Electrode module, base station, charging system and cleaning system

Abstract

The application discloses an electrode module, a base station, a charging system and a cleaning system. The electrode module comprises an electrode part and a driving assembly. The electrode part comprises a plurality of electrode terminals. The driving assembly is connected with the electrode part. The driving assembly drives the electrode terminals to displace from a second position to a first position. When the electrode part is located at the first position, the electrode part is in a disconnected position which cannot be contacted by a to-be-charged terminal. When the electrode part is located at the second position, the electrode terminals can be contacted by the to-be-charged terminal to be electrically connected. The driving assembly can drive the electrode part to be contacted or disconnected with the to-be-charged terminal. Therefore, the electrode part can be connected with the to-be-charged terminal to be charged when charging is needed, and the electrode part can be disconnected with the to-be-charged terminal when charging is not needed. Thus, the damage of the electrode part caused by the continuous contact with the to-be-charged terminal can be reduced.

Description

Technical Field

[0001] This application relates to electrode modules, and more particularly to electrode modules, base stations, charging systems, and cleaning systems. Background Technology

[0002] With the development of robotics technology, various types of cleaning robots with intelligent systems have emerged. These cleaning robots can automatically move within a certain area and perform cleaning or removal operations.

[0003] After completing the cleaning operation, the cleaning robot can return to the base station to charge. Charging is usually achieved by contacting the electrode springs of the cleaning robot with the electrode springs of the base station. However, there is a possibility that the electrode springs will wear down, affecting the charging process. In some scenarios, vibration can exacerbate the wear. Utility Model Content

[0004] To address the aforementioned technical problems, this application provides an electrode module, a base station, a charging system, a cleaning system, a control method, a control device, and a charging method. The electrode module of this application can reduce wear on the electrode terminals.

[0005] This application is achieved through the following technical solution.

[0006] A first aspect of this application provides an electrode module, comprising: an electrode portion including a plurality of electrode terminals; and a driving component connected to the electrode portion, wherein the driving component drives the electrode portion to move from a second position to a first position, wherein when the electrode portion is in the first position, the electrode portion is in a disconnected position that cannot be contacted by a terminal to be charged, and when the electrode portion is in the second position, the electrode terminals can be contacted by the terminal to be charged for electrical contact.

[0007] In this application, the driving component can drive the electrode part to contact or disconnect from the end to be charged. This enables the electrode part to be connected to the end to be charged for charging when charging is required, and to be disconnected from the end to be charged when charging is not required. This reduces the occurrence of damage to the electrode part due to continuous contact with the end to be charged.

[0008] In some embodiments of this application, the driving component includes a driving device and a transmission mechanism, the transmission mechanism being connected between the driving device and the electrode portion, and the driving device driving the transmission mechanism to move so as to move the electrode portion from the second position to the second position.

[0009] In some embodiments of this application, the transmission mechanism includes a winding member and a flexible connector, the flexible connector being connected to the electrode portion and the winding member respectively, and the winding member being connected to the drive end of the drive device.

[0010] In some embodiments of this application, the driving device drives the take-up member to rotate along a first direction to pull the flexible connector, so that the electrode portion moves from the second position to the first position; or, the driving device drives the take-up member to rotate along a second direction to release the flexible connector pulled by the take-up member, so that the electrode portion moves from the first position to the second position, wherein the second direction is opposite to the first direction.

[0011] Flexible connectors, due to their flexibility and bendability, can save space. Specifically, because flexible connectors can be bent, when electrode modules are used in base stations, flexible connectors can be flexibly installed according to the internal space of the base station, without the need for dedicated components or space to accommodate other types of transmission mechanisms, which is beneficial for achieving a compact and miniaturized structure.

[0012] In some embodiments of this application, the take-up member includes a first limiting portion, the driving device includes a second limiting portion, the first limiting portion and the second limiting portion cooperate to limit the rotation angle of the take-up member; and / or the take-up member includes a third limiting portion, the electrode module includes a support portion, the take-up member is rotatably supported on the support portion, the support portion includes a fourth limiting portion, the third limiting portion and the fourth limiting portion cooperate to limit the rotation angle of the take-up member.

[0013] The rotation angle of the take-up piece is limited by the limiting part, thereby further limiting the position of the electrode part. Specifically, during the movement of the electrode part, due to the limitation of the limiting part, the rotation angle of the take-up piece is constant, and the movement range of the electrode part is fixed between the first position and the second position and will not exceed this range.

[0014] In some embodiments of this application, the first limiting portion includes a limiting groove, and the second limiting portion includes a limiting protrusion, or the first limiting portion includes a limiting protrusion, and the second limiting portion includes a limiting groove; wherein the limiting groove is arc-shaped, and at least a portion of the limiting protrusion extends into the limiting groove and is movable along the limiting groove.

[0015] In some embodiments of this application, the third limiting portion includes a limiting groove, and the fourth limiting portion includes a limiting protrusion; or, the third limiting portion includes a limiting protrusion, and the fourth limiting portion includes a limiting groove; wherein, the limiting groove is arc-shaped, and at least a portion of the limiting protrusion extends into the limiting groove and is movable along the limiting groove.

[0016] In some embodiments of this application, the support includes an arched member and a substrate. The arched member is used to fix the winding member to the substrate. The arched member is fastened to the substrate. A limiting channel is defined by a portion of the substrate facing the arched member and the inner surface of the arched member. The flexible connector passes through the limiting channel.

[0017] The arched component can limit and protect the flexible connector.

[0018] In some embodiments of this application, the electrode portion is rotatable or movable between the first position and the second position.

[0019] In some embodiments of this application, the electrode module includes a limiting member, and the electrode portion translates along the limiting member between the first position and the second position.

[0020] The limiting member can restrict the electrode part from moving along the limiting member.

[0021] In some embodiments of this application, the electrode portion includes a support member and a connecting shaft, the electrode terminal is disposed on the support member, the support member rotates around the connecting shaft, and the transmission mechanism is connected to the electrode portion and can drive the electrode portion to rotate around the connecting shaft under the drive of the driving device.

[0022] In some embodiments of this application, the electrode portion includes a reset member; the reset member provides a reset force to move the electrode terminal from the first position to the second position, or the reset member provides a bias voltage to the electrode terminal to make the electrode terminal contact the terminal to be charged for charging.

[0023] The reset force provided by the reset element helps the electrode terminal move from the first position to the second position.

[0024] The reset force provided by the reset element helps maintain contact between the electrode terminals and the terminal to be charged, thereby maintaining stable charging.

