CN217565918U

CN217565918U - Autonomous mobile device and charging pile

Info

Publication number: CN217565918U
Application number: CN202221303881.0U
Authority: CN
Inventors: 张一茗; 邢兴国; 高家旺
Original assignee: Qfeeltech Beijing Co Ltd
Current assignee: Qfeeltech Beijing Co Ltd
Priority date: 2022-05-27
Filing date: 2022-05-27
Publication date: 2022-10-14
Anticipated expiration: 2032-05-27

Abstract

The utility model provides an autonomic mobile device and fill electric pile. This autonomic mobile device is equipped with the piece that charges including the main part that is provided with the energy storage subassembly and the dirt box of assembling in the main part with can dismantling, the bottom of dirt box. The charging sheet and the energy storage assembly can be controlled and electrically conducted in a state that the dust box and the main body part are assembled together. In this way, the main part of the charging structure for charging does not occupy the space of the main body part, but the main part of the charging structure is arranged at the dust box with the additional function, thereby reducing or even eliminating the adverse effect on the overall structural design of the autonomous mobile device caused by insufficient space of the main body part for arranging the charging structure. Fill electric pile and be provided with the power supply contact that corresponds with the piece that charges, fill electric pile and can charge to the energy storage component smoothly via the piece that charges and charging structure when the power supply contact is in with the piece that charges to support when leaning on the state to be favorable to autonomic mobile device and fill electric pile realization electric property and switch on.

Description

Autonomous mobile device and charging pile

Technical Field

The present disclosure relates to an autonomous mobile device and a structure of a charging pile matched therewith.

Background

The autonomous mobile device refers to a smart mobile device that autonomously performs a preset task, and currently, the autonomous mobile device generally includes, but is not limited to, a cleaning robot (e.g., a smart sweeper, a smart floor wiper, a window wiping robot), a companion mobile robot (e.g., a smart electronic pet, a babysitter robot), a service mobile robot (e.g., a reception robot in a hotel, a meeting place), an industrial patrol smart device (e.g., a power patrol robot, a smart forklift, etc.), and a security robot (e.g., a home or commercial smart guard robot).

The autonomous mobile equipment needs to utilize electric energy in the energy storage assembly carried by the autonomous mobile equipment to travel and complete other functions in the working process. Once the electric energy in the energy storage component is exhausted, the autonomous mobile device needs to be electrically conducted with the corresponding charging pile to charge the energy storage component. However, the main body of the existing autonomous mobile device lacks a charging structure for realizing electrical conduction with a charging pile due to the existence of more functional modules and supporting structures, and the charging structure has adverse effects on the overall structural design of the autonomous mobile device.

SUMMERY OF THE UTILITY MODEL

Based on the problems of the prior art, it is an object of the present disclosure to provide a novel autonomous mobile device, which can reduce or even eliminate the adverse effect on the overall structural design of the autonomous mobile device caused by insufficient space of the main body part for the charging structure. Another aim at of this disclosure provides with above-mentioned autonomic mobile device complex fill electric pile, be favorable to autonomic mobile device and fill electric pile and realize the electric property and switch on.

In order to achieve the above object, the present disclosure adopts the following technical solutions.

The present disclosure provides an autonomous mobile device capable of autonomous movement on a travel surface, the autonomous mobile device including:

a first portion provided with an energy storage assembly;

and a second part detachably assembled with the first part, the second part having a bottom surface facing the traveling surface and spaced apart from the traveling surface, the second part being provided with a charging sheet on the bottom surface, the charging sheet being electrically conductive with the energy storage assembly in a state where the second part is assembled with the first part.

In an alternative, the first portion is formed with a first interface contacting the second portion, the first portion is provided with a first interface on the first interface, the first interface is in controlled electrical conduction with the energy storage assembly,

the second part is provided with a second interface which is in contact with the first part, the second part is provided with a second interface on the second interface, the second interface is electrically conducted with the charging sheet all the time,

in a state that the second part and the first part are assembled together, the first interface abuts against the second interface, and the first interface and the second interface are plugged together to realize electrical conduction.

