WO2016062145A1 - 扫地机器人及其充电座 - Google Patents

扫地机器人及其充电座 Download PDF

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Publication number
WO2016062145A1
WO2016062145A1 PCT/CN2015/085473 CN2015085473W WO2016062145A1 WO 2016062145 A1 WO2016062145 A1 WO 2016062145A1 CN 2015085473 W CN2015085473 W CN 2015085473W WO 2016062145 A1 WO2016062145 A1 WO 2016062145A1
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WO
WIPO (PCT)
Prior art keywords
charging
charging stand
robot body
stand
ground
Prior art date
Application number
PCT/CN2015/085473
Other languages
English (en)
French (fr)
Inventor
沈强
朴永哲
Original Assignee
江苏美的清洁电器股份有限公司
美的集团股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏美的清洁电器股份有限公司, 美的集团股份有限公司 filed Critical 江苏美的清洁电器股份有限公司
Priority to ES15851697T priority Critical patent/ES2885855T3/es
Priority to EP15851697.1A priority patent/EP3210516B1/en
Publication of WO2016062145A1 publication Critical patent/WO2016062145A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/22—Microcars, e.g. golf cars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode

Definitions

  • the invention relates to the field of sweeping equipment, and in particular to a sweeping robot and a charging base thereof.
  • the sweeping robot will match the corresponding charging stand.
  • the robot body of the sweeping robot When the power of the robot body of the sweeping robot is low, the robot body will automatically return to charge.
  • the charging stand rests on the ground, which takes up a lot of space, and the robot body actively avoids the charging stand if the robot body passes through the charging stand during the cleaning task, thereby causing the robot body to fail to the charging stand.
  • the present invention aims to solve at least one of the above technical problems in the prior art to some extent.
  • One aspect of the present invention provides a sweeping robot that is capable of effectively cleaning at least the ground below the charging stand.
  • Another aspect of the present invention provides a charging stand for a cleaning robot that can improve the cleaning effect of the robot body matched thereto on the ground below the charging stand.
  • a charging stand for a cleaning robot capable of improving the cleaning effect of the robot body matched thereto on the ground below the charging stand is proposed.
  • a cleaning robot includes: a robot body, the robot body is provided with a first charging terminal; and a charging base, and the charging base is provided with a second charging adapted to the first charging terminal a terminal, the charging base is fixed above the ground and a bottom surface of the charging base is spaced apart from the ground surface to enable the robot body to clean the ground below the charging base, and the charging seat is configured with a receiving portion
  • the accommodating portion is configured to receive the robot body, and after the robot body rests in the accommodating portion, the first charging terminal contacts the second charging terminal to form an electrical connection.
  • the robot body can effectively clean the ground below the charging stand, thereby improving the cleaning effect.
  • the cleaning robot according to the embodiment of the present invention may further have the following additional technical features:
  • the distance between the bottom surface of the charging stand and the ground is not less than the height of the robot body.
  • the charging stand is attached to a wall orthogonal to the ground.
  • the charging stand is disposed on a socket on the wall and is electrically connected to the socket.
  • the charging stand is provided with a pin, and the charging stand is positioned on the wall by the plug-in engagement of the pin with the socket.
  • At least a portion of the second charging terminal is configured to extend inwardly into the charging piece in the housing portion.
  • the charging base is provided with a returning launching device
  • the robot body is provided with a returning receiving device matched with the returning transmitting device.
  • the second charging terminal is configured as a charging piece, the first end of the charging piece extends downward from the bottom surface of the charging stand and the second end of the charging piece is inward Extend into the accommodating portion.
  • the charging stand includes a bottom plate portion, a first side plate portion, and a second side plate portion, and the first side plate portion and the second side plate portion are respectively disposed on the bottom plate
  • the front side and the rear side of the portion are opposed to each other to define the receiving portion between the first side plate portion, the second side plate portion, and the bottom plate portion.
  • the charging stand is provided with a support structure adapted to support the charging stand.
  • the support structure is movable up and down with respect to the charging stand, and the robot body is adapted to abut against the support structure and drive while the robot body is placed down in the housing portion.
  • the support structure moves downward until the bottom surface of the support structure is supported on the ground.
  • the robot body is provided with a handle.
  • a charging stand for a cleaning robot is fixed above the ground and a bottom surface of the charging stand is spaced apart from the ground to enable the robot body to charge the The ground surface under the seat is cleaned, and the charging base is configured with a receiving portion for accommodating the robot body of the cleaning robot, and the charging base is further provided with a charging terminal, and the charging terminal is configured to A charging piece that protrudes into the housing portion.
  • the charging stand of the embodiment of the invention it is possible to improve the cleaning effect of the robot body matched thereto on the floor below the charging stand.
  • a charging stand for a cleaning robot is fixed above the ground and a bottom surface of the charging stand is spaced apart from the ground to enable the robot body to charge the The ground under the seat is cleaned, and the charging base is configured with a receiving portion for accommodating the robot body of the cleaning robot, and the charging base is further provided with a charging terminal, and the charging terminal is configured to be charged.
  • a first end of the charging piece extends downward from a bottom surface of the charging stand and a second end of the charging piece extends inwardly into the receiving portion.
  • the charging stand of the embodiment of the invention it is possible to improve the cleaning effect of the robot body matched thereto on the floor below the charging stand.
  • FIG. 1 is a schematic view of a cleaning robot according to an embodiment of the present invention.
  • FIG. 2 is a schematic view of a charging stand for a cleaning robot according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a cleaning robot according to an embodiment of the present invention, wherein the robot body is located in the charging base;
  • FIG. 4 is a partial enlarged view of a charging stand according to an embodiment of the present invention.
  • Figure 5 is a schematic view of the handle stretching process
  • Figure 6 is a schematic view of a charging terminal of the charging stand
  • FIG. 7 and 8 are partial schematic views of a cleaning robot according to another embodiment of the present invention.
  • first and second are used for descriptive purposes only, and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining “first” and “second” may include one or more of the features either explicitly or implicitly. Further, in the description of the present invention, the meaning of "a plurality" is two or more unless otherwise specified.
  • the cleaning robot 100 according to an embodiment of the present invention will be described in detail below with reference to FIGS. 1-8.
  • the cleaning robot 100 can be used to clean the floor in the room, but is not limited thereto.
  • the cleaning robot 100 may include a robot body 1 and a charging stand 2, which may include components such as a housing, a traveling wheel, a driving motor, a brush, and the like.
