Parking system

Abstract

A parking system comprises a cleaning robot and a parking mechanism, the cleaning robot comprises a driving mechanism and a rotating wheel, the driving mechanism is in transmission connection with the rotating wheel, the driving mechanism can drive the rotating wheel to rotate, and the parking mechanism comprises a parking platform, a limiting plate and an elastic element. The limiting plate is rotationally connected with the parking platform through a hinge shaft and used for limiting a rotating wheel of the cleaning robot, the elastic element is connected with the limiting plate and used for keeping the limiting state of the limiting plate, the elastic element is provided with a spiral space, the limiting plate is provided with a first hole, and the first hole is communicated with the spiral space. The hinge shaft penetrates through the first hole and the spiral space. According to the utility model, the cleaning robot can be stably parked on the parking platform, so that the stability during parking is improved.

Description

Technical Field

[0001] The utility model relates to the photovoltaic field, in particular to a parking system of a cleaning robot. Background Art

[0002] With the development of technology, there are various cleaning robots on the market that can automatically walk and clean on the surface of photovoltaic modules. After completing the cleaning work, they need to park by the side. At present, most cleaning robots on the market use electric push rods to enable them to park by the side after cleaning. The cost of electric push rods is relatively high, and the start or stop of electric push rods depends on the sensitivity of the signal sensor set inside. Large-scale photovoltaic power stations are generally built in remote areas with harsh working environments. The sensitivity of signal sensors is easily disturbed by the external environment, and there will be signal failures and instability in the parking state, which poses a risk of unstable parking. Utility Model Content

[0003] The utility model aims to provide a parking mechanism and a parking system, which can enable a cleaning robot to stably park on a parking platform, thereby improving the stability when the robot is parked.

[0004] To achieve the above-mentioned purpose, the utility model adopts the following technical solutions: a parking system, including a cleaning robot and a parking mechanism, the cleaning robot including a driving mechanism and a rotating wheel, the driving mechanism is transmission-connected to the rotating wheel, the driving mechanism can drive the rotating wheel to rotate, the parking mechanism includes a parking platform, a limiting plate and an elastic element, the limiting plate is rotationally connected to the parking platform via a hinge shaft, and is used to limit the rotating wheel of the cleaning robot, the elastic element is connected to the limiting plate, and is used to maintain the limiting state of the limiting plate, the elastic element has a spiral space, the limiting plate is provided with a first hole, and the hinge shaft passes through the first hole and the spiral space.

[0005] As a further improved technical solution of the utility model, the parking platform at least includes a first cross beam and a second cross beam arranged in parallel in the front-to-back direction and a first longitudinal beam and a second longitudinal beam arranged in parallel in the left-to-right direction. The first cross beam, the second cross beam, the first longitudinal beam and the second longitudinal beam together enclose a parking space for the cleaning robot. The parking platform is provided with a parking surface. The hinge shaft is positioned and connected to the first longitudinal beam or the second longitudinal beam. The limiting plate can rotate around the hinge shaft relative to the first longitudinal beam and the second longitudinal beam.

[0006] As a further improved technical solution of the utility model, the axis of the hinge shaft is perpendicular to the stop surface or parallel to the stop surface.

[0007] As a further improved technical solution of the utility model, the first longitudinal beam and the second longitudinal beam both include a first plate and a second plate, the limiting plate is arranged between the first plate and the second plate, the first plate and the second plate are respectively provided with an open circular groove and an open long groove located beside the open circular groove, the elastic element is at least partially limited to the open circular groove, and the elastic element includes a pin portion limited to the open long groove and an abutting portion abutting against the limiting plate.

[0008] As a further improved technical solution of the utility model, the first longitudinal beam and the second longitudinal beam both include a first plate member and a second plate member, the limiting plate is arranged between the first plate member and the second plate member, and a gasket plate is also provided on both sides of the limiting plate; the gasket plate is provided with an open circular groove and an open long groove located beside the open circular groove, the elastic element is at least partially limited to the open circular groove, and the elastic element includes at least one pin portion limited to the open long groove and an abutting portion abutting against the limiting plate.

[0009] As a further improved technical solution of the utility model, the elastic element is an integrated torsion spring, the elastic element includes a first main body portion and a second main body portion, the integrated torsion spring also includes a connecting portion; the connecting portion connects the first main body portion and the second main body portion, and abuts against the bottom of the limiting plate.

[0010] As a further improved technical solution of the utility model, the elastic element includes two split sub-torsion springs, each of which also includes a leg; the limiting plate is provided with a second hole, and each leg of the sub-torsion spring is positioned by passing through the second hole of the limiting plate.

[0011] As a further improved technical solution of the utility model, the limiting plate includes a first end and a second end arranged oppositely, an upper edge connected between the first end and the second end, and a side edge located at the second end, and the side edge is provided with a toothed structure.

[0012] As a further improved technical solution of the utility model, the parking mechanism includes a lower shift rod, which is fixed below the parking platform at a distance from the parking platform; the parking mechanism also includes a limit pin fixed on the limit plate, and the limit pin can move up and down between the parking platform and the lower shift rod.

[0013] As a further improved technical solution of the utility model, the cleaning robot further comprises a windproof hook, which cooperates with the lower gear rod and extends to the bottom of the lower gear rod.

