Charging docking structure and robotic system

Abstract

This application provides a charging docking structure and a robot system, including a plug assembly and a socket assembly. The plug assembly includes a charging post, and the socket assembly includes a slot and at least one set of charging terminals. Each charging terminal includes a first terminal and at least one second terminal. The first terminal is rotatably connected to the slot, and the second terminal is rotatably connected to the first terminal. When the charging post docks with the slot, the charging post pushes the first and second terminals to rotate, thereby abutting against the first and second terminals. The charging docking structure provided by this application solves the technical problem in the prior art where it is difficult to guarantee a good docking.

Description

Technical Field

[0001] This application belongs to the field of battery charging technology, and more specifically, relates to a charging docking structure and a robotic system. Background Technology

[0002] Various autonomous mobile devices (such as lawnmowers and robot vacuums) typically have built-in batteries that require automatic recharging. The conventional charging solution involves a charging docking structure between the autonomous mobile device and the charging station, charging via contact. However, during charging, this docking structure often fails to guarantee a proper connection. Poor connection can lead to intermittent contact (such as insufficient or poor contact), causing arcing during charging (especially with high charging current), resulting in high temperatures and potentially melting of the charging structure, or even, in severe cases, a fire. Utility Model Content

[0003] The purpose of this application is to provide a charging docking structure and a robot system to solve the technical problem that existing charging docking structures cannot guarantee good docking.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows: a charging docking structure is provided, comprising: a plug assembly, the plug assembly including a charging post; and a socket assembly, the socket assembly including a slot and at least one set of charging terminals, the charging terminals including a first terminal and at least one second terminal, the first terminal being rotatably connected to the slot, and the second terminal being rotatably connected to the first terminal; wherein, when the charging post docks with the slot, the charging post pushes the first terminal and the second terminal to rotate respectively, and abuts against the first terminal and the second terminal.

[0005] In one alternative embodiment, when the charging post is not mated with the slot, the charging terminal at least partially obscures the slot.

[0006] In one alternative embodiment, the first terminal is provided with a clearance hole, and when the charging post is not mated with the slot, the second terminal at least partially blocks the clearance hole.

[0007] In one alternative embodiment, a first guide portion is provided on the first terminal for guiding the charging post into the slot; and / or, a second guide portion is provided on the second terminal for guiding the charging post into the slot.

[0008] In an optional embodiment, when the first terminal is provided with a first guide portion and the second terminal is provided with a second guide portion, the first guide portion and the second guide portion are disposed opposite to each other and have a gap, and the gap between the first guide portion and the second guide portion gradually decreases along the direction in which the charging post extends into the slot.

[0009] In one alternative embodiment, the rotating end of the first terminal is disposed in the slot via a first reset member, the first reset member causing the first terminal to at least partially block the slot; and / or, the rotating end of the second terminal is connected to the first terminal via a second reset member, the second reset member causing the second terminal to at least partially block the clearance hole.

[0010] In one optional embodiment, the socket assembly further includes a first rotating shaft and a second rotating shaft; the first rotating shaft is fixedly connected to the slot, the first terminal is rotatably connected to the first rotating shaft, one end of the first reset member abuts against the first terminal, and the other end of the first reset member abuts against the slot; the second rotating shaft is fixedly connected to the first terminal, the second terminal is rotatably connected to the first rotating shaft, one end of the second reset member abuts against the second terminal, and the other end of the second reset member abuts against the first terminal.

[0011] In an optional embodiment, the charging terminal further includes at least one third terminal, which is rotatably connected to the second terminal; when the charging post mates with the slot, the charging post also pushes against the third terminal to rotate and abut against the third terminal.

[0012] In an alternative embodiment, the socket assembly further includes an electrical connection interface disposed on a first terminal or a second terminal.

[0013] In an optional embodiment, the charging docking structure further includes a temperature detection sensor for identifying temperature changes during the charging process, the temperature detection sensor being disposed on the charging post.

[0014] Another objective of this application is to provide a robot system, including: a mobile robot; a charging station; and a charging docking structure as described above, wherein a plug assembly is disposed in one of the mobile robot and the charging station, and a socket assembly is disposed in the other of the mobile robot and the charging station.

[0015] In an optional embodiment, a control unit is also included, configured to control the charging station to stop operating when the temperature detected by the temperature sensor exceeds a threshold range, and to drive the mobile robot to re-dock with the charging station for charging when the temperature drops to within the threshold range.