  • the housing may be formed as a circular or generally square shape, and the housing may be a plastic housing.
  • the front side of the casing may be provided with a bumper, and a spring may be disposed between the bumper and the casing, so that the spring can buffer the collision force applied by the obstacle to the robot body 1 after the casing collides with the obstacle, thereby protecting the robot body. 1.
  • a dust collecting cup may be disposed in the casing, and the dust collecting cup may have at least one filtering structure, and the bottom surface 23 of the casing is provided with a dust suction port, and the dust suction port may be connected to the dust collecting cup, and the rear side of the dust collecting cup may be Arranged for production Under the action of the vacuum motor, the dust can be sucked into the dust cup from the dust suction port, and the user can take the dust cup out of the robot body 1 after using the sweeping robot 100 for a certain period of time. The dust is drained, and the dust collecting cup and the filter structure can be cleaned regularly.
  • a walking wheel can be arranged on each side of the dust cup, and each of the traveling wheels can be driven by a separate driving motor.
  • a universal bearing with support and steering functions can also be provided on the front side of the middle position of the two traveling wheels. Wheel, but not limited to this.
  • the brush may be disposed at the bottom of the casing and on the front side of the two traveling wheels, and the brush may be driven to rotate by a separate motor, and the brush can collect the dust at the bottom of the casing and the sides of the casing to the dust suction port, thereby Allows dust to be drawn into the dust cup more efficiently.
  • the robot body 1 is further provided with a first charging terminal (not shown), and the first charging terminal can be matched with the second charging terminal 21 provided on the charging stand 2, so that the charging stand 2 is directed to the robot body. 1 Charge.
  • the charging stand 2 is fixed above the ground 200 and the bottom surface 23 of the charging stand 2 is spaced apart from the ground 200.
  • the charging stand 2 is suspended from the ground 200 directly below it. That is, the bottom surface 23 of the charging stand 2 and the floor 200 directly below it are spaced apart from each other.
  • the floor 200 herein can be understood as the upper surface of the floor below the charging stand 2, the upper surface of the tile, and of course the upper surface of the carpet, but is not limited thereto.
  • the robot can clean the floor 200 below the charging stand 2.
  • the spacing between the charging stand 2 and the floor 200 should at least satisfy the ability to allow the side brush to freely rotate within the vertical space between the charging stand 2 and the floor 200, thereby placing dust on the floor 200 below the charging stand 2. Clean up.
  • the distance between the bottom surface 23 of the charging stand 2 and the floor 200 is not less than the height of the robot body 1.
  • the height of the robot body 1 can be understood as the vertical distance between the top surface of the robot body 1 and the ground 200 when the robot body 1 rests on the ground 200. More preferably, the distance between the bottom surface 23 of the charging stand 2 and the floor 200 is greater than the height of the robot body 1.
  • the robot body 1 can be integrally moved below the charging stand 2, thereby effectively cleaning the floor 200 below the charging stand 2. Moreover, since the charging stand 2 is suspended from the ground 200, the robot body 1 does not intentionally avoid the charging stand 2 when moving to an area close to the charging stand 2, so that the floor 200 around the charging stand 2 can also be effectively cleaned.
  • the charging base 2 is configured with a receiving portion 24 for receiving the robot body 1 (as shown in FIG. 3), and the robot body 1 is placed in the housing portion.
  • the first charging terminal is in contact with the second charging terminal 21 to form an electrical connection, so that the charging stand 2 can charge the robot body 1.
  • the robot body 1 can send a warning signal to the user, for example, transmitting the information of low power to the user in the form of a warning light, and the user can place the robot body 1 in the accommodating portion 24, thereby
  • the two charging terminals are butted to form an electrical connection, and the charging body 2 is charged to the robot body 1.
  • the cleaning robot 100 allows the side brush of the cleaning robot 100 to clean the floor 200 under the charging stand 2 or the robot body 1 can directly move to the charging stand 2 by setting the charging stand 2 to the ground 200.
  • the ground 200 below is cleaned, thereby eliminating a part of the cleaning dead zone of the cleaning robot 100, enhancing the cleaning function of the cleaning robot 100, and improving the cleaning effect.
  • the robot body 1 when charging the robot body 1, the robot body 1 can be located in the accommodating portion 24, that is, the robot body 1 will be located above the ground 200, so that for other sweeping robots or other forms of vacuum cleaners, the charging cradle can still be used.
  • the underlying floor 200 is effectively cleaned without being able to clean the floor below it because the sweeping robot 100 rests on the floor 200.
  • the charging stand 2 can be attached directly to the wall 300 orthogonal to the ground 200.
  • the wall 300 is provided with a socket 310
  • the charging base 2 is adapted to be disposed on the socket 310 and electrically connected to the socket 310.
  • the charging stand 2 may be provided with a pin, the pin may be inserted into the jack of the socket 310, and the charging stand 2 can be positioned on the wall 300 by the plug-in cooperation of the pin and the socket 310, thereby being realized by the pin.
  • the positioning of the charging stand 2 also realizes the electrical connection with the socket 310, and the structure is simple and the maintenance is convenient.
  • the charging stand 2 and the wall 300 are not limited to the above-described plug-in fitting manner, for example, the charging stand 2 can also be directly fastened to the wall 300 by bolts or screws, or directly fastened.
  • the charging stand 2 can also be directly fastened to the wall 300 by bolts or screws, or directly fastened.
  • On the socket 310 a separate bracket may be provided on the wall 300 or the socket 310.
  • the charging base 2 may also be fixed on the bracket as long as the charging base 2 is spaced apart from the floor 200 directly below.
  • the charging base 2 is provided with a returning launching device 22, and the robotic body 1 is provided with a returning receiving device that matches the returning transmitting device 22.
  • the specific configuration and working principle of the return air launching device 22 and the return air receiving device are both prior art, and have been widely applied to the existing sweeping robot and the charging base, so here the return transmitting device 22 and the return air
  • the receiving device is not specifically described or limited.
  • the robot body 1 can automatically find the charging stand 2 and return to the charging stand 2 for charging when the battery power is low.
  • At least a portion of the second charging terminal 21 (eg, the first sub-charging sheet 211) is configured to extend inwardly into the charging piece in the receiving portion 24, and the robot body 1 is placed in the housing portion. After 24, the first charging terminal on the robot body 1 can be in contact with the portion and form an electrical connection, so that the charging stand 2 can be moved to the robot Body 1 is charged.
  • the charging piece can be a metal dome, which is convenient for docking and can ensure reliable contact during charging.
