Windproof device and cleaning robot system

Abstract

The utility model belongs to the technical field of robots, and particularly relates to an anti-wind device and a cleaning robot system.The anti-wind device comprises a stopping mechanism and a locking mechanism; wherein a locking position is arranged above the stopping mechanism; the lock catch mechanism is mounted on a moving object; the locking position is suitable for moving in a moving object, and the lock catch mechanism is suitable for overturning towards the stopping mechanism, so that the lock catch mechanism is buckled on the stopping mechanism to fix the moving object; the locking mechanism and the shutdown mechanism are electrically driven to be buckled or released, the windproof and anti-falling requirements of the cleaning robot are met, meanwhile, automatic operation is achieved, the cleaning efficiency is improved, the mechanical structure is simple and reliable, cost is low, installation and replacement are convenient and fast, the requirement for installation precision is low, buckling and releasing actions are simple, and operation is convenient. And the risk of jamming or failure due to complex structure is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a windproof device and a cleaning robot system. Background Art

[0002] Cleaning robots are needed to clean photovoltaic panels in power stations and stations. However, when the cleaning robot is not performing cleaning operations and is parked on the apron, there is a risk of the cleaning robot being blown away, falling and damaged in severe weather conditions such as strong winds due to being in an outdoor environment.

[0003] Currently, the cleaning robot is manually connected to the apron, which has high labor costs and requires manual assistance every time the cleaning robot is started and stopped, seriously affecting the cleaning efficiency.

[0004] Therefore, it is urgent to develop a new windproof device and cleaning robot system to solve the above problems. Utility Model Content

[0005] The utility model aims to provide a windproof device and a cleaning robot system.

[0006] In order to solve the above technical problems, the utility model provides a windproof device, which includes: a stopping mechanism and a locking mechanism; wherein a locking position is arranged above the stopping mechanism; the locking mechanism is installed on a moving object; the locking position is suitable for moving the moving object, and the locking mechanism is suitable for flipping toward the stopping mechanism so that the locking mechanism is engaged with the stopping mechanism to fix the moving object.

[0007] Specifically, the shutdown mechanism includes: a fixed frame and at least one positioning beam; the fixed frame is installed on a fixed surface, and each positioning beam is sequentially mounted on the fixed frame; the locking mechanism is suitable for locking on the corresponding positioning beam.

[0008] Specifically, a locking groove is provided on the positioning crossbeam, and the locking groove is arranged toward the fixing surface; and the locking mechanism is suitable for being buckled in the locking groove.

[0009] Specifically, the locking mechanism includes: a plurality of locking assemblies; each of the locking assemblies is sequentially installed on the moving object; each of the locking assemblies is suitable for flipping toward the corresponding positioning beam, so that the locking assembly is engaged with the positioning beam.

[0010] Specifically, the locking assembly includes: a locking drive, an articulated arm and a locking arm; the locking drive is hingedly mounted on a moving object, the locking drive is hinged to one end of the articulated arm, the other end of the articulated arm is hinged to the moving object, and one end of the locking arm is fixed to the articulated arm.

[0011] Specifically, the locking arm is arranged in an L shape, and the long arm portion of the locking arm is connected to the hinged arm.

[0012] Specifically, the lock drive member and the articulated arm are connected to the moving object through a mounting plate.

[0013] Specifically, the windproof device further includes: an induction trigger mechanism; the induction trigger mechanism is installed on a moving object, and the induction trigger mechanism is electrically connected to a locking mechanism; the induction trigger mechanism is suitable for driving the locking mechanism to operate.

[0014] Specifically, the induction trigger mechanism includes: a control module and a sensor; the control module and the sensor are installed on the moving object, and the sensor, the locking mechanism and the control module are electrically connected; the control module is suitable for sensing whether the moving object has moved to the locking position through the sensor; the control module is suitable for sending corresponding control instructions to the locking mechanism.

