Charging device, sweeping machine and sweeping system

Abstract

The present application relates to a charging device, a sweeping machine and a sweeping system, wherein a first connecting rod assembly and a second connecting rod assembly are spaced apart and arranged relative to each other; a first driving assembly is connected to the first end of the first connecting rod assembly, and is used to drive the first connecting rod assembly to perform telescopic movement; a second driving assembly is connected to the first end of the second connecting rod assembly, and is used to drive the second connecting rod assembly to perform telescopic movement; a first side surface of the charging assembly is respectively connected to the second end of the first connecting rod assembly and the second end of the second connecting rod assembly; the telescopic movement of the first connecting rod assembly and the telescopic movement of the second connecting rod assembly are used to drive the charging assembly to perform telescopic movement and / or left and right rotation. When the sweeping machine and the workstation cannot be accurately aligned, the alignment of the charging assembly and the workstation can be partially adjusted by the telescopic movement and / or left and right rotation of the charging assembly, without the need for the sweeping machine to move backward, left, or right. The alignment control is simple, and the time required for alignment is short.

Description

Technical Field

[0001] The present application relates to the technical field of sweeping machines, and in particular to a charging device, a sweeping machine, and a sweeping system. Background Art

[0002] Robot vacuums often use rechargeable batteries. When the batteries are low, the robot needs to dock with a workstation for recharging. Currently, infrared / laser guidance is commonly used for robot vacuums to recharge and align. However, infrared / laser guidance can sometimes cause errors due to external light reflections. Furthermore, the robot needs to rotate while sweeping, and certain external obstacles can create physical obstructions, making precise alignment between the robot and the workstation difficult. When accurate alignment is not possible, the robot needs to constantly adjust its position, making the entire process cumbersome and time-consuming. Summary of the Invention

[0003] The main purpose of this application is to provide a charging device, a sweeping robot and a sweeping system, aiming to solve the technical problem that when the current sweeping robot cannot be accurately aligned with the workstation, the sweeping robot needs to constantly adjust its own position, the entire process is cumbersome to control, and the alignment takes a long time.

[0004] In order to achieve the above-mentioned object of the invention, the present application proposes a charging device, which includes: a charging assembly, a first connecting rod assembly, a second connecting rod assembly, a first driving assembly and a second driving assembly;

[0005] The first connecting rod assembly and the second connecting rod assembly are spaced apart and arranged opposite to each other;

[0006] The first driving assembly is connected to the first end of the first connecting rod assembly and is used to drive the first connecting rod assembly to perform telescopic movement;

[0007] The second driving assembly is connected to the first end of the second connecting rod assembly and is used to drive the second connecting rod assembly to perform telescopic movement;

[0008] The first side surface of the charging assembly is connected to the second end of the first connecting rod assembly and the second end of the second connecting rod assembly respectively;

[0009] The telescopic movement of the first connecting rod assembly and the telescopic movement of the second connecting rod assembly are used to drive the charging assembly to perform telescopic movement and / or left-right rotation.

[0010] Furthermore, the first driving assembly includes: a first driving motor, a first driving connecting rod and a first fixing plate, wherein the first driving motor is mounted on the first fixing plate;

[0011] The output shaft of the first drive motor is fixedly connected to the first end of the first drive connecting rod, and is used to drive the first drive connecting rod to rotate in the first plane;

[0012] The second end of the first driving link is rotatably connected to the first end of the first connecting rod assembly in the first plane;

[0013] The second driving assembly includes: a second driving motor, a second driving connecting rod and a second fixing plate, wherein the second driving motor is mounted on the second fixing plate;

[0014] The output shaft of the second drive motor is fixedly connected to the first end of the second drive connecting rod, and is used to drive the second drive connecting rod to rotate in the second plane;

[0015] The second end of the second driving link is rotatably connected to the first end of the second link assembly in the second plane.

[0016] Furthermore, the first connecting rod assembly includes: a first rotating connecting rod, a second rotating connecting rod and a third rotating connecting rod, wherein the first end of the first rotating connecting rod is rotatably connected to the first driving assembly in a first plane, the second end of the first rotating connecting rod is rotatably connected to the first end of the second rotating connecting rod in the first plane, the second end of the second rotating connecting rod is rotatably connected to the first end of the third rotating connecting rod in a third plane, and the second end of the third rotating connecting rod is connected to the first side surface of the charging assembly;

[0017] The second connecting rod assembly includes: a fourth rotating link, a fifth rotating link and a sixth rotating link, the first end of the fourth rotating link is rotatably connected to the second driving assembly in a second plane, the second end of the fourth rotating link is rotatably connected to the first end of the fifth rotating link in the second plane, the second end of the fifth rotating link is rotatably connected to the first end of the sixth rotating link in the third plane, and the second end of the sixth rotating link is connected to the first side surface of the charging assembly;

[0018] The first plane intersects with the third plane, and the second plane intersects with the third plane.

