CN105449733B - Clean robot charging system and charging method - Google Patents
Clean robot charging system and charging method Download PDFInfo
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- CN105449733B CN105449733B CN201510178817.2A CN201510178817A CN105449733B CN 105449733 B CN105449733 B CN 105449733B CN 201510178817 A CN201510178817 A CN 201510178817A CN 105449733 B CN105449733 B CN 105449733B
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- charging slot
- charging
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
The disclosure discloses a kind of clean robot charging system and charging method, belongs to cleaning machine technical field.The system includes：Clean robot and cradle；Clean robot includes：Robot body, robot body are provided with the battery case towards outer openings, and battery case is used to install detachable rechargeable battery；Cradle includes：Control assembly, the turntable being electrical connected respectively with control assembly, battery roll component and battery mounting assembly；Turntable is provided with least two charging slots, and when turntable is in different rotary position, the position of a charging slot at least two charging slots is corresponding with the position of battery case；Battery roll component, for the rechargeable battery in battery case to be dismantled to the idle charging slot at least two charging slots；Battery mounting assembly, for installing the rechargeable battery in charging slot to battery case.
Description
Technical field
This disclosure relates to field of machines is cleaned, more particularly to a kind of clean robot charging system and charging method.
Background technology
The clean robot of such as sweeping robot, floor-mopping robot etc is the important component in smart home.
By taking sweeping robot as an example, correlation technique provide sweeping robot using built-in non-dismountable formula rechargeable battery come
Power supply.After user leaves home, sweeping robot is started to work；When the user is at home, sweeping robot automatically returns to supporting fill
Charge on electric seat.But sweeping robot is sometimes for continuously working long hours, if the charging electricity in sweeping robot
The electricity in pond exhausts, then need to wait it is fully charged after, next task could be carried out.Quickly filled although correlation technique additionally provides
Power technology, but rapid nitriding is to be used as cost to sacrifice the service life of rechargeable battery.
The content of the invention
The disclosure provides a kind of clean robot charging system and charging method.The technical solution is as follows：
According to the first aspect of the embodiment of the present disclosure, there is provided a kind of cleaning robot system, the system include：Clean machine
People and cradle；
Clean robot includes：Robot body, robot body are provided with the battery case towards outer openings, battery case
For installing detachable rechargeable battery；
Cradle includes：Control assembly, the turntable being electrical connected respectively with control assembly, battery roll component and battery
Mounting assembly；
Turntable is provided with least two charging slots, when turntable is in different rotary position, at least two charging slots
In a charging slot position it is corresponding with the position of battery case；
Battery roll component, for the rechargeable battery in battery case to be dismantled to the idle charging at least two charging slots
Groove；
Battery mounting assembly, for installing the rechargeable battery in charging slot to battery case.
In a possible embodiment, battery case is located at the lower surface of robot body, and battery is provided with battery case
Clamp assembly, touching switch is additionally provided with the first position of the lower surface of robot body, and touching switch is used to control battery
The clamping of clamp assembly and releasing orientation；
Battery roll component be positioned at cradle upper surface the second place on lifting column, the second place with first
Correspondence is put, is touched when lifting column is in raised configuration under the control of control assembly with touching switch, lifting column is in control assembly
Control under separated with touching switch when being in full state.
In a possible embodiment, touching switch is arranged in the shrinkage pool of the lower surface of robot body.
In a possible embodiment, battery mounting assembly is the lifting support being located in charging slot, and lifting support is controlling
The rechargeable battery in charging slot is raised in the groove of battery case when raised configuration is under the control of component.
In a possible embodiment, the positioning component being connected with control assembly is additionally provided with cradle.
According to the second aspect of the disclosure, there is provided a kind of clean robot, the clean robot include：
Robot body, the battery case towards open lower side is provided with the lower surface of robot body, and battery case is used for
Detachable rechargeable battery is installed；
Battery clamp component is provided with battery case；
Touching switch is additionally provided with the first position of the lower surface of robot body, touching switch is used to control battery folders
Have clamping and the releasing orientation of component.
