CN208708140U

CN208708140U - The intelligent robot that voluntarily can be charged and walk

Info

Publication number: CN208708140U
Application number: CN201821241953.7U
Authority: CN
Inventors: 孔钊; 韩奎
Original assignee: Suzhou Cleva Precision Machinery and Technology Co Ltd
Current assignee: Suzhou Cleva Precision Machinery and Technology Co Ltd
Priority date: 2018-08-02
Filing date: 2018-08-02
Publication date: 2019-04-09
Anticipated expiration: 2028-08-02

Abstract

The utility model provides a kind of intelligent robot that voluntarily can be charged and walk, the intelligent robot includes fuselage, casing and impact detection device, the impact detection device is used to monitor the external collision betided on the casing and identifies the orientation of the collision, the fuselage includes battery pack and charge port, the casing has passway corresponding with the charge port position, when the intelligent robot is charged, the cradle of charging station passes through the passway in the access charge port, the casing includes baffle and assembly and connection in the reinforcer on the baffle, the Material Strength of the reinforcer is greater than the Material Strength of the baffle, the baffle and the reinforcer cross the passway jointly, and the reinforcer is located at below the passway so that the external collision at below the passway occurs In on the reinforcer.Existing thin muscle is substituted using reinforcer, enhances the structural strength of casing, ensure that collision detection validity.

Description

The intelligent robot that voluntarily can be charged and walk

Technical field

The utility model relates to intelligent robot technology field, especially a kind of intelligence machine that voluntarily can be charged and walk People.

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 intelligent robot and the charging station to match with robot progress It improves.

Summary of the invention

The purpose of this utility model is to provide the intelligent robots that one kind voluntarily can charge and walk, at least to solve intelligence The problem of thin muscle of casing near energy robot charge port is easily broken off.

To realize that above-mentioned purpose of utility model, an embodiment of the present invention provide what one kind voluntarily can charge and walk Intelligent robot, the intelligent robot includes fuselage, covers in casing and impact detection device outside the fuselage, described to touch It hits detection device to be used to monitor the external collision betided on the casing and identify the orientation of the collision, the fuselage includes Battery pack and charge port, the casing have passway corresponding with the charge port position, when the intelligent robot into When row charging, the cradle of charging station passes through the passway with accessing in the charge port, and the casing includes baffle and group Load is connected to the reinforcer on the baffle, and the Material Strength of the reinforcer is greater than the Material Strength of the baffle, the gear Plate and the reinforcer cross the passway jointly, and the reinforcer is located at below the passway so that the passway External collision at lower section betides on the reinforcer.

As the further improvement of an embodiment of the present invention, the reinforcer be by panel beating mode one at The mechanism member of type.

As the further improvement of an embodiment of the present invention, the casing is actively covered on outside the fuselage, when outer When power collision is betided on the reinforcer, the reinforcer drives the relatively described fuselage movement of the casing, and the collision is visited Device is surveyed by monitoring the relative motion to identify the orientation of collision.

As the further improvement of an embodiment of the present invention, the lower edge of the baffle has recess formation upwards Relief portion, the reinforcer assembly and connection is below the relief portion, so that the relief portion constitutes the passway.

As the further improvement of an embodiment of the present invention, the reinforcer is set as long and narrow part, when the reinforcement When part is assembled on the baffle, the lower edge seam crossing height of the lower end surface of the reinforcer and the baffle is without drop pair It connects.

As the further improvement of an embodiment of the present invention, the reinforcer includes ontology and is connected to described The first clamping part on body, the baffle include the second clamping part for protruding out its back side, first clamping part and described One of two clamping parts are set as linking up with, and first clamping part and the wherein another of second clamping part are set as having There is the hanging buckle of first through hole；The hook may pass through the first through hole and hanging buckle mating is downward to limit the reinforcer It is detached from the baffle.

As the further improvement of an embodiment of the present invention, the longitudinal section of the ontology is in U-shape, and the ontology includes Connecting plate, the upper head plate for being connected to the connecting plate top edge and the bottom plate for being connected to the connecting plate lower edge；It is described Hanging buckle be set perpendicularly to the plate body that the upper head plate upwardly extends and with described body by integral forming.

