Robot charging device

Abstract

The application discloses a robot charging device, and belongs to the technical field of charging equipment. The robot charging device comprises a charging base for supplying power to a robot, and a positioning mechanism for being recognized by the robot to enable the robot to determine the position of the charging base, wherein the position of the positioning mechanism relative to the charging base can be adjusted. The positioning mechanism can be recognized by the robot, the robot determines the position of the charging base by recognizing the positioning mechanism, the accuracy of the robot and the charging base in docking is improved, and the distance of the positioning mechanism relative to the charging base can be adjusted, so that the charging device is convenient for adapting to robots of different models.

Description

[0001] This application claims priority to Chinese invention patent application No. 202510130885.5, filed on February 6, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of charging equipment technology, and in particular to a robot charging device. Background Technology

[0003] Currently, many unmanned factories are using legged robots for work and inspection, which has improved the level of automation and work efficiency in these factories. However, legged robots are powered by batteries and require timely charging or battery replacement. Since battery replacement is a relatively cumbersome operation, the demand for autonomous charging of legged robots in factories has greatly increased.

[0004] When the legged robot is charging autonomously, it automatically docks with the charging electrodes of the charging base. However, docking often fails when the legged robot's positioning of the charging base is inaccurate. Utility Model Content

[0005] To address the aforementioned issues, this application provides a robot charging device that facilitates robot identification of the charging base's location.

[0006] This application provides a robot charging device, comprising:

[0007] Charging base for supplying power to the robot;

[0008] A positioning mechanism is disposed on one side of the charging base, and the position of the positioning mechanism relative to the charging base is adjustable; the positioning mechanism is used to be identified by the robot so that the robot can determine the position of the charging base.

[0009] In some embodiments, the robot charging device further includes:

[0010] A position adjustment mechanism is provided, wherein the positioning mechanism is connected to the charging base via the position adjustment mechanism, and the position adjustment mechanism is configured to be retractable to adjust the position of the positioning mechanism relative to the charging base.

[0011] In some embodiments, the position adjustment mechanism includes:

[0012] The guide rail is connected to the charging base;

[0013] A movable block is connected to the positioning mechanism;

[0014] One of the guide rail and the moving block has a groove, and the other has a protrusion that mates with the groove. The protrusion is located in the groove, allowing the moving block and the guide rail to slide together. The moving block can slide back and forth along the guide rail, allowing the position adjustment mechanism to extend and retract.

[0015] In some embodiments, the position adjustment mechanism further includes:

[0016] A fixing screw, threaded onto the guide rail or the movable block, is used to fix the movable block onto the guide rail; and / or,

[0017] A limiting block is disposed at the end of the guide rail, and the limiting block is used to prevent the moving block from disengaging from the guide rail.

[0018] In some embodiments, the position adjustment mechanism is provided with scale markings for indicating the distance between the positioning mechanism and the charging base.

[0019] In some embodiments, the charging base includes:

[0020] The shell has a cavity;

[0021] An integrated charging module is disposed in the cavity of the housing;

[0022] A conversion socket is disposed in the housing and is connected to the integrated charging module;

[0023] A charging electrode is disposed in the housing and is connected to the integrated charging module for supplying power to the robot;

[0024] A grounding terminal is provided on the housing, and the grounding terminal is used to ground the charging base.

[0025] In some embodiments, the integrated charging module includes:

[0026] A voltage conversion unit is used to convert the voltage connected to the conversion socket into a preset voltage;

[0027] A signal recognition unit, connected to the charging electrode, is used to identify whether the charging electrode receives a charging signal sent by the robot;

[0028] A charging control unit is connected to the voltage conversion unit, the signal recognition unit, and the charging electrode, respectively. The charging control unit is configured to control the charging electrode to supply power to the robot when the signal recognition unit recognizes the charging signal sent by the robot.

[0029] In some embodiments, the charging base further includes a grounding component disposed on the housing and connected to the grounding terminal, the grounding component being capable of abutting against the grounding component of the robot.

[0030] In some embodiments, the grounding component is configured to be compressible when it comes into contact with the grounding part of the robot.

[0031] In some embodiments, the grounding component includes:

[0032] A spring that can be elastically deformed and compressed when it comes into contact with the robot's grounding component.

[0033] In some embodiments, the grounding component includes:

[0034] A grounding flange is provided on the housing;

[0035] A spring-loaded telescopic pin is connected to the grounding flange and is used to abut against the grounding component of the robot.