[0019] Furthermore, the charging device further comprises: a first positioning component and a second positioning component;

[0020] The second end of the third rotating link passes through the first side surface of the charging assembly to the outside of the second side surface of the charging assembly;

[0021] The second end of the sixth rotating link passes through the first side surface of the charging assembly to the outside of the second side surface of the charging assembly;

[0022] The first positioning component is located at the top end of the second end of the third rotating link and is used to be magnetically matched with the third positioning component of the workstation;

[0023] The second positioning component is located at the top end of the second end of the sixth rotating link, and is used to be magnetically matched with the fourth positioning component of the workstation.

[0024] Furthermore, the first connecting rod assembly further comprises: a first guide plate pair;

[0025] The two guide plates of the first guide plate pair are arranged parallel and opposite to each other;

[0026] The second rotating link slides between the two guide plates of the first guide plate pair;

[0027] The second connecting rod assembly further includes: a second guide plate pair;

[0028] The two guide plates of the second guide plate pair are arranged parallel and opposite to each other;

[0029] The fifth rotating link slides between the two guide plates of the second guide plate pair.

[0030] Furthermore, at least one guide plate of the first guide plate pair is provided with a first guide groove, and / or at least one guide plate of the second guide plate pair is provided with a second guide groove;

[0031] When the first guide plate pair is provided with the first guide groove, the second rotating link is provided with a first protrusion that matches the first guide groove, and the first protrusion is located in the first guide groove and can slide relatively;

[0032] When the second guide plate pair is provided with the second guide groove, the fifth rotating link is provided with a second protrusion matched with the second guide groove, and the second protrusion is located in the second guide groove and can slide relatively.

[0033] Furthermore, the charging assembly includes: a positive electrode, a negative electrode and an electrode mounting component;

[0034] The first side surface of the electrode mounting component is connected to the second end of the first connecting rod assembly and the second end of the second connecting rod assembly respectively;

[0035] The positive electrode and the negative electrode are both mounted on a second side surface of the electrode mounting component, and the second side surface is opposite to the first side surface.

[0036] Furthermore, the second side surface of the electrode mounting component is an arc surface, and the second side surface of the electrode mounting component is arched and curved in a direction away from the first connecting rod assembly and the second connecting rod assembly;

[0037] When the telescopic amounts of the first connecting rod assembly and the second connecting rod assembly are the same, the first connecting rod assembly and the second connecting rod assembly are both located on a diameter of the second side surface of the electrode mounting component.

[0038] The present application also proposes a sweeping machine, which includes: a charging device as described in any one of the above items.

[0039] The present application also proposes a sweeping system, which comprises: the sweeping machine and workstation as described above;

[0040] The workstation is movably docked with the charging device of the sweeping machine for charging the sweeping machine.

[0041] The charging device, sweeping machine and sweeping system of the present application, wherein the charging device includes: a charging assembly, a first connecting rod assembly, a second connecting rod assembly, a first drive assembly and a second drive assembly; the first connecting rod assembly and the second connecting rod assembly are spaced apart and arranged relative to each other; the first drive assembly is connected to the first end of the first connecting rod assembly, and is used to drive the first connecting rod assembly to perform telescopic movement; the second drive assembly is connected to the first end of the second connecting rod assembly, and is used to drive the second connecting rod assembly to perform telescopic movement; the first side surface of the charging assembly is respectively connected to the second end of the first connecting rod assembly and the second end of the second connecting rod assembly; wherein the telescopic movement of the first connecting rod assembly and the telescopic movement of the second connecting rod assembly are used to drive the charging assembly to perform telescopic movement and / or left and right rotation. By adjusting the telescopic amount driven by the first connecting rod assembly and the telescopic amount driven by the second connecting rod assembly, the charging assembly can realize telescopic movement and / or left and right rotation; when the sweeper and the workstation cannot be accurately aligned, the telescopic movement and / or left and right rotation of the charging assembly can realize local adjustment of the alignment of the charging assembly and the workstation, thereby eliminating the need for the entire sweeper to move backward, left, or right, and the alignment control is simple, and the time required for alignment is short. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic structural diagram of a charging device according to an embodiment of the present application;

[0043] Figure 2 This is a schematic structural diagram of a charging device according to an embodiment of the present application from another perspective;

[0044] Figure 3 This is a structural diagram of a sweeping system according to an embodiment of the present application;

[0045] Among them, 1. Sweeping machine; 10. Charging assembly; 111. Positive electrode; 112. Negative electrode; 12. Electrode mounting component; 21. First connecting rod assembly; 211. First rotating link; 212. Second rotating link; 213. Third rotating link; 22. Second connecting rod assembly; 221. Fourth rotating link; 222. Fifth rotating link; 223. Sixth rotating link; 31. First driving assembly; 311. First fixed plate; 312. First driving link; 313. First driving motor; 32. Second driving assembly; 321. Second fixed plate; 322. Second driving link; 323. Second driving motor; 41. First guide plate pair; 42. Second guide plate pair; 2. Workstation.

