Robot parking self-locking system and photovoltaic sweeper parking system

Abstract

The utility model relates to the technical field of robot self-locking, and discloses a robot stopping self-locking system and a photovoltaic sweeper stopping system.The robot stopping self-locking system comprises a stopping station, a driven wheel, a transmission mechanism and a movable locking piece, and the driven wheel drives the movable locking piece to move through the transmission mechanism; the driven wheel is rotatably embedded in the stop station and located on a walking path of the robot, and the movable locking piece is movably arranged on the stop station; the highest point of the driven wheel is higher than the walking face on the stop station, so that the driven wheel is synchronously driven when the walking wheel of the robot passes through the driven wheel, the driven wheel drives the movable locking piece through the transmission mechanism to conduct locking control on the robot, no extra drive or tool is needed in the whole process, and therefore the robot can be locked conveniently. Rapid locking and unlocking of the position of the robot can be achieved through a simple mechanical structure and movement of the robot.

Description

Technical Field

[0001] The present application relates to the technical field of robot self-locking, and further relates to a robot docking self-locking system and a photovoltaic sweeper docking system. Background Art

[0002] Currently, the fixing method of robots working outdoors at the docking station has a certain degree of randomness, and it is impossible to avoid phenomena such as accidental displacement or overturning of the robot caused by accidents or wind force. Most of the existing solutions are to add obstacles to block, but sometimes because the obstacles are too small to play a blocking role, and if the obstacles are too large, it will make it difficult for the robot to leave the station. Therefore, the method of adding obstacles simply cannot solve the problem; there are also some solutions where the robot will automatically detect whether it is docked at the docking station and return automatically, but this solution will increase power consumption and cause waste of energy.

[0003] In summary, it is necessary to improve the current technology. Utility Model Content

[0004] Aiming at the above technical problems, the purpose of the present application is to provide a robot docking self-locking system and a photovoltaic sweeper docking system, which can realize the rapid locking and unlocking of the robot through a simple mechanical structure without additional driving or tools.

[0005] To achieve the above purpose, the present application provides a robot docking self-locking system for locking a robot, including:

[0006] A docking station, a driven wheel, a transmission mechanism, and a movable locking member. The driven wheel drives the movable locking member to move through the transmission mechanism. The driven wheel is rotatably embedded in the docking station and is located on the walking path of the robot entering or exiting the docking station. The movable locking member is movably arranged in the docking station;

[0007] The highest point of the driven wheel is higher than the walking surface of the robot on the docking station, so that when the walking wheels of the robot pass through the driven wheel in sequence, the driven wheel is synchronously driven. The driven wheel drives the movable locking member through the transmission mechanism to perform locking control on the robot.

[0008] In some embodiments, the transmission mechanism includes a first transmission gear, and at least part of the surface of the movable locking member facing the first transmission gear is configured as a tooth surface to cooperate with the teeth of the first transmission gear;

[0009] The first transmission gear and the driven wheel are coaxially arranged, so that when the walking wheel drives the driven wheel to rotate, the first transmission gear can rotate synchronously.

[0010] In some embodiments, the pitch diameter of the first transmission gear is smaller than the diameter of the driven wheel; and the horizontal position of the highest point of the driven wheel is higher than the walking surface of the robot on the docking station.

[0011] In some embodiments, the first transmission gear is fixedly arranged on one of the disc surfaces of the driven wheel;

[0012] Or, the driven wheel is separated into two sub-wheels with the same diameter along its radial plane, the first transmission gear is arranged between the two sub-wheels, and the two sub-wheels enclose an annular space relative to the first transmission gear.

[0013] In some embodiments, the transmission mechanism further includes an even number of auxiliary transmission gears, which are sequentially arranged between the first transmission gear and the movable locking member, and are sequentially cooperatively connected to transmit the driving force of the driven wheel to the movable locking member.

[0014] In some embodiments, the number of the auxiliary transmission gears is two, the two auxiliary transmission gears are at the same height, and the two auxiliary transmission gears and the first transmission gear are all connected to the docking station through rotating shafts.

[0015] In some embodiments, a fixed locking member is arranged on one side of the robot facing the docking station, and the fixed locking member is used to form a butt joint with the movable locking member when the movable locking member moves to a preset position, so that the robot and the docking station are relatively fixed.

