WO2023040444A1

WO2023040444A1 - Charging device

Info

Publication number: WO2023040444A1
Application number: PCT/CN2022/105569
Authority: WO
Inventors: 李利; 宋伟
Original assignee: 北京极智嘉科技股份有限公司
Priority date: 2021-09-15
Filing date: 2022-07-13
Publication date: 2023-03-23

Abstract

A charging device, and a charging base station, a robot, and a charging system comprising the charging device. The charging device comprises an electrical connector (1), a base (2), a swing mechanism (30), and a first elastic device (31). The swing mechanism (30) is configured to be movably connected with respect to the base (2); the electrical connector (1) is relatively fixed on the swing mechanism (30); the electrical connector (1) is configured to, when subjected to a deflection external force, drive the swing mechanism (30) to deflect relative to the base (2); the first elastic device (31) is disposed between the swing mechanism (30) and the base (2), and is configured to, when the deflection external force applied to the electrical connector (1) disappears, drive the swing mechanism (30) to return. According to the charging device, the relative positions of the electrical connector (1) and an electrical connector (1) adapted thereto can be automatically adjusted, so that the two electrical connectors (1) are quickly and smoothly connected, thereby omitting the step of manual adjustment, and reducing the operating cost of charging a robot.

Description

charging device

This application is required to be submitted to the China Patent Office on September 15, 2021, the application number is 202122240690.6, the title of the invention is "charging device, charging base station, robot and charging system", and it is submitted to the China Patent Office on April 12, 2022, and the application number is 202220850183.6, the invention name is "follow-up charging actuator and charging pile with it" and the priority of the Chinese patent application submitted to the China Patent Office on April 12, 2022, the application number is 202220850643.5, the invention name is "charging mechanism", The entire contents of which are incorporated by reference in this application.

technical field

The present application relates to the technical field of robot charging, in particular to a charging device.

Background technique

With the development of intelligent manufacturing, various robots can replace manual labor to complete various types of work. For example, the automated logistics system used in intelligent production workshops, AGV (Automated Guided Vehicle), is usually also called AGV trolley. AGV trolley refers to a transport vehicle equipped with automatic navigation devices such as electromagnetic or optical, capable of driving along a prescribed navigation path, with safety protection and various transfer functions.

A truck that does not require a driver in industrial applications is powered by a rechargeable battery. Generally, robots such as AGV cars need to drive to charging piles to charge their batteries. Due to the unevenness of the road surface, it is difficult to connect the charging ports of robots and charging piles, and manual assistance is required for docking.

Referring to Figures 4 to 7, for self-charging AGV and other series products, the charging port assembly 50 of the product is plugged with the charging head assembly 40 along the Y-axis direction, due to the influence of mechanical consistency differences, ground factors, control and other factors , between the charging head assembly 40 and the charging port assembly 50 there is inevitably a position or angle deviation in the X-axis direction, the Y-axis direction or the Z-axis direction, etc., which will affect the charging electrode part between the charging head assembly 40 and the charging port assembly 50 The precise insertion of the battery makes the product unable to complete the self-charging process.

Contents of the invention

The present application provides a charging device in order to solve the technical problem that it is difficult to connect the charging ports of the robot and the charging pile.

According to the first aspect of the embodiment of the present application, there is provided a charging device, including an electrical connector, the direction of extension of the electrical connector is marked as the X-axis direction, and the direction perpendicular to the X-axis in the horizontal plane is marked as the Y-axis direction , and the direction perpendicular to the horizontal plane is recorded as the Z-axis direction, including:

base;

A swing mechanism, the swing mechanism is configured to be movably connected relative to the base; the electrical connector is relatively fixed on the swing mechanism, and is configured to drive the swing mechanism relative to the swing mechanism when subjected to a deflection external force deflection of the base;

A first elastic device, the first elastic device is arranged between the swing mechanism and the base, and is configured to drive the swing mechanism to reset when the deflection external force received by the electrical connector disappears.

In one embodiment of the present application, the swing mechanism includes a first connecting plate, and the first connecting plate is relatively hinged on the base through a hinge shaft; the electrical connector is fixed on the first connecting plate .

In an embodiment of the present application, at least two first elastic devices are provided, and at least two of the first elastic devices are respectively located on opposite sides of the hinge shaft.

In one embodiment of the present application, it further includes a swing limiting mechanism that limits the deflection angle of the swing mechanism, and the swing limiting mechanism includes at least two swing limiting posts arranged on the second connecting plate, at least two of which swing The limit posts are respectively located on opposite sides of the hinge shaft.

In an embodiment of the present application, the first elastic device is sleeved on the swing limiting post.

In an embodiment of the present application, a first direction moving component, a second direction moving component and a third direction moving component are also included.

In one embodiment of the present application, the moving component in the first direction includes an X-axis movement mechanism and a second elastic device;

The X-axis motion mechanism is configured to drive the electrical connector to be displaced in the X-axis direction when the electrical connector is subjected to an external force in the X-axis direction;

The second elastic device is configured to drive the X-axis motion mechanism to reset when the external force in the X-axis direction on the electrical connector disappears.

In one embodiment of the present application, the X-axis motion mechanism includes a second connecting plate and an X-axis guide assembly, and the second connecting plate is configured to move in the X-axis direction relative to the base through the X-axis guide assembly. Movement; the second elastic device is relatively arranged between the second connecting plate and the base.

In one embodiment of the present application, the moving component in the second direction includes a Z-axis movement mechanism and a third elastic device;

The Z-axis movement mechanism is configured to drive the electrical connector to be displaced in the Z-axis direction when the electrical connector is subjected to an external force in the Z-axis direction;

The third elastic device is configured to drive the Z-axis motion mechanism to reset when the external force in the Z-axis direction on the electrical connector disappears.

In one embodiment of the present application, the Z-axis motion mechanism includes a third connecting plate and a Z-axis guide assembly, and the third connecting plate is configured to move in the Z-axis direction relative to the base through the Z-axis guide assembly. Movement; the third elastic device is relatively arranged between the third connecting plate and the base.

In one embodiment of the present application, it also includes a Z-axis limiting mechanism for limiting the displacement of the Z-axis motion mechanism in the Z-axis direction, and the Z-axis limiting mechanism includes a Z-axis limiting column and a Describe the Z-axis stoppers fitted at both ends of the Z-axis limit column.

In one embodiment of the present application, the third direction moving component includes a Y-axis movement mechanism and a fourth elastic device;

The Y-axis movement mechanism is configured to drive the electrical connector to be displaced in the Y-axis direction when the electrical connector is subjected to an external force in the Y-axis direction;

The fourth elastic device is configured to drive the Y-axis movement mechanism to reset when the external force in the Y-axis direction applied to the electrical connector disappears.

In one embodiment of the present application, the Y-axis motion mechanism includes a fourth connecting plate and a Y-axis guide assembly, and the fourth connecting plate is configured to move on the Y-axis relative to the base through the Y-axis guide assembly. direction; the fourth elastic device is relatively arranged between the fourth connecting plate and the base.

In one embodiment of the present application, it also includes a Y-axis limiting mechanism for limiting the displacement of the Y-axis motion mechanism in the Y-axis direction, and the Y-axis limiting mechanism includes a Y-axis limiting column and a The Y-axis stopper fitted at both ends of the axis limit column.

In one embodiment of the present application, it also includes a first direction movement component, the first direction movement component includes an X-axis movement mechanism and a second elastic device;

The X-axis motion mechanism includes a second connecting plate configured to move in the X-axis direction relative to the base; the second elastic device is configured to drive the X-axis motion mechanism to reset;

The first connecting plate of the swing mechanism is hinged on the second connecting plate through a hinge shaft.

In one embodiment of the present application, it also includes a second direction movement component, the second direction movement component includes a Z-axis movement mechanism and a third elastic device;

The Z-axis motion mechanism includes a third connecting plate configured to move in the Z-axis direction relative to the base; the third elastic device is configured to drive the Z-axis motion mechanism to reset;

The second connecting plate of the X-axis motion mechanism is arranged in parallel with the third connecting plate, and is connected to the third connecting plate of the Z-axis motion mechanism through the X-axis guide assembly, and the second connecting plate is configured Because when receiving an external force in the X direction, displacement occurs toward the direction of the third connecting plate.

In one embodiment of the present application, it also includes a third direction movement component, the third direction movement component includes a Y-axis movement mechanism and a fourth elastic device;

The Y-axis motion mechanism includes a fourth connecting plate configured to move in the Y-axis direction relative to the base; the fourth elastic device is configured to drive the Y-axis motion mechanism to reset;

The third connection plate of the Z-axis movement mechanism is connected to the fourth connection plate of the Y-axis movement mechanism through the Z-axis guide assembly, and is configured to be connected to the fourth connection plate when subjected to an external force in the Z-axis direction. Displacement occurs on the plate along the Z axis.

In one embodiment of the present application, it also includes a Z-axis limiting mechanism, the Z-axis limiting mechanism includes a Z-axis limiting column and Z-axis stoppers for cooperating with both ends of the Z-axis limiting column; One of the Z-axis limiting column and the Z-axis stop block is connected to the third connecting plate, and the other is arranged on the fourth connecting plate, and is configured to limit the third connecting plate The displacement in the Z-axis direction relative to the fourth connecting plate.

In one embodiment of the present application, the third elastic device is sleeved on the Z-axis limiting column, and both ends of the third elastic device abut against the Z-axis stop block respectively.

In one embodiment of the present application, the fourth connecting plate of the Y-axis motion mechanism is connected to the fifth connecting plate provided on the base through a Y-axis guide assembly, and is configured to The fifth connecting plate is displaced along the Y-axis direction.

In one embodiment of the present application, it also includes a Y-axis limiting mechanism, the Y-axis limiting mechanism includes a Y-axis limiting column and Y-axis stoppers for cooperating with both ends of the Y-axis limiting column; One of the Y-axis limiting column and the Y-axis stop block is connected to the fourth connecting plate, and the other is arranged on the fifth connecting plate, and is configured to limit the fourth Displacement of the connecting plate in the Y-axis direction relative to the fifth connecting plate.

In one embodiment of the present application, the fourth elastic device is sleeved on the Y-axis limiting column, and both ends of the fourth elastic device abut against the Y-axis stop block respectively.

In an embodiment of the present application, the third direction movement component includes:

a first base, the first base has a first sliding rail arranged horizontally, and a first blocking portion;

a first slider, the first slider is slidably arranged to the first slide rail between a first translation position and a second translation position, the first slider is fixedly connected to the electrical connector, Wherein, the electrical connector is used for plugging with the charging port assembly of the mobile robot;

A second slider, the second slider is slidably provided to the first slide rail between a rest position and an actuated position, the second slider at the rest position abuts against the first slide rail a blocking portion at least partially located on one side of the first blocking portion;

The first elastic member, the first end of the first elastic member is connected to the electrical connector, the second end of the first elastic member is connected to the second slider, and the first elastic member is connected to the electrical connector. The first slider exerts a first force, so that the first slider abuts against the second slider along the first horizontal direction, and the second slider at the rest position abuts against The first slider is at least partially located on the other side of the first blocking portion; and

A second elastic member, one end of the second elastic member is connected to the first base, and the other end is connected to the second slider, and the second elastic member exerts a second action on the second slider force, so that the second slider moves to the rest position along a second horizontal direction opposite to the first horizontal direction.