In another alternative, the first part is formed with a first receiving cavity and is provided with a guide rail connected with the first receiving cavity,

the second portion comprises a base body and a protruding portion protruding from the base body towards the first portion, and the protruding portion can protrude into the first receiving cavity under the guidance of the guide rail.

In another optional scheme, the first part is further provided with a cleaning component, the cleaning component is electrically conducted with the energy storage component, the cleaning component can utilize the electric energy of the energy storage component to clean the traveling surface,

the second portion is formed with a second housing chamber having an opening formed in the protruding portion, the opening being open toward the cleaning assembly in a state in which the protruding portion protrudes into the first housing chamber.

In another optional scheme, the first portion further includes a driving component and a control component, the driving component and the energy storage component are electrically conducted, and the driving component can drive the autonomous mobile device to move by using the electric energy supplied by the energy storage component under the control of the control component.

The present disclosure also provides a charging pile, where the charging pile is provided with a power supply contact piece matched with a charging piece of an autonomous mobile device according to any one of the above technical solutions, and when the autonomous mobile device is in a predetermined position relative to the charging pile, each power supply contact piece abuts against one charging piece, so that the power supply contact piece and the charging pieces are electrically conducted.

In an alternative arrangement, the charging post has a body and a base plate assembled together, the body being carried on and upstanding relative to the base plate,

the power supply contact piece is provided on the base plate and protrudes with respect to an upper surface of the base plate, and the base plate and the power supply contact piece are located between the travel surface and the charging piece in a state where the autonomous moving apparatus is at the predetermined position.

In another optional scheme, the charging pile is provided with a limiting mechanism, and the limiting mechanism is used for guiding and limiting the autonomous mobile device to the preset position.

In another alternative, the limiting mechanism comprises a guide groove which is matched with a bulge formed on the bottom surface of the first part of the autonomous mobile equipment and is used for guiding the autonomous mobile equipment and limiting the autonomous mobile equipment at the preset position;

or the limiting mechanism comprises a guide protrusion, and the guide protrusion is matched with a groove formed on the bottom surface of the first part of the autonomous mobile equipment and used for guiding the autonomous mobile equipment and limiting the autonomous mobile equipment at the preset position.

In another optional scheme, the limiting mechanism further comprises at least two limiting protrusions spaced apart from each other, each limiting protrusion is formed with a limiting surface facing the autonomous mobile device, and the limiting surface matches with the contour of the outer peripheral surface of the autonomous mobile device and is used for limiting the autonomous mobile device at the predetermined position.

By adopting the technical scheme, the self-moving equipment and the charging pile matched with the self-moving equipment are provided. The autonomous moving apparatus includes a first portion (e.g., a main body portion) provided with an energy storage assembly, and a second portion (e.g., a dust box) detachably assembled to the first portion, and a bottom of the second portion is provided with a charging sheet. The charging sheet and the energy storage component can be controlled and electrically conducted under the state that the second part and the first part are assembled together. In this way, the main part of the charging structure for charging does not occupy the space of the main body part, but the main part of the charging structure is arranged at the additional part with additional functions, thereby reducing or even eliminating the adverse effect on the overall structural design of the autonomous mobile device caused by insufficient space of the main body part for arranging the charging structure. Fill electric pile and be provided with the power supply contact that corresponds with the piece that charges, fill electric pile and can charge to the energy storage component smoothly via the piece that charges and charging structure when the power supply contact is in with the piece that charges to support when leaning on the state to be favorable to autonomic mobile device and fill electric pile realization electric property and switch on.

Drawings

Fig. 1A is a perspective schematic diagram illustrating an autonomous mobile device according to an embodiment of the disclosure.

Fig. 1B is a schematic bottom view illustrating the autonomous mobile apparatus of fig. 1A.

Fig. 1C is a schematic perspective view illustrating a first portion (main body portion) of the autonomous mobile apparatus in fig. 1A.

Fig. 1D is a schematic perspective view illustrating a second part (dust box) of the autonomous moving apparatus in fig. 1A.

Fig. 2 is a schematic perspective view illustrating a charging pile according to an embodiment of the present disclosure.