[0036] In some embodiments, the charging electrode includes:

[0037] The main body is provided with a receiving hole;

[0038] A tail terminal is connected to one end of the main body facing the cavity, and the tail terminal portion is inserted into the receiving hole;

[0039] A head terminal is movably disposed in the receiving hole, and the head terminal portion protrudes from the end of the main body away from the cavity outside the receiving hole;

[0040] An insulating bead is movably disposed within the receiving hole;

[0041] An elastic part is disposed in the receiving hole, with one end abutting the tail terminal and the other end pressing the insulating bead against the head terminal.

[0042] In some embodiments, the charging electrode further includes:

[0043] An insulating connection portion is disposed around the outer periphery of the main body portion, and the main body portion is connected to the housing portion through the insulating connection portion.

[0044] In some embodiments, the charging base further includes a power indicator light and a charging indicator light, both of which are disposed on the housing.

[0045] In some embodiments, the charging base further includes a handle disposed on the housing.

[0046] In some embodiments, the bottom of the charging base is provided with a first fixing hole, which is used to install a first anchor bolt;

[0047] The bottom of the positioning mechanism is provided with a second fixing hole, which is used to install a second anchor bolt.

[0048] In some embodiments, the positioning mechanism includes:

[0049] substrate;

[0050] A reflective structure is disposed on the substrate, and the reflective structure is used to be recognized by the robot.

[0051] In some embodiments, the positioning mechanism further includes:

[0052] A slide rail extends along the long side of the charging base;

[0053] A slider is slidably disposed on the slide rail, and the base plate is disposed on the slider;

[0054] A locking element is used to lock the slider onto the slide rail.

[0055] In some embodiments, a scale is provided on the slide rail.

[0056] In some embodiments, the reflective structure includes at least two positioning posts, and the positioning mechanism further includes a connecting flange, through which the positioning posts are connected to the substrate; and / or,

[0057] The positioning post includes:

[0058] A column is disposed on the substrate;

[0059] A reflective layer is provided on the column.

[0060] The positioning mechanism described in this application can be recognized by the robot. By recognizing the positioning mechanism, the robot determines the position of the charging base, improving the accuracy of docking between the robot and the charging base. The distance between the positioning mechanism and the charging base can be adjusted, making it easy for the charging device to be adapted to different models of legged robots.

[0061] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0062] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0063] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0064] Figure 1 This is a schematic diagram of a robot charging device according to an embodiment of this application. Figure 1 ;

[0065] Figure 2 This is a schematic diagram of a robot charging device according to an embodiment of this application. Figure 2 ;

[0066] Figure 3 This is a schematic diagram of a charging base according to an embodiment of this application. Figure 1 ;

[0067] Figure 4 This is a schematic diagram of an embodiment of the charging module integrated in this application;

[0068] Figure 5 This is a schematic diagram of a charging base according to an embodiment of this application. Figure 2 ;

[0069] Figure 6 This is a schematic diagram of a positioning mechanism according to an embodiment of this application;

[0070] Figure 7 This is a schematic diagram of a slide rail according to an embodiment of this application;

[0071] Figure 8 This is a schematic diagram of a slider according to an embodiment of this application;

[0072] Figure 9 This is a schematic diagram of a positioning post according to an embodiment of this application;

[0073] Figure 10 This is a schematic diagram of a robot charging device according to another embodiment of this application;

[0074] Figure 11 This is a schematic diagram of a position adjustment mechanism according to another embodiment of this application;

[0075] Figure 12 yes Figure 11 A magnified schematic diagram of a portion of region A in the middle;

[0076] Figure 13 This is a schematic diagram of the charging base with its side cover opened according to another embodiment of this application;

[0077] Figure 14 This is a schematic diagram of a charging base according to another embodiment of this application;

[0078] Figure 15 This is a cross-sectional view of the charging electrode structure according to another embodiment of this application;

[0079] Figure 16 This is a schematic diagram of a positioning mechanism according to another embodiment of this application;

[0080] Explanation of reference numerals in the attached figures:

[0081] 100-Robot charging device;

