CN108990508A - Intelligent robot system - Google Patents
Intelligent robot system Download PDFInfo
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- CN108990508A CN108990508A CN201810870975.8A CN201810870975A CN108990508A CN 108990508 A CN108990508 A CN 108990508A CN 201810870975 A CN201810870975 A CN 201810870975A CN 108990508 A CN108990508 A CN 108990508A
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- Prior art keywords
- electrical terminals
- power distribution
- distribution terminal
- intelligent robot
- locking portion
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The present invention provides a kind of intelligent robot systems, it includes intelligent robot and cradle, the intelligent robot includes battery pack, the first locking portion with multiple non-co-planar side walls and a pair of of electrical terminals at first locking portion, the cradle includes the second locking portion and a pair of of power distribution terminal at second locking portion, the intelligent robot can cradle movement relatively until first locking portion and second locking portion are mating, and a pair of electrical terminals are electrically connected with the corresponding power distribution terminal contact so that the cradle charges to the battery pack respectively, it is characterized in that, a pair of electrical terminals are respectively arranged on two in multiple side walls, and when the electrical terminals are electrically connected with the corresponding power distribution terminal contact, electrical terminals and corresponding The power distribution terminal is distributed in right-angled intersection.Power distribution terminal and electrical terminals right-angled intersection in the present invention, guarantee charging effect.
Description
Technical field
The present invention relates to intelligent robot technology field, especially a kind of intelligent robot system.
Background technique
With the development of science and technology intelligent robot in industry, life using more and more extensive, such as intelligent sweeping machine,
The clean robots such as intellective dust collector, Intelligent purifying device and intelligent grass-removing, the gardens intelligent flower watering Ji Deng robot, fusion
It voluntarily charges, walk, the technology of operation, being the most challenging popular research and development project of current field in intelligent robotics.
This kind of intelligent robot usually has fuselage and covers in the casing on fuselage, and fuselage includes the movement for walking
Device, the agent set for fulfiling assignment and for providing the battery pack of electric energy for mobile device and agent set.It is suitable
The operating area for answering large area is commonly provided with the charging station to match with robot, intelligent machine in the operating area of robot
Device people can carry out charging at charging station and await orders, and when need to carry out operation, intelligent robot is sailed automatically under battery pack electric power support
Mapping, route planning are carried out to operating area from charging station and fulfiled assignment.
However, by taking intelligent grass-removing robot as an example, in the prior art, three cursors positioned for auxiliary robot
Often setting distance is close, causes positioning accuracy poor, so that robot causes grass there are deviation in mapping, route planning
It is low and effect is poor that operating efficiency is trimmed on level ground, or even causes robot can not be successfully and return to charging station or holiday lawn is not repaired
It cuts.
Furthermore when the charge port of robot is docked with the cradle of charging station, due to position error or charge port
Charge sheet adheres to the reasons such as dust weeds, is likely to result in charging terminal poor contact or the charge port water inlet of robot, leads
Short circuit is caused, these situations will affect the charging of robot.
In addition,
Therefore, in view of the above-mentioned problems, it is necessary to improve to intelligent robot and the charging station to match with robot.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent robot systems, at least to solve because positioning bad or water inlet short circuit
The bad problem of caused charging.
For achieving the above object, the present invention provides a kind of intelligent robot system, the intelligent robot systems
Including intelligent robot and cradle, the intelligent robot includes battery pack, the first adaptation with multiple non-co-planar side walls
Portion and a pair of of electrical terminals at first locking portion, the cradle include the second locking portion and are set to described
A pair of of power distribution terminal at second locking portion, the intelligent robot can cradle movement relatively until first adaptation
Portion and second locking portion are mating, and a pair of electrical terminals are electric with the corresponding power distribution terminal contact respectively
Connection is so that the cradle charges to the battery pack, which is characterized in that a pair of electrical terminals are respectively arranged at multiple
It is described to connect electricity on two in the side wall, and when the electrical terminals are electrically connected with the corresponding power distribution terminal contact
Terminal and the corresponding power distribution terminal are distributed in right-angled intersection.
Further improvement as an embodiment of the present invention, first locking portion is the charge port of recessed formation, described
Second locking portion is the structure that protrudes out that can be inserted in from the front to the back in the charge port, and multiple side walls include left side wall and the right side
Side wall, a pair of electrical terminals are respectively arranged at the left side wall, on the right side wall.
Further improvement as an embodiment of the present invention, the depth of the opening area of the charge port along the charge port
Direction is gradually reduced, and the structure that protrudes out is adapted with the charging mouth-shaped.
Further improvement as an embodiment of the present invention, multiple side walls further include being formed in above the charge port
Side wall and the downside wall that is formed in below the charge port, on the depth direction, the side wall horizontal extension,
The downside wall tilts extension upwards.
Further improvement as an embodiment of the present invention, the left side wall and the right side wall are respectively along the depth side
To approaching toward each other, the left side wall and the right side wall in splayed respectively from up to down away from each other to lay.
Further improvement as an embodiment of the present invention, the electrical terminals are set as along the depth side of the charge port
To the strip conductive sheet of extension, the power distribution terminal is set as along perpendicular with the extending direction for protruding out structure second
The strip conductive sheet that direction extends；When the electrical terminals are electrically connected with the corresponding power distribution terminal contact, described
The both ends of the electrical terminals protrude out the power distribution terminal on depth direction, in this second direction the power distribution terminal
Both ends protrude out the electrical terminals.
Further improvement as an embodiment of the present invention, the cradle further include distinguishing with a pair of electrical terminals
It is corresponding a pair of cleaning device, it is described protrude out structure and the charge port it is mating during, the cleaning device is located at
On the motion path of the corresponding electrical terminals, the electrical terminals first contacted with the cleaning device after again with the power distribution terminal
Contact.
Further improvement as an embodiment of the present invention, it is described to protrude out structure and the mating process of the charge port
In, the both ends of the cleaning device protrude out the electrical terminals in this second direction.
Further improvement as an embodiment of the present invention, the cleaning device is set to protruding outward described protrudes out structure
On, it is not less than the maximum spacing of a pair of electrical terminals in the maximum spacing of the cleaning device a pair of on left and right directions.
Further improvement as an embodiment of the present invention, the structure that protrudes out are a pair of with multiple non-co-planar side surfaces
The power distribution terminal is respectively arranged on two in multiple side surfaces.
Further improvement as an embodiment of the present invention, multiple side surfaces include left-hand face and right lateral surface,
A pair of power distribution terminal is respectively arranged at the left-hand face, in the right lateral surface.
Further improvement as an embodiment of the present invention, the structure that protrudes out are set to described fill with extending from the front to the back
Electric seat front, multiple side surfaces further include being formed in the top surface for protruding out superstructure, and the top surface is in
Horizontal extension, the cradle further include the inclined surface for being connected to the top surface rear end and extending rearwardly and upwardly.
Further improvement as an embodiment of the present invention, the left-hand face and the right lateral surface are respectively along described convex
The direction that protrudes out for stretching structure approaches toward each other, the left-hand face and the right lateral surface respectively from up to down away from each other with
It is laid in splayed.