  • the second charging terminal 21 is configured as a charging piece, and the first end (eg, the lower end) of the charging piece extends downward from the bottom surface of the charging stand 2.
  • the second sub-charging piece 212 is formed and the second end (for example, the upper end) of the charging piece projects inwardly into the housing portion 24 to constitute the first sub-charging sheet 211.
  • a portion of the second charging terminal 21 in the embodiment protrudes inwardly into the receiving portion 24 to form the first sub-charging sheet 211, and the other portion may be from the bottom of the charging stand 2, compared to the above embodiment.
  • the bottom surface 23 is extended downward to form the second sub-charger 212.
  • the user can directly rest the robot body 1 in the accommodating portion 24, so that the first charging terminal on the robot body 1 contacts the portion 211 of the second charging terminal 21 that protrudes into the accommodating portion 24 to form electricity. Connected to charge the robot body 1.
  • the robot body 1 can also move under the guidance of the return air launching device 22 to the bottom of the charging base 2, so that the first charging terminal on the robot body 1 can extend downward from the bottom surface 23 of the second charging terminal 21.
  • the portion 212 contacts and forms an electrical connection to charge the robot body 1.
  • the robot body 1 in this embodiment can be manually charged and discharged by the user.
  • the robot body 1 can also realize the automatic charging process by automatically returning to the air, enriching the charging mode, and improving the cleaning robot 100. Practicality.
  • the charging stand 2 may include a bottom plate portion 26, a first side plate portion 25, and a second side plate portion 27, a first side plate portion 25 and a second side plate portion 27 are respectively disposed on the front side and the rear side of the bottom plate portion 26, and the first side plate portion 25 and the second side plate portion 27 are opposed to each other and can be disposed in parallel, the first side plate portion 25, the second side plate portion 27, and the bottom plate portion
  • the housing portion 24 is defined in combination with the housing portion 24, and the housing portion 24 may be a space that is open upward, leftward, and rightward, but is not limited thereto.
  • one charging mode of the robot body 1 is placed in the accommodating portion 24 (as shown in FIG. 3), and the weight of the robot body 1 and the charging cradle 2 may be entirely
  • the charging stand 2 carries the load. In order to improve the carrying capacity of the charging stand 2, the charging stand 2 is prevented from falling or even being damaged.
  • the charging stand 2 may be provided with a support for charging.
  • the support structure 3 of the seat 2 can be supported on the floor 200 after the robot body 1 rests in the accommodating portion 24, thereby improving the stability of the charging stand 2.
  • the support structure 3 can move up and down with respect to the charging stand 2, and during the robot body 1 rests in the receiving portion 24, the robot body 1 is adapted to abut against the support structure 3 and drive the support structure 3 to move downward until the support structure 3
  • the bottom surface is supported on the ground 200.
  • the support structure 3 may be a plurality of groups, each of the support structures 3 may include a support rod 31 and a spring 32, and the spring 32 is sleeved on the support rod 31.
  • the outer peripheral surface of the support rod 31 may be provided with an annular flange 311.
  • Upper end of spring 32 Squeezing against the annular flange 311 and the lower end of the spring 32 can elastically press against the abutment surface 33 in the charging base 2, the spring 32 is in a normally compressed state, so that the spring 32 can be provided to the support rod 31 upward.
  • the elastic force is such that the support rod 31 can be inserted into the accommodating portion 24 by the pushing action of the spring without being subjected to other external force, and the user can rest the robot body 1 in the accommodating portion 24 during the period of time.
  • the robot body 1 will abut against the upper end of the support rod 31 and push the support rod 31 downward until the bottom surface of the support rod 31 is supported on the ground, so that the support rod 31 can at least partially share the robot.
  • the gravity of the body 1 improves the stability of the charging stand 2.
  • the robot body 1 may be provided with a handle 11 which may be disposed on the housing of the robot body 1.
  • the housing may be provided with a receiving slot, and the handle 11 may be received.
  • the handle 11 can be pulled and then flipped relative to the robot body 1 to facilitate the user to lift the robot body 1 through the handle 11.
  • a charging stand 2 for the cleaning robot 100 according to an embodiment of the present invention for charging the robot body 1 of the cleaning robot 100 will be described in detail below.
  • the charging stand 2 is fixed above the floor 200 and the bottom surface 23 of the charging stand 2 is spaced apart from the floor 200.
  • the charging stand 2 is suspended compared to the floor 200 directly below it, that is, the bottom surface 23 of the charging stand 2 is positive
  • the ground 200 below is spaced apart from each other.
  • the floor 200 herein can be understood as the upper surface of the floor below the charging stand 2, the upper surface of the tile, and of course the upper surface of the carpet, but is not limited thereto.
  • the robot can clean the floor 200 below the charging stand 2.
  • the spacing between the charging stand 2 and the floor 200 should at least satisfy the ability to allow the side brush to freely rotate within the vertical space between the charging stand 2 and the floor 200, thereby placing dust on the floor 200 below the charging stand 2. Clean up.
  • the distance between the bottom surface 23 of the charging stand 2 and the floor 200 is not less than the height of the robot body 1.
  • the height of the robot body 1 can be understood as the vertical distance between the top surface of the robot body 1 and the ground 200 when the robot body 1 rests on the ground 200. More preferably, the distance between the bottom surface 23 of the charging stand 2 and the floor 200 is greater than the height of the robot body 1.
  • the robot body 1 can be integrally moved below the charging stand 2, thereby effectively cleaning the floor 200 below the charging stand 2. Moreover, since the charging stand 2 is suspended from the ground 200, the robot body 1 does not intentionally avoid the charging stand 2 when moving to an area close to the charging stand 2, so that the floor 200 around the charging stand 2 can also be effectively cleaned.
  • the charging base 2 is configured with a receiving portion 24 for receiving the robot body 1 (as shown in FIG. 3 ), and the charging base 2 can be provided with a charging terminal. (ie, the second charging terminal 21), the charging terminal on the charging stand 2 is adapted to match the charging terminal (ie, the first charging terminal) on the robot body 1.
  • the charging terminal on the charging stand 2 can be in contact with the charging terminal on the robot body 1 and form an electrical connection, so that the charging stand 2 can charge the robot body 1.
  • At least a portion of the charging terminal (ie, the second charging terminal 21) on the charging stand 2 is configured to extend inwardly into the receiving portion 24.