[0046] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0048] Reference Figure 1 and Figure 2 In an embodiment of the present application, a charging device is provided, comprising: a charging assembly 10, a first connecting rod assembly 21 (in a preferred embodiment, comprising 211, 212, and 213), a second connecting rod assembly 22 (in a preferred embodiment, comprising 221, 222, and 223), a first driving assembly 31 (in a preferred embodiment, comprising 313, 312, and 311), and a second driving assembly 32 (in a preferred embodiment, comprising 323, 322, and 321);

[0049] The first connecting rod assembly 21 and the second connecting rod assembly 22 are spaced apart and arranged opposite to each other;

[0050] The first driving assembly 31 is connected to the first end of the first connecting rod assembly 21 and is used to drive the first connecting rod assembly 21 to perform telescopic movement;

[0051] The second driving assembly 32 is connected to the first end of the second connecting rod assembly 22 and is used to drive the second connecting rod assembly 22 to perform telescopic movement;

[0052] The first side surface of the charging assembly 10 is connected to the second end of the first connecting rod assembly 21 and the second end of the second connecting rod assembly 22 respectively;

[0053] The telescopic movement of the first connecting rod assembly 21 and the telescopic movement of the second connecting rod assembly 22 are used to drive the charging assembly 10 to perform telescopic movement and / or left-right rotation.

[0054] This embodiment enables the charging component 10 to achieve telescopic movement and / or left and right rotation by adjusting the telescopic amount driven by the first connecting rod assembly 21 and the telescopic amount driven by the second connecting rod assembly 22; when the sweeper 1 and the workstation 2 cannot be accurately aligned, the telescopic movement and / or left and right rotation of the charging component 10 can achieve local adjustment of the alignment of the charging component 10 and the workstation 2, thereby eliminating the need for the sweeper 1 to move backward, left, or right, and the alignment control is simple, and the time required for alignment is short.

[0055] Telescopic movement and / or left and right rotation, that is, a total of 8 situations are included, namely: extending movement, contracting movement, extending movement and turning to the left, extending movement and turning to the right, contracting movement and turning to the left, contracting movement and turning to the right, turning to the left, and turning to the right.

[0056] Telescopic movement includes: extension movement and contraction movement.

[0057] The telescopic amount includes: extension and contraction. Extension refers to the amount of movement in the direction away from the first drive assembly 31 and the second drive assembly 32. Contraction refers to the amount of movement in the direction toward the first drive assembly 31 and the second drive assembly 32.

[0058] When the present application is applied to the sweeping machine 1 , the extension amount refers to the amount of movement away from the sweeping machine 1 , and the retraction amount refers to the amount of movement toward the sweeping machine 1 .

[0059] Among them, when the extension amount driven by the first connecting rod assembly 21 and the extension amount driven by the second connecting rod assembly 22 are the same, the charging assembly 10 extends in the direction away from the first drive assembly 31 and the second drive assembly 32; when the extension amount driven by the first connecting rod assembly 21 is less than the extension amount driven by the second connecting rod assembly 22, the charging assembly 10 extends in the direction away from the first drive assembly 31 and the second drive assembly 32, and the charging assembly 10 rotates toward the side close to the first connecting rod assembly 21 (that is, rotates to the right); when the extension amount driven by the first connecting rod assembly 21 is greater than the extension amount driven by the second connecting rod assembly 22, the charging assembly 10 extends in the direction away from the first drive assembly 31 and the second drive assembly 32, and the charging assembly 10 rotates toward the side close to the second connecting rod assembly 22. When the amount of contraction driven by the first connecting rod assembly 21 is equal to the amount of contraction driven by the second connecting rod assembly 22, the charging assembly 10 contracts in a direction approaching the first drive assembly 31 and the second drive assembly 32. When the amount of contraction driven by the first connecting rod assembly 21 is less than the amount of contraction driven by the second connecting rod assembly 22, the charging assembly 10 contracts in a direction approaching the first drive assembly 31 and the second drive assembly 32, and the charging assembly 10 rotates toward the side approaching the second connecting rod assembly 22. When the amount of contraction driven by the first connecting rod assembly 21 is greater than the amount of contraction driven by the second connecting rod assembly 22, the charging assembly 10 contracts in a direction approaching the first drive assembly 31 and the second drive assembly 32, and the charging assembly 10 rotates toward the side approaching the first connecting rod assembly 21. Thus, by adjusting the amount of contraction driven by the first connecting rod assembly 21 and the amount of contraction driven by the second connecting rod assembly 22, the charging assembly 10 can achieve telescopic movement and / or left-right rotation.