According to the third aspect of the disclosure, there is provided a kind of cradle, for charging to clean robot, clean robot
The battery case for installing detachable rechargeable battery is provided with, cradle includes：
Control assembly, the turntable being electrical connected respectively with control assembly, battery roll component and battery mounting assembly；
Turntable is provided with least two charging slots, when turntable is in different rotary position, at least two charging slots
In a charging slot position it is corresponding with the position of battery case；
Battery roll component, for the rechargeable battery in battery case to be dismantled to the idle charging at least two charging slots
Groove；
Battery mounting assembly, for installing the rechargeable battery in charging slot to battery case.
In a possible embodiment, battery roll component be positioned at cradle upper surface lifting column, lifting column
Raised configuration or full state are under the control of control assembly.
In a possible embodiment, battery mounting assembly is the lifting support being located in charging slot, and lifting support is controlling
Raised configuration or full state are under the control of component.
According to the fourth aspect of the disclosure, there is provided a kind of charging method, in the cradle as described in the third aspect,
This method includes：
When clean robot is parked to precalculated position, control turntable is located at the first rotation position, the first rotation position
It is the position opposite with the battery case of clean robot of the idle charging slot at least two charging slots；
Battery roll component is controlled by the battery roll in battery case to idle charging slot；
Control turntable is rotated to the second rotation position, and the second rotation position is having charged at least two charging slots
Charging slot where the rechargeable battery position opposite with the battery case of clean robot；
Control battery mounting assembly installs the rechargeable battery to have charged to the battery case of clean robot.
The technical scheme provided by this disclosed embodiment can include the following benefits：
By setting battery case on clean robot, at least two charging slots, electricity are set on the turntable of cradle
Dismantle component and battery mounting assembly in pond；Solve the clean robot of built-in non-dismountable rechargeable battery when electricity is exhausted without
The problem of method works；Having reached clean robot can work at once after battery is replaced, and rechargeable battery can be
Cradle ensures the effect of charging quality and battery life using charging at a slow speed.
It should be appreciated that the general description and following detailed description of the above are only exemplary, this can not be limited
It is open.
Brief description of the drawings
Attached drawing herein is merged in specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and be used in specification to explain the principle of the disclosure together.
Fig. 1 is a kind of structure diagram of clean robot charging system according to an exemplary embodiment.
Fig. 2A is a kind of bottom view of clean robot according to an exemplary embodiment.
Fig. 2 B are a kind of inversion schematic perspective views of clean robot according to an exemplary embodiment.
Fig. 2 C are a kind of partial internal structure schematic diagrames of clean robot according to an exemplary embodiment.
Fig. 3 is a kind of schematic perspective view of cradle according to an exemplary embodiment.
Fig. 4 A are a kind of inversion partial schematic diagrams of the clean robot shown according to another exemplary embodiment；
Fig. 4 B are a kind of schematic perspective views of the battery roll component shown according to another exemplary embodiment.
Fig. 5 is a kind of flow chart of charging method according to an exemplary embodiment.
Fig. 6 is a kind of flow chart of charging method according to an exemplary embodiment.
Fig. 7 is a kind of block diagram of clean robot charging system according to an exemplary embodiment.
Embodiment
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to
During attached drawing, unless otherwise indicated, the same numbers in different attached drawings represent the same or similar key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they be only with it is such as appended
The example of the consistent apparatus and method of some aspects be described in detail in claims, the disclosure.
Clean robot in the disclosure can be the robots such as sweeping robot, floor-mopping robot.Clean robot leads to
Often with there is automatic traveling mechanism.
Fig. 1 is a kind of structure diagram of clean robot charging system according to an exemplary embodiment.This is clear
Clean robot charging system includes：Clean robot 120 and cradle 140.
Clean robot 120 includes：Robot body 122, robot body 122 are provided with the battery towards outer openings
Groove 124, battery case 124 are used to install detachable rechargeable battery.
Cradle 140 includes：Control assembly 142, turntable 144, the battery being electrical connected respectively with control assembly 142 are torn open
Unload component 146 and battery mounting assembly 148.