Further improvement as an embodiment of the present invention, a pair of cleaning device be respectively arranged at the left-hand face,
In the right lateral surface and it is located in front of a pair of power distribution terminal；It is described protrude out structure and the charge port it is mating
In the process, the cleaning device is located on the motion path of the corresponding electrical terminals, the electrical terminals elder generation and the cleaning device
It is contacted again with the power distribution terminal after contact.
Further improvement as an embodiment of the present invention, the cradle further include elastic component, the elastic component setting
Between second locking portion and the power distribution terminal；It is described when the power distribution terminal is in contact with the electrical terminals
Elastic component has elastic deformation and the elastic component is applied to a drive on the power distribution terminal under natural resiliency restoring force effect
Power, the driving force make the power distribution terminal have the trend for further compressing the electrical terminals.
Further improvement as an embodiment of the present invention, what the intelligent robot was set as voluntarily charging and walk
Intelligent grass-removing.
The beneficial effects of the present invention are embodied in:
(1) power distribution terminal and electrical terminals is made to use the layout structure of right-angled intersection, make intelligent grass-removing and cradle into
Biggish position error is allowed for when row mating, avoids poor contact caused by position error, guarantees charging effect；
(3) it sets two electrical terminals in two side walls, correspondingly, a pair of of power distribution terminal is arranged in the cradle
Two side surfaces on, it is short-circuit caused by avoiding because of ponding, and then guarantee going on smoothly for charging.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of the intelligent robot system of one embodiment of the invention；
Fig. 2 is the stereoscopic schematic diagram of the charging station (omitting main body wall and mark post fixing seat) of one embodiment of the invention,
In illustrate support rod and be located at stowed position；
Fig. 3 is the stereoscopic schematic diagram of the charging station (omitting main body wall) of one embodiment of the invention, wherein illustrating to support
Bar is located at folded-out position；
Fig. 4 is the main view of charging station in Fig. 3；
Fig. 5 is that analysis chart is simulated in positioning when support rod is located at folded-out position in Fig. 3；
Fig. 6 is the stereoscopic schematic diagram of the support rod fixing seat of one embodiment of the invention；
Fig. 7 is the top view of the support rod fixing seat of one embodiment of the invention；
Fig. 8 is the vertical profile front view of the line A-A along Fig. 2；
Fig. 9 is the partial enlarged view in the area Tu8Zhong B；
Figure 10 is the stereoscopic schematic diagram of the mark post fixing seat of one embodiment of the invention；
Figure 11 is the schematic diagram at another visual angle of the mark post fixing seat of one embodiment of the invention；
Figure 12 is the top view of the pedestal in the charging station of one embodiment of the invention；
Figure 13 is the partial enlarged view in the area Tu3Zhong C, wherein illustrating the partial enlargement structure of cradle；
Figure 14 is the partial enlarged view in the area Tu4Zhong D, wherein illustrating the partial enlargement structure of cradle；
Figure 15 is the longitudinal section view of the E-E line along Figure 13；
Figure 16 is the stereoscopic schematic diagram of the intelligent grass-removing of one embodiment of the invention；
Figure 17 is the partial schematic diagram at the charge port of the intelligent grass-removing of one embodiment of the invention；
The cooperation of electrical terminals and power distribution terminal, cleaning device when Figure 18 is the intelligent grass-removing charging of one embodiment of the invention
State diagram；
Figure 19 is the baffle of one embodiment of the invention and the assembled state backside structure perspective view of reinforcer；
Figure 20 is the backside structure perspective view of the baffle of one embodiment of the invention；
Figure 21 is the Facad structure perspective view of the reinforcer of one embodiment of the invention；
Figure 22 is the partial enlarged view in the area F in Figure 19；
Figure 23 is the longitudinal cross-sectional side view of the H-H line along Figure 19, wherein illustrating the shape in baffle and reinforcer assembling process
State；
Figure 24 is the longitudinal cross-sectional side view of the H-H line along Figure 19, wherein illustrating shape when baffle is completed with reinforcer
State.
Specific embodiment
Below with reference to embodiment shown in the drawings, the present invention will be described in detail.But these embodiments are simultaneously unlimited
The system present invention, the transformation in structure or function that those skilled in the art are made according to these embodiments include
Within the scope of the present invention.
The present invention provides a kind of intelligent robot systems comprising can voluntarily charge, the intelligence machine for simultaneously operation of walking
People and the charging station to match with the intelligent robot.Specifically, the intelligent robot has fuselage and covers on the machine
Casing with it, the fuselage include the mobile device for walking, the agent set for fulfiling assignment and are used for as institute
It states mobile device and the agent set provides the battery pack of electric energy；The charging station is configured at the operation of the intelligent robot
In region.The intelligent robot can carry out charging at the charging station and await orders, when need to carry out operation, the intelligent robot
The charging station can be sailed out of automatically under the battery pack electric power support and carry out operation, and can also be charged described in auto-returned
It stands.
A specific embodiment of intelligent robot system of the present invention, in this embodiment, intelligence are shown referring to figs. 1 to Figure 24
The intelligent robot of energy robot system 100 is specifically set as intelligent grass-removing, below with reference to the embodiment to technology of the invention
Scheme is illustrated.It will be appreciated, however, that technical solution of the present invention is applicable to all running machines that can voluntarily charge
The charging station of people and its matching.
Specific ginseng Fig. 1, a kind of intelligent robot system 100 provided in this embodiment, including intelligent grass-removing 1 and with intelligence
The charging station 2 that grass trimmer 1 matches.Wherein, intelligent grass-removing 1 includes fuselage 11 and covers at casing 12 outside fuselage 11, machine
Body 11 includes the cutter device (namely agent set) and battery for the mobile device 13 of walking, for completing cutting operation
Packet, the battery pack are located at 11 inside of fuselage and for providing electric energy for mobile device 13 and the cutter device.Charging station 2 is set
It sets at the natural boundary on lawn and at least for charging for the battery pack of intelligent grass-removing 1 comprising be set to not altogether
Three mark posts 3 of three predetermined positions of line.In use, intelligent grass-removing 1 can be automatic under the electric power support of its battery pack
Walking, and be mainly that foundation is positioned, and then is cut to lawn progress mapping, route planning, trimming with three mark posts 3
Grass；When its battery pack not enough power supply, intelligent grass-removing 1 can charge at automatic moving to charging station 2, intelligence after charging complete
Energy grass trimmer 1 can continue to carry out remaining lawn trimming mowing until operation is fully completed, and then intelligent grass-removing 1 can be voluntarily
It returns and awaits orders at charging station 2.Wherein, three mark posts 3 are the main foundation that intelligent grass-removing 1 is positioned, intelligent robot system
System 100 can also add other auxiliary mark posts, such as add mark post in lawn periphery, to cooperate with three mark posts 3 collectively as intelligence
The foundation that energy grass trimmer 1 is positioned.
