CN220140192U - Autonomous working apparatus - Google Patents

Abstract

The utility model discloses autonomous operation equipment which comprises an equipment body, a traveling mechanism, a main control module and a collision plate assembly. The striking plate component surrounds at least one end of the equipment body and is movably connected with the equipment body. The collision plate assembly is provided with a first sensing piece, the equipment body is provided with a second sensing piece which is in sensing fit with the first sensing piece, and after the collision plate assembly collides, the first sensing piece and the second sensing piece are in sensing fit to send signals to the main control module. The striking plate assembly is provided with a charging opening, an electrode assembly electrically connected with the main control module is arranged in the charging opening, and the electrode assembly is connected with the striking plate assembly. The electrode assembly can be in higher contact precision with the charging pole piece on the charging equipment.

Description

Autonomous working apparatus

Technical Field

The present utility model relates to an autonomous working apparatus, and more particularly, to an autonomous working apparatus for lawn maintenance.

Background

Mowers are common garden tools, and with the continuous development of technology, highly intelligent automatic mowers are becoming more common. Robotic lawnmowers can save users from complex and mixed labor and are becoming increasingly popular with users. The autonomous working device can automatically move in a preset working area and automatically execute a working task.

The current lawn mower sets up the opening that charges on the equipment body, sets up the electrode assembly who is connected with the main control module electricity in the opening that charges, when needs charge for the lawn mower for thereby outside pole piece that charges is charged for the lawn mower with electrode assembly butt joint, and current design has the not high problem of pole piece and electrode assembly contact accuracy that charges. Moreover, offer the opening that charges on the equipment body among the prior art, and spare part on the equipment body is more for set up the processing degree of difficulty of electrode assembly on the equipment body great, and after the electrode assembly damage in the opening that charges, it is inconvenient to dismantle, and cost of maintenance is higher.

Disclosure of Invention

The utility model aims to provide an autonomous operation device, which has higher contact precision of an electrode assembly and a charging pole piece on the charging device during charging and low maintenance cost.

To solve the above technical problem, an embodiment of the present utility model provides an autonomous working apparatus, including:

an equipment body;

the travelling mechanism is connected with the equipment body;

a main control module; and

the collision plate assembly surrounds at least one end of the equipment body and is movably connected with the equipment body;

the collision plate assembly is provided with a first sensing piece, and the equipment body is provided with a second sensing piece which is in sensing fit with the first sensing piece; after the collision plate assembly collides, the first sensing piece and the second sensing piece are in sensing fit to send signals to the main control module;

the impact plate assembly is provided with a charging opening, an electrode assembly electrically connected with the main control module is arranged in the charging opening, and the electrode assembly is connected with the impact plate assembly.

Compared with the prior art, the autonomous operation device provided by the embodiment of the utility model has the advantages that the charging opening is arranged on the striking plate assembly, the electrode assembly is arranged in the charging opening and is connected with the striking plate assembly, when the autonomous operation device returns to charge, the electrode assembly is contacted with the power supply pole piece and forms a power supply loop, the running mechanism can continue to move, so that the electrode assembly is contacted with the power supply pole piece more stably, the electrode assembly is arranged in the charging opening of the striking plate assembly, the striking plate assembly is triggered to collide when the autonomous operation device moves, then the first sensing piece on the striking plate assembly is in sensing fit with the second sensing piece on the device body, and signals are transmitted to the main control module, so that the main control module can receive the signals to judge that the motor assembly is contacted with the power supply pole piece and form the power supply loop, and then the running mechanism is controlled to stop moving. The design makes the accuracy of the contact between the charging pole piece and the electrode assembly higher, and when the electrode assembly is damaged, only the collision plate assembly is required to be replaced or the electrode assembly in the collision plate assembly is required to be replaced, and the equipment body is not required to be disassembled, so that the maintenance difficulty and the maintenance cost are low.

In one embodiment, the striker plate assembly includes: the middle collision plate and the pair of end collision plates are hinged with the middle collision plate, one end collision plate, the middle collision plate and the other end collision plate are sequentially connected along the extending direction of the middle collision plate, and the middle collision plate and the pair of end collision plates are matched to surround at least one end of the equipment body; each end collision plate is movably connected with the equipment body respectively;

the first sensing pieces are arranged on the end collision plates; when the middle collision plate collides, the collision plate assembly moves towards the direction of the equipment body; when the end collision plate rotates or is driven by the middle collision plate, the first sensing piece is in sensing fit with the corresponding second sensing piece, and a signal is sent to the main control module;

at least one end striking plate is provided with the charging opening, and the electrode assembly is connected with the end striking plate.

