Docking mechanism for unmanned aerial vehicle transfer photovoltaic cleaning robot

Abstract

The application discloses a docking mechanism for unmanned aerial vehicle transfer photovoltaic cleaning robot, which comprises a docking part and a grabbing part, the docking part is fixedly connected with the cleaning robot, and comprises a guide section, a supporting column and a fixing seat arranged from top to bottom, the guide section is in the shape of a truncated cone, a permanent magnet ring is embedded on the conical surface of the guide section, and an annular water platform shoulder is formed between the supporting column and the guide section; the grabbing part is connected with the unmanned aerial vehicle through a sling, and comprises a cylindrical shell, an L-shaped bracket, a driving ring and a telescopic device, a trumpet mouth is arranged at the lower end of the cylindrical shell, and an annular electromagnet is embedded on the inner wall of the trumpet mouth; a plurality of windows are formed in the circumferential wall of the cylindrical shell, and an L-shaped bracket is hingedly connected at each window, the driving ring is driven to ascend and descend by the telescopic device, when the driving ring ascends to the upper stop point, the outer wall thereof compresses the L-shaped bracket to make the L-shaped bracket retract into the window, when the driving ring descends to the lower stop point, the upper surface thereof supports the long arm of the L-shaped bracket to make the short arm of the L-shaped bracket in the vertical supporting state.

Description

Technical Field

[0001] This invention relates to the field of drone hoisting and automatic docking technology, specifically to a docking mechanism for drones to transport photovoltaic cleaning robots. Background Technology

[0002] With the rapid development of the photovoltaic power generation industry, the scale of distributed photovoltaic power stations continues to expand. Photovoltaic panels are typically installed in groups on high supports or rooftops, and their surfaces easily accumulate pollutants such as dust and bird droppings, severely impacting power generation efficiency. To address this, photovoltaic cleaning robots have emerged, capable of automatically navigating and cleaning photovoltaic panel arrays. However, in distributed photovoltaic power stations, there are often gaps or height differences between the various photovoltaic panel arrays, making it impossible for cleaning robots to autonomously move from one array to another. Currently, the main solution is manual handling, which is not only inefficient but also poses safety risks associated with working at heights.

[0003] Utilizing drones to aerially transport and transfer cleaning robots between different photovoltaic arrays is an effective way to solve the aforementioned problems, especially suitable for power plant environments with complex terrain and dispersed layouts. However, the core technology for realizing this solution lies in a reliable and efficient automatic docking and separation mechanism between the drone and the cleaning robot.

[0004] Although various drone hoisting and docking solutions exist in the current technology, the following three key technical challenges remain unresolved:

[0005] First, the issue of docking accuracy in complex outdoor wind conditions.

[0006] The drone is suspended from the docking device by a flexible sling. Under outdoor wind interference, the sling can swing by tens of centimeters. Existing plug-in or hook-type docking solutions (such as CN 209410332 U) require millimeter-level hovering accuracy for the drone. In actual operations, this results in low docking success rates and long processing times, severely impacting operational efficiency and hindering the practical application and widespread adoption of drone transport solutions. How to significantly reduce docking accuracy requirements and achieve reliable alignment with centimeter-level tolerance is one of the core problems that urgently needs to be solved.

[0007] Second, the reliability and safety redundancy of the docking and locking mechanism.

[0008] Existing magnetic adsorption solutions (such as CN 222630800 U) rely on the attraction force of permanent magnets to simultaneously perform guiding and load-bearing functions. The magnetic force is fixed and cannot be actively controlled; moreover, the magnetic force weakens rapidly with increasing distance, leading to the risk of accidental detachment due to vibration or lateral forces during hoisting. On the other hand, solutions using electromagnets (such as CN 210083387 U) also rely on electromagnetic force as a continuous holding force, losing connection once power is cut off, resulting in insufficient reliability. This design, which integrates the load-bearing core component and the guiding function component, creates an inherent contradiction between the two, making it impossible to simultaneously achieve both guiding flexibility and load-bearing reliability.

[0009] Third, the issue of fully autonomous recovery that does not rely on the power of the hoisted party.

[0010] In the complex operational scenarios of photovoltaic power plants, cleaning robots may be in a low-battery or malfunctioning state. Existing technologies require the robot being hoisted to provide power to drive the unlocking mechanism (such as CN 118145000 A). When the robot is without power, it cannot release and retrieve properly, creating a safety hazard. Achieving locking and releasing mechanisms that are completely independent of the power supplied by the hoisted robot and are actively controlled entirely by the drone is a crucial prerequisite for ensuring system reliability.

