WO2021190381A1 - 一种充电桩及具有其的充电系统 - Google Patents

一种充电桩及具有其的充电系统 Download PDF

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Publication number
WO2021190381A1
WO2021190381A1 PCT/CN2021/081384 CN2021081384W WO2021190381A1 WO 2021190381 A1 WO2021190381 A1 WO 2021190381A1 CN 2021081384 W CN2021081384 W CN 2021081384W WO 2021190381 A1 WO2021190381 A1 WO 2021190381A1
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WO
WIPO (PCT)
Prior art keywords
protrusion
charging pile
panel
charging
height
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PCT/CN2021/081384
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English (en)
French (fr)
Inventor
崔俊伟
杜剑锋
杨越
黎建
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纳恩博（北京）科技有限公司
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Application filed by 纳恩博（北京）科技有限公司 filed Critical 纳恩博（北京）科技有限公司
Publication of WO2021190381A1 publication Critical patent/WO2021190381A1/zh

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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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers

Definitions

  • the embodiments of the present application belong to the technical field of charging smart devices, and specifically relate to a charging pile and a charging system having the charging pile.
  • embodiments of the present application provide a charging pile and a charging system.
  • an embodiment of the present application provides a charging pile, which includes:
  • the shell includes a front shell and a back cover connected to the front shell;
  • the output electrode is arranged in the casing and one end extends out of the panel of the front casing;
  • the limit holding block for fixing the self-moving device is arranged in front of the panel and includes a first protrusion, and the first protrusion is separated from the bottom of the panel by a first distance.
  • the end of the output electrode protruding from the panel can reciprocate in a direction perpendicular to the panel.
  • the first protrusion can reciprocate in a direction from being far away from the bottom of the panel to close to the bottom of the panel.
  • a slope is provided on a side of the first protrusion away from the panel.
  • the limit retaining block further includes a second protrusion, and the second protrusion is provided between the first protrusion and the panel.
  • the limit retaining block further includes a groove, and the groove is located between the first protrusion and the second protrusion.
  • the height of the second protrusion is higher than the height of the first protrusion.
  • the charging pile further includes a bottom plate, which is arranged at the bottom of the housing and includes an extension part that extends out of the front of the panel;
  • the limit retaining block is provided on the extension part.
  • a sliding hole perpendicular to the panel is provided on the limit retaining block, and a fastening bolt passes through the sliding hole to movably connect the limit retaining block to the extension part.
  • the embodiments of the present application also provide a charging system, which includes:
  • Self-moving equipment including a chassis, the side of the chassis is provided with power-taking electrodes, and the setting height of the power-taking electrodes is equivalent to the setting height of the output electrodes of the charging pile; the bottom of the chassis is provided with obstacle-crossing wheels The height of the lowest point of the obstacle crossing wheel is smaller than the height of the first protrusion of the charging pile.
  • a holding surface for fixing the obstacle crossing wheel is not greater than the height of the lowest point of the obstacle crossing wheel.
  • the holding surface is a concave surface, and the height of the lowest point of the concave surface is not greater than the height of the lowest point of the obstacle crossing wheel.
  • a limit retaining block is provided in front of the front panel of the charging pile, and a first protrusion is provided on the limit retaining block to prevent the self-moving device from moving during the charging process, thereby Play the role of fixing the self-mobile device, so that the driving wheel of the self-mobile device does not need to be charged to maintain the pre-tightening force of the charging contact with the charging pile, thereby improving the charging efficiency of the self-mobile device.
  • FIG. 1 is a schematic diagram of a side structure of a charging pile provided by the first embodiment of this application;
  • FIG. 2 is a schematic diagram of a three-dimensional structure of a charging pile provided by the first embodiment of the application;
  • FIG. 3 is a top view of a charging pile provided by the first embodiment of this application.
  • FIG. 4 is a schematic structural diagram of a side view of a charging system provided by a second embodiment of this application.
  • FIG. 5 is a schematic diagram of a side structure of a charging system during charging according to a second embodiment of this application.
  • self-moving devices on the market such as sweeping robots, food delivery robots, etc.
  • the robot moves to the charging pile by itself when the battery is insufficient.
  • the power-taking electrode on the robot chassis will be aligned with the charging pile.
  • the output electrode on the battery is charged for wired charging, or the robot is close to the charging pile for wireless charging.
  • the robot and the charging pile are required to be close to each other and keep the position unchanged to ensure a better charging contact pre-tightening force.
  • the embodiments of the present application mainly provide a charging pile and its charging system, in which the robot is mechanically restricted by the position-limiting block on the charging pile during the charging process, so as to provide a better charging contact pre-tightening force, so that The robot can charge the battery when the power is off, thereby improving the charging efficiency of the robot.
  • FIG. 1 is a schematic diagram of a side structure of a charging pile provided by the first embodiment of this application.
  • the charging pile includes a housing 10, an output electrode 20 and a limit holding block 30.
  • the housing 10 includes a front housing 110 and a back cover 120 connected to the front housing 110; the output electrode 20 is arranged in the housing 10 and one end extends from the panel of the front housing 110 1101;
  • the limit holding block 30 is used to fix a self-moving device, is located in front of the panel 1101, includes a first protrusion 310, the first protrusion 310 and the bottom of the panel 1101 are separated by a first spacing.