[0016] The beneficial effects of the charging docking structure and robot system provided in this application are as follows: Compared with the prior art, the charging docking structure of this application forms a multi-stage rotating mechanism by rotating the first terminal in the slot and rotating at least one second terminal in the first terminal. When the charging post is inserted, it can sequentially push the first terminal and the second terminal to rotate, ensuring full contact between the charging post and the charging terminal at multiple points. This improves the fault tolerance and reliability of the charging docking structure, increases the actual contact area, reduces the contact resistance, reduces the generation of local hot spots, makes the current distribution more uniform during the charging process, reduces the risk of loose connections and arcing, and improves charging efficiency and safety. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is an exploded structural diagram of the charging docking structure provided in the embodiments of this application;

[0019] Figure 2 This is a schematic diagram of the structure of the socket assembly provided in an embodiment of this application;

[0020] Figure 3 This is a schematic diagram of the docking state of the charging docking structure provided in the embodiments of this application;

[0021] Figure 4 This is a schematic diagram of the internal state of the charging docking structure provided in the embodiments of this application;

[0022] Figure 5 A cross-sectional view of the socket assembly provided in an embodiment of this application;

[0023] Figure 6 A schematic cross-sectional view of the charging docking structure provided in the embodiments of this application in the docking state. Figure 1 ;

[0024] Figure 7 A schematic cross-sectional view of the charging docking structure provided in the embodiments of this application in the docking state. Figure 2 ;

[0025] Figure 8 This is a schematic diagram of the structure of the charging terminal provided in an embodiment of this application;

[0026] Figure 9 This is a schematic diagram of the structure of the robot system provided in an embodiment of this application.

[0027] The following are the labeling elements in the figure:

[0028] 100 - Charging docking structure; 10 - Plug assembly; 11 - Charging post; 20 - Socket assembly; 21 - Slot; 22 - Charging terminal; 221 - First terminal; 2211 - Clearance hole; 2212 - First guide part; 222 - Second terminal; 2221 - Second guide part; 223 - Third terminal; 23 - First reset member; 24 - Second reset member; 25 - First rotating shaft; 26 - Second rotating shaft; 27 - Electrical connection interface.

[0029] 200 - Robot system; 210 - Mobile robot; 220 - Charging station. Detailed Implementation

[0030] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0031] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0032] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0034] Various autonomous mobile devices (such as lawnmowers and robot vacuums) typically have built-in batteries and usually require automatic recharging. Conventional charging solutions involve installing a charging docking structure between the autonomous mobile device and the charging station, charging via a docking contact method. However, this typically involves only one contact point. During charging, the docking structure cannot guarantee a proper connection between the charging device and the device. Poor connection can lead to intermittent contact (such as insufficient or poor contact), causing arcing during charging (especially with high charging current), resulting in high temperature rise and potentially melting of the charging structure, or even, in severe cases, fire.

[0035] Please refer to the following: Figures 1 to 8 The charging docking structure 100 provided in the embodiments of this application will now be described. The charging docking structure 100 includes: a plug assembly 10, which includes a charging post 11; and a socket assembly 20, which includes a slot 21 and at least one set of charging terminals 22. Each charging terminal 22 includes a first terminal 221 and at least one second terminal 222. The first terminal 221 is rotatably connected to the slot 21, and the second terminal 222 is rotatably connected to the first terminal 221. When the charging post 11 docks with the slot 21, the charging post 11 pushes the first terminal 221 and the second terminal 222 to rotate and abut against the first terminal 221 and the second terminal 222, respectively.

[0036] The charging post 11 is a columnar structure provided in the plug assembly 10 for conducting current. When connected, the charging post 11 forms an electrical connection with the charging terminal 22 of the socket assembly 20. The charging post 11 is made of conductive materials such as metal.

[0037] The socket assembly 20 includes a slot 21 and at least one set of charging terminals 22. This means that the socket assembly 20 has a groove for accommodating the charging post 11 and a movable conductive component. The slot 21 is used to guide the charging post 11 into the socket and fix its position. The socket assembly 20 can have the slot 21 formed in the housing, or it can directly use injection molding of the slot 21 and install conductive metal sheets inside.

[0038] The number of charging terminals 22 can be set to multiple groups, such as two, three, or four groups, and correspondingly, the charging posts 11 can also be set to two, three, or four. In some embodiments, such as Figure 1 and Figure 3 There are two sets of charging terminals 22 and two charging posts 11. The two charging posts 11 and the two sets of charging terminals 22 can form a symmetrical layout, which provides better mechanical guidance and positioning during docking, and improves the success rate and stability of automatic docking.

[0039] The charging terminal 22 includes a first terminal 221 and at least one second terminal 222. The first terminal 221 is mounted inside the slot 21 via a rotating shaft or hinge structure, and the rotatable connection allows the first terminal 221 to change position in response to the insertion action of the charging post 11. The second terminal 222 is mounted on the first terminal 221 via a rotating shaft or hinge structure, and the second terminal 222 rotates with the first terminal 221 and adjusts its own posture to fit the surface of the charging post 11.

[0040] The rotational design of the first terminal 221 and the second terminal 222 allows the charging post 11 to adaptively adjust the contact angle when it is inserted. When the charging post 11 is inserted into the slot 21, the terminal is driven to rotate through physical contact. The insertion force of the charging post 11 is converted into the rotational motion of the terminal to achieve multi-point contact.

[0041] Multiple second terminals 222 can be provided, such as two, three, or four. These multiple second terminals 222 are rotatably connected to the first terminal 221. Their distribution can be symmetrical, such as two second terminals 222 rotatably connected to both sides of the first terminal 221, forming a left-right symmetrical layout; or a surrounding layout, such as multiple second terminals 222 facing the center, arranged in a circular array on the first terminal 221; or a layered, progressively contacting layout. For example, the first terminal 221 is fixed inside the slot 21 and can rotate around an axis. The first second terminal 222 is sleeved on the rotating shaft of the first terminal 221, and the second second terminal 222 is then sleeved on the rotating shaft of the first second terminal 222, forming a layered, progressively rotatable charging terminal 22. When the charging post 11 is inserted, it sequentially pushes each layer of terminals and maintains contact.

