JP2021090312A - Charging unit - Google Patents

Abstract

To provide a charging unit that reduces an arrangement space for a closing member inside a housing to reduce the size of the housing.SOLUTION: A charging station 50 for charging a battery mounted on an autonomous traveling device comprises: a casing 51 that has an opening 511 in a side wall 51A; a power supply connection part that is provided slidably in a width direction D13 in the casing, has power supply terminals for power sharing connected to power receiving terminals of a charging connection part of a cleaning device, and projects to the outside from the opening; a first closing sheet 85A with flexibility that covers and closes a gap between an edge 511A on one side in the width direction of the opening and the power supply connection part; and a guide member 71 that bends an excess part 851 of the first closing sheet protruding to one side in the width direction from the edge and guides the excess part in a direction D12 separated from the opening.SELECTED DRAWING: Figure 12

Description

The present invention relates to a charging unit for charging a battery mounted on an autonomous traveling device capable of autonomous traveling.

Conventionally, a cleaning robot (autonomous traveling device) of a type that autonomously travels by being driven by a battery is known. This cleaning robot cleans the surface to be cleaned by autonomously traveling on the surface to be cleaned such as the floor, sucking in air from the suction port of the intake nozzle facing the surface to be cleaned, and sucking in dust on the surface to be cleaned. To do. In recent years, the introduction of industrial autonomous driving type cleaning robots has been progressing in a wide range of spaces such as concourses at stations and airports and shopping malls.

Further, conventionally, a charging station (charging unit) for charging a battery of an autonomous traveling type cleaning robot is known (see Patent Document 1). The cleaning robot automatically returns to the charging station when the charge amount of the battery becomes low, and automatically connects to the power supply terminal of the charging station to charge the battery.

When the cleaning robot returns to the charging station and is connected to the power supply terminal of the charging station, the power receiving terminal of the cleaning robot and the power supply terminal of the charging station may be misaligned. In order to eliminate this misalignment, the charging station is provided with a terminal connection portion that is supported so as to be slidable in the width direction. When the cleaning robot docks with the charging station, the terminal connection portion slides by receiving a force in the width direction, whereby the power supply terminal is aligned with the power receiving terminal.

Utility Model Registration No. 32066660

By the way, in a charging station having a structure in which the terminal connection portion including the power supply terminal protrudes from the opening formed in the casing (housing), a gap is generated between the opening and the terminal connection portion. This gap is closed by a plate-shaped closing member inside the casing so that dust, dirt, moisture, etc. do not enter and a finger is not inserted to cause an electric shock. The closing member is provided so as to be able to move in the same direction following the sliding movement of the terminal connecting portion. When the terminal connection portion slides to one side in the width direction, the gap on the other side in the opening widens. For this reason, conventionally, the closing member is formed in a shape long in the slide direction of the terminal connecting portion so that the gap that has been widened to the maximum can be closed. However, when the closing material is formed in a long shape, it is necessary to secure an arrangement space including a moving range of the closing member inside the casing, and the casing is enlarged in the width direction. Inevitably, the compactness of the charging station is hindered.

An object of the present invention is to provide a charging unit capable of reducing the size of the housing by reducing the space for arranging the closing member inside the housing.

(1) The charging unit according to one aspect of the present invention is for charging a battery mounted on an autonomous traveling device. The charging unit includes a housing, a terminal connection portion, a closing member, and a guide mechanism. The housing has an opening on the side surface. The terminal connection portion is provided inside the housing so as to be slidable in a predetermined first direction. The terminal connection portion has a power supply terminal connected to the autonomous traveling device, and projects outward from the opening. The closing member is a flexible sheet-like member provided in the housing and covering and closing the gap between the one-sided edge portion in the first direction and the terminal connecting portion in the opening. is there. The guide mechanism bends a surplus portion of the closing member that protrudes from the edge portion to one side in the first direction to guide the closing member in a second direction away from the opening.

Since it is configured in this way, even when the pressing force in the first direction is applied to the terminal connection portion when the charging connection portion of the autonomous traveling device is connected to the terminal connection portion, the closing member is a guide mechanism. It is bent to the second direction side and guided in the second direction. As a result, the space for arranging the closing member in the housing can be reduced as compared with the conventional structure in which the gap is closed by the plate-shaped closing member having no flexibility, and as a result, the housing can be moved in the first direction. Can be reduced in size.

(2) The charging unit further includes a first urging member that urges the surplus portion in the second direction.

With this configuration, even if the terminal connection portion slides in the first direction under the pressing force from the autonomous traveling device, tension is applied to the closing member by a predetermined urging force. Therefore, it is possible to prevent the closing member from bending.

(3) In the charging unit, one end of the closing member in the first direction is attached to the terminal connection portion, and the other end is attached to the first urging member.

(4) The guide mechanism is rotatably supported by a guide member that bends the surplus portion in the second direction, and when the terminal connecting portion is slid toward the edge portion, the closing member A rotary shaft member capable of winding the surplus portion and a second urging member for urging the rotary shaft member in the winding direction of the closing member are included.

Since it is configured in this way, the space for arranging the closing member can be reduced even in the second direction.