[0014] As a further improved technical solution of the utility model, the rotating wheel includes a running wheel, the driving mechanism drives the running wheel to rotate, and the limiting plate abuts against the running wheel to limit the forward movement of the running wheel.

[0015] As a further improved technical solution of the utility model, the rotating wheel includes a guide wheel, the driving mechanism drives the guide wheel to rotate, and the limiting plate abuts against the guide wheel to limit the forward movement of the guide wheel.

[0016] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0017] 1. The utility model realizes the mechanical limit of the cleaning robot when it is parked through structures such as a limit plate and a torsion spring, ensuring that the cleaning robot can be stably parked on the parking platform, with a simple structure and low cost;

[0018] 2. A limiting part is provided at the end of the first crossbeam of the utility model to limit the guide wheel of the cleaning robot, thereby preventing the cleaning robot from moving backward when parked;

[0019] 3. The utility model has a lower gear lever that can cooperate with the windproof hook of the cleaning robot, and the windproof hook includes a vertical plate and a horizontal plate. Therefore, on the basis that the limit plate is used to limit the forward and backward movement of the cleaning robot, the horizontal plate of the windproof hook extends into the lower part of the lower gear lever and hooks so that the lower gear lever can provide the cleaning robot with an upward limit, which is used to prevent the cleaning robot from moving upward when it is parked on the parking platform;

[0020] 4. The vertical plate of the windproof hook of the utility model is limited by the lower gear lever and / or the longitudinal beam of the parking platform, thereby providing left and right limits for the cleaning robot when it is parked, thereby preventing the cleaning robot from moving left and right due to external forces (such as wind) in the parked state. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a state diagram of the cleaning robot of the parking system of the utility model before being parked on the parking mechanism;

[0022] Figure 2 This is a state diagram of the cleaning robot of the parking system of the utility model being parked on the parking mechanism, in which the limit plate is flattened due to the gravity of the cleaning robot itself;

[0023] Figure 3 This is a diagram of the parking state of the cleaning robot in the parking system of the utility model on the parking mechanism;

[0024] Figure 4It is a cleaning robot in the stationary system of the utility model, which needs to perform cleaning actions, so it leaves the initial state diagram of the stationary system;

[0025] Figures 5 to 7 This is a schematic diagram of the process in which the walking wheel of the cleaning robot in the parking system of the utility model contacts the limiting plate when the cleaning robot is parked;

[0026] Figure 8 It is a three-dimensional diagram of the limit plate in the parking system of the utility model;

[0027] Fig. 9 It is a three-dimensional combination diagram of the parking mechanism in the parking system of the utility model;

[0028] Fig.10 It is a partial three-dimensional exploded view of the parking mechanism in the parking system of the utility model;

[0029] Fig.11 This is a partial exploded perspective view of the first embodiment of the parking mechanism in the parking system of the utility model;

[0030] Fig.12 This is a partial exploded perspective view of the second embodiment of the parking mechanism in the parking system of the utility model;

[0031] Fig.13 This is a partial three-dimensional exploded view of the third embodiment of the parking mechanism in the parking system of the utility model;

[0032] Fig.14 This is a partial three-dimensional exploded view of the fourth embodiment of the parking mechanism in the parking system of the utility model;

[0033] Fig.15 It is a top view of the parking mechanism in the parking system of the utility model;

[0034] Fig.16 yes Fig.15 A magnified view of part A;

[0035] Fig.17 is along Fig.15 Sectional view along the midline BB;

[0036] Fig.18 yes Fig.17 Magnified view of part C.

[0037] Fig.19 It is a structural schematic diagram of a stop plate of the parking system of the utility model being installed in a horizontal manner in the parking mechanism;

[0038] Figure 20 to Figure 22 It is a schematic diagram of the process in which the guide wheel and the limit plate contact when the cleaning robot in the parking system of the utility model is parked. DETAILED DESCRIPTION

[0039] The exemplary embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. If there are several embodiments, the features of these embodiments can be combined with each other without conflict. When the description refers to the drawings, unless otherwise specified, the same numbers in different drawings represent the same or similar elements. The contents described in the following exemplary embodiments do not represent all embodiments consistent with the present invention; on the contrary, they are merely examples of devices, products and / or methods that are consistent with some aspects of the present invention and are recorded in the claims of the present invention.

[0040] The terms used in the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the scope of protection of the present invention. The singular forms "a", "said" or "the" used in the specification and claims of the present invention are also intended to include plural forms, unless the context clearly indicates other meanings.

[0041] It should be understood that the words used in the specification and claims of the present invention, such as "first", "second" and similar words, do not indicate any order, quantity or importance, but are only used to distinguish the names of features. Similarly, words such as "one" or "an" do not indicate a quantitative limitation, but indicate the existence of at least one. Unless otherwise specified, words such as "front", "rear", "upper", "lower" and similar words appearing in the present invention are only for the convenience of description and are not limited to a specific position or a spatial orientation. Words such as "include" or "comprise" are an open-ended expression, meaning that the elements appearing before "include" or "comprise" include the elements appearing after "include" or "comprise" and their equivalents, which does not exclude that the elements appearing before "include" or "comprise" may also include other elements. If "several" appears in the present invention, it means two or more.