[0025] In some embodiments of this application, the plurality of electrode terminals include a first electrode terminal and a second electrode terminal symmetrically arranged along a third direction; the electrode portion includes a first electrode portion and a second electrode portion symmetrically arranged along the third direction, the first electrode portion having the first electrode terminal and the second electrode portion having the second electrode terminal; the flexible connector includes a first flexible connecting segment and a second flexible connecting segment, the end of the first flexible connecting segment away from the winding member being connected to the first electrode portion, and the end of the second flexible connecting segment away from the winding member being connected to the second electrode portion, both the first flexible connecting segment and the second flexible connecting segment being connected to the winding member, and as the winding member rotates, the first flexible connecting segment and the second flexible connecting segment simultaneously pull or release the first electrode portion and the second electrode portion.

[0026] The two electrode terminals can provide a stable electrical connection to the end to be charged for a stable power supply.

[0027] In some embodiments of this application, the first flexible connecting segment and the second flexible connecting segment are separately disposed; or, the first flexible connecting segment and the second flexible connecting segment are integrated into one unit.

[0028] In some embodiments of this application, the electrode module further includes a detection component for detecting the position of the electrode portion.

[0029] The detection component can detect the position of the electrode, thereby enabling precise control of the electrode to be in the charging or disconnected position.

[0030] In some embodiments of this application, the winding component includes a winding component body and a positioning detection part connected to the winding component body. The positioning detection part rotates with the winding component body. The flexible connector is connected to the winding component body. The detection assembly includes a first positioning sensor and a second positioning sensor for detecting the positioning of the positioning detection part. The first positioning sensor and the second positioning sensor are arranged along the rotation path of the positioning detection part.

[0031] A second aspect of this application provides a base station, comprising: a base station body; and an electrode module as described in any one of the first aspects, wherein the electrode module is disposed on the base station body.

[0032] In this application, the driving component can drive the electrode part to contact or disconnect from the end to be charged. This enables the electrode part to be connected to the end to be charged for charging when charging is required, and to be disconnected from the end to be charged when charging is not required. This reduces the occurrence of damage to the electrode part of the base station due to continuous contact with the end to be charged.

[0033] In some embodiments of this application, the base station body includes a control unit, which is used to control the driving device to drive the electrode part to move from the first position to the second position.

[0034] The control unit can control the electrode section to contact or disconnect with the electrode to be charged based on the operating status of the mobile device.

[0035] A third aspect of this application provides a charging system, comprising: the base station described in the second aspect; and a mobile device including an electrode contact terminal as a terminal to be charged, the electrode contact terminal being used to contact the electrode portion for electrical connection with the electrode module.

[0036] In this application, the driving component can drive the electrode part to contact or disconnect from the end to be charged. This enables the electrode part to be connected to the end to be charged for charging when charging is required, and the electrode part to be disconnected from the end to be charged when charging is not required. This reduces the occurrence of damage to the electrode part of the base station and the electrode contact terminals of the mobile device due to continuous contact with the mobile device.

[0037] In some embodiments of this application, the mobile device includes cleaning equipment, such as a vacuum cleaner, a mop, or a sweeper-mop combo.

[0038] A fourth aspect of this application provides a charging system for a cleaning system, comprising: the electrode module described in the first aspect; and a mobile device including an electrode contact terminal for contacting the electrode portion to electrically connect with the electrode module; and a control unit that drives the driving device to position the electrode portion in a first position according to the mobile device being in a state of completed charging.

[0039] The fifth aspect of this application provides a method for controlling an electrode terminal, the electrode terminal being movable between a first position and a second position, the method comprising: in response to a control condition, moving the electrode terminal from the second position to the first position, such that the electrode terminal is in a disconnected position that cannot be contacted by a terminal to be charged.

[0040] Responding to control conditions to disengage the electrode terminals from the end to be charged is beneficial for disconnecting the electrode terminals from the end to be charged when charging is not required, thus reducing damage to the electrode terminals caused by continuous charging.

[0041] In some embodiments of this application, the method further includes: detecting the position of the electrode terminal; and controlling the electrode terminal to move from the second position to the first position based on the electrode terminal being in the second position, so as to disengage the electrode terminal from the end to be charged.

[0042] By detecting the position of the electrode terminals, their current location can be confirmed, allowing for accurate execution of further operations.

[0043] In some embodiments of this application, the control conditions include the end of charging and the charging interruption between the electrode terminal and the terminal to be charged. The charging interruption includes one or more of the following: detecting vibration of the electrode terminal and / or the terminal to be charged, unstable charging current between the electrode terminal and the terminal to be charged, and receiving a charging interruption command.

[0044] A sixth aspect of this application provides a control device, comprising: a control module, wherein, in response to a control condition, the electrode terminal moves from a second position to a first position such that the electrode terminal is in a disconnected position that cannot be contacted by a terminal to be charged.

[0045] In some embodiments of this application, the control device further includes: a detection module for detecting the position of the electrode terminal; the control module is further configured to control the electrode terminal to move from the second position to the first position based on the electrode terminal being in the second position, so as to disengage the electrode terminal from the end to be charged.

[0046] In some embodiments of this application, the control conditions include the end of charging and the charging interruption between the electrode terminal and the terminal to be charged. The charging interruption includes one or more of the following: detecting vibration of the electrode terminal and / or the terminal to be charged, unstable charging current between the electrode terminal and the terminal to be charged, and receiving a charging interruption command.

[0047] A seventh aspect of this application provides a charging method for a charging system including a base station and a mobile device, characterized in that the base station includes electrode terminals and a driving device, the electrode terminals being configured to contact electrode contact terminals of the mobile device to conduct electricity to the mobile device electrodes, the method comprising: determining a position of the electrode terminals in response to charging commencement; and, depending on the electrode terminals being in a first position, the driving device causing the electrode terminals to be in a second position, wherein, when the electrode terminals are in the first position, the electrode terminals are disconnected from the electrode contact terminals, and when the electrode terminals are in the second position, the electrode terminals are in contact with the electrode contact terminals.

[0048] In this application, the driving device can drive the electrode terminal to contact or disconnect from the end to be charged, thereby achieving controllable contact and disconnection between the two. When charging is required, the electrode terminal is connected to the end to be charged for charging, and when charging is not required, the electrode terminal is disconnected from the end to be charged. This can reduce the occurrence of damage to the electrode terminals of the base station and the electrode contact terminals of the mobile device due to contact friction or even sparks.

