CN218515701U

CN218515701U - Self-moving system, base station and charging pole piece group

Info

Publication number: CN218515701U
Application number: CN202222010524.1U
Authority: CN
Inventors: 陈鹏; 李晓菲
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2022-08-01
Filing date: 2022-08-01
Publication date: 2023-02-24
Anticipated expiration: 2032-08-01

Abstract

The application provides a from mobile system, basic station and fill electrode plate group, the basic station is provided with and fills electrode plate group, fill electrode plate group including just filling electrode plate group and negatively charging electrode plate group, just fill electrode plate group and/or negatively charging electrode plate group is including two at least ability pivoted charging electrode pieces relatively. When any charging pole piece in the positive charging pole piece group and/or the negative charging pole piece group fails to contact due to incomplete contact and the like, the rest charging pole pieces can still normally charge the self-moving equipment, and the charging stability and the charging butt joint reliability are improved. Simultaneously, under the unchangeable condition of the portion area that charges of single pole piece, set up the corresponding grow of area of contact when setting up a plurality of pole pieces that charge and making to charge, and then contact resistance can reduce, and the voltage loss when charging is littleer.

Description

Self-moving system, base station and charging pole piece group

Technical Field

The application relates to the technical field of self-moving equipment, in particular to a self-moving system, a base station and a charging electrode plate set.

Background

Self-moving equipment such as a mower and a sweeping robot is intelligent equipment for executing related work tasks according to a preset program. These self-moving devices are usually powered by an onboard battery, and when the charge level of the battery is lower than a preset value, the self-moving device needs to return to the base station to charge the battery. However, when the current self-moving device is in butt joint with a base station for charging, only a single positive contact part and a single negative contact part are formed between the self-moving device and the base station, and when the self-moving device is not accurately aligned or is shielded by foreign matters, a certain positive contact part or negative contact part cannot be effectively contacted, the charging cannot be completed.

SUMMERY OF THE UTILITY MODEL

The application provides a self-moving system, a base station and a charging pole piece group, which are used for improving the reliability of electric connection between self-moving equipment and the base station.

The application provides an automatic mobile system, which comprises an automatic mobile device and a base station. The mobile device is provided with a power supply component and a charging connector connected to the power supply component, wherein the charging connector comprises a positive charging connector and a negative charging connector. The base station is provided with a charging electrode plate group, the charging electrode plate group comprises a positive charging electrode plate group and a negative charging electrode plate group, the positive charging electrode plate group corresponds to the positive charging connector, the negative charging electrode plate group corresponds to the negative charging connector, the positive charging electrode plate group and/or the negative charging electrode plate group comprises at least two charging electrode plates capable of rotating relatively, and each charging electrode plate is provided with a charging part.

The self-moving equipment can move towards the base station, so that the charging joint can apply acting force to the corresponding charging pole piece groups, at least two charging pole pieces of the corresponding charging pole piece groups can rotate relatively, and the at least two charging pole pieces of the corresponding charging pole piece groups can be respectively contacted with the charging joint.

In some embodiments, the set of charging pole pieces has a first state in which at least two of the charging pole pieces are closed and a second state; in the second state, at least two charging pole pieces are opened, and the at least two charging pole pieces can rotate relatively so that the charging pole piece set can be converted between the first state and the second state.

In some embodiments, the charging pole piece set further includes an elastic member, and the elastic member abuts against at least two charging pole pieces respectively to apply an elastic force to the at least two charging pole pieces, so that the charging pole piece set is in the first state.

In some embodiments, the charging connector includes a charging contact surface for contacting with a corresponding charging pole piece group, and the charging contact surface is used for sequentially contacting with the charging portions of the at least two charging pole pieces so that the at least two charging pole pieces can move on the charging contact surface against the acting force of the elastic member, and then the at least two charging pole pieces can rotate relatively.

In some embodiments, the base station has a first side wall and a second side wall which are arranged oppositely, the charging electrode plate sets are respectively arranged on the first side wall and/or the second side wall, and a charging station for accommodating the self-moving device is formed between the first side wall and the second side wall.

In some embodiments, the positive charging connector and the negative charging connector are respectively arranged on two sides of the self-moving device in the width direction; the self-moving equipment stops at the charging station so that each charging joint can be in contact with the corresponding charging pole piece group.

In some embodiments, the first side wall and the second side wall are disposed opposite to each other along a first direction, the at least two charging pole pieces include a first pole piece and a second pole piece that are sequentially pivoted on the base station along a second direction, a pivoting axis of the first pole piece and the second pole piece is a third direction, and the first direction, the second direction, and the third direction are perpendicular to each other.

In some embodiments, the pivot radius of the first pole piece is smaller than that of the second pole piece, a receiving area is formed on one side of the first pole piece close to the second pole piece, and in an unstressed state, the first pole piece is received in the receiving area under the action of elastic force of the elastic member so as to keep the charging pole piece group in the first state.