[0060] The charging assembly 10 includes a positive electrode 111, a negative electrode 112 and an electrode mounting component 12; the first side surface of the electrode mounting component 12 is connected to the second end of the first connecting rod assembly 21 and the second end of the second connecting rod assembly 22; the positive electrode 111 and the negative electrode 112 are installed on the side of the electrode mounting component 12 away from the first driving assembly 31.

[0061] It can be understood that the second end of the present application is the second end opposite to the first end.

[0062] The first connecting rod assembly 21 and the second connecting rod assembly 22 are spaced apart and arranged opposite to each other, that is, the first connecting rod assembly 21 and the second connecting rod assembly 22 are arranged opposite to each other, and a preset distance is formed between the first connecting rod assembly 21 and the second connecting rod assembly 22.

[0063] The first connecting rod assembly 21 and the second connecting rod assembly 22 may be parallel, directly intersect, or intersect via extended lines.

[0064] The first connecting rod assembly 21 is a component that can be extended and retracted and can swing left and right.

[0065] The second connecting rod assembly 22 is a component that can be extended and swung left and right.

[0066] It is understandable that the specifications of the first connecting rod assembly 21 and the second connecting rod assembly 22 may be the same or different, wherein the specifications include: component structure and component size.

[0067] The specifications of the first driving assembly 31 and the second driving assembly 32 may be the same or different.

[0068] The first side surface of the charging assembly 10 is connected to the second end of the first connecting rod assembly 21 and the second end of the second connecting rod assembly 22, respectively. In other words, the first connecting rod assembly 21 and the second connecting rod assembly 22 are installed on the same side surface of the charging assembly 10. The second side surface of the charging assembly 10, which is opposite to the first side surface, is docked with the workstation 2, so that the charging assembly 10 is powered by the workstation 2.

[0069] In one embodiment, the first driving assembly 31 includes: a first driving motor 313, a first driving connecting rod 312 and a first fixing plate 311, wherein the first driving motor 313 is mounted on the first fixing plate 311;

[0070] The output shaft of the first driving motor 313 is fixedly connected to the first end of the first driving connecting rod 312, and is used to drive the first driving connecting rod 312 to rotate in the first plane;

[0071] The second end of the first driving link 312 is rotatably connected to the first end of the first connecting rod assembly 21 in the first plane;

[0072] The second driving assembly 32 includes: a second driving motor 323, a second driving connecting rod 322 and a second fixing plate 321, and the second driving motor 323 is installed on the second fixing plate 321;

[0073] The output shaft of the second driving motor 323 is fixedly connected to the first end of the second driving connecting rod 322, and is used to drive the second driving connecting rod 322 to rotate in the second plane;

[0074] The second end of the second drive link 322 is rotatably connected to the first end of the second link assembly 22 in the second plane. Rotation of the first drive link 312 in the first plane causes the first drive link 312 and the first link assembly 21 to perform telescopic motion in the first plane, and rotation of the second drive link 322 in the second plane causes the second drive link 322 and the second link assembly 22 to perform telescopic motion in the first plane. Therefore, by adjusting the amount of telescopic motion driven by the first link assembly 21 and the amount of telescopic motion driven by the second link assembly 22, the charging assembly 10 can achieve telescopic motion and / or left-right rotation.

[0075] The first fixing plate 311 and the second fixing plate 321 can be flat plates, and their specific shapes are not limited here.

[0076] It is understandable that when the present application is applied to the sweeping machine 1 , the first fixing plate 311 and the second fixing plate 321 will be installed on the housing of the sweeping machine 1 at intervals.

[0077] The first driving motor 313 and the second driving motor 323 are both motors capable of rotational motion.

[0078] The first driving link 312 and the second driving link 322 are both connecting rods.

[0079] In one embodiment, the first connecting rod assembly 21 includes: a first rotating link 211, a second rotating link 212 and a third rotating link 213, wherein the first end of the first rotating link 211 is rotatably connected to the first driving assembly 31 in a first plane, the second end of the first rotating link 211 is rotatably connected to the first end of the second rotating link 212 in the first plane, the second end of the second rotating link 212 is rotatably connected to the first end of the third rotating link 213 in a third plane, and the second end of the third rotating link 213 is connected to the first side surface of the charging assembly 10;

[0080] The second connecting rod assembly 22 includes: a fourth rotating link 221, a fifth rotating link 222 and a sixth rotating link 223, the first end of the fourth rotating link 221 is rotatably connected to the second driving assembly 32 in the second plane, the second end of the fourth rotating link 221 is rotatably connected to the first end of the fifth rotating link 222 in the second plane, the second end of the fifth rotating link 222 is rotatably connected to the first end of the sixth rotating link 223 in the third plane, and the second end of the sixth rotating link 223 is connected to the first side surface of the charging assembly 10;