(5) The opening is provided in the vicinity of one end of the first direction on the side surface. Further, the guide mechanism is provided in the vicinity of the edge portion in the housing.

Since it is configured in this way, the present invention is suitable when each member is arranged so as not to secure a space on one side in the first direction inside the housing.

(6) The terminal connection portion has a conversion portion that converts a force in a direction perpendicular to the side surface received from the autonomous traveling device into a force in the first direction.

Since it is configured in this way, the terminal connection portion can be smoothly slid and moved in the first direction.

According to the present invention, it is possible to reduce the size of the housing by reducing the space for arranging the closing member inside the housing.

FIG. 1 is a perspective view showing the appearance of the front side of the cleaning device according to the embodiment of the present invention. FIG. 2 is a schematic view showing the internal configuration of the cleaning device. FIG. 3 is a perspective view showing the appearance of the rear side of the cleaning device. FIG. 4 is a cross-sectional view showing the configuration of the charging terminal portion included in the cleaning device. FIG. 5 is a front view of the cleaning device. FIG. 6 is a diagram for explaining the operation when the cleaning device returns to the charging station, and shows a state in which the cleaning device detects the charging station and stops. FIG. 7 is a diagram for explaining the operation when the cleaning device returns to the charging station, and shows a state in which the cleaning device is swiveled by 180 °. FIG. 8 is a diagram for explaining the operation when the cleaning device returns to the charging station, and shows a state in which the cleaning device moves backward and is connected to the charging station. FIG. 9 is a perspective view showing a configuration of a charging station according to an embodiment of the present invention. FIG. 10 is an enlarged view showing the configuration of the power supply terminal portion included in the charging station. FIG. 11A is a diagram showing a state in which the induction roller is guided toward the recess of the charging terminal portion. FIG. 11B is a diagram showing a state in which the induction roller is housed in the recess of the charging terminal portion. FIG. 12 is a schematic view showing the internal configuration of the charging station. FIG. 13A is a diagram showing a state in which the power feeding terminal portion is slid to one side in the width direction. FIG. 13B is a diagram showing a state in which the power feeding terminal portion is slid to the other side in the width direction. FIG. 14 is a diagram showing a first modification of the charging station according to the embodiment of the present invention. FIG. 15 is a diagram showing a second modification of the charging station according to the embodiment of the present invention. FIG. 16 is a diagram showing a third modification of the charging station according to the embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The following embodiments are examples that embody the present invention, and do not limit the technical scope of the present invention.

[Cleaning device 10]
FIG. 1 is a perspective view showing the appearance of the front side of the autonomous traveling type cleaning device 10 (an example of the autonomous traveling device of the present invention) according to the embodiment of the present invention, and FIG. 2 is an internal structure of the cleaning device 10. It is a schematic diagram which shows. In the following description, the vertical direction D1, the front-rear direction D2, and the horizontal direction D3 shown in each figure are used.

The cleaning device 10 is an autonomous traveling device that autonomously moves on the floor surface 23 (see FIG. 3) of a concourse such as an airport, a station, or a shopping mall, and is also called a mobile robot. The cleaning device 10 sucks up dust and dirt such as dust on the floor surface 23 while moving by autonomous traveling, separates the dust by a filter, and collects the dust in the collection box 16 (see FIG. 2). The cleaning device 10 automatically cleans the floor surface 23 while traveling based on various cleaning information such as a travel route, a cleaning area, a cleaning time zone, and a return position for returning for charging, which are input in advance.

The cleaning device 10 is merely an example of the autonomous traveling device of the present invention. In the present invention, for example, a cleaning device for cleaning an indoor floor surface while autonomously traveling, a road surface such as an outdoor pedestrian road or a road surface. It can also be applied to a cleaning device that cleans while autonomously traveling. Of course, it does not have a cleaning function and is an autonomous mobile robot for realizing other uses, such as a security robot that can travel autonomously, a nursing robot, a luggage carrying robot, and a display guidance robot. The present invention can also be applied to a traveling device.

As shown in FIG. 2, the cleaning device 10 includes a device main body 11 and each functional unit provided on the device main body 11. Specifically, the device main body 11 includes a traveling unit 12, a motor 13, a battery 14, an intake unit 15, a collection box 16, a support holder 17, an intake nozzle 18, an expansion nozzle 19 (see FIG. 1), an operation unit 20, and the like. A display panel 21, a charging connection unit 30, a control unit 40, and the like are provided.

As shown in FIG. 1, the device main body 11 has an exterior cover 11A constituting the exterior of the device main body 11. Further, as shown in FIG. 2, the apparatus main body 11 has a chassis 11B below the apparatus main body 11. The chassis 11B is provided substantially parallel to the floor surface 23. Further, inside the device main body 11, a support frame for supporting each of the above-mentioned functional parts is appropriately provided.

As shown in FIG. 2, the traveling unit 12 is provided at the lower part of the device main body 11. The traveling unit 12 transmits the conveying force in the traveling direction to the floor surface 23 while maintaining the traveling posture of the device main body 11, and is attached to the chassis 11B. The traveling unit 12 has a pair of wheels 121 for traveling and four casters 122.

