WO2020153192A1 - Équipement électronique - Google Patents

Équipement électronique Download PDF

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Publication number
WO2020153192A1
WO2020153192A1 PCT/JP2020/001066 JP2020001066W WO2020153192A1 WO 2020153192 A1 WO2020153192 A1 WO 2020153192A1 JP 2020001066 W JP2020001066 W JP 2020001066W WO 2020153192 A1 WO2020153192 A1 WO 2020153192A1
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WO
WIPO (PCT)
Prior art keywords
pair
power supply
supply terminal
covers
power
Prior art date
Application number
PCT/JP2020/001066
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English (en)
Japanese (ja)
Inventor
井上　健一郎
満久 廣田
Original Assignee
シャープ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by シャープ株式会社 filed Critical シャープ株式会社
Priority to JP2020568084A priority Critical patent/JP7438141B2/ja
Publication of WO2020153192A1 publication Critical patent/WO2020153192A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/44—Means for preventing access to live contacts
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries

Definitions

  • the present invention relates to an electronic device, and more particularly, to an electronic device including a self-propelled device and a charging unit that charges the self-propelled device.
  • Patent Document 1 discloses an electric cleaning device including a self-propelled electric vacuum cleaner having a built-in battery and a charging device for charging the self-propelled electric vacuum cleaner.
  • a pair of left and right power receiving terminals are provided on the bottom plate facing the floor of the self-propelled vacuum cleaner, and the left and right sides of the self-propelled vacuum cleaner returned on the mounting table of the charging device.
  • a pair of left and right power supply terminals that are mechanically and electrically connected to the pair of power reception terminals and supply power to the battery are provided.
  • the self-propelled vacuum cleaner is separated from the charging device and the self-propelled vacuum cleaner returns to the charging device.
  • the power supply terminal and the power receiving terminal may not be mechanically and electrically connected without stopping at a predetermined position for some reason.
  • the present invention has been made in view of the above problems, and an object thereof is to provide an electronic device that can more reliably mechanically and electrically connect a power supply terminal and a power reception terminal.
  • a travelable casing having a bottom plate facing the floor surface, a battery provided in the casing, and a forward portion in the forward direction side or a backward portion in the backward direction of the casing are provided.
  • a pair of power supply terminal insertion openings having a front opening or a rear opening, a pair of power reception terminals respectively provided in the pair of power supply terminal insertion openings in the housing, and the housing receiving the output of the battery
  • a self-propelled device having a power receiving side control unit for controlling the traveling of The mounting table, and the battery which is inserted into the pair of power supply terminal insertion ports of the self-propelled device provided on the mounting table and returned to the mounting table and mechanically and electrically connected to the pair of power receiving terminals
  • an electronic device including a charging unit having
  • an electronic device including a self-propelled device and a charging unit with improved reliability.
  • FIG. 6 is a perspective view showing a state where a pair of left and right power supply terminal covers of the charging unit shown in FIG. 5 are opened.
  • FIG. 6 is a block diagram of an electric circuit of the charging unit shown in FIG. 5. It is a 1st explanatory view showing the state where the self-propelled device of a 1st embodiment returns to a charging unit. It is a 2nd explanatory view showing the state where the self-propelled device of a 1st embodiment returns to a charging unit. It is a 3rd explanatory view showing the state where the self-propelled device of a 1st embodiment returns to a charging unit. It is a bottom view of the self-propelled device in the electronic device of 2nd Embodiment. It is a bottom view of the self-propelled device in the electronic device of 3rd Embodiment. It is a perspective view of a state where a pair of right and left power supply terminal covers of a charging unit in an electronic equipment of a 3rd embodiment are opened.
  • FIG. 1 is a perspective view of the self-propelled device in the electronic device according to the first embodiment of the present invention
  • FIG. 2 is an internal configuration of the self-propelled device as viewed from the side of the first embodiment
  • FIG. 3 is a bottom view of the self-propelled device of the first embodiment
  • FIG. 4 is a block diagram of a control circuit of the self-propelled device of the first embodiment.
  • the self-propelled device is configured as a self-propelled electric vacuum cleaner, a self-propelled ion generator, a self-propelled indoor monitoring device, and the like.
  • a cleaning robot cleans the floor surface by self-propelled on the floor surface, sucking dust on the floor surface together with air, and exhausting the air from which the dust is removed.
  • the cleaning robot A has a forward direction Y1 side as a front part and a backward direction Y2 side as a rear part (see FIG. 3).
  • the cleaning robot A includes a disc-shaped casing 1 having a bottom plate 1a facing the floor surface and capable of traveling, and an exhaust port 41 is provided on the upper surface of the casing 1.
  • the housing 1 is made of an electrically insulating material (for example, ABS resin).
  • the bottom plate 1a includes a rotating brush 3, a pair of left and right side brushes 4, a suction port 11, a pair of left and right driving wheels 5, a rear wheel 7, a floor detection sensor 13, a pair of left and right power receiving terminals 2a and 2b for charging, and a power source.
  • a switch (toggle switch) 62 is provided.
  • the suction passage 10 connected to the suction port 11, the dust collecting portion 20 provided on the downstream side of the flow of the air in the suction passage 10, and the dust collecting portion.
  • An electric blower 30 provided on the downstream side of the wind flow of 20 and an exhaust path 50 connecting the electric blower 30 and the exhaust port 41 are provided.
  • a control board 15 on which a control circuit of the cleaning robot A, which will be described later, is mounted, and a battery (storage battery) 14 are incorporated.
  • the housing 1 includes a lid 1ba and a top plate 1b having a circular shape in plan view having an exhaust port 41 formed at a rear position of the lid 1ba, and outer peripheral portions of the bottom plate 1a and the top plate 1b. And a side plate 1c having a circular ring shape in a plan view.
  • the side plate 1c is divided into a front part and a rear part, and the front part of the side plate 1c is a bumper.
  • An input unit 63 (see FIG. 4) for inputting a stop command is provided.