Turntable 144 is provided with least two charging slots 1442, when turntable 1442 is in different rotary position, at least
The position of a charging slot 1442 in two charging slots 1442 is corresponding with the position of battery case 124.
Battery roll component 146, for dismantling the rechargeable battery in battery case 124 at least two charging slots 1442
Idle charging slot 1442.
Battery mounting assembly 148, for installing the rechargeable battery in charging slot 1442 to battery case 124.
In conclusion clean robot charging system provided in this embodiment, by setting battery on clean robot
Groove, sets control assembly, at least two charging slots, battery roll component and battery mounting assembly on the turntable of cradle；
The clean robot for solving the problems, such as built-in non-dismountable rechargeable battery can not work when electricity exhausts；Cleaner is reached
Device people can work at once after battery is replaced, and rechargeable battery can ensure to fill in cradle using charging at a slow speed
The effect of electricity quality and battery life.
Fig. 2A and Fig. 2 B are a kind of bottom view of the clean robot shown according to another exemplary embodiment respectively and fall
Put schematic perspective view.The clean robot includes：Robot body 220, battery case 240, battery clamp component 260 and touching are opened
Close 280.
Robot body 220 includes flat cylindrical shell.Alternatively, the lower surface of robot body 220 is set
There are three traveling wheels 222, wherein a traveling wheel 222 positioned at front is universal wheel, two other row with same axis
It is driving wheel to walk wheel 222.Driving wheel is connected with internal drive motor.
The battery case 240 towards open lower side is provided with the lower surface of robot body 220, battery case 240 is used to pacify
Fill detachable rechargeable battery (not shown).
Battery case 240 can be the groove of hexahedron type.Two electrodes 242, the electricity are provided with the side of battery case 240
Pole 242 is used to be electrical connected with the electrode on rechargeable battery.
Battery clamp component 260 is additionally provided with battery case 240.The battery clamp component 260 can be mechanical clamp.This
Open embodiment does not limit the mechanical structure of the battery clamp component 260.
Touching switch 280 is additionally provided with the first position of the lower surface of robot body 220, touching switch 280 is used for
Control clamping and the releasing orientation of battery clamp component 260.That is, when touching switch 280 is touched, battery clamp component 260
In releasing orientation；When touching switch 280 is not touched, battery clamp component 260 is in clamped condition.
As a kind of possible embodiment, with reference to figure 2C, which includes first be oppositely arranged
Intermediate plate 261 and second intermediate plate 262.
The lower end of first clamping piece 261 and second intermediate plate 262 is provided with the hook section for carrying rechargeable battery, the hook section
It is plane towards battery side, is slope surface towards cradle side.In the clamp state, the planar section of hook section is used to carry
The weight of rechargeable battery.When rechargeable battery is mounted, the ramp portion of hook section slips into battery case for guiding rechargeable battery
In 240.
The first clamping piece 261 and second intermediate plate 262 are fixed by respective rotation axis 263 respectively, and can be along respective
Rotation axis 263 rotates in limited range.
The lower end of the first clamping piece 261 and the lower end of second intermediate plate 262 pass through corresponding spring 264 and machine respectively
Human body 220 is connected.In its natural state clamped condition is in by the pressure effect of spring 264.First clamping piece 261 and second is pressed from both sides
The upper end of piece 262 is connected by steel wire 265.
Touching switch 280 is disposed on the button of the lower surface of robot body 220, the button 280 and rotating bar 282
One end is connected, and the other end of rotating bar 282 is connected with the middle part of steel wire 265.Accordingly, the battery roll component bag on cradle
Include lifting column 00.
When touching switch 280 is touched by lifting column 00, which can drive rotating bar 282 along the rotating bar
282 rotation axis 284 rotates.That is, rotating bar 282 is rotated up with one end that touching switch 280 is connected, rotating bar 282 with
The connected other end of steel wire 265 rotates down.The other end of rotating bar 282 bends steel wire 265, and steel wire 265 drives the first folder
Piece 261 and second intermediate plate 262 are rotated along respective rotation axis 263, so as to be in releasing orientation.Positioned at first clamping piece 261 and
Rechargeable battery between two intermediate plates 262 can be fallen down because of gravity.