The wheel 121 is rotatably supported at both ends of the chassis 11B in the front-rear direction and in the left-right direction D3 (width direction). The four casters 122 are for maintaining the traveling posture of the apparatus main body 11, and are rotatably supported by both ends of the front end of the chassis 11B and both ends of the rear end of the chassis 11B. With the cleaning device 10 placed on the floor surface 23, the outer peripheral surfaces of the wheels 121 and the casters 122 are supported by the floor surface 23. As a result, the device main body 11 is maintained in the traveling posture shown in FIGS. 1 and 2.

The output shaft of the motor 13 is connected to the rotating shaft of the wheel 121 via a transmission mechanism such as a reduction gear. Therefore, when the motor 13 is driven and its rotational driving force is output from the output shaft, the rotational driving force of the motor 13 is transmitted to the wheels 121. In the present embodiment, the motor 13 is individually provided for each of the pair of wheels 121. Therefore, the rotational speed of each wheel 121 is controlled by individually driving and controlling each motor 13. For example, when the rotation speed of each wheel 121 is controlled to a constant speed, the cleaning device 10 advances straight, and when the rotation speed of each wheel 121 is controlled to a different speed, cleaning is performed on the wheel 121 side having a slow rotation speed. The device 10 turns.

The intake unit 15 is provided inside the device main body 11 on the upper side of the battery 14, which will be described later. The intake unit 15 generates a suction force for sucking air from the intake nozzle 18, and has a plurality of intake fans 151. A flexible hose 24 is connected to the intake port 154 of the intake unit 15. When the intake fan 151 is driven, air is sucked from the intake port at the tip of the flexible hose 24, and the air is discharged to the outside through the flexible hose 24, the inside of the intake unit 15, and the exhaust pipe (not shown). Will be done.

The battery 14 is provided in the center of the apparatus main body 11. The battery 14 supplies electric power for driving to the motor 13 and the intake fan 151.

FIG. 3 is a perspective view showing the appearance of the rear side of the cleaning device 10. As shown in FIGS. 2 and 3, the collection box 16 is provided on the back surface of the apparatus main body 11. On the back surface of the apparatus main body 11, a support holder 17 for covering the back surface and detachably supporting the collection box 16 is provided. A recess 171 extending in the vertical direction D1 is formed in the center of the support holder 17 in the left-right direction D3 (width direction), and the collection box 16 is detachably mounted in the recess 171.

As shown in FIG. 2, the support holder 17 is provided with an intake port 174 extending forward from the bottom surface of the recess 171. The intake port 174 is connected to an outlet provided at the top of the collection box 16. The end of the flexible hose 24 is connected to the intake port 174.

Further, as shown in FIG. 3, an intake nozzle 18 is provided in the lower portion of the support holder 17, and an expansion nozzle 19 is provided in the side portion of the support holder 17. A pair of rotating brushes 26 (26A, 26B) are rotatably provided on the intake nozzle 18. The rotary brush 26 rotates by transmitting a rotational driving force from a motor (not shown). When the motor is driven by the control unit 40 while the cleaning device 10 is running, the rotating brush 26 is rotated to satisfactorily collect dust on the floor surface 23.

As shown in FIG. 3, the expansion nozzle 19 is provided on the left side of the support holder 17. An accommodating portion 176 is provided on the left side of the support holder 17, and the expansion nozzle 19 can be accommodated in the accommodating portion 176. The expansion nozzle 19 is supported by the support holder 17. Specifically, the expansion nozzle 19 is accommodated in the accommodating portion 176 (posture shown in FIGS. 1 and 3) and is tilted to the left from the accommodating portion 176 to the left floor surface 23 of the apparatus main body 11. Is supported by the support holder 17 so that the posture can be changed from the side cleaning posture (not shown) that can be cleaned.

The operation unit 20 is provided on the upper part of the back surface of the device main body 11. The operation unit 20 is attached to the exterior cover 11A. The operation unit 20 is a device operated by an operator, and is, for example, a terminal device having a touch panel capable of touch operation. Various registration information (information such as travel route, cleaning area, cleaning time zone, return position information, etc.) for the cleaning device 10 can be input from the operation unit 20. The input registration information is transferred to the control unit 40 and used for travel control by the control unit 40.

The display panel 21 is provided on the front surface of the apparatus main body 11. The display panel 21 is, for example, a liquid crystal panel. On the display panel 21, various announcement information is displayed by the control unit 40 during cleaning. The announcement information is, for example, information indicating that cleaning is in progress, guidance information regarding the floor being cleaned, and the like.

The control unit 40 is provided on the upper part of the device main body 11. The control unit 40 controls the running of the cleaning device 10, the drive of the intake fan 151 of the intake unit 15, the screen display of the display panel 21, the return to the charging station 50 described later, and the like. The control unit 40 includes, for example, control devices such as a CPU, ROM, and RAM, a storage device such as an HDD and a flash memory, and a GPS receiver. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile memory in which control programs such as a BIOS and an OS for causing the CPU to execute various processes are stored in advance. The RAM is a volatile or non-volatile memory that stores various types of information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The control unit 40 runs the cleaning device 10, drives the intake fan 151, displays the screen of the display panel 21, and charges the charging station 50 by executing various control programs stored in advance in the ROM or the storage device on the CPU. Controls the return to.