In some embodiments, the base station is provided with a stop wall corresponding to the at least two charging pole pieces, and the stop wall is located on one side of the first pole piece, which is far away from the second pole piece; the elastic part comprises a double torsion spring arranged corresponding to the at least two charging pole pieces, the double torsion spring comprises a first spring body and a second spring body which are connected to the base station, one end, close to the first spring body, of the second spring body is connected through a connecting torsion arm, and the connecting torsion arm protrudes towards the direction far away from the charging station and abuts against the stop wall; the other end of the first spring body is provided with a first torsion arm, and the first torsion arm protrudes towards the direction close to the charging station and abuts against one side, close to the second pole piece, of the first pole piece; the other end of the second spring body is provided with a second torsion arm, and the second torsion arm protrudes towards the direction close to the charging station and abuts against one side, far away from the first pole piece, of the second pole piece.

Correspondingly, the application also provides a base station, the base station is used for the self-moving equipment and is provided with a charging electrode sheet set, the charging electrode sheet set comprises a positive charging electrode sheet set and a negative charging electrode sheet set, the positive charging electrode sheet set and/or the negative charging electrode sheet set comprises at least two charging electrode sheets which can rotate relatively, and each charging electrode sheet is provided with a charging part; when the charging electrode plate set is acted by the self-moving equipment, at least two charging electrode plates of the charging electrode plate set can rotate relatively and are respectively in contact with the self-moving equipment to charge the self-moving equipment.

In some embodiments, the first side wall and the second side wall are disposed opposite to each other along a first direction, the at least two charging pole pieces include a first pole piece and a second pole piece that are sequentially pivoted to the base station along a second direction, a pivot axis of the first pole piece and the second pole piece is a third direction, and the first direction, the second direction, and the third direction are perpendicular to each other.

Correspondingly, this application still provides a pole piece group charges, including positive pole piece group and the negative pole piece group that charges, positive pole piece group and/or negative pole piece group that charges includes two at least ability pivoted pole pieces that charge relatively, every be provided with the portion of charging on the pole piece that charges.

In some embodiments, the charging pole piece set has a first state and a second state, in the first state, at least two charging pole pieces are closed; in the second state, at least two charging pole pieces are opened, and the at least two charging pole pieces can rotate relatively so that the charging pole piece set can be converted between the first state and the second state.

The application has the following beneficial effects: the application provides a from mobile system, basic station and fill electrode sheet group, the basic station is provided with and fills electrode sheet group, fill electrode sheet group including just filling electrode sheet group and the negative pole piece group that charges, just charge electrode sheet group and the positive joint that charges from mobile device corresponding, the negative pole piece group with from mobile device's the negative joint that charges corresponding, just fill electrode sheet group and/or negative pole piece group that charges includes two at least ability pivoted pole pieces that charge relatively. When any charging pole piece in the positive charging pole piece group and/or the negative charging pole piece group fails to contact due to incomplete contact and the like, the rest charging pole pieces can still normally charge the self-moving equipment, and the charging stability and the charging butt joint reliability are improved. Simultaneously, under the unchangeable condition of the portion area that charges at single pole piece that charges, set up a plurality of pole pieces that charge and make the corresponding grow of area of contact when charging, and then contact resistance can reduce, and the voltage loss when charging is littleer.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 schematically shows a structure of a mobile device before entering a charging station of a base station.

Fig. 2 schematically shows a partial enlarged view a of fig. 1.

Fig. 3 schematically shows the structure of the mobile device after entering the charging station of the base station.

Fig. 4 exemplarily shows a partially enlarged view B of fig. 3.

Fig. 5 shows an exemplary top view of a base station.

Fig. 6 illustrates a front view of a base station.

Fig. 7 exemplarily shows a cross-sectional view C-C of fig. 5.

Fig. 8 illustrates a structural diagram of a charging pole piece set.

Description of main components in the embodiments of the present application:

self-moving system 1000 self-moving device 100

Housing 110 charging connector 120

Charging contact surface 121 base station 300

First side wall 311 of main body 310

Stop wall 3111 second side wall 312

Charging station 313 end wall 314

Charging electrode sheet set 320 first pole piece 321

A first end 3211 a second end 3212

Second pole piece 322 body 3221

Protruding section 3222 accommodating area 3223

Third end 3224 and fourth end 3225

Elastic member 324 of pivot shaft 323

First spring body 3241 second spring body 3242

First torsion arm 3243 and second torsion arm 3244

Connecting torque arm 3245

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. Furthermore, it should be understood that the detailed description and specific examples, while indicating exemplary embodiments of the invention, are given by way of illustration and explanation only, and are not intended to limit the scope of the invention. In the present application, unless otherwise specified, the use of directional terms such as "upper", "lower", "left" and "right" generally refer to upper, lower, left and right in the actual use or operation of the device, and specifically to the orientation of the drawing figures.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

The present application provides a self-moving system, a base station and a charging electrode set, which are described in detail below. It should be noted that the following description of the embodiments is not intended to limit the preferred order of the embodiments of the present application. In the following embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to related descriptions of other embodiments for parts that are not described in detail in a certain embodiment.

Referring to fig. 1, an embodiment of the present application provides an autonomous mobile system 1000, where the autonomous mobile system 1000 includes an autonomous mobile device 100 and a base station 300.