[0011] In summary, existing technologies have significant shortcomings in three key aspects: docking accuracy tolerance, load-bearing reliability, and autonomous recovery without power. There is an urgent need in this field to develop a reliable docking solution that can adapt to complex outdoor environments, dock quickly and accurately, and does not rely on the power of the robot being hoisted, so as to achieve fully automated and highly reliable cross-array transfer operations for cleaning robots. Summary of the Invention

[0012] In view of the above-mentioned problems and needs of the existing technology, the purpose of this invention is to provide a docking mechanism for transporting photovoltaic cleaning robots by drones. Through an innovative design that separates electromagnetic force active guidance from pure mechanical locking, the docking accuracy tolerance is improved to the centimeter level, and the fully autonomous and reliable locking and releasing can be achieved without relying on the cleaning robot's own power.

[0013] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0014] A docking mechanism for transporting a photovoltaic cleaning robot by a drone includes a docking part and a gripping part. The docking part is fixedly installed on the top of the cleaning robot, and the gripping part is connected to the drone via a sling. The docking part includes a guide section, a support column, and a fixed base connected sequentially from top to bottom. The guide section is frustoconical, and a permanent magnet ring is embedded on its conical surface. The diameter of the support column is smaller than the diameter of the bottom of the guide section, thereby forming an annular horizontal shoulder between them. The gripping part includes a cylindrical shell, an L-shaped bracket, a drive ring, and a telescopic device. The lower end of the cylindrical shell is provided with... The cylindrical shell has a flared opening with an annular electromagnet embedded in its inner wall. Multiple windows are circumferentially opened on the sidewall of the cylindrical shell, each window hinged to an L-shaped bracket. The short arm of the L-shaped bracket extends to support the lower surface of the annular platform shoulder after docking. The drive ring is driven to rise and fall by the telescopic device. When the drive ring rises to its upper stop point, its outer wall presses against the L-shaped bracket, causing it to retract into the window. When the drive ring descends to its lower stop point, its upper surface supports the long arm of the L-shaped bracket, placing the short arm of the L-shaped bracket in a vertical supporting state.

[0015] In a preferred embodiment, the permanent magnet ring is made of neodymium iron boron permanent magnet material.

[0016] In one embodiment, a boss is provided on the outer wall at the lower end of each window, and the L-shaped bracket is hinged to the boss by a pin. The L-shaped bracket can rotate about the pin in the direction of the center of the cylindrical shell.

[0017] In a preferred embodiment, a torsion spring is sleeved on the pin, one end of the torsion spring is fixedly connected to the boss, and the other end is fixedly connected to the L-shaped bracket. The torsion spring can provide the L-shaped bracket with a restoring force for rotating toward the center of the cylindrical housing.

[0018] In a preferred embodiment, the number of L-shaped brackets is 2 to 4, and they are evenly distributed along the circumference of the cylindrical shell.

[0019] In a preferred embodiment, the inner diameter of the drive ring is larger than the maximum diameter of the bottom of the guide section, so that the drive ring can move freely up and down outside the docking part without interference.

[0020] In one embodiment, the gripping part is provided with a proximity switch, which is located at the top of the inner cavity of the cylindrical housing to detect the completion of docking and trigger the control program.

[0021] In one embodiment, a proximity switch mounting base is provided on the top of the cylindrical housing, and a proximity switch mounting through hole is provided at the center of the proximity switch mounting base.

[0022] In one embodiment, the telescopic device includes a telescopic rod and a telescopic drive mechanism, wherein the first end of the telescopic rod is connected to the telescopic drive mechanism for transmission, and the last end of the telescopic rod is fixedly connected to a drive ring.

[0023] In one embodiment, the telescopic drive mechanism includes a motor and a belt drive pulley set. The motor is arranged parallel to the telescopic rod, the output shaft of the motor is fixedly connected to the driving pulley in the belt drive pulley set, and the first end of the telescopic rod is fixedly connected to the driven pulley in the belt drive pulley set.

[0024] In a preferred embodiment, the telescopic device includes two telescopic rods arranged symmetrically on the left and right sides, and each telescopic rod is independently equipped with a telescopic drive mechanism.

[0025] In one embodiment, the gripping part further includes a rectangular shell fixed to the top of the cylindrical shell, the main body of the telescopic device is disposed in the inner cavity of the rectangular shell, and the top of the cylindrical shell is provided with a telescopic rod through hole.