As shown in FIG. 3, the support holder 17 is provided with a charging connection portion 30 used when charging the battery 14. The charging connection unit 30 has three power receiving terminals 31 connected to the three power supply terminals 61 included in the charging station 50. The three power receiving terminals 31 are arranged vertically along the vertical direction D1. The charging connection portion 30 is provided on the right side of the back surface of the support holder 17, and specifically, is provided on the right side of the recess 171. A recess 172 is formed on the back surface of the support holder 17, and a charging connection portion 30 is provided in the recess 172.

FIG. 4 is a diagram showing the configuration of the charging connection portion 30 of the cleaning device 10, and is a cross-sectional view of a horizontal cut surface passing through a position directly above the power receiving terminal 31 arranged on the uppermost side. As shown in FIG. 4, a pedestal 311 protruding from the bottom surface 172A is provided at the center of the bottom surface 172A of the recess 172 in the width direction. The pedestal 311 has a quadrangular pyramid shape that is long in the vertical direction D1. Three power receiving terminals 31 are provided vertically side by side on the side surface of the pedestal 311 on the protruding direction side.

Inside the recess 172, above the pedestal 311 is provided a recess 173 that is formed deeper than the bottom surface 172A and has a width smaller than that of the recess 172. Further, an inclined surface 172B is formed in a portion extending from each of both inner walls in the width direction of the recess 172 to each of both inner walls in the width direction of the recess 173. Each inclined surface 172B is inclined from both inner walls of the recess 172 toward the recess 173. Each inclined surface 172B is an inclined guide surface that guides the guide roller 63 of the power feeding connection portion 60, which will be described later, toward the recess 173. Further, the recess 173 accommodates the guide roller 63 guided by the inclined surface 172B and positions the guide roller 63 inside the guide roller 63.

FIG. 5 is a front view of the cleaning device 10. As shown in FIG. 5, a front laser sensor 41 and a sonar sensor 42 are provided on the front surface of the cleaning device 10.

The front laser sensor 41 is provided in a groove portion 175 extending in the width direction formed in the lower part of the front surface of the apparatus main body 11. The front laser sensor 41 is arranged at the center inside the groove 175. The front laser sensor 41 includes a laser transmitting element, a laser driver for driving the laser transmitting element, a light receiving element, a light receiving processing circuit for converting the output of the light receiving element into a digital signal, and the like. The front laser sensor 41 is connected to the control unit 40 and is controlled by the control unit 40. The front laser sensor 41 scans the pulsed laser beam forward in the width direction (horizontal direction) within a predetermined scanning angle (for example, 120 °). When the front laser sensor 41 receives the pulse wave reflected by the irradiated object (object) and returned, the control unit 40 measures the time until the pulse wave returns, and the measured value thereof. The distance to the object at each scanning position is calculated based on. As a result, the control unit 40 can grasp the distance and position to the object existing on the front side (traveling direction side) of the cleaning device 10, and the shape and size of the object in the width direction.

The sonar sensor 42 is provided below the display panel 21. Sonar sensors 42 are provided at both ends in the width direction on the front surface of the apparatus main body 11. The sonar sensor 42 is connected to the control unit 40 and is controlled by the control unit 40. The sonar sensor 42 detects an object using sound waves, and measures the distance to the object based on the time until the sound waves are reflected by the object and returned.

As shown in FIGS. 1 and 3, side laser sensors 45 are provided on both side surfaces of the apparatus main body 11. The side laser sensor 45 has substantially the same configuration as the front laser sensor 41, and includes a laser transmitting element, a laser driver for driving the laser transmitting element, a light receiving element, a light receiving processing circuit for converting the output of the light receiving element into a digital signal, and the like. I have. The side laser sensor 45 is connected to the control unit 40 and is controlled by the control unit 40. The side laser sensor 45 scans the pulsed laser beam from the front to the bottom and from the rear within a range of a predetermined scanning angle (for example, 180 °). When the side laser sensor 45 receives the pulse wave reflected by the irradiated object (object) and returned, the control unit 40 measures the time until the pulse wave returns, and the measured value thereof. The distance to the object at each scanning position is calculated based on. As a result, the control unit 40 can determine the distance and position of objects existing on the front side (traveling direction side) of the cleaning device 10, steps and obstacles existing on the floor surface 23, and the shape and size in their scanning directions. Can be grasped.

6 to 8 are diagrams showing an operation when the cleaning device 10 returns to the charging station 50 to charge the battery 14. As described above, the cleaning device 10 is registered with information such as the traveling route, the cleaning area, and the cleaning time zone, and is also registered with the return position information for returning for charging. The return position information is, for example, GPS position information. Therefore, when the charge amount of the battery 14 becomes less than the predetermined amount, the cleaning device 10 interrupts the cleaning and returns to the position indicated by the return position information.