[0049] In some embodiments of this application, the method further includes: in response to charging completion or charging interruption, the driving device positions the electrode terminal in the first position, wherein the charging interruption includes one or more of the following: detecting vibration of the electrode terminal and / or the electrode contact terminal, unstable charging current, or receiving a charging interruption command. Attached Figure Description

[0050] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0051] Figure 1 This is a schematic diagram of the structure of a charging system provided in some embodiments of this application;

[0052] Figure 2 Schematic diagrams of the electrode module and mobile device provided for some embodiments of this application;

[0053] Figure 3 A first-view perspective three-dimensional structural schematic diagram of an electrode module provided for some embodiments of this application;

[0054] Figure 4 A bottom view of the electrode module provided for some embodiments of this application;

[0055] Figure 5 A second-view perspective three-dimensional structural schematic diagram of an electrode module provided for some embodiments of this application;

[0056] Figure 6 A side view of the electrode module provided for some embodiments of this application;

[0057] Figure 7 A three-dimensional structural schematic diagram of an electrode module provided for some embodiments of this application;

[0058] Figure 8 Schematic diagrams of the drive mechanism provided for some embodiments of this application;

[0059] Figure 9 A block diagram illustrating a charging method provided for some embodiments of this application;

[0060] Figure 10 A block diagram illustrating a charging method provided for other embodiments of this application;

[0061] Figure 11 A block diagram illustrating a method for controlling electrode terminals provided in some embodiments of this application;

[0062] Figure 12 A block diagram illustrating a method for controlling electrode terminals provided in other embodiments of this application.

[0063] Explanation of reference numerals in the attached figures

[0064] 1. Charging system; 10. Electrode module; 100. Support part; 101. Connecting shaft; 102. Reset part; 11. Electrode terminal; 110. Support part; 111. First electrode part; 112. Second electrode part; 12. Drive device; 13. Rewinding part; 130. Rewinding part; 131. Position detection part; 132. First limiting part; 14. Flexible connector; 140. Arched part; 141. First flexible connecting section; 142. Second flexible connecting section; 16. Detection component; 161. First position sensor; 162. Second position sensor; 18. Linkage rod; 2. Base station; 20. Electrode part; 21. Water inlet; 22. Control unit; 3. Mobile device; X, fourth direction; Y, third direction. Detailed Implementation

[0065] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0066] With the development of robotics technology, various types of cleaning robots with intelligent systems have emerged. These cleaning robots can automatically move within a certain area and perform cleaning or removal operations.

[0067] After completing the cleaning operation, the cleaning robot can return to the base station to charge. Charging is usually achieved by contacting the electrode springs of the cleaning robot with the electrode springs of the base station. However, there is a possibility that wear and tear on the electrode springs may affect the charging process.

[0068] To address the aforementioned technical problems, this application provides an electrode module that can reduce wear on electrode terminals.

[0069] The electrode module provided in this application includes an electrode section and a driving assembly. The electrode section includes multiple electrode terminals. The electrode module is configured to be able to charge when in contact with a terminal to be charged. The driving assembly is connected to the electrode section and drives the electrode section to move from a second position to a first position. When the electrode section is in the first position (power-off position), it is in a disconnected position where it cannot be contacted by the terminal to be charged. When the electrode section is in the second position (charging position), the electrode terminals can be contacted by the terminal to be charged for electrical connection. In this application, the driving assembly can drive the electrode section to contact or disconnect from the terminal to be charged. This allows the electrode section to connect to the terminal to be charged when charging is required, and to disconnect from the terminal to be charged when charging is not required. This reduces the likelihood of damage to the charging section due to continuous contact with the terminal to be charged.

[0070] Figure 1 This is a schematic diagram of the structure of a charging system provided in some embodiments of this application; Figure 2 Schematic diagrams of the electrode module and mobile device provided for some embodiments of this application; Figure 3 A first-view perspective three-dimensional structural schematic diagram of an electrode module provided for some embodiments of this application; Figure 4 A bottom view of the electrode module provided for some embodiments of this application; Figure 5 A second-view perspective three-dimensional structural schematic diagram of an electrode module provided for some embodiments of this application; Figure 6 A side view of the electrode module provided for some embodiments of this application; Figure 7 A three-dimensional structural schematic diagram of an electrode module provided for some embodiments of this application; Figure 8 Schematic diagrams of the drive mechanism provided for some embodiments of this application; Figure 9 A block diagram illustrating a charging method provided for some embodiments of this application; Figure 10 A block diagram illustrating a charging method provided for other embodiments of this application; Figure 11 A block diagram illustrating a method for controlling an electrode portion according to some embodiments of this application; Figure 12 A block diagram illustrating a method for controlling an electrode portion as provided in some other embodiments of this application.

[0071] like Figures 1 to 8 As shown, the charging system 1 of this application may include a base station 2 and a mobile device 3.

[0072] The charging system 1 can be a charging system for a cleaning system, which may include a base station and mobile devices. When the charging system 1 is applied to the cleaning system, the mobile device 3 can be a cleaning device, such as a robot vacuum, a robot vacuum and mop, or a robot mop. The mobile device 3 can enter the base station to perform tasks such as charging, dust collection, and mop cleaning.

[0073] In some other embodiments, the charging system 1 can also be used for any other suitable system.

[0074] The base station 2 of this application may include an electrode module 10, which is disposed on the main body of the base station. The base station 2 charges the mobile device 3 through the electrode module 10. Furthermore, in some embodiments, the base station may be combined with or integrated with other electrical devices, such as washing machines, dryers, washer-dryer combos, dishwashers, water purifiers, etc. The base station may be placed or connected to the aforementioned electrical devices, or the base station may be integrated with or integrated into the aforementioned electrical devices. Regarding the integration method, the two may be an integrated shell or frame structure, or connected by connectors.

[0075] like Figures 1 to 8 As shown, the electrode module 10 of this application includes an electrode portion 20 and a driving assembly. The electrode portion 20 may include electrode terminals 11. The electrode portion 20 can contact the electrode contact terminals of the mobile device 3, which serves as the charging terminal. The driving assembly can drive the electrode portion to move to a first position to disconnect the electrical connection with the electrode contact terminals of the mobile device 3, and the driving assembly can drive the electrode portion to move to a second position to contact the electrode contact terminals of the mobile device 3 to charge the mobile device 3. In this application, the movement of the electrode portion drives the movement of the electrode terminals. The electrode portion being in the first position is equivalent to the electrode terminals being in the first position, and the electrode portion being in the second position is equivalent to the electrode terminals being in the second position.