  • the front shell 110 includes a side plate 1102 and the panel 1101.
  • the front shell 110 here includes, but is not limited to, an integrally formed structure.
  • the side plate 1102 and the panel 1101 are opposed to each other, and the side The board 1102 is located between the panel 1101 and the back cover 120, and the outer periphery of the back cover 120 is connected to the side plate 1102, that is, the back cover 120 and the front shell 110 are connected to each other to form an opposite A closed shell-like structure, that is, the housing 10, where the connection between the front housing 110 and the rear cover 120 includes but is not limited to screw connection, snap connection, or hinge connection, etc.,
  • the housing 10 is also provided with a charging power source (not shown in the figure).
  • the charging power source is electrically connected to an external power source through a conductive cable.
  • the external power source here includes, but is not limited to, commercial power, and the output electrode
  • One end of the panel 1101 passing through the front housing 110 extends out of the housing 10, and the other end is located in the housing 10 and is electrically connected to the charging power source.
  • the limiting and retaining block 30 is provided on the outside of the housing 10, both of which are provided on the ground or other bearing structure, and the limiting and retaining block 30 is provided in front of the panel 1101, where The limiting and retaining block 30 may be an integral structure with the panel 1101, or a structure separated from the panel 1101.
  • the first protrusion 310 is provided on the limiting and retaining block 30, and The first protrusion 310 and the bottom of the panel 1101 are separated by the first distance D, where the size of the first distance D can be set according to actual needs.
  • a self-moving device such as a sweeping robot
  • the obstacle crossing wheel at the front end of the traveling direction crosses the first protrusion 310 to reach the limit retention
  • the power-taking electrode on the side plate of the self-mobile device base is in contact with the output electrode 20, so that the charging pile starts to charge the self-mobile device, and at the same time, the Since the mobile device is powered off, the drive wheel stops rotating, but because the first protrusion 310 prevents the self-moving device from moving, that is, the limit holding block 20 fixes the self-moving device.
  • the charging pile stops charging the self-mobile device and enters the corresponding standby state.
  • the drive wheel of the self-mobile device rotates in the reverse direction, driving the obstacle-crossing wheel to retreat and over the first A protrusion 310 escapes from the limit holding block 30, and then starts the corresponding work task.
  • the output electrode 20 extends The end of the panel 1101 can reciprocate in a direction perpendicular to the panel 1101.
  • the output electrode 20 here is a movable electrode that can move in a direction perpendicular to the panel 1101.
  • the output electrode 20 is a metal shrapnel with certain elasticity; another feasible
  • the output electrode 20 is provided with a compression spring structure on the inner side of the housing 10. It should be pointed out that the above two structures are merely examples and do not constitute a limitation of the application.
  • the first protrusion 310 may be It moves back and forth in the direction away from the bottom of the panel 1101 to close to the bottom of the panel 1101.
  • the distance between the limit retaining block 30 and the housing 10 can be adjusted according to different specifications and models of self-moving devices, that is, the distance between the first protrusion 310 and the bottom of the panel 1101
  • the first distance D can be adjusted according to different specifications and models of self-moving equipment.
  • FIG. 2 is a schematic diagram of a three-dimensional structure of a charging pile provided in the first embodiment of this application.
  • a slope 320 is provided on the side of the first protrusion 310 facing away from the panel 1101.
  • the top end of the slope 320 is the top of the first protrusion 310 facing away from the panel 1101
  • the bottom end of the slope 320 is the bottom of the limit holding block 30, and the slope of the slope 320
  • the slope can be set according to the obstacle crossing ability of the self-mobile device.
  • the limiting and retaining block 30 further includes a second protrusion 330 provided between the first protrusion 310 and the panel 1101.
  • the limit holding block 30 is a platform provided with two protrusions, namely the first protrusion 310 and the second protrusion 330, the first protrusion 310 and the second protrusion
  • the ridges 330 are oppositely arranged on both sides of the limit holding block 30, and the second protrusions 330 are located between the first protrusion 310 and the housing 10.
  • the second protrusion 330 acts as an interception, preventing it from continuing to move forward and colliding with the charging pile body, thereby protecting the output electrodes 20 and The role of the panel 1101.
  • the height of the second protrusion 330 is higher than that of the first protrusion. 310 height.
  • the limit holding block 30 also includes a groove 340, and the groove 340 is located between the first protrusion 310 and the first protrusion 310. Between the second protrusions 330.
  • the groove 340 is located between the first protrusion 310 and the second protrusion 330 on both sides of the limit holding block 30, and the groove 340 is used to accommodate the self-moving device The bottom of the obstacle wheel.
  • the bottom of the groove 340 and the second protrusion In order to improve the ability of the second protrusion 330 to intercept the self-moving device and prevent it from colliding with the charging pile body, the bottom of the groove 340 and the second protrusion The slope between 330 is greater than the slope between the bottom of the groove 340 and the first protrusion 310.
  • FIG. 3 is a top view of a charging pile provided in the first embodiment of this application.
  • the charging pile further includes a bottom plate 40, which is arranged on The bottom of the housing 10 includes a protrusion 410 extending from the front of the panel 1101, and the limiting and retaining block 30 is provided on the protrusion 410.