In one embodiment of the present application, the first blocking portion is located between two ends of the second elastic member.

In one embodiment of the present application, it further includes an adapter, the adapter includes a fixing portion fixed to the second slider and a first bending portion extending away from the electrical connector, the The first bent portion is used to abut against the first blocking portion.

In one embodiment of the present application, the adapter further includes a connecting shaft perpendicular to the fixing portion, and the second end of the first elastic member is connected to the connecting shaft.

In one embodiment of the present application, both ends of the second elastic member are respectively connected to the first bending portion and the second bending portion provided on the first base, and the second bending portion is the electrical link extends in the direction of the joint; and

The first elastic member and the second elastic member are arranged horizontally and parallel along the moving direction of the first slider.

In one embodiment of the present application, it further includes a third bending portion, the third bending portion is arranged on the first base at both ends of the first sliding rail along the horizontal direction, and is close to the electrical connection Extend in the direction of the head.

In one embodiment of the present application, it further includes an intermediate connector, the electrical connector is connected to the first slider through the intermediate connector, and the first end of the first elastic member is connected to the Intermediate connectors.

In one embodiment of the present application, the moving assembly in the second direction includes an intermediate connecting piece, and the intermediate connecting piece includes:

The second base, the second base is vertically provided with a slide bar on a side close to the electrical connector, and the two ends of the slide bar are respectively connected to the upper fixing part provided on the second base, Lower fixed part;

A connection seat, one end of the connection seat is connected to the electrical connector, and the other end of the connection seat is sleeved on the slide bar and can slide along the slide bar.

In one embodiment of the present application, further comprising:

an upper socket part, the upper socket part is socketed on the slide bar and can slide along the slide bar;

A lower socket part, the lower socket part is socketed on the slide bar and can slide along the slide bar, the lower socket part is located below the upper socket part, the lower socket part having an annular protrusion extending radially outward;

a second blocking portion, the second blocking portion is arranged on the second base and is used to abut against the upper end surface of the annular protrusion;

a first compression spring, the first compression spring is sleeved on the slide bar and located between the upper fixing part and the upper sleeve part; and

The second compression spring is sleeved on the sliding rod and located between the lower fixing part and the lower sleeve part.

In one embodiment of the present application, the intermediate connector further includes:

A shift fork, one end of the shift fork is connected to the connecting seat, and the other end of the shift fork is provided with a groove extending along the insertion direction of the electric link connector;

An elastic piece, the elastic piece is vertically fixed to the second base and passes through the groove; wherein, the connecting base is configured to be able to rotate around the slide bar.

In one embodiment of the present application, the elastic piece is arranged on the side of the second base away from the electrical connector, the fork passes through the second base, and the second base is arranged There is a through-hole portion for the shift fork to pass through.

In one embodiment of the present application, further said moving component in the first direction includes:

a third base, the third base is provided with a second sliding rail along the insertion direction of the electrical connector and the charging port assembly; and

The first base is slidably connected to the second slide rail and can slide along the insertion direction of the electrical connector and the charging port assembly, and the first base moves along the horizontal movement direction of the first slider The two ends of each are respectively connected to the third base through a third elastic piece and a fourth elastic piece.

In one embodiment of the present application, further comprising:

a third blocking portion, the third blocking portion is arranged on the third base on the side of the second slide rail close to the electrical connector, and the third blocking portion abuts against the first base .

In one embodiment of the present application, a flared structure is also included, and the electrical connector further includes:

a housing having a through hole;

an electrode assembly having an electrode female head and a connecting hole; and

a connecting rod, the first end of the connecting rod extends through the connecting hole and the through hole to be connected with the housing, and the second end of the connecting rod is provided with a pin hole extending along its length direction , there is a first gap between the end surface of the second end of the connecting rod and the connecting hole and/or in a section perpendicular to the axial direction of the connecting hole, the electrode assembly and the shell there is a second gap between the bodies; and

The flaring structure is provided with a guide pin capable of abutting with the pin hole, and a male electrode for plugging into the female electrode.

In one embodiment of the present application, the pin hole is configured as a first tapered opening at one end close to the male electrode, and the diameter of the first tapered opening gradually decreases along the insertion direction of the male electrode; and/or

The guide pin is configured as a tapered head at one end close to the pin hole, and the diameter of the tapered head gradually becomes smaller along the insertion direction of the electrode male head.

In one embodiment of the present application, the electrode female head is configured as a second tapered mouth at one end close to the electrode male head, and the diameter of the second tapered mouth gradually becomes smaller along the insertion direction of the electrode male head. ; and/or

The electrode male head is configured as a circular rod body.

In one embodiment of the present application, the electrode assembly is provided with a protrusion extending inward along the radial direction of the connection hole on a side close to the through hole, and the protrusion abuts against the connecting rod .

In one embodiment of the present application, the guide pin is arranged at a position between the electrode male heads; and/or

The guide pin is arranged at the middle position of the male connection wire of the electrode.

In one embodiment of the present application, it further includes a guide cone, the guide cone is arranged at one end of the flaring structure close to the electrode female head, and the guide cone is configured as two ends along the insertion direction of the electrode male head. The end is a tube structure with openings, and the caliber gradually increases along the insertion direction of the electrode male head.

The charging device of the present application includes an electrical connector, a base, a swing mechanism and a first elastic device. Wherein, the swing mechanism is configured to be flexibly connected to the base; the electrical connector is relatively fixed on the swing mechanism, and the electrical connector is configured to drive the swing mechanism to deflect relative to the base when subjected to a deflection external force; the first elastic The device is arranged between the swing mechanism and the base, and is configured to drive the swing mechanism to reset when the deflection external force received by the electrical connector disappears.

In practical application, the charging device can be fixedly installed on the robot or the charging pile of the charging base station through the base, and its electrical connector needs to be docked with the matching electrical connector to charge the robot. When the robot reaches the charging position, if there is a relative position deviation between the two electrical connectors, if the electrical connector on the charging device is subjected to the deflection external force exerted by the other electrical connector, the electrical connector will drive the swing mechanism to deflect relative to the base , to compensate for the position deviation between the two electrical connectors, and quickly complete the docking of the two. After the charging is completed, the deflection external force received by the electrical connector disappears after the robot leaves the charging position, and the swing mechanism drives the electrical connector to reset under the action of the elastic force of the first elastic device.

It can be seen that the charging device of the present application can automatically adjust the relative position of its electrical connector and the electrical connector that is compatible with it, so that the two can quickly and smoothly complete the docking, which can save the current manual adjustment steps and reduce reduce the operating cost of robot charging.

Other features of the present application and advantages thereof will become apparent through the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate the embodiments of the application and together with the description serve to explain the principles of the application.

Figure 1 is a schematic diagram of the front view of the charging device provided by the present application when it is ready for docking;

FIG. 2 is a schematic top view of the charging device shown in FIG. 1;

FIG. 3 is a schematic diagram of the exploded structure of the charging device shown in FIG. 1 .

Fig. 4 is a schematic diagram of the normal plugging posture between the existing charging head assembly and the charging port assembly;

Fig. 5 is a schematic diagram of a posture with a position deviation in the X-axis direction between the existing charging head assembly and the charging port assembly;

Fig. 6 is a schematic diagram of a posture with a rotation angle deviation in the Z-axis direction between the existing charging head assembly and the charging port assembly;

Fig. 7 is a schematic diagram of a posture with a rotation angle deviation in the Y-axis direction between the existing charging head assembly and the charging port assembly;

Fig. 8 is a schematic diagram of a charging device according to a preferred embodiment of the present application;

Fig. 9 is a schematic diagram of another angle of Fig. 8;

Fig. 10 is an exploded schematic diagram of a charging device according to a preferred embodiment of the present application;

Fig. 11 is a partial schematic diagram of the charging device according to a preferred embodiment of the present application when the first slider is at the initial position;

Fig. 12 is a partial schematic diagram of the charging device according to a preferred embodiment of the present application when the first slider is located at the first translation position;

Fig. 13 is a partial schematic diagram of the charging device according to a preferred embodiment of the present application when the first slider is at the second translation position;

Fig. 14 is a schematic diagram of the connection between the first base and the third base in the charging device according to a preferred embodiment of the present application;

Fig. 15 is a schematic diagram of the connection of the charging head assembly, the connecting seat and the shift fork in the charging device according to a preferred embodiment of the present application;

Fig. 16 is a partial schematic view of the charging device in the initial position in the vertical direction according to a preferred embodiment of the present application;

Fig. 17 is a partial schematic diagram of a charging device moving upwards in a vertical direction according to a preferred embodiment of the present application;

Fig. 18 is a partial schematic diagram of the charging device moving downward in the vertical direction according to a preferred embodiment of the present application;

Fig. 19 is a cross-sectional view of a charging head assembly and a charging port assembly in a charging device according to a preferred embodiment of the present application;

Fig. 20 is a partially enlarged schematic diagram of A in Fig. 19;

Fig. 21 is an exploded schematic diagram of a charging head assembly in a charging device according to a preferred embodiment of the present application; and

Fig. 22 is a schematic diagram of the internal structure of a charging head assembly in a charging device according to a preferred embodiment of the present application.

The one-to-one correspondence between the names of the components and the reference signs in Figures 1 to 3 is as follows:

1 electrical connector;

2 bases;

30 swing mechanism, 301 first connecting plate, 3010 limit hole, 302 hinge shaft, 31 first elastic device, 32 swing limit column;

40 X-axis motion mechanism, 401 second connecting plate, 402 guide rod, 4020 stop ring, 41 second elastic device;

50 Z-axis motion mechanism, 501 third connecting plate, 502 first Z-axis linear guide rail, 503 second Z-axis linear guide rail, 51 third elastic device, 52 Z-axis limit column, 53 first Z-axis stop block, 54 second Z-axis stop block, 540 abutting groove;

60 Y-axis motion mechanism, 601 fourth connecting plate, 602 first Y-axis linear guide rail, 603 second Y-axis linear guide rail, 61 fourth elastic device, 62 Y-axis limit column, 63 first Y-axis stop block, 64 second Y-axis stop block;

7 fifth connecting plate;

8 flaring structure.