Description of the reference numerals

AM-autonomous mobile device;

1-a first part (body); 1s — first interface; 1p — first interface; 1 h-a first receiving cavity; 11-a cleaning assembly; 12-a drive assembly; 121-universal wheel; 122 — drive wheels; 13-a guide rail;

2-second part (dust box); 2s — second interface; 2p1 — second interface; 2p2 — first dust-absorbing interface; 2p 3-open; 2 h-a second containing cavity; 21-a substrate; 22-an extension; 23-a charging sheet;

CP-charging pile;

3-a body; 3 p-second dust-collecting butt joint;

4-a substrate; 4 c-a guide groove; 41-power supply contact piece; and 42, forming a limiting bulge.

Detailed Description

Embodiments of the present disclosure are described below with reference to the drawings. For ease of understanding, elements shown in the drawings may include elements whose dimensions, scales, and the like are different from actual dimensions, scales, and the like.

In a specific embodiment of the present disclosure, a self-moving cleaning apparatus is taken as an example of the autonomous moving apparatus of the present disclosure to illustrate technical concepts and specific technical solutions according to the present disclosure. Thus, in particular embodiments of the present disclosure, "front (front side)", "rear (rear side)", "left (left side)", "right (right side)", "up (upper side)", "down (lower side)" are relative to the operational state of the self-moving cleaning apparatus according to the present disclosure. Specifically, "front (front side)", "rear (rear side)" refer to the front side and the rear side in the normal advancing direction of the self-moving cleaning apparatus when the self-moving cleaning apparatus according to the present disclosure is in an operating state on the surface to be cleaned, "left (left side)", "right (right side)" refer to the left side and the right side as viewed toward the front side in the normal advancing direction, upper (upper side) "," lower (lower side) "refer to the upper side and the lower side in the height direction perpendicular to the surface to be cleaned when the self-moving cleaning apparatus according to the present disclosure is in an operating state on the surface to be cleaned (an example of a traveling surface). The self-moving cleaning equipment can move automatically according to a preset control scheme, and can effectively clean a surface to be cleaned in the process of moving automatically. The surface to be cleaned may be a flat surface or a curved surface with a large radius of curvature, typically the floor in each room in a building, for example. In addition, cleaning tasks include, but are not limited to, sweeping, mopping, vacuuming, and the like.

The structure of an autonomous mobile apparatus according to an embodiment of the present disclosure is described below with reference to the drawings of the specification.

(autonomous mobile device)

As shown in fig. 1A to 1D, the autonomous mobile apparatus AM according to the first embodiment of the present disclosure is an autonomous mobile cleaning apparatus. The self-moving cleaning apparatus is integrally formed in a cylindrical shape, and includes a first part 1 (main body part) and a second part 2 (dust box) assembled together.

As shown in fig. 1A to 1C, in the present embodiment, when the self-moving cleaning apparatus according to the present disclosure is in a normal operation state, the bottom surface of the first portion 1 and the surface to be cleaned face and are spaced apart from each other. The first part 1 further comprises a control assembly, a sensing assembly, an energy storage assembly, a cleaning assembly 11 and a drive assembly 12 housed at least partially within the interior of the main body portion. The control assembly can receive the parameters from the sensing assembly and can perform relevant control on the self-moving cleaning device through a preset program stored in a chip of the control assembly. The cleaning assembly 11 may comprise a cleaning brush or the like disposed at the bottom of the main body for performing a cleaning operation on the surface to be cleaned by using the electric energy of the energy storage assembly under the control of the control assembly. The drive assembly 12 is used to drive the first part 1 to travel over the surface to be cleaned using the electrical energy of the energy storage assembly under the control of the control assembly. The drive assembly 12 may include a drive wheel 122 and a universal wheel 121 located on a front side of the drive wheel 122. By rotating the drive wheels 122 in the same direction at the same speed (for example, simultaneously clockwise rotation or simultaneously counterclockwise rotation), the main body portion can be driven to perform linear motion in the normal forward direction; by rotating the drive wheels 122 at different speeds and/or in different directions (e.g. one drive wheel 122 rotating clockwise and the other drive wheel 122 rotating counterclockwise), the first portion 1 can be driven in a different steering movement relative to the normal forward direction. In order to support and protect the components of the self-moving cleaning device, most of the components of the self-moving cleaning device are accommodated and mounted inside a housing of the self-moving cleaning device, and a part of the housing corresponding to a brush of the cleaning component 11 is formed with a passage for the substances carried by the cleaning component 11 to enter.