  • the bottom plate 40 is used as a bearing plate for other components of the charging pile, and the bottom plate 40 is provided at the bottom of the housing 10, and it can be formed integrally with the front housing 110, and can be used in all parts of the charging pile.
  • the front of the panel 1101 extends outward to form the extension portion 410.
  • the area of the extension portion 410 is not specifically limited here, and it can be determined according to the actual specification and model of the self-moving device.
  • the limit retaining block 30 is connected to the extension 410, that is, the bottom plate 40 carries the charging pile body and the limit retaining block 30. This design can improve the charging pile Integrity, easy to move, install and manage.
  • the limit holding block 30 is provided with a sliding hole 350 perpendicular to the panel 1101, and a fastening bolt 360 passes through the sliding hole 350 to movably connect the limit holding block 30 to the extension Exit 410 on.
  • the sliding holes 350 are respectively provided on opposite sides of the limit retaining block 30 along the direction perpendicular to the panel 1101, and the fastening bolts 360 pass through the sliding holes 350 to maintain the limit
  • the block 30 is connected to the extension 410.
  • the limit and holding block 30 can be moved back and forth in a direction perpendicular to the panel 1101 (as shown in the arrow direction in the figure).
  • the movable connection between the position holding block 30 and the bottom plate 40, that is, the first distance D between the first protrusion 310 and the bottom of the panel 1101 mentioned in the above embodiments can be realized according to different The vision of adjusting specifications and models from mobile devices expands the scope of use of the charging pile.
  • FIG. 4 is a schematic diagram of a side structure of a charging system provided by the second embodiment of this application.
  • the charging system includes the charging post 1 and the self-moving device 2 described in the first embodiment above.
  • the self-moving device 2 includes, but is not limited to, a sweeping robot, a food delivery robot, an electric balance car, etc.
  • the self-moving device 2 generally includes a chassis 21 and a device body.
  • the device body here It is provided on the chassis 21, which can have different shapes and specifications as required, which is not mentioned in the application and the drawings of the specification, so it is omitted.
  • the side of the chassis 21 is provided with power-taking electrodes 211, and the setting height of the power-taking electrodes 211 is equivalent to the setting height of the output electrodes 20 of the charging pile 1, and the bottom of the chassis 21 is provided with obstacle-crossing wheels 212 The height of the lowest point of the obstacle crossing wheel 212 is smaller than the height of the first protrusion 310 of the charging pile 1.
  • the power-taking electrode 211 is generally arranged on the side of the chassis 21 in front of the normal traveling direction of the self-mobile device 2, and the shape and specification of the power-taking electrode 211 are consistent with the shape of the output electrode 20.
  • the specifications match each other, such as the more common male and female structure, the number of the two is also the same, usually two electrodes, that is, positive and negative; what needs to be emphasized here is the power-taking electrode 211 and the output electrode
  • the installation height of 20 is the same, which facilitates self-alignment between the two electrodes;
  • the obstacle-crossing wheel 210 is generally set at the bottom of the chassis 21 in front of the normal traveling direction of the self-moving device 2, that is, along the self-moving device 2
  • the obstacle-crossing wheel 212 is generally arranged in front of the driving wheel 213 in the normal traveling direction of the mobile device, and the lowest point of the obstacle-crossing wheel 212 needs to be higher than the lowest point of the driving wheel 213 in order to be in the free position.
  • the height of the first protrusion 310 on the limit holding block 30 of the charging pile 1 is higher than the height of the lowest point of the obstacle crossing wheel 212, that is, the height of the obstacle crossing wheel 212 is
  • the thrust of the driving wheel 213 crosses the first protrusion 310 and reaches the limit holding block 30.
  • the power-taking electrode 211 and the output electrode 20 are in contact with each other, and the charging pile 1 is activated.
  • the self-moving device 2 is charged, and at the same time, the driving wheel 213 of the self-moving device 2 is powered off, because the first protrusion 310 serves to block the obstacle-crossing wheel 212 and retreat Function, that is, the self-moving device 2 is fixed on the limit holding block 30, as shown in FIG.
  • a good charging contact pre-tightening force is used to complete the charging work. Since the self-mobile device 2 is in a power-off state during the charging process, the driving wheel 213 is not required to be charged to maintain the charging contact pre-tightening force. This can improve the charging efficiency of the charging pile 1 to the self-mobile device 2.
  • the self-mobile device 2 since the driving wheel 213 does not need to be charged to maintain the charging contact preload, that is, the self-mobile device 2 does not use electric energy during the charging process, which also improves the charging safety to a certain extent.
  • the charging pile 1 stops charging.
  • the self-moving device 2 will be parked on the charging pile 1.
  • the drive The wheel 213 will rotate in the opposite direction, and then retreat, and drive the obstacle crossing wheel 212 over the first protrusion 310, escape from the limit holding block 30, leave the charging pile 1, and perform corresponding work Task.
  • a holding surface 370 for fixing the obstacle crossing wheel 212 is not greater than that of the obstacle crossing wheel. 212 The height of the lowest point.
  • the holding surface 370 is on the limit holding block 30 and is located on the side of the first protrusion 310 facing the surface 1101.