  • Charging film Preferably, after the robot body 1 is placed in the accommodating portion 24, the charging terminal on the robot body 1 can be in contact with the portion and form an electrical connection, so that the charging cradle 2 can charge the robot body 1.
  • the charging piece can be a metal dome, which is convenient for docking and can ensure reliable contact during charging.
  • the charging terminal (ie, the second charging terminal 21) on the charging stand 2 is configured as a charging piece, and the first end (eg, the lower end) of the charging piece is from the charging stand 2
  • the bottom surface extends downward to constitute the second sub-charging piece 212 and the second end (for example, the upper end) of the charging piece projects inwardly into the receiving portion 24 to constitute the first sub-charging sheet 211.
  • a part of the charging terminal on the charging stand 2 in this embodiment protrudes inwardly into the receiving portion 24 to form the first sub-charging piece 211, and the other part can be obtained from the charging stand 2
  • the bottom surface extends downward beyond the bottom surface 23 to form a second sub-charger 212.
  • the user can directly rest the robot body 1 in the accommodating portion 24, so that the charging terminal on the robot body 1 contacts the portion 211 of the charging terminal on the charging stand 2 that protrudes into the accommodating portion 24 to form electricity. Connected to charge the robot body 1.
  • the robot body 1 can also move under the guidance of the return air launching device 22 to the bottom of the charging base 2, so that the charging terminal on the robot body 1 can protrude downward from the bottom surface 23 of the charging terminal on the charging base 2.
  • the portion 212 contacts and forms an electrical connection to charge the robot body 1.
  • the charging stand 2 can be attached directly to the wall 300 orthogonal to the ground 200.
  • the wall 300 is provided with a socket 310
  • the charging base 2 is adapted to be disposed on the socket 310 and electrically connected to the socket 310.
  • the charging stand 2 may be provided with a pin, the pin may be inserted into the jack of the socket 310, and the charging stand 2 can be positioned on the wall 300 by the plug-in cooperation of the pin and the socket 310, thereby being realized by the pin.
  • the positioning of the charging stand 2 also realizes the electrical connection with the socket 310, and the structure is simple and the maintenance is convenient.
  • the charging stand 2 and the wall 300 are not limited to the above-described plug-in fitting manner, for example, the charging stand 2 can also be directly fastened to the wall 300 by bolts or screws, or directly fastened.
  • the charging stand 2 can also be directly fastened to the wall 300 by bolts or screws, or directly fastened.
  • On the socket 310 a separate bracket may be provided on the wall 300 or the socket 310.
  • the charging base 2 may also be fixed on the bracket as long as the charging base 2 is spaced apart from the floor 200 directly below.
  • the charging base 2 is provided with a returning launching device 22, and the robotic body 1 is provided with a returning receiving device that matches the returning transmitting device 22.
  • the specific configuration and working principle of the return air launching device 22 and the return air receiving device are both prior art, and have been widely applied to the existing sweeping robot and the charging base, so here the return transmitting device 22 and the return air
  • the receiving device is not specifically described or limited.
  • the robot body 1 can automatically find the charging stand 2 and return to the charging stand 2 for charging when the battery power is low.
  • the charging stand 2 may include a bottom plate portion 26, a first side plate portion 25, and a second side plate portion 27, a first side plate portion 25 and a second side plate portion 27 are respectively disposed on the front side and the rear side of the bottom plate portion 26, and the first side plate portion 25 and the second side plate portion 27 are opposed to each other and can be disposed in parallel, the first side plate portion 25, the second side plate portion 27, and the bottom plate portion
  • the housing portion 24 is defined in combination with the housing portion 24, and the housing portion 24 may be a space that is open upward, leftward, and rightward, but is not limited thereto.
  • one charging mode of the robot body 1 is placed in the accommodating portion 24 (as shown in FIG. 3), and the weight of the robot body 1 and the charging cradle 2 may be entirely
  • the charging stand 2 carries the load. In order to improve the carrying capacity of the charging stand 2, the charging stand 2 is prevented from falling or even being damaged.
  • the charging stand 2 may be provided with a support for charging.
  • the support structure 3 of the seat 2 can be supported on the floor 200 after the robot body 1 rests in the accommodating portion 24, thereby improving the stability of the charging stand 2.
  • the support structure 3 can move up and down with respect to the charging stand 2, and during the robot body 1 rests in the receiving portion 24, the robot body 1 is adapted to abut against the support structure 3 and drive the support structure 3 to move downward until the support structure 3
  • the bottom surface is supported on the ground 200.
  • the support structure 3 may be a plurality of groups, each of the support structures 3 may include a support rod 31 and a spring 32, and the spring 32 is sleeved on the support rod 31.
  • the outer peripheral surface of the support rod 31 may be provided with an annular flange 311.
  • the upper end of the spring 32 is elastically pressed against the annular flange 311 and the lower end of the spring 32 can elastically press against the abutment surface 33 in the charging base 2, the spring 32 is in a normally compressed state, so that the spring 32 can be supplied to the support rod 31 an upward elastic force, so that the support rod 31 can be pushed into the accommodating portion 24 by the pushing action of the spring without being subjected to other external force, and the user can rest the robot body 1 in the accommodating portion.
  • the period 24 as shown in FIGS.
  • the robot body 1 will abut against the upper end of the support rod 31 and push the support rod 31 downward until the bottom surface of the support rod 31 is supported on the ground, so that the support rod 31 can
  • the gravity of the robot body 1 is at least partially shared to improve the stability of the charging stand 2.
  • the robot body 1 may be provided with a handle 11 which may be disposed on the housing of the robot body 1.
  • the housing may be provided with a receiving slot, and the handle 11 may be received.
  • the handle 11 can be pulled and then flipped relative to the robot body 1 to facilitate the user to lift the robot body 1 through the handle 11.