[0016] In some embodiments, the fixed locking member is a hollow tubular structure, and a clamping position is arranged on the inner circumference of the fixed locking member, and a clamping portion is arranged on the movable locking member, and the clamping position and the clamping portion are matched;

[0017] During the movement of the movable locking member, the clamping portion can form a clamping connection with the clamping position, so that the robot and the docking station are relatively fixed.

[0018] In some embodiments, the robot docking self-locking system further includes a proximity switch, which is arranged on the robot and is used to judge whether the robot completely drives into the docking station;

[0019] When the robot completely drives into the docking station, the walking wheels located outside the docking station continue to rotate, driving the driven wheel to drive the movable locking member to continuously rise until the movable locking member is completely butted with the fixed locking member, completing the locking of the robot and the docking station.

[0020] Another aspect of the present application also provides a photovoltaic cleaning machine docking system, including:

[0021] The above-mentioned robot docking self-locking system is used to lock the photovoltaic cleaning machine to the photovoltaic cleaning machine docking station;

[0022] Wherein, the photovoltaic cleaning machine serves as the robot, and the photovoltaic cleaning machine docking station serves as the docking station.

[0023] Compared with the prior art, the robot docking self-locking system and the photovoltaic cleaning machine docking system provided by the present application have the following beneficial effects:

[0024] 1. The robot docking self-locking system in the present application does not require electric drive or control. Instead, the self-locking function is realized through a simple mechanical structure. The movement of the robot's walking wheels drives the driven wheel and the transmission mechanism to drive the movable locking member to move, so that the fixed locking member and the movable locking member cooperate to form a lock on the robot; driving the driven wheel and the transmission mechanism in the reverse direction can unlock the robot, reducing the cost and improving the stability of the device.

[0025] 2. The present application uses multiple transmission gears to form a gear set, and the movable locking member is provided with a tooth surface that can mesh with the last transmission gear. When the last transmission gear rotates, the movable locking member can generate corresponding movement, and when the last transmission gear stops rotating, the position of the movable locking member is also locked, ensuring the stable engagement between the movable locking member and the fixed locking member and preventing the accidental release of the engagement.

[0026] 3. The present application applies this robot docking self-locking system to the photovoltaic cleaning machine docking system. Since the photovoltaic cleaning machine needs to be docked outdoors for a long time, it is easily blown out of the docking station by strong winds. Using the above-mentioned docking self-locking system can lock and unlock the photovoltaic cleaning machine relative to the photovoltaic cleaning machine docking station without occupying much space, saving space resources and preventing the photovoltaic cleaning machine from being blown off and blocking the photovoltaic panel. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The following will further illustrate the above characteristics, technical features, advantages and their implementation manners of the present application in a clear and understandable manner in combination with the drawings of the preferred embodiments.

[0028] Figure 1 is the overall structural schematic diagram of the robot in the inbound docking state in an embodiment of the present application;

[0029] Figure 2 is the schematic diagram when the transmission mechanism drives the movable locking member to move in an embodiment of the present application.

[0030] Description of the reference numerals in the drawings: fixed locking member 1; movable locking member 2; robot 3; proximity switch 30; docking station 4; blocking portion 41; traveling wheel 5; driven wheel 6; first transmission gear 7; auxiliary transmission gear 8. Detailed implementation manners

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will describe the specific implementation manners of the present application with reference to the accompanying drawings. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings, and other implementation manners can be obtained.

[0032] To make the drawings concise, only the parts related to the application are schematically shown in each drawing, and they do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, in some drawings, components with the same structure or function are only schematically shown for one of them, or only one of them is marked. In this article, "one" not only means "only this one", but also means "more than one" situation.

[0033] It should also be further understood that the term "and / or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0034] In this article, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0035] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application 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 a limitation to the present application.

[0036] In addition, in the description of the present application, terms such as "first" and "second" are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.

[0037] In one embodiment, referring to the appended drawings of the specification Figure 1 , the robot docking self-locking system provided by the present application can lock and unlock the robot 3 by obtaining the driving force provided by the walking wheels 5 of the robot 3, without additional driving force or driving device, which can effectively save energy and space occupancy.

[0038] Referring to the appended drawings of the specification Figure 1 , a robot docking self-locking system provided by the present application includes a driven wheel 6, a docking station 4, a transmission mechanism, and a movable locking member 2. The movable locking member 2 is movably arranged at the docking station 4 of the robot 3; the driven wheel 6 drives the movable locking member 2 to move through the transmission mechanism, and the driven wheel 6 is rotatably arranged at the docking station 4, and the driven wheel 6 is located on the walking path of the robot 3 entering or leaving the docking station 4.