  • the holding surface 370 plays a role of limiting and fixing the obstacle crossing wheel 212; here, the height passing through the holding surface 370 is not greater than the obstacle crossing wheel
  • the height of the lowest point of 212 that is, the height of the holding surface 370 is lower than the height of the lowest point of the obstacle crossing wheel 212, or the height of the holding surface 370 is equal to the height of the lowest point of the obstacle crossing wheel 212.
  • the front end of the self-moving device 1 is not too high, so that it remains horizontal, which is beneficial to the completion of the alignment between the power-taking electrode 211 and the output electrode 20, and the reliability of the mutual contact between the two. Furthermore, the reliability of charging the self-mobile device 2 by the charging pile 1 is improved.
  • the holding surface 370 is a concave surface, and the height of the lowest point of the concave surface is not greater than the height of the lowest point of the obstacle crossing wheel 212.
  • the limiting and fixing performance of the retaining surface 370 to the obstacle crossing wheel 212 can be improved; In addition, it can also prevent the obstacle-climbing wheel 212 from colliding with the charging pile after passing over the first protrusion 310, so that the self-moving device 2 moves more smoothly; in addition, the concave structure is provided after the charging is completed. After that, it is convenient for the obstacle crossing wheel 212 to reverse backward to pass over the first protrusion 310, and then to escape from the limit retaining block 30.
  • the height of the lowest point of the concave surface is not greater than the height of the lowest point of the obstacle crossing wheel 212, that is, the height of the lowest point of the concave surface is lower than the height of the lowest point of the obstacle crossing wheel 212, or The height of the lowest point of the concave surface is equivalent to the height of the lowest point of the obstacle crossing wheel 212.
  • This design can prevent the obstacle crossing wheel 212 from being too high when it is restricted and fixed, so that the chassis 21 remains horizontal. , Which is beneficial to the horizontal alignment between the power-taking electrode 211 and the output electrode 20, and improves the reliability of their mutual contact, thereby improving the reliability of the charging pile 1 for the self-mobile device 2 .
  • the charging pile 1 in the second embodiment of the present application is the charging pile structure in the above-mentioned first embodiment.