Join Fig. 1 to Fig. 4, in the present embodiment, charging station 2 includes being fixed on ground and limiting an accumulator plant 200
Main body and be located at the intracorporal cradle 22 of the master.Wherein, the main body specifically includes the pedestal 21 being supported on ground, rain cover
Canopy 231 and opposite two side walls 232, the pedestal 21 are fixed on the ground by screw 29, and rain shade 231, which covers at, to be filled
Electric 22 top of seat, two side walls 232 are connected between rain shade 231 and pedestal 21.When intelligent grass-removing 1 is back to charging
Stand 2 accumulator plant 200 when, rain shade 231 can cover the top of cradle 22 and intelligent grass-removing 1 at least to avoid solarization of drenching with rain
Caused by machine ages or damage；Two side walls 232 can also be that cradle 22 and intelligent grass-removing 1 are becalmed gear from side simultaneously
Rain.
The accumulator plant 200 has the doorway that accumulator plant 200 is passed in and out for intelligent grass-removing 1, and intelligent grass-removing 1 can pass through institute
It states doorway and enters accumulator plant 200 along first direction t.It, will be intelligent clearly to express described position and direction in the application
The direction that grass trimmer 1 enters the first direction t of accumulator plant 200 is defined as " rear ", and intelligent grass-removing 1 is exited accumulator plant 200
The direction of the direction of motion (namely opposite direction of first direction t) is defined as " preceding "；It is perpendicular with front-rear direction and vertical direction
Horizontal direction is defined as left and right directions.
In the present embodiment, three mark posts 3 are placed in respectively at three mark post mounting portions of charging station 2, and described in three
The spacing of mark post mounting portion between any two is adjustable, to meet the needs of precise positioning.
Specifically, join Fig. 2 to Fig. 4, charging station 2 includes positioning auxiliary mechanism 25, and positioning auxiliary mechanism 25 specifically includes branch
Strut 251, support rod fixing seat 252 and the mark post fixing seat 253 being installed on support rod 251.Support rod 251 has opposite
The hub switch side 2511 and free end 2512 of setting, support rod 251 are rotationally connected by hub switch side 2511 around axis 2112 (ginseng Fig. 8)
In in the main body, and in its slewing area, support rod 251 has expanded position and stowed position.
Wherein, join Fig. 2, when support rod 251 is located at the stowed position, support rod 251 passes through support rod fixing seat 252
It is fixedly connected on the body, to reinforce the main body of charging station 2；Join Fig. 3 and Fig. 4, when support rod 251 is located at the exhibition
When open position, mark post 3 can be assigned into vertically at the second mark post mounting portion 2531 of mark post fixing seat 253, so that intelligence be assisted to cut
Careless machine 1 is positioned；When support rod 251 is rotated from the stowed position to the expanded position, the free end of support rod 251
2512 move out far from charging station 2, the second mark post mounting portion 2531 of mark post fixing seat 253 and charging station 2 other two
At least one of horizontal space of mark post mounting portion becomes larger.In this way, assisting intelligent grass-removing 1 to be positioned using mark post 3
When, compared to the prior art, by increasing the horizontal space between at least two mark posts 3, intelligent grass-removing 1 is facilitated to be surveyed
Amount improves the accuracy of measurement, realizes precise positioning；And when assisting intelligent grass-removing 1 to be positioned without mark post 3, branch
Strut 251 can turn to the stowed position and is not take up additional lawn space, avoids interference intelligent grass-removing 1 or pedestrian's row
It walks, while support rod 251 can also consolidate the main body.
In the present embodiment, when support rod 251 is rotated from the stowed position to the expanded position, the second mark post peace
Dress portion 2531 and the horizontal space of other two mark post mounting portion of charging station 2 become larger.
Specifically, in the present embodiment, charging station 2 includes a first mark post mounting portion 24 and a pair of of positioning auxiliary machine
Structure 25.First mark post mounting portion 24 be set on 231 rear of rain shade mounting hole, the mounting hole be adapted with mark post 3 so that
Mark post 3 can be assigned firmly in the mounting hole vertically；Two positioning auxiliary mechanisms 25 are symmetrically disposed on a left side for charging station 2
Right two sides and it is respectively provided with a second mark post mounting portion 2531.That is, three mark post mounting portion difference of charging station 2
For two the second mark post mounting portions 2531 of the first fixed mark post mounting portion 24 of position and position movably.Wherein, it is filled with being located at
For the positioning auxiliary mechanism 25 in 2 left side of power station, when its support rod 251 is rotated from the stowed position to the expanded position
When, another second mark post mounting portion 2531 of the second mark post mounting portion 2531 and the first mark post mounting portion 24,2 right side of charging station
Horizontal space become larger.
In this way, when assisting intelligent grass-removing 1 to be positioned using mark post 3, compared to three mark posts 3 are distinguished referring to Fig. 5
Positioned at M1, M2 ', the prior art at 3 point of M3 ', the present embodiment can make by the way that support rod 251 is turned to the expanded position
Three mark posts 3 are located at 3 point of M1, M2, M3, and intelligent grass-removing 1 at N point measures angle and increases (such as to be become from angle α '
Angle α), the accuracy of measurement is improved, realizes precise positioning；And intelligent grass-removing 1 is being assisted to be positioned without mark post 3
When, support rod 251 can turn to the stowed position and is not take up additional lawn space, avoid interference intelligent grass-removing 1 or
Pedestrian's walking, while support rod 251 can also consolidate the main body.
It should be noted that may also be configured in the embodiment of variation, charging station 2 includes fixed the in two positions
One mark post mounting portion 24 and positioning auxiliary mechanism 25 (namely three mark post mounting portions are respectively fixed two in position
The second mark post mounting portion 2531 of first mark post mounting portion 24 and position movably), alternatively, charging station 2 includes three positioning
Auxiliary body 25 (namely three mark post mounting portions are the second movable mark post mounting portion 2531 of position).These variations are real
Example is applied all without departing from skill objective of the invention.
Further, in the present embodiment, support rod 251 around axis 2112 along direction p in a rotation in surface, which hangs down
Directly in first direction t (i.e. perpendicular to front-rear direction), axis 2112 extends along the longitudinal direction, correspondingly, the support in 2 left side of charging station
Bar 251 rotates to the left perpendicular to first direction t, the support rod 251 on the right side of charging station 2 perpendicular to first direction t to the right
Side rotation.
In the present embodiment, join Fig. 5, when two support rods 251 are located at the respective expanded position, two second marks
The line of bar mounting portion 2531 is perpendicular to first direction t.
Further, in the present embodiment, the hub switch side 2511 of support rod 251 is rotationally connected with the pedestal 21 of main body 20
On, support rod fixing seat 252 is set at 231 lateral edge of rain shade, when support rod 251 is located at the stowed position, support rod
251 are vertically fixedly connected on rain shade 231 by support rod fixing seat 252 and steadily support rain shade 231.When
So, in other embodiments, may also be configured to: the hub switch side 2511 of support rod 251 is rotationally connected with rain shade 231 or side wall
At 232.
Specifically, join Fig. 6 to Fig. 9, support rod fixing seat 252 includes assembled portion 2521 and first support bar department of assembly
2522.Assembled portion 2521 is set as the card slot surrounded by longitudinal section in the component of Contraband shape, assembled portion 2521 and 231 lateral edge of rain shade
It is engaged by clamping.Certain support rod fixing seat 252 can also be enhanced and rain shade 231 by fastening means such as screw, buckle, welding
Connection.First support bar department of assembly 2522 is set as the card slot surrounded by C-shaped member, when support rod 251 is by the expanded position
When rotating to the stowed position, support rod 251 can be coupled to first by the opening 25220 of first support bar department of assembly 2522
Support rod department of assembly 2522.