[0039] The highest point of the driven wheel 6 is higher than the walking surface of the docking station 4 relative to the robot 3, so that when the walking wheels 5 of the robot 3 pass through the driven wheel 6 in sequence, the driven wheel 6 is synchronously driven, and the driven wheel 6 drives the movable locking member 2 through the transmission mechanism to realize the locking control of the robot 3.

[0040] In this embodiment, there are many forms of setting the movable locking member 2, such as baffles, strips, etc. For example, let the strip be stuck at a certain position at the bottom of the robot 3, as long as the movement of the robot 3 is restricted, or a baffle is directly blocked on the movement path of the robot 3. When the robot 3 wants to leave the station, through the drive of the walking wheels 5, the corresponding baffle descends, so that there is no restriction on the walking path of the robot 3.

[0041] At the same time, attention needs to be paid to the type of the robot 3. This robot 3 and the docking station 4 can be in a matching form, such as a household sweeping robot and the docking station of the sweeping robot. Any robot with walking wheels can be locked and controlled by this form of self-locking mechanism.

[0042] Of course, there are also many forms of the docking station 4 in the above content. For example, by setting the above series of self-locking mechanisms such as the driven wheel 6, the transmission mechanism, and the movable locking member 2 on a base, as long as the walking wheels 5 of the robot 3 drive the driven wheel 6, the movable locking member 2 can be controlled to move, so as to realize the limit of the robot 3.

[0043] Further, a fixed locking member 1 is provided on one side of the robot close to the docking station 4. The fixed locking member 1 is used to form a snap connection with the movable locking member 2, so that the robot 3 and the docking station 4 are relatively fixed. Generally, the movable locking member 2 needs to move to a preset position, that is, a position sufficient to be snap-connected to the fixed locking member 1.

[0044] Based on the above structural settings, during the process of the robot 3 driving into the docking station 4, the transmission mechanism drives the movable locking member 2 to move in the first direction under the drive of the walking wheel 5, and makes the movable locking member 2 snap into the fixed locking member 1 for locking the robot 3; when the robot 3 moves in the direction of driving out of the docking station 4, the transmission mechanism drives the movable locking member 2 to move in the second direction under the drive of the walking wheel 5, and makes the movable locking member 2 disengage from the fixed locking member 1 for unlocking the robot 3.

[0045] Specifically, referring to the accompanying drawings of the specification, the above-mentioned first direction is the direction from the movable locking member 2 to the fixed locking member 1, that is, the direction from bottom to top in the drawings. Similarly, the second direction is the direction from the fixed locking member 1 to the movable locking member 2, that is, the direction from top to bottom in the drawings. It can be understood that through the drive of the transmission mechanism, the movable locking member 2 can move in both positive and negative directions. At the same time, the fixed locking member 1 provided on the robot 3 is used in combination with it, so that the movable locking member 2 can be snap-connected or disengaged from the fixed locking member 1 to achieve locking or unlocking of the robot 3.

[0046] At the same time, the walking wheel 5 of the robot 3 can provide driving force for the transmission mechanism, which is easy to understand. For example, in the drawings, when the robot 3 drives into the docking station 4, its walking wheel 5 rotates clockwise, and when the robot 3 drives out of the docking station 4, its walking wheel 5 rotates counterclockwise, forming a continuously rotating gear drive form. At this time, since the transmission mechanism transmits power to the walking wheel 5 through the driven wheel 6, it will also perform a certain movement to achieve the above-mentioned locking and unlocking functions.

[0047] Further, this docking self-locking system further includes a limit ring. The limit ring is arranged on the docking station 4 and is misaligned with the transmission mechanism to avoid collision with the transmission mechanism. At the same time, the above-mentioned movable locking member 2 passes through the limit ring to guide the movement of the movable locking member 2 through the limit ring.

[0048] In one embodiment, a proximity switch 30 is further provided on the robot 3 to determine whether the robot 3 has completely driven into the docking station 4 through the proximity switch 30.