[0042] By setting up multi-stage rotating charging terminals 22, the first terminal 221 and the second terminal 222 are rotated sequentially when the charging post 11 is inserted, forming a progressively unfolding contact mechanism. This ensures full contact between the charging post 11 and the charging terminals 22 at multiple points, avoiding incomplete connections caused by angular deviations or positional offsets. At the same time, the rotational characteristics of the terminals are used to adaptively adjust the contact pressure, improving the stability and safety of the charging connection.

[0043] like Figure 6When the charging post 11 mates with the slot 21, the charging post 11 first contacts and pushes the first terminal 221 to rotate. During the rotation of the first terminal 221, it drives the second terminal 222 connected to it to move together. The first terminal 221 gradually rotates towards the inner wall of the slot 21 around its axis of rotation. When the first terminal 221 rotates to a certain angle, the charging post 11 contacts the front end of the second terminal 222. As the charging post 11 continues to move forward, the second terminal 222 rotates around its axis of rotation connected to the first terminal 221, further adjusting its position to fit the contour of the charging post 11. At this time, the body of the charging post 11 still maintains contact with the first terminal 221. Finally, the charging post 11 is fully inserted into the slot 21, simultaneously abutting against the first terminal 221 and the second terminal 222, forming a stable and reliable electrical connection. Through this multi-stage rotation mechanism, the charging post 11 finally abuts against the first terminal 221 and the second terminal 222, forming a stable electrical connection. This design allows the charging terminal 22 to adaptively adjust its position and angle according to the insertion trajectory of the charging post 11, eliminating the deviation between the charging post 11 and the slot 21 and the charging terminal 22, ensuring a uniform contact pressure distribution between the charging post 11 and the charging terminal 22, and guaranteeing the stability and safety of charging.

[0044] The multi-stage rotating structure improves the fault tolerance and stability of charging docking. Even with some docking error, the charging terminal 22 can be adjusted to the optimal contact state by rotation, avoiding the point contact or line contact problems that are prone to occur with traditional fixed terminals. Furthermore, the design of multiple charging terminals 22 effectively increases the actual contact area, reduces contact resistance, and minimizes the generation of localized hot spots.

[0045] Compared with the prior art, the charging docking structure 100 provided in this application embodiment forms a multi-stage rotation mechanism by rotatably connecting the first terminal 221 to the slot 21 and at least one second terminal 222 to the first terminal 221. When the charging post 11 is inserted, it can sequentially push the first terminal 221 and the second terminal 222 to rotate, forming a progressively unfolding contact mechanism. This ensures full contact between the charging post 11 and the charging terminal 22 at multiple points, improves the fault tolerance and reliability of the charging docking structure 100, effectively compensates for the docking error between the charging post 11 and the slot 21, increases the actual contact area, reduces contact resistance, reduces the generation of local hot spots, and makes the current distribution during the charging process more uniform, reducing the risk of loose connections and arcing, and improving charging efficiency and safety.

[0046] Please refer to some embodiments of this application. Figure 2 and Figure 5 When the charging post 11 is not connected to the slot 21, the charging terminal 22 at least partially blocks the slot 21.

[0047] When the charging terminal 11 is not connected to the slot 21, the charging terminal 22 can block the slot 21, preventing foreign objects from entering the slot 21. This avoids foreign objects clogging the slot 21 or interfering with the normal operation of the charging terminal 22, improving the reliability and service life of the charging connection structure 100. It also provides dust and water protection, extending the service life of the charging connection structure 100. At the same time, the charging terminal 22 blocking the slot 21 can also prevent users from accidentally touching the live parts inside the slot 21, improving safety.

[0048] The way to block the slot 21 is to allow the charging terminal 22 to hang down naturally under the action of gravity to block the slot 21; or the charging terminal 22 can be set as an elastic flip structure, or a connecting structure can be set to connect the charging terminal 22, so that the charging terminal 22 can be pushed open when the charging post 11 is inserted.

[0049] In some embodiments, the first terminal 221 is designed as a rotatable flap structure, with a torsion spring or spring sheet at the root of the terminal, so that it is in a forward tilted state when there is no external force, forming a shield; when the charging post 11 is inserted, it pushes the terminal to rotate backward, overcomes the spring force, opens the channel, and achieves contact. In addition, the second terminal 222 is rotatably connected to the first terminal 221, and can work together with the first terminal 221 to shield the slot 21 opening.

[0050] In other embodiments, a metal spring with its own elasticity is used as the charging terminal 22. One end of the spring is fixed and the other end is free. Under normal conditions, it bends forward due to elastic deformation to block the slot 21. When the charging post 11 is inserted, the spring is held open and fits against the post to conduct electricity.