[0026] In one embodiment, the inner bottom of the rectangular shell is provided with a telescopic device fixing bracket, and the top of the rectangular shell is provided with a sling for connecting the drone sling.

[0027] In one embodiment, the gripping unit further includes a lifting guide assembly, which includes a guide post, a guide sleeve, a guide sleeve fixing seat, and a guide post fixing seat. One end of the guide post is fixedly connected to the top of the cylindrical shell, and the other end of the guide post is fixedly connected to the inner wall of the cylindrical shell through the guide post fixing seat. The guide sleeve is slidably sleeved on the guide post, and the guide sleeve is fixedly connected to the guide sleeve fixing seat. The guide sleeve fixing seat is fixedly connected to the drive ring.

[0028] In one embodiment, the guide sleeve fixing seat includes a vertical plate and horizontal plates fixed to the upper and lower ends of the same side of the vertical plate, respectively. The distance between the two horizontal plates is adapted to the thickness of the drive ring. A groove for accommodating the vertical plate is formed on the outer circumferential surface of the drive ring. Bolt through holes are formed on the two horizontal plates and the drive ring respectively. The guide sleeve fixing seat and the drive ring are fixedly connected by bolts passing through the bolt through holes. The guide sleeve is fixedly connected to the back of the vertical plate.

[0029] Compared with the prior art, the present invention has the following beneficial technical effects:

[0030] 1) This invention sets up a ring electromagnet in the gripping part and a permanent magnet ring in the docking part. The electromagnetic attraction generated when the two are close together actively guides the flared mouth of the gripping part to quickly and accurately align and fit into the conical guide section of the docking part. This greatly improves the docking success rate and overall operation efficiency in complex outdoor airflow environments. It can improve the docking accuracy tolerance from the millimeter level to the centimeter level. It has the advantages of strong anti-interference ability and significantly reduced requirements for UAV operation.

[0031] 2) The present invention enables the locking and releasing actions to be fully controlled by the gripping part of the drone, and the docking part on the cleaning robot is a passive design, which fundamentally eliminates any dependence on the power status or control system of the cleaning robot being hoisted, and significantly improves the reliability and safety of hoisting operations.

[0032] 3) The docking part described in this invention is a completely fixed structure without moving parts, which is sturdy and durable and requires almost no maintenance. The moving parts of the gripping part are concentrated in a few L-shaped brackets, drive rings and telescopic devices. The bearing core (L-shaped brackets and shoulders) is a surface contact mechanical support. The entire docking mechanism is not only simple in structure, but also has high strength, stability and reliability, and safe bearing, making it suitable for long-term use in complex scenarios such as distributed photovoltaic power stations.

[0033] In summary, this invention creatively solves a series of technical pain points in drone lifting scenarios, such as difficulty in docking, reliance on the power of the object being lifted, complex structure, and low reliability, through the collaborative design of active electromagnetic attraction and passive mechanical locking. It has outstanding advantages such as high docking success rate, strong operational reliability, wide applicability, simple structure, no reliance on the cleaning robot's own power, and the ability to lock and release autonomously and reliably throughout the process. It can realize fully automatic and highly reliable cross-array transfer operations of cleaning robots in complex outdoor environments, and its application value is significant. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the docking mechanism for transporting photovoltaic cleaning robots by drones in the initial state, provided by an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of the docking portion described in the embodiment;

[0036] Figure 3 This is a schematic diagram of the gripping unit described in the embodiment;

[0037] Figure 4 yes Figure 3 A cross-sectional view of the gripping section shown.

[0038] Figure 5 This is a schematic diagram of the installation structure of the L-shaped bracket described in the embodiment;

[0039] Figure 6 yes Figure 3 The diagram shows the state of the gripper when the drive ring rises to the top dead center.

[0040] Figure 7 yes Figure 3 The diagram shows the state of the gripping unit when the drive ring descends to the lower dead center.

[0041] Figure 8 yes Figure 7 A schematic diagram of the gripping part after the cylindrical shell has been removed, showing the state shown.

[0042] Figure 9 This is a schematic diagram of the cylindrical shell structure described in the embodiment;

[0043] Figure 10 yes Figure 9 A schematic cross-sectional view of the cylindrical shell shown.