  • the third embodiment of the present application is a method embodiment of the charging method of the self-mobile device 2 in the above-mentioned second embodiment. If three embodiments Cross-reference can be made if the description is not clear.
  • the device embodiments described above are merely illustrative.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units, and some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • Those of ordinary skill in the art can, without creative work, That can be understood and implemented.

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  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

本申请实施例公开了一种充电桩及具有其的充电系统。充电桩包括壳体、输出电极以及限位保持块，所述壳体包括前壳以及连接在所述前壳上的后盖；所述输出电极设在所述壳体内且一端伸出于所述前壳的面板；所述限位保持块用于固定自移动设备，设在所述面板前方，包括第一凸起，所述第一凸起与所述面板的底部之间相隔第一间距。

Description

一种充电桩及具有其的充电系统
相关申请的交叉引用
本申请要求申请号为202020418542.1、申请日为2020年03月27日的中国专利申请的优先权和权益，上述中国专利申请的全部内容在此通过引用并入本申请。
技术领域
本申请实施例属于智能设备充电技术领域，具体而言，涉及一种充电桩及具有其的充电系统。
背景技术
现阶段，各种类型的自移动机器人已走进越来越多人的生活，在人们快节奏的生活中扮演者重要角色。
然而现有技术中，自移动机器人一般会自行移动到充电桩进行充电，在充电过程中为避免自移动机器人移动导致充电电极对接不准确，往往需要自移动机器人的驱动轮带电工作以保持与充电桩具有良好的充电接触预紧力，造成充电效率较差。
发明内容
为解决现有技术中所存在的技术问题，本申请实施例提供一种充电桩以及一种充电系统。
第一方面，本申请实施例提供一种充电桩，其包括：
壳体，包括前壳以及连接在所述前壳上的后盖；
输出电极，设在所述壳体内且一端伸出于所述前壳的面板；
用于固定自移动设备的限位保持块，设在所述面板前方，包括第一凸起，所述第一凸起与所述面板的底部之间相隔第一间距。
进一步地，所述输出电极伸出所述面板的端部可在垂直于所述面板方向上往复移动。
进一步地，所述第一凸起可在从远离所述面板的底部到靠近所述面板的底部方向上往复移动。
进一步地，所述第一凸起背离所述面板一侧面设有斜坡。
进一步地，所述限位保持块还包括第二凸起，所述第二凸起设在所述第一凸起和所述面板之间。
进一步地，所述限位保持块还包括凹槽，所述凹槽位于所述第一凸起和所述第二凸起之间。
进一步地，所述第二凸起的高度高于所述第一凸起的高度。
进一步地，所述充电桩还包括底板，设在所述壳体的底部，包括伸出于所述面板前方的伸出部；
所述限位保持块设在所述伸出部上。
进一步地，所述限位保持块上设有垂直于所述面板的滑孔，紧固螺栓穿过所述滑孔将所述限位保持块活动连接在所述伸出部上。
第二方面，本申请实施例并提供了一种充电系统，其包括：
以上第一方面所述的充电桩；
自移动设备，包括底盘，所述底盘的侧部设有取电电极，所述取电电极的设置高度与所述充电桩的输出电极的设置高度相当；所述底盘的底部设有越障轮，所述越障轮最低点的高度小于所述充电桩的第一凸起的高度。
进一步地，所述充电桩的第一凸起和前壳面板之间为用于固定所述越障轮的保持面，所述保持面的高度不大于所述越障轮最低点的高度。
进一步地，所述保持面为一凹面，且所述凹面最低点的高度不大于所述越障轮最低点的高度。
根据本申请实施例提供的技术方案，通过在充电桩前壳面板的前方设置限位保持块，并在限位保持块上设置用于阻止自移动设备在充电过程中移动的第一凸起，从而起到固定自移动设备的作用，使得自移动设备的驱动轮无需带电工作来保持与充电桩的充电接触预紧力，进而提升自移动设备的充电效率。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请第一实施例提供的一种充电桩的一侧面结构示意图；
图2为本申请第一实施例提供的一种充电桩的一立体结构示意图；
图3为本申请第一实施例提供的一种充电桩的俯视图；
图4为本申请第二实施例提供的一种充电系统的一侧面结构示意图；
图5为本申请第二实施例提供的一种充电系统充电过程中的侧面结构示意图。
具体实施方式
以下将配合附图及实施例来详细说明本申请的实施方式，藉此对本申请如何应用技术手段来解决技术问题并达成技术功效的实现过程能充分理解并据以实施。
如在说明书及权利要求当中使用了某些词汇来指称特定组件。本领域技术人员应可理解，硬件制造商可能会用不同名词来称呼同一个组件。本说明书及权利要求并不以名称的差异来作为区分组件的方式，而是以组件在功能上的差异来作为区分的准则。如在通篇说明书及权利要求当中所提及的“包含”为一开放式用语，故应解释成“包含但不限定于”。“大致”是指在可接收的误差范围内，本领域技术人员能够在一定误差范围内解决所述技术问题，基本达到所述技术效果。此外，“耦接”或“电性连接”一词在此包含任何直接及间接的电性耦接手段。因此，若文中描述一第一装置耦接于一第二装置，则代表所述第一装置可直接电性耦接于所述第二装置，或通过其它装置或耦接手段间接地电性耦接至所述第二装置。说明书后续描述为实施本申请的较佳实施方式，然所述描述乃以说明本申请的一般原则为目的，并非用以限定本申请的范围。本申请的保护范围当视所附权利要求所界定者为准。