The self-moving device 100 is a movable machine device for automatically performing a specific task, and can receive human commands, run a preprogrammed program, and perform a compendium action according to a principle formulated by an artificial intelligence technology. Such a self-moving apparatus 100 may be used indoors or outdoors, may be used in industry or at home, may be used to replace security patrol, replace people to clean floors, and may be used for home companions, assisting in offices, and the like. The self-moving device 100 includes but is not limited to: one or more of a cleaning robot, an industrial robot, a smart vehicle, an unmanned aerial vehicle, a home-companion mobile device, a medical mobile device, a patrol mobile device, and the like.

In some embodiments, the self-moving device 100 includes a housing 110, drive components, working components, control components, power components, and the like.

Wherein the housing 110 is mainly a foundation for mounting and carrying other components. The driving assembly is disposed on the housing 110 for driving the housing 110 to move, and may be, for example, a crawler-type structure or a wheel-set type structure. The working component is used for executing preset work, for example, the self-moving device 100 is a cleaning robot, the working component may be a rolling brush, or the self-moving device 100 is a mower, and the working component is a cutting knife or the like. The control assembly is connected to each component for controlling each component and enabling each component to achieve corresponding functions. The power supply assembly is connected to the control assembly for powering the components, where the power supply assembly may comprise only one battery pack or may be formed by at least two battery packs connected in series and/or in parallel.

Here, when the self-moving device 100 operates for a period of time, the power of the power supply component is consumed, and the power supply component needs to be charged so that the self-moving device 100 continues to operate. Therefore, referring to fig. 1, a charging connector 120 is further disposed on the housing 110 of the mobile device 100, and the charging connector 120 is connected to the power supply component. When the power supply component needs to be charged, the charging connector 120 is used for being connected with an external power supply to transmit electric energy to the power supply component and realize charging. Here, the charging connector 120 includes a positive charging connector and a negative charging connector.

The base station 300 is used for supplying, cleaning, etc. the self-moving apparatus 100. Here, referring to fig. 5, the base station 300 includes a main body 310, the main body 310 includes a first sidewall 311 and a second sidewall 312 oppositely disposed along a first direction X, and a charging station 313 is formed between the first sidewall 311 and the second sidewall 312. In this embodiment, the ends of the first side wall 311 and the second side wall 312 are connected by an end wall 314, so that the main body 310 is substantially C-shaped, and an opening for the self-moving apparatus 100 to enter is formed at a side opposite to the end wall 314, and the self-moving apparatus 100 can enter the charging station 313 along a second direction Y in fig. 5, and leave the charging station 313 along a direction opposite to the second direction Y, wherein the second direction Y is perpendicular to the first direction X. It is understood that in other embodiments, the end wall 314 may not be provided, and the self-moving apparatus 100 may enter and exit the charging station 313 along the second direction Y, which is not limited by the embodiment. Also, in other embodiments, the main body 310 is not limited to be provided with the first side wall 311 and the second side wall 312, and the first side wall 311 and the second side wall 312 are not limited to be oppositely disposed along the first direction X.

Here, the main body 310 is provided with a charging electrode set 320, and the charging electrode set 320 is used for cooperating with the charging connector 120 (see fig. 2 and 4) of the self-moving device 100 to charge the power supply component of the self-moving device 100. Here, the charging electrode sheet set 320 includes a positive charging electrode sheet set and a negative charging electrode sheet set, the positive charging electrode sheet set corresponds to the positive charging connector, the negative charging electrode sheet set corresponds to the negative charging connector, the positive charging electrode sheet set and/or the negative charging electrode sheet set includes at least two charging electrode sheets capable of rotating relatively, and each charging electrode sheet is provided with a charging portion. Specifically, in one embodiment, only the positive charging pole piece group in the positive charging pole piece group and the negative charging pole piece group comprises at least two charging pole pieces capable of rotating relatively, and each charging pole piece is provided with a charging part. In another embodiment, only the negative charging pole piece group in the positive charging pole piece group and the negative charging pole piece group comprises at least two charging pole pieces capable of rotating relatively, and each charging pole piece is provided with a charging part. In a further embodiment, both the positive charging pole piece set and the negative charging pole piece set comprise at least two charging pole pieces capable of rotating relatively, and each charging pole piece is provided with a charging part. Referring to fig. 5, in the present embodiment, the charging electrode set 320 is disposed on both the first sidewall 311 and the second sidewall 312. Here, disposed on the first sidewall 311 is a positive charging pole piece group, and disposed on the second sidewall 312 is a negative charging pole piece group.

The mobile device 100 can move toward the base station 300, so that the charging connector 120 can apply an acting force to the corresponding charging electrode plate set 320, and then at least two charging electrode plates of the corresponding charging electrode plate set 320 can rotate relatively, and the at least two charging electrode plates of the corresponding charging electrode plate set 320 can be respectively in contact with the charging connector 120.