[0082] 1-Charging base; 11-Housing; 111-First fixing hole; 112-Cavity; 113-Padded block; 12-Integrated charging module; 121-Voltage conversion unit; 122-Signal identification unit; 123-Charging control unit; 13-Converter socket; 14-Charging electrode; 141-Main body; 142-Receiving hole; 143-Tail terminal; 144-Head terminal; 145-Insulating bead; 146-Elastic part; 147-Insulating connection part; 15-Grounding terminal; 16-Cable tie fixing seat; 17-Grounding assembly; 171-Spring piece; 172-Grounding flange; 173-Spring telescopic pin; 19-Handle; 181-Power indicator light; 182-Charging indicator light;

[0083] 2-Positioning mechanism; 20-Reflective structure; 21-Base plate; 211-Second fixing hole; 22-Positioning post; 221-Post body; 222-Reflective layer; 223-End cap; 224-Connecting flange; 23-Slide rail; 24-Slider; 25-Locking component;

[0084] 3-Position adjustment mechanism; 31-Guide rail; 311-Groove; 312-Scale mark; 32-Moving block; 321-Protrusion; 33-Fixing screw; 34-Limit stop. Detailed Implementation

[0085] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0086] The autonomous charging requirements of multi-legged robots, and the technologies involved in the autonomous charging process such as automatic positioning, automatic alignment, charging indication, electrode application and maintenance, and adaptation to different environments and distances, have presented numerous challenges with the autonomous charging devices used in related technologies. In particular, for different models of multi-legged robots, the positioning structure and charging base of the autonomous charging device are directly fixed to a single rigid structure with no adjustable spacing. This necessitates replacing the entire device or modifying the built-in code and debugging when adapting to different robot models. Furthermore, modular electrodes are mostly composed of separate components such as individual needles, wires, and mounting bases, connected by exposed wires without a unified insulating protective shell. This makes application and maintenance difficult, consumes manpower and time, and reduces work efficiency. To address these issues, there is a growing demand in the field for an adjustable autonomous charging device that enables multi-legged robots to achieve autonomous charging through automatic positioning and alignment, simplifies maintenance through modular integrated electrodes, features electrode extension and centering functions, and can adapt to various environmental and distance conditions.

[0087] In view of this, embodiments of this application provide a robot charging device 100, which aims to solve at least one of the above-mentioned technical problems.

[0088] like Figure 1 and Figure 2 As shown, an embodiment of this application provides a robot charging device 100, which includes a charging base 1 and a positioning mechanism 2. The robot can determine the position of the charging base 1 by recognizing the positioning mechanism 2. Optionally, the robot is a legged robot, such as a quadruped robot.

[0089] like Figure 3 As shown, the charging base 1 is used to supply power to the robot. The charging base 1 is provided with a charging electrode 14, which can be connected to the robot's charging port. For example, the charging port of a quadruped robot is located on the robot's abdomen, and the charging electrode 14 is positioned on the top surface of the charging base 1 to facilitate connection of the charging electrode 14 to the robot's charging port.

[0090] The charging base 1 is located to one side of the positioning mechanism 2, meaning the positioning mechanism 2 is located to one side of the charging base 1. The positioning mechanism 2 is used for robot identification; for example, the robot identifies the positioning mechanism 2 using LiDAR. The position of the positioning mechanism 2 relative to the charging base 1 is adjustable. Different robot models have different requirements for the distance D between the positioning mechanism 2 and the charging base 1; for example, larger robots require a larger value for the distance D. The distance D between the positioning mechanism 2 and the charging base 1 is set according to the robot's needs.

[0091] Optionally, after the distance D between the positioning mechanism 2 and the charging base 1 is determined, the charging base 1 and the positioning mechanism 2 are fixed to the ground respectively. For example, the bottom of the charging base 1 is provided with a first fixing hole 111 for installing a first anchor bolt. The bottom of the positioning mechanism 2 is provided with a second fixing hole 211 for installing a second anchor bolt.

[0092] After adjusting the distance D between the positioning mechanism 2 and the charging base 1 according to the robot's needs, the robot determines the position of the charging base 1 by identifying the positioning mechanism 2, and then automatically docks with the charging base 1 based on the position of the charging base 1.

[0093] In this embodiment, the positioning mechanism 2 can be recognized by the robot. The robot determines the position of the charging base 1 by recognizing the positioning mechanism 2, thereby improving the accuracy of docking between the robot and the charging base 1. The distance between the positioning mechanism 2 and the charging base 1 is adjustable, making it easy for the robot charging device 100 to adapt to different models of legged robots.

[0094] like Figure 3 and Figure 4 As shown, in some embodiments, the charging base 1 includes: a housing 11, an integrated charging module 12, a conversion socket 13, a charging electrode 14, and a grounding terminal 15.