[0042] Please refer to Figures 1 to 18As shown in the figure, the present utility model discloses a parking system, which includes a cleaning robot 200 and a parking mechanism 100. The cleaning robot 200 includes a driving mechanism and rotating wheels, and the driving mechanism is in transmission connection with the rotating wheels, and the driving mechanism can drive the rotating wheels to rotate. The parking mechanism 100 includes a parking platform 1, a limiting plate 2 and an elastic element. The limiting plate 2 is rotatably connected to the parking platform 1 through a hinge shaft 7 and is used to limit the rotating wheels of the cleaning robot 200. The elastic element is connected to the limiting plate 2 and is used to maintain the limiting state of the limiting plate 2. The elastic element has a spiral space 300, the limiting plate 2 is provided with a first hole 210, and the hinge shaft 7 passes through the first hole 210 and the spiral space 300. The parking mechanism 100 of the present utility model realizes the mechanical limit when the cleaning robot 200 parks through relevant structures such as the limiting plate 2 and the elastic element, ensuring that the cleaning robot 200 can stably dock on the parking platform 1, with a simple structure and low cost.

[0043] Please refer to Figures 1 to 10 , the parking platform 1 at least includes a cross beam 11 arranged in parallel in the front-rear direction and a longitudinal beam 12 arranged in parallel in the left-right direction. The cross beam 11 includes a first cross beam 111 and a second cross beam 112 arranged in parallel in the front-rear direction, and the longitudinal beam 12 includes a first longitudinal beam 121 and a second longitudinal beam 122 arranged in parallel in the left-right direction. The first cross beam 111, the second cross beam 112, the first longitudinal beam 121 and the second longitudinal beam 122 jointly enclose a parking space 101 for the cleaning robot 200, and a parking surface 10 is provided on the parking platform 1. Please refer to Figures 7 to 9 , the cross beam 11 further includes a third cross beam 113 arranged in parallel with the first cross beam 111 and the second cross beam 112. The second cross beam 112 is located between the first cross beam 111 and the third cross beam 113, and the two longitudinal beams 12 continue to extend from the second cross beam 112 towards the direction close to the third cross beam 113. The longitudinal beam 12, the second cross beam 112 and the third cross beam 113 jointly enclose an installation space 102 for a photovoltaic module, and the photovoltaic module is used to charge the cleaning robot 200. Generally understood, after the cleaning robot 200 finishes the cleaning work, it is connected to the photovoltaic module in the installation space 102 for charging to prepare for the next use.

[0044] In short, the cross beam 11 includes a first cross beam 111, a second cross beam 112 and a third cross beam 113, and the second cross beam 112 is arranged in parallel between the first cross beam 111 and the third cross beam 113; the longitudinal beam 12 includes a first longitudinal beam 121 and a second longitudinal beam 122, and the first longitudinal beam 121 and the second longitudinal beam 122 are respectively connected between the first cross beam 111 and the third cross beam 113 and on both sides, so that the parking platform 1 is generally in the shape of a Chinese character 'yue'. The parking platform 1 has a parking space 101 and an installation space 102, which are respectively used for the cleaning robot 200 to park and charge.

[0045] Please refer to Fig. 9 、 Fig.10 and Fig.16 Each of the first longitudinal beam 121 and the second longitudinal beam 122 includes a first plate 1201 and a second plate 1202. The first plate 1201 and the second plate 1202 are arranged close to each other to form a clamping space 120 for the limit plate 2 between the first plate 1201 and the second plate 1202. A clamping space 120 for the limit plate 2 is provided at each end of the cross beam 11, which is used to clamp and limit each limit plate 2 on the left and right sides to prevent it from deviating during the process of rotating up and down.

[0046] Please refer to Fig. 9 and Fig.10 , the two ends of the first crossbeam 111 are respectively provided with limiting parts 1110, and the limiting parts 1110 protrude from the corresponding longitudinal beams 12, and are used to provide limiting for the guide wheels 202 of the cleaning robot 200. That is, the cleaning robot 200 as a whole is parked above the parking space 101, but the running wheels 201 on the left and right sides of the cleaning robot 200, the front row running wheels 201 and the rear row running wheels 201 on each side, one of which (specifically the rear row running wheels 201) spans from the front side to the rear side of the limiting plate 2, so that the front row running wheels 201 and the rear row running wheels 201 are located at the front and rear sides of the limiting plate 2 to achieve parking. During the parking process, the guide wheel 202 of the cleaning robot 200 moves in contact with the side wall of the longitudinal beam 12 and moves along the extension direction of the longitudinal beam 12. Both ends of the first crossbeam 111 protrude from the corresponding longitudinal beam 12 to limit the guide wheel 202, that is, the limit plate 2 limits the forward movement of the walking wheel 201 when the machine is parked, and the first crossbeam 111 protrudes from each end of the longitudinal beam 12, that is, the limit part 1110 (for example, the left end and / or the right end) limits the backward movement of the guide wheel 202. Therefore, the utility model realizes the common limitation of the cleaning robot 200 in the front and rear directions through the dual limiting effects of the forward and backward directions, thereby stably parking the cleaning robot 200. Figure 3 Position shown.