Here, referring to fig. 5 and fig. 6, in the present embodiment, the charging electrode plate sets 320 on the first side wall 311 and the charging electrode plate sets 320 on the second side wall 312 are symmetrically disposed on two sides of the central axis of the base station, and the rest structures of the two charging electrode plate sets 320 are the same except for different polarities, so the following description only takes the charging electrode plate set 320 disposed on the first side wall 311 as an example.

Referring to fig. 5 in combination with fig. 2, the first sidewall 311 includes two charging electrode pieces, namely a first electrode piece 321 and a second electrode piece 322. The first pole piece 321 and the second pole piece 322 are sequentially arranged along the second direction Y. Referring to fig. 7, a pivot shaft 323 is disposed on the first sidewall 311. The ends of the first pole piece 321 and the second pole piece 322 close to the first sidewall 311 are both pivoted on the pivot shaft 323, the axial direction of the pivot shaft 323 (i.e. the pivot axial direction of the first pole piece 321 and the second pole piece 322) is a third direction Z, and the third direction Z is perpendicular to the first direction X and the second direction Y.

In this embodiment, the charging electrode sheet set 320 has a first state and a second state. Referring to fig. 2, in the first state, the first pole piece 321 and the second pole piece 322 are closed, and the first pole piece 321 and the second pole piece 322 are approximately in a close position. Referring to fig. 4, in the second state, the first pole piece 321 and the second pole piece 322 are opened, and the first pole piece 321 and the second pole piece 322 are no longer in the position of being attached to each other, so that two contact positions can be formed with the charging connector 120. The first pole piece 321 and the second pole piece 322 can rotate relatively to make the charging pole piece group 320 convert between the first state and the second state.

Here, referring to fig. 7, the charging pole piece set further includes an elastic member 324, and the elastic member 324 abuts against the first pole piece 321 and the second pole piece 322 respectively to apply an elastic force to the first pole piece 321 and the second pole piece 322, so that the charging pole piece set is in the first state. In the present embodiment, the elastic member 324 is embodied as a double torsion spring. The elastic member 324 includes a first spring body 3241 and a second spring body 3242, the first spring body 3241 and the second spring body 3242 are sleeved on the pivot shaft 323 to connect to the base station 300, but in other embodiments, the first spring body 3241 and the second spring body 3242 may also be connected to the base station 300 by other manners, and this embodiment is not limited thereto. The first spring body 3241 and the second spring body 3242 are connected at a similar end by a connecting torsion arm 3245, and the connecting torsion arm 3245 protrudes in a direction away from the charging station 313 (i.e., in a direction close to the first side wall 311). Here, a stop wall 3111 is further disposed at the first side wall 311, the stop wall 3111 is located at a side of the first pole piece 321 far from the second pole piece 322, and the connecting torsion arm 3245 abuts against the stop wall 3111. Meanwhile, the other end of the first spring body 3241 has a first torsion arm 3243, and the first torsion arm 3243 protrudes toward the charging station 313 and abuts against one side of the first pole piece 321 close to the second pole piece 322. The other end of the second spring body 3242 has a second torsion arm 3244, and the second torsion arm 3244 protrudes toward the direction close to the charging station 313 and abuts against one side of the second pole piece 322 away from the first pole piece 321. Thus, the elastic member 324 provides an elastic force to the first pole piece 321 and the second pole piece 322, so that the first pole piece 321 and the second pole piece 322 can be blocked on an entry path of the self-moving device 100 into the charging station 313, and when the self-moving device 100 enters the charging station 313, the first pole piece 321 and the second pole piece 322 are relatively rotated against the elastic force, so that the first pole piece 321 and the second pole piece 322 can be abutted against the charging connector 120 (see fig. 4) of the self-moving device 100 under the elastic force applied by the elastic member 324.

It is understood that in other embodiments, the elastic member 324 is not limited to the torsion spring structure. For example, a spring or the like may be provided for each of the first pole piece 321 and the second pole piece 322, so that the first pole piece 321 and the second pole piece 322 may be pressed against the charging connector 120 of the self-moving device 100 located at the charging station 313.

In addition, in the present embodiment, referring to fig. 2, the first pole piece 321 has a first end 3211 and a second end 3212, the first pole piece 321 extends from the first end 3211 to the second end 3212, and the second end 3212 is located in the charging station 313 to serve as a charging portion of the first pole piece 321. The first end 3211 of the first pole piece 321 is pivotally connected to the pivot shaft 323, and the second end 3212 of the first pole piece 321 is configured to contact the charging connector 120 to form a charging contact portion T1 (see fig. 4), where the second end 3212 is bent to form an arc-shaped contact surface, so that the relative movement between the second end of the first pole piece 321 and the charging connector 120 is smoother when the second end contacts the charging connector 120. Of course, in other embodiments, the second end of the first pole piece 321 may not move relative to the charging connector 120 when the second end of the first pole piece contacts the charging connector 120. It will be appreciated that in other embodiments, the arcuate contact surface may not be provided or otherwise formed.