Alternatively, in order to prevent clean robot during traveling false touch to touching switch 280.Touching switch 280 is set
It is placed in the shrinkage pool of the lower surface of robot body 220.That is, the surface of touching switch 280 is less than under robot body 220
Surface, so as to be not easy by false touch.
Alternatively, the lower surface of robot body 220 is additionally provided with alignment sensor 290, which is used for
Auxiliary charging seat judges the precalculated position whether clean robot is parked on cradle.The alignment sensor 290 can be red
External signal transmitter or optical sensor etc..
Fig. 3 is a kind of schematic perspective view of the cradle shown according to another exemplary embodiment.The cradle includes：Hold
Microscope carrier 320, control assembly (not shown), turntable 340, battery roll component 360 and battery mounting assembly 380.
Plummer 320 is used to park clean robot.Alternatively, the edge of plummer 320 is domatic edge 322.One
In a little embodiments, clean robot is directly parked in ground, and plummer 320 can be omitted setting.
Control assembly can be microprocessor.Control assembly is generally disposed at the inside of plummer 320 or turntable 340.
Turntable 340 is arranged at the center of plummer 320.Alternatively, turntable 340 is circular rotating platform, and area is less than
The floor space of clean robot.At least two charging slots 342 are provided with turntable 340, to be provided with 4 charging slots in Fig. 3
342 illustrate.At least two charging slot 342 is evenly arranged in the upper surface of turntable 340 in a manner of central symmetry.Fill
There is charging electrode (not shown) in electric groove 342.
When turntable 340 is in different rotary position, the position of a charging slot 342 at least two charging slots 342
Put corresponding with the position of the battery case of the lower surface of clean robot.That is, when the rechargeable battery in battery case drops, can just
Fall to well in charging slot 342.The aperture area of charging slot 342 is more than the projected area of rechargeable battery, the side of charging slot 342
It can be trapezoidal faces or arc surface with the gradient, be fallen into when dropping so as to rechargeable battery in the groove body of charging slot 342.In this reality
Apply in example, due to being provided with 4 charging slots 342, so control assembly is made by the control to built-in motor in turntable 340
Turntable 340 is obtained accurately to be rotated by 90 ° every time.
Battery roll component 360, for dismantling the rechargeable battery in battery case at least two chargings of turntable 340
Idle charging slot 342 in groove.In the present embodiment, battery roll component 360 is the second positioned at the upper surface of cradle
The lifting column put, the second place are corresponding with the first position residing for the touching switch on clean robot.The lifting column 360
It is electrical connected with control assembly, raised configuration or full state is under the control of control assembly.In other words, lifting column
360 touch when raised configuration is under the control of control assembly with the touching switch on clean robot, and lifting column 360 is being controlled
Separated when full state is under the control of component processed with the touching switch on clean robot.Lifting column 360 is in full state
When do not influence movement of the clean robot on cradle.In other embodiments, battery roll component 360 can also be machinery
The other types of dismounting component such as arm, the embodiment of the present disclosure are not construed as limiting this.
Battery mounting assembly 380, for installing the rechargeable battery substituted the bad for the good in charging slot 342 to battery case 240.
In the present embodiment, battery mounting assembly 380 is the lifting support being located in charging slot 342, and one is provided with each charging slot 342
Lift support 380.The lifting support 380 is electrical connected with control assembly, and raised configuration is under the control of control assembly or is fallen
State.When lifting support 380 is in raised configuration under the control of control assembly, rechargeable battery is raised to the electricity of clean robot
In the groove of pond groove, in other words, rechargeable battery is raised to the height position highly identical with the groove body of battery case in raised configuration
Put.
Alternatively, guide groove 392 is additionally provided with the plummer 320 of cradle and/or is oriented to guardrail 394.