The one-to-one correspondence between the names of the components and the reference numerals in Fig. 4 to Fig. 22 is as follows:

40: Charging head assembly 50: Charging port assembly

110: The first base 111: The first slide rail

112: The first blocking part 113: The second bending part

114: The third bending part 121: The first slider

122: Second slider 130: Adapter

131: Fixed part 132: First bending part

133: connecting shaft 140: first elastic member

141: First end 142: Second end

150: Second elastic piece 200: Intermediate connecting piece

210: Second Base 212: Slider

213: Upper fixed part 214: Lower fixed part

215: elastic sheet 216: through hole

220: Connection seat 221: Shift fork

222: Groove 230: Upper socket

240: Lower socket part 241: Annular protrusion

250: The second blocking part 261: The first compression spring

262: The second compression spring 310: The third base

311: The second slide rail 321: The third elastic piece

322: The fourth elastic part 330: The third blocking part

400: Electrical connector 410: Housing

412: Opening part 420: Through hole

430: electrode assembly 431: electrode female head

432: Connection hole 433: Second tapered port

434: Raised part 440: Connecting rod

441: first end 442: second end

443: pin hole 444: end surface

445: The first tapered mouth 451: The first gap

452: Second gap 460: Locking piece

500: Flared structure 510: Guide pin

520: Electrode male head 530: Conical head

540: Guide cone X1: First horizontal direction

X2: second horizontal direction F1: first force

F2: Second acting force Fx1: First horizontal thrust

Fx2: second horizontal thrust Z1: first vertical direction

Z2: Second vertical direction F3: Third force

F4: Fourth force Fz1: First vertical thrust

Fz2: second vertical thrust

Detailed ways

Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and in no way serves as any limitation of the application, its application or uses.

Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the description.

In all examples shown and discussed herein, any specific values should be construed as exemplary only, and not as limitations. Therefore, other instances of the exemplary embodiment may have different values.

It should be noted that like numerals and letters denote like items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

【Example 1】

In order to solve the problem that the charging interface between the robot and the charging base station is difficult to align, the application provides a charging device on the one hand, and a charging base station and a robot on the other hand. The robot can be an AGV robot.

The following article will describe the structure, working principle and effect of the charging device in combination with the application scenario. The specific application scenario refers to the charging device being set on the charging base station or on the robot. In order to keep the text concise, this article no longer describes the specific structure of the charging base station and the robot separately.

It should be noted that the orientation words "X-axis, Y-axis and Z-axis" used in this article when describing the specific structure and working principle of the charging device refer to the spatial coordinate system established based on the extension direction of the electrical connector 1 , the extending direction of the electrical connector refers to, for example, the mutual insertion direction of the electrical connection between the plug and the socket. The X-axis direction of the space coordinate system is the extension direction of the electrical connector, the Y-axis direction refers to the direction perpendicular to the X-axis direction in the horizontal plane, and the Z-axis direction refers to the direction perpendicular to the horizontal plane, X-axis, Y-axis and For the relative positional relationship among the three on the Z axis, please refer to the directions marked by straight lines in Figure 1 and Figure 2.

Referring to FIG. 1 , the charging device of the present application includes an electrical connector 1 , a base 2 , a swing mechanism 30 and a first elastic device 31 . Wherein, the swing mechanism 30 is configured to be movably connected with respect to the base 2; the electrical connector 1 is relatively fixed on the swing mechanism 30, and the electrical connector 1 is configured to drive the swing mechanism 30 relative to the base when subjected to a deflection external force. 2 is deflected; the first elastic device 31 is disposed between the swing mechanism 30 and the base 2, and is configured to drive the swing mechanism 30 to reset when the deflection external force received by the electrical connector 1 disappears. In order to better understand the structure and working principle of the charging device, please refer to FIG. 1 and FIG. 2 together.

In practical application, the charging device can be fixedly installed on the robot or the charging pile of the charging base station through the base 2, and its electrical connector 1 needs to be docked with the corresponding electrical connector to charge the robot. When the robot arrives at the charging position, if there is a relative position deviation between the two electrical connectors, if the electrical connector 1 on the charging device is subjected to the deflection external force exerted by the other electrical connector, the electrical connector 1 will drive the swing mechanism 30 relative to the base 2 The deflection occurs to compensate for the positional deviation between the two electrical connectors 1 and quickly complete the docking of the two. After the charging is completed, the deflection external force received by the electrical connector 1 disappears after the robot leaves the charging position, and the swing mechanism 30 drives the electrical connector 1 to reset under the action of the elastic force of the first elastic device 31 .

It can be seen that the charging device of the present application can automatically adjust the relative position of its electrical connector 1 and the corresponding electrical connector, so that the two can quickly and smoothly complete the docking, and can save the current manual adjustment steps. Reduced operating costs for robot charging.

It should be noted that one of the two compatible electrical connectors 1 is a male electrical connector, and the other is a female electrical connector. The electrical connector 1 of the charging device of the present application can be a male electrical connector or a female electrical connector. Electrical connector.

In addition, the swing mechanism 30 in the present application is configured to be movably connected with respect to the base 2. In some embodiments, the swing mechanism 30 can be directly movably connected with the base 2. In other embodiments, the swing mechanism 30 and the base 2 is indirectly movably connected through an intermediate mechanism. For a better understanding, the structure of the indirect movably connected swing mechanism 30 and base 2 will be described in detail below in conjunction with FIGS. 1 to 3 by taking an embodiment as an example.

Referring to FIG. 3 , in this embodiment, the swing mechanism 30 includes a first connecting plate 301 and a hinge shaft 302 ; wherein, the first connecting plate 301 is relatively hinged on the base 2 through the hinge shaft 302 .

In detail, the axis of the hinge shaft 302 extends along the Z axis, that is, the first connecting plate 301 can swing around the Z axis relative to the base 2 to compensate for the angular deviation of the two electrical connectors 1 in the vertical plane. It can be understood that the axial extension direction of the hinge shaft 302 is not limited to extending along the Z-axis direction, in some embodiments it can extend along the X-axis or Y-axis direction, and in other implementations, it can also be consistent with the spatial coordinate system The three coordinate axes extend in the direction of a certain angle.

As mentioned above, the swing mechanism 30 is configured to be movably connected with respect to the base 2, that is to say, the first connecting plate 301 can be directly hinged on the base 2 through the hinge shaft 302, and the first connecting plate 301 can also be hinged The shaft 302 is indirectly hinged on the base 2 . However, in this embodiment, the first connecting plate 301 is indirectly hinged on the base 2 through the hinge shaft 302 and an intermediate mechanism. axis direction and Z-axis direction, so that the charging device has multiple degrees of freedom of movement, and can complete the docking between two electrical connectors 1 more flexibly and efficiently.

In practical applications, the charging device provided by this embodiment further includes a moving component in a first direction, a moving component in a second direction, and a moving component in a third direction. Specifically, the moving component in the first direction is configured as a moving component in the direction of the X axis, the moving component in the second direction is configured as a moving component in the direction of the Z axis, and the moving component in the third direction is configured as a moving component in the direction of the Y axis moving parts, and when the charging device is plugged into the charging port assembly of the robot, it can cooperate with each other through the first-direction moving assembly, the second-direction moving assembly and the third-direction moving assembly mentioned in this embodiment , to realize the automatic insertion of the charging device and the charging port assembly of the robot.

In detail, the charging device includes a first direction moving assembly, and the first direction moving assembly includes an X-axis movement mechanism 40 and a second elastic device 41 .

Wherein, the X-axis motion mechanism 40 is configured to drive the electrical connector 1 to be displaced in the X-axis direction when the electrical connector 1 is subjected to an external force in the X-axis direction; After the external force in the X-axis direction disappears, the X-axis motion mechanism 40 is driven to reset.

In detail, in this embodiment, the X-axis movement mechanism 40 includes a second connecting plate 401 and an X-axis guiding assembly; wherein, the second connecting plate 401 moves in the X-axis direction relative to the base 2 through the X-axis guiding assembly.

The first connecting plate 301 of the swing mechanism 30 is hinged on the second connecting plate 401 through the hinge shaft 302, specifically, two connecting parts extending toward the first connecting plate 301 are arranged at intervals on the second connecting plate 401, and the first connecting portion The plate 301 is provided with a connecting portion extending toward the second connecting plate 401, the connecting portion of the first connecting plate 301 is inserted between the two connecting portions of the second connecting plate 401, and the hinge shaft penetrates these three connecting portions so that The first connecting plate 301 and the second connecting plate 401 are hinged to form a hinge structure similar to doors and windows.

In more detail, the X-axis guide assembly includes four guide rods 402 distributed in a square shape and each guide rod 402 extends along the X-axis direction. One end of each guide rod 402 is relatively fixedly connected to the base 2, and the other end passes through the second connecting plate 401 and a stop ring 4020 is provided so that the first connecting plate 301 can move along the guide rod 402 at X Reciprocating movement relative to the second connecting plate 401 in the axial direction.

The second elastic device 41 is specifically a compression spring, which is sleeved on the guide rod 402 and relatively pre-compressed between the second connecting plate 401 and the base 2 . When the electrical connector 1 is subjected to a square external force on the X axis, the electrical connector 1 drives the second connecting plate 401 to overcome the elastic force of the second elastic device 41 and move along the guide rod 402 toward the base 2; when the electrical connector 1 is subjected to When the external force in the X-axis direction disappears, under the action of the elastic force of the second elastic device 41, the second connecting plate 401 drives the electric connector 1 to move along the guide rod 402 away from the base 2 until the stop ring 4020 and The first connecting plate 301 is offset.

It should be noted that the second elastic device 41 of the present application is not limited to the compression spring, and it can also be other elastic mechanisms that can drive the X-axis motion mechanism 40 to reset after the external force in the X-axis direction received by the electrical connector 1 disappears. . For example, in other embodiments, the second elastic device 41 may be an elastic block made of a memory material, and the elastic block is configured such that when the electrical connector 1 is not subjected to an external force in the X-axis direction, the elastic block is relatively Connected between the first connecting plate 301 and the base 2; when the electrical connector 1 is subjected to an external force in the X-axis direction, under the action of the external force, the second connecting plate 401 overcomes the elastic force of the elastic block and drives the electrical connector 1 along the The X-axis guide rod 402 moves towards or away from the base 2, and at the same time the elastic block is stretched or compressed; when the external force on the electrical connector 1 in the X-axis direction disappears, the elastic block automatically shortens according to its own material properties Or stretch, and then push the second connecting plate 401 to drive the electrical connector 1 to reset.

It can be understood that, in some embodiments, the first connection plate 301 of the charging device of the present application may be directly fixedly connected to the base, so that the electrical connector 1 of the charging device only has the functions of swinging and moving along the X-axis direction relative to the base. Function.

However, in order to enable the electrical connector 1 of the charging device to dock with the corresponding electrical connector more flexibly and quickly, in this embodiment, the charging device further includes a moving component in a second direction, and the moving component in a second direction includes The Z-axis motion mechanism 50 and the third elastic device 51. Wherein, the Z-axis motion mechanism 50 is configured to drive the electrical connector 1 to be displaced in the Z-axis direction when the electrical connector 1 is subjected to an external force in the Z-axis direction; After the external force in the Z-axis direction disappears, the Z-axis motion mechanism 50 is driven to reset.