As shown in FIG. 6, when the cleaning device 10 moves to the vicinity of the position indicated by the return position information and the charging station 50 enters the detection range by the front laser sensor 41, the cleaning device 10 accurately reaches the charging station 50. Distance and its position can be specified. After that, when the cleaning device 10 travels to the front of the charging station 50 (see FIG. 6), the drive of each wheel 121 is controlled by the control unit 40, the cleaning device 10 turns 180 ° (see FIG. 7), and the charging connection is established. The unit 30 is arranged in front of the power supply connection unit 60 of the charging station 50. Then, when the cleaning device 10 is moved to the charging station 50 side by the control unit 40, the charging connection unit 30 and the power supply connection unit 60 of the charging station 50 are connected (see FIG. 8).

[Charging station 50]
FIG. 9 is a perspective view showing the configuration of the charging station 50 according to the embodiment of the present invention, and FIG. 10 is an enlarged view of the power supply connecting portion 60 included in the charging station 50. In the following description, the vertical direction D11, the depth direction D12, and the width direction D13 shown in each figure are used.

The charging station 50 is a charging unit for charging the battery 14 mounted on the cleaning device 10 capable of autonomous traveling. As described above, when the cleaning device 10 returns to the charging station 50 and docks with the charging station 50, the charging connection unit 30 of the cleaning device 10 is connected to the power supply connection unit 60, and power is supplied from the charging station 50 to the battery 14. Be supplied.

The charging station 50 is installed and used on the floor surface 23, for example, with the back surface joined to the wall surface 91. The charging station 50 may be installed so as to be embedded in the wall surface 91.

As shown in FIG. 9, the charging station 50 includes a casing 51 (an example of a housing of the present invention), a power supply connecting portion 60 (an example of a terminal connecting portion of the present invention), and closing sheets 85A and 85B (an example of the present invention). An example of a closing member), a guide member 71 (an example of a guide mechanism of the present invention), and elastic members 86A and 86B are provided.

The casing 51 is formed in a substantially rectangular parallelepiped shape, and as a whole, the size of the depth direction D12 is smaller than that in the vertical direction D11 and the width direction D13. A rectangular opening 511 is formed on the side wall 51A on one side of the casing 51 (the side opposite to the wall surface 91). The opening 511 is formed in the side wall 51A in the vicinity of one end of the width direction D13 (on the right side of the paper surface in FIG. 9), that is, in the vicinity of the side wall 51B.

Recesses 512 having a concave shape on the inner side are formed at the corners of both ends of the side wall 51A of the casing 51 in the width direction D13. Each recess 512 is formed at a position at the same height as the front laser sensor 41 of the cleaning device 10. As a result, when the charging station 50 is within the detection range of the front laser sensor 41, the laser beam emitted horizontally from the front laser sensor 41 toward the front is scanned horizontally at a predetermined scanning angle. Light is emitted so as to cross the recess 512 in the horizontal direction. When the signal corresponding to the reflected light at this time is received from the front laser sensor 41, the control unit 40 of the cleaning device 10 has the position and shape of each of the two recesses 512, the distance from the cleaning device 10, and the width of each recess 512. It is possible to acquire the direction interval (width interval) and the like. Identification information for identifying the charging station 50, such as the shape and width interval of each recess 512, is stored (registered) in advance in the ROM of the cleaning device 10 or the storage device. Therefore, the control unit 40 collates the information acquired based on the signal from the front laser sensor 41 with the identification information, and if the collation matches, determines that the object in front is the charging station 50. Can be done.

As shown in FIG. 9, the power supply connecting portion 60 is provided inside the casing 51, and projects from the inside of the casing 51 to the outside of the side wall 51A through the opening 511. In the present embodiment, the power supply connecting portion 60 is provided inside the casing 51 in the vicinity of the side wall 51B on one side of the width direction D13 (on the right side in the paper surface of FIG. 9). Further, in the present embodiment, the power supply connecting portion 60 is supported inside the casing 51 so as to be slidably movable in the width direction D13. The width direction D13 corresponds to the first direction of the present invention.

The power supply connection unit 60 has a power supply terminal 61 for power supply connected to each power reception terminal 31 of the charge connection unit 30 of the cleaning device 10. In the present embodiment, each of the three power receiving terminals 31 has three power feeding terminals 61 corresponding to each other on a one-to-one basis.

As shown in FIG. 10, the power supply connection unit 60 has a holding unit 62 for holding the power supply terminal 61. The holding portion 62 is formed in a rectangular parallelepiped shape long in the depth direction D12, and projects outward from the opening 511. A recess 603 having a bottom surface 604 is formed at an end portion (protruding end portion) of the holding portion 62 in the projecting direction. The three power feeding terminals 61 are provided on the bottom surface 604 so as to project vertically outward from the bottom surface 604. On the bottom surface 604, the three power supply terminals 61 are arranged vertically along the vertical direction D11. Further, the protruding length of each feeding terminal 61 is set to a length that does not protrude outward from the recess 603.