[0081] The first plane intersects the third plane, and the second plane intersects the third plane. The charging assembly 10 achieves telescopic movement by the first rotating link 211 and the second rotating link 212 telescoping in the first plane, and the fourth rotating link 221 and the fifth rotating link 222 telescoping in the second plane. When the telescopic amount of the first rotating link 211 and the second rotating link 212 in the first plane is different from the telescopic amount of the fourth rotating link 221 and the fifth rotating link 222 in the second plane, the charging assembly 10 rotates left and right. The left and right rotation of the charging assembly 10 drives the third rotating link 213 to rotate in the third plane, or drives the charging assembly 10 to drive the sixth rotating link 223 to rotate in the third plane.

[0082] The first plane and the second plane may be parallel or intersecting.

[0083] Optionally, the first plane and the third plane may intersect perpendicularly, at an acute angle, or at an obtuse angle.

[0084] Optionally, the second plane and the third plane may intersect perpendicularly, at an acute angle, or at an obtuse angle.

[0085] The first rotating link 211 , the second rotating link 212 and the third rotating link 213 are all connected rods.

[0086] The fourth rotating link 221 , the fifth rotating link 222 and the sixth rotating link 223 are all connecting rods.

[0087] In one embodiment, the charging device further includes: a first positioning component and a second positioning component;

[0088] The second end of the third rotating link 213 is passed through the first side surface of the charging assembly 10 to the outside of the second side surface of the charging assembly 10;

[0089] The second end of the sixth rotating link 223 is passed through the first side surface of the charging assembly 10 to the outside of the second side surface of the charging assembly 10;

[0090] The first positioning component is located at the top of the second end of the third rotating link 213 and is used to be magnetically matched with the third positioning component of the workstation;

[0091] The second positioning member is located at the top of the second end of the sixth rotating link 223 and is configured to magnetically engage with the fourth positioning member of the workstation. The magnetic engagement between the first and third positioning members, and the second and fourth positioning members, facilitates rotation of the third and sixth rotating links 213, 223 in the third plane and facilitates rapid and accurate alignment of the charging assembly 10 with the workstation.

[0092] It can be understood that the first positioning component and the third positioning component are positioned by magnetic attraction, one of the first positioning component and the third positioning component is a magnetic component, and the other one of the first positioning component and the third positioning component is metal.

[0093] It can be understood that the second positioning component and the fourth positioning component are positioned by magnetic attraction, one of the second positioning component and the fourth positioning component is a magnetic component, and the other of the second positioning component and the fourth positioning component is metal.

[0094] In one embodiment, the first connecting rod assembly 21 further includes: a first guide plate pair 41;

[0095] The two guide plates of the first guide plate pair 41 are arranged parallel and opposite to each other;

[0096] The second rotating link 212 slides between the two guide plates of the first guide plate pair 41;

[0097] The second connecting rod assembly 22 further includes: a second guide plate pair 42;

[0098] The two guide plates of the second guide plate pair 42 are arranged parallel and opposite to each other;

[0099] The fifth rotating link 222 slides between the two guide plates of the second guide plate pair 42. The first guide plate pair 41 limits the second rotating link 212, and the second guide plate pair 42 limits the fifth rotating link 222, thereby controlling the movement direction of the charging assembly 10 and further simplifying the movement control of the alignment.

[0100] When the present application is applied to the sweeping machine 1 , the first guide plate pair 41 and the second guide plate pair 42 are both installed in the housing of the sweeping machine 1 .

[0101] The two guide plates of the first guide plate pair 41 are arranged in parallel and opposite to each other, that is, the two guide plates of the first guide plate pair 41 are parallel to each other and opposite to each other.

[0102] The two guide plates of the second guide plate pair 42 are arranged in parallel and opposite to each other, that is, the two guide plates of the second guide plate pair 42 are parallel to each other and opposite to each other.

[0103] The guide plate can be a flat plate.

[0104] The two guide plates of the first guide plate pair 41 have the same specifications.

[0105] The two guide plates of the second guide plate pair 42 have the same specifications.

[0106] Optionally, the two guide plates of the first guide plate pair 41 and the two guide plates of the second guide plate pair 42 have the same specifications.

[0107] Optionally, the two guide plates of the first guide plate pair 41 are parallel to each other.

[0108] Optionally, the two guide plates of the second guide plate pair 42 are parallel to each other.

[0109] Optionally, the two guide plates of the first guide plate pair 41 and the two guide plates of the second guide plate pair 42 make a total of four guide plates, and the four guide plates are parallel to each other, spaced apart, and arranged opposite to each other.