  • the bottom plate 1a (see FIG. 3) is formed with a plurality of holes that allow the lower portions of the pair of drive wheels 5 to project from the inside of the housing 1 to the outside. Further, in front of the side plate 1c, as shown in FIG. 1, a plurality of ultrasonic sensors 9 for detecting obstacles in the traveling direction of the cleaning robot A are provided.
  • the pair of drive wheels 5 are rotatably provided around a shaft 5a on the same axis X in the left-right direction which is parallel to the bottom plate 1a of the housing 1.
  • the housing 1 advances and retreats, and when the drive wheels 5 rotate in opposite directions, the housing 1 rotates.
  • the rotating shafts 5a of the pair of drive wheels 5 are connected to each other so as to individually obtain rotational force from a pair of drive wheel motors, which will be described later, and each drive wheel motor is attached to the inner surface of the bottom plate 1a of the housing 1. It is fixed directly or through a suspension mechanism.
  • the rear wheel 7 is a free wheel and is rotatably provided at the rear portion of the bottom plate 1a of the housing 1 so as to come into contact with the floor surface.
  • the pair of drive wheels 5 are arranged in the middle in the front-rear direction with respect to the housing 1, the front part of the housing 1 is floated from the floor surface, and the total weight of the cleaning robot A is compared with the pair of drive wheels 5 and the rear.
  • the weight is distributed in the front-rear direction with respect to the housing 1 so as to be supported by the wheel 7. As a result, the dust in front of the route can be guided to the suction port 11.
  • the above-mentioned rotary brush 3 is provided at the inlet of the suction port 11 so as to be rotatable around a horizontal axis parallel to the bottom plate 1a of the housing 1. Further, the side brushes 4 on both the left and right sides of the suction port 11 in the bottom plate 1a are configured to rotate about a rotation axis in a direction perpendicular to the bottom plate 1a.
  • the rotary brush 3 is formed by implanting a brush in a spiral shape on the outer peripheral surface of a roller that is a rotary shaft, and is driven by a rotary brush drive motor described later.
  • the side brush 4 has a plurality of brush bundles radially provided at the lower end of the rotating shaft.
  • the rotation shaft of the side brush 4 is supported on the inner surface of the bottom plate 1a of the housing 1 and driven by a side brush drive motor described later.
  • the housing 1 has a notch at the rear of the bottom plate 1a for mounting the rear wheel 7 rotatably about a vertical axis. It has a recess 1aa. Further, flat vertical surfaces 1ab are provided between the left and right portions of the cutout recess 1aa and the bottom plate 1a. Further, the left and right vertical surfaces 1ab and the bottom plate 1a are provided with slit-shaped power supply terminal insertion openings 1ac extending forward from the respective vertical surfaces 1ab.
  • each power supply terminal insertion opening 1ac has a rear opening 1ad having a shape that widens rearward (outward), and a cut 1ae provided in the front-back direction in the bottom plate 1a so as to communicate with the rear opening 1ad.
  • Each of the power supply terminal insertion ports 1ac has a storage space for the power reception terminals 2a and 2b. The storage space has a width wider than each cut 1ae.
  • the housing 1 is provided with a pair of left and right insertion port covers 8 provided on the bottom plate 1a so as to cover the cuts 1ae of the pair of left and right power supply terminal insertion ports 1ac so as to be exposed, and a pair of left and right insertion port covers 8.
  • a pair of right and left power receiving side urging members 12 are provided.
  • the insertion port cover 8 is made of an insulating resin material, like the bottom plate 1a.
  • the bottom plate 1a of the housing 1 has a cover storage portion 16 that supports each insertion port cover 8 so as to be capable of reciprocating in the front-rear direction.
  • Each cover accommodating portion 16 has a substantially U shape in a plan view that is open to the rear side, and the bent end portions on the rear end side thereof regulate the rearward movement of each insertion port cover 8.
  • Each power-reception-side urging member 12 is provided inside the housing 1 so as to urge each insertion port cover 8 in a direction (in this case, rearward) of closing the notch 1ae of each power supply terminal insertion port 1ac.
  • a compression coil spring is used as each power receiving side biasing member 12, and each insertion port cover 8 is biased rearward by the compression coil spring.
  • Each power receiving side urging member 12 is not limited to the compression coil spring, and may be a tension coil spring, a leaf spring, or the like.
  • the pair of power receiving terminals 2a and 2b have a U shape (clip shape) in a plan view that is opened rearward, and a pair of hemispherical surfaces facing each other at both end portions on the rear end side thereof. Have bulging portions respectively.
  • the notch 1ae of each power supply terminal insertion opening 1ac is arranged between the pair of bulging portions of each power reception terminal 2a, 2b.
  • the shape of each of the power receiving terminals 2a and 2b is not limited to the clip shape, but both sides of blade-shaped power feeding terminals 85a and 85b (see FIG. 7) described later can be reliably mechanically and electrically contacted. From the viewpoint, the clip shape is preferable.
  • the control circuit mounted on the control board 15 (see FIG. 2) for controlling the cleaning robot A includes a microcomputer including a CPU 51, a ROM 52, and a RAM 53, as shown in FIG.
  • a motor driver circuit 71 that controls two side brush drive motors 70 that drive the two side brushes 4, a motor driver circuit 68 that controls a DC motor 69 incorporated in the electric blower 30, a power switch 62, and various sensors 67.
  • the various sensors 67 include the floor detection sensor 13, the ultrasonic sensor 9, and the infrared detection sensor 6 described above.
  • As the DC motor 69 a permanent magnet excitation DC motor is used.
  • a capacitance type switch is used as the input unit 63.
  • the output power of the battery 14 is supplied to the motor driver circuits 57, 71, 59 and 68, respectively, and the power receiving side control unit 54 and the input side are supplied. It is also supplied to the unit 63, the sensor control unit 66, and the like.
  • the power receiving side control unit 54 receives the output of the battery 14 and controls the traveling of the housing 1.