[0047] Please refer to Figures 9 to 14 The parking mechanism 100 also includes a hinge shaft 7. Figures 11 to 14 The elastic element is a torsion spring 3 including a main body 30, and the main body 30 forms a spiral space 300. A first hole 210 is provided on the limit plate 2, and the hinge shaft 7 passes through the first hole 210 and extends into the spiral space 300 of the main body 30. The hinge shaft 7 is positioned and connected to the longitudinal beam 12, and the limit plate 2 can rotate relative to the longitudinal beam 12 around the hinge shaft 7. By the way that the hinge shaft 7 passes through the first hole 210 and extends into the spiral space 300 of the main body 30, the main body of the torsion spring 3 is positioned on the hinge shaft 7 and does not deviate relative to the limit plate 2, and by positioning the end of the torsion spring 3 to provide a biasing force, the torsion spring 3 can provide an elastic force for the limit plate 2 to return to its original position again after rotating relative to the longitudinal beam 12.

[0048] Please refer to Figures 1 to 22 The axis of the articulated shaft 7 is perpendicular to the parking surface 10 or parallel to the parking surface 10. Figures 1 to 18 In the embodiment 1 shown, the axis of the articulated shaft 7 is parallel to the parking surface 10; Figures 19 to 22 In the other embodiment 2 shown, by collectively rotating the functional components related to the hinge shaft 7 in the above-mentioned specific embodiment 1 by 90 degrees, the axis of the hinge shaft 7 can be made perpendicular to the stop surface 10. Both the perpendicular and parallel to the stop surface 10 can realize that the torsion spring 3 is sleeved on the hinge shaft 7, thereby playing the role of elastic force in the process of the limit plate 2 rotating relative to the longitudinal beam 12.

[0049] Please refer to Figures 10 to 16 The hinge shaft 7 is positioned and connected to the longitudinal beam 12. The hinge shaft 7 is used to provide a rotation connection between the limit plate 2 and the longitudinal beam 12, and the limit plate 2 rotates around the hinge shaft 7.

[0050] Specifically, in the first embodiment, please refer to Fig.10 , Fig.11 and Fig.18As shown, a gasket plate 6 is also provided on both sides of the limit plate 2, and the gasket plate 6 is arranged between the first plate 1201 and the second plate 1202, and provides a limit and accommodation space for the hinge shaft 7 and the torsion spring 3 while providing a limit for the limit plate 2. The gasket plate 6 is L-shaped as a whole, including a vertical portion 61 and a horizontal portion 62. The two sides of the vertical portion 61 are respectively aligned with the limit plate 2 and the first plate 1201 / the second plate 1202, and the upper surface of the horizontal portion 62 is aligned with the bottom surface of the first plate 1201 or the second plate 1202, and is arranged below the first plate 1201 or the second plate 1202. The setting of the horizontal portion 62 allows the gasket plate 6 to be limited by the first plate 1201 or the second plate 1202, so as to prevent the gasket plate 6 from rotating around the hinge shaft 7 and tilting up at one end, which interferes with the movement process of the cleaning robot 200 in the parking or release of the parking, thereby causing the parking or release of the parking to be unable to be completed smoothly. In a specific embodiment, the gasket plate 6 is arranged between the limiting plate 2 and each of the first plate 1201 and the second plate 1202, and the vertical portion 61 of the gasket plate 6 is provided with an open circular groove 801, and one end of the hinge shaft 7 passes through the gasket plate 6, the limiting plate 2 and the first plate 1201 (the gasket plate 6, the limiting plate 2 and the first plate 1201 are all provided with a hole for the hinge shaft 7 to pass through, for example, the first hole 210 on the limiting plate 2 is used to allow the hinge shaft 7 to pass through, and the gasket plate 6 The open circular groove 801 of the first plate 1201 is used to allow the hinge shaft 7 to pass through, and then the hinge shaft 7 is limited by the latch 71. The hinge shaft 7 is provided with a latch hole 70 that allows the latch 71 to pass through; the other end of the hinge shaft 7 is provided with a limiting end 72, and the diameter of the limiting end 72 is larger than the diameter of the open circular groove 801 of the gasket plate 6, the first hole 201 on the limiting plate 2, and the open circular groove 801 on the first plate 1201. The hinge shaft 7 is limited by providing the limiting end 72 and the latch 71. Furthermore, a through hole 12020 corresponding to the hinge shaft 7 is provided on the second plate 1202. After the hinge shaft 7 passes through the through hole 12020, the limiting end portion 72 at one end thereof is limited by the gasket plate 6 on one side of the limiting plate 2. The other end of the hinge shaft 7 passes through the limiting plate 2, the gasket plates 6 on both sides of the limiting plate 2 and the first plate 1201 and is limited by the latch 71. The through hole 12020 is not smaller than the diameter of the limiting end portion 72 to ensure that the hinge shaft 7 can be assembled smoothly.