[0076] In this application, the drive assembly can drive the electrode part 20 to move to a first position to disconnect the electrical connection with the electrode contact terminal of the mobile device 3. When the electrode part 20 is disconnected from the electrode contact terminal of the mobile device 3, since the electrode part 20 is not in contact with the electrode contact terminal of the mobile device 3, the vibration or shaking of the base station or the mobile device 3 (especially the vibration or shaking of electrical equipment, such as the severe shaking caused by the spin-drying operation of a washing machine) is unlikely to affect the electrode part 20, and thus the electrode terminal 11 is unlikely to be worn.

[0077] When the mobile device 3 needs to be charged, the drive assembly can drive the electrode part 20 to move to a second position to contact the electrode contact terminal of the mobile device 3 to charge the mobile device 3. Figure 1 and Figure 2The diagram shows a schematic of the electrode module 10 charging the mobile device 3. In some embodiments of this application, the driving component may include a driving device 12 and a transmission mechanism. The transmission mechanism may be connected between the driving device 12 and the electrode part 20. The driving device 12 drives the transmission mechanism to move, thereby moving the electrode part 20 between a first position and a second position.

[0078] In this application, the position where the electrode terminal cannot make contact with the end to be charged for electrical connection is the disconnect position of the electrode terminal. The disconnect position can be a specific and fixed position, or it can include a certain range within which the electrode terminal cannot make contact with the end to be charged. Figure 3 The diagram shows a structure where the electrode terminal is in the first position. When the electrode terminal is in the first position, it cannot contact the end to be charged for electrical connection. The first position can be considered as the disconnected position.

[0079] In this application, the position where the electrode terminal can contact the end to be charged for electrical connection is the charging position of the electrode terminal. The charging position can be a specific and fixed position, or it can include a certain range within which the electrode terminal can contact the end to be charged. Figure 4 The diagram shows a structure where the electrode terminal is in the second position. When the electrode terminal is in the second position, it can contact the end to be charged for electrical connection. The second position can be considered as the charging position.

[0080] In this application, the drive device 12 can be a motor, and the output end of the drive device 12 is connected to the transmission mechanism to drive the transmission mechanism to move so that the electrode part 20 moves between the first position and the second position.

[0081] In some embodiments of this application, such as Figures 3 to 8 As shown, the transmission mechanism may include a winding member 13 and a flexible connector 14. The flexible connector 14 is connected to both the electrode portion 20 and the winding member 13. The winding member 13 is connected to the drive end of the drive device 12. The drive device 12 drives the winding member 13 to rotate in a first direction to pull the flexible connector 14, causing the electrode portion 20 to move from a second position to a first position. Alternatively, the drive device 12 drives the winding member 13 to rotate in a second direction to release the flexible connector 14 wound by the winding member 13, causing the electrode portion 20 to move from a first position to a second position. The second direction is opposite to the first direction.

[0082] The flexible connector 14 is flexible and can be bent, thereby saving space. Specifically, because the flexible connector can be bent, when the electrode module is applied to the base station 2, the flexible connector 14 can be flexibly set according to the internal space of the base station 2, without the need to set up special components or space for placing other types of transmission mechanisms, which is conducive to achieving a compact and miniaturized structure.

[0083] In this application, as Figure 1 As shown, the electrode module 10 may include a support portion 100, which may be a support structure of the base station 2 for placing various structural components, electronic components, etc. The drive device 12, the winding member 13, and the transmission mechanism may be disposed in the support portion 100.

[0084] In some embodiments of this application, the support includes an arched member 140 and a substrate. The arched member 140 is fastened to the substrate, and a limiting channel is defined by a portion of the substrate facing the arched member 140 and the inner surface of the arched member 140. The flexible connector 14 passes through the limiting channel. The arched member 140 can limit and protect the flexible connector 14 without affecting its movement.

[0085] In some embodiments of this application, other limiting structures can also be used to fix or limit the flexible connector 14. In some embodiments of this application, a limiting structure for limiting the flexible connector 14 may not be provided.

[0086] In this application, as Figure 6 and Figure 7 As shown, the take-up member 13 may include a take-up section 130. Driven by the drive device 12, the take-up member 13 rotates to pull or release the flexible connector 14. When the take-up member 13 pulls the flexible connector 14, a portion of the flexible connector 14 can be wound and accommodated in the take-up section 130. When the take-up member 13 releases the flexible connector 14, the pulled portion of the flexible connector 14 is released from the take-up section 130. It should be noted that when the take-up member 13 pulls the flexible connector 14, the flexible connector 14 is not limited to being wound or coiled and accommodated in the take-up section 130; any movement that can pull the flexible connector 14 to position the electrode section 20 in the first position is acceptable.

[0087] In some embodiments of this application, the winding member 13 may be generally cylindrical, and the outer peripheral surface of the winding member 13 is used to house the flexible connector 14. The outer peripheral surface of the winding member 13 may be recessed to form a winding portion 130. The winding member 13 can rotate along its own axis under the drive of the driving device 12, thereby pulling or releasing the flexible connector 14 wound on its outer peripheral surface.

[0088] Of course, those skilled in the art should understand that in some other embodiments, the winding member 13 may also be prismatic or any other suitable shape. The embodiments of this application do not specifically limit the shape of the winding member, as long as it can pull and release the flexible connector.

[0089] In some embodiments of this application, such as Figure 4 and Figure 5 As shown, the winding member 13 may include a first limiting part 132, and the driving device 12 includes a second limiting part. The first limiting part and the second limiting part cooperate to limit the rotation angle of the winding member 13.

[0090] In some embodiments of this application, the first limiting portion may include a limiting groove, and the second limiting portion may include a limiting protrusion. The limiting groove is arc-shaped, and at least a portion of the limiting protrusion extends into the limiting groove and is movable along the limiting groove. For example, when the limiting protrusion moves from one end of the limiting groove to the other end, the winding member 13 rotates by a first angle along a first direction, and the electrode portion 20 moves from a first position to a second position. When the limiting protrusion moves from the other end of the limiting groove to one end, the winding member 13 rotates by a first angle along a second direction, and the electrode portion 20 moves from the second position to the first position.

[0091] By setting the limiting part, the rotation angle of the winding part can be limited to the range of the first angle, so that the rotation of the winding part cannot exceed the range of the first angle, causing the movement range of the electrode terminal to exceed the range between the first position and the second position.

[0092] In this application, the first limiting part may also include a limiting protrusion, and the second limiting part may also include a limiting groove.