[0095] A cavity 112 is provided inside the housing 11. For example, the housing 11 is generally cuboid. The integrated charging module 12 is disposed in the cavity 112 of the housing 11. A pad 113 is provided at the bottom of the cavity 112, and the integrated charging module 12 is disposed on the pad 113.

[0096] A conversion socket 13 is disposed on the housing 11 and connects to the integrated charging module 12. The conversion socket 13 is used to connect a power cord to connect an external power source to the charging base 1. Optionally, the conversion socket 13 is equipped with a switch, which can turn the power supply from the conversion socket 13 to the integrated charging module 12 on or off, enabling quick and convenient power on / off functionality from outside the conversion socket 13. The conversion socket 13 is disposed on the side wall of the housing 11 near the positioning mechanism 2. When the robot is charging, it moves from the end of the housing 11 away from the positioning mechanism 2 towards the charging base 1, and the conversion socket 13 is disposed on the side wall of the housing 11 near the positioning mechanism 2 to prevent the robot from contacting the power cord.

[0097] Optionally, a cable tie fixing seat 16 is also provided on the side wall of the housing 11 near the positioning mechanism 2. Excess power cables are bundled together and placed on the cable tie fixing seat 16.

[0098] A charging electrode 14 is disposed on the top of the housing 11 and can be connected to the robot's charging port. Optionally, the charging electrode 14 can be an existing charging electrode. The charging electrode 14 is connected to an integrated charging module 12, which can convert the external voltage supplied by the adapter socket 13 into the charging voltage required by the robot. The charging electrode 14 is used to supply power to the robot.

[0099] Grounding terminal 15 is disposed on housing 11, for example, on the bottom of the side wall of housing 11 near positioning mechanism 2. Grounding terminal 15 is connected to ground via a wire for grounding charging base 1. Grounding terminal 15 is a press-fit stud, which can be used to fix the conductive wire and connect it to ground via screws.

[0100] In some embodiments, the integrated charging module 12 includes a voltage conversion unit 121, a signal recognition unit 122, and a charging control unit 123. The voltage conversion unit 121 is used to convert the voltage connected to the conversion socket 13 into a preset voltage to meet the charging requirements of the robot.

[0101] The signal recognition unit 122 is connected to the charging electrode 14. The signal recognition unit 122 is used to identify whether the charging electrode 14 has received a charging signal from the robot. After the robot's charging port is connected to the charging electrode 14, the robot sends a charging signal to the charging electrode 14 through the charging port, and the charging electrode 14 sends the received charging signal to the signal recognition unit 122. For example, the charging signal sent by the robot is a current at a second preset voltage.

[0102] The charging control unit 123 is connected to the voltage conversion unit 121, the signal recognition unit 122, and the charging electrode 14. The voltage conversion unit 121 transmits the converted current to the charging control unit 123. The signal recognition unit 122 controls the opening and closing of the charging control unit 123. After the signal recognition unit 122 detects the charging signal received by the charging electrode 14, it outputs a power supply signal to the charging control unit 123, turning on the charging control unit 123 and supplying power to the robot from the charging electrode 14. When the signal recognition unit 122 does not detect a charging signal, it outputs a no-power supply signal to the charging control unit 123, turning off the charging control unit 123 and reducing the output voltage from the charging electrode 14 to zero. The signal recognition unit 122 can identify whether the robot needs charging, improving charging safety.

[0103] Optionally, the integrated charging module 12 also includes a circuit board, on which the voltage conversion unit 121, the signal recognition unit 122, and the charging control unit 123 are all disposed.

[0104] In some embodiments, the charging base 1 further includes a grounding component 17, which is disposed on the top of the housing 11. The grounding component 17 is connected to the grounding terminal 15. When the robot's charging port is connected to the charging electrode 14, the grounding component 17 can abut against the robot's grounding component to ground the robot, thereby further improving the safety of robot charging.

[0105] Optionally, such as Figure 5 As shown, the grounding component 17 is a conductive spring 171. When the spring 171 comes into contact with the grounding component of the robot, it can undergo elastic deformation and thus be compressed, thereby improving the grounding effect of the robot.

[0106] like Figure 5 As shown, in some embodiments, the charging base 1 further includes a power indicator light 181 and a charging indicator light 182, both of which are disposed on the housing 11. When the charging base 1 is connected to an external power cord and powered on, the power indicator light 181 illuminates to indicate that the charging base 1 is powered on. When the charging electrode 14 supplies power to the robot, the charging indicator light 182 illuminates to indicate that the robot is being charged.