The second pole piece 322 has a third end 3224 and a fourth end 3225, the first pole piece 321 extends from the third end 3224 to the fourth end 3225, and the fourth end 3225 is located in the charging station 313 to serve as a charging portion of the second pole piece 322. The third end 3224 of the second pole piece 322 is pivotally connected to the pivot shaft 323, and the fourth end 3225 of the second pole piece 322 is used for contacting the charging connector 120 to form a charging contact portion T2 (see fig. 4). Here, the fourth end 3225 is bent to form an arc-shaped contact surface, so that the relative movement between the second end of the first pole piece 321 and the charging connector 120 is smooth when the second end is contacted with the first pole piece. It will be appreciated that in other embodiments, the arcuate contact surface may not be provided or may be otherwise formed.

Further, with reference to fig. 2, the second pole piece 322 includes a body 3221, one end of the body 3221 is the third end 3224, the other end of the body 3221 is provided with a protruding section 3222, the protruding section 3222 protrudes in a direction close to the first pole piece 321, and the body 3221 and the protruding section 3222 enclose a receiving area 3223. The extending length of the first pole piece 321 is shorter than the extending length of the main body 3221, so that the second end 3212 of the first pole piece 321 is located on one side of the protruding section 3222 close to the main body 3221. In a state of receiving no external force, the elastic member 324 (see fig. 7) holds the first pole piece 321 at a position accommodated in the accommodating area 3223. It is understood that, in other embodiments, the receiving area 3223 may be formed by a slot or other manners, and the embodiment is not limited thereto.

Referring to fig. 1 again, in the present embodiment, the charging connector 120 includes a charging contact surface 121 for contacting with the corresponding charging pole piece group 320, and the charging contact surface 121 is used for sequentially contacting with the charging portions of the first pole piece 321 and the second pole piece 322, so that the first pole piece 321 and the second pole piece 322 can move on the charging contact surface 121 by overcoming the acting force of the elastic element 324, and further the first pole piece 321 and the second pole piece 322 can rotate relatively.

The positive charging connector and the negative charging connector are respectively disposed on two sides of the mobile device 100 in the width direction, corresponding to the position where the charging electrode plate set 320 is disposed, so that when the mobile device 100 is parked on the charging station 313, each charging connector 120 can contact the corresponding charging electrode plate set 320. Specifically, the charging connector 120 is disposed on outer walls of both sides of the self-moving device 100 along the first direction X. Here, according to the polarity arrangement of the charging electrode plate group 320, the charging connector 120 near the first side wall 311 is a positive charging connector, and the charging connector 120 near the second side wall 312 is a positive charging connector. When the self-moving device 100 is in the charging station 313, the positive charging pole piece group is in contact with the positive charging connector to form two positive electrode contact portions, and the two negative charging pole piece groups are in contact with the negative charging connector to form two negative electrode contact portions.

Here, under the condition of no external force, under the action of the elastic member 324, please refer to fig. 1 and please refer to fig. 2, the charging electrode set 320 is in the first state. The first pole piece 321 and the second pole piece 322 are blocked on an entry path of the self-moving device 100 entering the charging station 313 along the second direction Y, and the first pole piece 321 is accommodated in an accommodation area 3223 of the second pole piece 322. When the self-moving device 100 moves towards the charging station 313 along the second direction Y, the charging contact surface 121 of the charging connector 120 of the self-moving device 100 first contacts with the first pole piece 321 and pushes the first pole piece 321 to pivot against the acting force of the elastic piece 324 to gradually leave the position blocked on the entry path.

As the self-moving device 100 continues to advance along the second direction Y, the charging contact surface 121 of the charging connector 120 of the self-moving device 100 contacts with the second pole piece 322 and pushes the second pole piece 322 to pivot against the action force of the elastic member 324 to gradually leave the position blocked on the entry path. Referring to fig. 3 and please refer to fig. 4 again, the length of the second pole piece 322 from the third end 3224 to the fourth end 3225 is longer than the length of the first end 3211 to the second end 3212 of one of the first pole pieces, that is, the pivot radius of the second pole piece 322 is greater than the pivot radius of the first pole piece 321, so that when the first pole piece 321 and the second pole piece 322 are pushed and moved by the self-moving device 100 for the same distance, the rotation angle of the second pole piece 322 is greater, and therefore, the first pole piece 321 gradually leaves the receiving area 3223, and the outer ends of the first pole piece 321 and the second pole piece 322 are both in contact with the charging connector 120 to form two charging contacts T1 and T2. Here, the first pole piece 321 and the second pole piece 322 on the first side wall 311 are both positive pole pieces, and correspondingly, the charging connector 120 disposed on the side of the self-moving device 100 close to the first side wall 311 is a positive charging connector, so that both the charging contacts T1 and T2 formed here are positive pole contacts.

The structure of the charging electrode plate set 320 on the second side wall 312 is the same as that of the charging electrode plate set 320 on the first side wall 311, and details are not repeated in this embodiment, except that the charging electrode plate set 320 on the second side wall 312 is a negative charging electrode plate set. Corresponding to the charging electrode plate set 320 on the second sidewall 312, the self-moving device 100 is provided with a charging connector 120 on a side close to the second sidewall 312, and the charging connector 120 is a negative charging connector. Here, the charging electrode sheet group 320 on the second side wall 312 is in contact with the charging connector 120 and forms two negative electrode contacts.