[0044] Figure 11 This is a schematic diagram of the telescopic drive mechanism described in the embodiment;

[0045] Figure 12 This is a schematic diagram of the rectangular shell structure described in the embodiment;

[0046] Figure 13 This is a schematic diagram of the assembly structure of the lifting guide assembly described in the embodiment;

[0047] Figure 14 This is a schematic diagram of the assembly structure of the guide sleeve fixing seat and the drive ring described in the embodiment;

[0048] Figure 15 This is a schematic diagram of the guide sleeve fixing seat described in the embodiment;

[0049] Figure 16 This is a schematic diagram of the docking mechanism described in the embodiment when the gripping part and the docking part are separated.

[0050] Figure 17 This is a state diagram of the docking mechanism described in the embodiment when the guide section has been inserted into the cylindrical housing but the drive ring is still at the top dead center;

[0051] Figure 18 The docking mechanism described in the embodiment is in Figure 17 A schematic diagram of the cross-sectional structure in the indicated state;

[0052] Figure 19 This is a state diagram of the docking mechanism described in the embodiment when the guide section has reached the inner top wall of the cylindrical shell and the drive ring is located at the bottom dead center;

[0053] Figure 20 The docking mechanism described in the embodiment is in Figure 19 A schematic diagram of the cross-sectional structure in the indicated state;

[0054] Figure 21 This is a diagram showing the state of the docking mechanism described in the embodiment when the short arm of the L-shaped bracket supports the lower surface of the shoulder;

[0055] Figure 22 The docking mechanism described in the embodiment is in Figure 21 A schematic diagram of the cross-sectional structure in the indicated state;

[0056] Figure 23 This is a schematic diagram of the docking mechanism described in the embodiment in the released state (at which time the L-shaped bracket is retracted into the window and the drive ring is located at the upper dead point);

[0057] Figure 24 Yes, it is the docking mechanism described in the embodiment. Figure 23 A schematic diagram of the cross-sectional structure in the indicated state.

[0058] The labels in the diagram are as follows:

[0059] 1. Connecting part; 1-1. Guide section; 1-2. Support column; 1-3. Fixing seat; 1-4. Annular horizontal platform shoulder; 2. Grabbing part; 2-1. Cylindrical shell; 2-11. Trumpet mouth; 2-12. Window; 2-121. Boss; 2-13. Proximity switch mounting seat; 2-131. Proximity switch mounting through hole; 2-14. Telescopic rod through hole; 2-2. L-shaped bracket; 2-21. Short arm of L-shaped bracket; 2-22. Long arm of L-shaped bracket; 2-3. Drive ring; 2-31. Groove; 2-32. Second bolt through hole; 2-4. Telescopic device; 2-41. Telescopic rod; 2-42. Telescopic drive mechanism; 2-421. Motor; 2-421 1. Motor output shaft; 2-422. Belt drive pulley set; 2-4221. Drive wheel; 2-4222. Driven wheel; 2-5. Rectangular housing; 2-51. Telescopic device fixing bracket; 2-52. Lifting ring; 2-6. Lifting guide assembly; 2-61. Guide column; 2-62. Guide sleeve; 2-63. Guide sleeve fixing seat; 2-631. Vertical plate; 2-632. Upper horizontal plate; 2-6321. First bolt through hole; 2-633. Lower horizontal plate; 2-6331. Third bolt through hole; 2-64. Guide column fixing seat; 3. Cleaning robot; 4. Permanent magnet ring; 5. Ring electromagnet; 6. Pin; 7. Torsion spring; 8. Proximity switch; 9. Bolt. Detailed Implementation

[0060] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Furthermore, it should be noted that the terminology used in this invention is for the purpose of describing specific embodiments only and is not intended to limit the invention. Unless otherwise defined, the technical or scientific terms used in this invention should have the ordinary meaning understood by those skilled in the art. Terms such as "inner," "outer," "upper," "lower," "top," "bottom," "front," "rear," "left," and "right," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, not to indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In addition, terms such as "set," "install," "connect," "link," and "fix" should be interpreted broadly. For example, it can refer to a fixed connection or a detachable connection; it can refer to a direct connection or an indirect connection. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. It should also be noted that when an element is referred to as "fixed to" or "set on" another element, it can be directly on the other element or there may be an intermediate element.