[0110] In one embodiment, at least one guide plate of the first guide plate pair 41 is provided with a first guide groove, and / or at least one guide plate of the second guide plate pair 42 is provided with a second guide groove;

[0111] When the first guide plate pair 41 is provided with the first guide groove, the second rotating link 212 is provided with a first protrusion that matches the first guide groove, and the first protrusion is located in the first guide groove and can slide relatively;

[0112] When the second guide plate pair 42 is provided with the second guide groove, the fifth pivot link 222 is provided with a second protrusion that mates with the second guide groove. The second protrusion is located in the second guide groove and can slide relative to it. The first guide groove limits the movement direction of the second pivot link 212, and the second guide groove limits the movement direction of the fifth pivot link 222. This further controls the movement direction of the charging assembly 10 and simplifies the movement control of the alignment.

[0113] At least one guide plate of the first guide plate pair 41 is provided with a first guide groove, and / or at least one guide plate of the second guide plate pair 42 is provided with a second guide groove, including the following eight situations: a first guide groove is provided on one guide plate of the first guide plate pair 41, a first guide groove is provided on both guide plates of the first guide plate pair 41, a second guide groove is provided on one guide plate of the second guide plate pair 42, a second guide groove is provided on both guide plates of the second guide plate pair 42, a first guide groove is provided on one guide plate of the first guide plate pair 41 and a second guide groove is provided on one guide plate of the second guide plate pair 42, a first guide groove is provided on one guide plate of the first guide plate pair 41 and a second guide groove is provided on both guide plates of the second guide plate pair 42, a first guide groove is provided on both guide plates of the first guide plate pair 41 and a second guide groove is provided on one guide plate of the second guide plate pair 42, a first guide groove is provided on both guide plates of the first guide plate pair 41 and a second guide groove is provided on one guide plate of the second guide plate pair 42, a first guide groove is provided on both guide plates of the first guide plate pair 41 and a second guide groove is provided on one guide plate of the second guide plate pair 42, a first guide groove is provided on both guide plates of the first guide plate pair 41 and a second guide groove is provided on both guide plates of the second guide plate pair 42.

[0114] At least one first protrusion is embedded in each first guide groove.

[0115] At least one second protrusion is embedded in each second guide groove.

[0116] The center line of the first guide groove can be a straight line, a broken line, or a curve.

[0117] The center line of the second guide groove can be a straight line, a broken line, or a curve.

[0118] In one embodiment, the first connecting rod assembly 21 and the second connecting rod assembly 22 have the same specifications;

[0119] The first driving assembly 31 and the second driving assembly 32 have the same specifications, which is beneficial for controlling the movement direction of the charging assembly 10 and further simplifies the movement control of the alignment.

[0120] The first connecting rod assembly 21 and the second connecting rod assembly 22 have the same specifications, which means that the components and dimensions of the first connecting rod assembly 21 and the second connecting rod assembly 22 are the same.

[0121] The first drive assembly 31 and the second drive assembly 32 have the same specifications, which means that the components and sizes of the first drive assembly 31 and the second drive assembly 32 are the same.

[0122] In one embodiment, the charging assembly 10 includes: a positive electrode 111, a negative electrode 112 and an electrode mounting component 12;

[0123] The first side surface of the electrode mounting component 12 is connected to the second end of the first connecting rod assembly 21 and the second end of the second connecting rod assembly 22 respectively;

[0124] The positive electrode 111 and the negative electrode 112 are both mounted on the second side of the electrode mounting component 12, which is opposite to the first side of the electrode mounting component 12. By controlling the movement of the electrode mounting component 12, the charging electrode 11 and the workstation 2 are aligned.

[0125] In one embodiment, the second side surface of the electrode mounting component 12 is an arc surface, and the second side surface of the electrode mounting component 12 is arched and curved in a direction away from the first connecting rod assembly 21 and the second connecting rod assembly 22;

[0126] When the extension and contraction amounts of the first connecting rod assembly 21 and the second connecting rod assembly 22 are the same, the first connecting rod assembly 21 and the second connecting rod assembly 22 are both located on the diameter of the second side surface of the electrode mounting component 12. Since the outer side of the housing of the sweeping machine 1 is usually an arc-shaped surface, when the charging component 10 is retracted, the arc surface of the second side surface of the electrode mounting component 12 opposite to the first side surface forms a continuous arc surface with the arc surface of the outer side surface of the housing of the sweeping machine 1, adapting to the shape of the housing of the sweeping machine 1, improving the aesthetics of the sweeping machine 1, and preventing the charging component 10 from being damaged by external force when not charging; because the second side surface of the electrode mounting component 12 is an arc surface, and when the extension and contraction amounts of the first connecting rod assembly 21 and the second connecting rod assembly 22 are the same, the first connecting rod assembly 21 and the second connecting rod assembly 22 are both located on the diameter of the second side surface of the electrode mounting component 12, which is conducive to positioning control.