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Abstract

一种扫地机器人（100）及其充电座（2）。该扫地机器人（100）包括：机器人本体（1）和充电座（2），所述机器人本体（1）上设置有第一充电端子，所述充电座（2）上设置有与所述第一充电端子适配的第二充电端子（21），所述充电座（2）固定在地面（200）上方，所述充电座（2）上构造有收容部（24），在所述机器人本体（1）搁置在所述收容部（24）内后所述第一充电端子与所述第二充电端子（21）接触以形成电连接。

Description

扫地机器人及其充电座 技术领域
本发明涉及扫地设备领域，尤其是涉及一种扫地机器人及其充电座。
背景技术
目前，扫地机器人都会匹配对应的充电座，在扫地机器人的机器人本体的电量较低时，机器人本体会自动回航进行充电。一般地，充电座搁置在地面上，其会占用很大的空间，而且机器人本体在执行清扫任务期间，若机器人本体途经充电座则会主动避开充电座，由此导致机器人本体无法对充电座附近的地面特别是充电座下方的地面进行清洁。
发明内容
本发明旨在至少在一定程度上解决现有技术中的上述技术问题之一。
本发明一方面提出了一种扫地机器人，该扫地机器人至少能够对充电座下面的地面进行有效清扫。
本发明另一方面提出了一种用于扫地机器人的充电座，该充电座能够改善与其匹配的机器人本体对充电座下方地面的清洁效果。
本发明再一方面提出了一种用于扫地机器人的充电座，该充电座能够改善与其匹配的机器人本体对充电座下方地面的清洁效果。
根据本发明实施例的扫地机器人，包括：机器人本体，所述机器人本体上设置有第一充电端子；以及充电座，所述充电座上设置有与所述第一充电端子适配的第二充电端子，所述充电座固定在地面上方且所述充电座的底面与所述地面间隔开以使得所述机器人本体能够对所述充电座下方的地面进行清洁，所述充电座上构造有收容部，所述收容部用于***述机器人本体且在所述机器人本体搁置在所述收容部内后所述第一充电端子与所述第二充电端子接触以形成电连接。
根据本发明实施例的扫地机器人，其机器人本体能够有效对充电座下面的地面进行清洁，从而提高清扫效果。
另外，根据本发明实施例的扫地机器人，还可以具有如下附加技术特征：
根据本发明实施例的扫地机器人，所述充电座的底面与所述地面之间的距离不小于所述机器人本体的高度。
根据本发明实施例的扫地机器人，所述充电座贴附在与所述地面正交的墙壁上。
根据本发明实施例的扫地机器人，所述充电座设在所述墙壁上的插座上并与所述插座电连接。
根据本发明实施例的扫地机器人，所述充电座上设置有插脚，所述充电座通过所述插脚与所述插座的插接配合而定位在所述墙壁上。
根据本发明实施例的扫地机器人，所述第二充电端子的至少一部分构造为向内伸入到所述收容部内的充电片。
根据本发明实施例的扫地机器人，所述充电座上设置有回航发射装置，所述机器人本体上设置有与所述回航发射装置匹配的回航接收装置。
根据本发明实施例的扫地机器人，所述第二充电端子构造为充电片，所述充电片的第一端从所述充电座的底面向下延伸出且所述充电片的第二端向内伸入到所述收容部内。
根据本发明实施例的扫地机器人，所述充电座包括底板部、第一侧板部和第二侧板部，所述第一侧板部和所述第二侧板部分别设置在所述底板部的前侧和后侧且彼此相对，以在所述第一侧板部、所述第二侧板部与所述底板部之间限定出所述收容部。
根据本发明实施例的扫地机器人，所述充电座上设置有适于支撑所述充电座的支撑结构。
根据本发明实施例的扫地机器人，所述支撑结构相对所述充电座可上下移动，在所述机器人本体向下搁置在所述收容部内期间所述机器人本体适于抵靠所述支撑结构并驱动所述支撑结构向下运动直至所述支撑结构的底面支撑在所述地面上。
根据本发明实施例的扫地机器人，所述机器人本体上设置有提手。
根据本发明另一方面实施例的用于扫地机器人的充电座，所述充电座固定在地面上方且所述充电座的底面与所述地面间隔开，以使得所述机器人本体能够对所述充电座下方的地面进行清洁，所述充电座上构造有收容部，所述收容部用于***述扫地机器人的机器人本体，所述充电座上还设置有充电端子，所述充电端子构造为向内伸入到所述收容部内的充电片。
根据本发明实施例的充电座，能够改善与其匹配的机器人本体对充电座下方地面的清洁效果。
根据本发明又一方面实施例的用于扫地机器人的充电座，所述充电座固定在地面上方且所述充电座的底面与所述地面间隔开，以使得所述机器人本体能够对所述充电座下方的地面进行清洁，所述充电座上构造有收容部，所述收容部用于***述扫地机器人的机器人本体，所述充电座上还设置有充电端子，所述充电端子构造为充电片，所述充电片的第一端从所述充电座的底面向下延伸出且所述充电片的第二端向内伸入到所述收容部内。
根据本发明实施例的充电座，能够改善与其匹配的机器人本体对充电座下方地面的清洁效果。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是根据本发明实施例的扫地机器人的示意图；
图2是根据本发明实施例的用于扫地机器人的充电座的示意图；
图3是根据本发明实施例的扫地机器人的示意图，其中机器人本***于充电座内；
图4是根据本发明实施例的充电座的局部放大图；
图5是提手伸展过程的示意图；
图6是充电座的充电端子的示意图；
图7和图8是根据本发明另一实施例的扫地机器人的局部示意图。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“中心”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
需要说明的是，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。进一步地，在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。
下面结合图1-图8对根据本发明实施例的扫地机器人100进行详细描述，该扫地机器人100可用于对室内的地面进行清洁，但不限于此。
根据本发明实施例的扫地机器人100可以包括机器人本体1和充电座2，机器人本体1可以包括壳体、行走轮、驱动电机、毛刷等部件。
壳体可以形成为圆形或大体方形，壳体可以是塑料壳体。壳体的前侧可以设置有保险杠，保险杠与壳体之间可以设置弹簧，从而在壳体碰撞到障碍物后该弹簧能够缓冲障碍物施加给机器人本体1的碰撞力，进而保护机器人本体1。