In the present embodiment, the power supply connection unit 60 is arranged at the same height as the charge connection unit 30 of the cleaning device 10. As a result, when the cleaning device 10 is docked with the charging station 50, each power receiving terminal 31 of the charging connection unit 30 can be connected to each power supply terminal 61 of the power supply connection unit 60.

The power supply connection portion 60 is provided with a disk-shaped induction roller 63. The induction roller 63 is provided above the power supply terminal 61. A support plate 64 is integrally formed with the holding portion 62 on the upper surface of the holding portion 62, and the induction roller 63 is rotatably supported by the tip portion 65 of the support plate 64. The tip portion 65 of the support plate 64 is formed in a tapered shape, and protrudes outward from the recess 603 of the protruding end portion of the holding portion 62. Therefore, the induction roller 63 is supported at a position separated to the outside of each power supply terminal 61.

The induction roller 63 is also a portion that plays a role of converting the vertical force received from the charging connection portion 30 into the pressing force in the width direction D13 when the charging connecting portion 30 is connected to the power feeding connecting portion 60. In this case, the induction roller 63 functions as a cam follower, and each inclined surface 172B of the charging connection portion 30 functions as an inclined cam. The induction roller 63 is an example of the conversion unit of the present invention.

In the present embodiment, the induction roller 63 is positioned at the same height as the recess 173 and the inclined surface 172B so that the induction roller 63 is guided to the recess 173 when the charging connection portion 30 is connected to the power supply connection portion 60. It is supported by. Specifically, for example, when the charging connection unit 30 and the power supply connection unit 60 do not face each other directly in front of each other and are located at positions shifted in the width direction D13, the cleaning device 10 moves as shown in FIG. 11A. When the charging connection portion 30 approaches and is pressed against the power feeding connection portion 60, one of the inclined surfaces 172B formed in the recess 172 comes into contact with the induction roller 63. At this time, the induction roller 63 receives a force in the direction orthogonal to the moving direction of the cleaning device 10, that is, a pressing force in the direction toward the recess 173 (width direction D13). In other words, the induction roller 63 converts the force in the moving direction of the cleaning device 10 into a force in the direction orthogonal to the moving direction, that is, a pressing force in the direction toward the recess 173 (width direction D13). This pressing force acts as a force for sliding the power feeding connection portion 60 toward the center side in the width direction of the recess 172. When the charging connection unit 30 is further pressed toward the power supply connection unit 60 side, the power supply connection unit 60 slides further toward the center portion side by receiving the pressing force and is housed in the recess 173 (see FIG. 11B). In this state, the induction roller 63 is positioned at the center in the width direction of the charging connection portion 30 by the recess 173.

FIG. 12 is a cross-sectional view showing the internal configuration of the charging station 50. As shown in FIG. 12, inside the casing 51, an accommodation support portion 67 is provided that accommodates the power supply connection portion 60 and supports the power supply connection portion 60 so as to be movable in the depth direction D12. Inside the accommodating support portion 67, an elastic member 66 that connects the holding portion 62 of the power feeding connection portion 60 and the inner portion of the accommodating support portion 67 and elastically supports the holding portion 62 with respect to the depth direction D12 is provided. It is provided. The elastic member 66 is, for example, a coil spring. Since the accommodating support portion 67 and the elastic member 66 are provided, even when the charging connecting portion 30 is pressed against the feeding connecting portion 60, the feeding connecting portion 60 is retracted in the direction opposite to the pressing direction. , The power feeding terminal 61 and the power receiving terminal 31 can be brought into contact with each other with an appropriate pressing force.

As described above, in the present embodiment, the power supply connecting portion 60 is supported so as to be slidably movable in the width direction D13. Specifically, a pair of rails 68 and 69 that slidably support the accommodating support portion 67 are provided inside the casing 51. The rails 68 and 69 are formed long in the width direction D13 and are provided at predetermined intervals in the depth direction D12. Since the lower end of the accommodating support portion 67 is supported by the rails 68 and 69, the power supply connecting portion 60 can slide in the width direction D13. The slide support mechanism that supports the power supply connection portion 60 so as to be slidable in the width direction D13 is not limited to the support mechanism by the rails 68 and 69 described above, and for example, a mechanism that supports by the rack-pinion mechanism may be applied. It is possible.

In the charging station 50 having the above-described configuration, since the power supply connection portion 60 protrudes from the opening 511 of the casing 51, a gap is generated between the opening 511 and the power supply connection portion 60. Therefore, in the present embodiment, the gap is closed by the sheet-shaped closing sheets 85A and 85B inside the casing 51. Specifically, the closing sheets 85A and 85B cover and close the gap between the edge portion of the opening 511 in the width direction D13 and the feeding connection portion 60. As a result, it is possible to prevent dust, dirt, moisture, etc. from entering the inside through the gap, and it is possible to prevent a person's fingers from being inserted and receiving an electric shock.

In the present embodiment, the first blocking sheet 85A that closes the gap between the edge portion 511A on one side of the width direction D13 in the opening 511 and the power supply connecting portion 60 from the inside, and the other side of the width direction D13 in the opening 511. A second closing sheet 85B that closes the gap between the edge portion 511B and the power supply connecting portion 60 from the inside is provided. The first block sheet 85A and the second block sheet 85B are both flexible resin sheet members, for example, rubber sheets.