In detail, continuing to refer to FIG. 3 , the Z-axis motion mechanism 50 includes a third connecting plate 501 and a Z-axis guide assembly, the third connecting plate 501 is configured to move in the Z-axis direction relative to the base 2 through the Z-axis guide assembly, One end of the guide rod 402 of the X-axis motion mechanism 40 is fixed or abutted on the third connecting plate 501 , and the second spring device is arranged between the second connecting plate 401 and the third connecting plate 501 .

The second connection plate 401 of the X-axis motion mechanism 40 is connected to the third connection plate 501 of the Z-axis motion mechanism through the X-axis guide assembly, and is configured to face the direction of the third connection plate 501 when subjected to an external force in the X direction Displacement occurs.

In more detail, the Z-axis guide assembly includes a first Z-axis linear guide rail 502 and a second Z-axis linear guide rail 503 arranged in parallel and at intervals, and the tracks of the first Z-axis linear guide rail 502 and the second Z-axis linear guide rail 503 are along the The Z-axis direction extends, and one of the track and the slider is fixedly connected to the third connecting plate 501, and the other is relatively fixedly connected to the base 2, and the third connecting plate 501 passes through the first Z-axis under the external force. The axis linear guide rail 502 and the second Z axis linear guide rail 503 can move along the Z axis direction relative to the base 2 .

Further, referring to FIG. 3 , the charging device further includes a Z-axis limiting mechanism, and the Z-axis limiting mechanism is used to limit the displacement of the Z-axis moving mechanism 50 in the Z-axis direction.

Specifically, the Z-axis limiting mechanism includes a Z-axis limiting column 52, a first Z-axis stop block 53 and a second Z-axis stop block 54; wherein, the first Z-axis stop block 53 is fixed on the third connecting plate 501, the second Z-axis stop block 54 is relatively fixed on the lower part of the base 2, one end of the Z-axis limit shaft abuts against the second Z-axis stop block 54, and the second Z-axis stop block 54 An abutting groove 540 is formed on the top to facilitate the abutment of the end of the Z-axis limit shaft, and the other end of the Z-axis limit shaft passes through the first Z-axis stop block 53 .

The third elastic device 51 is specifically a compression spring, which is set on the Z-axis limiting column 52, and the two ends of the third elastic device 51 respectively abut against the first Z-axis stopper 53 and the second Z-axis stopper. 54 on.

When the third connecting plate 501 is not subjected to an external force along the Z-axis direction, the third elastic device 51 is pre-compressed between the first Z-axis stopper 53 and the second Z-axis stopper 54; otherwise, when When the third connecting plate 501 is subjected to an external force along the Z-axis direction, the third connecting plate 501 overcomes the elastic force of the third elastic device 51 on the first Z-axis linear guide 502, the second Z-axis linear guide 503 and the Z-axis limit Under the guidance of the three pillars 52, they move relative to the base 2 along the Z axis.

It should be noted that one of the first Z-axis stop block 53 and the second Z-axis stop block 54 is fixed on the second connecting plate 401, and the other is correspondingly fixed on the third connecting plate 501. Technicians can determine according to the actual assembly process. In addition, the Z-axis limiting column 52 can also be fixedly connected to the second Z-axis stop block 54 by means of bonding, welding, or the like.

In addition, the third elastic device 51 in the present application is not limited to a compression spring, and it can also be other elastic mechanisms that can drive the Z-axis motion mechanism 50 to reset after the external force in the Z-axis direction received by the electrical connector 1 disappears.

For example, in some other embodiments, the third elastic device 51 may be an elastic block made of a memory material, and the elastic block is configured such that when the electrical connector 1 is not subjected to an external force in the Z-axis direction, the elastic block is connected Between the first Z-axis stop block 53 and the second Z-axis stop block 54; when the electrical connector 1 is subjected to an external force in the Z-axis direction, under the action of the external force, the third connecting plate 501 overcomes the elasticity of the elastic block The force drives the electrical connector 1 to move toward or away from the base 2 along the Z axis, and at the same time the elastic block is stretched or compressed; when the external force on the electrical connector 1 in the direction of the Z axis disappears, the elastic block The property of the material itself shortens or elongates automatically, and then pushes the third connecting plate 501 to reset.

It can be understood that, in some embodiments, the third connecting plate 501 of the charging device of the present application can be directly fixedly connected to the base, so that the electrical connector 1 of the charging device only has the ability to swing, move along the X-axis direction, and move along the base relative to the base. The function of moving in the Z axis direction.

Similarly, in order to further enable the electrical connector 1 of the charging device to be docked with the corresponding electrical connector 1 more flexibly and quickly, in this embodiment, the charging device also includes a third direction moving component, and the third direction moves The assembly includes a Y-axis motion mechanism 60 and a fourth elastic device 61 .

Wherein, the Y-axis motion mechanism 60 is configured to drive the electrical connector 1 to be displaced in the Y-axis direction when the electrical connector 1 is subjected to an external force in the Y-axis direction; After the external force in the Y-axis direction disappears, the Y-axis motion mechanism 60 is driven to reset.

In detail, referring to FIG. 3 , the Y-axis motion mechanism 60 includes a fourth connecting plate 601 and a Y-axis guide assembly.

Wherein, the fourth connecting plate 601 is configured to move in the Y-axis direction relative to the base 2 through the Y-axis guide assembly.

In detail, one of the first Z-axis stop block 53 and the second Z-axis stop block 54 is fixedly connected to the third connecting plate 501, the other is fixedly connected to the fourth connecting plate 601, and the first One of the rails and sliders of the Z-axis linear guide rail 502 and the second Z-axis linear guide rail 503 is fixedly connected on the third connecting plate 501, and the other is fixedly connected on the fourth connecting plate 601, so that Z The third connecting plate 501 of the axis motion mechanism 50 is connected to the fourth connecting plate 601 of the Y-axis motion mechanism 60 through the Z-axis guide assembly, and the third connecting plate 501 is configured to The four connecting plates 601 are displaced along the Z axis.

The Y-axis guide assembly includes a first Y-axis linear guide rail 602 and a second Y-axis linear guide rail 603 arranged in parallel and at intervals, and the tracks of the first Y-axis linear guide rail 602 and the second Y-axis linear guide rail 603 extend along the Y-axis direction, And the rails of both are fixedly connected on the fourth connecting plate 601, the sliders of both are fixedly connected on the fifth connecting plate 7, and the fifth connecting plate 7 is fixed by means of fasteners, welding or bonding, etc. on the base. Under the action of external force, one of the fourth connecting plate 601 and the fifth connecting plate 7 can move relative to the other along the Y-axis direction through the first Y-axis linear guide rail 602 and the second Y-axis linear guide rail 603 .

Further, referring to FIG. 3 , the charging device further includes a Y-axis limiting mechanism, and the Y-axis limiting mechanism is used to limit the displacement of the Y-axis moving mechanism 60 in the Y-axis direction.

Specifically, the Y-axis limiting mechanism includes a Y-axis limiting column 62, a first Y-axis stop block 63 and a second Y-axis stop block 64; wherein, the first Y-axis stop block 63 is fixed on the fourth connecting plate On the right side of 601, the second Y-axis stop block 64 is fixed on the left side of the fifth connecting plate 7, one end of the Y-axis limit shaft abuts against the second Y-axis stop block 64, and the second Y-axis stop block 64 The block 64 is provided with an abutting groove for the end of the Y-axis limit shaft to abut against, or one end of the Y-axis limit shaft is welded or bonded to the second Y-axis stop block 64 . The other end of the Y-axis limiting shaft passes through the first Y-axis stop block 63 .

The fourth elastic device 61 is specifically a compression spring, which is sleeved on the Y-axis limiting column 62, and the two ends of the fourth elastic device 61 respectively abut against the first Y-axis stopper 63 and the second Y-axis stopper. 64 on. When the fourth connecting plate 601 or the fifth connecting plate 7 is not subjected to external force along the Y-axis direction, the fourth elastic device 61 is pre-loaded on the first Y-axis stopper 63 and the second Y-axis stopper 64 On the contrary, when the fourth connecting plate 601 or the fifth connecting plate 7 is subjected to an external force along the Y-axis direction, the fourth connecting plate 601 and the fifth connecting plate 7 overcome the elastic force of the fourth elastic device 61 in the first The Y-axis linear guide rail 602 , the second Y-axis linear guide rail 603 and the Y-axis limiting post 62 move relative to each other along the Y-axis direction under the guidance of the three.

It should be noted that one of the rails and sliders of any one of the first Y-axis linear guide rail 602 and the second Y-axis linear guide rail 603 is fixed on the fourth connecting plate 601, and the other is fixed on the fifth connecting plate 7 Above, those skilled in the art can choose according to the actual assembly process. Similarly, one of the first Y-axis stop block 63 and the second Y-axis stop block 64 is fixed on the fourth connecting plate 601, and the other is correspondingly fixed on the fifth connecting plate 7. The actual assembly process can be determined.

In addition, in some embodiments, the charging device may not be provided with the fifth connecting plate 7 , and the fourth connecting plate 601 of the Y-axis motion mechanism 60 is directly movably connected to the base 2 through the Y-axis guide assembly.

In addition, the fourth elastic device 61 in this application is not limited to a compression spring, and it can also be other elastic mechanisms that can drive the Y-axis motion mechanism 60 to reset after the external force in the Y-axis direction received by the electrical connector 1 disappears. For example, in some other embodiments, the fourth elastic device 61 may be an elastic block made of a memory material, and the elastic block is configured such that when the electrical connector 1 is not subjected to an external force in the Y-axis direction, the elastic block connects Between the first Y-axis stop block 63 and the second Y-axis stop block 64, it is in the initial position; when the electrical connector 1 is subjected to an external force in the Y-axis direction, under the action of the external force, the fourth connecting plate 601 overcomes the The elastic force of the elastic block drives the electrical connector 1 to move toward or away from the fifth connecting plate 7 along the Y axis, and at the same time the elastic block is stretched or compressed; when the external force on the electrical connector 1 in the direction of the Y axis disappears Finally, the elastic block automatically shortens or elongates according to its own material properties, and then pushes the fourth connecting block and the fifth connecting plate 7 to reset.

It can be understood that, in some other embodiments, in addition to the swing of the electrical connector 1 relative to the base 2, the charging device of the present application may only have a degree of freedom of movement along the X-axis direction, the Y-axis direction or the Z-axis direction. That is to say, the charging device only includes the X-axis motion mechanism 40 and the second elastic device 41 , the Z-axis motion mechanism 50 and the third elastic device 51 or the Y-axis motion mechanism 60 and the fourth elastic device 61 .

Or, in some other embodiments, in addition to the swing of the electrical connector 1 relative to the base 2, the charging device of the present application may only have any two movements along the X-axis direction, the Y-axis direction, and the Z-axis direction. One degree of freedom, that is, the charging device includes a combination of any two of the X-axis motion mechanism 40 and the second elastic device 41, the Z-axis motion mechanism 50 and the third elastic device 51, and the Y-axis motion mechanism 60 and the fourth elastic device 61. .