壳体内可以设置有集尘杯，集尘杯可以具有至少一层过滤结构，壳体的底面23上设置有灰尘吸入口，灰尘吸入口可以连通集尘杯，在集尘杯的后侧，可以布置用于产生 负压的吸尘电机，在吸尘电机的作用下，灰尘能够从灰尘吸入口被吸入到集尘杯内，用户在使用扫地机器人100一定时间后，可以将集尘杯从机器人本体1内取出并倒掉灰尘，同时用户还可以定期对集尘杯以及过滤结构进行清洗。
集尘杯的两侧可以各设置一个行走轮，每个行走轮可以分别由一个单独的驱动电机驱动，在两个行走轮中间位置的前侧，还可以设置一个具有支撑以及转向功能的万向轮，但不限于此。
毛刷可以设置在壳体的底部且位于两个行走轮的前侧，毛刷可由单独的电机驱动旋转，毛刷能够将壳体底部以及壳体两侧的灰尘汇聚到灰尘吸入口处，从而使得灰尘能够更高效地被吸入到集尘杯内。
当然，应当理解的是，上述关于机器人本体1的构造均已为本领域的普通技术人员所熟知，上述的说明仅是示意性的，不能理解为是对根据本发明实施例的机器人本体1的一种限制。
应当理解的是，机器人本体1上还设置有第一充电端子(未示出)，该第一充电端子可与充电座2上设置的第二充电端子21匹配，从而由充电座2向机器人本体1进行充电。
结合图1和图2所示，充电座2固定在地面200上方且充电座2的底面23与地面200间隔开，换言之，充电座2相比其正下方的地面200而言是悬空设置的，即充电座2的底面23与其正下方的地面200是彼此间隔开的。需要说明的是，这里的地面200可以理解为是充电座2下方的地板的上表面、瓷砖的上表面，当然还可以是地毯的上表面，但不限于此。
由此，由于充电座2的底面23与地面200是间隔开的，因此机器人能够对充电座2下方的地面200进行清洁。例如，充电座2与地面200之间的间距应当至少满足可以使得边刷能够在充电座2与地面200之间的竖向空间内自由旋转，从而将位于充电座2下面的地面200上的灰尘清扫干净。
作为优选的实施方式，充电座2的底面23与地面200之间的距离不小于机器人本体1的高度。这里，需要说明的是，机器人本体1的高度可以理解为是在机器人本体1静置在地面200上时，机器人本体1的顶面与地面200之间的竖向距离。更优选地，充电座2的底面23与地面200之间的距离要大于机器人本体1的高度。
这样，机器人本体1能够整体运动到充电座2的下方，从而充分对充电座2下方的地面200进行有效清洁。而且，由于充电座2相对地面200悬空布置，因此机器人本体1在运动至靠近充电座2的区域时也不用刻意避让充电座2，从而也能对充电座2周围的地面200进行有效清洁。
如图1-图3且结合图4所示，充电座2上构造有收容部24，该收容部24用于收容机器人本体1(如图3所示)，并且在机器人本体1搁置在收容部24内后第一充电端子与第二充电端子21接触以形成电连接，从而充电座2可对机器人本体1进行充电。
这样，在机器人本体1的电量较低时，机器人本体1可向用户发出警示信号，例如以警示灯的形式向用户传递电量低的信息，用户可将机器人本体1放置在收容部24内，从而使得两个充电端子对接以形成电连接，进而由充电座2向机器人本体1进行充电。
根据本发明实施例的扫地机器人100，通过将充电座2相对地面200悬空设置，使得扫地机器人100的边刷可以对充电座2下面的地面200进行清洁或者机器人本体1可以直接运动到充电座2下面的地面200进行清洁，从而消除了扫地机器人100的部分清扫盲区，强化了扫地机器人100的清扫功能，提高了清扫效果。
同时，在给机器人本体1进行充电时，机器人本体1可以位于收容部24内，即机器人本体1将位于地面200上方，从而对于其它扫地机器人或者其它形式的吸尘器而言，仍然可以对充电座2下方的地面200进行有效清洁，而不会由于扫地机器人100搁置在地面200上而导致无法对其下方的地面进行清扫。
在本发明的一些实施例中，充电座2可以直接贴附在与地面200正交的墙壁300上。例如，一般地，墙壁300上设置有插座310，充电座2适于设在该插座310上并与插座310电连接。具体地，充电座2上可以设置有插脚，插脚可以***到插座310的插孔内，充电座2能够通过插脚与插座310的插接配合而定位在墙壁300上，由此通过插脚即可实现对充电座2的定位，同时也实现了与插座310的电连接，结构简单，维护方便。
但是，应当理解的是，充电座2与墙壁300的配合方式并不限于上述的插接配合方式，例如，充电座2也可以通过螺栓或螺钉而直接紧固在墙壁300上，或者直接紧固在插座310上。当然，墙壁300上或者插座310上也可以设置单独的支架，充电座2也可以固定在支架上，只要保证充电座2与正下方的地面200间隔开即可。
在本发明的一些实施例中，充电座2上设置有回航发射装置22，机器人本体1上设置有与回航发射装置22匹配的回航接收装置。应当理解的是，回航发射装置22和回航接收装置的具体构造和工作原理均已为现有技术，且已广泛应用到现有的扫地机器人与充电座上，因此这里对回航发射装置22以及回航接收装置不作特殊说明或限定。
通过设置回航发射装置22和回航接收装置，使得机器人本体1在电量较低时能够自动寻找充电座2并返回充电座2进行充电。
在本发明的一些实施例中，第二充电端子21的至少一部分(例如，第一子充电片211)构造为向内伸入到收容部24内的充电片，机器人本体1在搁置在收容部24内后，机器人本体1上的第一充电端子可以与该部分接触并形成电连接，从而充电座2能够向机器人本 体1进行充电。该充电片可以是金属弹片，由此对接方便，且能够保证充电过程中的可靠接触。
或者，在另一些实施例中，如图4且结合图6所示，第二充电端子21构造为充电片，充电片的第一端(例如，下端)从充电座2的底面向下延伸出以构成第二子充电片212且充电片的第二端(例如，上端)向内伸入到收容部24内以构成第一子充电片211。换言之，相比于上述实施例而言，该实施例中的第二充电端子21的其中一部分向内伸入收容部24内以形成第一子充电片211，另一部分可以从充电座2的底面向下延伸超出底面23以形成第二子充电片212。
由此，用户一方面可以直接将机器人本体1搁置在收容部24内，使得机器人本体1上的第一充电端子与第二充电端子21的伸入到收容部24内的部分211接触以形成电连接，从而对机器人本体1进行充电。
同时，机器人本体1也可以在回航发射装置22的引导下，自行运动到充电座2下方，使得机器人本体1上的第一充电端子能够与第二充电端子21的向下伸出其底面23的部分212接触并形成电连接，从而对机器人本体1进行充电。