[0061] Example

[0062] Please see Figures 1 to 8 As shown in the figure, this embodiment provides a docking mechanism for transporting a photovoltaic cleaning robot by a drone, including a docking part 1 and a gripping part 2. The docking part 1 is fixedly installed on the top of the cleaning robot 3, and the gripping part 2 is connected to the drone (not shown in the figure) via a sling (not shown in the figure). The docking part 1 is an integral rigid structure, including a guide section 1-1, a support column 1-2 and a fixed seat 1-3 connected sequentially from top to bottom. The guide section 1-1 is frustoconical, and a permanent magnet ring 4 is embedded on its conical surface. The diameter of the support column 1-2 is smaller than the diameter of the bottom of the guide section 1-1, thereby forming an annular horizontal platform shoulder 1-4 between the two. The gripping part 2 includes a cylindrical shell 2-1, an L-shaped bracket 2-2, a drive ring 2-3 and a telescopic device. Position 2-4, the cylindrical shell 2-1 is closed at the upper end and has a flared opening 2-11 at the lower end, with an annular electromagnet 5 embedded in the inner wall of the flared opening 2-11; the cylindrical shell 2-1 has multiple windows 2-12 circumferentially opened on the side wall, and each window 2-12 is hinged to an L-shaped bracket 2-2, the short arm 2-21 of the L-shaped bracket is used to extend and support the lower surface of the annular horizontal platform shoulder 1-4 after docking; the drive ring 2-3 is driven to rise and fall by the telescopic device 2-4; when the drive ring 2-3 rises to the upper stop point (i.e., the telescopic device 2-4 is in the retracted state), the outer wall of the drive ring 2-3 presses against the long arm 2-22 of the L-shaped bracket, forcing the L-shaped bracket 2-2 to retract into the window 2-12, see [link to relevant documentation]. Figure 3 and Figure 6 As shown; when the drive ring 2-3 descends to its lower stop point (i.e., the telescopic device 2-4 is in the extended state), the upper surface of the drive ring 2-3 abuts against the lower surface of the long arm 2-22 of the L-shaped bracket, forming a rigid reverse support. The short arm 2-21 of the L-shaped bracket is in a vertical supporting state. Please refer to [link to relevant documentation]. Figure 7 and Figure 8 As shown.

[0063] As a preferred embodiment, the permanent magnet ring 4 is made of neodymium iron boron permanent magnet material, which can provide a sufficient and stable magnetic field.

[0064] Please see again. Figure 3 , Figure 7 and Figure 9 As shown, in this embodiment, a boss 2-121 is provided on the outer wall at the lower end of each window 2-12. The L-shaped bracket 2-2 is hinged to the boss 2-121 by a pin 6. The L-shaped bracket 2-2 can rotate around the pin 6 toward the center of the cylindrical shell 2-1.

[0065] As a preferred embodiment, a torsion spring 7 is fitted onto the pin 6. One end of the torsion spring 7 is fixedly connected to the corresponding boss 2-121 (specifically, the side arm of the boss), and the other end of the torsion spring 7 is fixedly connected to the corresponding L-shaped bracket 2-2 (specifically, the junction of the long arm and short arm of the L-shaped bracket 2-2). The torsion spring 7 can provide a restoring force for the L-shaped bracket 2-2 to rotate toward the center of the cylindrical housing 2-1. Please see [link to details]. Figure 3 , Figure 5 and Figure 6 As shown.

[0066] Additionally, please see Figure 6 As shown, in this embodiment, the number of L-shaped brackets 2-2 is 4 (but it can also be 2 or 3, but 4 is the best). Correspondingly, the side wall of the cylindrical shell 2-1 has 4 windows 2-12 opened in the circumferential direction. The L-shaped brackets 2-2 are evenly distributed in the circumferential direction of the cylindrical shell 2-1, so that a multi-point uniform load distribution can be formed, which can play a more stable bearing and locking role.

[0067] As a preferred embodiment, the inner diameter of the drive ring 2-3 is larger than the maximum diameter of the bottom of the guide section 1-1, so that the drive ring 2-3 can move freely up and down outside the docking part 1 without interference. Please refer to [link to relevant documentation]. Figure 20 As shown.

[0068] Please see again. Figure 4 , Figure 6 and Figure 8As shown, in this embodiment, the gripping part 2 is provided with a proximity switch 8, which is disposed at the top of the inner cavity of the cylindrical housing 2-1 (in a specific implementation of this embodiment, a proximity switch mounting base 2-13 is provided at the top of the cylindrical housing 2-1, and a proximity switch mounting through hole 2-131 is provided at the center of the proximity switch mounting base 2-13; see [link to relevant documentation]). Figure 4 , Figure 9 and Figure 10 As shown in the figure, it is used to detect the completion of docking and trigger the control program.