In one embodiment, the charging openings are formed in the pair of end collision plates; the charging opening is positioned at one side of the end collision plate, which is away from the end of the equipment body.

In an embodiment, the ratio of the distance from the hinge of the end strike plate and the middle strike plate to the length of the end strike plate along the extension direction of the end strike plate is 1/4-2/3.

In one embodiment, the electrode assembly is movably coupled to the end strike by a return member that provides a return force to the electrode assembly to its original position when the electrode assembly is operatively moved.

In an embodiment, the electrode assembly comprises an electrode plate and an electrode mounting plate for fixing the electrode plate, the electrode mounting plate is connected with the end collision plate through a reset piece, and the electrode mounting plate is located on one side of the electrode plate, which moves from the initial position towards the direction of opening the charging opening.

In one embodiment, the electrode tab is engaged with the electrode mounting plate.

In one embodiment, the electrode mounting plate is hingedly connected to the end strike and the return is located between the electrode mounting plate and the end strike.

In an embodiment, the end striking plate comprises a striking plate main body and an electrode bracket connected with the striking plate main body, the electrode mounting plate is hinged with the electrode bracket, and the reset piece is positioned between the electrode mounting plate and the electrode bracket.

In an embodiment, the electrode plate is located between the electrode support and the electrode mounting plate, and the electrode plate and the electrode mounting plate rotate around the hinge joint of the electrode mounting plate and the electrode support towards or away from the bottom direction of the device body.

In an embodiment, the end collision plate comprises a pair of extension baffles extending towards the bottom direction of the autonomous working device, and the pair of extension baffles are oppositely arranged along the extension direction of the end collision plate and are positioned at two sides of the charging opening; the electrode pad is operably positioned between a pair of the extension baffles;

the extending baffle is provided with a limiting groove, and the limiting groove is provided with a first limiting wall and a second limiting wall which form a preset angle; a limiting block is arranged on the electrode mounting plate; when the electrode mounting plate is positioned at the initial position, the limiting block is propped against the first limiting wall; when the electrode mounting plate rotates to a preset position, the limiting block abuts against the second limiting wall.

Drawings

FIG. 1 is a schematic illustration of the configuration of an autonomous working apparatus according to one embodiment of the present utility model;

FIG. 2 is a schematic structural view of a striker plate assembly according to one embodiment of the present utility model;

FIG. 3 is an exploded view of a striker plate assembly of one embodiment of the present utility model;

FIG. 4 is a schematic view of the structure of an end strike according to one embodiment of the utility model;

FIG. 5 is a schematic view showing a partial structure of an apparatus body according to an embodiment of the present utility model;

FIG. 6 is a schematic structural view of an end strike according to another aspect of one embodiment of the utility model;

fig. 7 is a schematic view showing a structure of a butt joint of a power supply sheet and an electrode assembly according to an embodiment of the present utility model;

FIG. 8 is an exploded view of an electrode assembly according to one embodiment of the present utility model;

fig. 9 is a schematic view of the structure of an electrode sheet according to an embodiment of the present utility model;

FIG. 10 is a schematic view of the structure of an electrode mounting plate according to one embodiment of the present utility model;

FIG. 11 is an exploded view of an end strike plate according to one embodiment of the utility model;

FIG. 12 is a schematic view of the structure of an electrode holder according to an embodiment of the present utility model;

FIG. 13 is a schematic view of the structure of a striker plate body of an embodiment of the present utility model;

FIG. 14 is an exploded view of an end strike plate according to one embodiment of the utility model;

fig. 15 is a partial enlarged view of a in fig. 13.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. However, those of ordinary skill in the art will understand that in various embodiments of the present utility model, numerous technical details have been set forth in order to provide a better understanding of the present utility model. However, the technical solutions claimed in the claims of the present utility model can be realized without these technical details and various changes and modifications based on the following embodiments.