Further, support rod fixing seat 252 further includes the portion that is limited 2523, has on support rod 251 and is limited portion
2523 compatible limiting sections 2513.Wherein, when support rod 251 is coupled to first support bar department of assembly 2522, it is limited portion
2523 and limiting section 2513 be coupled each other with limit support rod fixing seat 252 along 251 axis vertical of support rod glide.Namely
It says, when support rod 251 is coupled to first support bar department of assembly 2522, is erected if support rod fixing seat 252 has along support rod 251
The movement tendency directly to glide, limiting section 2513 can be applied to a resist force straight up in the portion of being limited 2523, the resist force
It can prevent the movement of support rod fixing seat 252.In this way, support rod 251 can be used when support rod 251 is located at the stowed position
In support rain shade 231, rain shade 231 is stayed caused by avoiding because of heavy snow, heavy rain or other reasons, enhances rain shade the last 231
Degree, and then protect the intelligent grass-removing 1 for charging/awaiting orders in charging station 2.
In the present embodiment, limiting section 2513 is set as the recessed hole in 251 surface of support rod, correspondingly, being limited portion
2523 are set as protruding out the pillar at first support bar department of assembly 2522.Certainly, in other embodiments, the pillar and institute
The position for stating hole is interchangeable.
Further, join Fig. 8 to Figure 11, mark post fixing seat 253 includes the second mark post mounting portion 2531 and second support bar
Department of assembly 2532.Second mark post mounting portion 2531 is set as a cylindricality mounting hole, the cylindricality mounting hole be adapted with mark post 3 so that
Mark post 3 can be assigned into firmly vertically in the cylindricality mounting hole.Second support bar department of assembly 2532 is set as being surrounded by C-shaped member
Card slot, support rod 251 can be coupled to second support bar department of assembly by the opening 25320 of second support bar department of assembly 2532
2532。
Mark post fixing seat 253 further includes being had on support rod 251 compatible with by positioning region 2533 by positioning region 2533
Positioning region 2514.Wherein, when support rod 251 is coupled to second support bar department of assembly 2532 (namely when mark post fixing seat 253 pacify
When being filled on support rod 251), it is coupled each other by positioning region 2533 and positioning region 2514 to limit mark post fixing seat 253 along support
The sliding of bar 251 and limitation mark post fixing seat 253 are rotated around support rod 251.In this way, being not only convenient for filling mark post fixing seat 253
At the determination position on support rod 251, it also can avoid 253 shift in position of mark post fixing seat in use process and cause positioning not
It is quasi-.
In the present embodiment, positioning region 2514 is set as the recessed hole in 251 surface of support rod, correspondingly, by positioning region
2533 are set as convexedly stretching in the pillar at second support bar department of assembly 2532.Certainly, in other embodiments, the pillar and the hole
Position it is interchangeable.
Mark post fixing seat 253 further includes support portion 2535, when support rod 251 is located at the expanded position, support portion
2535 are supported on ground and the horizontal extension in left-right direction of support rod 251.Correspondingly, the axis of the second mark post mounting portion 2531
Line and the central axes of second support bar department of assembly 2532 are mutually perpendicular to.
Further, join Fig. 6 to Figure 11, support rod fixing seat 252 includes clamping portion 2524, and mark post fixing seat 253 includes
It is compatible with clamping portion 2524 by clamping portion 2534.When support rod 251 is located at the stowed position, clamping portion 2524 and by
Clamping portion 2534 can be engaged by clamping, and be connected to mark post fixing seat 253 in support rod fixing seat 252, and pass through clamping portion
2524 pairs support effect by clamping portion 2534, and the opposite support rod fixing seat 252 of mark post fixing seat 253 can be prevented to charging station 2
Movement outside；Meanwhile in mark post fixing seat 253 second support bar department of assembly 2532 opening 25320 Yu support rod fixing seat
The opening 25220 of first support bar department of assembly 2522 is staggered on 252.In this way, if support rod 251 have around axis 2112 rotate with
When flared trend, support rod 251 is other than being supported bar fixing seat 252 and limiting, also simultaneously by mark post fixing seat 253
Limitation so that support rod 251 is stably maintained at the stowed position, thus avoid support rod 251 it is unexpected fall down (example
Support rod 251 is detached from support rod fixing seat 252 caused by such as avoiding support rod 251 from pushing because of rain shade 231), 2 knot of boost charge station
Structure intensity.
In the present embodiment, when support rod 251 is located at the stowed position, second support bar in mark post fixing seat 253
The opening 25320 of department of assembly 2532 and the opening 25220 of first support bar department of assembly 2522 in support rod fixing seat 252 are perpendicular
Staggeredly, the opening 25320 of second support bar department of assembly 2532 is towards front, the opening 25220 of first support bar department of assembly 2522
Towards 2 outside (left/right side) of charging station.
In the present embodiment, clamping portion 2524 and pillar is set as by one of clamping portion 2534, the two is wherein another
It is set as through-hole, clamping portion 2524 and mating along the vertical direction by clamping portion 2534.
Further, join Figure 12, the pedestal 21 of charging station 2 includes two guide rails being fixed on recessedly downwards on ground
211, two guide rails 211 are corresponding with the left and right sides mobile device 13 of intelligent grass-removing 1 respectively.Guide rail 211 is set as by going to
The interior receipts type structure that width W becomes narrow gradually afterwards, for guiding intelligent grass-removing 1 to can smoothly enter into accumulator plant 200 simultaneously along first direction t
Accurately docked with cradle 22.In addition, the front end of guide rail 211 is set as the shelving knot being highly gradually increased from front to back
Structure can also prevent rainwater from flowing backward into accumulator plant 200 in order to which intelligent grass-removing 1 can swimmingly enter in accumulator plant 200.
Further, the rear portion of cradle 22 is installed in the main body 20 or ground or building of charging station 2 with being supported,
The front of cradle 22 protrudes out forward and for being coupled with intelligent grass-removing 1.For the charging effect for guaranteeing intelligent grass-removing 1
Fruit, the present invention also improve the charging matched joining mechanism between cradle 22 and intelligent grass-removing 1, and with reference to the accompanying drawing 13
~Figure 18 is illustrated.
In conjunction with Fig. 1, join Figure 13~18, intelligent grass-removing 1 by head fill from the front to the back backwards, in a manner of tail first by entrance
In electric room 200.In the present embodiment, the first locking portion 14, intelligence are provided at the 11 lower head position of fuselage of intelligent grass-removing 1
Energy grass trimmer 1 includes a pair of of electrical terminals 141 at the first locking portion 14；Cradle 22 includes being fixedly connected on the master
Cradle ontology 224 on body, positioned at 224 front end of cradle ontology the second locking portion 225 and be set to the second locking portion 225
A pair of of power distribution terminal 221 at place.Wherein, a pair of of electrical terminals 141 namely one corresponding with a pair of of power distribution terminal 221 respectively
Electrical terminals 141 correspond to one power distribution terminal 221, and another electrical terminals 141 correspond to another power distribution terminal 221.