[0049] Specifically, when the robot 3 fully enters the docking station 4, the driving wheels 5 will continue to rotate to drive the driven wheels 6 outside the docking station 4, and then transmit the power to the movable locking member 2 through the transmission mechanism, causing it to continuously rise until the movable locking member 2 is fully docked with the fixed locking member 1, thus completing the locking of the robot 3 and the docking station 4. This design not only ensures the stability and safety of the robot 3 at the docking station 4, but also realizes the automation of the entire docking process without manual intervention, improving efficiency and reducing operational complexity.

[0050] In another embodiment, the driven wheel 6 is arranged on the traveling path of the robot 3, which means that the driven wheel 6 is installed at a specific position of the docking station 4, and this position is part of the traveling route of the robot 3. When the robot 3 drives into the docking station, it will directly drive into the area where the driven wheel 6 is located during the traveling process. The design of the driven wheel 6 enables the robot 3 to conveniently dock and stop at the docking station 4, and the robot 3 only needs to move in the docking direction without more operations, making the self-locking process very natural and simple. Moreover, the driving wheels 5 are a necessary condition for the robot 3 to travel, so most robots 3 will be equipped with them. Therefore, the method of driving the transmission mechanism or the driven wheel 6 through the driving wheels 5 in this application does not modify the robot 3 itself, and only the fixed locking member 1 needs to be set for the robot 3.

[0051] In addition, based on the above content, the position of the driven wheel 6 can be adjusted according to the actual application scenario to adapt to different spatial layouts and the size of the robot 3. In addition, the side view of the self-locking system is shown in the drawings. In actual situations, the transmission mechanism may be symmetrically distributed on both sides of the docking station 4. Then, through the cooperation of two fixed locking members 1 and two movable locking members 2, the locking state of the robot 3 can be made more stable and reliable. It can be understood that corresponding to different types of robots 3, different numbers of driving wheels 5 may be set. As long as the corresponding numbers of driven wheels 6, movable locking members 2, and fixed locking members 1 are flexibly set, and the movable locking member 2 is engaged with the fixed locking member 1 through the drive of the driving wheels 5, the locking of different types of robots 3 at the docking station can be achieved.

[0052] Furthermore, the horizontal position of the highest point of the driven wheel 6 is higher than the traveling surface of the robot 3 on the docking station 4. This is relatively easy to understand. This design helps the robot 3 to more easily contact the driven wheel 6. If the driven wheel 6 and the driving wheels 5 are just tangent, the movement time and space reserved for the movable locking member 2 may not be sufficient, resulting in an improper engagement between the movable locking member 2 and the fixed locking member 1.

[0053] In one embodiment, as Figure 2The transmission mechanism shown includes a first transmission gear 7, and at least part of the surface of the movable locking member 2 facing the first transmission gear 7 is configured as a tooth surface to cooperate with the teeth of the first transmission gear 7, that is, this part of the tooth surface will mesh with the teeth of the first transmission gear 7, so as to achieve the purpose of transmission.

[0054] In this embodiment, through the cooperation of the first transmission gear 7 and the movable locking member 2, high transmission efficiency and automatic locking and unlocking functions are achieved. It should be noted that the situation where the first transmission gear 7 directly meshes with the movable locking member 2 is not shown in the drawings, but this setting is very understandable, so it will not be elaborated here.

[0055] Based on the above, the first transmission gear 7 and the driven wheel 6 are coaxially arranged, so that when the driving wheel 5 drives the driven wheel 6 to rotate, the driven wheel 6 will also drive the first transmission gear 7 to rotate synchronously, ensuring the synchronism and stability in the transmission process. In addition, the two form an integrated design, which can effectively save the space occupancy rate of the transmission mechanism.

[0056] Therefore, the locking process of the robot 3 in this embodiment can be generally described as follows: when the robot 3 drives into the docking station 4, the driving wheel 5 drives the driven wheel 6 to rotate. The driven wheel 6 and the first transmission gear 7 are coaxially arranged, so the rotation of the driven wheel 6 will also drive the first transmission gear 7 to rotate synchronously. The tooth surface of the movable locking member 2 meshes with the teeth of the first transmission gear 7, so the movable locking member 2 will also be driven to move. As the movable locking member 2 moves, the movable locking member 2 gradually approaches the fixed locking member 1 and forms a snap connection with it, realizing the automatic locking of the robot 3. In this process, only the driving force generated by the driving wheel 5 is used to drive the self-locking system to work, and the operation is fully automated, saving labor costs.