Guide groove 392 and/or it is oriented to guardrail 394 and is used to guiding clean robot and park pre-determined bit to above cradle
Put.In the present embodiment, guide groove 392 is semi-circular recesses corresponding with three traveling wheels of clean robot, when clear
When clean robot is parked in cradle, groove 392 can be directed to and be directed to correct stand and produce a degree of fixation
Effect.Similarly, be oriented to guardrail 394 be with the arc-shaped guardrail corresponding to the shell of robot body, when clean robot stops
When being placed on cradle, guardrail 394 can be directed to and be directed to correct stand
Alternatively, the positioning component 396 being electrical connected with control assembly is additionally provided with cradle, control assembly is used for root
Whether the signal detection clean robot collected according to positioning component 396 parks the precalculated position to cradle.The positioning group
Part 396 can be arranged on plummer 320, can also be arranged on turntable 340.
It is arranged in the present embodiment on plummer 320 with the positioning component 396 for example, the positioning component 396 can be with
It is infrared signal receiver, at this time, it may be necessary to set corresponding infrared signal transmitter on the lower surface of clean robot.This is fixed
Hyte part 396 can also be the pressure sensor for being arranged on 392 bottom of guide groove.
When the rotation angle of turntable 340 can not be controlled accurately, positioning component 396 can also be arranged on turntable
On 340, for example the side of each charging slot 342 is both provided with an infrared remote receiver, the correspondence of the battery case of clean robot
One infrared transmitter is set on position, when some infrared remote receiver receives infrared signal, then by the infrared remote receiver
The charging slot 342 on side is corresponding up and down with the position of the battery case on clean robot.
It should be noted that battery clamp component and touching switch in clean robot, the battery roll in cradle
Component can also be other implementations, and the embodiment of the present disclosure does not limit this.Such as：
Fig. 4 A are the inversion partial schematic diagrams according to the clean robot of the disclosure another illustrative examples offer.Clearly
The lower surface of clean robot is provided with least one rotatable plectrum 42, which is used as battery clamp component again
As touching switch.The rotatable plectrum 42 is arranged along the side of battery case 240.The rotatable plectrum 42 is turning to different positions
When putting, in the clamped condition being sticked in rechargeable battery 44 in battery case 240, alternatively, rechargeable battery 44 is not sticked in electricity
Releasing orientation in pond groove 240.In the loosened condition, rechargeable battery 44 can fall out battery case 240 because of gravity.
Fig. 4 B are the sectional perspective schematic diagrams of the battery roll component provided according to another illustrative examples of the disclosure.Fill
The upper surface of the turntable 340 of electric seat is provided with rotatable driving lever 46, and rotatable driving lever 46 is arranged on the side of charging slot 342.
The top of rotatable driving lever 46 is provided with protrusion 466.When clean robot parks the precalculated position to cradle, rotatably
Driving lever 46 and the rotation axis of rotatable plectrum 42 belong to same straight line in vertical direction., can when rotatable driving lever 46 rotates
Protrusion 466 on rotating lever 46 can drive rotatable plectrum 42 to turn to diverse location.Rotatable the lower of driving lever 46 can
To be provided with drive component, which is connected with control assembly.
Fig. 5 is the flow chart of the charging method provided according to one illustrative examples of the disclosure.The present embodiment is with the party
Control assembly in the cradle that method goes out as shown in Figure 1 performs as an example.This method includes：
In step 502, when clean robot is parked to precalculated position, control turntable is located at first position, and first
Position is the position opposite with the battery case of clean robot of the idle charging slot at least two charging slots.
In step 504, battery roll component is controlled by the battery roll in battery case to idle charging slot.
In step 506, control turntable is rotated to the second place, and the second place is having filled at least two charging slots
The charging slot position opposite with the battery case of clean robot where the rechargeable battery of electricity.
In step 508, control battery mounting assembly installs the rechargeable battery to have charged to the battery of clean robot
Groove.
In conclusion charging method provided in this embodiment, by controlling turntable, battery roll component and battery to install
Component works successively；What the clean robot of non-dismountable rechargeable battery can not work when electricity exhausts built in solving asks
Topic；Having reached clean robot can work at once after battery is replaced, and rechargeable battery can be used in cradle
Charge at a slow speed to ensure the effect of charging quality and battery life.