It can be seen that, in the above embodiment, after the self-moving device 100 enters the charging station 313, two positive electrode contacts and two negative electrode contacts are formed between the self-moving device 100 and the base station 300 to simultaneously charge the power supply components of the self-moving device 100, and when any one positive electrode contact and/or any one negative electrode contact fails to make contact due to incomplete contact, the remaining positive electrode contact and negative electrode contact can still normally charge the power supply components, thereby improving the charging stability and the charging docking reliability. Meanwhile, when the four charging contact portions are provided, under the condition that the area of a single charging contact portion is not changed, the contact area between the charging pole piece group 320 and the charging connector 120 is correspondingly increased, so that the contact resistance is reduced, and the voltage loss during charging is smaller.

In the above embodiments, the positive charging electrode sheet set and the negative charging electrode sheet set are provided with two charging electrode sheets capable of rotating relatively. It is understood that in other embodiments, at least one of the positive charging electrode sheet set and the negative charging electrode sheet set comprises at least two charging electrode sheets. For example, in some embodiments, the positive charging pole piece set comprises three charging pole pieces, and the negative charging pole piece set comprises one charging pole piece, wherein the charging pole piece contact failure of any positive pole does not hinder the charging operation of the power supply component.

In other embodiments, the position of the first pole piece is not limited to the above, in some embodiments, all the first pole pieces may be disposed on the first side wall 311 or the second side wall 312, and accordingly, the charging connector 120 is disposed on a side of the housing 110 of the self-moving device 100 close to the first side wall 311 or the second side wall 312. Certainly, the first pole piece may not be disposed on the first side wall 311 or the second side wall 312, for example, the first pole piece may also be disposed on the end wall 314, and only when charging is needed, the first pole piece may be in contact with the charging connector 120 of the mobile device 100, and the specific disposition positions of the charging pole piece group 320 and the charging connector 120 are not limited in this embodiment.

Accordingly, to better achieve the technical effects of the embodiments of the present application, the embodiments of the present application also provide a base station 300, where the base station 300 has a function of charging for the mobile device 100.

The base station is provided with a charging electrode sheet set 320, the charging electrode sheet set 320 comprises a positive charging electrode sheet set 320 and a negative charging electrode sheet set 320, the positive charging electrode sheet set 320 and/or the negative charging electrode sheet set 320 comprises at least two charging electrode sheets which can rotate relatively, and each charging electrode sheet is provided with a charging part; when the charging electrode sheet set 320 is subjected to the acting force of the self-moving device 1000, at least two charging electrode sheets of the charging electrode sheet set 320 can rotate relatively and respectively contact with the self-moving device 1000 to charge the self-moving device 1000.

In some embodiments, the set of charging pole pieces 320 has a first state in which at least two of the charging pole pieces are closed and a second state; in the second state, at least two charging electrode plates are opened, and at least two charging electrode plates can rotate relatively, so that the charging electrode plate set 320 can be converted between the first state and the second state.

In some embodiments, the charging electrode sheet set 320 further includes an elastic member 324, and the elastic member 324 abuts against at least two charging electrode sheets respectively to apply an elastic force to the at least two charging electrode sheets, so as to enable the charging electrode sheet set 320 to be in the first state.

In some embodiments, the base station has a first side wall 311 and a second side wall 312 disposed opposite to each other, the charging electrode sheet set 320 is disposed on each of the first side wall 311 and the second side wall 312, and a charging station 313 for accommodating the self-moving apparatus 1000 is formed between the first side wall 311 and the second side wall 312.

In some embodiments, the first sidewall 311 and the second sidewall 312 are disposed opposite to each other along a first direction, at least two of the charging pole pieces include a first pole piece 321 and a second pole piece 322 pivotally connected to the base station along a second direction in sequence, a pivot axis of the first pole piece 321 and the second pole piece 322 is a third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

In some embodiments, the pivot radius of the first pole piece 321 is smaller than the pivot radius of the second pole piece 322, and a receiving area 3223 is formed on a side of the first pole piece 321 close to the second pole piece 322, and in an unstressed state, the first pole piece 321 is received in the receiving area 3223 under the elastic force of the elastic member 324, so that the charging pole piece group 320 is maintained in the first state.

In some embodiments, a stop wall 3111 corresponding to the at least two charging pole pieces is disposed on the base station, and the stop wall 3111 is located on a side of the first pole piece 321 far from the second pole piece 322; the elastic component 324 includes a double torsion spring corresponding to the at least two charging electrode plates, the double torsion spring includes a first spring body 3241 and a second spring body 3242 connected to the base station, one end of the first spring body 3241 and one end of the second spring body 3242 close to each other are connected through a connecting torsion arm 3245, and the connecting torsion arm 3245 protrudes and extends in a direction away from the charging station 313 and abuts against the stop wall 3111; the other end of the first spring body 3241 is provided with a first torsion arm 3243, and the first torsion arm 3243 protrudes toward the charging station 313 and abuts against one side of the first pole piece 321 close to the second pole piece 322; the other end of the second spring body 3242 has a second torsion arm 3244, and the second torsion arm 3244 protrudes toward the direction close to the charging station 313 and abuts against one side of the second pole piece 322 away from the first pole piece 321.