As shown in fig. 1A, 1B and 1D, the second part 2 is detachably assembled with the first part 1. The second portion 2 has a bottom surface facing the surface to be cleaned and spaced apart from the surface to be cleaned. In the assembled state of the second part 2 and the first part 1, the bottom surface of the second part 2 is substantially flush with the bottom surface of the first part 1. As shown in fig. 1B and 1D, the bottom surface of the second portion 2 is provided with two charging tabs 23, and the two charging tabs 23 correspond to the positive electrode and the negative electrode, respectively. In the state that the second part 2 and the first part 1 are assembled together, the two charging sheets 23 are electrically conducted with the energy storage element of the first part 1 through a necessary conductive structure.

In order to electrically connect the two charging sheets 23 with the energy storage assembly, the two charging sheets are electrically connected by a conductive structure disposed in the first portion 1 and the second portion 2. Specifically, as shown in fig. 1C, the first part 1 is formed with a first interface 1s contacting with a second interface 2s of the second part 2, the first part 1 is provided with a first interface 1p on the first interface 1s, and the first interface 1p and the energy storage component in the first part 1 can be controlled and electrically conducted through a circuit. For example, the switch can control whether the first interface 1p and the first portion 1 are electrically conducted. Correspondingly, the second part 2 is formed with a second interface 2s which is in contact with the first interface 1s of the first part 1, the second part 2 is provided with a second interface 2p1 on the second interface 2s, and the second interface 2p1 and the two charging sheets 23 can be electrically conducted all the time through a circuit. When the second portion 2 and the first portion 1 are assembled together, the first port 1p and the second port 2p1 are plugged together to achieve electrical conduction, so that reliable electrical conduction is achieved between the charging pad 23 and the energy storage device.

Further, when the second section 2 is a dust box, the following structure is provided in order to allow the substances swept by the cleaning assembly 11 of the first section 1 to enter the second section 2. As shown in fig. 1C, the first portion 1 is formed with a first receiving cavity 1h corresponding to the cleaning assembly 11 and is provided with a guide rail 13 connected with the first receiving cavity 1h, and the guide rail 13 includes two rails facing and parallel to each other. As shown in fig. 1D, the second part 2 includes a base 21 and a protruding portion 22 protruding from the base 21 toward the first part 1. The protruding portion 22 has a structure installed corresponding to the rail so as to be able to protrude into the first receiving chamber 1h under the guidance of the guide rail 13. As shown in fig. 1D, a second housing chamber 2h is formed inside the second portion 2, and the second housing chamber 2h is formed with an opening 2p3 at the protruding portion 22. The protruding portion 22 protrudes into the first receiving chamber 1h with the first portion 1 assembled with the second portion 2, and the opening 2p3 of the second receiving chamber 2h is open toward the cleaning member 11. Thereby, the substance carried up by the cleaning member 11 can be collected into the second housing chamber 2h via the first housing chamber 1h and the opening 2p3. In addition, it can be understood that when the self-moving cleaning apparatus is in the working state, the second portion 2 is located at the rear side of the first portion 1, which facilitates the collection of the materials carried by the cleaning assembly 11 into the second receiving cavity 2 h.

In addition, as shown in fig. 1A, the outer circumferential surface of the second portion 2 is further provided with a first dust suction interface 2p2, and the substance stored in the second storage cavity 2h can be sucked into the storage space in the charging pile CP through the first dust suction interface 2p2, so as to facilitate subsequent processing.

The structure of the charging pile CP according to an embodiment of the present disclosure is described below with reference to the accompanying drawings.

As shown in fig. 2, charging pile CP is used for exerting the function of a power supply, and can be electrically connected with the energy storage assembly of the self-moving cleaning device to supply power to the energy storage assembly of the self-moving cleaning device. The charging post CP has a body 3 and a substrate 4 assembled together.