Throughout the specification and claims, unless the context requires otherwise, the word "comprise" and variations such as "comprises" and "comprising" will be understood to be open-ended, meaning of inclusion, i.e. to be interpreted to mean "including, but not limited to.

The following detailed description of various embodiments of the present utility model will be provided in connection with the accompanying drawings to provide a clearer understanding of the objects, features and advantages of the present utility model. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the utility model, but rather are merely illustrative of the true spirit of the utility model.

Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "and/or" unless the context clearly dictates otherwise.

In the following description, for the purposes of clarity of presentation of the structure and manner of operation of the present utility model, the description will be made with the aid of directional terms, but such terms as "forward," "rearward," "left," "right," "outward," "inner," "outward," "inward," "upper," "lower," etc. are to be construed as convenience, and are not to be limiting.

Embodiments of the present utility model are described below with reference to the accompanying drawings.

Implementation details of the present embodiment are specifically described below, and the following description is provided only for facilitating understanding, and is not necessary to implement the present embodiment.

The present utility model provides an autonomous working apparatus, which may be a robot that can autonomously move within a preset area and perform a specific work, typically an intelligent sweeper/cleaner that performs a cleaning work, or an intelligent mower that performs a mowing work, or the like. The specific job refers to a job for processing the working surface and changing the state of the working surface. The utility model is described in detail by taking an intelligent mower as an example. The autonomous working device can walk on the surface of a working area autonomously, and particularly can be used as an intelligent mower to mow the ground autonomously.

As shown in fig. 1, the autonomous working apparatus includes an apparatus body 1, a traveling mechanism 2, a main control module, and a striker assembly 3. The travelling mechanism 2 is connected with the equipment body 1. As shown in fig. 2 and 3, the striker assembly 3 includes a middle striker 31, a hinge 32 fixed to the middle striker 31, and a pair of end striker 33 hinge-coupled to the middle striker 31, one end striker 33, the middle striker 31, and the other end striker 33 are sequentially coupled in the extending direction of the middle striker 31, and the middle striker 31, the pair of end striker 33 are fitted around one end of the apparatus body 1, each of the end striker 33 is movably coupled to the apparatus body 1, that is, surrounds a part of the side of the apparatus body 1 such that the end striker 33 is located between the apparatus body 1 and an obstacle that may collide during traveling. As shown in fig. 4, the end strike 33 is provided with a first sensing piece 331. As shown in fig. 5, the apparatus body 1 has a second sensing piece 11 that is in sensing engagement with the first sensing piece 331, and after the middle striking plate 31 collides, the pair of end striking plates 33 move together with the middle striking plate 31 in the direction of the apparatus body 1. When the end collision plate 33 rotates around the hinge member 32, or the end collision plate 33 is driven by the middle collision plate 31 to move towards the direction of the device body 1, the first sensing member 331 on the end collision plate 33 is in sensing fit with the corresponding second sensing member 11, and signals are sent to the main control module. As shown in fig. 4, the end striking plate 33 is provided with a charging opening 332, and as shown in fig. 6, the charging opening 332 is provided with an electrode assembly 4 electrically connected with the main control module, and the electrode assembly 4 is connected with the end striking plate 33.

When the autonomous working apparatus is walking, the striker assembly 3 is subjected to an external force and is displaced in whole or in part in the horizontal direction. Specifically, when the end striking plate 33 located at the left side is pressed by an obstacle, it rotates backward around the hinge member 32, the first sensing member 331 provided on the end striking plate 33 moves backward with respect to the second sensing member 11 on the chassis, and the main control module receives a signal, and can recognize that the left side of the autonomous working apparatus strikes the obstacle, and thus perform a corresponding avoidance strategy action (illustratively, backward-right-turn-forward). Similarly, when the end strike plate 33 located on the right side is pressed by an obstacle, the main control module can recognize that the right side of the autonomous working apparatus strikes the obstacle, thereby performing a corresponding avoidance strategy action (illustratively, back-left turn-forward). When the middle striking plate 31 is pressed by the obstacle, the middle striking plate 31 drives the two end striking plates 33 located at the left side and the right side to move backward, that is, the striking plate assembly 3 moves backward integrally, the first sensing pieces 331 provided at the left side and the two end striking plates 33 provided at the right side move backward with respect to the corresponding second sensing pieces 11 at substantially the same time, so that the main control module can recognize that the obstacle is struck right in front of the autonomous working apparatus, and thus perform the corresponding avoidance strategy action (e.g., backward-left turn or right turn-forward).