When intelligent grass-removing 1 needs to charge, intelligent grass-removing 1 enters in accumulator plant 200 from front to back along guide rail 211,
Intelligent grass-removing 1 is moved from the front to the back with respect to cradle 22 until the first locking portion 14 and the second locking portion 225 are mating, this
When a pair of electrical terminals 141 respectively with the electrical connection of corresponding 221 contact of power distribution terminal (namely one electrical terminals 141 with
The electrical connection of 221 contact of one power distribution terminal, another electrical terminals 141 are electrically connected with another 221 contact of power distribution terminal), into
And cradle 22 is charged to the battery pack of intelligent grass-removing 1.
Wherein, in the present embodiment, the first locking portion 14 is the charge port of the recessed formation on fuselage 11, the charge port
Cephalad direction towards intelligent grass-removing 1 is open, compatible, and the second locking portion 225 is to be formed in cradle with protruding out forward
224 front end of ontology protrudes out structure, described to protrude out with the movement of intelligent grass-removing 1 when intelligent grass-removing 1 needs to charge
Structure can be inserted in from the front to the back in the charge port relatively.Certainly, in other embodiments, first locking portion and institute
The position for stating the second locking portion is interchangeable.
Further, when electrical terminals 141 are electrically connected with corresponding 221 contact of power distribution terminal, electrical terminals 141
It is distributed with power distribution terminal 221 in right-angled intersection.The layout structure of right-angled intersection in this way makes intelligent grass-removing 1 and 22 phase of cradle
Biggish position error is allowed for when to movement to be coupled, avoids poor contact caused by position error, is guaranteed
Charging effect.
Further, the charge port has multiple non-co-planar side walls, and multiple non-co-planar side wall crosses described fill jointly
Power port, a pair of of electrical terminals 141 are respectively arranged on two in multiple side walls namely an electrical terminals 141 are arranged
In on one of multiple described side walls, another electrical terminals 141 is set in another of multiple side walls.Phase
Corresponding, the structure that protrudes out is with corresponding multiple non-co-planar at least partly the multiple side wall of the first locking portion 14
Side surface, a pair of of power distribution terminal 221 is respectively arranged on two in multiple side surfaces namely a power distribution terminal 221
It is set on one of multiple described side surfaces, in addition another power distribution terminal 221 is set to multiple side surfaces
On one.In this way, by the way that a pair of of electrical terminals 141 are arranged on the different side walls, correspondingly, a pair of of power distribution terminal
221 are arranged on the different side surfaces, short circuit caused by can avoid because of ponding, and then guarantee going on smoothly for charging.
Wherein, in the present embodiment, the number of the side wall of the charge port is set as five, specifically includes right side wall
1401, left side wall 1402, the side wall 1403 being formed in above the charge port, the downside wall that is formed in below the charge port
1404 and it is formed in the inner sidewall of the charge port depths.A pair of of electrical terminals 141 are respectively arranged at right side wall 1401, left side
On wall 1402.In this way, significantly increasing reduces the probability for causing short circuit because of ponding.Specifically, 1401 He of right side wall
A pair of of installing port 142 is provided on left side wall 1402, electrical terminals 141 include for connecing with what power distribution terminal 221 was in contact
Contact portion 1411 and grab 1412 positioned at 1411 both ends of contact portion, electrical terminals 141 are installed by grab 1412 to installing port
At 142, and contact portion 1411 is exposed and for being in contact with power distribution terminal 221.
Corresponding, the structure setting that protrudes out is to be adapted with the charging mouth-shaped, and the side surface is specifically wrapped
Left-hand face 2204, right lateral surface 2205 are included, is formed in and described protruded out the top surface 2201 of superstructure and be formed in institute
State the front side surface 2203 protruded out in front of structure.A pair of of power distribution terminal 221 is respectively arranged at left-hand face 2204, right lateral surface
On 2205.In this way, significantly increasing reduces the probability for causing short circuit because of ponding.
Further, the charge port defines depth direction, the depth direction namely from edge outside the charge port
The charge port extends to the direction of inner sidewall described in the charge port depths, in the present embodiment, when the charge port and institute
State protrude out structure it is mating when, charge port depth from the front to the back, that is to say, that the depth direction namely described first
The opposite direction of direction t.It is corresponding, it is described to protrude out structure qualification and have an extending direction, it the extending direction namely is protruded out from described
Structure rear end extends to the direction of front side surface 2203, and in the present embodiment, the structure that protrudes out extends from the front to the back, that is,
It says, the opposite direction of the extending direction namely the first direction t.
Electrical terminals 141 are set as strip conductive sheet, and electrical terminals 141 extend along the depth direction；Power distribution terminal
221 are also configured as strip conductive sheet, correspondingly, power distribution terminal 221 is along the second direction cloth perpendicular with the extending direction
If.When power distribution terminal 221 is in contact with electrical terminals 141, in power connection end on the depth direction (or described extending direction)
The both ends of son 141 protrude out power distribution terminal 221；And the both ends of power distribution terminal 221 protrude out power connection end in this second direction
Son 141.In this way, by way of being interference fitted each other, so that even if still may be used both in the case where positioning there are large error
Well to contact, to avoid poor contact caused by position error, guarantee charging effect.
Further, the opening area of the charge port is gradually reduced along the depth direction, is set as external opening
Area is larger, and ecto-entad opening area is gradually reduced；Corresponding, the structure that protrudes out mutually is fitted with the charging mouth-shaped
Match, the structure setting that protrudes out is that the narrower rear end in front end is more roomy.In this way, on the one hand protruding out structure relatively easily convenient for described
Into in the charge port, and on the other hand, the charge port from the front to the back relatively it is described protrude out structure motion during,
Position, which is abutted each other, convenient for guidance gradually tends to be accurate.
Wherein, the side wall 1403 of the charge port is arranged in parallel to the water of the front-rear direction and the left and right directions
Plane.Corresponding, the top surface 2201 for protruding out structure is also configured as being parallel to the front-rear direction and the left and right
The horizontal plane in direction, cradle ontology 224 include be connected to 2201 rear end of top surface and extend up to rearwardly and upwardly with it is described
The inclined surface 2241 that main body is connected.
In terms of the charge port, right side wall 1401, left side wall 1402 are approached along the depth direction toward each other respectively,
Horizontal space i.e. between right side wall 1401 and left side wall 1402 is gradually reduced along the depth direction；Right side wall 1401, left side
Wall 1402 respectively from up to down away from each other in splayed lay namely right side wall 1401 by it is upper to the right inclination extend,
Left side wall 1402 is extended by upper inclined downward to the left simultaneously.It is described to protrude out configuration aspects, left-hand face 2204, right lateral surface 2205
Respectively along it is described protrude out direction approach toward each other namely horizontal space between left-hand face 2204 and right lateral surface 2205 by
It is gradually reduced before backward；Left-hand face 2204, right lateral surface 2205 are distinguished from up to down away from each other to lay in splayed,
I.e. right lateral surface 2205 extends from upper inclination to the right, while left-hand face 2204 extends from upper inclined downward to the left.Right side
Wall 1401 and left side wall 1402, which are obliquely installed, to be facilitated when electrical terminals 141 are docked with power distribution terminal 221, electrical terminals 141
It can more fully be bonded and contact with power distribution terminal 221 under the influence of gravity.
