow and open at the front and rear ends, and reset structures (64) are symmetrically arranged on the left and right sides of the docking guide cover (63).

2. The mobile robot charging cabinet with built-in telescopic docking structure according to claim 1, characterized in that: The docking guide cover (63) is a horn-shaped cover with a large front end opening and a small rear end opening, and the rear end opening of the docking guide cover (63) is matched and fixedly connected with the charging socket (62).

3. The mobile robot charging cabinet with built-in telescopic docking structure according to claim 1, characterized in that: The reset structure (64) comprises a first fixed seat (641) fixedly connected to the front wall of the docking box (5), a fixed disc (642) is embedded and fixedly connected to the front side of the first fixed seat (641), a movable disc (643) with the same specification is arranged on the side of the fixed disc (642) close to the movable slot (61), and the movable disc (643) and the fixed disc (642) are coaxially arranged.

4. The mobile robot charging cabinet with built-in telescopic docking structure according to claim 3, characterized in that: The side of the movable disc (643) away from the fixed disc (642) is fixedly connected with the side wall of the docking guide cover (63) through a short rod, an movable supporting rod (644) is fixedly connected to the center of the side of the movable disc (643) close to the fixed disc (642), and one end of the movable supporting rod (644) close to the fixed disc (642) penetrates through the fixed disc (642) and extends to the side of the fixed disc (642) away from the movable disc (643).

5. The mobile robot charging cabinet with built-in telescopic docking structure according to claim 4, characterized in that: The opposite sides of the fixed disc (642) and the movable disc (643) are both provided with mounting grooves (645), a reset spring (646) is sleeved on the outside of the movable supporting rod (644), and the two ends of the reset spring (646) are fixedly connected with the inner end faces of the adjacent mounting grooves (645).

6. The mobile robot charging cabinet with built-in telescopic docking structure according to claim 4, characterized in that: A first magnetic block (647) is threadedly connected to the end of the movable supporting rod (644) away from the movable disc (643), a second magnetic block (648) with the same specification is arranged on the side of the first magnetic block (647) away from the movable supporting rod (644), and the first magnetic block (647) and the second magnetic block (648) are coaxially arranged and spaced apart.

7. The mobile robot charging cabinet with built-in telescopic docking structure according to claim 6, characterized in that: A second fixed seat (649) is threadedly connected to the side of the second magnetic block (648) away from the first magnetic block (647), and the rear end of the second fixed seat (649) is fixedly connected with the front wall of the docking box (5). The first magnetic block (647) and the second magnetic block (648) are arranged with the same magnetic poles.

Images