简言之，该实施例中的机器人本体1既可以通过用户手动取放机器人本体1进行充电，当然机器人本体1也可以通过自动回航而实现自动充电过程，丰富了充电方式，提高了扫地机器人100的实用性。
在本发明的一些实施例中，如图4所示，充电座2可以包括底板部26、第一侧板部25和第二侧板部27，第一侧板部25和第二侧板部27分别设置在底板部26的前侧和后侧，第一侧板部25和第二侧板部27彼此相对且可平行设置，第一侧板部25、第二侧板部27和底板部26共同限定出上述的收容部24，收容部24可以是一个向上、向左、向右敞开的空间，但不限于此。
在本发明的一些实施例中，如上所述，机器人本体1的一种充电方式是搁置在收容部24内(如图3所示)，此时机器人本体1和充电座2的重量可能全部由充电座2进行承载，为了提高充电座2的承载能力，防止充电座2掉落甚至损坏，作为优选的实施方式，如图7和图8所示，充电座2上可以设置有适于支撑充电座2的支撑结构3，该支撑结构3可以在机器人本体1搁置在收容部24内后支撑在地面200上，从而提高充电座2的稳定性。
例如，支撑结构3相对充电座2可上下移动，在机器人本体1向下搁置在收容部24内期间，机器人本体1适于抵靠支撑结构3并驱动支撑结构3向下运动直至支撑结构3的底面支撑在地面200上。
具体而言，支撑结构3可以为多组，每组支撑结构3可以包括支撑杆31和弹簧32，弹簧32套在支撑杆31上，支撑杆31的外周面上可以设置有环形凸缘311，弹簧32的上端弹 性地抵压在环形凸缘311上且弹簧32的下端可以弹性地抵压充电座2内的止抵面33上，弹簧32处于常压缩状态，从而弹簧32能够提供给支撑杆31一个向上的弹力，使得支撑杆31在未受到其它外力的情况下，通过弹簧的推抵作用，支撑杆31的上端可伸入到收容部24内，在用户将机器人本体1搁置在收容部24内期间，如图7和图8所示，机器人本体1将抵靠在支撑杆31的上端并推抵支撑杆31向下运动直至支撑杆31的底面支撑在地面上，从而支撑杆31能够至少部分分担机器人本体1的重力，提高充电座2的稳定性。
为了方便用户提拉机器人本体1，机器人本体1上可以设置有提手11，该提手11可以设置在机器人本体1的壳体上，例如壳体上可以设置有容纳槽，提手11可以收纳在容纳槽内，该提手11相对机器人本体1可先抽拉然后进行翻转，从而方便用户通过该提手11提拉机器人本体1。
下面对根据本发明实施例的用于扫地机器人100的充电座2进行详细描述，该充电座2用于向扫地机器人100的机器人本体1进行充电。
充电座2固定在地面200上方且充电座2的底面23与地面200间隔开，换言之，充电座2相比其正下方的地面200而言是悬空设置的，即充电座2的底面23与其正下方的地面200是彼此间隔开的。需要说明的是，这里的地面200可以理解为是充电座2下方的地板的上表面、瓷砖的上表面，当然还可以是地毯的上表面，但不限于此。
由此，由于充电座2的底面23与地面200是间隔开的，因此机器人能够对充电座2下方的地面200进行清洁。例如，充电座2与地面200之间的间距应当至少满足可以使得边刷能够在充电座2与地面200之间的竖向空间内自由旋转，从而将位于充电座2下面的地面200上的灰尘清扫干净。
作为优选的实施方式，充电座2的底面23与地面200之间的距离不小于机器人本体1的高度。这里，需要说明的是，机器人本体1的高度可以理解为是在机器人本体1静置在地面200上时，机器人本体1的顶面与地面200之间的竖向距离。更优选地，充电座2的底面23与地面200之间的距离要大于机器人本体1的高度。
这样，机器人本体1能够整体运动到充电座2的下方，从而充分对充电座2下方的地面200进行有效清洁。而且，由于充电座2相对地面200悬空布置，因此机器人本体1在运动至靠近充电座2的区域时也不用刻意避让充电座2，从而也能对充电座2周围的地面200进行有效清洁。
如图1-图3且结合图4所示，充电座2上构造有收容部24，该收容部24用于收容机器人本体1(如图3所示)，充电座2上可以设置有充电端子(即，第二充电端子21)，充电座2上的充电端子适于与机器人本体1上的充电端子(即第一充电端子)匹配。优选地， 在机器人本体1搁置在收容部24内后，充电座2上的充电端子可与机器人本体1上的充电端子接触并形成电连接，从而充电座2可对机器人本体1进行充电。
在本发明的一些实施例中，充电座2上的充电端子(即，第二充电端子21)的至少一部分(例如，第一子充电片211)构造为向内伸入到收容部24内的充电片。优选地，机器人本体1在搁置在收容部24内后，机器人本体1上的充电端子可以与该部分接触并形成电连接，从而充电座2能够向机器人本体1进行充电。该充电片可以是金属弹片，由此对接方便，且能够保证充电过程中的可靠接触。
或者，如图4所示，在一些实施例中，充电座2上的充电端子(即，第二充电端子21)构造为充电片，充电片的第一端(例如，下端)从充电座2的底面向下延伸出以构成第二子充电片212且充电片的第二端(例如，上端)向内伸入到收容部24内以构成第一子充电片211。换言之，相比于上述实施例而言，该实施例中的充电座2上的充电端子的其中一部分向内伸入收容部24内以形成第一子充电片211，另一部分可以从充电座2的底面向下延伸超出底面23以形成第二子充电片212。
由此，用户一方面可以直接将机器人本体1搁置在收容部24内，使得机器人本体1上的充电端子与充电座2上的充电端子的伸入到收容部24内的部分211接触以形成电连接，从而对机器人本体1进行充电。
同时，机器人本体1也可以在回航发射装置22的引导下，自行运动到充电座2下方，使得机器人本体1上的充电端子能够与充电座2上的充电端子的向下伸出其底面23的部分212接触并形成电连接，从而对机器人本体1进行充电。
在本发明的一些实施例中，充电座2可以直接贴附在与地面200正交的墙壁300上。例如，一般地，墙壁300上设置有插座310，充电座2适于设在该插座310上并与插座310电连接。具体地，充电座2上可以设置有插脚，插脚可以***到插座310的插孔内，充电座2能够通过插脚与插座310的插接配合而定位在墙壁300上，由此通过插脚即可实现对充电座2的定位，同时也实现了与插座310的电连接，结构简单，维护方便。
但是，应当理解的是，充电座2与墙壁300的配合方式并不限于上述的插接配合方式，例如，充电座2也可以通过螺栓或螺钉而直接紧固在墙壁300上，或者直接紧固在插座310上。当然，墙壁300上或者插座310上也可以设置单独的支架，充电座2也可以固定在支架上，只要保证充电座2与正下方的地面200间隔开即可。