[0093] In this application, the winding member 13 includes a third limiting portion, and the winding member 13 is rotatably supported on a support portion. The support portion includes a fourth limiting portion, and the third limiting portion and the fourth limiting portion cooperate to limit the rotation angle of the winding member 13. The shape and structure of the third limiting portion may be the same as or similar to the shape and structure of the first limiting portion 132 in the aforementioned embodiment.

[0094] In some embodiments of this application, the third limiting portion includes a limiting groove, and the fourth limiting portion includes a limiting protrusion. The limiting groove is arc-shaped, and at least a portion of the limiting protrusion extends into the limiting groove and is movable along the limiting groove. In some embodiments of this application, the third limiting portion includes a limiting protrusion, and the fourth limiting portion includes a limiting groove.

[0095] The rotation angle of the take-up member 13 is limited by the limiting part, thereby further limiting the position of the electrode part 20. Specifically, during the movement overshoot of the electrode part 20, due to the limitation of the limiting part, the rotation angle of the take-up member 13 is constant, and the movement range of the electrode part 20 is fixed between the first position and the second position and will not exceed this range.

[0096] It should be noted that the first, second, third, and fourth limiting portions of this application are not limited to the limiting grooves and limiting protrusions in the foregoing embodiments. In some implementations, the limiting portion can also be a stop block, a slot, or any other suitable limiting structure, as long as the movement range of the electrode portion 20 is such that it is in the first and second position.

[0097] It should be noted that the transmission mechanism of this application is not limited to the winding member and flexible connector in the foregoing embodiments. In some embodiments, such as Figure 8 As shown, the transmission mechanism may also include one or more connecting rods 18. The connecting rods 18 are connected between the driving device 12 and the electrode part 20. The driving device 12 drives the connecting rods 18 to move, thereby moving the electrode part 20 along the fourth direction X. The electrode part 20 extends along the fourth direction X to a second position to contact the end to be charged for charging. The electrode part 20 retracts along the fourth direction X to a first position to disconnect the electrical connection from the end to be charged. In this application, the fourth direction X is shown only to illustrate the relative direction of the extension and retraction of the electrode part 20 in the illustrations. In specific embodiments, the direction of extension and retraction of the electrode part 20 can be any direction.

[0098] In some embodiments of this application, such as Figures 1 to 5 As shown, the electrode module 10 may include an electrode section, which includes electrode terminals, a support member 110, and a connecting shaft 101. The connecting shaft 101 may be disposed on the support section 100. The electrode terminals 11 are disposed on the support member 110, which is rotatably connected to the connecting shaft 101 and can rotate around the connecting shaft 101. The support member 110 can support the electrode terminals 11, and the circuit wiring electrically connected to the electrode terminals 11 can be disposed on the support member 110. The support member 110 may have multiple cutouts to facilitate circuit wiring.

[0099] In this application, as Figure 2 As shown, the electrode section also includes a reset member 102, which is connected to the connecting shaft 101 and the support member 110 respectively. The reset member 102 can provide a force to the support member 110 to move the electrode section 20 from the first position to the second position.

[0100] In this application, the support member 110 may have a receiving portion for accommodating the electrode terminal 11. For example, the support member 110 may have a hollow structure as the receiving portion, forming a structure that partially or completely encloses the electrode terminal 11. Such a configuration is beneficial for protecting the electrode terminal from damage by external structures or foreign objects.

[0101] In this application, the transmission mechanism can be connected to the support member 110 and can drive the support member 110 to rotate around the connecting shaft 101 under the drive of the drive device 12.

[0102] In some embodiments of this application, the electrode terminal 11 is rotatable or movable between a first position and a second position. For example, rotation of the support member 110 about a connecting shaft can cause the electrode terminal to rotate between the first position and the second position. In some embodiments, the support member 110 can be moved to move the electrode terminal between the first position and the second position.

[0103] In some embodiments of this application, such as Figure 3 As shown, the electrode module 10 may include a reset member 102, which can provide a reset force to move the electrode terminal 11 from a first position to a second position, and the reset member 102 provides a bias voltage to the electrode terminal 11 so that the electrode terminal makes elastic contact with the end to be charged for charging.

[0104] In this application, the reset member 102 can be an elastic reset member, such as a torsion spring or spring. In some embodiments, a portion of the reset member 102 can be sleeved on the connecting shaft 101.

[0105] The reset force provided by the reset element helps maintain elastic contact between the electrode terminals and the terminal to be charged, thereby maintaining a stable electrical connection.

[0106] In some embodiments of this application, the electrode module 10 may include a limiting member, and the electrode portion 20 may translate along the limiting member between a first position and a second position.

[0107] In this application, the limiting element can be one or more of a guide rail, slide rail, limiting recess, limiting protrusion, etc. The limiting element can restrict the movement of the electrode terminal along the limiting element.

[0108] In this application, the base station 2 may have a water inlet 21, which is connected to the control unit 22. The control unit 22 can control the base station 2 to inject water into the mobile device 3 through the water inlet 21 to clean the mop of the mobile device 3.

[0109] In some embodiments of this application, such as Figure 6 and Figure 7As shown, the electrode terminal 11 includes a first electrode terminal and a second electrode terminal symmetrically arranged along the third direction Y. The two electrode terminals are used to contact the mobile device to form a stable electrical connection for continuous and stable charging. In addition, the two electrode terminals can also serve as a limiting function. For example, the mobile device can only accurately contact both electrode terminals when it accurately enters the corresponding position of the base station. If it can only contact one electrode terminal, it can be considered that the mobile device is not accurately positioned at the base station.

[0110] In some embodiments, the first electrode terminal and the second electrode terminal can be electrically connected to the mobile device as the anode and cathode, respectively. However, this application is not limited to this. In some embodiments, the electrode module may include only one electrode terminal, and the electrode terminal may have both an anode and a cathode, as long as it can supply power to the mobile device.

[0111] In some embodiments, such as Figure 5 As shown, the first electrode terminal and the second electrode terminal can be located on both sides of the control unit 22 along the third direction Y. This arrangement makes the electrode terminal 11 closer to the control unit 22, which is convenient for circuit wiring.

[0112] like Figure 6 and Figure 7 As shown, the support member 110 includes a first electrode portion 111 and a second electrode portion 112 symmetrically arranged along the third direction Y. The first electrode portion 111 has a first electrode terminal, and the second electrode portion 112 has a second electrode terminal.