Fig. 6 is the flow chart according to the charging method of the disclosure another illustrative examples offer.The present embodiment is with this
Control assembly in the cradle that method goes out as shown in Figure 3 performs as an example.This method includes：
In step 602, detect whether clean robot is parked to precalculated position by positioning component.
Clean robot is parked to cradle automatically when the electricity of rechargeable battery is less than predetermined threshold value.
When positioning component is infrared signal receiver, if clean robot is parked in precalculated position, positioning component meeting
Receive the infrared signal transmitted by the infrared signal transmitter on clean robot, the infrared signal that positioning component will receive
It is sent to control assembly.
When positioning component is pressure sensor, if clean robot is parked in precalculated position, positioning component receives
The pressure signal received is sent to control assembly by pressure signal caused by the traveling wheel of clean robot, positioning component.
Control assembly in cradle receives the signal that positioning component collects, and whether detection clean robot is parked to pre-
Positioning is put.
In step 604, when clean robot is parked to precalculated position, control turntable is located at the first rotation position,
First rotation position is the position opposite with the battery case of clean robot of the idle charging slot at least two charging slots.
Under original state, rechargeable battery is all usually placed with other three charging slots of turntable, these rechargeable batteries
Charging or charging and finishing.One of charging slot is in idle condition.
If idle charging slot be in the first rotation position, the position of the control assembly holding turntable in cradle is not
Become.
If idle charging slot is not in the first rotation position, the control assembly in cradle keeps turntable to rotate to first
Rotation position.First rotation position is that the idle charging slot at least two charging slots is opposite with the battery case of clean robot
Position.
In step 606, control lifting column is in raised configuration, so that lifting column is by the battery roll in battery case to sky
Not busy charging slot.
Control assembly control lifting column in cradle is in raised configuration.
Lifting column is touched with the touching switch on clean robot, and the battery clamp component on clean robot is in
Releasing orientation, the battery in battery case fall to idle charging slot.
In step 608, control turntable is rotated to the second rotation position, and the second rotation position is at least two charging slots
In the rechargeable battery to have charged where the charging slot position opposite with the battery case of clean robot.
Control assembly control turntable in cradle is rotated to the second rotation position, such as, control assembly control rotation
Platform is rotated by 90 °.
In step 610, the rechargeable battery to have charged is raised in the battery case of clean robot by control lifting support.
The lifting support in charging slot where the rechargeable battery that control assembly control in cradle has been charged is first in liter
The state of rising, again is at full state.
When lifting support is in raised configuration, the rechargeable battery to have charged is raised to the groove of the battery case of clean robot
Interior, due to action of mechanical pressure, the battery clamp component in clean robot automatically clamps rechargeable battery.
In step 612, uncharged rechargeable battery is controlled to charge.
Control assembly in cradle controls uncharged rechargeable battery to charge, and is automatically powered off after charging
Or enter battery maintenance state.
In conclusion charging method provided in this embodiment, by controlling turntable, battery roll component and battery to install
Component works successively；What the clean robot of non-dismountable rechargeable battery can not work when electricity exhausts built in solving asks
Topic；Having reached clean robot can work at once after battery is replaced, and rechargeable battery can be used in cradle
Charge at a slow speed to ensure the effect of charging quality and battery life.
Also judge whether clean robot is parked to the precalculated position of cradle by positioning component in the present embodiment, protect
The accuracy of the disassembly and installation of rechargeable battery is demonstrate,proved.
It should be added that if structure shown by using Fig. 4 A and Fig. 4 B, the alternative realization side of step 606
Formula is：Control assembly controls rotatable driving lever to rotate to released position, and released position is that rotatable plectrum is in rechargeable battery
Corresponding position during the releasing orientation not being sticked in battery case.Accordingly, further included after step 610：Control assembly control
Rotatable driving lever is made to rotate to clamped position, clamped position be rotatable plectrum be in rechargeable battery is sticked in battery case
Corresponding position during clamped condition.