[0051] In some other embodiments, a magnetic attractor is provided in the slot 21, and a magnetic first terminal 221 is provided. When not connected, the magnetic force causes the terminal to be attracted in the front position, blocking the slot 21. When the charging post 11 is inserted, the terminal is pushed away by the magnetic force.

[0052] Please refer to some embodiments of this application. Figures 4 to 5 The first terminal 221 is provided with a clearance hole 2211. When the charging post 11 is not connected to the slot 21, the second terminal 222 at least partially blocks the clearance hole 2211.

[0053] When the charging post 11 is not aligned with the slot 21, the second terminal 222 blocks the clearance hole 2211, preventing foreign objects from entering the slot 21. This design effectively protects the electrical components inside the slot 21, avoiding short circuits or other electrical faults that may be caused by foreign objects entering. Simultaneously, this structure also prevents dust, moisture, etc., from entering the slot 21, improving the service life and reliability of the charging docking structure 100. Furthermore, the design of the second terminal 222 blocking the clearance hole 2211 also helps prevent accidental contact with the inside of the slot 21 by the user, improving safety.

[0054] The second terminal 222 can be connected above or to the side of the first terminal 221 via a pivot. When there is no external force, the second terminal 222 naturally droops due to its own weight, blocking the clearance hole 2211. When the charging post 11 is inserted, it is pushed upward to remove the obstruction. Alternatively, a magnet can be provided on the second terminal 222, or a small magnet can be embedded in the first terminal 221 or the socket base. When not connected, the magnetic force attracts the second terminal 222 to the obstructed position. When the charging post 11 is inserted, it overcomes the magnetic force and pushes the second terminal 222 away.

[0055] like Figure 5 and Figure 8 The second terminal 222 can also be connected to the first terminal 221 via an elastic reset member, which keeps the second terminal 222 in abutting against the clearance hole 2211. When the charging post 11 is inserted, the charging post 11 contacts the first terminal 221 and the second terminal 222 in sequence, pushing the second terminal 222 to rotate around the axis to a horizontal state. At this time, the second terminal 222 disengages from the clearance hole 2211 area, and the clearance hole 2211 opens to allow the charging post 11 to pass through.

[0056] Furthermore, when two second terminals 222 are provided, the two second terminals 222 are symmetrically arranged on the first terminal 221, jointly blocking the clearance hole 2211. When more than two second terminals 222 are provided, the second terminals 222 are arranged circumferentially, jointly blocking the clearance hole 2211. Alternatively, multiple second terminals 222 can be configured in a stacked nested structure, with the first second terminal 222 blocking the clearance hole 2211 of the first terminal 221, and subsequent second terminals 222 blocking the clearance hole of the preceding second terminal 222. The connection method is similar to the way the first second terminal 222 is connected to the first terminal 221, and will not be described in detail here. This forms a physical barrier, preventing foreign objects from entering and jamming the rotating mechanism, effectively preventing dust, water droplets, grass clippings, metal shavings, and other foreign objects from entering the slot 21, thus improving operational reliability.

[0057] Please refer to some embodiments of this application. Figure 2 and Figure 5 The first terminal 221 is provided with a first guide portion 2212.

[0058] Please refer to some embodiments of this application. Figure 5 The second terminal 222 is provided with a second guide portion 2221; the first guide portion 2212 and / or the second guide portion 2221 are used to guide the charging post 11 into the slot 21.

[0059] The first guide portion 2212 and the second guide portion 2221 can be inclined or curved surfaces, respectively disposed on the edge of the terminal, and arranged opposite each other to form a guide channel. The guide portion can be disposed separately, with its surface covered with conductive material and electrically connected to the terminal body; the guide portion can be formed by bending the end of the terminal. The first guide portion 2212 rotates synchronously with the first terminal 221, and the second guide portion 2221 rotates synchronously with the second terminal 222.

[0060] like Figure 5 In some embodiments, the first guide portion 2212 is configured with an arc-shaped structure, and the second guide portion 2221 is configured with an arc-shaped structure. The arc-shaped structure can achieve automatic guidance, guiding the charging post 11 to achieve automatic alignment, ensuring contact between the charging post 11 and the charging terminal 22, and improving conductivity stability. Furthermore, as... Figure 6 In other embodiments, the head of the charging post 11 is also configured as a mating spherical structure. The frictional resistance between the spherical surface and the curved surface is small, the stress distribution is uniform, the insertion is smooth and gentle, and the user experience is improved.

[0061] When the charging post 11 approaches the slot 21, it first contacts the first guide portion 2212 and the second guide portion 2221. Due to the guiding structure of the first guide portion 2212 and the second guide portion 2221, the charging post 11 can slide along the surface of the guide portion and be guided into the slot 21. This design can improve the success rate of docking between the charging post 11 and the slot 21 and reduce wear during the docking process.

[0062] The first guide portion 2212 and the second guide portion 2221 effectively guide the charging post 11 to accurately enter the slot 21, reducing deviations and jamming during the docking process and improving the docking accuracy and stability between the charging post 11 and the slot 21. This not only improves the reliability of the charging docking but also extends the service life of the charging docking structure 100. Furthermore, the more precise docking reduces the risk of incomplete connections due to poor docking, thereby lowering the risk of arcing and temperature rise during charging and improving the safety of the charging process.