  • the CPU 51 of the power receiving side control unit 54 is a central processing unit, performs arithmetic processing of signals received from the input unit 63 and various sensors 67 based on a program stored in advance in the ROM 52, and motor driver circuits 57, 71, 59. , 68 and so on.
  • the RAM 53 stores various operating conditions of the cleaning robot A, outputs of various sensors 67, and the like. Further, the RAM 53 can store a travel map of the cleaning robot A. The travel map is information related to travel such as the travel route and travel speed of the cleaning robot A, and can be stored in the RAM 53 by the user in advance, or can be automatically recorded by the cleaning robot A itself during the cleaning operation. Further, the power receiving side control unit 54 has a function of detecting the terminal voltage of the battery 14 and the like to detect the remaining charge of the battery 14.
  • the housing 1 is self-propelled in a predetermined range and the air containing dust on the floor surface is sucked from the suction port 11. Inhale.
  • the dust on the floor is scraped up by the rotation of the rotary brush 3 and guided to the suction port 11. Further, the dust on the side of the suction port 11 is guided to the suction port 11 by the rotation of the side brush 4.
  • the dust-containing air sucked into the housing 1 through the suction port 11 passes through the suction passage 10 of the housing 1 and flows into the dust collecting box 21 of the dust collecting unit 20, as shown in FIG.
  • the airflow that has flowed into the dust collection box 21 passes through the filter 22 of the dust collection unit 20 and the electric blower 30, passes through the exhaust passage 50, and is discharged to the exhaust port 41.
  • the dust contained in the air flow in the dust collection box 21 is captured by the filter 22, the dust is accumulated in the dust collection box 21. In this way, the floor surface is cleaned.
  • the cleaning robot A can swivel by the left and right drive wheels 5 rotating forward in the same direction and moving forward, rotating backward in the same direction and moving backward, and rotating in opposite directions.
  • the cleaning robot A when the cleaning robot A approaches a large step (cliff), reaches the periphery of the cleaning area, or collides with an obstacle on the path, the floor surface detection sensor 13 (see FIG. 3) and others. Various sensors notify the power receiving side control unit 54 (see FIG. 4), and the drive wheels 5 stop. Next, the left and right drive wheels 5 are rotated in opposite directions to change their directions. Accordingly, the cleaning robot A can perform self-propelled cleaning while avoiding large steps or obstacles over the entire installation place or the entire desired range. Then, when the predetermined cleaning work is completed, the cleaning robot A returns to the charging unit (charging stand) installed in the room as described later.
  • the charging unit charging stand
  • FIG. 5 is a perspective view of the charging unit in the electronic device according to the first embodiment of the present invention
  • FIG. 6 is a front view of the charging unit shown in FIG.
  • FIG. 7 is a perspective view of the charging unit shown in FIG. 5 with a pair of left and right power supply terminal covers open
  • FIG. 8 is a block diagram of an electric circuit of the charging unit shown in FIG.
  • the charging unit 80 has a plate-like shape to which a main body portion 81 and a power supply terminal, which will be described later, are connected so as to horizontally extend forward from the bottom surface of the main body portion 81.
  • the terminal block 82 is provided, and the main body 81 and the terminal block 82 are formed of an insulating resin material.
  • the front side of the charging unit 80 is a direction in which infrared rays are emitted from the infrared transmitting unit 83 described later (direction toward the terminal block 82 side).
  • the main body 81 and the terminal block 82 may be integrally molded, or may be separately molded and assembled.
  • the main body 81 detects the return of the cleaning robot A to the charging unit 80 by an infrared transmitter 83 that emits infrared rays to the cleaning robot A to indicate a return path, and a pair that detects the mechanical contact with the cleaning robot A.
  • Docking detection units (power supply side detection units) 84a and 84b, a control circuit, and a power supply display unit 90 (see FIG. 8).
  • a limit switch can be used as each of the docking detectors 84a and 84b.
  • the terminal block 82 has, on its upper surface, a pair of left and right power supply terminals that mechanically and electrically connect to the pair of left and right power reception terminals 2a and 2b of the cleaning robot A (see FIG. 3) to supply charging power to the battery 14.
  • the pair of power supply terminal covers 86a and 86b are made of an insulating resin material.
  • the pair of power supply terminals 85a and 85b provided on the terminal block 82 of the charging unit 80 are blades that stand vertically and extend in the front-rear direction. Each is formed in a shape.
  • the power supply terminals 85a and 85b are inserted into the power supply terminal insertion opening 1ac through the rear opening 1ad and the notch 1ae of the pair of power supply terminal insertion openings 1ac of the cleaning robot A that has returned to the terminal block 82, and then the pair of power supply terminals It is mechanically and electrically connected to the power receiving terminals 2a and 2b.
  • the rear ends of the power supply terminals 85a and 85b are arranged in the main body 81 and fixed to a support member (not shown) in the main body 81.
  • the pair of power supply terminal covers 86a and 86b provided on the terminal block 82 of the charging unit 80 has a tunnel shape (a substantially inverted U-shaped cross-sectional shape) that covers the pair of blade-shaped power supply terminals 85a and 85b exposed to the outside. Has been formed. Further, it is preferable that the lengths of the power supply terminal covers 86a and 86b be such that the power supply terminals 85a and 85b on the terminal block 82 can be completely covered when viewed from directly above (see FIG. 5).
  • each of the power supply terminal covers 86a and 86b from the terminal block 82 is set to be higher than the height of the bottom plate 1a of the cleaning robot A mounted on the terminal block 82 and lower than the height of the cutout recess 1aa. (See FIG. 2).
  • the front ends of the power supply terminal covers 86a and 86b exposed to the outside and the rear end of the main body 81 are open, and the rear end is supported by a support member (not shown) in the main body 81 so as to be slidable in the front-rear direction.
  • the terminal block 82 has a shape in which the cleaning robot A can ride up during charging, but it may have a shape that does not climb up during charging.
  • each guide groove 82a is wide so that both the power supply terminal covers 86a and 86b and the power supply terminals 85a and 85b fit within the guide grooves 82a.