When the autonomous working device moves towards the docking station in the charging docking process, the autonomous working device continues to advance after the power supply pole piece 541 contacts with the electrode assembly 4, so that the striking plate assembly 3 moves backwards, and signals are transmitted to the main control module. The autonomous working device determines the timing to stop the movement based on the signal. Specifically, in the returning process of the autonomous working apparatus, the collision emergency mechanism is in an activated state, that is, if the movement of the collision plate assembly 3 is detected, after a suitable avoidance strategy action is selected according to the collision direction, the autonomous working apparatus continues to move towards the docking station. When the autonomous working apparatus detects that it has reached the vicinity of the docking station, no further avoidance strategy action is taken with respect to detecting movement of the striker plate assembly 3. The autonomous working device continues to advance, the power feeding pole piece 541 first contacts the electrode assembly 4, and the autonomous working device detects the charging voltage signal. The autonomous working apparatus continues to advance, and then movement of the striker assembly 3 is detected, and the autonomous working apparatus is controlled to stop advancing based on the detected charging voltage signal and the signal of movement of the striker assembly 3. By adopting the scheme, the accuracy of charging electric connection can be ensured.

Compared with the prior art, the autonomous operation device of the embodiment of the utility model has the charging opening 332 arranged on the striking plate assembly 3, the electrode assembly 4 arranged in the charging opening 332 and connected with the striking plate assembly 3, as shown in fig. 7, when the autonomous operation device returns to charge, after the electrode assembly 4 contacts with the power supply pole piece 541 and forms a power supply loop, the traveling mechanism 2 continues to move, so that the contact between the electrode assembly 4 and the power supply pole piece 541 is more stable, the electrode assembly 4 is arranged in the charging opening 332 of the striking plate assembly 3, the autonomous operation device triggers the striking plate assembly 3 to collide when the traveling mechanism 2 moves, then the first sensing piece 331 on the striking plate assembly 3 is in sensing fit with the second sensing piece 11 on the device body 1, and signals are transmitted to the main control module, so that the main control module can receive the signals to judge that the motor assembly contacts with the power supply pole piece 541 and form the power supply loop, and then the traveling mechanism 2 is controlled to stop moving. This kind of design makes the precision that charges pole piece 41 and electrode assembly 4 contacted higher, and when electrode assembly 4 damaged, only need to be changed to the clash plate subassembly 3 or change the electrode assembly 4 in the clash plate subassembly 3, and need not to dismantle equipment body 1, its maintenance degree of difficulty and cost of maintenance are all lower.

It should be understood that the first sensing element 331 may be a hall sensor, and the second sensing element 11 may be a permanent magnet; or the first sensing piece 331 can be a permanent magnet, and correspondingly the second sensing piece 11 can be a hall sensor. The first sensor 331 and the second sensor 11 are only described as examples, and the first sensor 331 and the second sensor 11 of the present utility model are not limited to the above-described permanent magnet and hall sensor, and other sensors, such as infrared sensors, that can detect the displacement of the end strike plate 33 may be used without departing from the scope of the present utility model.

Generally, the striker assembly 3 is mounted at the front end in the traveling direction of the apparatus body 1, but the striker assembly 3 may also be mounted at the rear end in the traveling direction of the apparatus body 1. Or the striker assembly 3 is mounted at both the front end in the traveling direction of the apparatus body 1 and the rear end in the traveling direction of the apparatus body 1.

Although in the present embodiment, the hinge 32 is provided fixedly connected to the intermediate striker plate 31, the hinge 32 is a separate component here. However, in other embodiments, hinge 32 may be integrally formed with intermediate striker plate 31, or hinge 32 may be integrally formed with end striker plate 33, without departing from the scope of the present utility model.

The striker assembly 3 of the present utility model is not limited to the above-described form of the intermediate striker 31 and the pair of end striker 33 hinged to the intermediate striker 31, and only the striker assembly 3 is movably connected to the apparatus body 1, the first sensing piece 331 is provided on the striker assembly 3, the second sensing piece 11 inductively coupled to the first sensing piece 331 is provided on the apparatus body 1, and the charging opening 332 is provided on the striker assembly 3, and the electrode assembly electrically connected to the main control module in the charging opening 332 is connected to the striker assembly 3. That is, the striker plate assembly 3 may be an integral part of one piece or may be a plurality of connected parts without departing from the scope of the present utility model.