[0015] On the other hand, the utility model provides a cleaning robot system, which includes: a robot body and a windproof device as described above; wherein the locking mechanism in the windproof device is installed on the robot body; a locking position is provided above the stopping mechanism of the windproof device, and the locking mechanism of the windproof device is installed on the robot body; the locking position is suitable for moving the robot body into, and the locking mechanism is suitable for flipping toward the stopping mechanism so that the locking mechanism is engaged with the stopping mechanism to fix the robot body.

[0016] The beneficial effect of the utility model is that the utility model meets the wind and fall protection requirements of the cleaning robot by electrically driving the locking mechanism to engage or disengage with the parking mechanism, while realizing automated operation and improving the cleaning efficiency. The mechanical structure is simple and reliable, the cost is low, the installation and replacement are convenient, and the installation precision requirements are low. The engaging and disengaging actions are simple, avoiding the risk of jamming or failure due to complex structure.

[0017] Other features and advantages of the present invention will be set forth in the following description, and in part will become apparent from the description, or may be understood by implementing the present invention.

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a structural diagram of the windproof device of the utility model;

[0021] Figure 2 It is a structural diagram of the shutdown mechanism of the utility model;

[0022] Figure 3 It is a structural diagram of the positioning beam of the utility model;

[0023] Figure 4 It is a structural diagram of the lock assembly of the utility model;

[0024] Figure 5 It is a principle block diagram of the induction trigger mechanism of the utility model.

[0025] In the figure:

[0026] 1. Stop mechanism; 11. Locking position; 12. Fixed frame; 13. Positioning beam; 131. Locking slot;

[0027] 2. Lock mechanism; 21. Lock assembly; 211. Lock drive member; 2111. Articulated portion 1; 2112. Articulated portion 2; 212. Articulated arm; 2121. Articulated portion 3; 2122. Articulated portion 4; 213. Lock arm; 2131. Long arm portion; 2132. Short arm portion; 214. Mounting plate;

[0028] 3. Moving objects;

[0029] 4. Induction trigger mechanism. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the utility model clearer, the technical solution of the utility model will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] Embodiment 1, in this embodiment, as Figures 1 to 5As shown, this embodiment provides a windproof device, which includes: a stopping mechanism 1 and a locking mechanism 2; wherein a locking position 11 is arranged above the stopping mechanism 1; the locking mechanism 2 is installed on the moving object 3; the locking position 11 is suitable for moving the moving object 3, and the locking mechanism 2 is suitable for flipping toward the stopping mechanism 1 so that the locking mechanism 2 is engaged with the stopping mechanism 1 to fix the moving object 3.

[0032] Specifically, the moving object 3 may be a cleaning robot.

[0033] In this embodiment, the locking mechanism 2 is electrically driven to engage or disengage with the stopping mechanism 1, thereby meeting the wind and fall protection requirements of the cleaning robot, while realizing automated operation and improving the cleaning efficiency. The mechanical structure is simple and reliable, the cost is low, the installation and replacement are convenient, and the installation precision requirements are low. The engaging and disengaging actions are simple, avoiding the risk of jamming or failure due to complex structure.

[0034] As an optional implementation of the stopping mechanism 1, the stopping mechanism 1 includes: a fixing frame 12 and at least one positioning beam 13; the fixing frame 12 is installed on a fixing surface, and each positioning beam 13 is sequentially mounted on the fixing frame 12; the locking mechanism 2 is suitable for being buckled on the corresponding positioning beam 13.

[0035] In this embodiment, a positioning beam 13 is provided on the fixing frame 12 , and the positioning beam 13 is mounted on the fixing frame 12 so that the positioning beam 13 is at a certain height from the fixing surface, so that the locking mechanism 2 can be flipped downward and extend to the bottom of the positioning beam 13 .

[0036] In order to facilitate the locking mechanism 2 to be engaged or disengaged with the positioning beam 13 , a locking groove 131 is provided on the positioning beam 13 , and the locking groove 131 is arranged toward the fixing surface; the locking mechanism 2 is suitable for being engaged in the locking groove 131 .