  • Fine guide grooves (four in total) may be formed on both the left and right sides of each of the 85b so that only the lower end portions of the power supply terminal covers 86a and 86b fit into the respective narrow guide grooves.
  • the pair of power supply terminals 85a and 85b are arranged inside the pair of guide grooves 82a inside the center position of the pair of power supply terminal covers 86a and 86b in the left-right direction.
  • the outer sides in the left-right direction of the pair of power supply terminal covers 86a and 86b are formed in a more gentle arc shape than the inner side.
  • the outer side of each of the power supply terminal covers 86a and 86b which are likely to receive an impact from the outside, can be formed in a gentle arc shape to reduce the impact from the outside.
  • the power supply terminal covers 86a and 86b are easily opened, and the power supply terminal insertion openings 1ac of the power supply terminals 85a and 85b (see FIG. 3). The insertability into is improved.
  • FIG. 7 illustrates a state in which the power supply terminal covers 86a and 86b are moved rearward and opened against the biasing force of the power supply side biasing members 81a. Note that, in FIG. 7, a part of each of the power supply terminal covers 86 a and 86 b protrudes from the main body 81 at a position where the power supply terminal covers 86 a and 86 b are completely opened.
  • each power feeding side biasing member 81a a tension coil spring is used as each power feeding side biasing member 81a, one end of each tension coil spring is fixed to the inner surface on the front side inside the main body 81, and each power feeding terminal cover 86a, 86b The other end of each tension coil spring is fixed to mounting pieces 86aa and 86ba provided at the ends.
  • the power supply side urging members 81a are not limited to the tension coil springs, and may be compression coil springs, leaf springs, or the like.
  • the control circuit includes a power feeding side control unit 87, a power conversion unit 88, the infrared transmission unit 83, a connection unit 89, the docking detection units 84a, 84b, The power source display unit 90 and the power source plug 91 are provided.
  • the power conversion unit 88 converts the commercial power (AC100V, 50/60Hz) input from the commercial power supply 92 via the power plug 91 into charging power (DC24V) and control power (DC5V) for the battery 14 (see FIG. 4). It is designed to be converted.
  • the converted control power is supplied to the power supply side control unit 87, the infrared transmission unit 83, and the connection unit 89.
  • the power supply side control unit 87 causes the power conversion unit 88.
  • the charging power is output to the power supply terminals 85a and 85b through the connecting portion 89.
  • the charging unit 80 is connected to the commercial power source 92 via the power plug 91, and the power source display section 90 is displayed.
  • the cleaning robot A needs to return the cleaning robot A to the charging unit 80 by the power receiving side control unit 54 (see FIG. 4) when the cleaning robot A finishes a predetermined cleaning operation or the remaining charge of the battery 14 decreases to an allowable value. If the cleaning robot A detects infrared rays from the infrared transmitter 83 of the charging unit 80 by the infrared detection sensor 6 (see FIG. 1), the cleaning robot A advances along the return path indicated by the infrared rays. To do.
  • the cleaning robot A when the cleaning robot A approaches the charging unit 80 to some extent, the cleaning robot A reverses 180° and then retreats and returns to the charging unit 80.
  • the cleaning robot A contacts (presses) the pair of docking detectors 84a and 84b via the pair of power supply terminal covers 86a and 86b, the pair of power supply terminals 85a and 85b (see FIG. 8) receives the pair of power receiving terminals, respectively.
  • the terminals 2a and 2b (see FIG. 4) are in contact with each other and are mechanically and electrically connected. As a result, a DC voltage of 24 V is output from the connecting portion 89 between the power supply terminals 85a and 85b, and the battery 14 is charged via the power receiving terminals 2a and 2b.
  • FIG. 9 is a first explanatory diagram showing a state in which the self-propelled device of the first embodiment returns to the charging unit
  • FIG. 10 shows a second state of the self-propelled device of the first embodiment returning to the charging unit
  • FIG. 11 is a third explanatory diagram showing a state in which the self-propelled device according to the first embodiment returns to the charging unit.
  • FIG. 9 shows a state in which the cleaning robot A has been approached to the charging unit 80 to some extent and then inverted by 180° before docking.
  • the pair of power receiving terminals 2a and 2b of the cleaning robot A are arranged on the substantially extended lines of the pair of power feeding terminals 85a and 85b of the charging unit 80.
  • the pair of insertion port covers 8 are urged to the rear side by the pair of power receiving side urging members 12, respectively, whereby the slits 1ae of the pair of power supply terminal insertion ports 1ac are inserted into the respective insertion ports. It is covered with a cover 8 so as not to be exposed to the outside.
  • the cleaning robot A since the cleaning robot A is not in contact with the pair of power supply terminal covers 86a and 86b in the state before docking, the pair of power supply terminal covers 86a and 86b are separated by the pair of power supply side biasing members 81a (see FIG. 7). Each of them is biased forward, thereby covering the pair of power supply terminals 85a and 85b. Therefore, even when the floor surface is cleaned by the cleaning robot A, the power supply terminals 85a and 85b are covered with the power supply terminal covers 86a and 86b, so that dust is unlikely to adhere to the power supply terminals 85a and 85b.
  • the cleaning robot A moves backward from the pre-docking state shown in FIG. 9 to the docking operation as shown in FIG.
  • the rear wheel 7 rides on the terminal block 82 (see FIG. 5) of the charging unit 80 and the left and right vertical surfaces arranged at the rear of the cleaning robot A. 1ab hits and presses the left and right power supply terminal covers 86a and 86b.
  • the left and right power supply terminal covers 86a and 86b move rearward against the urging force of the power supply side urging member 81a (see FIG. 7), and the rear opening of the left and right power supply terminal insertion openings 1ac of the cleaning robot A is performed.
  • the front ends of the left and right power supply terminals 85a and 85b enter into the portion 1ad.
  • the rear opening 1ad has a shape that widens toward the rear (outward), the front ends of the power supply terminals 85a and 85b are easily inserted into the rear opening 1ad.