[0113] like Figure 6 and Figure 7 As shown, the flexible connector 14 may include a first flexible connector segment 141 and a second flexible connector segment 142. The end of the first flexible connector segment 141 away from the winding member 13 is connected to the first electrode portion 111, and the end of the second flexible connector segment 142 away from the winding member 13 is connected to the second electrode portion 112. Both the first flexible connector segment 141 and the second flexible connector segment 142 are connected to the winding member 13. As the winding member 13 rotates, the first flexible connector segment 141 and the second flexible connector segment 142 simultaneously pull or release the first electrode portion 111 and the second electrode portion 112.

[0114] When the winding member 13 rotates, it simultaneously pulls or releases the first electrode part 111 and the second electrode part 112, thereby driving the two electrode terminals 11 to move between the first position and the second position simultaneously by the drive device 12.

[0115] In this embodiment, the plurality of electrode terminals may also include more than two electrode terminals. For example, four electrode terminals may be included, and the four electrode terminals may include two pairs of positive and negative electrodes. It is understood that different numbers of electrode terminals can be used for self-moving devices with different numbers of electrode contact terminals.

[0116] In some embodiments of this application, the first flexible connecting segment 141 and the second flexible connecting segment 142 can be separately configured, thereby allowing for different arrangements of the flexible connectors within the base station, improving the adaptability of the electrode module. Specifically, the flexible connecting lines are arranged according to the component arrangement and spatial layout within the base station. Since the positions of the first flexible connecting segment 141 and the second flexible connecting segment 142 may not be exactly the same, the segmented arrangement of the first flexible connecting segment 141 and the second flexible connecting segment 142 can be adapted to these different installation positions.

[0117] In some embodiments of this application, the first flexible connecting segment 141 and the second flexible connecting segment 142 can be integrated into one unit. Integrating the first flexible connecting segment 141 and the second flexible connecting segment 142 into one unit helps to save process steps during production; for example, the first flexible connecting segment 141 and the second flexible connecting segment 142 can be fixed to the winding component in a single fixing process during production.

[0118] In some embodiments of this application, the electrode module 10 may further include a detection component for detecting the position of the electrode portion. The detection component may be a position detection sensor, such as one or more of an ultrasonic sensor, infrared sensor, optical sensor, camera, grating sensor, etc. The detection component may be disposed in a support structure such as a bracket or rack in the base station 2 for mounting functional components, for example, it may be disposed in the support portion 100 as described in the foregoing embodiments.

[0119] In some embodiments, the detection component may also be disposed in a receiving portion of the base station for accommodating the electrode terminal 11 to allow the power terminal 11 to move between a first position and a second position, and the detection component may be disposed in the receiving portion to detect the position of the electrode portion.

[0120] The detection component 16 can be electrically connected to the control unit 22. The detection component 16 transmits detection signals to the control unit 22, and the control unit 22 can control the drive device to adjust the position of the electrode terminals based on the detection results. For example, when charging is required, if the detection component 16 detects that the electrode terminals are not in the second position, the control unit 22 controls the drive device to move the electrode terminals to the second position for charging. Similarly, in other operating conditions where charging is not required, if the detection component 16 detects that the electrode terminals are not in the first position, the control unit 22 controls the drive device to move the electrode terminals to the first position.

[0121] The detection component 16 can detect the position of the electrode part 20, thereby enabling precise control of the electrode part 20 to be in the charging or disconnected position.

[0122] In some embodiments of this application, the winding component 13 includes a winding component body and a positioning detection part 131 connected to the winding component body. The winding component body has a winding part 130, and a flexible connector 14 is connected to the winding component body. The positioning detection part 131 can rotate with the rotation of the winding component body.

[0123] The detection component 16 may include a positioning sensor. For example, the detection component 16 may include a first positioning sensor 161 and a second positioning sensor 162 for detecting the positioning detection unit 131 in position. The first positioning sensor 161 and the second positioning sensor 162 are arranged along the rotation path of the positioning detection unit 131.

[0124] In some embodiments, if the electrode part 20 is in the first position, the first positioning sensor 161 can detect that the positioning detection part 131 is in the first target position; if the electrode part 20 is in the second position, the second positioning sensor 162 can detect that the positioning detection part 131 is in the second target position.

[0125] In this application, the detection component 16 can be a grating sensor, and the position sensor can be the sensing end of the grating sensor. The position sensor can have a transmitting end that emits light and a receiving end that receives light. If the position detection unit 131 is located between the transmitting end and the receiving end of the position sensor to block the receiving end from receiving light, the detection component 16 can detect that the position detection unit is located at the target position based on the fact that the receiving end cannot receive light, thereby further confirming the rotation angle of the winding member and the position of the electrode terminals.

[0126] In the embodiments of this application, if the position detection unit 131 is located between the transmitting end and the receiving end of the first position sensor 161 to block the receiving end from receiving light, the detection component 16 can detect that the position detection unit 131 is located at the first target position based on the fact that the receiving end cannot receive light, thereby further confirming that the electrode terminal is located at the first position.

[0127] In the embodiments of this application, if the position detection unit 131 is located between the transmitting end and the receiving end of the second position sensor 162 to block the receiving end from receiving light, the detection component 16 can detect that the position detection unit 131 is located at the second target position based on the fact that the receiving end cannot receive light, thereby further confirming that the electrode terminal is located at the second position.

[0128] Based on the same or similar concept, this application also provides a base station 2, including: a base station body; an electrode module of any of the foregoing embodiments, wherein the electrode module is disposed on the base station body.

[0129] In this application, the driving component can drive the electrode terminal 11 to contact or disconnect from the end to be charged. This enables the electrode terminal 11 to connect to the end to be charged for charging when charging is required, and to disconnect the electrode terminal 11 from the end to be charged when charging is not required. This reduces the occurrence of damage to the electrode terminal 11 of the base station 2 due to continuous contact with the end to be charged.

[0130] In some embodiments of this application, the base station body includes a control unit 22, which is used to control the driving device 12 to drive the electrode part to move between a first position and a second position.

[0131] The control unit 22 can control the electrode section to contact the electrode of the end to be charged or disconnect it according to the working state of the mobile device 3.

[0132] Based on the same or similar concept, this application also provides a charging system 1, which includes the base station 2 and the mobile device 3 in the foregoing embodiments. The mobile device 3 includes an electrode contact terminal as the end to be charged, which is used to contact the electrode terminal 11 to electrically connect with the electrode module.