[0107] Optionally, both the power indicator 181 and the charging indicator 182 are located on the side wall of the housing 11 away from the positioning mechanism 2, so as to facilitate the observation of the power indicator 181 and the charging indicator 182.

[0108] Optionally, if the robot detects that the power indicator light 181 on the charging base 1 is lit, the robot will dock with the charging base 1 to charge. If the robot detects that the power indicator light 181 on the charging base 1 is off, the robot will not dock with the charging base 1.

[0109] The power indicator light 181 is connected to the input line of the integrated charging module 12. When the charging base 1 is powered on, the power indicator light 181 illuminates. The charging indicator light 182 is connected to the output line of the integrated charging module 12. When the multi-legged robot starts charging, the charging indicator light 182 illuminates. When the multi-legged robot is fully charged or no longer charging, both the power indicator light 181 and the charging indicator light 182 are off. The on / off states of the power indicator light 181 and the charging indicator light 182 can be used to indicate the power status and charging status of the device, facilitating the detection of the device's working condition and troubleshooting.

[0110] In some embodiments, the charging base 1 further includes a handle 19 disposed on the housing 11. Optionally, two handles 19 are respectively disposed on two opposite side walls of the housing 11 to facilitate movement of the charging base 1.

[0111] like Figure 6As shown, in some embodiments, the positioning mechanism 2 includes a base plate 21 and at least two positioning posts 22. The positioning posts 22 are all disposed on the base plate 21; for example, two positioning posts 22 are respectively disposed at both ends of the base plate 21. The positioning posts 22 are used for robot identification. The robot determines the position of the charging base 1 by identifying the positions of at least two positioning posts 22.

[0112] like Figure 7 and Figure 8 As shown, in some embodiments, the positioning mechanism 2 further includes a slide rail 23, a slider 24, and a locking member 25. Two slide rails 23 are arranged parallel to each other and extend along the long side of the charging base 1. The slider 24 is slidably disposed on the slide rail 23, and the base plate 21 is disposed on the slider 24. The slider 24 can drive the base plate 21 to move along the long side of the charging base 1, facilitating the adjustment of the distance D between the positioning mechanism 2 and the charging base 1 to a preset value. The locking member 25 is used to lock the slider 24 onto the slide rail 23. After the distance between the positioning mechanism 2 and the charging base 1 is adjusted to the correct position, the slider 24 is locked to prevent changes in the distance D. Optionally, the locking member 25 is a screw.

[0113] In some embodiments, a scale (not shown) is provided on the slide rail 23. For example, the scale is provided on the side wall of the slide rail 23 to facilitate the operator in determining the distance D between the positioning mechanism 2 and the charging base 1.

[0114] like Figure 9 As shown, in some embodiments, the positioning post 22 includes a post body 221 and a reflective layer 222. The post body 221 is cylindrical and disposed on the substrate 21. The reflective layer 222 is disposed on the side wall of the post body 221, and the robot's LiDAR can identify the reflective layer 222. In another embodiment, the post body 221 is made of a reflective material, and the reflective layer 222 is not required.

[0115] Optionally, the interior of the column 221 is hollow, and an end cap 223 is provided at the top of the column 221 to close the top opening of the column 221.

[0116] like Figure 10 As shown, in another embodiment of this application, the robot charging device 100 further includes a position adjustment mechanism 3, and the positioning mechanism 2 is connected to the charging base 1 through the position adjustment mechanism 3. Specifically, the position adjustment mechanism 3 is disposed between the positioning mechanism 2 and the charging base 1, and its two ends are fixed to the positioning mechanism 2 and the charging base 1 respectively by screws or other connection methods. The position adjustment mechanism 3 is configured to be telescopic, and its length can be changed by extending and shortening, thereby adjusting the position of the positioning mechanism 2 relative to the charging base 1.

[0117] Please combine them together Figure 10 , Figure 11 and Figure 12As shown, the position adjustment mechanism 3 includes a guide rail 31 and a moving block 32. The guide rail 31 is connected to the charging base 1, and the moving block 32 is connected to the positioning mechanism 2. One of the guide rail 31 and the moving block 32 has a groove 311, and the other has a protrusion 321 that mates with the groove 311. The protrusion 321 is disposed within the groove 311, allowing the moving block 32 and the guide rail 31 to slide together. By reciprocating along the guide rail 31 with the moving block 32, the position adjustment mechanism 3 can extend and retract, thereby adjusting the position of the positioning mechanism 2 relative to the charging base 1.