  • the front ends of the left and right power supply terminals 85a and 85b come into contact with the rear ends of the left and right insertion port covers 8 as shown in FIG. 10, and the cleaning robot A further retracts, as shown in FIG.
  • the left and right power supply terminals 85a, 85b push the front side of the left and right insertion opening covers 8 against the biasing force of each power receiving side biasing member 12 to open them forward.
  • the front ends of the power supply terminals 85a and 85b are inserted into the left and right power supply terminal insertion openings 1ac in a state of passing through the respective cuts 1ae and mechanically connected to the left and right power reception terminals 2a and 2b.
  • the blade-shaped power supply terminals 85a and 85b are sandwiched between the power reception terminals 2a and 2b, and the docking is completed.
  • the left and right vertical surfaces 1ab of the cleaning robot A push the left and right power supply terminal covers 86a and 86b of the charging unit 80 into the main body 81 by a predetermined amount, whereby the left and right docking detection portions 84a and 84b (FIG. 8). (See reference) is detected by being pressed by the rear ends of the left and right power supply terminal covers 86a and 86b. That is, when the power receiving terminals 2a and 2b and the power feeding terminals 85a and 85b are sufficiently connected, the detection signals from the docking detection units 84a and 84b are output to the power feeding side control unit 87.
  • a DC voltage is output from the connecting portion 89 between the power supply terminals 85a and 85b, and the battery 14 is charged via the power receiving terminals 2a and 2b, and is also electrically connected.
  • the power receiving side control unit 54 controls the drive wheel motors 55 and 56 via the motor driver circuit 57 so that the cleaning robot A stops the backward movement.
  • the pair of power receiving terminals 2a and 2b of the cleaning robot A are mechanically and electrically connected to the pair of power feeding terminals 85a and 85b of the charging unit 80 in this manner, as in the prior art.
  • the possibility that the mechanical and electrical connection between the power supply terminal and the power reception terminal will fail is less likely to occur, and reliability is improved.
  • the cleaning robot A and the charging unit 80 do not allow improper docking in which only one of the left and right power receiving terminals 2a and 2b and the left and right power feeding terminals 85a and 85b is mechanically connected. A feedbacks by automatic control so that proper docking is performed. Even if the above-mentioned improper docking is performed for some reason, the cleaning robot A has a power supply terminal cover for the power supply terminals that are not mechanically connected to the power reception terminals of the left and right power supply terminals 85a and 85b. It will not be pushed into the body. Therefore, one of the left and right docking detection units does not output to the power supply side control unit 87 (see FIG.
  • FIG. 12 is a bottom view of the self-propelled device in the electronic device of the second embodiment.
  • elements similar to those in FIG. 3 are designated by the same reference numerals.
  • the first embodiment see FIG. 3
  • the case where the pair of insertion port covers 8 is provided at the rear part of the cleaning robot A so as to be capable of reciprocating in the front-rear direction has been described. It has a configuration in which the pair of power receiving side urging members 12 as the holding mechanism and the pair of cover storage portions 16 are omitted.
  • the other configurations of the second embodiment are similar to those of the first embodiment.
  • the points of the second embodiment different from the first embodiment will be mainly described.
  • a sheet-shaped insertion port cover 108 is attached to the peripheral portion of the cut 1ae of the left and right power supply terminal insertion ports 1ac on the bottom plate 1a.
  • These insertion port covers 108 are made of, for example, an insulating rubber sheet, a resin sheet, or the like, and cuts 108a are provided at positions along each cut 1ae.
  • the cleaning robot B configured in this manner returns to the charging unit 80 and is docked to charge the battery 14 in the same manner as the cleaning robot A of the first embodiment returns to the charging unit 80 and is docked ( (See FIGS. 2 and 5 to 11).
  • the front ends of the left and right power supply terminals 85a and 85b of the charging unit 80 enter along the cuts 108a of the left and right insertion port covers 108 and the cuts 1ae of the left and right power supply terminal insertion ports 1ac.
  • FIG. 13 is a bottom view of the self-propelled device in the electronic device of the third embodiment
  • FIG. 14 is a perspective view of the charging unit in the electronic device of the third embodiment in which a pair of left and right power supply terminal covers are opened. 13 and 14, the same elements as those in FIGS. 3 and 7 are designated by the same reference numerals.
  • the front portion of the cleaning robot C and the charging unit 180 are docked, the pair of left and right insertion port covers of the cleaning robot C, and the pair of left and right power supply terminal covers of the charging unit 180 automatically move in the front-back direction.
  • the second embodiment is different from the second embodiment in that it reciprocates, and other configurations are almost the same as those in the first embodiment.
  • differences between the third embodiment and the first embodiment will be mainly described.
  • the cleaning robot C is provided with a pair of left and right power supply terminal insertion openings 101ac at the front part of its housing 101. Similar to the first embodiment, each power supply terminal insertion opening 101ac is formed in the front-back direction on the bottom plate 101a so as to communicate with the front opening 101ad having a shape that widens outward (forward) and the front opening 101ad. Each has a slit 101ae. Further, similarly to the first embodiment, the bottom plate 1a supports the pair of left and right insertion opening covers 118 that openably and closably covers the pair of left and right notches 101ae and the pair of left and right insertion opening covers 118 slidably in the front-rear direction. A pair of left and right cover storage portions 116 are provided. In the cleaning robot C of the third embodiment, the notch recess 1aa and the left and right vertical surfaces 1ab of the cleaning robot A of the first embodiment (see FIG. 3) are unnecessary.
  • the power receiving side actuator 110 that reciprocates the pair of left and right insertion port covers 118 is provided in the housing 101.
  • the power receiving side actuator 110 meshes with the connecting member 110a that connects the left and right insertion port covers 118, the motor 110b, the pinion 110c fixed to the output shaft of the motor 110b, and the pinion 110c.
  • a rack 110d fixed to the connecting member 110a.
  • the power receiving side actuator 110 is not limited to such a rack and pinion mechanism, and may be, for example, a reciprocating mechanism using a linear motor.