Correspondingly, referring to fig. 1 to 8 and focusing on fig. 8, the present application further provides a charging pole piece set 320, which includes a positive charging pole piece set 320 and a negative charging pole piece set 320, where the positive charging pole piece set 320 and/or the negative charging pole piece set 320 includes at least two charging pole pieces capable of rotating relatively, and each charging pole piece is provided with a charging portion.

In some embodiments, the charging electrode sheet set 320 further includes an elastic member 324, and the elastic member 324 abuts against at least two charging electrode sheets respectively to apply an elastic force to the at least two charging electrode sheets, so that the charging electrode sheet set 320 is in the first state.

Application example 1

In a first application example, there is provided a base station 300, where the base station 300 has a first side wall 311 and a second side wall 312 that are opposite to each other, a charging station 313 is formed between the first side wall 311 and the second side wall 312, charging electrode plate sets 320 are respectively disposed on the first side wall 311 and the second side wall 312, and each of the two charging electrode plate sets 320 has two charging electrode plates. The charging electrode sheet set 320 on the first sidewall 311 is a positive charging electrode sheet set, and the charging electrode sheet set 320 on the second sidewall 312 is a negative charging electrode sheet set.

When a mobile device 100 can move toward the base station 300, the charging connector 120 of the mobile device 100 can apply an acting force to the corresponding charging electrode plate set 320, so that the two charging electrode plates of the corresponding charging electrode plate set 320 can rotate relatively, and at least two charging electrode plates of the corresponding charging electrode plate set 320 can be respectively in contact with the charging connector 120. Here, a plurality of charging poles with the same polarity are provided, so that when one of the charging poles fails to contact, the base station 300 can still charge the self-moving device 100, which is beneficial to improving the charging stability and reliability of the self-moving device 100.

Application example two

In the second application example, a base station 300 is provided, and the structure of the base station 300 is substantially the same as that of the base station 300 provided in the first application example, except that the charging electrode plate set 320 has a first state and a second state, and in the first state, two charging electrode plates are closed; in the second state, the two charging pole pieces are opened.

Application example three

In the third application example, a base station 300 is provided, and the structure of the base station 300 is substantially the same as that of the base station 300 provided in the second application example, except that the charging electrode plate set 320 has a first pole piece 321, a second pole piece 322 and an elastic member 324. The elastic member 324 abuts against the first pole piece 321 and the second pole piece 322 to apply an elastic force to the first pole piece 321 and the second pole piece 322, so that the charging pole piece set 320 is in the first state.

Meanwhile, in a charging state, a self-moving device 100 is located at the charging station 313, and the elastic member 324 is used for pressing the first pole piece 321 and the second pole piece 322 against the charging connector 120 of the self-moving device 100, so as to ensure stable electrical connection.

Application example four

In the fourth application example, there is provided a self-moving system 1000, the self-moving system 1000 has the base station 300 according to any one of the third application example to the fourth application example and the self-moving device 100, and the self-moving device 100 may be a lawn mower.

It is to be understood that the terms in the embodiments of the present application all have the same meaning, and details that are not specifically described in a certain embodiment may refer to descriptions in other embodiments, so that example descriptions and technical effects shown in the foregoing embodiments can be correspondingly implemented, and repeated details are not repeated in the description of the present application.

The self-moving system, the base station and the charging pole piece group provided by the application are introduced in detail, a specific example is applied in the description to explain the principle and the implementation of the application, and the description of the embodiment is only used for helping to understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. An autonomous mobile system comprising,

the mobile device comprises a power supply component and a charging connector connected to the power supply component, wherein the charging connector comprises a positive charging connector and a negative charging connector; and

the base station is provided with a charging electrode sheet group, the charging electrode sheet group comprises a positive charging electrode sheet group and a negative charging electrode sheet group, the positive charging electrode sheet group corresponds to the positive charging connector, the negative charging electrode sheet group corresponds to the negative charging connector, the positive charging electrode sheet group and/or the negative charging electrode sheet group comprises at least two charging electrode sheets which can rotate relatively, and each charging electrode sheet is provided with a charging part;

2. The self-moving system as claimed in claim 1, wherein the set of charging pole pieces has a first state in which at least two of the charging pole pieces are closed and a second state; in the second state, at least two charging pole pieces are opened, and the at least two charging pole pieces can rotate relatively so that the charging pole piece set can be converted between the first state and the second state.

3. The self-moving system as claimed in claim 2, wherein the charging electrode plate set further comprises an elastic member, the elastic member respectively abuts against at least two charging electrode plates to apply an elastic force to the at least two charging electrode plates, so as to enable the charging electrode plate set to be in the first state.

4. The self-moving system as claimed in claim 3, wherein the charging connector comprises a charging contact surface for contacting with the corresponding charging pole piece set, and the charging contact surface is used for sequentially contacting with the charging portions of the at least two charging pole pieces so that the at least two charging pole pieces can move on the charging contact surface against the action force of the elastic member, and the at least two charging pole pieces can rotate relatively.