As mentioned above, when the electrical connector 1 of the charging device of the present application is subjected to a deflection external force, it drives the swing mechanism 30 to deflect relative to the base 2. When the deflection external force received by the electrical connector 1 disappears, the first elastic device 31 drives the swing mechanism 30 to reset.

In order to ensure the stability of the reset of the swing mechanism 30 , continue to refer to FIG. 3 , the charging device in this embodiment includes at least two first elastic devices 31 , and the at least two elastic devices are respectively located on opposite sides of the hinge shaft 302 .

Specifically, the first elastic device 31 is a compression spring, and the first elastic device 31 on one side of the hinge shaft 302 drives the first connecting plate 301 to rotate forward relative to the base 2 around the hinge shaft 302, and the first elastic device 31 on the other side of the hinge shaft 302 The first elastic device 31 then drives the first connecting plate 301 to reverse around the hinge axis 302 relative to the base 2 . The specific number of the first elastic means 31 can be determined by those skilled in the art according to the driving force required to drive the first connecting plate 301 to swing relative to the base 2 .

Further, referring to FIG. 3 , the charging device in this embodiment further includes a swing limiting mechanism 32 for limiting the deflection angle of the swing mechanism 30 relative to the base. The swing limit mechanism 32 includes at least two swing limit posts 32 arranged on the second connecting plate 401, the swing limit posts 32 pass through the corresponding limit holes 3010 provided on the first connecting plate 301, and are configured to For when the swing mechanism 30 deflects, the swing limit post 32 interferes with the inner wall of the limit hole 3010 in the limit hole 3010 . It can be understood that the aperture of the upper limit hole 3010 of the first connecting plate 301 must be larger than the shaft diameter of the swing limiting column 32, so that the first connecting plate 301 can swing around the hinge shaft 302 under the action of an external force. The specific proportional relationship between the two is Those skilled in the art can determine according to the actual size of the product.

Continuing to refer to FIG. 3 , in this embodiment, the first elastic device 31 is specifically a compression spring, the first elastic device 31 is sleeved on the swing limit post 32 and its two ends are respectively connected to the first connecting plate 301 and the second connecting plate 401 Arrival.

In addition, the first elastic device 31 in the present application is not limited to the compression spring, and it can also be other elastic mechanisms that can realize the function of driving the swing mechanism 30 to reset after the deflection external force received by the electrical connector 1 disappears.

For example, in some other embodiments, the first elastic device 31 may be an elastic block made of a memory material, and the elastic block is configured such that when the electrical connector 1 is not subject to a deflecting external force, the elastic block connects the first connection Between the plate 301 and the second connecting plate 401; when the electrical connector 1 is subjected to a deflected external force, under the action of the external force, the first connecting plate 301 overcomes the elastic force of the elastic block and drives the electrical connector 1 around the hinge axis 302 relative to the base 2 swing, and at the same time the elastic block is stretched or compressed; when the deflection external force received by the electrical connector 1 disappears, the elastic block automatically shortens or elongates according to its own material properties, and then drives the swing mechanism 30 to reset.

The present application also provides a charging base station and a robot.

In one embodiment, the above-mentioned charging device is provided on the charging base station, and the flared structure 8 for cooperating with the charging device is provided on the robot.

In detail, the cross-sectional area of the flaring structure 8 is gradually reduced along the extension direction of the electrical connector 1 (that is, along the X-axis direction), so that the amount of the charging device relative to the robot is gradually reduced as the robot moves relative to the charging base. , until the electrical connector 1 of the charging device is docked with the electrical connector 1 on the robot.

In more detail, in this embodiment, the cross-sectional shape of the flaring structure 8 is square. It can be understood that the cross-sectional shape of the flaring structure 8 can also be circular, elliptical, etc. FIG.

In another embodiment, the above-mentioned charging device is provided on the robot, and the flared structure 8 for cooperating with the charging device is provided on the charging base station.

It should be noted that the flared structure 8 on the charging base station may be the same as the flared structure 8 in the previous embodiment, which will not be repeated herein.

When the charging device of the present application receives external forces in multi-axis directions, the Y-axis motion mechanism will drive the Z-axis motion mechanism, the X-axis motion mechanism and the swing mechanism to move in the Y-axis direction; the Z-axis motion mechanism will drive the X-axis motion mechanism 1. The swing mechanism moves in the Z-axis direction; the X-axis movement mechanism drives the swing mechanism to move in the X-axis direction; the swing mechanism itself deflects and swings relative to its hinge axis.

Application Scenario 1

When the robot drives into the charging base station, there is a deviation in the height direction (Z-axis direction) between the charging interface of the robot and the electrical connector 1 of the charging base station due to uneven ground. As the robot moves along the X-axis toward the charging base, the electrical connector 1 on the charging base will come into contact with the flared structure 8 at the charging interface of the robot, and will be affected by the Z-axis exerted by the flared structure 8 on the electrical connector 1. external force in the direction. Under the action of this external force, the third connecting plate 501 of the Z-axis movement mechanism overcomes the elastic force of the third elastic device 51 and moves in the direction of the Z-axis relative to the base 2 of the charging base station, while the robot continues to move closer to the charging station along the X-axis. The direction of the base station moves until the electrical connector 1 moves in the Z-axis direction to dock with the charging interface of the robot.

In addition, when the robot moves along the X-axis direction and docks with the electrical connector 1 of the charging base station, the second connecting plate 401 will overcome the elastic force of the second elastic device 41 and move toward the third connecting plate 501, thereby buffering The force when the robot docks with the charging base station avoids damage to the robot or the charging base station due to rigid collisions, thereby improving the service life of the charging device.

After the charging is finished, the robot leaves the charging base station, the external force applied to the third connecting plate 501 disappears, and it resets under the action of the elastic force of the third elastic device 51 .

Application Scenario 2

When the robot drives into the charging position, there is a deviation in the Y-axis direction between the electrical connector 1 of the charging base station and the charging interface of the robot due to insufficient movement of the robot or low control precision of the robot. And there is also a deviation in the Z-axis direction between the two due to uneven ground or other factors.

When the robot moves toward the charging base station along the extension direction (X-axis direction) of the electrical connector 1 of the charging base station until the electrical connector 1 of the charging base station contacts the flared structure 8 at the charging interface position of the robot, the electrical connection of the charging base station The head 1 is subjected to a torsion force, under the action of the torsion force, the first connecting plate 301 overcomes the elastic force of the first elastic device 31 and swings around the hinge shaft 302 relative to the second connecting plate 401, and the third connecting plate 501 and the fourth connecting plate 601 are both Under the external force exerted by the robot's flaring structure 8, the third connecting plate 501 overcomes the elastic force of the third elastic device 51 and moves in the Z-axis direction relative to the fourth connecting plate 601, compensating for the electrical connector and the electrical connection port in the Z-axis direction At the same time, the fourth connecting plate 601 overcomes the elastic force of the fourth elastic device 61 and moves in the Y-axis direction relative to the fifth connecting plate 7, compensating for the docking of the electrical connector and the electrical connection port in the Y-axis direction Deviation until the electrical connector 1 of the charging base station moves to dock with the electrical connector of the robot.

After charging, the robot moves away from the charging base station, the external force applied to the first connecting plate 301, the second connecting plate 401, the third connecting plate 501 and the fourth connecting plate 601 disappears, and the first connecting plate 301, the second connecting plate The plate 401, the third connecting plate 501 and the fourth connecting plate 601 are reset under the elastic force of their respective elastic devices.

To sum up, the electrical connector 1 of the charging base station of the present application can swing relative to the base 2 and move along the X-axis, Y-axis and Z-axis. When the electrical connector 1 is compatible with it When docking with the other electrical connection port, it can move in the above four dimensions relative to the base 2, so that the two electrical connection ports and electrical connectors can be automatically and flexibly quickly docked without manual assistance, which can meet the needs of different application scenarios. charging needs, which greatly improves the user experience. The floating of the electrical connector 1 of the charging device in the X-axis direction relative to the base 2 acts as a docking buffer, avoiding damage caused by multiple rigid docking of the two electrical connectors. The swing mechanism can buffer the movement of the electrical connector in the Y-axis direction, and prevent the flaring structure from directly squeezing the electrical connector to move in the Y-axis direction.

[Example 2]

In practical applications, the electrical connector 1 mentioned in the above embodiments can be called the electrical connector 400 in the following embodiments; the flared structure 8 mentioned in the above embodiments can be called the flared structure 500 in the following embodiments .

The application provides a charging device. Referring to FIG. 8 , FIG. 9 , and FIG. 10 , the charging device of the present application includes an electrical connector 400 , a first base 110 , a first slider 121 , a second slider 122 , a first elastic member 140 and a second elastic member 150 .

Specifically, the electrical connector 400 is used for plugging with a charging port assembly (not shown) of the mobile robot.

The first base 110 has a first sliding rail 111 arranged horizontally and a first blocking portion 112 .

The first slider 121 is slidably disposed on the first slide rail 111 between the first translation position and the second translation position, and the first slider 121 is fixedly connected to the electrical connector 400 . Wherein, referring to FIG. 12 , since there may be a deviation between the electrical connector 400 and the charging port assembly in the horizontal direction X perpendicular to the insertion direction Y, when the electrical connector 400 is plugged into the charging port assembly, the electrical connector 400 passes through the first slide The block 121 moves to a proper position along the horizontal direction X to complete the insertion.

Further, as shown in FIG. 12 , the furthest position where the first slider 121 moves toward the second slider 122 along the first horizontal direction X1 is the first translation position. Similarly, referring to FIG. 13 , when the electrical connector 400 moves away from the second slider 122 along the second horizontal direction X2 through the first slider 121 and the first rail 111 , it is the second translation position. Optionally, the distance between the first translation position and the second translation position is 0-48 mm, that is, the maximum translation distance of the electrical connector 400 driven by the first slider 121 is 0-48 mm.

The second slider 122 is slidably disposed on the first slide rail 111 between the rest position and the actuation position, and the second slider 122 at the rest position abuts against the first blocking portion 112 and is at least partially positioned on the first blocking portion. side of part 112. Wherein, referring to FIG. 11 , when the electrical connector 400 is in the initial position without external force, the first slider 121 and the second slider 122 are Under the joint action, they are closely fitted together, and the second sliding block 122 abuts against the first blocking portion 112 , at this time, the position of the second sliding block 122 is the rest position.

The first end 141 of the first elastic member 140 is connected to the electrical connector 400 , the second end 142 of the first elastic member 140 is connected to the second slider 122 , and the first elastic member 140 exerts a first action on the first slider 121 Force F1, so that the first slider 121 abuts against the second slider 122 along the first horizontal direction X1, and the first slider 121 abutting against the second slider 122 in the rest position is at least partially located at the first stop the other side of part 112. Although the first elastic member 140 is a spring in the figure, it may not be limited to a spring.