  • each seat cover 111 that covers the front openings 101ad of the pair of left and right power supply terminal insertion openings 101ac are provided in the front part of the housing 101. Further, each seat cover 111 has a cut 111a through which the power supply terminals 85a and 85b (see FIG. 14) are inserted.
  • the power receiving side control unit 54 (see FIG. 4) operates the power receiving side actuator 110 by the output from the infrared detection sensor 6 (see FIG. 1) as the power receiving side detection unit, and the pair of left and right power feeding terminals.
  • the pair of left and right insertion port covers 118 is moved so that the insertion port 101ac is exposed.
  • the charging unit cleaning 180 includes a power supply side actuator 181 that reciprocally moves a pair of left and right power supply terminal covers 86a and 86b in the main body 81.
  • the power feeding side actuator 181 meshes with the coupling member 181a coupling the left and right power feeding terminal covers 86a and 86b, the motor 181b, the pinion 181c fixed to the output shaft of the motor 181b, and the pinion 181c.
  • the rack 181d fixed to the connecting member 181a is provided.
  • the power supply side actuator 181 is not limited to such a rack and pinion mechanism, and may be, for example, a reciprocating mechanism using a linear motor.
  • the power feeding side control unit 87 activates the power feeding side actuator 181 to expose the pair of left and right power feeding terminals 85a and 85b.
  • the left and right power supply terminal covers 86a and 86b are configured to move. The details will be described later.
  • the cleaning robot C when the cleaning robot C returns to the charging unit 180, the cleaning robot C receives the infrared transmitter 83 of the charging unit 180.
  • the infrared ray from is detected by the infrared ray detection sensor 6 (see FIG. 1), the cleaning robot C moves forward along the return path indicated by the infrared ray.
  • the motor 110b of the power receiving side actuator 110 of the cleaning robot C is driven to rotate the pinion 110c, and the rack 110d and the connecting member 110a move rearward, whereby left and right.
  • the insertion opening cover 118 moves rearward and opens, and the cuts 101ae of the left and right power supply terminal insertion openings 101ac are exposed to the outside.
  • the cleaning robot C may be stopped.
  • the ultrasonic sensor 9 may measure the distance between the charging robot and itself.
  • the motor 181b of the power supply side actuator 181 of the charging unit 180 is driven to rotate the pinion 181c to move the rack 181d and the connecting member 181a rearward, and thereby the left and right.
  • the power supply terminal covers 86a and 86b are moved rearward and opened to expose the left and right power supply terminals 85a and 85b to the outside.
  • the charging unit may detect that infrared rays emitted from the charging unit are reflected from the cleaning robot. .. Alternatively, the cleaning robot C and the charging unit may communicate with each other to notify that the cleaning robot C has approached the charging unit.
  • the left and right docking detectors of the charging unit 180 are in a state where the left and right power receiving terminals 2a and 2b of the cleaning robot C are sufficiently mechanically connected to the left and right power feeding terminals 85a and 85b.
  • a sensor for example, a proximity sensor
  • the power supply side control unit 87 receives the output signals from the left and right docking detection units, a DC voltage is output between the pair of power supply terminals 85a and 85b via the connection unit 89.
  • the cleaning robot C docks with the charging unit 180, and the pair of power receiving terminals 2a and 2b (see FIG. 13) come into contact with the pair of power feeding terminals 85a and 85b (see FIG. 14) to connect mechanically and electrically. To be done. As a result, a DC voltage is output from the connecting portion 89 (see FIG. 8) between the power supply terminals 85a and 85b, and the battery 14 (see FIGS. 2 and 4) is charged via the power receiving terminals 2a and 2b. Be seen.
  • the left and right power supply terminal insertion ports 1ac, the left and right power reception terminals 2a and 2b, and the left and right non-automatic opening/closing mechanisms may be provided in the front part of the housing 1.
  • the left and right seat covers 111 described in Embodiment 3 may be provided in the front part of the housing 1 so as to cover the left and right power supply terminal insertion openings 1ac provided in the front part of the housing 1. Good.
  • the charging unit 80 of the first embodiment (FIGS.
  • the vertical surface 1ab is provided on the front part of the bottom plate 1a.
  • the left and right power supply terminal insertion openings 1ac, the left and right power reception terminals 2a and 2b, and the left and right insertion opening covers 108 may be provided in the front part of the housing 1.
  • the cutout recesses 1aa and the left and right vertical surfaces 1ab provided in the rear portion of the bottom plate 1a of the housing 1 are provided in the front portion of the bottom plate 1a.
  • the left and right seat covers 111 described in Embodiment 3 may be provided in the front part of the housing 1 so as to cover the left and right power supply terminal insertion openings 1ac provided in the front part of the housing 1. Good.
  • the charging unit 80 of the first embodiment may be used, and in that case, the cutout recesses 1aa provided on the rear portion of the bottom plate 1a of the housing 1 of the first embodiment and the left and right vertical portions.
  • the surface 1ab is provided on the front part of the bottom plate 1a.
  • the left and right power supply terminal insertion ports 101ac, the left and right power reception terminals 2a and 2b, and the left and right power reception side actuators 110 may be provided in the rear portion of the housing 1.
  • the charging unit 180 of the third embodiment (see FIG. 14) is used.
  • the cleaning robot side is provided with the left and right insertion port covers, and the charging unit side is provided with the power supply terminal cover.
  • the cleaning robot side left and right insertion port covers are illustrated. May be omitted.
  • the left and right power supply terminals of the charging unit are formed in a blade shape and the power supply terminal insertion opening of the cleaning robot is formed in a slit shape is illustrated.
  • the terminals are formed in a rod shape and cantilevered above the terminal block from the main body, and the power feeding terminal insertion port of the cleaning robot is formed in a cylindrical shape so that each power feeding terminal has each power feeding terminal insertion port. It may be configured to be plugged into. In this case, no power feeding terminal is laid on the terminal block, but at least it has a role of slidably supporting the power feeding terminal cover.