[0063] Please refer to some embodiments of this application. Figure 5 The first guide portion 2212 and the second guide portion 2221 are disposed opposite to each other and have a gap. Along the direction in which the charging post 11 extends into the slot 21, the gap between the first guide portion 2212 and the second guide portion 2221 gradually decreases.

[0064] The first guide portion 2212 and the second guide portion 2221 are respectively disposed on the first terminal 221 and the second terminal 222. The relative gap between them forms a guide channel. The gap at the entrance end of the guide channel is relatively large, which facilitates the initial insertion of the charging post 11. As the charging post 11 extends, the gap gradually narrows, allowing the charging post 11 to move along a predetermined path. If the first guide portion 2212 is designed as a sloped structure, the second guide portion 2221 is provided with a corresponding complementary slope, and the gap between them gradually decreases along the docking direction.

[0065] In some embodiments, along the direction in which the charging post 11 extends into the slot 21, the gap between the first guide portion 2212 and the second guide portion 2221 is in a converging shape, with the initial gap being larger than the diameter of the charging post 11 and the final gap being equal to or slightly larger than the diameter of the charging post 11. The first terminal 221 and the second terminal 222 are connected by a rotating shaft, so that the guide portions can rotate synchronously during the pushing process of the charging post 11, but the gradual design of the gap always maintains the constraint on the charging post 11.

[0066] When the charging post 11 begins to be inserted into the slot 21, the relatively large entry gap allows for a certain positional deviation. As the charging post 11 continues to advance, the gradually narrowing gap corrects the movement trajectory of the charging post 11 through physical contact, ensuring that it is precisely aligned with the center of the slot 21. During this process, the first terminal 221 and the second terminal 222 rotate due to the pressure from the charging post 11, but the gradual change in the gap ensures that the rotational action is synchronized with the displacement of the charging post 11.

[0067] The first guide portion 2212 and the second guide portion 2221 can also adopt an arc surface structure, with the two arc surfaces arranged opposite each other to form a horn shape. During the insertion process, the charging post 11 first contacts the wider end of the horn, and then gradually slides inward along the two inclined surfaces until it is fully inserted into the slot 21.

[0068] This design effectively guides the charging post 11 to be accurately inserted into the slot 21, improving the success rate of charging docking. As the gap between the first guide portion 2212 and the second guide portion 2221 gradually decreases, the charging post 11 can be gradually guided to the correct position during insertion, reducing the possibility of docking failure. This design can tolerate a certain degree of alignment error; even if the initial position of the charging post 11 is slightly off, it can be guided to the correct position through the guide structure.

[0069] Please refer to some embodiments of this application. Figure 5 and Figure 8 The rotating end of the first terminal 221 is disposed in the slot 21 by the first reset member 23, and the first reset member 23 causes the first terminal 221 to at least partially block the slot 21.

[0070] Please refer to some embodiments of this application. Figure 5 and Figure 8 The rotating end of the second terminal 222 is connected to the first terminal 221 through the second reset member 24, and the second reset member 24 causes the second terminal 222 to at least partially block the clearance hole 2211.

[0071] The reset element can be a torsion spring or a compression spring, etc. For example... Figure 8 The first reset member 23 is a torsion spring, one end of which is fixed to the inner wall of the slot 21, and the other end abuts against the non-contact side of the first terminal 221; the second reset member 24 is another torsion spring, one end of which is fixed to the first terminal 221, and the other end abuts against the non-contact side of the second terminal 222. When the charging post 11 is not inserted, the torque of the first reset member 23 pushes the first terminal 221 to rotate around the rotation axis to the position of blocking the opening of the slot 21, and the torque of the second reset member 24 pushes the second terminal 222 to rotate around the rotation axis to the position of blocking the clearance hole 2211.

[0072] During the insertion of the charging post 11 into the slot 21, the outer wall of the charging post 11 presses against the first guide portion 2212 of the first terminal 221, overcoming the torque of the first reset member 23 and causing the first terminal 221 to rotate around the rotation axis, thus avoiding the insertion path of the charging post 11; at the same time, the charging post 11 continues to press against the second guide portion 2221 of the second terminal 222, overcoming the torque of the second reset member 24 and causing the second terminal 222 to rotate around the rotation axis, thus avoiding the contact area of ​​the charging post 11.

[0073] When the charging post 11 is fully inserted, the contact surfaces of the first terminal 221 and the second terminal 222 form a stable abutment with the outer wall of the charging post 11. After the charging post 11 is pulled out, the torque of the first reset member 23 drives the first terminal 221 to rotate in the opposite direction to the initial position, blocking the opening of the slot 21; the torque of the second reset member 24 drives the second terminal 222 to rotate in the opposite direction to the initial position, blocking the clearance hole 2211, preventing foreign objects from entering the interior through the slot 21 or the clearance hole 2211.