[0057] In another embodiment, the pitch diameter of the first transmission gear 7 is smaller than the diameter of the driven wheel 6. The size of the first transmission gear 7 is small, reducing the risk of accidental collision with the driving wheel 5 or other components of the robot 3 during operation, and will not interfere with the docking and matching process between the driving wheel 5 and the driven wheel 6, ensuring the stability and efficiency of the locking and unlocking of the robot 3.

[0058] In one embodiment, on the basis of the above embodiment, the first transmission gear 7 is fixedly arranged on one of the disc surfaces of the driven wheel 6.

[0059] It should be noted that in this embodiment, the first transmission gear 7 can be fixed to any disc surface of the driven wheel 6. The two are separately processed and formed, and then assembled and fixed. There are also many fixing methods. For example, key grooves are processed on the disc surface of the driven wheel 6, and the key grooves match the key grooves on the first transmission gear 7, and then a key is used to fix the first transmission gear 7 on the disc surface of the driven wheel 6. In addition, there are also methods such as bolt connection or pin connection. Of course, attention should also be paid to the stability and ease of disassembly of different connection methods to avoid inconvenience to the later equipment maintenance.

[0060] In another embodiment, which is different from the above embodiment, (not shown in the drawings) the driven wheel 6 is separated into two sub-wheels with the same diameter along its radial plane. The first transmission gear 7 is disposed between the two sub-wheels, and the two sub-wheels form an annular space around the first transmission gear 7.

[0061] It can be understood that in this embodiment, during specific processing and installation, the first transmission gear 7 can be fixed between the two sub-wheels by processing threaded holes and using bolts and nuts. Of course, if the sub-wheels and the transmission gear are made of the same or compatible materials, welding technology can be considered to permanently connect them. In addition, since the size of the first transmission gear 7 is small and the size of the two sub-wheels is large, when they are coaxially arranged, a depression is formed, that is, the above-mentioned annular space.

[0062] It should be noted that the annular space in the above content is used to correspond to the movable locking member 2 (including the auxiliary transmission gear 8 in the following text), so that they are restricted in this space during the movement process, preventing the displacement of key components in the transmission mechanism due to problems such as vibration generated during the walking of the robot 3, which improves the stability and reliability of the transmission mechanism.

[0063] In one embodiment, the transmission mechanism further includes an even number of auxiliary transmission gears 8. The auxiliary transmission gears 8 are sequentially arranged between the first transmission gear 7 and the movable locking member 2, and are sequentially engaged and connected to transmit the driving force of the driven wheel 6 to the movable locking member 2.

[0064] In this embodiment, auxiliary transmission gears 8 are arranged between the first transmission gear 7 and the movable locking member 2 to cooperate in transmission. These auxiliary transmission gears 8 are sequentially engaged with each other. The previous auxiliary transmission gear 8 and the next auxiliary transmission gear 8 are in meshing connection. After the first transmission gear 7 rotates, the auxiliary transmission gears 8 are sequentially driven until the last auxiliary transmission gear 8 drives the movable locking member 2 to move under the transmission action, thereby providing a self-locking system with a certain delay. At the same time, the more the number of auxiliary transmission gears 8, the higher the delay.

[0065] In the above embodiment, the first transmission gear 7 directly drives the movable locking member 2 to move. In that way, there is no delay effect. As long as the first transmission gear 7 rotates, it can drive the movable locking member 2 to move in a straight line direction, converting the rotational force of the gear into a vertical force. That is, in this application, instant triggering or delayed triggering can be adopted. The basis for instant triggering and delayed triggering is mainly the trigger stroke. The trigger stroke can be understood as the displacement generated by the movable locking member 2 in the straight line direction after being driven by the transmission gear. According to the length of the trigger stroke, it is determined whether to adopt instant triggering or delayed triggering, so as to avoid the situation that the movable locking member 2 does not move into place or moves into place in advance, and the fixed locking member 1 and the movable locking member 2 are not properly engaged, resulting in the robot 3 being unable to be locked normally.

[0066] At the same time, in this embodiment, the number of auxiliary transmission gears 8 is limited to an even number. Since each gear is meshed with each other, the driving directions of two meshed gears are bound to be opposite. Therefore, it is necessary to ensure that the driving direction of the last auxiliary transmission gear 8 is the same as that of the first transmission gear 7, otherwise the moving direction of the movable locking member 2 will be opposite to the expected direction, resulting in the inability to achieve the expected locking and unlocking functions.