  • the terminal block may have a shape capable of mounting the cleaning robot and may serve as a mounting table, or may have a shape in which the cleaning robot is not mounted.
  • a pair of upper and lower power receiving terminals and a pair of power feeding terminal insertion ports of the cleaning robot may be provided, and a pair of upper and lower power feeding terminals and a power feeding terminal cover of the charging unit may be provided.
  • the upper and lower power supply terminals of the charging unit are formed in a rod shape so as to project in a cantilever shape from the main body onto the terminal block, and the upper and lower power supply terminal insertion ports of the cleaning robot are cylindrical. It may be formed in a shape so that each power supply terminal is inserted into each power supply terminal insertion opening. Further, in this case, both the upper and lower power supply terminals may be covered with one power supply terminal cover.
  • the power supply terminal is not laid on the terminal block, but at least it has a role of slidably supporting the power supply terminal cover.
  • the terminal block may have a shape capable of mounting the cleaning robot and may serve as a mounting table, or may have a shape in which the cleaning robot is not mounted.
  • the electronic device of the present invention is provided with a travelable housing having a bottom plate facing a floor surface, a battery provided in the housing, and a front portion on the forward direction side or a rear portion on the backward direction side of the housing.
  • a pair of power supply terminal insertion openings each having a front opening or a rear opening, a pair of power reception terminals respectively provided in the pair of power supply terminal insertion openings in the housing, and the housing receiving the output of the battery.
  • a self-propelled device having a power receiving side control unit for controlling the running of the body, The mounting table, and the battery which is inserted into the pair of power supply terminal insertion ports of the self-propelled device provided on the mounting table and returned to the mounting table and mechanically and electrically connected to the pair of power receiving terminals
  • a charging unit having. According to this configuration, when the self-propelled device returns to the charging unit to perform charging, the power feeding terminal can be inserted into the power feeding terminal insertion port and more reliably mechanically and electrically connected to the power receiving terminal.
  • the self-propelled device is away from the charging unit, the pair of left and right power supply terminals are covered by the power supply terminal covers, respectively, so that dust is less likely to adhere to the power supply terminal. Insufficient electrical and electrical connection is suppressed. As a result, according to the electronic device of the invention, the reliability can be improved.
  • the electronic device of the present invention may be configured as follows and may be appropriately combined.
  • the pair of power supply terminal insertion openings are provided on the front portion or the rear portion of the housing in left and right pairs,
  • the power receiving terminal, a pair of left and right is provided in the pair of left and right power supply terminal insertion,
  • the power supply terminal, a pair of left and right is provided on the mounting table,
  • the pair of left and right power supply terminals are provided so as to cover the pair of left and right power supply terminals, and in the self-propelled device, the pair of left and right power supply terminal insertion ports communicate with the front opening or the rear opening.
  • the pair of left and right power supply terminals may each be formed in a blade shape that can be inserted into the power supply terminal insertion opening so as to pass through the front opening or the rear opening and the cut.
  • the power supply terminal can be formed into a blade shape with a sheet metal, and the sheet metal insertion type can mechanically connect the power supply terminal to the power receiving terminal.
  • the self-propelled device may further include a pair of left and right insertion port covers provided on the bottom plate so as to cover the slits of the pair of left and right power supply terminal insertion ports so as to be exposed.
  • the insertion port cover prevents dust from entering the power supply terminal insertion port from the cut side.
  • the pair of left and right insertion port covers are provided on the bottom plate so as to be capable of reciprocating in the front-rear direction, and the pair of left and right insertion port covers are attached in a direction of closing the pair of left and right power supply terminal insertion ports
  • a pair of left and right power receiving side urging members for urging are provided in the housing, and when the housing returns to the charging unit, the pair of left and right insertion openings covers the pair of left and right insertion ports. It may be pressed in the opening direction against the biasing force of the power receiving side biasing member. According to this configuration, the pair of left and right insertion opening covers can be opened by utilizing the force of the self-propelled device moving toward the charging unit without providing an actuator in the self-propelled device.
  • the pair of left and right insertion port covers may each have a cut along the notch of the pair of left and right power supply terminal insertion ports.
  • a pair of power feeding side biasing members that bias the pair of power feeding terminal covers in a direction that covers the pair of power feeding terminals are provided in the main body portion
  • the housing contacts the pair of power supply terminal covers when returning to the charging unit, and resists the biasing force of the pair of power supply side biasing members to the pair of power supply terminal covers. It may have a flat vertical surface for pushing into the main body portion in the vicinity of the pair of power supply terminal insertion ports. According to this configuration, the pair of left and right power supply terminal covers can be opened by utilizing the force of the self-propelled device moving toward the charging unit without providing an actuator in the charging unit.
  • the charging unit is configured such that the charging unit has a power feeding side actuator that reciprocates the pair of power feeding terminal covers, and the self-propelled device returns to the charging unit to connect the power receiving terminal and the power feeding terminal.
  • a power supply side control unit that moves the pair of power supply terminal covers so that the power supply side actuator is operated by the output from the power supply side detection unit to expose the pair of power supply terminals. And may be provided in the main body.
  • the power feeding side detection unit can detect that the self-propelled device returns to the charging unit and mechanically connects the power receiving terminal and the power feeding terminal, and thus reliability is improved. That is, in the conventional electric vacuum cleaner, when the self-propelled electric vacuum cleaner returns to the mounting table of the charging device for charging, the mechanical connection of the power receiving terminal to the power feeding terminal is insufficient for some reason.
  • the present invention can solve such a problem.
  • the self-propelled device includes a power receiving side actuator that reciprocates the pair of insertion port covers, and a power receiving side detection unit that detects the charging unit when returning,
  • the power receiving side control unit is configured to operate the power receiving side actuator by the output from the power receiving side detection unit to move the pair of insertion port covers so that the pair of power supply terminal insertion ports are exposed. Good. According to this configuration, when the self-propelled device returns to the charging unit, the pair of left and right insertion port covers can be simultaneously opened by one power receiving side actuator.