As the further improvement of an embodiment of the present invention, the reinforcer further includes being formed on the ontology First plug division, the baffle include the second plug division, first plug division and second plug division can along with front and back It is swayed forwards and backwards to perpendicular direction is mating with limiting the relatively described baffle of the reinforcer.

As the further improvement of an embodiment of the present invention, first plug division is disposed through the upper head plate Second through-hole of upper and lower surface, second plug division are set as the pillar protruded out straight down, and the pillar can be along vertical side Into second through-hole.

As the further improvement of an embodiment of the present invention, the pillar have the front surface that is oppositely arranged of front and back and Back surface and the lower end surface being connected between the front surface and the back surface, the lower end surface have first part and the Two parts, the first part are connected to the front surface, and the second part is connected to the back surface, and the lower end surface is set The curvature for being set to convex surface and the first part is greater than the curvature of the second part.

It is described to add when the hook is coupled to the hanging buckle as the further improvement of an embodiment of the present invention Strong part can the relatively described flapper so that first plug division is coupled with second plug division.

As the further improvement of an embodiment of the present invention, the intelligent robot is set as intelligent grass-removing.

The beneficial effects of the utility model are embodied in: (being corresponded to casing passway in the prior art using reinforcer substitution Charge port) below thin muscle, make the external collision (such as from barrier or cradle) located below passway generation In the structural strength on reinforcer, enhancing casing, lifting shell shoulders jolt capacity, avoids at below casing passway because of external force Collision and damage, and then ensure that robot can at-once monitor to colliding and for collision take the measure of successfully managing.

Detailed description of the invention

Fig. 1 is the stereoscopic schematic diagram of the intelligent robot system of an embodiment of the present invention；

Fig. 2 is the three-dimensional signal of the charging station (omitting main body wall and mark post fixing seat) of an embodiment of the present invention Figure, is located at stowed position wherein illustrating support rod；

Fig. 3 is the stereoscopic schematic diagram of the charging station (omitting main body wall) of an embodiment of the present invention, wherein illustrating Support rod 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 an embodiment of the present invention；

Fig. 7 is the top view of the support rod fixing seat of an embodiment of the present 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 an embodiment of the present invention；

Figure 11 is the schematic diagram at another visual angle of the mark post fixing seat of an embodiment of the present invention；

Figure 12 is the top view of the pedestal in the charging station of an embodiment of the present 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 an embodiment of the present invention；

Figure 17 is the partial schematic diagram at the charge port of the intelligent grass-removing of an embodiment of the present invention；

Electrical terminals and power distribution terminal, cleaning device when Figure 18 is the intelligent grass-removing charging of an embodiment of the present invention Mated condition figure；

Figure 19 is the baffle of an embodiment of the present invention and the assembled state backside structure perspective view of reinforcer；

Figure 20 is the backside structure perspective view of the baffle of an embodiment of the present invention；

Figure 21 is the Facad structure perspective view of the reinforcer of an embodiment of the present 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

The utility model is described in detail below with reference to embodiment shown in the drawings.But these embodiments are simultaneously The utility model is not limited, the change in structure or function that those skilled in the art are made according to these embodiments It changes and is all contained in the protection scope of the utility model.

The utility model provides a kind of intelligent robot system comprising can voluntarily charge, the intelligence for simultaneously operation of walking Robot and the charging station to match with the intelligent robot.Specifically, the intelligent robot has fuselage and covers on institute The casing on fuselage is stated, the fuselage includes the mobile device for walking, the agent set for fulfiling assignment and is used for The battery pack of electric energy is provided for the mobile device and the agent set；The charging station is configured at the intelligent robot In operating area.The intelligent robot can carry out charging at the charging station and await orders, when need to carry out operation, the intelligent machine Device people can sail out of the charging station automatically under the battery pack electric power support and carry out operation, and can also be described in auto-returned Charging station.

A specific embodiment of the utility model intelligent robot system is shown referring to figs. 1 to Figure 24, in the embodiment In, the intelligent robot of intelligent robot system 100 is specifically set as intelligent grass-removing, practical new to this below with reference to the embodiment The technical solution of type is illustrated.It will be appreciated, however, that the technical solution of the utility model is applicable to all can voluntarily fill The walking robot of electricity and its charging station of 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 the skill objective of the utility model.