One end of the second elastic member 150 is connected to the first base 110, and the other end is connected to the second slider 122. The second elastic member 150 applies a second force F2 to the second slider 122, so that the second slider 122 Move to a rest position along a second horizontal direction X2 opposite to the first horizontal direction X1. Although the second elastic member 150 is a spring in the figure, it may not be limited to a spring.

Referring to FIG. 12 , when the electrical connector 400 is plugged into the charging port assembly, and the electrical connector 400 receives the first horizontal thrust Fx1 of the charging port assembly along the first horizontal direction X1, the first slider 121 moves along the first horizontal direction X1. Push the second slider 122 to move until the first slider 121 moves to the first translation position, and the second slider 122 is at the actuation position. At this time, the second elastic member 150 is stretched, so as to apply an elastic restoring force along the second horizontal direction X2 to the second slider 122 , that is, the second force F2 .

When the electrical connector 400 is unplugged from the charging port assembly, the first horizontal thrust Fx1 disappears, and the second slider 122 moves along the second horizontal direction X2 under the action of the second force F2, so that the second slider 122 moves from The actuated position moves to the rest position. At the same time, since the first elastic member 140 exerts a first force F1 along the first horizontal direction X1 on the first slider 121, the first slider 121 can abut against the second slider 122 at the rest position, The electrical connector 400 fixedly connected to the first slider 121 is moved to an initial position to complete the reset.

Referring to FIG. 13, when the electrical connector 400 is plugged into the charging port assembly, and the electrical connector 400 is subjected to the second horizontal thrust Fx2 of the charging port assembly along the second horizontal direction X2, the first slider 121 moves along the second horizontal direction X2. until the first slider 121 moves to the second translation position. At this time, the second slider 122 is at the rest position.

When the electrical connector 400 is unplugged from the charging port assembly, the second horizontal thrust Fx2 disappears, and since the first elastic member 140 exerts the first force F1 along the first horizontal direction X1 on the first slider 121, the first The slider 121 can abut against the second slider 122 at the rest position, so that the electrical connector 400 fixedly connected to the first slider 121 moves to an initial position to complete the reset.

In the illustrated embodiment, preferably, the first blocking portion 112 is located between two ends of the second elastic member 150 .

As shown in FIG. 10 , in order to better connect the second slider 122 with the first elastic member 140 and the second elastic member 150 , and for the second slider 122 to abut against the first blocking portion 112 , the charging device of the present application further An adapter 130 is included. The adapter 130 includes a fixing portion 131 fixed to the second slider 122 and a first bending portion 132 extending away from the electrical connector 400 . The first bending portion 132 is used to abut against the first blocking portion 112 .

As shown in Figure 10, in the illustrated embodiment, in order to further rationally arrange the connection between the second slider 122 and the first elastic member 140, the adapter 130 further includes a connecting shaft 133 perpendicular to the fixing part 131, the first elastic The second end 142 of the member 140 is connected to the connecting shaft 133 .

In order to more reasonably arrange the installation positions of the first elastic member 140 and the second elastic member 150, the two ends of the second elastic member 150 are respectively connected to the first bending portion 132 and the second bending portion 113 provided on the first base 110 , the second bending portion 113 extends away from the electrical connector 400 , and the first elastic member 140 and the second elastic member 150 are arranged horizontally and parallel to the moving direction of the first slider 121 .

Referring to FIG. 11 to FIG. 14 , in order to ensure the safety of the electrical connector 400 moving in the horizontal direction and prevent the first sliding block 121 from sliding out of the first sliding rail 111 , the charging device of the present application further includes a third bending portion 114 . The third bent portion 114 is disposed on the first base 110 at both ends of the first sliding rail 111 along the horizontal direction, and extends towards the direction approaching the electrical connector 400 . In this way, the two ends of the first sliding rail 111 are blocked by the third bending portion 114 , so that the situation that the first sliding block 121 slides out of the first sliding rail 111 is avoided.

As shown in FIG. 10 , in this embodiment, the charging device according to the present application includes an intermediate connector 200 through which the electrical connector 400 is connected to the first slider 121 , and the first end of the first elastic member 140 141 is connected to the intermediate connector 200. Wherein, the intermediate connecting piece 200 can simply play a connecting role, and its specific structure is not limited. The intermediate connecting piece 200 can also achieve other effects, which will be described in detail below.

Due to mechanical consistency differences, ground factors, control and other factors, there is a positional deviation between the electrical connector 400 and the charging port assembly in the Z-axis direction (ie, the vertical direction). Under the above circumstances, in order to enable the charging device of the present application to adjust the position of the electrical connector 400 in the Z-axis direction (that is, the vertical direction) to complete smooth insertion, referring to FIGS. 15 to 18 , the intermediate connector 200 includes a second Base 210, connection seat 220.

Specifically, the second base 210 is vertically provided with a slide bar 212 on a side close to the electrical connector 400, and the two ends of the slide bar 212 are respectively connected to the upper fixing part 213 and the lower fixing part 214 provided on the second base 210. .

One end of the connecting base 220 is connected to the electrical connector 400 , and the other end of the connecting base 220 is sleeved on the sliding bar 212 and can slide along the sliding bar 212 .

In this way, the electrical connector 400 moves in the vertical direction through the second base 210 , the connecting seat 220 , and the sliding bar 212 so as to adjust its position. Optionally, the maximum movable distance of the electrical connector 400 in the vertical direction driven by the connection base 220 is 0-20 mm.

In order for the intermediate connector 200 to better adjust the position deviation between the electrical connector 400 and the charging port assembly in the Z-axis direction (that is, the vertical direction), and to realize the reset of the electrical connector 400, refer to FIGS. 15 to 18 , the middle The connecting piece 200 further includes an upper sleeve portion 230 , a lower sleeve portion 240 , a second blocking portion 250 , a first compression spring 261 , and a second compression spring 262 .

Specifically, the upper sleeve part 230 is sleeved on the sliding bar 212 and can slide along the sliding bar 212 .

The lower sleeve part 240 is sleeved on the slide bar 212 and can slide along the slide bar 212. The lower sleeve part 240 is located below the upper sleeve part 230. The lower sleeve part 240 has an annular protrusion extending radially outward. from 241.

The second blocking portion 250 is disposed on the second base 210 and used to abut against the upper surface of the annular protrusion 241 .

The first compression spring 261 is sleeved on the sliding rod 212 and located between the upper fixing portion 213 and the upper sleeve portion 230 . The second compression spring 262 is sleeved on the sliding rod 212 and located between the lower fixing portion 214 and the lower sleeve portion 240 .

Wherein, referring to FIG. 16 , when the electrical connector 400 is in the initial position without external force, the upper socket part 230 and the lower socket part 240 abut against each other up and down due to the joint action of the first compression spring 261 and the second compression spring 262 together, and the annular protrusion 241 abuts against the second blocking portion 250 .

One end of the first compression spring 261 abuts against the upper fixing portion 213, and the other end abuts against the upper sleeve portion 230, and the first compression spring 261 exerts a third force F3 on the upper sleeve portion 230, so that the upper sleeve portion 230 moves along the upper sleeve portion 230. The first vertical direction Z1 abuts against the lower sleeve portion 240 .

One end of the second compression spring 262 abuts against the lower fixing portion 214, and the other end abuts against the lower sleeve portion 240, and the second compression spring 262 applies a fourth force F4 to the lower sleeve portion 240, so that the lower sleeve portion 240 moves along the lower sleeve portion 240. The second vertical direction Z2 opposite to the first vertical direction Z1 abuts against the upper sleeve portion 230 .

Referring to FIG. 18 , when the electrical connector 400 is plugged into the charging port assembly, and the electrical connector 400 is subjected to the first vertical thrust Fz1 of the charging port assembly along the first vertical direction Z1, the upper sleeve part 230 together with the electrical connector The 400 moves downward along the first vertical direction Z1 until another suitable position to complete the insertion. During this process, the upper socket part 230 has been against the lower socket part 240, and the second compression spring 262 is compressed, thereby exerting an elastic restoring force along the second vertical direction Z2 on the lower socket part 240, that is, the third Force F4.

When the electrical connector 400 is unplugged from the charging port assembly, the first vertical thrust Fz1 disappears, and since the second compression spring 262 exerts a fourth force F4 along the second vertical direction Z2 on the lower sleeve part 240, the upper The socket part 230, the lower socket part 240 and the electrical connector 400 move along the second vertical direction Z2 under the action of the fourth force F4, and finally the annular protrusion 241 abuts against the second blocking part 250, so that the electric The connecting head 400 moves to the initial position to complete the reset.

Referring to FIG. 17 , the electrical connector 400 is plugged into the charging port assembly, and the electrical connector 400 is subjected to the second vertical thrust Fz2 of the charging port assembly along the second vertical direction Z2, and the upper sleeve part 230 together with the electrical connector 400 Move upwards along the second vertical direction Z2 until a suitable position to complete the plugging. At this time, the first compression spring 261 is compressed, thereby exerting an elastic restoring force along the first vertical direction Z1 , that is, the third force F3 , on the upper sleeve portion 230 .

When the electrical connector 400 is unplugged from the charging port assembly, the second vertical thrust Fz2 disappears, and the upper socket part 230 moves along the first vertical direction Z1 under the action of the third force F3, and finally the upper socket part 230 can abut against the lower sleeve portion 240 , so that the electrical connector 400 moves to the initial position to complete the reset.

As shown in Figure 6, due to the influence of mechanical consistency differences, ground factors, control and other factors, there is a rotation angle deviation between the electrical connector and the charging port assembly in the Z-axis direction (ie, the vertical direction). Under the above circumstances, in order to enable the charging device of the present application to adjust the rotation angle of the electrical connector in the Z-axis direction (that is, the vertical direction) to complete the smooth insertion, the intermediate connector 200 further includes: a shift fork 221 and an elastic piece 215 .

Specifically, one end of the shift fork 221 is connected to the connection seat 220, and the other end of the shift fork 221 is provided with a groove 222 extending along the insertion direction of the electrical connector. The elastic piece 215 is vertically fixed on the second base 210 and passes through the groove 222 . In addition, the connecting base 220 is configured to be able to rotate around the sliding rod 212 .

In this way, when the electrical connector 400 is docked due to a rotation angle deviation with the charging port assembly, the connecting base 220 can rotate around the sliding rod 212 to be passively rotated to complete the smooth insertion. Optionally, the maximum rotation angle of the electrical connector 400 around the vertical direction is 0-16°. After the charging is completed, the electrical connector 400 can return to its original position due to the action of the shift fork 221 and the elastic sheet 215 .

In order to rationally arrange the space between the elastic sheet 215 and the shift fork 221, the elastic sheet 215 is arranged on the side of the second base 210 away from the electrical connector 400, the shift fork 221 passes through the second base 210, and the second base 210 is arranged There is a through hole portion 216 through which the shift fork 221 passes.