Specifically, as shown in fig. 2, the body 3 is formed in a pillar shape and mounted and placed on the substrate 4, and the body 3 stands with respect to the substrate 4. The body 3 may form a second suction docking port 3p for communicating with the second receiving cavity 2h of the second part 2 through the first suction docking port 2p2 for docking with the first suction docking port 2p2 of the second part 2 in a state where the self-moving cleaning apparatus is at a predetermined position as shown in fig. 1A, so that the substance of the second receiving cavity 2h can be sucked into the receiving space in the body 3 using a suction apparatus provided in the charging pile CP.

As shown in fig. 2, the substrate 4 has a flat plate shape and is placed on a surface to be cleaned, and the substrate 4 is used to support the body 3. The charging post CP is provided with a power supply contact piece 41 on the base plate 4 that matches with the charging piece 23 of the self-moving cleaning apparatus, the power supply contact piece 41 being raised with respect to the base plate 4 to protrude at least partially with respect to the upper surface of the base plate 4. In the state where the self-moving cleaning apparatus is in the above-described predetermined position with respect to charging post CP, base plate 4 and power supply contact piece 41 are located between the surface to be cleaned and charging piece 23, that is, second portion 2 is located above base plate 4 and base plate 4 is placed on the surface to be cleaned. Further, each power supply contact piece 41 abuts against one charging sheet 23, so that the power supply contact piece 41 and the charging sheet 23 are electrically conducted reliably. It is understood that the power supply contact piece 41 has an elastic structure for providing an elastic force in a state where the power supply contact piece 41 is in contact with the charging sheet 23 so that the contact between the power supply contact piece 41 and the charging sheet 23 is more reliable, and further, the power supply contact piece 41 can be restored to the original state after the power supply contact piece 41 and the charging sheet 23 are out of contact.

Further, in order to guide the self-moving cleaning device to a predetermined position and limit the self-moving cleaning device to the predetermined position, the charging pile CP is provided with a limiting mechanism. As shown in fig. 2, on the one hand, the stopper mechanism includes a guide groove 4c formed in the base plate 4. Specifically, on the extension face of the base plate 4, the base plate 4 is formed with two convex portions that are convex toward the same direction and are spaced apart, and a guide groove 4c is formed between the two convex portions. The guide groove 4c is fitted with a projection formed on the bottom surface of the first part 1 of the self-moving cleaning apparatus, for guiding the self-moving cleaning apparatus toward the position restricting projection 42 and restricting the self-moving cleaning apparatus at a predetermined position. On the other hand, in a further alternative, the limiting mechanism may further include two limiting projections 42 spaced apart from each other, each limiting projection 42 being formed with a limiting surface facing the second part 2 of the self-moving cleaning apparatus, the limiting surfaces matching in shape and size the contour of the outer peripheral surface of the second part 2 of the self-moving cleaning apparatus. In this way, the restricting projection 42 and the guide groove 4c of the restricting mechanism restrict the degree of freedom of the self-moving cleaning apparatus on the surface to be cleaned not only for guiding the self-moving cleaning apparatus to the above-mentioned predetermined position but also restrict the self-moving cleaning apparatus to the predetermined position.

It should be understood that the above-described embodiments are exemplary only, and are not intended to limit the present disclosure. Various modifications and alterations of the above-described embodiments may be made by those skilled in the art in light of the teachings of this disclosure without departing from the scope thereof. The technical solution of the present disclosure is supplementarily explained as follows.

i. In addition to the examples of the self-moving cleaning device explained in the above specific embodiments, the technical solution of the present disclosure can also be applied to other autonomous moving devices AM. The autonomous mobile device AM generally refers to a smart mobile device that autonomously performs a predetermined task, and includes a two-dimensional planar mobile robot having a wheel set or a crawler as a driving unit, such as a cleaning robot (e.g., a smart sweeper, a smart floor cleaner, a window cleaning robot) that performs a function similar to that of the self-moving cleaning device described in the above embodiment, a companion mobile robot (e.g., a smart electronic pet, a babysitter robot), a service mobile robot (e.g., a reception robot in a hotel, and a meeting place), an industrial patrol smart device (e.g., a power patrol robot, a smart forklift, etc.), a security robot (e.g., a home or commercial smart guard robot), and the like. Of course, the laser ranging device of the present disclosure may also be applied to other fields, which is not exhaustive.