[0051] Please continue to refer to Fig.10 and Fig.11As shown, the vertical portion 61 of the gasket plate 6 is also provided with an open long groove 802 located beside the open circular groove 801. The torsion spring 3 includes a body portion 20, a pin portion 31 and an abutting portion abutting against the limiting plate 2. Specifically, in the present embodiment, the torsion spring 3 is an integrated type, including a body portion 20 and a pin portion 31. The body portion 30 of the torsion spring 3 is sleeved on the hinge shaft 7 and at least partially limited in the open circular groove 801 on the gasket plate 6. The body portion 30 includes a first body portion 301 and a second body portion 302. The pin portion 31 includes a first pin portion 311 and a second pin portion 312. The first pin portion 311 freely extends from the first body portion 301 in a direction away from the connecting portion 32, and the second pin portion 312 freely extends from the second body portion 302 in a direction away from the connecting portion 32. The first pin portion 311 and the second pin portion 312 are respectively located in two open long grooves 802 on the vertical portion 61 of the corresponding gasket plate 6. That is, the open circular groove 801 and the open long groove 802 limit the torsion spring 3. The integrated torsion spring 3 also includes a connecting portion 32, which is the aforementioned abutting portion abutting against the limiting plate 2. The connecting portion 32 connects the first body portion 301 and the second body portion 302, and abuts against the bottom of the limiting plate 2. Under the action of the torsion spring 3, the limiting plate 2 protrudes from the stop surface 10.

[0052] Please refer to Figures 5 to 8The limiting plate 2 also includes a first end 21 and a second end 22 that are oppositely arranged. Preferably, when the cleaning robot 200 is in the parked state, the distance between the vertex of the second end 22 and the parking surface 10 is not less than the radius of the rotating wheel of the cleaning robot 200, so that a more stable limit can be provided for the cleaning robot 200. The limiting plate 2 includes an upper edge 23 connected between the first end 21 and the second end 22 and a side edge 24 located at the second end 22, and the side edge 24 is provided with a toothed structure. With such a configuration, on the one hand, the friction between the cleaning robot 200 and the running wheel 201 with a rubber material on the outside is increased when the cleaning robot 200 is parked, and the parking stability of the cleaning robot 200 is further improved; on the other hand, when the cleaning robot 200 leaves the parked state and starts cleaning work, the running wheel 201 rotates counterclockwise, giving a downward force to the toothed structure of the limiting plate 2, thereby driving the limiting plate 2 to move downward. It is understandable that when the limit plate 2 moves below the radius of the running wheel 201, the running wheel 201 can smoothly cross the limit plate 2 in the opposite direction under the drive of the motor, and move from the side where the second end 22 is located to the side where the first end 21 is located to leave the parked state. Furthermore, the outer part of the running wheel 201 is made of rubber material, so that the fit with the toothed structure is closer, and the force can be better transmitted to the toothed structure, making the process of releasing the parked state smoother. In a preferred embodiment, an arc-shaped groove (not shown in the figure) is provided on the upper edge 23, and the opening of the arc-shaped groove faces the direction close to the cleaning robot 200. Such a setting can increase the distance between the upper edge 23 and the roller brush shaft 203 of the cleaning robot 200, and avoid the wear of the bristles on the roller brush shaft 203 due to the close distance, thereby increasing the service life of the cleaning robot 200.

[0053] Please refer to Figures 1 to 4 and Fig.10 The parking mechanism 100 includes a lower lever 4, which is fixedly arranged below the parking platform 1 at a distance from the parking platform 1; the lower lever 4 includes a main body 41 fixedly connected to the bottom of each longitudinal beam 12 and a terminal cantilever 42 extending forward from the main body 41. The terminal cantilever 42 is tilted upward to guide the windproof hook 204 to enter the bottom of the main body 41. Please refer to Figures 1 to 3 The windproof hook 204 includes a vertical plate 2041 and a horizontal plate 2042. When the cleaning robot 200 is parked from front to back, the horizontal plate 2042 of the windproof hook 204 extends into the bottom of the lower gear rod 4 and hooks it, so that the lower gear rod 4 can provide the cleaning robot 200 with an upward limit.

[0054] Please refer to Figures 1 to 10The parking mechanism 100 further includes a limit pin 5 fixed on the limit plate 2, and the limit pin 5 can move up and down between the parking platform 1 and the lower lever 4 to limit the position. Since the limit plate 2 is hinged on the parking platform 1 and the first end 21 is connected to the elastic element (such as the torsion spring 3) and is elastically pulled downward, that is, please refer to Figure 1 As mentioned above, the limit plate 2 is like a seesaw. Since the elastic element (such as the torsion spring 3) elastically pushes the second end 22 upward in the natural state, the second end 22 in the initial state protrudes upward from the parking platform 1. Because the cleaning robot 200 needs to cross the second end 22 protruding upward during the process of parking from front to back on the parking platform 1, at least part of the limit plate 2 will rotate up and down (or, when the first end 21 rotates upward, the second end 22 rotates downward; when the first end 21 rotates downward, the second end 22 rotates upward). The utility model is provided with a limit pin 5, the purpose of which is to limit the up and down rotation of the limit plate 2 within a reasonable range by moving it up and down between the parking platform 1 and the lower lever 4, on the one hand, to avoid the cleaning robot 200 from having difficulty crossing the limit plate 2 due to excessive upward rotation of the second end 22; on the other hand, when the limit pin 5 moves to contact the lower lever 4, the limit plate 2 is limited to move further, preventing the elastic element (such as the torsion spring 3) from being excessively biased by the limit plate 2 and causing the elastic force to be unable to recover.