还需要说明的是，术语“包括”、“包含”或者其任何其它变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者系统不仅包括那些要素，而且还包括没有明确列出的其它要素，或者是还包括为这种过程、方法、商品或者系统所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者系统中还存在另外的相同要素。
目前，市场上的自移动设备(如扫地机器人、送餐机器人等)一般具有自行充电电功能，通常为机器人在电量不足时自行移动至充电桩，机器人底盘上的取电电极会对准充电桩上的输出电极进行有线充电，或者是机器人靠近充电桩进行无线充电，无论是哪种充电形式都需要机器人和充电桩相互靠近且保持位置不变可以保证有较好的充电接触预紧力，而现阶段的做法是让机器人的驱动轮带电工作产生靠近充电桩的驱动力，但是机器人驱动轮的带电工作势必会消耗机器人自身的电量，进而使得机器人的充电效率较差，同时，机器人带电工作时进行充电也具有一定的安全隐患。
本申请实施例主要是提供一种充电桩及其充电系统，其中，在充电过程中通过充电桩上的限位保持块对机器人进行机械限位，以提供较好的充电接触预紧力，使得机器人可以在断电的状态下对电池进行充电，从而提升机器人的充电效率。
实施例一
请参考图1，为本申请第一实施例提供的一种充电桩的一侧面结构示意图，所述充电桩包括壳体10、输出电极20以及限位保持块30。
其中，所述壳体10包括前壳110以及连接在所述前壳110上的后盖120；所述输出电极20设在所述壳体10内且一端伸出于所述前壳110的面板1101；所述限位保持块30用于固定自移动设备，设在所述面板1101前方，包括第一凸起310，所述第一凸起310与所述面板1101的底部之间相隔第一间距。
具体地，所述前壳110包括侧板1102和所述面板1101，这里的所述前壳110包括但不限定于是一体成型结构，所述侧板1102和所述面板1101相对设置，所述侧板1102位于所述面板1101和所述后盖120之间，所述后盖120的外周与所述侧板1102连接，即所述后盖120和所述前壳110相互连接，从而构成一相对封闭的壳状结构，即所述壳体10，这里所述前壳110和所述后盖120之间的连接形式包括但不限定于是螺钉连接，卡扣连接，或者是通过合页连接等，所述壳体10内还设有充电电源(图中未示出)，所述充电电源通过导电线缆与外部电源电性连接，这里的外部电源包括但不限定于是市电，所述输出电极20的穿过所述前壳110的所述面板1101一端伸出于所述壳体10之外，而另一端位于所述壳体10之内并和所述充电电源之间电性连接。
所述限位保持块30设在所述壳体10的外部，两者均设在地面上或者其他承载结构上，所述限位保持块30设在所述面板1101的前方，在这里，所述限位保持块30可以是与所述面板1101一体的结构，也可以是与所述面板1101相互分离的结构，所述第一凸起310设在所述限位保持块30上，且所述第一凸起310和所述面板1101的底部之间相隔所述第一间距D，在这里所述第一间距D的大小可根据实际需要设置。
在使用时，自移动设备(如扫地机器人)在其驱动轮的带动下向所述充电桩移动，且位于行进方向前端的越障轮越过所述第一凸起310，到达所述限位保持块30的上方，此时所述自移动设备底座侧板上的取电电极正好与所述输出电极20相接触，以使得所述充电桩开始向所述自移动设备充电，与此同时所述自移动设备断电其驱动轮停止转动，但由于所述第一凸起310起到阻止所述自移动设备移动的作用，即所述限位保持块20对所述自移动设备起到固定的作用，可以使所述自移动设备的取电电极和所述输出电极20之间具有较好 的充电接触预紧力，提升充电过程中两电极接触的可靠性，进而提升所述自移动设备的充电效率，同时，所述自移动设备断电充电也保证了充电的安全性。
在充电完成后，所述充电桩停止向所述自移动设备充电进入相应的待机状态，所述自移动设备在接到任务后其驱动轮反向转动，带动其越障轮后退翻越所述第一凸起310，从所述限位保持块30上脱出，进而开始相应的工作任务。
进一步地，在本申请其他较佳的实施例中，为了进一步提升所述输出电极20与所述自移动设备的取电电极之间具有较好的充电接触预紧力，所述输出电极20伸出所述面板1101的端部可在垂直于所述面板1101方向上往复移动。
具体地，这里的所述输出电极20为可在垂直于所述面板1101方向上移动的活动电极，一种可行的实施方式中所述输出电极20为具有一定弹性的金属弹片；另一种可行的实施方式中所述输出电极20朝向所述壳体10内部一侧设有一压簧结构，这里需要指出的是以上两种结构仅仅是事例性质，并不构成对本申请的限定。
另外，在本申请另一较佳的实施例中，为了使得所述充电桩可以适应于不同规格型号的自移动设备，拓展所述充电桩的使用范围，所述第一凸起310可在从远离所述面板1101的底部到靠近所述面板1101的底部方向上往复移动。
具体地，所述限位保持块30和所述壳体10之间的间距可根据不同规格型号的自移动设备进行调整，即所述第一凸起310和所述面板1101底部之间的所述第一间距D可根据不同规格型号的自移动设备进行调整。
进一步地，请结合图2，为本申请第一实施例提供的一种充电桩的一立体结构示意图，在本申请的又一较佳实施例中，为了方便所述自移动设备的越障轮越过所述第一凸起310到达所述限位保持块30上，所述第一凸起310背离所述面板1101一侧面设有斜坡320。
具体地，所述斜坡320的顶端为所述第一凸起310背离所述面板1101一侧的顶部，所述斜坡320的底端为所述限位保持块30的底部，所述斜坡320的坡度可根据所述自移动设备的越障能力设定。
另外，所述限位保持块30还包括第二凸起330，所述第二凸起330设在所述第一凸起310和所述面板1101之间。