[0037] Specifically, the locking groove 131 serves to position and limit. During the period when the cleaning robot is not performing cleaning operations but is docked at the parking mechanism 1, the locking mechanism 2 is effectively hooked with the positioning beam 13 through the locking groove 131, thereby reducing the risk of the cleaning robot being blown away, falling and damaged in severe weather environments such as strong winds.

[0038] In this embodiment, the locking mechanism 2 includes: a plurality of locking components 21; each of the locking components 21 is sequentially installed on the moving object 3; each of the locking components 21 is suitable for flipping toward the corresponding positioning beam 13 so that the locking component 21 is engaged with the positioning beam 13.

[0039] As an optional embodiment of the locking assembly 21, the locking assembly 21 includes: a locking drive 211, an articulated arm 212 and a locking arm 213; the locking drive 211 is hingedly mounted on the moving object 3, the locking drive 211 is hinged to one end of the articulated arm 212, the other end of the articulated arm 212 is hinged to the moving object 3, and one end of the locking arm 213 is fixed to the articulated arm 212.

[0040] Specifically, the lock driving member 211 is an electric cylinder.

[0041] Specifically, the hinged portion 1 2111 on the lock drive 211 is hinged to the moving object 3 through a pin, the hinged portion 2112 on the lock drive 211 is hinged to the hinged portion 3 2121 on the hinged arm 212 through a pin, and the hinged portion 4 2122 on the hinged arm 212 is hinged to the moving object 3 through a pin.

[0042] In order to enable the locking arm 213 to be engaged in the locking slot 131 or to be released from the locking slot 131 , the locking arm 213 is configured in an L shape, and the long arm portion 2131 of the locking arm 213 is connected to the hinge arm 212 .

[0043] Specifically, the short arm portion 2132 of the locking arm 213 can extend into the locking slot 131 for locking, or the short arm portion 2132 of the locking arm 213 can be released from the locking slot 131 .

[0044] In order to ensure installation stability, the locking drive member 211 and the articulated arm 212 are connected to the moving object 3 via a mounting plate 214 .

[0045] In order to realize automatic operation, the windproof device further comprises: an induction trigger mechanism 4; the induction trigger mechanism 4 is installed on the moving object 3, and the induction trigger mechanism 4 is electrically connected to the locking mechanism 2; the induction trigger mechanism 4 is suitable for driving the locking mechanism 2 to operate.

[0046] As an optional implementation of the induction trigger mechanism 4, the induction trigger mechanism 4 includes: a control module and a sensor; the control module and the sensor are installed on the moving object 3, and the sensor, the locking mechanism 2 and the control module are electrically connected; the control module is suitable for sensing whether the moving object 3 moves to the locking position 11 through the sensor; the control module is suitable for sending corresponding control instructions to the locking mechanism 2.

[0047] Specifically, the control module may be a single chip microcomputer, and the sensor may be a proximity switch.

[0048] In this embodiment, after the cleaning robot completes a cleaning task and returns to the locking position 11 of the fixing frame 12, the cleaning robot's in-position sensor is triggered, and the lock drive 211 is triggered to extend, driving the articulated arm 212 and the locking arm 213 to rotate downward around the pin axis, and the lower end of the locking arm 213 is hooked into the lock slot 131 and snapped into place, and the lock drive 211 stops extending, and the windproof action is completed. Before the cleaning robot performs the photovoltaic module cleaning task again, the lock drive 211 is triggered to retract, driving the articulated arm 212 and the locking arm 213 to rotate upward around the pin axis, and the release is completed, and the cleaning robot starts the cleaning task.

[0049] Embodiment 2. Based on Embodiment 1, this embodiment provides a cleaning robot system, which includes: a robot body and a windproof device as provided in Embodiment 1; wherein the locking mechanism 2 in the windproof device is installed on the robot body; a locking position 11 is provided above the stopping mechanism 1 of the windproof device, and the locking mechanism 2 of the windproof device is installed on the robot body; the locking position 11 is suitable for moving the robot body into, and the locking mechanism 2 is suitable for flipping toward the stopping mechanism 1, so that the locking mechanism 2 is engaged with the stopping mechanism 1 to fix the robot body.