[0127] The present application also proposes a sweeping machine 1, the sweeping machine 1 comprising: the charging device described in any one of the above items;

[0128] The charging device includes: a charging assembly 10, a first connecting rod assembly 21, a second connecting rod assembly 22, a first driving assembly 31 and a second driving assembly 32;

[0129] The first connecting rod assembly 21 and the second connecting rod assembly 22 are spaced apart and arranged opposite to each other;

[0130] The first driving assembly 31 is connected to the first end of the first connecting rod assembly 21 and is used to drive the first connecting rod assembly 21 to perform telescopic movement;

[0131] The second driving assembly 32 is connected to the first end of the second connecting rod assembly 22 and is used to drive the second connecting rod assembly 22 to perform telescopic movement;

[0132] The first side surface of the charging assembly 10 is connected to the second end of the first connecting rod assembly 21 and the second end of the second connecting rod assembly 22 respectively;

[0133] The telescopic movement of the first connecting rod assembly 21 and the telescopic movement of the second connecting rod assembly 22 are used to drive the charging assembly 10 to perform telescopic movement and / or left-right rotation.

[0134] This embodiment enables the charging component 10 to achieve telescopic movement and / or left and right rotation by adjusting the telescopic amount driven by the first connecting rod assembly 21 and the telescopic amount driven by the second connecting rod assembly 22; when the sweeper 1 and the workstation 2 cannot be accurately aligned, the telescopic movement and / or left and right rotation of the charging component 10 can achieve local adjustment of the alignment of the charging component 10 and the workstation 2, thereby eliminating the need for the sweeper 1 to move backward, left, or right, and the alignment control is simple, and the time required for alignment is short.

[0135] It is understandable that the charging device of the present application can also be used for other mobile devices that use the workstation 2 for automatic charging.

[0136] The charging component 10 of the charging device is located outside the outer shell of the sweeping machine 1, and the charging component 10 of the charging device is electrically connected to the battery of the sweeping machine 1; the first drive component 31 and the second drive component 32 are controlled by the controller of the sweeping machine 1, and the telescopic movement and / or left and right rotation of the charging component 10 are controlled by controlling the telescopic amount of the first drive component 31 and the telescopic amount of the second drive component 32.

[0137] Reference Figure 3 , the present application also proposes a sweeping system, which comprises: the above-mentioned sweeping machine 1 and a workstation 2;

[0138] The workstation 2 is movably docked with the charging device of the sweeping machine 1 to charge the sweeping machine 1;

[0139] The charging device includes: a charging assembly 10, a first connecting rod assembly 21, a second connecting rod assembly 22, a first driving assembly 31 and a second driving assembly 32;

[0140] The first connecting rod assembly 21 and the second connecting rod assembly 22 are spaced apart and arranged opposite to each other;

[0141] The first driving assembly 31 is connected to the first end of the first connecting rod assembly 21 and is used to drive the first connecting rod assembly 21 to perform telescopic movement;

[0142] The second driving assembly 32 is connected to the first end of the second connecting rod assembly 22 and is used to drive the second connecting rod assembly 22 to perform telescopic movement;

[0143] The first side surface of the charging assembly 10 is connected to the second end of the first connecting rod assembly 21 and the second end of the second connecting rod assembly 22 respectively;

[0144] The telescopic movement of the first connecting rod assembly 21 and the telescopic movement of the second connecting rod assembly 22 are used to drive the charging assembly 10 to perform telescopic movement and / or left-right rotation.

[0145] This embodiment enables the charging component 10 to achieve telescopic movement and / or left and right rotation by adjusting the telescopic amount driven by the first connecting rod assembly 21 and the telescopic amount driven by the second connecting rod assembly 22; when the sweeper 1 and the workstation 2 cannot be accurately aligned, the telescopic movement and / or left and right rotation of the charging component 10 can achieve local adjustment of the alignment of the charging component 10 and the workstation 2, thereby eliminating the need for the sweeper 1 to move backward, left, or right, and the alignment control is simple, and the time required for alignment is short.

[0146] The charging assembly 10 is docked with the charging base of the workstation 2 to connect to the power supply.

[0147] Optionally, the workstation 2 is also used to collect garbage in the dust box of the sweeper 1.

[0148] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, apparatus, article, or method comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, apparatus, article, or method. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, apparatus, article, or method comprising the element.