[0118] Figure 12 In the illustrated embodiment, a groove 311 is provided on the guide rail 31, and a protrusion 321 is provided on the side of the moving block 32 facing the guide rail 31. The protrusion 321 is embedded in the groove 311 so that the moving block 32 can slide along the guide rail 31. The groove 311 can be a dovetail groove 311, which can limit the protrusion 321 and reduce the likelihood of the moving block 32 disengaging from the guide rail 31 in the height direction.

[0119] In other embodiments, the guide rail 31 may be provided with a protrusion 321, and correspondingly, the moving block 32 may be provided with a groove 311, which can also achieve a sliding fit.

[0120] In some embodiments, the position adjustment mechanism 3 further includes a fixing screw 33, which is threaded onto the guide rail 31 or the moving block 32 to fix the moving block 32 onto the guide rail 31. Once the required positioning distance is determined, the moving block 32 can be fixed onto the guide rail 31 by screwing on the fixing screw 33 to prevent loosening or movement, thereby achieving the function and effect of adjusting the position of the positioning mechanism 2 relative to the charging base 1.

[0121] In some embodiments, the position adjustment mechanism 3 further includes a limiting block 34, which is disposed at the end of the guide rail 31 and is used to prevent the moving block 32 from disengaging from the guide rail 31. By limiting the moving block 32 with the limiting block 34, the travel of the moving block 32 on the guide rail 31 can be restricted, reducing the possibility of the moving block 32 disengaging from the guide rail 31 and ensuring the stability of use.

[0122] In some embodiments, the position adjustment mechanism 3 is provided with a scale mark 312, which is used to indicate the distance between the positioning mechanism 2 and the charging base 1. The scale mark 312 includes scale lines on the guide rail 31 and an indicator structure on the moving block 32. The scale mark 312 can indicate the distance between the plane containing the center line of the positioning mechanism 2 and the intersection of the lines connecting the two charging electrodes 14, with the distance increasing from small to large, corresponding to the non-zero minimum to maximum value of the scale sliding stroke. The distance between the positioning mechanism 2 and the charging base 1 can be adjusted according to the actual usage environment and charging requirements, and is suitable for charging conditions under different positioning requirements of different models of multi-legged robots.

[0123] like Figure 13 , Figure 14 and Figure 15 As shown, in some embodiments, the charging electrode 14 is an integrated electrode, which can be used and maintained as a whole as an independent module.

[0124] Specifically, the charging electrode 14 includes: a main body 141, a tail terminal 143, a head terminal 144, an insulating bead 145, and an elastic part 146. The insulating bead 145 can be made of insulating ceramic material. Except for the insulating bead 145, the main body 141, tail terminal 143, head terminal 144, and elastic part 146 are all made of conductive material.

[0125] The main body 141 has a receiving hole 142, in which a tail terminal 143, a head terminal 144, an insulating bead 145, and an elastic part 146 are disposed. The top portion of the head terminal 144 protrudes from the end of the main body 141 away from the cavity 112 outside the receiving hole 142; the top of the head terminal 144 is flat, and the bottom is sloped. The tail terminal 143 is fixedly connected to the end of the main body 141 facing the cavity 112, and the top boss portion of the tail terminal 143 is inserted into the receiving hole 142. The elastic part 146 can be a spring; one end abuts against the boss portion of the tail terminal 143, and the other end presses the insulating bead 145 against the bottom sloped surface of the head terminal 144.

[0126] The exposed portion of the top terminal 144 of the charging electrode 14 contracts under pressure and recovers when no pressure is applied. The height of the charging electrode 14 protruding from the housing 11 is slightly greater than the height of the housing 11 to the charging port at the bottom of the multi-legged robot. When the multi-legged robot is in the charging position, its bottom charging port aligns with the charging electrode 14 and downward pressure is applied to compress and contract it, ensuring good contact between the charging port and the charging electrode 14. The multi-legged robot sends an external voltage no lower than the threshold voltage set by the signal recognition unit 122, thereby triggering the signal recognition unit 122 to output a power supply signal to the charging control unit 123. The charging control unit 123 outputs the set output voltage, thereby charging the multi-legged robot by outputting the set voltage through the charging electrode 14. The bottom of the charging electrode 14 has a threaded hole, which allows the conductive wire to be fixed with an OT terminal and screws and connected to the integrated charging module 12.