具体地，所述限位保持块30为一平台上设置两个凸起，即所述第一凸起310和所述第二凸起330，所述第一凸起310和所述第二凸起330相对设置在所述限位保持块30的两侧，所述第二凸起330位于所述第一凸起310和所述壳体10之间，如此设计可使得当所述自移动设备的越障轮越过所述第一凸起310后，所述第二凸起330起到拦截的作用，避免其继续向前行进而冲撞所述充电桩本体，起到保护所述输出电极20和所述面板1101的作用。
更进一步地，为了进一步提升所述第二凸起330对所述自移动设备的拦截能力，避免其冲撞所述充电桩本体，所述第二凸起330的高度高于所述第一凸起310的高度。
另外，为了提升所述自移动设备越过所述第一凸起310后运动的稳定性，以及所述自移动设备固定于所述限位保持块30上的稳定性，同时方便所述自移动设备的越障轮在充电完成后再次越过所述第一凸起310进入工作状态，所述限位保持块30还包括凹槽340，所述凹槽340位于所述第一凸起310和所述第二凸起330之间。
具体地，所述凹槽340位于所述限位保持块30两侧的所述第一凸起310和所述第二凸起330之间，所述凹槽340用于容纳所述自移动设备的越障轮的底部。
较佳的实施例中，为了提升所述第二凸起330对所述自移动设备的拦截能力，避免其冲撞所述充电桩本体，所述凹槽340的槽底与所述第二凸起330之间的坡度大于所述凹槽340的槽底与所述第一凸起310之间的坡度。
进一步地，请结合图3，为本申请第一实施例提供的一种充电桩的俯视图，在本申请其他较佳的实施例中，所述充电桩还包括底板40，所述底板40设在所述壳体10的底部，包括伸出于所述面板1101前方的伸出部410，所述限位保持块30设在所述伸出部410上。
具体地，所述底板40用作所述充电桩其他部件的承载板，所述底板40设在所述壳体10的底部，其可以和所述前壳110会一体成型的结构，并在所述面板1101前方向外延展形成所述伸出部410，所述伸出部410的面积大小在这里并不做具体的限定，其可以根据实际的自移动设备的规格型号确定。所述限位保持块30连接在所述伸出部410上，即所述底板40既承载了所述充电桩本体又承载了所述限位保持块30，如此设计可以提升所述充电桩的整体感，便于移动、安装以及管理。
更进一步地，所述限位保持块30上设有垂直于所述面板1101的滑孔350，紧固螺栓360穿过所述滑孔350将所述限位保持块30活动连接在所述伸出部410上。
具体地，所述限位保持块30的相对两侧沿垂直于所述面板1101方向分别设置有所述滑孔350，所述紧固螺栓360穿过所述滑孔350将所述限位保持块30连接在所述伸出部410上，通过将所述紧固螺栓360松动，可以使得所述限位保持块30沿着垂直于所述面板1101的方向上往复移动(如图中箭头方向)，直至将所述限位保持块30移动到合适位置再将所述紧固螺栓360紧固，以将所述限位保持块30固定于所述伸出部410上，从而实现所述限位保持块30和所述底板40之间的活动连接，即实现以上实施例中所提到的所述第一凸起310和所述面板1101底部之间的所述第一间距D可根据不同规格型号的自移动设备进行调整的愿景，拓展所述充电桩的使用范围。
实施例二
请参考图4，为本申请第二实施例提供的一种充电系统的一侧面结构示意图，所述充电系统包括以上第一实施例中所述的充电桩1和自移动设备2。
在这里需要说明的是，所述自移动设备2包括但不限定于是扫地机器人、送餐机器人以及电动平衡车等，所述自移动设备2一般包括底盘21和设备本体，这里的所述设备本体设在所述底盘21上，其根据需要可以为不同形状和规格，本申请及说明书附图中并未涉及，故此省略。所述底盘21的侧部设有取电电极211，所述取电电极211的设置高度与所述充电桩1的输出电极20的设置高度相当；所述底盘21的底部设有越障轮212，所述越障轮212最低点的高度小于所述充电桩1的第一凸起310的高度。
具体地，所述取电电极211一般设在所述自移动设备2常规行进方向前方的所述底盘21的侧部，所述取电电极211的形状和规格与所述输出电极20的形状和规格相互匹配，如比较常见的互为公母结构，两者数量也是相同的，通常分别为两个电极，即正、负极；在这里需要强调的是所述取电电极211和所述输出电极20的设置高度是一样的，这样有利于两电极间自行对准；所述越障轮210一般设在所述自移动设备2常规行进方向前方的所述底盘21的底部，即沿所述自移动设备常规行进方向所述越障轮212一般会设置在所述驱动轮213的前方，且所述越障轮212的最低点需要高于所述驱动轮213的最低点，以在所述自移动设备2常规行进方向的前方遇到障碍物时，所述驱动轮213的推力作用于所述越障轮212使其爬上障碍物，进而带动所述自移动设备2翻越障碍物。
在本实施例中，所述充电桩1的限位保持块30上的第一凸起310的高度要高于所述越障轮212的最低点的高度，即所述越障轮212在所述驱动轮213的推力作用下越过所述第一凸起310到达所述限位保持块30之上，此时所述取电电极211和所述输出电极20相互接触，所述充电桩1启动对所述自移动设备2进行充电，与此同时所述自移动设备2的所述驱动轮213断电，由于所述第一凸起310起到对所述越障轮212进行阻挡回退的作用，即所述自移动设备2被固定于所述限位保持块30上，如图5中所示，如此所述取电电极211和所述输出电极20可以持续紧密接触，以保证有较好的充电接触预紧力来完成充电工作，由于在对所述自移动设备2进行充电的过程中其属于断电状态，并不需要所述驱动轮213带电来维持充电接触预紧力，由此可以提升所述充电桩1对所述自移动设备2的充电效率。
另外，由于不需要所述驱动轮213带电来维持充电接触预紧力，即所述自移动设备2在充电过程中并不存在使用电能的情况，在一定程度上也提升了充电安全性。
当充电完成后，所述充电桩1停止向外充电，一般情况下所述自移动设备2会停放于 所述充电桩1上，当所述自移动设备2接到工作任务后，所述驱动轮213会反向转动，进而回退，并带动所述越障轮212翻越所述第一凸起310，从所述限位保持块30上脱出，离开所述充电桩1，进行相应的工作任务。
进一步地，所述充电桩1的第一凸起310和前壳面板1101之间为用于固定所述越障轮212的保持面370，所述保持面370的高度不大于所述越障轮212最低点的高度。