in the above specific embodiment, the number of the charging tab 23 and the power supply contact tab 41 corresponds to and is two, to which the present disclosure is not limited. The number of the charging pieces 23 and the power supply contact pieces 41 can be changed as required, and further, more sets of pairs of the charging pieces 23 and the power supply contact pieces 41 can be provided. In a typical example, the number of the charging tab 23 and the power supply contact piece 41 may be two each, or the number of the charging tab 23 and the power supply contact piece 41 may be three each (serving as a positive electrode, a negative electrode, and a ground, respectively).

in the above specific embodiment, in the stopper structure, the following configuration may be made. The guide projection is fitted with a groove formed in the bottom surface of the first part 1 of the autonomous mobile apparatus AM, and serves to guide the autonomous mobile apparatus AM toward the position restricting projection 42 and to restrict the autonomous mobile apparatus AM at a predetermined position.

Claims

1. An autonomous mobile apparatus capable of autonomous movement on a travel surface, the autonomous mobile apparatus comprising:

a first portion provided with an energy storage assembly; and

a second part detachably assembled with the first part, the second part having a bottom surface facing the traveling surface and spaced apart from the traveling surface, the second part being provided with a charging sheet on the bottom surface, the charging sheet being electrically conductive with the energy storage assembly in a state where the second part is assembled with the first part.

2. The autonomous mobile device of claim 1,

the first part is provided with a first interface which is in contact with the second part, the first part is provided with a first interface on the first interface, the first interface is in controlled electrical conduction with the energy storage assembly,

3. The autonomous mobile device of claim 1 or 2,

the first part is formed with a first receiving cavity and is provided with a guide rail connected with the first receiving cavity,

the second portion includes a base and a protruding portion protruding from the base toward the first portion, the protruding portion being capable of protruding into the first receiving cavity under guidance of the guide rail.

4. The autonomous mobile apparatus of claim 3, wherein the first portion is further provided with a cleaning component electrically connected to the energy storage component, the cleaning component can utilize the electric energy of the energy storage component to perform cleaning operation on the traveling surface,

5. The autonomous mobile apparatus of claim 4, wherein the first portion further comprises a driving component and a control component, the driving component and the energy storage component are electrically connected, and the driving component can drive the autonomous mobile apparatus to move by using the electric energy supplied by the energy storage component under the control of the control component.

6. A charging pile, characterized in that the charging pile is provided with power supply contact pieces that match the charging pieces of the autonomous mobile apparatus of any one of claims 1 to 5, each of the power supply contact pieces abutting against one of the charging pieces in a state where the autonomous mobile apparatus is in a predetermined position with respect to the charging pile, so that the power supply contact pieces are electrically conducted with the charging pieces.

7. The charging pile according to claim 6, wherein the charging pile has a body and a base plate assembled together, the body being placed on and standing with respect to the base plate,

the power supply contact piece is provided to the base plate and protrudes with respect to an upper surface of the base plate, and the base plate and the power supply contact piece are located between the travel surface and the charging piece in a state where the autonomous moving apparatus is at the predetermined position.

8. The charging pile according to claim 6 or 7, characterized in that it is provided with a limiting mechanism for guiding and limiting the autonomous mobile device in the predetermined position.

9. The charging pile of claim 8,

the limiting mechanism comprises a guide groove which is matched with a bulge formed on the bottom surface of the first part of the autonomous mobile equipment and is used for guiding the autonomous mobile equipment and limiting the autonomous mobile equipment at the preset position; or

The limiting mechanism comprises a guide protrusion, and the guide protrusion is matched with a groove formed in the bottom surface of the first part of the autonomous mobile equipment and used for guiding the autonomous mobile equipment and limiting the autonomous mobile equipment at the preset position.

10. The charging pile according to claim 9, wherein the limiting mechanism further comprises at least two limiting protrusions spaced apart from each other, each of the limiting protrusions being formed with a limiting surface facing the autonomous mobile device, the limiting surface matching with a contour of an outer circumferential surface of the autonomous mobile device for limiting the autonomous mobile device at the predetermined position.