[0055] In the second embodiment, please refer to Fig.12 As shown, the difference from the first embodiment is that the torsion spring 3 of the second embodiment is a split structure, and the torsion spring 3 includes two split sub-torsion springs 3', and each sub-torsion spring 3' includes a body part 30 and a pin part 31, and also includes a leg part 33. The leg part 33 is the aforementioned abutting part abutting against the limit plate 2, and the limit plate 2 is provided with a second hole 220. The leg part 33 of each sub-torsion spring 3' passes through the second hole 220 on the limit plate 2 to be positioned, and the pin part 31 of each sub-torsion spring 3' is stuck in the open long groove 802 of the gasket plate 6.

[0056] In the third embodiment, please refer to Fig.13As shown, the difference from the first embodiment is that the gasket plate 6 is cancelled, and the limiting plate 2 is directly limited between the first plate 1201 and the second plate 1202. Correspondingly, the open circular groove 801 and the open long groove 802 are provided on the longitudinal beam 12. Specifically, the first plate 1201 and the second plate 1202 of the longitudinal beam 12 are relatively provided with the open circular groove 801 and the open long groove 802 located beside the open circular groove 801. The first body part 301 and the second body part 302 of the torsion spring 3 are sleeved on the hinge shaft 7, and are at least partially limited in the open circular groove 801 on the first plate 1201 and the second plate 1202, respectively. The first pin part 311 and the second pin part 312 are respectively correspondingly located in the two open long grooves 802 on the first plate 1201 and the second plate 1202. That is, the torsion spring 3 is partially positioned on the longitudinal beam 12, but the other part of the torsion spring 3 is connected to the limit plate 2, and can be biased by the force from the limit plate 2 to bias the torsion spring 3. Therefore, after the biasing force disappears, the torsion spring 3 can provide the limit plate 2 with an elastic force to restore the original position again.

[0057] In the fourth embodiment, please refer to Fig.14 As shown, unlike the first embodiment, the present embodiment cancels the gasket plate 6, and the limiting plate 2 is directly limited between the first plate 1201 and the second plate 1202. Accordingly, the open circular groove 801 and the open long groove 802 are provided on the longitudinal beam 12, and the first plate 1201 and the second plate 1202 of the longitudinal beam 12 are relatively provided with the open circular groove 801 and the open long groove 802 located beside the open circular groove 801. The torsion spring 3 is a split structure, and the torsion spring 3 includes two split sub-torsion springs 3', and each sub-torsion spring 3' includes a body portion 30 and a pin portion 31, and also includes a leg portion 33. The limiting plate 2 is provided with a second hole 220, and the leg 33 of each sub-torsion spring 3' is positioned by passing through the second hole 220 on the limiting plate 2, and the main body 30 of each sub-torsion spring 3' is at least partially located in the corresponding open circular groove 801, and the pin portion 31 of each sub-torsion spring 3' is correspondingly clamped in the open long groove 802 of the first plate 1201 and the second plate 1202.

[0058] From the above, it can be seen that there are two forms of the positions of the open circular groove 801 and the open long groove 802: when there is no gasket plate 6, they are set on the longitudinal beam 12 (specifically, the inner wall surface of the first plate 1201 and the inner wall surface of the second plate 1202); when there is a gasket plate 6, they are set on the gasket plate 6. The difference between the integrated torsion spring 3 and the two separate sub-torsion springs 3' is that the connecting portion 32 of the integrated torsion spring 3 is pressed on the bottom of the limiting plate 2 for contact and fit, and the two separate sub-torsion springs 3' are not connected to each other, so the positioning and matching effect of the leg 33 of each sub-torsion spring 3' and the limiting plate 2 is unstable. Therefore, the limiting plate 2 is specially provided with a second hole 220 to position the leg 33 on each sub-torsion spring 3' to prevent it from detaching.

[0059] In other embodiments, the elastic element is a tension spring, one end of which is connected to the first end 21 of the limit plate 2, and the other end is connected to a carrier fixed to the parking platform, which can achieve the same technical effect as the torsion spring 3. It is understandable that the elastic element can also be a disc spring, a leaf spring, a spiral spring, an annular spring, etc., without limitation, as long as it can provide elastic force for the limit plate 2.

[0060] Please refer to Figures 1 to 7 , with particular reference to Figure 3 The rotating wheel includes a running wheel 201, and the driving mechanism drives the running wheel 201 to rotate. The limit plate 2 abuts against the running wheel 201 to limit the forward movement of the running wheel 201. In this way, the cleaning robot 200 enters the parking state, and the limit plate 2 provides a forward limit. The utility model provides a forward limit by the limit plate 2 to prevent the cleaning robot 200 from leaving the parking position and returning to the charging position in an accident, thereby ensuring the stability of the parking state.

[0061] Please refer to Figures 1 to 4 , the rotating wheel also includes guide wheels 202. The guide wheels 202 are located on both sides of the cleaning robot 200. On the one hand, they guide the cleaning robot 200 when walking on the parking platform 1; on the other hand, the driving mechanism can also drive the guide wheels 202 to rotate (details will be described later). The limit plate 2 abuts against the guide wheel 202 to limit the forward movement of the guide wheel 202. This arrangement can also enable the cleaning robot 200 to enter the parking state, and the limit plate 2 provides a forward limiting effect to ensure the stability of the parking state.