[0127] In some embodiments, the charging electrode 14 further includes an insulating connection portion 147 surrounding the outer periphery of the main body portion 141, and the main body portion 141 is connected to the housing 11 through the insulating connection portion 147. Specifically, a through hole is provided at the top of the housing 11, the charging electrode 14 passes through the through hole, and is connected and fixed to the housing 11 through the insulating connection portion 147.

[0128] like Figure 13 and Figure 14As shown, two grounding components 17 are provided on the top of the housing 11. The grounding components 17 are symmetrical about the top surface of the housing 11, facilitating contact with different conductive parts of the multi-legged robot and enabling foolproof installation. Each grounding component 17 includes a grounding flange 172 and a spring telescopic pin 173. The grounding flange 172 is mounted on the housing 11; the spring telescopic pin 173 is connected to the grounding flange 172 and is used to abut against the robot's grounding components. Specifically, the spring telescopic pin 173 has external threads and is fixed to the grounding flange 172 by screwing it in. The grounding flange 172 is fixed to the housing 11. The top of the spring telescopic pin 173 extends and retracts under pressure and returns to its free height when not under pressure. When the multi-legged robot is aligned and autonomously charging, the top of the spring telescopic pin 173 contacts the multi-legged robot body, establishing a potential connection between the multi-legged robot body, the charging base 1, and the ground, thus grounding the multi-legged robot body and releasing static electricity.

[0129] like Figure 16 As shown, in some embodiments, the positioning mechanism 2 includes a reflective structure 20, which can be disposed on the substrate 21. The multi-legged robot can achieve automatic positioning through the reflective structure 20, thereby achieving automatic alignment between the charging port at the bottom of the multi-legged robot and the charging base 1, and thus achieving autonomous charging.

[0130] It is understood that the reflective structure 20 may include at least two positioning posts 22 as described above. The style, shape or number of reflective structures 20 is not limited to a two-positioning-posts-22 structure. Any structure that can be used to achieve automatic positioning function for multi-legged robots is acceptable. For example, a single planar reflective structure 20 can also achieve the same function and can be used as an alternative.

[0131] Optionally, the reflective structure 20 includes at least two positioning posts 22, and the positioning mechanism 2 also includes a connecting flange 224, through which the positioning posts 22 are connected to the substrate 21.

[0132] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0133] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0134] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0135] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A robot charging device (100), characterized in that, include: Charging base (1) is used to power the robot; A positioning mechanism (2) is disposed on one side of the charging base (1), and the position of the positioning mechanism (2) relative to the charging base (1) can be adjusted; the positioning mechanism (2) is used to be identified by the robot so that the robot can determine the position of the charging base (1).

2. The robot charging device (100) according to claim 1, characterized in that, The robot charging device (100) also includes: A position adjustment mechanism (3) is provided, wherein the positioning mechanism (2) is connected to the charging base (1) via the position adjustment mechanism (3), and the position adjustment mechanism (3) is configured to be retractable to adjust the position of the positioning mechanism (2) relative to the charging base (1).

3. The robot charging device (100) according to claim 2, characterized in that, The position adjustment mechanism (3) includes: The guide rail (31) is connected to the charging base (1); The movable block (32) is connected to the positioning mechanism (2); The guide rail (31) and the moving block (32) each have a groove (311) and a protrusion (321) that engages with the groove (311). The protrusion (321) is located within the groove (311), allowing the moving block (32) and the guide rail (31) to slide together. The moving block (32) can slide back and forth along the guide rail (31), enabling the position adjustment mechanism (3) to extend and retract.

4. The robot charging device (100) according to claim 3, characterized in that, The position adjustment mechanism (3) further includes: A fixing screw (33), threadedly connected to the guide rail (31) or the movable block (32), is used to fix the movable block (32) to the guide rail (31); and / or, A limiting block (34) is provided at the end of the guide rail (31) to prevent the moving block (32) from disengaging from the guide rail (31).

5. The robot charging device (100) according to claim 2, characterized in that, The position adjustment mechanism (3) is provided with a scale mark (312) for indicating the distance between the positioning mechanism (2) and the charging base (1).