5. The self-moving system as claimed in claim 3, wherein the base station has a first sidewall and a second sidewall opposite to each other, the charging electrode plate set is disposed on the first sidewall and/or the second sidewall, and a charging station for accommodating the self-moving device is formed between the first sidewall and the second sidewall.

6. The self-moving system as claimed in claim 5, wherein the positive charging connector and the negative charging connector are respectively disposed at two sides of the self-moving device in a width direction;

the self-moving equipment stops at the charging station, so that each charging joint can be in contact with the corresponding charging pole piece group.

7. The self-moving system as claimed in claim 5, wherein the first sidewall and the second sidewall are disposed opposite to each other along a first direction, the at least two charging pole pieces include a first pole piece and a second pole piece pivotally connected to the base station along a second direction, a pivoting axis of the first pole piece and the second pole piece is a third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

8. The self-moving system as claimed in claim 7, wherein the pivot radius of the first pole piece is smaller than the pivot radius of the second pole piece, the first pole piece is formed with a receiving area on a side close to the second pole piece, and in an unstressed state, the first pole piece is received in the receiving area under the elastic force of the elastic member to keep the charging pole piece set in the first state.

9. The self-moving system as claimed in claim 8,

the base station is provided with a stop wall corresponding to the at least two charging pole pieces, and the stop wall is positioned on one side of the first pole piece, which is far away from the second pole piece;

the elastic part comprises a double torsion spring arranged corresponding to the at least two charging pole pieces, the double torsion spring comprises a first spring body and a second spring body which are connected to the base station, one end, close to the first spring body, of the second spring body is connected through a connecting torsion arm, and the connecting torsion arm protrudes towards the direction far away from the charging station and abuts against the stop wall;

the other end of the first spring body is provided with a first torsion arm, and the first torsion arm protrudes towards the direction close to the charging station and abuts against one side, close to the second pole piece, of the first pole piece;

the other end of the second spring body is provided with a second torsion arm, and the second torsion arm protrudes towards the direction close to the charging station and abuts against one side, far away from the first pole piece, of the second pole piece.

10. A base station is used for self-moving equipment and is characterized in that the base station is provided with a charging electrode sheet set, the charging electrode sheet set comprises a positive charging electrode sheet set and a negative charging electrode sheet set, the positive charging electrode sheet set and/or the negative charging electrode sheet set comprises at least two charging electrode sheets capable of rotating relatively, and each charging electrode sheet is provided with a charging part;

when the charging electrode plate group is acted by the acting force of the self-moving equipment, at least two charging electrode plates of the charging electrode plate group can rotate relatively and are respectively contacted with the self-moving equipment to charge the self-moving equipment.

11. The base station of claim 10, wherein the set of charging pole pieces has a first state in which at least two of the charging pole pieces are closed and a second state; in the second state, at least two charging pole pieces are opened, and the at least two charging pole pieces can rotate relatively so that the charging pole piece set can be converted between the first state and the second state.

12. The base station of claim 11, wherein the charging pole piece set further comprises an elastic member, the elastic member respectively abuts against at least two of the charging pole pieces to apply an elastic force to at least two of the charging pole pieces, so as to enable the charging pole piece set to be in the first state.

13. The base station of claim 12, wherein the base station has a first side wall and a second side wall which are opposite to each other, the charging electrode plate set is disposed on the first side wall and/or the second side wall, and a charging station for accommodating the self-moving device is formed between the first side wall and the second side wall.

14. The base station of claim 13, wherein the first sidewall and the second sidewall are opposite to each other along a first direction, the at least two charging pole pieces comprise a first pole piece and a second pole piece sequentially pivoted to the base station along a second direction, a pivoting axis of the first pole piece and the second pole piece is a third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

15. The base station of claim 14, wherein a pivot radius of the first pole piece is smaller than a pivot radius of the second pole piece, and a receiving area is formed on a side of the first pole piece close to the second pole piece, and in an unstressed state, the first pole piece is received in the receiving area under an elastic force of the elastic member so as to keep the charging pole piece set in the first state.

16. The base station of claim 15,

the base station is provided with a stop wall corresponding to the at least two charging pole pieces, and the stop wall is positioned on one side, far away from the second pole piece, of the first pole piece;

17. The utility model provides a charge pole piece group which characterized in that, is including positive charge pole piece group and negative charge pole piece group, positive charge pole piece group and/or negative charge pole piece group is including at least two ability relative rotation's charge pole pieces, every be provided with the portion of charging on the charge pole piece.

18. The charging pole piece assembly of claim 17, wherein the charging pole piece assembly has a first state in which at least two of the charging pole pieces are closed and a second state; in the second state, at least two charging pole pieces are opened, and the at least two charging pole pieces can rotate relatively so that the charging pole piece set can be converted between the first state and the second state.

19. The charging pole piece set of claim 18, further comprising an elastic member, wherein the elastic member respectively abuts against at least two charging pole pieces to apply an elastic force to at least two charging pole pieces, so as to enable the charging pole piece set to be in the first state.