[0133] In this application, the driving component can drive the electrode terminal 11 to contact or disconnect from the end to be charged. This enables the electrode terminal 11 to connect to the end to be charged for charging when charging is required, and to disconnect the electrode terminal 11 from the end to be charged when charging is not required. This reduces the occurrence of damage to the electrode terminal 11 of the base station 2 and the electrode contact terminal of the mobile device 3 due to continuous contact with the mobile device 3.

[0134] In some embodiments of this application, the mobile device 3 includes cleaning equipment, such as a vacuum cleaner, a mop, or a sweeper-mop combo.

[0135] Based on the same or similar concept, this application also provides a cleaning system, which includes the electrode module 10, the mobile device 3 and the control unit in the foregoing embodiments. The mobile device 3 includes an electrode contact terminal for contacting the electrode part to electrically connect with the electrode module. The control unit drives the drive device 12 to position the electrode part in a first position when the mobile device 3 is in a charging finished state, and drives the drive device 12 to position the electrode part in a second position when the mobile device 3 is in a charging ready state.

[0136] Based on the same or similar concept, this application also provides a charging method for a charging system 1, the charging system 1 including a base station and a mobile device, the base station including electrode terminals and a driving device, the electrode terminals being used to contact the electrode contact terminals of the mobile device to the electrodes of the mobile device.

[0137] like Figure 9 As shown, the charging method of this application may include the following steps:

[0138] S11: In response to the start of charging, determine the position of the electrode terminals.

[0139] In this application, the control unit can determine that charging can begin based on the mobile device being in a charging position and being able to enter the charging mode. The control unit can also enter the charging mode based on an externally input charging start instruction. In response to a charging start signal or action, the position of the electrode terminals is first determined. That is, whether the electrode terminals are in a first position or a second position can be confirmed based on the detection results of the detection component.

[0140] S12: Based on the electrode terminal being in the first position, the driving device moves the electrode terminal to the second position.

[0141] If the electrode terminal is determined to be in the second position through judgment or detection, charging can begin.

[0142] If the electrode terminal is determined to be in the first position through judgment or detection, the driving device moves the electrode terminal to the second position. Once the charging terminal is in the second position, charging can begin directly, or a second detection can be performed to confirm that the electrode terminal is indeed in the second position before charging begins.

[0143] In this application, when the electrode terminal is in the first position, the electrode terminal is disconnected from the electrode contact terminal, and when the electrode terminal is in the second position, the electrode terminal is in contact with the electrode contact terminal.

[0144] In this application, the driving device can drive the electrode terminals to contact or disconnect from the end to be charged. This enables the electrode terminals to connect to the end to be charged for charging when charging is required, and to disconnect the electrode terminals from the end to be charged when charging is not required. This reduces the occurrence of damage to the electrode terminals of the base station and the electrode contact terminals of the mobile device due to continuous contact with the mobile device.

[0145] In this application, the drive component can drive the electrode terminal 11 to move to a first position to disconnect the electrical connection with the electrode contact terminal of the mobile device 3. When the electrode terminal 11 is disconnected from the electrode contact terminal of the mobile device 3, since the electrode terminal 11 is not in contact with the electrode contact terminal of the mobile device 3, the vibration or shaking of the base station or the mobile device 3 (especially the vibration or shaking of electrical equipment, such as the severe shaking caused by the spin-drying operation of a washing machine) is unlikely to affect the electrode terminal 11, and thus it is unlikely to cause the electrode terminal 11 to be worn.

[0146] When the mobile device 3 needs to be charged, the drive component can drive the electrode terminal 11 to a second position to contact the electrode contact terminal of the mobile device 3 to charge the mobile device 3.

[0147] like Figure 10 As shown, the charging method of this application may include the following steps:

[0148] S21: In response to a charging start request or command, determine the position of the electrode terminals.

[0149] S22: Based on the electrode terminal being in the first position, the driving device moves the electrode terminal to the second position.

[0150] S23: In response to a charging completion or charging interruption request or command, the drive device positions the electrode terminals in the first position.

[0151] In some embodiments, before step 23, a charging termination step is included, at which point the charging voltage (i.e., output voltage) or charging current (i.e., output current) of the electrode terminals is adjusted to 0.

[0152] In some embodiments, after charging is completed, the electrode terminals move to a first position and disconnect the electrode terminals from the mobile device, thereby reducing the possibility of wear on the electrode terminals due to vibration or shaking of the mobile device and improving the service life of the electrode terminals.

[0153] In this application, charging interruption includes one or more of the following: detecting vibration of the electrode terminals and / or the electrode contact terminals, unstable charging current, or receiving a charging interruption command.

[0154] Based on the same or similar concept, this application also provides a method for controlling an electrode terminal, wherein the electrode terminal is movable between a first position and a second position.

[0155] like Figure 11 As shown, the control method for the electrode terminals of this application may include the following steps:

[0156] S31: In response to the control condition, the electrode terminal moves from the second position to the first position so that the electrode terminal is in a disconnected position that cannot be contacted by the end to be charged.

[0157] In some embodiments of this application, the control conditions include the end of charging between the electrode terminal and the terminal to be charged, and the charging interruption. The charging interruption includes one or more of the following: detecting vibration of the electrode terminal and / or the terminal to be charged, unstable charging current between the electrode terminal and the terminal to be charged, and receiving a charging interruption command.

[0158] Therefore, in cases of charging instability such as vibration of the device to be charged or unstable charging current between the electrode terminal and the device to be charged, the electrode terminal can be moved from the second position to the first position to interrupt charging. This design can reduce the damage caused by charging instability to mobile devices and base stations.

[0159] In addition, the control unit can also proactively issue commands to interrupt charging based on the operating status of the mobile device. In some embodiments, the operator can also input a command to interrupt charging into the charging system.

[0160] Responding to control conditions to disengage the electrode terminals from the end to be charged helps to disconnect the electrode terminals from the end to be charged when charging is not required, thus reducing damage to the electrode terminals caused by continuous charging.

[0161] Based on the same or similar concept, this application also provides a control device that can be used to control electrode terminals. The control device may include a control module that, in response to a control condition, moves the electrode terminals from a second position to a first position, so that the electrode terminals are in a disconnected position that cannot be contacted by the end to be charged.

[0162] This application also provides a control device, which further includes a detection module for detecting the position of the electrode terminal. The control module is also used to control the electrode terminal to move from a second position to a first position based on the electrode terminal being in a second position, so as to disengage the electrode terminal from the terminal to be charged.