Preferably, as shown in fig. 2, a pair of end striking plates 33 are each provided with a charging opening 332, and the charging opening 332 is located on the side of the end striking plate 33 facing away from the end of the apparatus body 1. The symmetrical arrangement of the charging openings 332 on the pair of end strike plates 33 facilitates better docking of the electrode assembly 4 with the power pole piece 541. It should be understood that the embodiment of the present utility model is not limited to the embodiment shown in fig. 2, and in other embodiments, the charging opening 332 may be provided only on the left end strike 33, or the charging opening 332 may be provided only on the right end strike 33, which may be performed by those skilled in the art according to actual needs without departing from the scope of the present utility model.

Further, as shown in fig. 4, the ratio of the distance a of the charging opening 332 from the hinge 32 to the length b of the end strike 33 in the extending direction of the end strike 33 is 1/4 to 2/3. For example, the ratio of the distance a of the charging opening 332 from the hinge 32 to the length b of the end strike 33 may be set to 1/4, 1/3, or 2/3. That is, the charging opening 332 is provided at an intermediate position in the extending direction of the end strike plate 33, not at the end of the extending direction of the end strike plate 33, and when the end strike plate 33 is assembled, the charging opening 332 and the electrode assembly 4 provided therein are not easily broken by the collision, and may be provided according to actual needs by those skilled in the art.

In addition, the electrode assembly 4 is movably coupled to the end strike 33 by a restoring member (not shown) that provides a restoring force to the electrode assembly 4 to its original position when the electrode assembly 4 is operatively moved. One end of the restoring member is connected to the electrode assembly 4, and the other end is connected to the end striking plate 33, to provide restoring force to the electrode assembly 4 back to the original position. Because the electrode assembly 4 and the end collision plate 33 can be movably connected, when the electrode assembly 4 contacts with the power supply pole piece 541, the electrode assembly 4 has a certain movable space, so that the electrode assembly 4 is prevented from being damaged after the device body 1 and the power supply pole piece 541 excessively collide. The restoring member may be a torsion spring, a spring or other elastic member, and may be capable of providing the electrode assembly 4 with a restoring force for restoring the electrode assembly to the initial position without departing from the scope of the present utility model.

Preferably, as shown in fig. 8, the electrode assembly 4 includes an electrode tab 41 and an electrode mounting plate 42 fixing the electrode tab 41, the electrode mounting plate 42 is connected to the end strike 33 through a reset member, and the electrode mounting plate 42 is located at a side of the electrode tab 41 which moves from an initial position toward a direction of opening the charging opening 332. The electrode plate 41 is used for contacting with the power supply plate 541 to form a power supply loop, and the electrode mounting plate 42 provides supporting and fixing functions for the electrode plate 41.

The electrode tab 41 engages with the electrode mounting plate 42. Specifically, referring to fig. 9 and 10, the fixing pins 411 of the electrode plate 41 are matched with the fixing holes 421 of the electrode mounting plate 42, so that the electrode plate 41 is fixedly mounted on the upper surface of the electrode mounting plate 42, and the electrode plate 41 is further provided with a pair of pins 412 for electrically connecting to a main control module of the autonomous working device. The engaging structure of the electrode sheet 41 and the electrode mounting plate 42 is not limited to the illustrated structure, and only the electrode sheet 41 needs to be engaged with the electrode mounting plate 42, so that the electrode sheet 41 and the electrode mounting plate 42 are convenient to mount, and a person skilled in the art can set the engaging structure according to actual needs.

In addition, as shown in fig. 6, the electrode mounting plate 42 is hingedly connected to the end strike 33, and a return member is located between the electrode mounting plate 42 and the end strike 33. The electrode mounting plate 42 is hinged to the end strike plate 33, so that the electrode mounting plate 42 rotates around the hinge point with the end strike plate 33, when the power supply electrode plate 541 is inserted into the charging opening 332 and contacts the electrode plate 41, the electrode mounting plate 42 opens the charging opening 332 around the hinge point with the end strike plate 33, and when the power supply electrode plate 541 protrudes from the charging opening 332, the electrode mounting plate 42 returns to the initial position around the hinge point with the end strike plate 33 under the action of the reset member.