[0069] Please see again. Figure 4 and Figure 11 As shown, in this embodiment, the telescopic device 2-4 includes a telescopic rod 2-41 and a telescopic drive mechanism 2-42. The first end of the telescopic rod 2-41 is connected to the telescopic drive mechanism 2-42, and the second end of the telescopic rod 2-41 is fixedly connected to the drive ring 2-3. The telescopic drive mechanism 2-42 includes a motor 2-421 and a belt drive pulley set 2-422. The motor 2-421 is arranged parallel to the telescopic rod 2-41 (this makes the layout structure more compact). The output shaft 2-4211 of the motor is fixedly connected to the driving pulley 2-4221 in the belt drive pulley set 2-422, and the first end of the telescopic rod 2-41 is fixedly connected to the driven pulley 2-4222 in the belt drive pulley set 2-422. It should be noted here that... Figure 4 The image only shows the housings of motor 2-421 and belt drive pulley set 2-422, mainly illustrating their assembly position relationship. For detailed structural composition, please refer to [link to documentation]. Figure 11 As shown.

[0070] For a preferred option, please refer to Figure 4 As shown, in this embodiment, the telescopic device 2-4 includes two telescopic rods 2-41 arranged symmetrically on the left and right. Each telescopic rod 2-41 is independently provided with a telescopic drive mechanism 2-42 to facilitate the smooth lifting and lowering movement of the drive ring 2-3.

[0071] Please see again. Figure 3 , Figure 4 , Figure 7 , Figure 9 and Figure 12As shown, in this embodiment, the gripping part 2 further includes a rectangular shell 2-5 fixed to the top of the cylindrical shell 2-1. The main body of the telescopic device 2-4 (the upper section of the telescopic drive mechanism 2-42 and the telescopic rod 2-41) is disposed in the inner cavity of the rectangular shell 2-5. The top of the cylindrical shell 2-1 is provided with a telescopic rod through hole 2-14. The lower section of the telescopic rod 2-41 passes through the telescopic rod through hole 2-14. The end of the telescopic rod 2-41 is fixedly connected to the top of the drive ring 2-3. The inner bottom of the rectangular shell 2-5 is provided with a telescopic device fixing bracket 2-51. The motor 2-421 in the telescopic drive mechanism 2-42 is vertically fixed on the telescopic device fixing bracket 2-51. The top of the rectangular shell 2-5 is provided with a lifting ring 2-52 for connecting the drone sling.

[0072] Please see again. Figure 4 and Figure 13 As shown in this embodiment, the gripping part 2 further includes a lifting guide assembly 2-6. The lifting guide assembly 2-6 includes a guide post 2-61, a guide sleeve 2-62, a guide sleeve fixing seat 2-63, and a guide post fixing seat 2-64. One end of the guide post 2-61 is fixedly connected to the top of the cylindrical shell 2-1, and the other end of the guide post 2-61 is fixedly connected to the inner wall of the cylindrical shell 2-1 through the guide post fixing seat 2-64. The guide sleeve 2-62 is slidably sleeved on the guide post 2-61, and the guide sleeve 2-62 is fixedly connected to the guide sleeve fixing seat 2-63. The guide sleeve fixing seat 2-63 is fixedly connected to the drive ring 2-3.

[0073] Please see again. Figure 14 and Figure 15 As shown, in this embodiment, the guide sleeve fixing seat 2-63 includes a vertical plate 2-631 and an upper horizontal plate 2-632 and a lower horizontal plate 2-633 respectively fixed to the upper and lower ends on the same side of the vertical plate 2-631. The distance between the upper and lower horizontal plates (2-632 and 2-633) is adapted to the thickness of the driving ring 2-3 so that the driving ring 2-3 can be clamped between the upper and lower horizontal plates (2-632 and 2-633). A groove 2-31 for accommodating the vertical plate 2-631 is provided on the outer circumferential surface of the driving ring 2-3. The upper horizontal plate 2-632 has a groove 2-31 for accommodating the vertical plate 2-631. A first bolt through hole 2-6321 is provided, a second bolt through hole 2-32 is provided on the drive ring 2-3, and a third bolt through hole 2-6331 is provided on the lower horizontal plate 2-633. The guide sleeve 2-62 is fixed to the back of the vertical plate 2-631 (in this embodiment, it is fixed with screws, but it can also be integrally formed or welded). The guide sleeve fixing seat 2-63 and the drive ring 2-3 are fixedly connected by bolts 9 that pass through the first bolt through hole 2-6321, the second bolt through hole 2-32 and the third bolt through hole 2-6331 in sequence.