In the first block sheet 85A, one end 85A1 is attached to the side surface of the power feeding connection 60, and the other end 85A2 is an elastic member 86A described later (an example of the first urging member of the present invention). It is attached to. Further, in the second closing sheet 85B, the end portion 85B1 on one side (side wall 51B side) is attached to the side surface of the power feeding connection portion 60, and the end portion 85B2 on the other side is attached to the elastic member 86B described later. .. Therefore, when the power supply connecting portion 60 slides in the width direction D13, the closing sheets 85A and 85B also move in the same direction following the slide movement.

The charging station 50 is provided with an elastic member 86A that pulls the first closing sheet 85A in a direction opposite to the sliding direction when the power supply connecting portion 60 slides and moves. Further, an elastic member 86B that pulls the second closing sheet 85B in a direction opposite to the sliding direction of the power feeding connection portion 60 is provided. The elastic members 86A and 86B are both tensile springs, for example, coil springs that are precompressed so as to generate a tensile force of the same magnitude.

The guide member 71 bends the surplus portion 851 of the first closing sheet 85A that protrudes from the edge portion 511A of the opening 511 toward the side wall 51B, and guides the excess portion 851 away from the opening 511, that is, toward the wall surface 91 side. The guide member 71 is, for example, a cylindrical member provided in the vicinity of the edge portion 511A of the opening 511 and extending in the vertical direction D11. The guide member 71 may be rotatably supported so that the first block sheet 85A can be smoothly bent and guided. The direction D21 corresponds to the second direction of the present invention.

The elastic member 86A is provided at a position separated from the guide member 71 toward the wall surface 91. One end of the elastic member 86A is attached to the end portion 85A2 of the first closing sheet 85A, and the other end is attached to the side wall 51C on the wall surface 91 side of the casing 51 in a state where the expansion / contraction direction coincides with the depth direction D12. It is fixed. As a result, the surplus portion 851 of the first block sheet 85A is pulled toward the direction D21 by the elastic member 86A.

Further, inside the casing 51, a guide plate 72 is provided to guide the second closing sheet 85B in a predetermined direction when the power supply connecting portion 60 slides and moves. The guide plate 72 is integrally formed on the inner surface of the side wall 51A. The guide plate 72 guides the excess portion 852 of the second closing sheet 85B that protrudes in the direction D22 away from the edge portion 511B of the opening 511 (to the left of the paper surface in FIG. 12) in the same direction D22.

The elastic member 86B is provided at a position separated from the guide plate 72 on the direction D22 side. One end of the elastic member 86B is attached to the end portion 85B2 of the second closing sheet 85B, and the other end is fixed to the side wall 51A of the casing 51 in a state where the expansion / contraction direction coincides with the width direction D13. .. As a result, the surplus portion 852 of the second closing sheet 85B is pulled toward the direction D22 by the elastic member 86B.

As described above, the charging station 50 of the present embodiment is provided with a casing 51 having an opening 511 in the side wall 51A and slidable in the casing 51 in the width direction D13, and is provided in the charging connection portion 30 of the cleaning device 10. A power supply connection unit 60 having a power supply terminal 61 for power sharing connected to the power reception terminal 31 and projecting outward from the opening 511, an edge portion 511A on one side of the width direction D13 in the opening 511, and a power supply connection unit 60. In the first closing sheet 85A having flexibility to cover and close the gap between the first closing sheets 85A, the excess portion 851 protruding from the edge portion 511A to one side in the width direction D13 is bent from the opening 511. A guide member 71 that guides the driver in the direction D21 away from the vehicle is provided.

Therefore, as shown in FIG. 13A, even when the pressing force F1 is applied to the induction roller 63 of the power supply connection unit 60 when the charging connection unit 30 is connected to the power supply connection unit 60, the first blocking sheet 85A is still present. It is bent toward the direction D21 by the guide member 71 and guided in the direction D21. In this case, in the second closing sheet 85B, the surplus portion 852 moves toward the side wall 51B side, and the gap in the opening 511 is surely closed. As a result, the charging station 50 of the present embodiment reduces the placement space of the first closing sheet 85A in the casing 51 as compared with the conventional structure in which the gap is closed by a plate-shaped closing member having no flexibility. As a result, the casing 51 can be downsized with respect to the width direction D13.

Further, as shown in FIG. 13B, when the pressing force F2 in the direction D22 is applied to the induction roller 63 of the feeding connection portion 60 when the charging connecting portion 30 is connected to the feeding connection portion 60, the first blocking sheet 85A The surplus portion 851 is pulled toward the opening 511 side to surely close the gap in the opening 511. In this case, the second closing sheet 85B slides toward the direction D22 by the guide plate 72, and the surplus portion 852 retracts in the direction D22.

Further, in the present embodiment, an elastic member 86A that elastically urges the surplus portion 851 of the first block sheet 85A in the direction D21 is provided. Therefore, even if the power supply connecting portion 60 slides due to the pressing force F1, tension is applied by a predetermined pulling force, so that the first block sheet 85A can be prevented from bending.