Fig. 7 is the block diagram of the clean robot charging system provided according to disclosure one embodiment.The clean robot
Charging system includes clean robot 720 and cradle 740.
The clean robot 720 can be the clean robot shown in Fig. 2A and Fig. 2 B.
The cradle 740 can be the cradle shown in Fig. 3.
In conclusion clean robot charging system provided in this embodiment, is set by the lower surface in clean robot
Battery case and touching switch are put, when touching switch is touched, the battery clamp group member in the battery case is in releasing orientation,
So that rechargeable battery can be fallen on cradle in corresponding charging slot；Solve the clear of built-in non-dismountable rechargeable battery
The problem of clean robot can not work when electricity exhausts；Reach clean robot to work on after battery is replaced, and
Rechargeable battery can ensure the effect of charging quality using charging at a slow speed.
Those skilled in the art will readily occur to the disclosure its after considering specification and putting into practice invention disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principle of the disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.Description and embodiments are considered only as exemplary, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be appreciated that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by appended claim.
Claims (8)
- A kind of 1. clean robot charging system, it is characterised in that the system comprises：Clean robot and cradle；The clean robot includes：Robot body, the robot body are provided with the battery case towards outer openings, institute Battery case is stated to be used to detachable rechargeable battery be installed；The cradle includes：Control assembly, the turntable being electrical connected respectively with the control assembly, battery roll component and Battery mounting assembly；The turntable is provided with least two charging slots, when the turntable is in different rotary position, described at least two The position of a charging slot in a charging slot is corresponding with the position of the battery case；The battery roll component, for dismantling the rechargeable battery in the battery case at least two charging slot Idle charging slot；The battery mounting assembly, for by the charging slot at least two charging slot in addition to the idle charging slot Rechargeable battery install to the battery case；The battery case is located at the lower surface of the robot body, and battery clamp component is provided with the battery case, described Touching switch is additionally provided with the first position of the lower surface of robot body, the touching switch is used to control the battery folders Have clamping and the releasing orientation of component；The battery roll component be positioned at the cradle upper surface the second place on lifting column, the second place It is corresponding with the first position, opened when the lifting column is in raised configuration under the control of the control assembly with the touching Touching is closed, the battery clamp component is in releasing orientation, the lifting column is under the control of the control assembly Separated during lower state with the touching switch, the battery clamp component is in clamped condition.
- 2. system according to claim 1, it is characterised in that the touching switch is arranged under the robot body In the shrinkage pool on surface.
- 3. system according to claim 1, it is characterised in thatThe battery mounting assembly is the lifting support being located in the charging slot, control of the lifting support in the control assembly When being in raised configuration down, the rechargeable battery in the charging slot is raised in the groove of the battery case.
- 4. system according to any one of claims 1 to 3, it is characterised in that be additionally provided with the cradle guide groove or It is oriented to guardrail；The guide groove or the guardrail that is oriented to are used to guide the clean robot and park to above the cradle to make a reservation for Position.
- 5. a kind of clean robot, it is characterised in that the clean robot includes：Robot body, the battery case towards open lower side, the battery case are provided with the lower surface of the robot body For installing detachable rechargeable battery；Battery clamp component is provided with the battery case, the battery case is located at the lower surface of the robot body, described Touching switch is additionally provided with the first position of the lower surface of robot body, the touching switch is used to control the battery folders Have clamping and the releasing orientation of component.