In order to avoid hitting or even damaging the electrical connector 400 when the charging port assembly is plugged into the electrical connector, the charging device of the present application further includes a third base 310 .

Specifically, the third base 310 is provided with a second sliding rail 311 along the plugging direction of the electrical connector and the charging port assembly, and the first base 110 is slidably connected to the second sliding rail 311 and can slide along the electrical connector and the charging port assembly. The assembly slides in the insertion direction, and the two ends of the first base 110 along the horizontal movement direction of the first slider are respectively connected to the third base 310 through the third elastic member 321 and the fourth elastic member 322 .

In this way, when the charging port assembly is plugged into the electrical connector 400 , the electrical connector can be passively moved away from the charging port assembly through the first base 110 sliding along the second slide rail 311 , thereby avoiding impact. Optionally, driven by the first base 110 , the maximum movable distance of the electrical connector 400 along the plugging direction of the electrical connector 400 and the charging port assembly is 0-70 mm. After charging is completed, the charging port assembly can be reset by the third elastic member 321 and the fourth elastic member 322 . The third elastic member 321 and the fourth elastic member 322 are not limited to adopt springs.

Moreover, in order to make the first base 110 return to the initial position as soon as possible, the present application further includes a third blocking portion 330 .

Wherein, the third blocking portion 330 is disposed on the third base 310 on the side of the second slide rail 311 close to the electrical connector, and the third blocking portion 330 abuts against the first base 110 . In this way, when charging is completed, the electrical connector 400 can be quickly reset through the third blocking portion 330 when it is reset by the third elastic member 321 and the fourth elastic member 322 .

The present application provides a charging pile, including the charging device described in this implementation manner. Therefore, the charging pile according to the present application includes all the features and effects of the charging device according to the present application.

Referring to FIG. 7 , due to the influence of mechanical consistency differences, ground factors, control and other factors, there is a rotation angle deviation between the electrical connector and the charging port assembly in the Y-axis direction (ie, the plugging direction). In order to solve this problem, to complete the plugging of the electrical connector head and the charging port assembly, the application provides a charging device. Referring to FIG. 19 and FIG. 22 , the charging device of the present application includes an electrical connector 400 and a flaring structure 500 .

Specifically, the electrical connector 400 includes a housing 410 , an electrode assembly 430 , and a connecting rod 440 .

The housing 410 has a through hole 420 . The electrode assembly 430 has an electrode female head 431 and a connection hole 432 . The first end 441 of the connecting rod 440 extends through the connecting hole 432 and the through hole 420 to be connected with the housing 410, the second end 442 of the connecting rod 440 is provided with a pin hole 443 extending along its length direction, the connecting rod 440 There is a first gap 451 between the end surface 444 of the second end 442 and the connection hole 432 , and a second gap 452 between the electrode assembly 430 and the case 410 in a section perpendicular to the axial direction of the connection hole 432 .

The flaring structure 500 is provided with a guide pin 510 capable of abutting with the pin hole 443 , and a male electrode 520 for plugging into the female electrode 431 .

It should be noted that the charging device in this embodiment also includes a flaring structure, which facilitates the smooth insertion of the electrical connector and the charging port assembly of the robot.

According to the charging device of the present application, when the electrical connector 400 is plugged into the flared structure 500, there is a rotation angle deviation in the Y-axis direction (that is, the plugging direction), and the guide pin 510 is inserted into the pin hole 443 . Because of the second gap 452, the connecting rod 440 can deflect at a certain angle in the electrode assembly 430 to drive the electrode assembly 430 to deflect at a certain angle, or the electrode assembly 430 itself can rotate at a certain angle in the housing 410, so that the electrical connector 400 can It moves in the direction of rotation after a certain angle, so as to complete the insertion. Optionally, the axial rotation angle of the electrode assembly around the connecting rod does not exceed 0.3 degrees.

Referring to FIG. 20 , in order to have a first gap 451 between the connecting hole 432 and the connecting rod 440 and realize the movable installation of the electrode assembly 430 in the housing 410 , the electrode assembly 430 is provided with an edge along the connecting hole 420 on the side close to the through hole 420 . A radially inwardly extending protrusion 434 of 432 abuts against the connecting rod.

Although, in the illustrated embodiment, a first gap 451 is provided between the end surface 444 of the second end 442 of the connecting rod 440 and the connecting hole 432, in a section perpendicular to the axial direction of the connecting hole 432, the electrode assembly 430 The second gap 452 is also set between the housing 410, but the first gap 451 can only be set between the end surface 444 of the second end 442 of the connecting rod 440 and the connecting hole 432, or only at a position perpendicular to the connecting hole 432. In a section in the axial direction, a second gap 452 is provided between the electrode assembly 430 and the casing 410 .

Referring to Figure 19, in order to facilitate the smooth insertion of the electrical connector 400 and the flaring structure 500, the pin hole 443 is configured as a first tapered opening 445 at the end close to the electrode male head 520, and the first tapered opening 445 is formed along the electrode male head. 520 becomes smaller in the insertion direction, and the guide pin 510 is configured as a tapered head 530 at one end close to the pin hole 443 , and the diameter of the tapered head 530 gradually becomes smaller in the insertion direction of the male electrode. In this way, when the guide pin 510 is docked with the pin hole 443 , the guide pin 510 is more easily docked and inserted into the pin hole 443 due to the mutual guiding effect of the first tapered opening 445 and the tapered head 530 . Although, in the illustrated embodiment, the pin hole 443 is configured as a first tapered mouth 445 at one end close to the electrode male head and the guide pin 510 is configured as a tapered head 530 at one end close to the pin hole 443, it is possible to only pin The hole 443 is configured as a first conical opening 445 at one end close to the electrode male head, and only the guide pin 510 may be configured as a conical head 530 at one end close to the pin hole 443 .

As shown in Figure 19, also in order to facilitate the smooth insertion of the electrical connector 400 and the flaring structure 500, the electrode female 431 is configured as a second tapered port 433 at the end close to the electrode male port 520, and the second tapered port 433 The caliber gradually becomes smaller along the insertion direction of the male electrode, and the male electrode 520 is configured as a circular rod. In this way, the male electrode 520 and the female electrode 431 have a certain rotation angle deviation, and the insertion can also be completed through the interaction between the second tapered opening 433 and the circular rod body.

Considering the actual product design and guiding the guide pin 510 to be docked with the pin hole 443 as soon as possible, the extension length of the guide pin 510 along the insertion direction of the male electrode is greater than the extension length of the male electrode 520 along the insertion direction of the male electrode.

Moreover, in order to make the guide pin 510 play a better guiding role, it is preferable that the guide pin 510 is arranged between the male electrodes 520 , and the guide pin 510 is arranged in the middle of the connecting lines of the male electrodes 520 .

Referring to FIG. 21 and FIG. 22 , in this application, one end of the connecting rod 440 connected to the housing 410 is locked and fixed by a locking member 460 . Specifically, fasteners such as screws may pass through the locking member 460 and one end of the connecting rod 440 connected to the housing 410 and then be fixed in the housing 410 .

In addition, in order to facilitate the installation of the locking element, the housing is provided with a detachable cover (not shown) on the side corresponding to the position of the locking element, and an opening for placing the cover is provided on the side of the housing. In this way, the opening is exposed by removing the buckle cover, thereby facilitating the installation of the locking element.

Referring to FIG. 19 , in order to smoothly insert the electrical connector 400 into the flaring structure 500, the charging device according to the present application further includes a guide cone 540, which is arranged at one end of the flaring structure 500 close to the electrode female head 431. The guide cone structure It is a tube body structure with openings at both ends along the insertion direction of the electrode male head, and the caliber gradually increases along the insertion direction of the electrode male head. In this way, when the electrical connector is inserted into the flared structure, the electrical connector and the flared structure can be approached and aligned with each other initially through the guiding effect of the guide cone.

Having described various embodiments of the present application above, the foregoing description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and alterations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principle of each embodiment, practical application or technical improvement in the market, or to enable other ordinary skilled in the art to understand each embodiment disclosed herein. The scope of the application is defined by the appended claims.

Claims

A charging device, including an electrical connector, the direction of extension of the electrical connector is marked as the X-axis direction, the direction perpendicular to the X-axis in the horizontal plane is marked as the Y-axis direction, and the direction perpendicular to the horizontal plane is marked as the Z-axis direction , characterized by including:

base;

A swing mechanism, the swing mechanism is configured to be movably connected relative to the base; the electrical connector is relatively fixed on the swing mechanism, and is configured to drive the swing mechanism relative to the swing mechanism when subjected to a deflection external force deflection of the base;

A first elastic device, the first elastic device is arranged between the swing mechanism and the base, and is configured to drive the swing mechanism to reset when the deflection external force received by the electrical connector disappears.
The charging device according to claim 1, wherein the swing mechanism comprises a first connecting plate, and the first connecting plate is relatively hinged on the base through a hinge shaft; the electrical connector is fixed on the on the first connecting board.
The charging device according to claim 2, wherein at least two first elastic devices are provided, and the at least two first elastic devices are respectively located on opposite sides of the hinge shaft.
The charging device according to claim 3, further comprising a swing limit mechanism for limiting the deflection angle of the swing mechanism, the swing limit mechanism comprising at least two swing limit posts arranged on the second connecting plate, At least two of the swing limiting columns are respectively located on opposite sides of the hinge shaft.
The charging device according to claim 4, wherein the first elastic device is sleeved on the swing limiting post.
The charging device according to claim 1, further comprising a moving component in a first direction, a moving component in a second direction and a moving component in a third direction.
The charging device according to claim 6, wherein the moving component in the first direction comprises an X-axis movement mechanism and a second elastic device;

The X-axis movement mechanism is configured to drive the electrical connector to be displaced in the X-axis direction when the electrical connector is subjected to an external force in the X-axis direction;

The second elastic device is configured to drive the X-axis motion mechanism to reset when the external force in the X-axis direction on the electrical connector disappears.
The charging device according to claim 7, wherein the X-axis movement mechanism includes a second connection plate and an X-axis guide assembly, and the second connection plate is configured to move relative to the base through the X-axis guide assembly. The seat moves in the X-axis direction; the second elastic device is relatively arranged between the second connecting plate and the base.
The charging device according to claim 6, wherein the moving component in the second direction comprises a Z-axis movement mechanism and a third elastic device;

The Z-axis movement mechanism is configured to drive the electrical connector to be displaced in the Z-axis direction when the electrical connector is subjected to an external force in the Z-axis direction;