The downside wall 1404 of the charge port is set as tilting the plane of extension upwards along the depth direction, in this way, bottom
Side wall 1404 tilts down extension from inside to outside, even if surprisingly intaking in the charge port, water can also be suitable from downside wall 1404
The case where benefit flows out outside the charge port, avoids ponding in the charge port.It is in the present embodiment, described that protrude out structure not set
Side surface corresponding with the downside wall 1404 of the charge port can guarantee the water inlet in the charge port along the charging in this way
The resistance that the downside wall 1404 of mouth flows out is smaller.
Further, cradle 22 further includes elastic component 223, and elastic component 223, which is set to, described protrudes out structure and distribution end
Between son 221, also, when power distribution terminal 221 is electrically connected with 141 contact of electrical terminals, elastic component 223 has elastic deformation
And elastic component 223 is applied to a driving force on power distribution terminal 221 under the effect of natural resiliency restoring force, the driving force makes distribution
Terminal 221 has the trend for further compressing electrical terminals 141.In the present embodiment, elastic component 223 is to be set to described protrude out
Pressure spring between inside configuration guide holder 2251 and power distribution terminal 221, when power distribution terminal 221 is in contact with electrical terminals 141,
Elastic component 223 has compression-type elastic deformation.Certainly, in the embodiment of variation, elastic component 223 may also be configured to tension spring or torsion
Spring etc..
Further, cradle 22 further includes a pair of of cleaning device 222, a pair of of cleaning device 222 respectively with a pair of of electrical terminals
141 is corresponding namely a cleaning device 222 is corresponding with an electrical terminals 141, another cleaning device 222 connects with another
Electric terminal 141 is corresponding.A pair of of cleaning device 222 is respectively arranged at left-hand face 2204, in right lateral surface 2205 and is located at a pair
221 front of power distribution terminal.It is described protrude out structure and the charge port it is mating during, cleaning device 222 is located at power connection end
On the motion path of son 141, electrical terminals 141 are contacted with cleaning device 222 first so that cleaning device 222 removes electrical terminals
Such as grass cuttings or dust impurity on 141 surfaces, then electrical terminals 141 contact with each other and establish with power distribution terminal 221 again and are electrically connected
It connects.In this way, the impurity on 141 surface of electrical terminals is cleared up by cleaning device 222, avoid electrical terminals 141 by dust or
The contact of electrical terminals 141 with power distribution terminal 221 is covered and influenced to grass cuttings, guarantees charging effect.
In the present embodiment, cleaning device 222 is set as thickening felt, and described protrude out in structure is arranged in protruding outward
And it is located at the front of power distribution terminal 221.In this second direction, the both ends of cleaning device 222 protrude out electrical terminals 141, this
Sample, it is ensured that cleaning device 22 can 141 surface of contact electrical terminals as much as possible, to guarantee cleaning effect.
In addition, between the maximum spacing of cleaning device 222 a pair of of on left and right directions is not less than the maximum of a pair of of electrical terminals 141
Away from, wherein outside 222 outer end face of cleaning device to the cleaning device 222 being located at right lateral surface 2205 at left-hand face 2204
The spacing of end face limits the maximum spacing for cleaning device 222 a pair of of on left and right directions, the power connection end at left side wall 1402
The spacing on sub 141 heads to 141 head of electrical terminals being located at right side wall 1401 is limited for a docking electricity on left and right directions
The maximum spacing of terminal 141.In this way, 141 whole surface of electrical terminals can be touched by cleaning device 222, guarantee cleaning effect.
Further, in 1 operation process of intelligent grass-removing would generally on lawn barrier (such as trees, Landscape stone,
Hedge, flower bed etc.) collide, or charging when intelligent grass-removing 1 with collide in 22 docking operation of cradle, casing
12 are also used to carry above-mentioned external collision is shielded with the fuselage 11 to its inside.In the present embodiment, intelligent grass-removing 1
Casing 12 and fuselage 11 between be flexibly connected, when casing 12 collides barrier or collides intelligent grass-removing 1 in walking
When cradle, movement of the casing 12 relative to fuselage 11 can be sensed by the sensor of intelligent grass-removing 1, determined whether
It collides and judges collision from which direction, in order to which intelligent grass-removing 1 takes adjustment route or shutdown etc. to have in time
Effect measure.The charge port of existing robot is generally disposed at the position on the lower side of its head, be will form one on casing and is located at
Thin muscle below charge port, the thin muscle can be collided with barrier or cradle in order to robot detect in time from
The collision of charge port lower position cannot be cancelled based on this thin muscle.However the intensity of the thin muscle is inadequate, is easily colliding
It is middle to be broken, cause barrier or cradle below charge port to pass through casing and directly collides with fuselage, and into
Cause to one step robot that can not detect the generation of the collision.
Wherein, the impact detection device concretely range sensor, displacement sensor, pressure sensor, acceleration
The sensing devices such as sensor.In the present embodiment, casing 12 is actively covered on fuselage 11 by flexible connecting member, the collision
Detection device is to be set to the distance between fuselage 11 and casing 12 sensor, when casing 12 affords external collision, casing
12 can move with respect to fuselage 11, and the impact detection device is used to monitor movement of the casing 12 with respect to fuselage 11 to identify that external force is touched
The orientation hit.
Further, join Figure 19, in the present embodiment, casing 12 has passway corresponding with the charge port position
15.When intelligent grass-removing 1 needs to charge, intelligent grass-removing 1 enters in accumulator plant 200 from front to back along guide rail 211, cradle
22 structure that protrudes out can be coupled in the charge port of fuselage 11 behind the passway 15 on casing 12.Referring to figure
19 to Figure 24, to avoid the casing structure of 15 lower section of passway fracture damage present invention when by external collision from also further changing
Into the structure of casing 12.
Join Figure 16 and Figure 19, casing 12 includes baffle 121 and assembly and connection positioned at head in the reinforcer on baffle 121
122.Baffle 121 is set as through integrally formed mechanism members of processing methods such as injection moldings；Reinforcer 122 is set as adding by metal plate
The integrally formed mechanism member of work mode, Material Strength are greater than the Material Strength of baffle 121.Baffle 121 and reinforcer 122 are common
It crosses passway 15 and reinforcer 122 is located at 15 lower section of passway.In this way, making the external collision (example below passway 15
Such as from barrier or cradle 22) it betides on reinforcer 122, the structural strength based on reinforcer 122 is larger, to mention
The jolt capacity of shouldering for rising casing 12, reduces the probability damaged at 12 passway of casing, 15 lower section by external collision, ensure that intelligence
Can grass trimmer 1 can at-once monitor to collision and for collision take the measure of successfully managing, avoid the directly receiving of fuselage 11 from hitting
It hits and occurs seriously to damage.
Wherein, when external collision betides on reinforcer 122, reinforcer 122 drives casing 12 to move with respect to fuselage 11,
In turn, the impact detection device identifies the orientation of collision by monitoring casing 12 with respect to the movement of fuselage 11.