[0074] The independent reset actions of the first reset member 23 and the second reset member 24 ensure that the first terminal 221 and the second terminal 222 always maintain a preset blocking position when not mated, preventing external impurities from entering the slot 21 and the clearance hole 2211. Simultaneously, the reset mechanism provides appropriate resistance for the insertion of the charging post 11, ensuring tight contact between the charging post 11 and the terminal, thus improving charging reliability and safety. Furthermore, the design of the reset mechanism simplifies the overall structure of the charging docking structure 100, improving production efficiency and product lifespan.

[0075] Please refer to some embodiments of this application. Figure 5 and Figure 8The socket assembly 20 also includes a first rotating shaft 25 and a second rotating shaft 26; the first rotating shaft 25 is fixedly connected to the slot 21, the first terminal 221 is rotatably connected to the first rotating shaft 25, one end of the first reset member 23 abuts against the first terminal 221, and the other end of the first reset member 23 abuts against the slot 21; the second rotating shaft 26 is fixedly connected to the first terminal 221, the second terminal 222 is rotatably connected to the first rotating shaft 25, one end of the second reset member 24 abuts against the second terminal 222, and the other end of the second reset member 24 abuts against the first terminal 221.

[0076] The fixed connection between the first rotating shaft 25 and the slot 21 forms a rigid support, keeping the rotation trajectory of the first terminal 221 stable; the fixed connection between the second rotating shaft 26 and the first terminal 221 establishes a secondary rotation fulcrum, so that the rotation axis of the second terminal 222 moves synchronously with the first terminal 221; the two ends of the first reset member 23 contact the slot 21 and the first terminal 221 respectively, so that the first terminal 221 has a restoring force; the two ends of the second reset member 24 contact the first terminal 221 and the second terminal 222 respectively, forming a force transmission path independent of the slot 21.

[0077] When the charging post 11 is inserted into the slot 21, the first terminal 221 rotates around the first rotation axis 25 and compresses the first reset member 23, while the second terminal 222 rotates around the second rotation axis 26 and compresses the second reset member 24. After the charging post 11 is removed, the first reset member 23 pushes the first terminal 221 to rotate in the opposite direction to the initial blocking position, and the second reset member 24 pushes the second terminal 222 to rotate in the opposite direction to the blocking clearance hole 2211 position. This blocks the slot 21 and the clearance hole 2211 to prevent foreign objects from entering.

[0078] The rigid connection between the first rotating shaft 25 and the slot 21 prevents the rotation fulcrum from shifting, ensuring the consistency of the trajectory of the first terminal 221 during each reset; the fixed connection between the second rotating shaft 26 and the first terminal 221 causes the rotation fulcrum of the second terminal 222 to move in tandem with the first terminal 221.

[0079] The first terminal 221 can be sleeved on the first rotating shaft 25 and rotate freely around the first rotating shaft 25. The second terminal 222 can be sleeved on the second rotating shaft 26 and rotate freely around the second rotating shaft 26.

[0080] The first reset member 23 can be a torsion spring, which is sleeved on the first rotating shaft 25. One end of the torsion spring is fixed to the first terminal 221, and the other end is fixed to the inner wall of the slot 21. The second reset member 24 can also be a torsion spring, which is sleeved on the second rotating shaft 26. One end of the torsion spring is fixed to the second terminal 222, and the other end is fixed to the first terminal 221.

[0081] This design achieves reliable connection and automatic reset of the charging docking structure 100. When the charging post 11 is inserted, the first terminal 221 and the second terminal 222 rotate sequentially to ensure full contact with the charging post 11 and reduce the possibility of incomplete connection. After the charging post 11 is removed, the terminals automatically reset to block the slot 21, improving the structure's protective performance and enhancing the safety and reliability of the charging process.

[0082] Please refer to some embodiments of this application. Figure 7 The charging terminal 22 also includes at least one third terminal 223, which is rotatably connected to the second terminal 222. When the charging post 11 is docked with the slot 21, the charging post 11 also pushes the third terminal 223 to rotate and abuts against the third terminal 223.

[0083] The third terminal 223 can be connected to the second terminal 222 via a rotating shaft or hinge structure, and its rotation plane can be parallel to or at a preset angle to the rotation planes of the first terminal 221 and the second terminal 222. Figure 7 In the embodiment shown, the second terminal 222 is also provided with a clearance hole, and the third terminal 223 is rotatably connected to the side wall of the clearance hole.

[0084] During the insertion of the charging post 11 into the slot 21, its body sequentially pushes the first terminal 221, the second terminal 222, and the third terminal 223 to unfold. When the third terminal 223 is pushed and rotated to its maximum unfolding angle, the surface of the charging post 11 simultaneously forms three-point contact with the contact pieces of the first terminal 221, the second terminal 222, and the third terminal 223. Compared to single-point or two-point contact, three-point contact forms a more stable conductive path, resulting in a more uniform current distribution, reduced local temperature rise, significantly reduced contact resistance, and improved energy transfer efficiency.

[0085] In addition, a reset element, such as a torsion spring, can be provided at the rotation axis of the third terminal 223 to keep the third terminal 223 in a closed position when it is not docked, thus forming a physical shield on the second terminal 222.

[0086] In some embodiments, two symmetrical second terminals 222 can be provided on the first terminal 221, and a third terminal 223 is connected to each second terminal 222 to maintain multi-point contact and improve the stability of conductive contact.