[0062] Please refer to Fig.19 As shown, in the specific implementation manner in which the driving mechanism drives the guide wheel 202 to rotate, the limit plate 2 is arranged parallel to the stop surface 10 and is located between the second plate 1202 and the lower gear rod 4. The hinge shaft 7 is arranged perpendicular to the stop surface 10. The hinge shaft 7 passes through the second plate 1202 and the lower gear rod 4. An open circular groove 801 and an open long groove 802 are respectively provided on the second plate 1202 and the lower gear rod 4. The open circular groove 801 allows the hinge shaft 7 to pass through while providing a limit for the main body 30 of the torsion spring 3. The open long groove 802 is used to provide a limit for the pin portion 31 of the torsion spring 3. It can be understood that, like the aforementioned embodiment, the torsion spring 3 can be of two structures, an integrated structure and a split structure, which will not be repeated here.

[0063] Please refer to Figures 20 to 22As shown, when the cleaning robot 200 needs to park, the driving mechanism of the cleaning robot 200 drives the guide wheel 202 to move backward along the second plate 1201 perpendicular to the side of the parking surface 10, and gradually contacts the upper edge 23 of the limit plate 2 during the movement, and presses it into the parking platform 1 until it completely passes through the upper edge 23. At this time, the limit plate 2 is reset under the action of the torsion spring 3, and the guide wheel 202 abuts against the side edge 24 of the limit plate 2 to limit the guide wheel 202; when the cleaning robot 200 needs to contact the parked state, the guide wheel 202 moves forward under the action of the driving mechanism, giving the toothed structure of the limit plate 2 a leftward force, thereby driving the limit plate 2 to move to the left until the guide wheel 202 completely passes through the limit plate 2. At this time, the limit plate 2 is reset under the action of the torsion spring 3. It can be understood that in this embodiment, a limit pin 5 is also provided, and the two ends of the limit pin 5 are respectively abutted against the side walls of the second rod 1202 and the lower gear rod 4 in the left and right directions away from the upper edge 23 of the limit plate 2, thereby limiting the maximum rotation range of the limit plate 2.

[0064] Please continue to refer to Figures 1 to 4 The cleaning robot 200 also has a windproof hook 204. It is used to limit the upward movement of the cleaning robot 200. The lower lever 4 includes a main body 41 fixedly connected to the bottom of each longitudinal beam 12 and a terminal cantilever 42 extending forward from the main body 41. The terminal cantilever 42 is tilted upward to guide the windproof hook 204 to enter the bottom of the main body 41. Please refer to Figures 1 to 3 The windproof hook 204 includes a vertical plate 2041 and a horizontal plate 2042. When the cleaning robot 200 is parked from front to back, the horizontal plate 2042 of the windproof hook 204 gradually extends into and hooks under the lower gear rod 4, so that the lower gear rod 4 can provide the cleaning robot 200 with an upward limit.

[0065] The working principle of the parking system of the utility model is that when the cleaning robot 200 needs to park, the motor drives the walking wheel 201 to rotate forward, and the self-gravity of the cleaning robot 200 enables the walking wheel 201 in the rear row to cross from the first end 21 to the second end 22 on the limiting plate 2, so that the cleaning robot 200 enters the parking state, and the limiting plate 2 provides forward limitation; and in the parking state, the limiting part 1110 of the corresponding longitudinal beam 12 protrudes through the end of the first cross beam 111, and the limiting part 1110 is used to provide backward limitation for the guide wheel 202 of the cleaning robot 200, and the limiting plate 2 and the limiting part 1110 provide the cleaning robot 200 with a parking state. Common limit in the front and rear directions; the cooperation between the lower gear rod 4 and the windproof hook 204 of the cleaning robot 200 is used to limit the upward movement of the cleaning robot 200; when the cleaning robot 200 needs to clean, the motor drives the front row of running wheels 201 and the rear row of running wheels 201 to rotate in opposite directions, and the toothed structure of the second end 22 contacts the rear row of running wheels 201 to generate friction, and the friction force enables the rear row of running wheels 201 to cross in the opposite direction from the second end 22 to the first end 21 on the limiting plate 2, and the windproof hook 204 of the cleaning robot 200 is disengaged from the lower gear rod 4, so that the cleaning robot 200 is out of the parked state.

[0066] The beneficial effects of the utility model are as follows: first, the utility model provides a forward limit through the limit plate 2 to prevent the cleaning robot 200 from leaving the parking position and returning to the charging position in an unexpected situation; the elastic element (such as the torsion spring 3) is connected to the limit plate 2, and the elastic element (such as the torsion spring 3) provides the elastic restoring force required for the rotation of the limit plate 2, which is used to maintain the limit state of the limit plate 2. Secondly, the utility model provides a common limit in the front and rear directions of the parking machine for the cleaning robot 200 through the limit plate 2 and the limit part 1110, so that the cleaning robot 200 is stably located in the parking position and cannot move forward and backward. Thirdly, the utility model can cooperate with the windproof hook 204 of the cleaning robot 200 through the lower gear rod 4, specifically, the horizontal plate 2042 of the windproof hook 204 extends into the lower gear rod 4 and hooks, so that the lower gear rod 4 can provide the cleaning robot 200 with an upward limit, which is used to prevent the cleaning robot 200 from moving upward when the parking machine platform 1 is in the parking state, thereby improving the stability of the parking machine. Finally, the utility model also provides left and right limit for the cleaning robot 200 when it is parked by abutting between the vertical plate 2041 of the windproof hook 204 and the lower gear rod 4 and / or the longitudinal beam 12 of the parking platform 1, thereby preventing the cleaning robot 200 from moving left and right due to external forces (such as wind) in the parked state.