[0149] The above description is only a preferred embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A charging device, characterized in that: The charging device includes: a charging assembly, a first connecting rod assembly, a second connecting rod assembly, a first driving assembly and a second driving assembly; The first connecting rod assembly and the second connecting rod assembly are spaced apart and arranged opposite to each other; The first driving assembly is connected to the first end of the first connecting rod assembly and is used to drive the first connecting rod assembly to perform telescopic movement; The second driving assembly is connected to the first end of the second connecting rod assembly and is used to drive the second connecting rod assembly to perform telescopic movement; The first side surface of the charging assembly is connected to the second end of the first connecting rod assembly and the second end of the second connecting rod assembly respectively, and the charging assembly includes: a positive electrode, a negative electrode and an electrode mounting component; The first side surface of the electrode mounting component is connected to the second end of the first connecting rod assembly and the second end of the second connecting rod assembly; The positive electrode and the negative electrode are both mounted on a second side surface of the electrode mounting component, and the second side surface is opposite to the first side surface; The telescopic movement of the first connecting rod assembly and the telescopic movement of the second connecting rod assembly are used to drive the charging assembly to perform telescopic movement and / or left-right rotation; The first connecting rod assembly includes: a first rotating connecting rod, a second rotating connecting rod and a third rotating connecting rod, wherein the first end of the first rotating connecting rod is rotatably connected to the first driving assembly in a first plane, the second end of the first rotating connecting rod is rotatably connected to the first end of the second rotating connecting rod in the first plane, the second end of the second rotating connecting rod is rotatably connected to the first end of the third rotating connecting rod in a third plane, and the second end of the third rotating connecting rod is connected to the first side surface of the charging assembly; The second connecting rod assembly includes: a fourth rotating link, a fifth rotating link and a sixth rotating link, the first end of the fourth rotating link is rotatably connected to the second driving assembly in a second plane, the second end of the fourth rotating link is rotatably connected to the first end of the fifth rotating link in the second plane, the second end of the fifth rotating link is rotatably connected to the first end of the sixth rotating link in the third plane, and the second end of the sixth rotating link is connected to the first side surface of the charging assembly; The first plane intersects with the third plane, and the second plane intersects with the third plane.

2. The charging device according to claim 1, characterized in that The first driving assembly includes: a first driving motor, a first driving connecting rod and a first fixing plate, wherein the first driving motor is mounted on the first fixing plate; The output shaft of the first drive motor is fixedly connected to the first end of the first drive connecting rod, and is used to drive the first drive connecting rod to rotate in the first plane; The second end of the first driving link is rotatably connected to the first end of the first connecting rod assembly in the first plane; The second driving assembly includes: a second driving motor, a second driving connecting rod and a second fixing plate, wherein the second driving motor is mounted on the second fixing plate; The output shaft of the second drive motor is fixedly connected to the first end of the second drive connecting rod, and is used to drive the second drive connecting rod to rotate in the second plane; The second end of the second driving link is rotatably connected to the first end of the second link assembly in the second plane.

3. The charging device according to claim 1, wherein: The charging device further includes: a first positioning component and a second positioning component; The second end of the third rotating link passes through the first side surface of the charging assembly to the outside of the second side surface of the charging assembly; The second end of the sixth rotating link is passed through the first side surface of the charging assembly to the outside of the second side surface of the charging assembly; The first positioning component is located at the top end of the second end of the third rotating link and is used to be magnetically matched with the third positioning component of the workstation; The second positioning component is located at the top end of the second end of the sixth rotating link, and is used to be magnetically matched with the fourth positioning component of the workstation.

4. The charging device according to claim 1, wherein: The first connecting rod assembly further includes: a first guide plate pair; The two guide plates of the first guide plate pair are arranged parallel and opposite to each other; The second rotating link slides between the two guide plates of the first guide plate pair; The second connecting rod assembly further includes: a second guide plate pair; The two guide plates of the second guide plate pair are arranged parallel and opposite to each other; The fifth rotating link slides between the two guide plates of the second guide plate pair.

5. The charging device according to claim 4, characterized in that At least one guide plate of the first guide plate pair is provided with a first guide groove, and / or at least one guide plate of the second guide plate pair is provided with a second guide groove; When the first guide plate pair is provided with the first guide groove, the second rotating link is provided with a first protrusion that matches the first guide groove, and the first protrusion is located in the first guide groove and can slide relatively; When the second guide plate pair is provided with the second guide groove, the fifth rotating link is provided with a second protrusion matched with the second guide groove, and the second protrusion is located in the second guide groove and can slide relatively.

6. The charging device according to claim 1, wherein: The second side surface of the electrode mounting component is an arc surface, and the second side surface of the electrode mounting component is arched and curved in a direction away from the first connecting rod assembly and the second connecting rod assembly; When the telescopic amounts of the first connecting rod assembly and the second connecting rod assembly are the same, the first connecting rod assembly and the second connecting rod assembly are both located on a diameter of the second side surface of the electrode mounting component.

7. A sweeping machine, characterized in that: The sweeping machine includes: a charging device according to any one of claims 1 to 6.

8. A sweeping system, characterized in that: The sweeping system comprises: a sweeping machine and a workstation as claimed in claim 7; The workstation is movably docked with the charging device of the sweeping machine for charging the sweeping machine.

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