[0163] like Figure 12 As shown, the electrode terminal control method of this application may include the following steps for detecting the position of the electrode terminals:

[0164] S41: Detect the position of the electrode terminals;

[0165] S42: Based on the electrode terminal being in the second position, control the electrode terminal to move from the second position to the first position so that the electrode terminal is disengaged from the end to be charged.

[0166] By detecting the position of the electrode terminals, their current location can be confirmed, allowing for accurate execution of further operations.

[0167] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0168] In the description of the embodiments of this application, technical terms such as "first," "second," and "third" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0169] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0170] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0171] In the description of the embodiments of this application, the technical terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0172] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0173] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical term "contact" should be interpreted broadly, and can be direct contact, contact through an intermediate medium layer, contact between two contacting parties with substantially no interaction force, or contact between two contacting parties with interaction force.

[0174] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An electrode module, characterized in that, include: The electrode section includes multiple electrode terminals; as well as A driving component is connected to the electrode portion. The driving component can drive the electrode portion to move from a second position to a first position. When the electrode portion is in the first position, the electrode portion is in a disconnected position where it cannot be contacted by the end to be charged. When the electrode portion is in the second position, the electrode terminal can be contacted by the end to be charged for electrical connection.

2. The electrode module according to claim 1, characterized in that, The driving assembly includes a driving device and a transmission mechanism. The transmission mechanism is connected between the driving device and the electrode portion. The driving device drives the transmission mechanism to move so as to move the electrode portion from the second position to the first position.

3. The electrode module according to claim 2, characterized in that, The transmission mechanism includes a winding component and a flexible connector. The flexible connector is connected to the electrode portion and the winding component, respectively. The winding component is connected to the drive end of the drive device.

4. The electrode module according to claim 3, characterized in that, The driving device drives the winding member to rotate along a first direction, pulling the flexible connector, so that the electrode portion moves from the second position to the first position, or... The driving device drives the winding member to rotate in the second direction to release the flexible connector pulled by the winding member, so that the electrode part moves from the first position to the second position, and the second direction is opposite to the first direction.

5. The electrode module according to claim 3, characterized in that, The winding component includes a first limiting part, and the driving device includes a second limiting part. The first limiting part and the second limiting part cooperate to limit the rotation angle of the winding component. and / or The winding member includes a third limiting part, the electrode module includes a support part, the winding member is rotatably supported on the support part, the support part includes a fourth limiting part, and the third limiting part cooperates with the fourth limiting part to limit the rotation angle of the winding member.

6. The electrode module according to claim 5, characterized in that, The first limiting part includes a limiting groove, and the second limiting part includes a limiting protrusion, or the first limiting part includes a limiting protrusion and the second limiting part includes a limiting groove; The limiting groove is arc-shaped, and at least a portion of the limiting protrusion extends into the limiting groove and is movable along the limiting groove.

7. The electrode module according to claim 5, characterized in that, The third limiting part includes a limiting groove, and the fourth limiting part includes a limiting protrusion, or the third limiting part includes a limiting protrusion and the fourth limiting part includes a limiting groove; The limiting groove is arc-shaped, and at least a portion of the limiting protrusion extends into the limiting groove and is movable along the limiting groove.

8. The electrode module according to claim 5, characterized in that, The support includes an arched member and a base plate. The arched member is fastened to the base plate. A limiting channel is defined by a portion of the base plate facing the arched member and the inner surface of the arched member. The flexible connector passes through the limiting channel.

9. The electrode module according to claim 1, characterized in that, The electrode portion is capable of rotating or moving between the first position and the second position.

10. The electrode module according to claim 9, characterized in that, The electrode module includes a limiting member, and the electrode portion translates along the limiting member between the first position and the second position.

11. The electrode module according to claim 3, characterized in that, The electrode part includes a support member and a connecting shaft. The electrode terminal is disposed on the support member. The support member can rotate around the connecting shaft. The transmission mechanism is connected to the electrode part and can drive the electrode part to rotate around the connecting shaft under the drive of the driving device.

12. The electrode module according to claim 11, characterized in that, The electrode section includes a reset element; The reset element provides a reset force to move the electrode terminal from the first position to the second position, and / or the reset element provides a bias voltage to the electrode terminal to make the electrode terminal contact the terminal to be charged for charging.

13. The electrode module according to claim 11, characterized in that, The plurality of electrode terminals includes a first electrode terminal and a second electrode terminal symmetrically arranged along a third direction; The electrode portion includes a first electrode portion and a second electrode portion symmetrically arranged along the third direction, the first electrode portion having a first electrode terminal, and the second electrode portion having a second electrode terminal; The flexible connector includes a first flexible connecting segment and a second flexible connecting segment. The end of the first flexible connecting segment away from the take-up member is connected to the first electrode portion, and the end of the second flexible connecting segment away from the take-up member is connected to the second electrode portion. Both the first flexible connecting segment and the second flexible connecting segment are connected to the take-up member. As the winding member rotates, the first flexible connecting section and the second flexible connecting section simultaneously pull or release the first electrode portion and the second electrode portion.

14. The electrode module according to claim 13, characterized in that, The first flexible connecting segment and the second flexible connecting segment are separately configured; or, The first flexible connecting segment and the second flexible connecting segment are connected as one unit.

15. The electrode module according to claim 3, characterized in that, The electrode module further includes a detection component for detecting the position of the electrode portion.

16. The electrode module according to claim 15, characterized in that, The winding component includes a winding component body and an arrival detection part connected to the winding component body. The arrival detection part rotates with the winding component body. The flexible connector is connected to the winding component body. The detection assembly includes a first positioning sensor and a second positioning sensor for detecting the positioning of the positioning detection unit, the first positioning sensor and the second positioning sensor being arranged along the rotation path of the positioning detection unit.

17. A base station, characterized in that, include: Base station main body; The electrode module according to any one of claims 1 to 16, wherein the electrode module is disposed on the base station body.

18. The base station according to claim 17, characterized in that, The base station body includes a control unit, which is used to control the driving device to drive the electrode part to move from the second position to the first position.

19. A charging system, characterized in that, include: The base station as described in claim 17 or 18; as well as A mobile device includes an electrode contact terminal serving as a charging end, the electrode contact terminal being used to contact the electrode portion for electrical connection with the electrode module.

20. The charging system according to claim 19, characterized in that, The mobile device includes cleaning equipment.

21. A cleaning system, characterized in that, include: Electrode module as described in any one of claims 1 to 16; as well as The mobile device includes electrode contact terminals for contacting the electrode portion for electrical connection. The control unit drives the drive device to position the electrode portion in the first position based on the fact that the mobile device is in a state where charging is finished.

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