具体地，所述保持面370在所述限位保持块30上，且位于所述第一凸起310朝向所述面1101一侧，当所述越障轮212从所述第一凸起310越过后置于所述保持面370上，如此使得所述保持面370对所述越障轮212起到限位固定作用；在这里，通过所述保持面370的高度不大于所述越障轮212最低点的高度，即所述保持面370的高度低于所述越障轮212最低点的高度，或者所述保持面370的高度和所述越障轮212最低点的高度相当，便可以使得所述自移动设备1的前端不被太高，使其仍旧保持水平状态，有利于所述取电电极211和所述输出电极20之间完成对准，以及两者相互接触的可靠性，进而提升所述充电桩1对所述自移动设备2充电的可靠性。
更进一步地，所述保持面370为一凹面，且所述凹面最低点的高度不大于所述越障轮212最低点的高度。
具体地，当所述越障轮212从所述第一凸起310越过后落入所述凹面结构内，一方面可以提升所述保持面370对所述越障轮212的限位固定性能；另外还可以避免所述越障轮212从所述第一凸起310越过后冲撞所述充电桩，使所述自移动设备2运动更平稳；再者，通过所述凹面结构的设置在充电完毕后，便于所述越障轮212反向后退从所述第一凸起310越过，进而从所述限位保持块30上脱出。
但是，这里需要指出的是，所述凹面的最低点高度不大于所述越障轮212最低点的高度，即所述凹面的最低点高度低于所述越障轮212最低点的高度，或者所述凹面的最低点高度和所述越障轮212最低点的高度相当，如此设计可以使所述越障轮212被限位固定时而不会被太高，使所述底盘21仍旧保持水平状态，有利于所述取电电极211和所述输出电极20之间进行水平对准，以及提升两者相互接触的可靠性，进而提升所述充电桩1对所述自移动设备2充电的可靠性。
另外，还需要指出的是本申请第二实施例中的所述充电桩1为上述第一实施例中的充电桩结构，对于在第二实施例中未被提及的所述充电桩1的其他部件和结构可参考第一实施例的描述，在此不予赘述；本申请第三实施例为上述第二实施例中的自移动设备2的充电方法的方法实施例，若三个实施例有描述不清楚的地方可进行相互参考。
需要说明的是，虽然结合附图对本申请的具体实施方式进行了详细地描述，但不应理解为对本申请的保护范围的限定。在结构不相冲突的情况下，上述各实施例中提及的各部分的结构可相互组合，为避免重复，组合后获得的技术方案在此不再赘述，但组合后获得的技术方案也应属于本申请的保护范围。在权利要求书所描述的范围内，本领域技术人员不经创造性劳动即可做出的各种修改和变形仍属于本申请的保护范围。
本申请实施例的示例旨在简明地说明本申请实施例的技术特点，使得本领域技术人员能够直观了解本申请实施例的技术特点，并不作为本申请实施例的不当限定。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上，可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的，本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
上述说明示出并描述了本申请实施例的若干优选实施例，但如前所述，应当理解本申请实施例并非局限于本文所披露的形式，不应看作是对其他实施例的排除，而可用于各种其他组合、修改和环境，并能够在本文所述申请构想范围内，通过上述教导或相关领域的技术或知识进行改动。而本领域人员所进行的改动和变化不脱离本申请实施例的精神和范围，则都应在本申请实施例所附权利要求的保护范围内。

Claims (12)

  1. 一种充电桩，其特征在于，包括：
    壳体，包括前壳以及连接在所述前壳上的后盖；
    输出电极，设在所述壳体内且一端伸出于所述前壳的面板；和
    用于固定自移动设备的限位保持块，设在所述面板前方，包括第一凸起，所述第一凸起与所述面板的底部之间相隔第一间距。
  2. 根据权利要求1所述的充电桩，其特征在于，所述输出电极伸出所述面板的端部可在垂直于所述面板方向上往复移动。
  3. 根据权利要求1或2所述的充电桩，其特征在于，所述第一凸起可在从远离所述面板的底部到靠近所述面板的底部方向上往复移动。
  4. 根据权利要求1-3中任一项所述的充电桩，其特征在于，所述第一凸起背离所述面板一侧面设有斜坡。
  5. 根据权利要求1-4中任一项所述的充电桩，其特征在于，所述限位保持块还包括第二凸起，所述第二凸起设在所述第一凸起和所述面板之间。
  6. 根据权利要求5所述的充电桩，其特征在于，所述限位保持块还包括凹槽，所述凹槽位于所述第一凸起和所述第二凸起之间。
  7. 根据权利要求5或6所述的充电桩，其特征在于，所述第二凸起的高度高于所述第一凸起的高度。
  8. 根据权利要求1-7中任一项所述的充电桩，其特征在于，还包括底板，设在所述壳体的底部，包括伸出于所述面板前方的伸出部；
    所述限位保持块设在所述伸出部上。
  9. 根据权利要求8所述的充电桩，其特征在于，所述限位保持块上设有垂直于所述面板的滑孔，紧固螺栓穿过所述滑孔将所述限位保持块活动连接在所述伸出部上。
  10. 一种充电系统，其特征在于，包括：
    根据权利要求1-9中任一项所述的充电桩；
    自移动设备，包括底盘，所述底盘的侧部设有取电电极，所述取电电极的设置高度与所述充电桩的输出电极的设置高度相当；所述底盘的底部设有越障轮，所述越障轮最低点的高度小于所述充电桩的第一凸起的高度。
  11. 根据权利要求10所述的充电系统，其特征在于，所述充电桩的第一凸起和前壳面板之间为用于固定所述越障轮的保持面，所述保持面的高度不大于所述越障轮最低点的高度。
  12. 根据权利要求11所述的充电系统，其特征在于，所述保持面为一凹面，且所述凹面最低点的高度不大于所述越障轮最低点的高度。
PCT/CN2021/081384 2020-03-27 2021-03-17 一种充电桩及具有其的充电系统 WO2021190381A1 (zh)

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