[0067] The above implementation modes are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. The understanding of the present invention should be based on the technical personnel in the relevant technical field. Although the present invention has been described in detail in this specification with reference to the above implementation modes, ordinary technical personnel in the field should understand that the technical personnel in the relevant technical field can still modify or make equivalent substitutions to the present invention, and all technical solutions and improvements thereof that do not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A parking system, characterized in that: The cleaning robot (200) comprises a driving mechanism and a rotating wheel, wherein the driving mechanism is in transmission connection with the rotating wheel and can drive the rotating wheel to rotate. The parking mechanism (100) comprises a parking platform (1), a limiting plate (2) and an elastic element. The limiting plate (2) is rotationally connected to the parking platform (1) via a hinge shaft (7) and is used to limit the rotating wheel of the cleaning robot (200). The elastic element is connected to the limiting plate (2) and is used to maintain the limiting state of the limiting plate (2). The elastic element has a spiral space (300). The limiting plate (2) is provided with a first hole (210). The hinge shaft (7) passes through the first hole (210) and the spiral space (300).

2. The parking system according to claim 1, characterized in that: The parking platform (1) at least comprises a first crossbeam (111) and a second crossbeam (112) arranged in parallel in the front-to-back direction, and a first longitudinal beam (121) and a second longitudinal beam (122) arranged in parallel in the left-to-right direction; the first crossbeam (111), the second crossbeam (112), the first longitudinal beam (121) and the second longitudinal beam (122) together enclose a parking space (101) for the cleaning robot (200); the parking platform (1) is provided with a parking surface (10); the hinge shaft (7) is positioned and connected to the first longitudinal beam (121) or the second longitudinal beam (122); and the limit plate (2) can rotate around the hinge shaft (7) relative to the first longitudinal beam (121) and the second longitudinal beam (122).

3. The parking system according to claim 2, characterized in that: The axis of the hinge shaft (7) is perpendicular to the stop surface (10) or parallel to the stop surface (10).

4. The parking system according to claim 2, characterized in that: The first longitudinal beam (121) and the second longitudinal beam (122) both include a first plate (1201) and a second plate (1202); the limiting plate (2) is disposed between the first plate (1201) and the second plate (1202); the first plate (1201) and the second plate (1202) are respectively provided with an open circular groove (801) and an open long groove (802) located beside the open circular groove (801); the elastic element is at least partially limited in the open circular groove (801); the elastic element includes a pin portion (31) limited in the open long groove (802) and a contact portion abutting against the limiting plate (2).

5. The parking system according to claim 2, characterized in that: The first longitudinal beam (121) and the second longitudinal beam (122) both include a first plate (1201) and a second plate (1202); the limiting plate (2) is arranged between the first plate (1201) and the second plate (1202); and gasket plates (6) are also arranged on both sides of the limiting plate (2); the gasket plate (6) is provided with an open circular groove (801) and an open long groove (802) located beside the open circular groove (801); the elastic element is at least partially limited to the open circular groove (801); the elastic element includes at least one pin portion (31) limited to the open long groove (802) and a contact portion abutting against the limiting plate (2).

6. The parking system according to claim 4 or 5, characterized in that: The elastic element is an integrated torsion spring (3), which includes a first main body portion (301) and a second main body portion (302). The integrated torsion spring (3) also includes a connecting portion (32); the connecting portion (32) connects the first main body portion (301) and the second main body portion (302), and abuts against the bottom of the limiting plate (2).

7. The parking system according to claim 4 or 5, characterized in that: The elastic element comprises two separate sub-torsion springs (3'), each of which further comprises a leg (33); the limiting plate (2) is provided with a second hole (220), and the leg (33) of each sub-torsion spring (3') passes through the second hole (220) of the limiting plate (2) for positioning.

8. The parking system according to claim 1, characterized in that: The limiting plate (2) comprises a first end (21) and a second end (22) arranged opposite to each other, an upper edge (23) connected between the first end (21) and the second end (22), and a side edge (24) located at the second end (22), wherein the side edge (24) is provided with a toothed structure.

9. The parking system according to claim 1, characterized in that: The parking mechanism (100) comprises a lower shift rod (4), and the lower shift rod (4) is fixedly arranged below the parking platform (1) at a distance from the parking platform (1); the parking mechanism (100) further comprises a limit pin (5) fixedly arranged on the limit plate (2), and the limit pin (5) can move up and down between the parking platform (1) and the lower shift rod (4).

10. The parking system according to claim 9, characterized in that: The cleaning robot (200) also has a windproof hook (204), which cooperates with the lower gear rod (4) and extends to the bottom of the lower gear rod (4).

11. The parking system according to claim 1, characterized in that: The rotating wheel comprises a running wheel (201), the driving mechanism drives the running wheel (201) to rotate, and the limiting plate (2) abuts against the running wheel (201) to limit the forward movement of the running wheel (201).

12. The parking system according to claim 1, characterized in that: The rotating wheel comprises a guide wheel (202), the driving mechanism drives the guide wheel (202) to rotate, and the limiting plate (2) abuts against the guide wheel (202) to limit the forward movement of the guide wheel (202).

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