- 6. a kind of cradle, it is characterised in that for charging to clean robot, the clean robot is provided with for installing The battery case of detachable rechargeable battery, the battery case are located at the lower surface of the robot body, are set in the battery case Battery clamp component is equipped with, touching switch, the touching are additionally provided with the first position of the lower surface of the robot body Switch is used for clamping and the releasing orientation for controlling the battery clamp component, and the cradle includes：Control assembly, the turntable being electrical connected respectively with the control assembly, battery roll component and battery mounting assembly；The turntable is provided with least two charging slots, when the turntable is in different rotary position, described at least two The position of a charging slot in a charging slot is corresponding with the position of the battery case；The battery roll component, for dismantling the rechargeable battery in the battery case at least two charging slot Idle charging slot；The battery mounting assembly, for by the charging slot at least two charging slot in addition to the idle charging slot Rechargeable battery install to the battery case；The battery roll component is that the lifting column is in the control assembly positioned at the lifting column of the upper surface of the cradle Control under be in raised configuration or full state, when the lifting column is in raised configuration under the control of the control assembly Touched with the touching switch, the battery clamp component is in releasing orientation, the lifting column is in the control assembly Separated when being in full state under control with the touching switch, the battery clamp component is in clamped condition.
- 7. cradle according to claim 6, it is characterised in thatThe battery mounting assembly is the lifting support being located in the charging slot, control of the lifting support in the control assembly Raised configuration or full state are in down.
- A kind of 8. charging method, it is characterised in that applied in the cradle as described in claim 6 to 7 is any, the method Including：When the clean robot is parked to precalculated position, the turntable is controlled to be located at the first rotation position, described first Rotation position is that the idle charging slot at least two charging slot is opposite with the battery case of the clean robot Position；The battery roll component is controlled by the battery roll in the battery case to the idle charging slot；The turntable is controlled to rotate to the second rotation position, second rotation position is at least two charging slot Charging slot where the rechargeable battery to have charged the position opposite with the battery case of the clean robot；The battery mounting assembly is controlled to install the rechargeable battery to have charged to the battery of the clean robot Groove；The method further includes：When controlling the lifting column be in full state by the control assembly, the lifting column and The touching switch separation, makes the battery clamp component be in clamped condition；It is described to control the battery roll component by the battery roll in the battery case to the idle charging slot, including：It is logical When crossing the control assembly and controlling the lifting column be in raised configuration, the lifting column and touching switch touching, make institute State battery clamp component and be in releasing orientation, the battery roll in the battery case to the idle charging slot.
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| CN201510178817.2A CN105449733B (en) | 2015-04-15 | 2015-04-15 | Clean robot charging system and charging method |
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| CN201510178817.2A CN105449733B (en) | 2015-04-15 | 2015-04-15 | Clean robot charging system and charging method |
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| CN105449733B true CN105449733B (en) | 2018-05-11 |
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| CN108879809B (en) * | 2017-09-25 | 2021-12-24 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment and charging method thereof |
| CN109728621A (en) * | 2017-10-27 | 2019-05-07 | 苏州宝时得电动工具有限公司 | Automatic working system |
| CN114947625B (en) * | 2022-07-05 | 2024-03-26 | 深圳乐动机器人股份有限公司 | Method and related device for supplementing electric quantity for cleaning robot |
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| CN102407832A (en) * | 2011-09-28 | 2012-04-11 | 山东电力集团公司临沂供电公司 | Battery replacing platform system for positioning electric passenger vehicle |
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| CN204615440U (en) * | 2015-04-15 | 2015-09-02 | 小米科技有限责任公司 | Clean robot charging system |
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| US20130009592A1 (en) * | 2011-07-08 | 2013-01-10 | Microsoft Corporation | Autonomous device battery exchange |
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| CN102407832A (en) * | 2011-09-28 | 2012-04-11 | 山东电力集团公司临沂供电公司 | Battery replacing platform system for positioning electric passenger vehicle |
| CN103072558A (en) * | 2013-02-15 | 2013-05-01 | 佘德全 | Method, equipment, system and distribution for quickly changing power battery |
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Address after: 100085 Beijing Haidian District Qinghe middle street 68 Huarun colorful shopping mall two phase 13 level. Co-patentee after: Beijing Roborock Technology Co.,Ltd. Patentee after: Xiaomi Technology Co.,Ltd. Address before: 100085 Beijing Haidian District Qinghe middle street 68 Huarun colorful shopping mall two phase 13 level. Co-patentee before: BEIJING ROCKROBO TECHNOLOGY Co.,Ltd. Patentee before: Xiaomi Technology Co.,Ltd. |