In the present embodiment, reinforcer 122 is exposed to the outside of casing 12 namely reinforcer 122 limits casing 12
The partial outer face in portion, when external collision occurring below passway 15, reinforcer 122 is contacted with barrier or cradle 22
Directly contact.Join Figure 20, the lower edge 1214 of baffle 121 has the groove-like relief portion 1210 that recess is formed upwards；Reinforcer
122 assembly and connections are in 1210 lower section of relief portion of baffle 121, so that relief portion 1210 constitutes passway 15.
Further, in the present embodiment, also there are the lower edge 1214 of baffle 121 two of recess formation upwards to be equipped with
Portion 1213, two equipped portions 1213 are symmetrically laid in 1210 two sides of relief portion, and two equipped portions 1213 and relief portion 1210
It is connected and forms step-like structure.Reinforcer 122 is set as long and narrow part, and reinforcer 122 is across relief portion 1210 and passes through it
Two ends and baffle 121 carry out assembly and connection, and specifically, two ends of reinforcer 122 are equipped at two respectively
Assembly and connection is realized with baffle 121 at portion 1213.
Preferably, when reinforcer 122 is assembled on baffle 121, the lower end surface of reinforcer 122 is following with baffle 121
1214 seam crossing height of edge without drop is docked.In this way, can not only increase the structural strength of casing 12 and casing 12 is avoided to damage
The failure of caused collision detection mechanism, but also can lifting shell 12 aesthetics.
Further, join Figure 20 to Figure 24, reinforcer 122 includes ontology 1220, the first clamping part 1224 and is formed in
The first plug division 1226 on ontology 1220.Wherein, ontology 1220 is set as longitudinal section and is in U-shape body, and ontology 1220 includes constituting
The connecting plate 1222 of 12 outer surface of fuselage, from the top edge of connecting plate 1222 rearwardly horizontal-extending upper head plate 1221 and from
Rearwardly horizontal-extending bottom plate 1223, upper head plate 1221 and bottom plate 1223 are generally parallel for the lower edge of connecting plate 1222
And generally it is each perpendicular to connecting plate 1222.First plug division 1226 is formed on upper head plate 1221.First clamping part 1224
It is connected to the edge of upper head plate 1221 and upward convex protrudes into 121 back side of baffle.
Corresponding, baffle 121 includes protruding out second clamping part 1211 at its back side and being formed in equipped portion 1213
Second plug division 1212 of edge.
Wherein, one of the first clamping part 1224 and the second clamping part 1211 are set as linking up with, wherein another setting
For the hanging buckle with through-hole, when the first clamping part 1224 and the mating of the second clamping part 1211, above-mentioned hook may pass through above-mentioned logical
Hole is coupled with above-mentioned hanging buckle and limits each other, so that limiting reinforcer 122 is detached from downwards baffle 122.In the present embodiment, first
Clamping part 1224 is set as the hanging buckle with through-hole 1225, the plate body to upwardly extend perpendicular to upper head plate 1221 and with this
Body 1220 is integrally formed；Correspondingly, the second clamping part 1211 is set as the hook extended away from 121 back surface of baffle.
One of first plug division 1226 and the second plug division 1212 are set as pillar, wherein another be set as hole,
The two is mating along the direction perpendicular with front-rear direction, is swayed forwards and backwards with limiting 122 opposing flaps 122 of reinforcer.At this
In embodiment, the first plug division 1226 is disposed through the through-hole of 1221 upper and lower surface of upper head plate, the setting of the second plug division 1212
For the pillar protruded out straight down, the first plug division 1226 and the second plug division 1212 are mating along the vertical direction.
Further, join Figure 23, the front surface 12121 and back surface that there is front and back to be oppositely arranged for the second plug division 1212
12122 and the lower end surface 12123 that is connected between front surface 12121 and back surface 12122.Wherein, front surface 12121 and back
Surface 12122 is set as plane, and lower end surface 12123 is set as convex surface, consequently facilitating the assembling of reinforcer 122 and baffle 121,
And also ensure the positional stability after reinforcer 122 and baffle 121 assemble.Preferably, lower end surface 12123 includes being connected to
The first part a1 of the front surface 12121 and second part a2 for being connected to rear surface 12122, the curvature of first part a1 are greater than
The curvature of second part a2.In this way, can further assemble and maintain package assembly stability.
In the present embodiment, the assembling process of reinforcer 122 and baffle 121 is as follows: firstly, ginseng Figure 23, by the of baffle 121
Two clamping parts 1211 pass through 1225 hanging buckle of through-hole and are coupled on the first clamping part 1224 of reinforcer 122, to make reinforcer 122
Hang on 121 lower section of baffle；Then, join Figure 24, reinforcer 122 is rotated to front, makes the second plug division 1212 of baffle 121
Along the vertical direction in mating the first plug division 1226 to reinforcer 122, to can not shake ground before and after making reinforcer 122
It is assembled on baffle 121, completes assembling.
By above description it can be found that the beneficial effects of the present invention are embodied in following aspect:
(1) mark post is increased when intelligent grass-removing 1 is positioned using mark post 3 by the way that positioning auxiliary mechanism 25 is arranged
3 horizontal space makes to measure angle increase, improves the accuracy of measurement, realize precise positioning, on the one hand can promote intelligent mowing
The operation effectiveness of machine 1 also can avoid bad or casing damage caused by position error of charging；
(2) when assisting intelligent grass-removing 1 to be positioned without mark post 3, support rod 251 can turn to the stowed position
And it is not take up additional lawn space, interference intelligent grass-removing 1 or pedestrian's walking are avoided, while support rod 251 can also be used to prop up
Support rain shade 231, the structural strength at intensified charging station 2；
(3) by the fit structure between setting mark post fixing seat 253 and support rod fixing seat 252, support rod 251 can be same
When be supported bar fixing seat 252 and mark post fixing seat 253 is fixed so that support rod 251 be stably maintained at it is described
At stowed position, 2 main body intensity of charging station is further strengthened；
(4) by the way that guide rail 211 is arranged on pedestal 21, for guiding intelligent grass-removing 1 to can smoothly enter into accumulator plant 200 and standard
It really is docked with cradle 22, and then guarantees charging effect；
(5) power distribution terminal 221 and electrical terminals 141 is made to make intelligent grass-removing 1 using the layout structure of right-angled intersection and fill
Electric seat 22 allows for biggish position error when being coupled, and avoids poor contact caused by position error, guarantees to fill
Electric effect；
(6) by a pair of of electrical terminals 141 to be arranged in the right side wall 1401 of the charge port, on left side wall 1402, phase
It answers, the left-hand face 2204 of the cradle is arranged in, in right lateral surface 2205 in a pair of of power distribution terminal 221, can avoid because of product
Short circuit caused by water, and then guarantee going on smoothly for charging；
(7) impurity on 141 surface of electrical terminals is cleared up by cleaning device 222, avoids electrical terminals 141 by dust
Or the contact of electrical terminals 141 with power distribution terminal 221 is covered and influenced to grass cuttings, guarantees charging effect；
(8) thin muscle in the prior art is substituted using reinforcer 122, so that the external collision (example below passway 15
Such as from barrier or cradle 22) it betides on reinforcer 122, the structural strength based on reinforcer 122 is larger, to mention
The jolt capacity of shouldering for rising casing 12, reduces the probability damaged at 12 passway of casing, 15 lower section by external collision, avoids fuselage
11 directly bear to hit and serious damage occurs, ensure that intelligent grass-removing 1 can at-once monitor to collision and for colliding
Take the measure of successfully managing.