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 utility model also improves the charging matched joining mechanism between cradle 22 and intelligent grass-removing 1, below with reference to attached Figure 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, power connection end on Yu Suoshu 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.

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, for avoid the casing structure of the lower section of passway 15 when by external collision fracture damage the utility model also into one Step improves 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 utility model embody in the following areas:

(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.

Tool of the series of detailed descriptions listed above only for the feasible embodiment of the utility model Body explanation, they are all without departing from made by the utility model skill spirit not to limit the protection scope of the utility model Equivalent implementations or change should be included within the scope of protection of this utility model.

Claims

1. intelligent robot described in the intelligent robot that one kind voluntarily can charge and walk includes fuselage, covers in outside the fuselage Casing and impact detection device, the impact detection device is for monitoring external collision and the identification betided on the casing The orientation of the collision, the fuselage include battery pack and charge port, and the casing has corresponding with the charge port position Passway, when the intelligent robot is charged, the cradle of charging station passes through the passway with filling described in access In power port, which is characterized in that the casing includes baffle and assembly and connection in the reinforcer on the baffle, the reinforcer Material Strength is greater than the Material Strength of the baffle, and the baffle and the reinforcer cross the passway jointly.

2. intelligent robot according to claim 1, which is characterized in that the reinforcer is to pass through panel beating mode one Body formed mechanism member.

3. intelligent robot according to claim 1, the casing is actively covered on outside the fuselage, which is characterized in that When external collision betides on the reinforcer, the reinforcer drives the relatively described fuselage movement of the casing, described to touch Detection device is hit by monitoring the relative motion to identify the orientation of collision.

4. intelligent robot according to claim 1, which is characterized in that the reinforcer is located at below the passway, The lower edge of the baffle has the relief portion that recess is formed upwards, the reinforcer assembly and connection below the relief portion, So that the relief portion constitutes the passway.

5. intelligent robot according to claim 4, which is characterized in that the reinforcer is set as long and narrow part, when described When reinforcer is assembled on the baffle, the lower edge seam crossing height of the lower end surface of the reinforcer and the baffle is without drop Ground docking.

6. intelligent robot according to claim 1, which is characterized in that the reinforcer includes ontology and is connected to institute The first clamping part on ontology is stated, the baffle includes the second clamping part for protruding out its back side, first clamping part and institute It states one of second clamping part to be set as linking up with, wherein another setting of first clamping part and second clamping part For the hanging buckle with first through hole；The hook may pass through the first through hole and hanging buckle mating to limit the reinforcer It is detached from the baffle forward downwards.

7. intelligent robot according to claim 6, which is characterized in that the longitudinal section of the ontology is in U-shape, the ontology Including connecting plate, it is connected to the upper head plate of the connecting plate top edge and is connected to the bottom plate of the connecting plate lower edge； The hanging buckle be set perpendicularly to the plate body that the upper head plate upwardly extends and with described body by integral forming.

8. intelligent robot according to claim 7, which is characterized in that the reinforcer further includes being formed in the ontology On the first plug division, the baffle includes the second plug division, first plug division and second plug division can along with it is preceding The mating shaking to limit the reinforcer relatively described baffle front and back and left and right directions in the perpendicular direction of rear direction.

9. intelligent robot according to claim 8, which is characterized in that first plug division is disposed through on described Second through-hole of end plate upper and lower surface, second plug division are set as the pillar protruded out straight down, and the pillar can be along perpendicular Histogram is into second through-hole.

10. intelligent robot according to claim 9, which is characterized in that there is the pillar front and back to be oppositely arranged just Surface and back surface and the lower end surface being connected between the front surface and the back surface, the lower end surface have first Divide and second part, the first part are connected to the front surface, the second part is connected to the back surface, under described The curvature that end face is set as convex surface and the first part is greater than the curvature of the second part.

11. intelligent robot according to claim 8, which is characterized in that when the hook is coupled to the hanging buckle, institute State reinforcer can the relatively described flapper so that first plug division is coupled with second plug division.

12. described in any item intelligent robots according to claim 1~11, which is characterized in that the intelligent robot setting For intelligent grass-removing.