[0087] By setting the third terminal 223, a three-stage unfolding elastic contact structure is formed during the insertion of the charging post 11. The rotation and unfolding action of the third terminal 223 eliminates the contact gap that may exist in the first two stages of terminals, so that the contact surfaces of the three terminals form a progressive compression, effectively increasing the contact area of ​​the current path. Even when there is an assembly deviation in the charging post 11, a stable surface contact state can still be maintained, thereby avoiding the phenomenon of sudden resistance change and abnormal temperature rise caused by poor local contact.

[0088] Please refer to some embodiments of this application. Figure 8 The socket assembly 20 also includes an electrical connection interface 27, which is disposed on the first terminal 221 or the second terminal 222.

[0089] The electrical connection interface 27 can be a power supply structure. The electrical connection interface 27 is directly located on the first or second terminal 222, eliminating the need for additional transition conductors or connectors, reducing internal wiring space, and achieving a highly integrated structure that saves space. Without intermediate adapters, the path is minimized, significantly reducing contact resistance and line impedance, reducing energy loss, and improving charging efficiency; it also effectively controls temperature rise, avoiding localized overheating and improving safety.

[0090] Traditional external power interfaces require openings for wiring, which can easily become channels for moisture and dust to enter. Integrating the power interface inside the terminal can be combined with potting compound, sealing rings, and internal wiring to achieve a fully enclosed design, enhancing waterproof and dustproof capabilities. This makes it suitable for harsh working conditions such as outdoor lawnmowers and humid industrial environments.

[0091] By integrating the electrical connection interface 27 onto the rotating terminal, a stable ring-shaped current path is formed during the insertion of the charging post 11, avoiding increased local resistance caused by contact point misalignment. Simultaneously, reducing connection nodes lowers the risk of poor contact due to loosening, oxidation, or cold solder joints, improving power connection reliability and maintaining stable conductivity even during frequent plugging / unplugging or operation of mobile devices. Neat internal wiring with no exposed or messy wires or connectors enhances the product's cleanliness and aesthetics.

[0092] In some embodiments of this application, the charging docking structure 100 further includes a temperature detection sensor (not shown) for identifying temperature changes during the charging process. The temperature detection sensor is disposed on the charging post 11.

[0093] A temperature sensor is integrated into the surface of the charging post 11, directly contacting the charging terminal 22 to conduct heat and monitor the temperature of the charging contact point. The charging post 11 is the part that directly and physically contacts the socket terminal. Placing the sensor on the charging post 11 allows it to be closest to the heat source, sensing the true temperature of the contact area in real time, avoiding temperature measurement lag or deviation caused by being far from the hot spot, and resulting in more accurate data.

[0094] During charging, a temperature sensor collects real-time surface temperature data of the charging post 11 and transmits it to the control unit via wired connection. The temperature sensor can promptly detect abnormal temperature rises, triggering a protection mechanism to achieve over-temperature protection and improve charging safety.

[0095] Please see Figures 1 to 9This application provides a robot system 200, including: a mobile robot 210; a charging station 220; and a charging docking structure 100 as described above, wherein a plug assembly 10 is disposed in one of the mobile robot 210 and the charging station 220, and a socket assembly 20 is disposed in the other of the mobile robot 210 and the charging station 220.

[0096] Mobile robot 210 is an autonomous mobile device that performs specific tasks, such as a lawnmower, a sweeping robot, or a patrol robot. Mobile robot 210 has automatic navigation capabilities and can autonomously find and dock at charging station 220. Charging station 220 is a fixed device that provides power to mobile robot 210 and is equipped with a power management module.

[0097] The plug assembly 10 is mounted on the mobile robot 210 or the charging station 220, while the socket assembly 20 is mounted on the other party (i.e. the part where the plug assembly 10 is not mounted). The plug assembly 10 includes a charging post 11, which serves as an active insertion end and extends into the socket during docking. The socket assembly 20 includes a slot 21 and a first terminal 221 and a second terminal 222, and may also include a third terminal 223 to form a multi-level conductive structure.

[0098] When the mobile robot 210 has low battery, the charging program is triggered. The mobile robot 210 automatically travels to the vicinity of the charging station 220 through the navigation system and completes the approximate alignment. The robot continues to move forward, so that the charging column 11 contacts the socket assembly 20, and pushes the first terminal 221 and the second terminal 222 to unfold in sequence. Multi-point contact is completed, the main power is turned on, and the charging station 220 supplies power to the robot battery. After charging is completed, the robot moves backward, the charging column 11 exits the socket assembly 20, and the charging process is completed.

[0099] Through the multi-stage rotation mechanism formed by the charging docking structure 100, when the charging post 11 is inserted, it can sequentially drive the first terminal 221 and the second terminal 222 to rotate, forming a progressively unfolding contact mechanism. This ensures full contact between the charging post 11 and the charging terminal 22 at multiple points, improves the fault tolerance and reliability of the charging docking structure 100, effectively compensates for the docking error between the charging post 11 and the slot 21, increases the actual contact area, reduces contact resistance, reduces the generation of local hot spots, and makes the current distribution during the charging process more uniform. This reduces the risk of loose connections and arcing, and improves the charging efficiency and safety of the robot system 200.