在本发明的一些实施例中，充电座2上设置有回航发射装置22，机器人本体1上设置有与回航发射装置22匹配的回航接收装置。应当理解的是，回航发射装置22和回航接收装置的具体构造和工作原理均已为现有技术，且已广泛应用到现有的扫地机器人与充电座上，因此这里对回航发射装置22以及回航接收装置不作特殊说明或限定。
通过设置回航发射装置22和回航接收装置，使得机器人本体1在电量较低时能够自动寻找充电座2并返回充电座2进行充电。
在本发明的一些实施例中，如图4所示，充电座2可以包括底板部26、第一侧板部25和第二侧板部27，第一侧板部25和第二侧板部27分别设置在底板部26的前侧和后侧，第一侧板部25和第二侧板部27彼此相对且可平行设置，第一侧板部25、第二侧板部27和底板部26共同限定出上述的收容部24，收容部24可以是一个向上、向左、向右敞开的空间，但不限于此。
在本发明的一些实施例中，如上所述，机器人本体1的一种充电方式是搁置在收容部24内(如图3所示)，此时机器人本体1和充电座2的重量可能全部由充电座2进行承载，为了提高充电座2的承载能力，防止充电座2掉落甚至损坏，作为优选的实施方式，如图7和图8所示，充电座2上可以设置有适于支撑充电座2的支撑结构3，该支撑结构3可以在机器人本体1搁置在收容部24内后支撑在地面200上，从而提高充电座2的稳定性。
例如，支撑结构3相对充电座2可上下移动，在机器人本体1向下搁置在收容部24内期间，机器人本体1适于抵靠支撑结构3并驱动支撑结构3向下运动直至支撑结构3的底面支撑在地面200上。
具体而言，支撑结构3可以为多组，每组支撑结构3可以包括支撑杆31和弹簧32，弹簧32套在支撑杆31上，支撑杆31的外周面上可以设置有环形凸缘311，弹簧32的上端弹性地抵压在环形凸缘311上且弹簧32的下端可以弹性地抵压充电座2内的止抵面33上，弹簧32处于常压缩状态，从而弹簧32能够提供给支撑杆31一个向上的弹力，使得支撑杆31在未受到其它外力的情况下，通过弹簧的推抵作用，支撑杆31的上端可伸入到收容部24内，在用户将机器人本体1搁置在收容部24内期间，如图7和图8所示，机器人本体1将抵靠在支撑杆31的上端并推抵支撑杆31向下运动直至支撑杆31的底面支撑在地面上，从而支撑杆31能够至少部分分担机器人本体1的重力，提高充电座2的稳定性。
为了方便用户提拉机器人本体1，机器人本体1上可以设置有提手11，该提手11可以设置在机器人本体1的壳体上，例如壳体上可以设置有容纳槽，提手11可以收纳在容纳槽内，该提手11相对机器人本体1可先抽拉然后进行翻转，从而方便用户通过该提手11提拉机器人本体1。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管已经示出和描述了本发明的实施例，本领域的普通技术人员可以理解：在不脱离本 发明的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。

Claims (14)

  1. 一种扫地机器人，其特征在于，包括：
    机器人本体，所述机器人本体上设置有第一充电端子；以及
    充电座，所述充电座上设置有与所述第一充电端子适配的第二充电端子，所述充电座固定在地面上方且所述充电座的底面与所述地面间隔开以使得所述机器人本体能够对所述充电座下方的地面进行清洁，所述充电座上构造有收容部，所述收容部用于***述机器人本体且在所述机器人本体搁置在所述收容部内后所述第一充电端子与所述第二充电端子接触以形成电连接。
  2. 根据权利要求1所述的扫地机器人，其特征在于，所述充电座的底面与所述地面之间的距离不小于所述机器人本体的高度。
  3. 根据权利要求1或2所述的扫地机器人，其特征在于，所述充电座贴附在与所述地面正交的墙壁上。
  4. 根据权利要求3所述的扫地机器人，其特征在于，所述充电座设在所述墙壁上的插座上并与所述插座电连接。
  5. 根据权利要求4所述的扫地机器人，其特征在于，所述充电座上设置有插脚，所述充电座通过所述插脚与所述插座的插接配合而定位在所述墙壁上。
  6. 根据权利要求1或2所述的扫地机器人，其特征在于，所述第二充电端子的至少一部分构造为向内伸入到所述收容部内的充电片。
  7. 根据权利要求1或2所述的扫地机器人，其特征在于，所述充电座上设置有回航发射装置，所述机器人本体上设置有与所述回航发射装置匹配的回航接收装置。
  8. 根据权利要求7所述的扫地机器人，其特征在于，所述第二充电端子构造为充电片，所述充电片的第一端从所述充电座的底面向下延伸出且所述充电片的第二端向内伸入到所述收容部内。
  9. 根据权利要求1或2所述的扫地机器人，其特征在于，所述充电座包括底板部、第一侧板部和第二侧板部，所述第一侧板部和所述第二侧板部分别设置在所述底板部的前侧和后侧且彼此相对，以在所述第一侧板部、所述第二侧板部与所述底板部之间限定出所述收容部。
  10. 根据权利要求1或2所述的扫地机器人，其特征在于，所述充电座上设置有适于支撑所述充电座的支撑结构。
  11. 根据权利要求10所述的扫地机器人，其特征在于，所述支撑结构相对所述充电座可上下移动，在所述机器人本体向下搁置在所述收容部内期间所述机器人本体适于抵靠所 述支撑结构并驱动所述支撑结构向下运动直至所述支撑结构的底面支撑在所述地面上。
  12. 根据权利要求1所述的扫地机器人，其特征在于，所述机器人本体上设置有提手。
  13. 一种用于扫地机器人的充电座，其特征在于，所述充电座固定在地面上方且所述充电座的底面与所述地面间隔开以使得所述机器人本体能够对所述充电座下方的地面进行清洁，所述充电座上构造有收容部，所述充电座上还设置有充电端子，所述充电端子构造为向内伸入到所述收容部内的充电片。
  14. 一种用于扫地机器人的充电座，其特征在于，所述充电座固定在地面上方且所述充电座的底面与所述地面间隔开以使得所述机器人本体能够对所述充电座下方的地面进行清洁，所述充电座上构造有收容部，所述充电座上还设置有充电端子，所述充电端子构造为充电片，所述充电片的第一端从所述充电座的底面向下延伸出且所述充电片的第二端向内伸入到所述收容部内。
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EP3210516B1 (en) 2021-07-14

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