[0050] To sum up, the utility model meets the wind and fall protection requirements of the cleaning robot by electrically driving the locking mechanism to engage or disengage with the stopping mechanism, while realizing automated operation and improving the cleaning efficiency. The mechanical structure is simple and reliable, the cost is low, the installation and replacement are convenient, and the installation precision requirements are low. The engaging and disengaging actions are simple, avoiding the risk of jamming or failure due to complex structure.

[0051] All devices (parts without specific structure) selected in this application are universal standard parts or parts known to those skilled in the art, and their structures and principles can be known by those skilled in the art through technical manuals or conventional experimental methods. In addition, the software programs involved in this application are all prior art, and this application does not involve any improvement to the software programs.

[0052] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0054] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0055] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0056] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0057] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without deviating from the technical concept of the utility model through the above description. The technical scope of the utility model is not limited to the content of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A windproof device, characterized in that: include: Stop mechanism and locking mechanism; in A locking position is provided above the stopping mechanism; The locking mechanism is installed on the moving object; The locking position is suitable for moving a moving object, and the locking mechanism is suitable for flipping toward the parking mechanism so that the locking mechanism is engaged with the parking mechanism to fix the moving object.

2. The wind protection device according to claim 1, characterized in that: The stopping mechanism comprises: a fixing frame and at least one positioning beam; The fixing frame is mounted on the fixing surface, and each of the positioning beams is sequentially mounted on the fixing frame; The locking mechanism is suitable for being buckled onto the corresponding positioning beam.

3. The wind protection device according to claim 2, characterized in that: A locking groove is provided on the positioning crossbeam, and the locking groove is arranged toward the fixing surface; The locking mechanism is suitable for being locked in the locking groove.

4. The wind protection device according to claim 2, characterized in that: The locking mechanism comprises: a plurality of locking components; Each of the locking components is sequentially installed on the moving object; Each of the locking components is suitable for flipping toward the corresponding positioning beam so that the locking component is buckled with the positioning beam.

5. The wind protection device according to claim 4, characterized in that: The lock assembly comprises: a lock drive, an articulated arm and a lock arm; The lock drive member is hingedly installed on the moving object, the lock drive member is hinged to one end of the hinged arm, the other end of the hinged arm is hinged to the moving object, and one end of the lock arm is fixed to the hinged arm.

6. The wind protection device according to claim 5, characterized in that: The locking arm is arranged in an L shape, and the long arm portion of the locking arm is connected to the hinged arm.

7. The wind protection device according to claim 5, characterized in that: The lock drive member and the articulated arm are connected to the moving object through a mounting plate.

8. The wind protection device according to claim 1, characterized in that: Also includes: Induction trigger mechanism; The induction trigger mechanism is installed on the moving object, and the induction trigger mechanism is electrically connected to the locking mechanism; The induction trigger mechanism is suitable for driving the locking mechanism to operate.

9. The wind protection device according to claim 8, characterized in that: The induction trigger mechanism includes: a control module and a sensor; The control module and the sensor are installed on the moving object, and the sensor and the locking mechanism are electrically connected to the control module; The control module is suitable for sensing whether the moving object moves to the locking position through a sensor; The control module is suitable for sending corresponding control instructions to the locking mechanism.

10. A cleaning robot system, characterized in that: include: A robot body and a wind protection device as described in any one of claims 1 to 9; wherein The locking mechanism in the windproof device is installed on the robot body; A locking position is provided above the stop mechanism of the windproof device, and the locking mechanism of the windproof device is installed on the robot body; The locking position is suitable for moving the robot body into, and the locking mechanism is suitable for flipping toward the parking mechanism so that the locking mechanism is engaged with the parking mechanism to fix the robot body.

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