[0100] In some embodiments of this application, a control unit is also included, which is configured to control the charging station 220 to stop working when the temperature detected by the temperature detection sensor exceeds a threshold range, and to drive the mobile robot 210 to re-dock with the charging station 220 for charging when the temperature drops to the threshold range.

[0101] During charging, a temperature sensor collects real-time surface temperature data of the charging column 11 and transmits it to the control unit. When the temperature exceeds a preset upper limit threshold, the control unit sends a power-off signal to the charging station 220 and a displacement command to the mobile robot 210. Upon receiving the power-off signal, the charging station 220 immediately cuts off the power output, and the mobile robot 210 performs a backward movement to detach from the charging docking structure 100. The control unit receives sensor signals in real time and triggers stop commands. The communication module between the control unit and the mobile robot 210 can use a bidirectional data link to ensure that stop and restart commands are transmitted synchronously.

[0102] The temperature sensor continuously monitors temperature changes. When the detected value falls below the lower limit threshold, the control unit triggers a re-docking procedure. The mobile robot 210 approaches the charging station 220 again until the charging column 11 and the slot 21 make effective contact again. After confirming that the docking is completed, the charging station 220 closes the circuit again to resume charging.

[0103] This process employs closed-loop control to ensure charging safety under abnormal conditions, avoiding the risk of material melting due to sustained high temperatures. In the event of abnormal temperature rise caused by poor charging contact, the charging circuit is quickly cut off to prevent structural burn-out, and the charging process automatically resumes after the temperature returns to normal, eliminating the risk of equipment damage due to untimely manual intervention. The multi-stage docking mechanism between the charging post 11 and the charging terminal 22 effectively corrects initial contact misalignment, ensuring sufficient contact between conductive components within a safe temperature range and preventing continuous arcing.

[0104] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A charging docking structure, characterized by, include: A plug assembly, the plug assembly including a charging post; as well as A socket assembly includes a slot and at least one set of charging terminals, the charging terminals including a first terminal and at least one second terminal, the first terminal being rotatably connected to the slot, and the second terminal being rotatably connected to the first terminal; When the charging post mates with the slot, the charging post pushes the first terminal and the second terminal to rotate and abuts against the first terminal and the second terminal respectively.

2. The charging dock of claim 1, wherein, When the charging terminal is not aligned with the slot, the charging terminal at least partially obstructs the slot.

3. The charging dock of claim 2, wherein, The first terminal is provided with a clearance hole. When the charging post is not connected to the slot, the second terminal at least partially blocks the clearance hole.

4. The charging dock of claim 3, wherein, The first terminal is provided with a first guide portion, which is used to guide the charging post into the slot; and / or, the second terminal is provided with a second guide portion, which is used to guide the charging post into the slot.

5. The charging dock of claim 4, wherein, When the first terminal is provided with the first guide portion and the second terminal is provided with the second guide portion, the first guide portion and the second guide portion are arranged opposite to each other and have a gap. Along the direction in which the charging post extends into the slot, the gap between the first guide portion and the second guide portion gradually decreases.

6. The charging docking structure as described in claim 3, characterized in that, The rotating end of the first terminal is disposed in the slot by a first reset member, and the first reset member causes the first terminal to at least partially cover the slot. And / or, the rotating end of the second terminal is connected to the first terminal via a second reset member, the second reset member causing the second terminal to at least partially block the clearance hole.

7. The charging dock of claim 6, wherein, The socket assembly also includes a first rotating shaft and a second rotating shaft; The first rotating shaft is fixedly connected to the slot, the first terminal is rotatably connected to the first rotating shaft, one end of the first reset member abuts against the first terminal, and the other end of the first reset member abuts against the slot; The second rotating shaft is fixedly connected to the first terminal, the second terminal is rotatably connected to the first rotating shaft, one end of the second reset member abuts against the second terminal, and the other end of the second reset member abuts against the first terminal.

8. The charging dock of any one of claims 1 to 7, wherein, The charging terminal also includes at least one third terminal, which is rotatably connected to the second terminal; when the charging post is docked with the slot, the charging post also pushes the third terminal to rotate and abuts against the third terminal.

9. The charging dock of any one of claims 1 to 7, wherein, The socket assembly further includes an electrical connection interface, which is disposed on the first terminal or the second terminal.

10. The charging dock of any one of claims 1 to 7, wherein, The charging docking structure also includes a temperature detection sensor for identifying temperature changes during the charging process, and the temperature detection sensor is located on the charging column.

11. A robot system, characterized by include: Mobile robots; Charging station; According to any one of claims 1 to 10, the plug assembly is disposed in one of the mobile robot and the charging station, and the socket assembly is disposed in the other of the mobile robot and the charging station.

12. The robotic system of claim 11, wherein, The control unit is configured to control the charging station to stop working when the temperature detected by the temperature detection sensor exceeds a threshold range, and to drive the mobile robot to re-dock with the charging station for charging when the temperature decreases to within the threshold range.

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