  • the front opening or the rear opening of the pair of power supply terminal insertion openings may have a shape that widens outward. According to this structure, when the self-propelled device returns to the charging unit, the pair of left and right power supply terminals are easily inserted into the pair of left and right power supply terminal insertion openings.
  • a pair of seat covers that cover the front opening or the rear opening of the pair of power supply terminal insertion openings are provided at the front portion or the rear portion of the housing,
  • the pair of seat covers may each have a cut for inserting the power supply terminal.
  • the pair of power supply terminal insertion openings are provided on the front portion or the rear portion of the housing in left and right pairs,
  • the power receiving terminal, a pair of left and right is provided in the pair of left and right power supply terminal insertion,
  • the power supply terminal, a pair of left and right is provided on the mounting table,
  • the pair of left and right power supply terminals are provided so as to cover the pair of left and right power supply terminals, and the pair of left and right power supply terminals are arranged inside a center position in the left and right direction of the pair of left and right power supply terminal covers. May be.
  • the left and right outer sides of the pair of left and right power supply terminal covers can be formed in a more gentle arc shape than the inner side.
  • each power supply terminal cover which is susceptible to an external impact, can be formed into a gentle arc shape to reduce the external impact.
  • the self-propelled device can be attached to the charging unit because the outer side of each power supply terminal cover has a gentle arc shape. Even when returning from a slightly oblique direction, each power supply terminal cover is easily opened, and the insertability of each power supply terminal into each power supply terminal insertion port is improved.
  • the self-propelled device may be a self-propelled electric vacuum cleaner. With this configuration, it is possible to obtain the electric cleaning device including the self-propelled electric vacuum cleaner and the charging unit with improved reliability.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

L'invention concerne un équipement électronique pourvu d'un dispositif automoteur et d'une unité de charge ayant une fiabilité améliorée. Cet équipement électronique est caractérisé en ce qu'il comprend : un dispositif automoteur ayant un boîtier pouvant se déplacer, une batterie disposée dans le boîtier, une paire de trous d'insertion de bornes d'alimentation électrique gauche et droite ayant des parties d'ouverture vers l'avant ou des parties d'ouverture vers l'arrière et disposés sur l'avant ou l'arrière du boîtier, une paire de bornes de réception d'alimentation gauche et droite disposées respectivement dans les trous d'insertion de borne d'alimentation électrique dans le boîtier, une unité de commande côté réception d'alimentation qui, lors de la réception d'une sortie provenant de la batterie, commande le déplacement du boîtier ; et une unité de charge ayant une table de placement, une paire de bornes d'alimentation électrique gauche et droite qui sont disposées sur la table de placement et qui sont insérés dans les trous d'insertion de borne d'alimentation électrique respectifs du dispositif automoteur retourné vers la table de placement de façon à être connectées mécaniquement et électriquement aux bornes de réception d'alimentation, fournissant ainsi une alimentation à la batterie, une partie corps qui est disposée de manière contiguë à la table de placement et une paire de couvercles de bornes d'alimentation électrique gauche et droite qui couvrent les bornes d'alimentation électrique respectives de telle sorte qu'un mouvement de va-et-vient puisse être réalisé entre la partie supérieure de la table de placement et l'intérieur de la partie corps et que les bornes d'alimentation électrique puissent être exposés à partir de ceux-ci.
PCT/JP2020/001066 2019-01-22 2020-01-15 Équipement électronique WO2020153192A1 (fr)

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JP2019008634 2019-01-22
JP2019-008634 2019-01-22

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Cited By (1)

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CN112754361A (zh) * 2021-01-13 2021-05-07 由利(深圳)科技有限公司 一种充电插口防尘的扫地机器人

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JPH0883125A (ja) * 1994-03-29 1996-03-26 Samsung Electron Co Ltd ロボット掃除機の充電誘導装置およびその方法
JP2001088080A (ja) * 1999-09-16 2001-04-03 Denso Corp 移動ロボットシステム
JP2003310492A (ja) * 2002-04-26 2003-11-05 Matsushita Electric Ind Co Ltd 自走式掃除機
JP2004147753A (ja) * 2002-10-29 2004-05-27 Toshiba Tec Corp 電気掃除機
JP2014094233A (ja) * 2012-11-12 2014-05-22 Toshiba Corp 電気掃除装置
WO2014081141A1 (fr) * 2012-11-21 2014-05-30 Samsung Techwin Co., Ltd Module d'amarrage, robot mobile comprenant le module d'amarrage, système d'amarrage comprenant le robot mobile et procédé d'amarrage de robot mobile
US20170324259A1 (en) * 2016-05-03 2017-11-09 Lg Electronics Inc. Charging device

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Publication number Priority date Publication date Assignee Title
JPS5622775U (fr) * 1979-07-31 1981-02-28
JPH0883125A (ja) * 1994-03-29 1996-03-26 Samsung Electron Co Ltd ロボット掃除機の充電誘導装置およびその方法
JP2001088080A (ja) * 1999-09-16 2001-04-03 Denso Corp 移動ロボットシステム
JP2003310492A (ja) * 2002-04-26 2003-11-05 Matsushita Electric Ind Co Ltd 自走式掃除機
JP2004147753A (ja) * 2002-10-29 2004-05-27 Toshiba Tec Corp 電気掃除機
JP2014094233A (ja) * 2012-11-12 2014-05-22 Toshiba Corp 電気掃除装置
WO2014081141A1 (fr) * 2012-11-21 2014-05-30 Samsung Techwin Co., Ltd Module d'amarrage, robot mobile comprenant le module d'amarrage, système d'amarrage comprenant le robot mobile et procédé d'amarrage de robot mobile
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Publication number Priority date Publication date Assignee Title
CN112754361A (zh) * 2021-01-13 2021-05-07 由利(深圳)科技有限公司 一种充电插口防尘的扫地机器人
CN112754361B (zh) * 2021-01-13 2022-02-15 由利(深圳)科技有限公司 一种充电插口防尘的扫地机器人

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