[0074] The main working process of the docking mechanism described in this embodiment for transporting the photovoltaic cleaning robot by drone is as follows:

[0075] First, the docking part 1 described in this application is fixed to the top of the cleaning robot 3 (specifically, the fixing seat 1-3 is fixed to the top shell of the cleaning robot 3 by bolts), and the gripping part 2 is connected to the drone (not shown in the figure) by a sling (not shown in the figure). This connection is a known technology, so it is omitted from the figure in this application.

[0076] Then the drone flies roughly above the cleaning robot 3 and hovers, forming a shape like... Figure 16 The state shown.

[0077] Subsequently, the drone lowers the gripping unit 2. When the gripping unit 2 approaches the docking unit 1, the drone's controller energizes the annular electromagnet 5 inside the gripping unit 2 to generate a strong magnetic field. Under the active guidance and attraction of the strong magnetic attraction generated between the permanent magnet ring 4 and the energized annular electromagnet 5, even if there is an initial deviation, the flared opening 2-11 on the gripping unit 2 can be quickly pulled straight and aligned, smoothly fitting into the conical guide section 1-1 of the docking unit 1. At this time, the upper plane of the guide section 1-1 of the docking unit 1 is within the sensing distance of the proximity switch 8. The proximity switch 8 triggers the drone's controller to de-energize the annular electromagnet 5 to eliminate the magnetic force. During this period, the telescopic device 2-4 is in a retracted state, the drive ring 2-3 is at the "top dead center", and its outer wall presses all L-shaped brackets 2-2 into a retracted state. Please see details. Figure 17 and Figure 18 As shown.

[0078] As the drone continues to lower the gripping unit 2, the upper surface of the guide section 1-1 of the docking unit 1 will touch the inner top wall of the cylindrical shell 2-1 of the gripping unit 2. At this time, the proximity switch 8 will trigger the drone's controller again, causing the telescopic rod 2-41 in the telescopic device 2-4 to extend, so that the drive ring 2-3 descends to the "lower stop point," thereby relieving the pressure on the L-shaped brackets 2-2. This causes all the L-shaped brackets 2-2 to rotate towards the center of the cylindrical shell 2-1, so that the short arm 2-21 of the L-shaped bracket is finally in a vertical state and is exactly below the annular horizontal platform shoulder 1-4 of the docking unit 1. At the same time, the upper surface of the drive ring 2-3 supports the lower surface of the long arm 2-22 of the L-shaped bracket. Please see details. Figure 19 and Figure 20 As shown; then the drone controller commands the drone to ascend. As the drone ascends, the gripping unit 2 also ascends, so that the upper surfaces of the short arms 2-21 of the four L-shaped brackets jointly and stably support the lower surface of the annular horizontal platform shoulder 1-4 of the docking part 1. At this time, the drive ring 2-3 is still at the "lower dead center" and still provides rigid support to the long arm 2-22 of the L-shaped bracket, which can further ensure the safety of the load-bearing. Please see details. Figure 21 and Figure 22As shown; at this time, the docking part 1 completes the locking with the gripping part 2, and the entire cleaning robot 3 can be smoothly lifted off the photovoltaic panel by the drone for aerial transfer.

[0079] After the drone delivers the cleaning robot 3 to the target photovoltaic array and places it in position, the drone's controller instructs the drone to continue lowering the gripper 2 slightly, causing the docking section 1 to move upwards relative to the gripper 2 again, until the upper surface of the guide section 1-1 of the docking section 1 touches the inner top wall of the cylindrical shell 2-1 of the gripper 2 for the second time. At this point, the proximity switch 8 triggers the controller to synchronously retract the telescopic device 2-4, thereby driving the drive ring 2-3 to rise rapidly to the "top dead center," causing the outer wall of the drive ring 2-3 to compress all the L-shaped brackets 2-2 into a retracted state, retracting them all into the window 2-12. Please see details. Figure 23 and Figure 24 As shown; subsequently, the drone ascends, and the grabbing unit 2 and the docking unit 1 can then separate smoothly and without interference, thus completing a full transfer mission.

[0080] As can be seen from the above, this invention creatively solves a series of technical pain points in drone lifting scenarios, such as difficulty in docking, complex structure, and low reliability, through the collaborative design of active electromagnetic attraction and passive mechanical locking. At the same time, by making the docking part completely passive, it fundamentally eliminates the dependence on the power status of the object being lifted. It has outstanding advantages such as high docking success rate, strong operational reliability, wide applicability, simple structure, no reliance on the cleaning robot's own power, and the ability to lock and release autonomously and reliably throughout the process. It can realize fully automatic and highly reliable cross-array transfer operations of cleaning robots, and is particularly suitable for large-scale promotion and application in complex outdoor environments such as distributed photovoltaic power stations.