The third elastic device is configured to drive the Z-axis motion mechanism to reset when the external force in the Z-axis direction on the electrical connector disappears.
The charging device according to claim 9, wherein the Z-axis movement mechanism includes a third connection plate and a Z-axis guide assembly, and the third connection plate is configured to move relative to the base through the Z-axis guide assembly. The seat moves in the Z-axis direction; the third elastic device is relatively arranged between the third connecting plate and the base.
The charging device according to claim 10, further comprising a Z-axis limiting mechanism for limiting the displacement of the Z-axis moving mechanism in the Z-axis direction, and the Z-axis limiting mechanism includes a Z-axis limiting mechanism A column and a Z-axis stop block for cooperating with both ends of the Z-axis limiting column.
The charging device according to claim 6, wherein the third direction moving component comprises a Y-axis movement mechanism and a fourth elastic device;

The Y-axis movement mechanism is configured to drive the electrical connector to be displaced in the Y-axis direction when the electrical connector is subjected to an external force in the Y-axis direction;

The fourth elastic device is configured to drive the Y-axis movement mechanism to reset when the external force in the Y-axis direction applied to the electrical connector disappears.
The charging device according to claim 12, wherein the Y-axis movement mechanism includes a fourth connection plate and a Y-axis guide assembly, and the fourth connection plate is configured to move relatively to the Y-axis guide assembly through the Y-axis guide assembly. The base moves in the Y-axis direction; the fourth elastic device is relatively arranged between the fourth connecting plate and the base.
The charging device according to claim 13, further comprising a Y-axis limiting mechanism for limiting the displacement of the Y-axis movement mechanism in the Y-axis direction, the Y-axis limiting mechanism includes a Y-axis limiting column and The Y-axis stop block used for cooperating with the two ends of the Y-axis limit post.
The charging device according to claim 2, further comprising a moving component in a first direction, and the moving component in a first direction includes an X-axis movement mechanism and a second elastic device;

The X-axis motion mechanism includes a second connecting plate configured to move in the X-axis direction relative to the base; the second elastic device is configured to drive the X-axis motion mechanism to reset;

The first connecting plate of the swing mechanism is hinged on the second connecting plate through a hinge shaft.
The charging device according to claim 15, further comprising a moving component in a second direction, and the moving component in a second direction includes a Z-axis movement mechanism and a third elastic device;

The Z-axis motion mechanism includes a third connecting plate configured to move in the Z-axis direction relative to the base; the third elastic device is configured to drive the Z-axis motion mechanism to reset;

The second connecting plate of the X-axis motion mechanism is arranged in parallel with the third connecting plate, and is connected to the third connecting plate of the Z-axis motion mechanism through the X-axis guide assembly, and the second connecting plate is configured Because when receiving an external force in the X direction, displacement occurs toward the direction of the third connecting plate.
The charging device according to claim 16, further comprising a third direction moving component, the third direction moving component comprising a Y-axis movement mechanism and a fourth elastic device;

The Y-axis motion mechanism includes a fourth connecting plate configured to move in the Y-axis direction relative to the base; the fourth elastic device is configured to drive the Y-axis motion mechanism to reset;

The third connection plate of the Z-axis movement mechanism is connected to the fourth connection plate of the Y-axis movement mechanism through the Z-axis guide assembly, and is configured to be connected to the fourth connection plate when subjected to an external force in the Z-axis direction. Displacement occurs on the plate along the Z axis.
The charging device according to claim 17, further comprising a Z-axis limiting mechanism, the Z-axis limiting mechanism comprising a Z-axis limiting column and a Z-axis for cooperating with both ends of the Z-axis limiting column. stop block; one of the Z-axis limit post and the Z-axis stop block is connected to the third connecting plate, and the other is arranged on the fourth connecting plate, and is configured to limit The displacement of the third connecting plate relative to the fourth connecting plate in the Z-axis direction.
The charging device according to claim 18, wherein the third elastic device is sleeved on the Z-axis stopper, and the two ends of the third elastic device abut against the Z-axis stop respectively. on the block.
The charging device according to claim 17, wherein the fourth connecting plate of the Y-axis motion mechanism is connected to the fifth connecting plate provided on the base through a Y-axis guide assembly, and is configured to When an external force is applied in the direction, displacement occurs along the Y-axis direction on the fifth connecting plate.
The charging device according to claim 20, further comprising a Y-axis limiting mechanism, the Y-axis limiting mechanism comprising a Y-axis limiting column and a pair of two ends for cooperating with the Y-axis limiting column. Y-axis stop block; one of the Y-axis limit post and the Y-axis stop block is connected to the fourth connecting plate, and the other is arranged on the fifth connecting plate, and is configured To limit the displacement of the fourth connecting plate relative to the fifth connecting plate in the Y-axis direction.
The charging device according to claim 21, wherein the fourth elastic device is sleeved on the Y-axis limiting column, and both ends of the fourth elastic device abut against the Y-axis respectively. on the stop block.
The charging device according to claim 6, wherein the third direction moving component comprises:

a first base, the first base has a first sliding rail arranged horizontally, and a first blocking portion;

a first slider, the first slider is slidably arranged to the first slide rail between a first translation position and a second translation position, the first slider is fixedly connected to the electrical connector, Wherein, the electrical connector is used for plugging with the charging port assembly of the mobile robot;

A second slider, the second slider is slidably provided to the first slide rail between a rest position and an actuated position, the second slider at the rest position abuts against the first slide rail a blocking portion at least partially located on one side of the first blocking portion;

The first elastic member, the first end of the first elastic member is connected to the electrical connector, the second end of the first elastic member is connected to the second slider, and the first elastic member is connected to the second slider. The first slider exerts a first force, so that the first slider abuts against the second slider along the first horizontal direction, and the second slider at the rest position abuts against The first slider is at least partially located on the other side of the first blocking portion; and

A second elastic member, one end of the second elastic member is connected to the first base, and the other end is connected to the second slider, and the second elastic member exerts a second action on the second slider force, so that the second slider moves to the rest position along a second horizontal direction opposite to the first horizontal direction.
The charging device according to claim 23, wherein the first blocking portion is located between two ends of the second elastic member.
The charging device according to claim 23, further comprising an adapter, the adapter includes a fixing portion fixed to the second slider and a first extending in a direction away from the electrical connector. A bending portion, the first bending portion is used to abut against the first blocking portion.
The charging device according to claim 25, wherein the adapter further includes a connecting shaft perpendicular to the fixing portion, and the second end of the first elastic member is connected to the connecting shaft.
The charging device according to claim 25, wherein both ends of the second elastic member are respectively connected to the first bending portion and the second bending portion provided on the first base, and the first the two bent parts extend in a direction away from the electrical connector; and

The first elastic member and the second elastic member are arranged horizontally and parallel along the moving direction of the first slider.
The charging device according to claim 23, further comprising a third bending portion, the third bending portion is disposed on the first base at both ends of the first sliding rail along the horizontal direction, and extending towards the direction close to the electrical connector.
The charging device according to claim 23, further comprising an intermediate connecting piece, the electrical connector is connected to the first slider through the intermediate connecting piece, the first elastic member of the first One end is connected to the intermediate connector.
The charging device according to claim 29, wherein the moving component in the second direction includes an intermediate connecting member, and the intermediate connecting member includes:

The second base, the second base is vertically provided with a slide bar on a side close to the electrical connector, and the two ends of the slide bar are respectively connected to the upper fixing part provided on the second base, Lower fixed part;

A connection seat, one end of the connection seat is connected to the electrical connector, and the other end of the connection seat is sleeved on the slide bar and can slide along the slide bar.
The charging device according to claim 30, further comprising:

an upper socket part, the upper socket part is socketed on the slide bar and can slide along the slide bar;

A lower socket part, the lower socket part is socketed on the slide bar and can slide along the slide bar, the lower socket part is located below the upper socket part, the lower socket part having an annular protrusion extending radially outward;

a second blocking portion, the second blocking portion is arranged on the second base and is used to abut against the upper end surface of the annular protrusion;

a first compression spring, the first compression spring is sleeved on the slide bar and located between the upper fixing part and the upper sleeve part; and

The second compression spring is sleeved on the sliding rod and located between the lower fixing part and the lower sleeve part.
The charging device according to any one of claims 30 to 31, wherein the intermediate connector further comprises:

A shift fork, one end of the shift fork is connected to the connection seat, and the other end of the shift fork is provided with a groove extending along the insertion direction of the electrical connector;

An elastic piece, the elastic piece is vertically fixed on the second base and passes through the groove; wherein, the connecting seat is configured to be able to rotate around the slide bar.
The charging device according to claim 32, wherein the elastic piece is arranged on a side of the second base away from the electrical connector, and the shift fork passes through the second base, so The second base is provided with a through hole for the shift fork to pass through.
The charging device according to claim 31, wherein the first direction moving component further comprises:

a third base, the third base is provided with a second sliding rail along the insertion direction of the electrical connector and the charging port assembly; and

The first base is slidably connected to the second slide rail and can slide along the insertion direction of the electrical connector and the charging port assembly, and the first base moves along the horizontal movement direction of the first slider The two ends of each are respectively connected to the third base through a third elastic piece and a fourth elastic piece.
The charging device according to claim 34, further comprising:

a third blocking portion, the third blocking portion is arranged on the third base on the side of the second slide rail close to the electrical connector, and the third blocking portion abuts against the first base .
The charging device according to claim 1, further comprising a flaring structure, wherein the electrical connector further comprises:

a housing having a through hole;

an electrode assembly having an electrode female head and a connecting hole; and

a connecting rod, the first end of the connecting rod extends through the connecting hole and the through hole to be connected with the housing, and the second end of the connecting rod is provided with a pin hole extending along its length direction , there is a first gap between the end surface of the second end of the connecting rod and the connecting hole and/or in a section perpendicular to the axial direction of the connecting hole, the electrode assembly and the shell there is a second gap between the bodies; and

The flaring structure is provided with a guide pin capable of abutting with the pin hole, and a male electrode for plugging into the female electrode.
The charging device according to claim 36, wherein the pin hole is configured as a first conical opening at the end close to the male electrode, and the first conical opening is inserted along the male electrode The caliber of the direction becomes gradually smaller; and/or

The guide pin is configured as a tapered head at one end close to the pin hole, and the diameter of the tapered head gradually becomes smaller along the insertion direction of the electrode male head.
The charging device according to claim 36, wherein the female electrode is configured as a second conical opening at one end close to the male electrode, and the second conical opening is inserted along the male electrode. The caliber gradually becomes smaller in the connection direction; and/or the electrode male head is configured as a circular rod body.
The charging device according to claim 36, wherein the electrode assembly is provided with a protruding portion extending inward along the radial direction of the connecting hole on a side close to the through hole, and the protruding portion abut the connecting rod.
The charging device according to claim 36, wherein the guide pin is arranged at a position between the male ends of the electrodes; and/or

The guide pin is arranged at the middle position of the male connection wire of the electrode.
The charging device according to claim 36, further comprising a guide cone, the guide cone is arranged at the end of the flaring structure close to the electrode female head, and the guide cone is configured to move along the electrode male head. Both ends of the head plug-in direction are open tube structures, and the caliber gradually increases along the electrode male-tip plug-in direction.