Preferably, as shown in fig. 11, the end strike plate 33 includes a strike plate body 333 and an electrode bracket 334 connected to the strike plate body 333, the electrode mounting plate 42 is hingedly connected to the electrode bracket 334, and the restoring member is located between the electrode mounting plate 42 and the electrode bracket 334. Specifically, as shown in fig. 10, two ends of the electrode mounting plate 42 are provided with rotating shafts 422, and as shown in fig. 12, the electrode support 334 is provided with corresponding shaft receiving hooks 335, the shaft receiving hooks 335 on the electrode support 334 hook on the rotating shafts 422 of the electrode mounting plate 42, and the shaft receiving hooks 335 and the rotating shafts 422 cooperate to enable the electrode mounting plate 42 to rotate around the rotating shafts 422 relative to the electrode support 334. A return member, such as a torsion spring, is provided at the rotation shaft 422 so that the electrode mounting plate 42 has a tendency to rotate forward. The electrode bracket 334 is provided with a first screw hole 336, the striker main body 333 is provided with a second screw hole 337, the first screw hole 336 and the second screw hole 337 are oppositely arranged, and the electrode bracket 334 and the striker main body 333 are fixedly connected through screws. The above-mentioned setting is in the installation, can be earlier with electrode piece 41 fixed in on the electrode mounting panel 42, then assemble electrode support 334 and electrode mounting panel 42 together, again with electrode support 334 and strike plate main part 333 through first screw hole 336 and setting screw in the second screw hole 337 together to the equipment is accomplished, and above-mentioned installation is comparatively simple and convenient, and the person skilled in the art can set up according to actual need. It should be understood that the hinge form of the electrode support 334 and the electrode mounting plate 42 is not limited to the above structure, and a hinge hole may be formed in a plate body extending toward the bottom of the electrode support 334, and hinge shafts may be inserted into two extending portions of the electrode mounting plate 42, so that the electrode support 334 and the electrode mounting plate 42 may be hinged as required by those skilled in the art.

Further, as shown in fig. 14, the electrode tab 41 is located between the electrode holder 334 and the electrode mounting plate 42, and both the electrode tab 41 and the electrode mounting plate 42 are turned toward or away from the bottom direction of the apparatus body 1 around the hinge of the electrode mounting plate 42 and the electrode holder 334. When the power feeding sheet 541 is inserted into the charging opening 332 and contacts the electrode sheet 41, the electrode sheet 41 and the electrode mounting plate 42 will rotate around the hinge of the electrode mounting plate 42 and the electrode bracket 334 toward the bottom of the apparatus body 1, and at the same time, the reset member will provide a force for the electrode mounting plate 42 to rotate away from the bottom of the apparatus body 1, so that the electrode sheet 41 and the electrode mounting plate 42 will tend to return to the initial positions. When the power pole piece 541 extends out of the charging opening 332, the electrode mounting plate 42 rotates around the hinge of the electrode mounting plate 42 and the electrode bracket 334 away from the bottom of the apparatus body 1 under the action of the reset member. The structure layout is reasonable.

In addition, as shown in fig. 13, the end strike plate 33 includes a pair of extension flaps 338 extending toward the bottom direction of the autonomous working apparatus, the pair of extension flaps 338 being disposed opposite to each other in the extending direction of the end strike plate 33 and on both sides of the charging opening 332, and the electrode tab 41 being operatively located between the pair of extension flaps 338. The extending baffle 338 is provided with a limiting groove 339, and the limiting groove 339 is provided with a first limiting wall 3391 and a second limiting wall 3392 which form a preset angle. As shown in fig. 10, the electrode mounting plate 42 is provided with a limiting block 423, when the electrode mounting plate 42 is located at the initial position, the limiting block 423 abuts against the first limiting wall 3391, and when the electrode mounting plate 42 rotates to the preset position, the limiting block 423 abuts against the second limiting wall 3392. The limiting groove 339 cooperates with the limiting block 423 to limit the rotation range of the electrode mounting plate 42, and can be set by those skilled in the art according to actual needs.