[0081] Finally, it should be pointed out that the above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A docking mechanism for transporting a photovoltaic cleaning robot by a drone, comprising a docking part and a gripping part, wherein the docking part is fixedly installed on the top of the cleaning robot, and the gripping part is connected to the drone via a sling; characterized in that: The docking section includes a guide section, a support column, and a fixing seat connected sequentially from top to bottom. The guide section is frustoconical, with a permanent magnet ring embedded on its conical surface. The diameter of the support column is smaller than the diameter of the bottom of the guide section, thus forming an annular horizontal platform shoulder between them. The gripping section includes a cylindrical shell, an L-shaped bracket, a drive ring, and a telescopic device. The lower end of the cylindrical shell has a flared opening, and an annular electromagnet is embedded in the inner wall of the flared opening. The side wall of the cylindrical shell has multiple windows circumferentially opened, and the L-shaped bracket is hinged to each window. The short arm of the L-shaped bracket is used to extend and support the lower surface of the annular horizontal platform shoulder after docking. The drive ring is driven to rise and fall by the telescopic device. When the drive ring rises to the upper stop point, its outer side wall presses the L-shaped bracket to retract it into the window. When the drive ring falls to the lower stop point, its upper surface supports the long arm of the L-shaped bracket, so that the short arm of the L-shaped bracket is in a vertical supporting state.

2. The docking mechanism according to claim 1, characterized in that: A boss is provided on the outer wall at the lower end of each window, and the L-shaped bracket is hinged to the boss by a pin. The L-shaped bracket can rotate about the pin in the direction of the center of the cylindrical shell.

3. The docking mechanism according to claim 2, characterized in that: A torsion spring is fitted on the pin. One end of the torsion spring is fixedly connected to the boss, and the other end is fixedly connected to the L-shaped bracket. The torsion spring can provide the L-shaped bracket with a restoring force for rotating toward the center of the cylindrical shell.

4. The docking mechanism according to claim 1, characterized in that: The gripping part is equipped with a proximity switch, which is located at the top of the inner cavity of the cylindrical housing to detect the completion of docking and trigger the control program.

5. The docking mechanism according to claim 1, characterized in that: The telescopic device includes a telescopic rod and a telescopic drive mechanism. The first end of the telescopic rod is connected to the telescopic drive mechanism for transmission, and the second end of the telescopic rod is fixedly connected to the drive ring.

6. The docking mechanism according to claim 5, characterized in that: The telescopic drive mechanism includes a motor and a belt drive pulley set. The motor is arranged parallel to the telescopic rod. The output shaft of the motor is fixedly connected to the driving pulley in the belt drive pulley set. The first end of the telescopic rod is fixedly connected to the driven pulley in the belt drive pulley set.

7. The docking mechanism according to claim 5, characterized in that: The telescopic device includes two telescopic rods arranged symmetrically on the left and right, and each telescopic rod is independently equipped with a telescopic drive mechanism.

8. The docking mechanism according to claim 1, characterized in that: The gripping part also includes a rectangular shell fixed to the top of the cylindrical shell, and the main body of the telescopic device is disposed in the inner cavity of the rectangular shell.

9. The docking mechanism according to claim 1, characterized in that: The gripping part further includes a lifting guide assembly, which includes a guide post, a guide sleeve, a guide sleeve fixing seat, and a guide post fixing seat. One end of the guide post is fixedly connected to the top of the cylindrical shell, and the other end of the guide post is fixedly connected to the inner wall of the cylindrical shell through the guide post fixing seat. The guide sleeve is slidably sleeved on the guide post, and the guide sleeve is fixedly connected to the guide sleeve fixing seat. The guide sleeve fixing seat is fixedly connected to the drive ring.

10. The docking mechanism according to claim 9, characterized in that: The guide sleeve fixing seat includes a vertical plate and horizontal plates fixed to the upper and lower ends of the same side of the vertical plate respectively. The distance between the two horizontal plates is adapted to the thickness of the drive ring. The outer circumferential surface of the drive ring is provided with a groove for accommodating the vertical plate. The two horizontal plates and the drive ring are respectively provided with bolt through holes. The guide sleeve fixing seat and the drive ring are fixedly connected by bolts passing through the bolt through holes. The guide sleeve is fixedly connected to the back of the vertical plate.

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