Further, since the elastic member 86B that elastically biases the second block sheet 85B in the direction D22 is provided, the first block sheet 85A and the second block sheet 85B are always moved in either direction. A constant tension is applied to the first obstruction sheet 85A and the second obstruction sheet 85B. As a result, it is possible to prevent the first block sheet 85A and the second block sheet 85B from bending due to the slide movement to the power supply connection portion 60.

Further, in the present embodiment, the power supply connecting portion 60 is provided with an induction roller 63 that functions as a cam follower by operating together with the inclined surface 172B of the charging connecting portion 30. Therefore, the power supply connecting portion 60 can be smoothly slid and moved in the width direction D13.

In the above-described embodiment, the charging station 50 includes the elastic members 86A and 86B for urging the first closed sheet 85A and the second closed sheet 85B, but the present invention is limited to the above-mentioned configuration. Absent. For example, as shown in FIG. 14, the charging station 50 bends the surplus portion 851 protruding from the edge portion 511A to one side in the width direction D13 in the first blocking sheet 85A to guide the surplus portion 851 away from the opening 511 in the direction D21. The guide members 73 and 74 of the above may be provided.

Further, as shown in FIG. 15, the charging station 50 includes a guide member 71 for bending the surplus portion 851 of the first block sheet 85A in the direction D21, and a rotating shaft member for winding provided in the vicinity of the guide member 71. It may be configured to include 75. The rotary shaft member 75 is a roller-shaped member that is rotatably supported in the casing 51 and extends in the vertical direction D11, and is configured so that the surplus portion 851 can be wound up. When the end portion 85A2 of the first closing sheet 85A is fixed to the rotating shaft member 75 and the power supply connecting portion 60 slides toward the edge portion 511A along the width direction D13, the first closing sheet 85A slides in the sliding direction. The rotating shaft member 75 rotates in the direction D23 (winding direction) due to the momentum of movement, and the surplus portion 851 is wound by the rotating shaft member 75.

In this configuration, an elastic member such as a torsion coil spring that elastically urges the rotary shaft member 75 in the winding direction D23 of the surplus portion 851 of the first block sheet 85A (an example of the second urging member of the present invention). May be provided on the rotating shaft member 75.

Further, as shown in FIG. 16, the charging station 50 may have a configuration in which the same configuration as that of bending the first block sheet 85A in the direction D21 is applied to the second block sheet 85B. That is, the charging station 50 includes a guide member 76 that bends the surplus portion 852 of the second closing sheet 85B in the direction D21, and an elastic member 86C that elastically biases the surplus portion 852 of the second closing sheet 85B in the direction D21. , May be provided.

10: Cleaning device 11: Device body 12: Traveling unit 13: Motor 14: Battery 15: Intake unit 16: Collection box 17: Support holder 18: Intake nozzle 19: Expansion nozzle 30: Charging connection 31: Power receiving terminal 40: Control Unit 41: Front laser sensor 42: Sonar sensor 45: Side laser sensor 50: Charging station 51: Casing 51A: Side wall 51B: Side wall 51C: Side wall 60: Power supply connection 61: Power supply terminal 62: Holding unit 63: Induction roller 64: Support Plate 71: Guide member 72: Guide plate 73: Guide member 74: Guide member 75: Rotating shaft member 76: Guide member 85A: First closing sheet 85B: Second closing sheet 86A: Elastic member 86B: Elastic member 86C: Elastic member 91: Wall surface 511: Opening 511A: Edge portion 511B: Edge portion 512: Recessed portion 851: Surplus portion 852: Surplus portion

Claims (6)

It is a charging unit for charging the battery mounted on the autonomous traveling device.
A housing with an opening on the side and
A terminal connection portion that is provided inside the housing so as to be slidable in a predetermined first direction, has a power supply terminal connected to the autonomous traveling device, and projects outward from the opening.
A sheet-like closing member provided in the housing and having flexibility to cover and close the gap between the one-sided edge portion in the first direction and the terminal connecting portion in the opening.
A charging unit including a guide mechanism for bending a surplus portion of the closing member that protrudes from the edge portion to one side in the first direction to guide the closing member in a second direction away from the opening. The charging unit according to claim 1, further comprising a first urging member that urges the surplus portion in the second direction. The charging unit according to claim 2, wherein one end of the closing member in the first direction is attached to the terminal connection portion, and the other end is attached to the first urging member. The guide mechanism is
A guide member that bends the surplus portion in the second direction, and
A rotary shaft member that is rotatably supported and can wind up the surplus portion of the closing member when the terminal connecting portion is slid toward the edge portion.
The charging unit according to claim 1, further comprising a second urging member that urges the rotating shaft member in the winding direction of the closing member. The opening is provided in the vicinity of one end of the first direction on the side surface.
The charging unit according to any one of claims 1 to 4, wherein the guide mechanism is provided in the vicinity of the edge portion in the housing. The charging unit according to any one of claims 1 to 5, wherein the terminal connection unit has a conversion unit that converts a force in a direction perpendicular to the side surface received from the autonomous traveling device into a force in the first direction.

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