While the preferred embodiments of the present utility model have been described in detail above, it should be understood that aspects of the embodiments can be modified, if necessary, to employ aspects, features and concepts of the various patents, applications and publications to provide yet further embodiments.

These and other changes can be made to the embodiments in light of the above detailed description. In general, in the claims, the terms used should not be construed to be limited to the specific embodiments disclosed in the specification and the claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which such claims are entitled.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of carrying out the utility model and that various changes in form and details may be made therein without departing from the spirit and scope of the utility model.

Claims (11)

1. An autonomous working apparatus, comprising:

an equipment body;

the travelling mechanism is connected with the equipment body;

a main control module; and

the collision plate assembly surrounds at least one end of the equipment body and is movably connected with the equipment body;

the collision plate assembly is provided with a first sensing piece, and the equipment body is provided with a second sensing piece which is in sensing fit with the first sensing piece; after the collision plate assembly collides, the first sensing piece and the second sensing piece are in sensing fit to send signals to the main control module;

the impact plate assembly is provided with a charging opening, an electrode assembly electrically connected with the main control module is arranged in the charging opening, and the electrode assembly is connected with the impact plate assembly.

2. The autonomous working apparatus of claim 1, wherein the striker plate assembly comprises: the middle collision plate and the pair of end collision plates are hinged with the middle collision plate, one end collision plate, the middle collision plate and the other end collision plate are sequentially connected along the extending direction of the middle collision plate, and the middle collision plate and the pair of end collision plates are matched to surround at least one end of the equipment body; each end collision plate is movably connected with the equipment body respectively;

the first sensing pieces are arranged on the end collision plates; when the middle collision plate collides, the collision plate assembly moves towards the direction of the equipment body; when the end collision plate rotates or is driven by the middle collision plate, the first sensing piece is in sensing fit with the corresponding second sensing piece, and a signal is sent to the main control module;

at least one end striking plate is provided with the charging opening, and the electrode assembly is connected with the end striking plate.

3. The autonomous working apparatus of claim 2 wherein the pair of end strike plates are each provided with the charging opening; the charging opening is positioned at one side of the end collision plate, which is away from the end of the equipment body.

4. An autonomous working apparatus as claimed in claim 3, characterized in that the charging opening is 1/4-2/3 of the ratio of the distance from where the end strike is hinged to the intermediate strike to the length of the end strike in the direction of extension of the end strike.

5. The autonomous working apparatus of claim 2 wherein the electrode assembly is movably coupled to the end strike by a return member that provides a return force to the electrode assembly to its original position when the electrode assembly is operatively moved.

6. The autonomous working apparatus according to claim 5, wherein the electrode assembly includes an electrode tab and an electrode mounting plate to which the electrode tab is fixed, the electrode mounting plate is connected to the end striking plate through a reset member, and the electrode mounting plate is located at a side of the electrode tab which moves from the initial position toward a direction of opening the charging opening.

7. The autonomous working device of claim 6, wherein the electrode tab engages the electrode mounting plate.

8. The autonomous working apparatus of claim 6 wherein the electrode mounting plate is hingedly connected to the end strike and the reset member is located between the electrode mounting plate and the end strike.

9. The autonomous working device of claim 8, wherein the end strike comprises a strike body and an electrode mount coupled to the strike body, the electrode mounting plate is hingedly coupled to the electrode mount, and the reset member is positioned between the electrode mounting plate and the electrode mount.

10. The autonomous working device of claim 9, wherein the electrode tab is located between the electrode mount and the electrode mounting plate, and wherein the electrode tab and the electrode mounting plate both rotate about the hinge of the electrode mounting plate and the electrode mount toward or away from the bottom of the device body.

11. The autonomous working apparatus of claim 8, wherein the end strike plate comprises a pair of extension flaps extending toward a bottom direction of the autonomous working apparatus, a pair of the extension flaps being disposed opposite to each other along an extension direction of the end strike plate and being located on both sides of the charging opening; the electrode pad is operably positioned between a pair of the extension baffles;

the extending baffle is provided with a limiting groove, and the limiting groove is provided with a first limiting wall and a second limiting wall which form a preset angle; a limiting block is arranged on the electrode mounting plate; when the electrode mounting plate is positioned at the initial position, the limiting block is propped against the first limiting wall; when the electrode mounting plate rotates to a preset position, the limiting block abuts against the second limiting wall.