6. The robot charging device (100) according to claim 1, characterized in that, The charging base (1) includes: The housing (11) is provided with a cavity (112); An integrated charging module (12) is disposed in the cavity (112) of the housing (11); A conversion socket (13) is disposed in the housing (11), and the conversion socket (13) is connected to the integrated charging module (12); A charging electrode (14) is disposed on the housing (11), and the charging electrode (14) is connected to the integrated charging module (12) for supplying power to the robot; A grounding terminal (15) is disposed on the housing (11), and the grounding terminal (15) is used to ground the charging base (1).

7. The robot charging device (100) according to claim 6, characterized in that, The integrated charging module (12) includes: A voltage conversion unit (121) is used to convert the voltage connected to the conversion socket (13) into a preset voltage; A signal recognition unit (122) is connected to the charging electrode (14) and is used to identify whether the charging electrode (14) receives a charging signal sent by the robot. The charging control unit (123) is connected to the voltage conversion unit (121), the signal recognition unit (122), and the charging electrode (14), respectively. The charging control unit (123) is configured to control the charging electrode (14) to supply power to the robot when the signal recognition unit (122) recognizes the charging signal sent by the robot.

8. The robot charging device (100) according to claim 6, characterized in that, The charging base (1) also includes a grounding component (17), which is disposed on the housing (11) and connected to the grounding terminal (15). The grounding component (17) is capable of abutting against the grounding component of the robot.

9. The robot charging device (100) according to claim 8, characterized in that, The grounding component (17) is configured to be compressible when it comes into contact with the grounding part of the robot.

10. The robot charging device (100) according to claim 9, characterized in that, The grounding component (17) includes: The spring (171) is capable of elastic deformation and compression when it abuts against the grounding component of the robot.

11. The robot charging device (100) according to claim 9, characterized in that, The grounding component (17) includes: A grounding flange (172) is provided on the housing (11); A spring telescopic pin (173) is connected to the grounding flange (172) and is used to abut against the grounding component of the robot.

12. The robot charging device (100) according to claim 6, characterized in that, The charging electrode (14) includes: The main body (141) is provided with a receiving hole (142); A tail terminal (143) is connected to one end of the main body (141) facing the cavity (112), and the tail terminal (143) is partially inserted into the receiving hole (142); A head terminal (144) is movably disposed in the receiving hole (142), and a portion of the head terminal (144) protrudes from the end of the main body (141) away from the cavity (112) outside the receiving hole (142); An insulating bead (145) is movably disposed within the receiving hole (142); An elastic part (146) is disposed in the receiving hole (142), with one end abutting against the tail terminal (143) and the other end pressing the insulating bead (145) against the head terminal (144).

13. The robot charging device (100) according to claim 12, characterized in that, The charging electrode (14) also includes: An insulating connection portion (147) is disposed around the outer periphery of the main body portion (141), and the main body portion (141) is connected to the housing (11) through the insulating connection portion (147).

14. The robot charging device (100) according to claim 6, characterized in that, The charging base (1) also includes a power indicator (181) and a charging indicator (182), both of which are located on the housing (11).

15. The robot charging device (100) according to claim 6, characterized in that, The charging base (1) also includes a handle (19), which is disposed on the housing (11).

16. The robot charging device (100) according to claim 1, characterized in that, The bottom of the charging base (1) is provided with a first fixing hole (111), which is used to install a first anchor bolt; The bottom of the positioning mechanism (2) is provided with a second fixing hole (211), which is used to install a second anchor bolt.

17. The robot charging device (100) according to claim 1, characterized in that, The positioning mechanism (2) includes: substrate(21); A reflective structure (20) is disposed on the substrate (21), and the reflective structure (20) is used to be recognized by the robot.

18. The robot charging device (100) according to claim 17, characterized in that, The positioning mechanism (2) also includes: The slide rail (23) extends along the long side of the charging base (1); The slider (24) is slidably disposed on the slide rail (23), and the base plate (21) is disposed on the slider (24); A locking element (25) is used to lock the slider (24) onto the slide rail (23).

19. The robot charging device (100) according to claim 18, characterized in that, A scale is provided on the slide rail (23).

20. The robot charging device (100) according to claim 17, characterized in that, The reflective structure (20) includes at least two positioning posts (22), and the positioning mechanism (2) further includes a connecting flange (224), wherein the positioning posts (22) are connected to the substrate (21) via the connecting flange (224); and / or, The positioning post (22) includes: A column (221) is disposed on the substrate (21); A reflective layer (222) is disposed on the column (221).

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