It should be appreciated that although this specification is described in terms of embodiments, but not each embodiment only includes one
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solution in each embodiment may also be suitably combined to form those skilled in the art can for bright book
With the other embodiments of understanding.
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically
Protection scope bright, that they are not intended to limit the invention, it is all without departing from equivalent implementations made by technical spirit of the present invention
Or change should all be included in the protection scope of the present invention.
Claims (17)
1. a kind of intelligent robot system, the intelligent robot system includes intelligent robot and cradle, the intelligent machine
Device people includes battery pack, the first locking portion with multiple non-co-planar side walls and the docking at first locking portion
Electric terminal, the cradle include the second locking portion and a pair of of power distribution terminal at second locking portion, the intelligence
Can robot can cradle movement relatively until first locking portion and second locking portion are mating, and one
The electrical terminals are electrically connected with the corresponding power distribution terminal contact so that the cradle fills the battery pack respectively
Electricity, which is characterized in that a pair of electrical terminals are respectively arranged on two in multiple side walls, and work as the power connection end
Sub when be electrically connected with the corresponding power distribution terminal contact, the electrical terminals and the corresponding power distribution terminal divide in right-angled intersection
Cloth.
2. intelligent robot system according to claim 1, which is characterized in that the cradle further include with described in a pair
Corresponding a pair of of the cleaning device of electrical terminals difference, it is described protrude out structure and the mating charge port during, institute
Cleaning device is stated to be located on the motion path of the corresponding electrical terminals, the electrical terminals first contacted with the cleaning device after again with
The power distribution terminal contact.
3. intelligent robot system according to claim 2, which is characterized in that the structure that protrudes out is inserted with the charge port
During connecing cooperation, the both ends of the cleaning device protrude out the electrical terminals in this second direction.
4. intelligent robot system according to claim 2, which is characterized in that the cleaning device is set to protruding outward
It is described to protrude out in structure, it is not less than a pair of electrical terminals most in the maximum spacing of the cleaning device a pair of on left and right directions
Big spacing.
5. intelligent robot system according to claim 1, which is characterized in that the left side wall and right side wall difference
It is approached toward each other along the depth direction, the left side wall and the right side wall are respectively from up to down away from each other to be in eight words
Shape is laid.
6. intelligent robot system according to claim 5, first locking portion is the charge port of recessed formation, described
Second locking portion is the structure that protrudes out that can be inserted in from the front to the back in the charge port, and multiple side walls include left side wall and the right side
Side wall, which is characterized in that a pair of electrical terminals are respectively arranged at the left side wall, on the right side wall.
7. intelligent robot system according to claim 6, which is characterized in that the opening area of the charge port is described in
The depth direction of charge port is gradually reduced, and the structure that protrudes out is adapted with the charging mouth-shaped.
8. intelligent robot system according to claim 7, multiple side walls further include being formed in the charge port
The side wall of side and the downside wall being formed in below the charge port, which is characterized in that on the depth direction, the top
Sidewall horizontal extends, and the downside wall tilts extension upwards.
9. intelligent robot system according to claim 6, which is characterized in that the electrical terminals are set as filling along described
The strip conductive sheet that the depth direction of power port extends, the power distribution terminal are set as edge and the extending direction for protruding out structure
The strip conductive sheet that perpendicular second direction extends；When the electrical terminals and the corresponding power distribution terminal contact are electrically connected
When connecing, the both ends of the electrical terminals protrude out the power distribution terminal on the depth direction, in this second direction institute
The both ends for stating power distribution terminal protrude out the electrical terminals.
10. described in any item intelligent robot systems according to claim 1~9, which is characterized in that the intelligent robot is set
It is set to the intelligent grass-removing that voluntarily can be charged and walk.
11. a kind of intelligent robot system, the intelligent robot system includes intelligent robot and cradle, the intelligent machine
Device people includes battery pack, the first locking portion and a pair of of electrical terminals at first locking portion, the cradle packet
The second locking portion with multiple non-co-planar side surfaces and a pair of of power distribution terminal at second locking portion are included, it is described
Intelligent robot can cradle movement relatively until first locking portion and second locking portion are mating, and
A pair of electrical terminals are electrically connected with the corresponding power distribution terminal contact so that the cradle is to the battery pack respectively
Charging, which is characterized in that a pair of power distribution terminal is respectively arranged on two in multiple side surfaces, and is connect when described
When electric terminal is electrically connected with the corresponding power distribution terminal contact, the electrical terminals and the corresponding power distribution terminal are handed in cross
Fork distribution.
12. intelligent robot system according to claim 11, first locking portion is the charge port of recessed formation, institute
Stating the second locking portion is the structure that protrudes out that can be inserted in from the front to the back in the charge port, and multiple side surfaces include left side table
Face and right lateral surface, which is characterized in that a pair of power distribution terminal is respectively arranged at the left-hand face, the right lateral surface
On.
13. intelligent robot system according to claim 12, which is characterized in that the left-hand face and the right side table
Face is approached along the direction that protrudes out for protruding out structure toward each other respectively, and the left-hand face and the right lateral surface are respectively from upper
Downwards away from each other to be laid in splayed.
14. intelligent robot system according to claim 12, which is characterized in that the structure that protrudes out extends from the front to the back
Ground is set to the cradle front, and multiple side surfaces further include being formed in the top surface for protruding out superstructure,
The top surface extends horizontally, and the cradle further includes being connected to the top surface rear end and extending rearwardly and upwardly
Inclined surface.
15. intelligent robot system according to claim 12, which is characterized in that the cradle further includes and a pair of of institute
Corresponding a pair of of the cleaning device of electrical terminals is stated, a pair of cleaning device is respectively arranged at the left-hand face, the right side table
On face and it is located in front of a pair of power distribution terminal；It is described protrude out structure and the charge port it is mating during, institute
Cleaning device is stated to be located on the motion path of the corresponding electrical terminals, the electrical terminals first contacted with the cleaning device after again with
The power distribution terminal contact.
16. intelligent robot system according to claim 11, which is characterized in that the cradle further includes elastic component,
The elastic component is set between second locking portion and the power distribution terminal；When the power distribution terminal and the electrical terminals
When being in contact, the elastic component has elastic deformation and the elastic component is applied to described match under natural resiliency restoring force effect
A driving force on electric terminal, the driving force make the power distribution terminal have the trend for further compressing the electrical terminals.
17. 1~16 described in any item intelligent robot systems according to claim 1, which is characterized in that the intelligent robot
It is set as the intelligent grass-removing that voluntarily can be charged and walk.
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| CN201810870975.8A CN108990508A (en) | 2018-08-02 | 2018-08-02 | Intelligent robot system |
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| CN201810870975.8A CN108990508A (en) | 2018-08-02 | 2018-08-02 | Intelligent robot system |
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| WO2023173256A1 (en) * | 2022-03-14 | 2023-09-21 | 深圳市大疆创新科技有限公司 | Movable platform system, movable platform, base station and charging method |
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