[0067] Specifically, as Figure 2 shown, the number of auxiliary transmission gears 8 is two. The two auxiliary transmission gears 8 are at the same height, and the two auxiliary transmission gears 8 and the first transmission gear 7 are all connected to the docking station 4 through rotating shafts.

[0068] It should be noted that since this kind of gear transmission requires a certain amount of time for sequential transmission, that is, the delayed triggering mentioned above. Therefore, when the driven wheel 6 starts to rotate, the movable locking member 2 does not snap into the fixed locking member 1 immediately. During this period, the robot 3 will still move forward a certain distance. Then, when designing, a blocking part 41 can be set in front of it to limit its movement, and at the same time, it can also prevent the robot 3 from being damaged by external forces or external factors through the blocking part 41.

[0069] In addition, as can be seen from the drawings, Figure 1 in this embodiment, the robot 3 is driven by the rear wheels, that is, the left walking wheel 5. Of course, in other embodiments, the front wheels of the robot 3 can also be used for driving. At the same time, the orientations of components such as the transmission mechanism and the movable locking member 2 need to be adjusted accordingly. Through the rear-wheel drive mode in the drawings, those skilled in the art can analogize the front-wheel drive mode. The rear-wheel drive mode will be described later, and the front-wheel drive mode will not be elaborated. However, front-wheel drive, rear-wheel drive, and combined front and rear-wheel drive should all be included in the protection scope of this application.

[0070] In addition, only the implementation modes using gears or gear sets as transmission mechanisms are shown in this application. In fact, the form of the transmission mechanism is not limited to the above content, and the transmission mechanism can also be set according to the actual situation. For example, the gears in the middle part can be changed to chains, and the last gear can be driven to rotate by winding the chains. In fact, all these methods can achieve the driving of the movable locking member 2.

[0071] In one embodiment, the fixed locking member 1 is a hollow tubular structure, and a clamping position is provided on the inner circumference of the fixed locking member 1. The movable locking member 2 has a clamping portion. During the movement of the movable locking member 2 in the first direction, the clamping portion can form a clamping connection with the clamping position, so that the robot 3 and the docking station 4 are relatively fixed.

[0072] Based on the above embodiment and referring to the attached drawings of the specification Figure 1 and Figure 2 , the locking process of the robot 3 by the movable locking member 2 can be summarized as follows: The walking wheel 5 on the left side of the robot 3 drives into the docking station 4. Here, the rotation direction of the walking wheel 5 is clockwise. When it moves to a position where it can contact the driven wheel 6, it can drive the driven wheel 6 to rotate counterclockwise. The first transmission gear 7 on the driven wheel 6 rotates counterclockwise synchronously. The driving force of the first transmission gear 7 is transmitted to the movable locking member 2, so that the movable locking member 2 rises until it is clamped into the fixed locking member 1.

[0073] It should be noted that in the case where the working environment is not very harsh, the fixed locking member 1 can be directly designed with an opening, and the movable locking member 2 can be inserted into the hole of the fixed locking member 1 after rising; however, in this embodiment, it is considered that the working environment of some robots 3 may be prone to severe winds, and the strong winds may also directly lift the robot 3 from the bottom. Therefore, the clamping of the clamping portion and the clamping position is used to avoid this situation.

[0074] The clamping portion in this embodiment generally has elasticity and can be compressed when the movable locking member 2 is inserted into the fixed locking member 1, but it will automatically rebound when facing the clamping position to be clamped into the clamping position. This kind of clamping structure is relatively common and will not be elaborated here.

[0075] In one embodiment, according to another aspect of the present application, the present application further provides a photovoltaic cleaning machine docking system, which is used to fix the photovoltaic cleaning machine to the photovoltaic cleaning machine docking station.

[0076] This photovoltaic cleaning machine docking system utilizes the robot docking self-locking system in the above embodiment. Here, the photovoltaic cleaning machine is the robot 3 in the above embodiment, and the photovoltaic cleaning machine docking station is the docking station 4 in the above embodiment.

[0077] At present, the photovoltaic cleaning machine generally conducts cleaning work on the photovoltaic panels at night when power generation is not affected, and parks in the photovoltaic cleaning machine docking station during the day to avoid blocking the photovoltaic panels and affecting power generation. However, during the docking period, in case of strong wind, sometimes the wind will blow the photovoltaic cleaning machine out of the docking station, blocking the photovoltaic panels, affecting the power generation effect, and may also cause hot spots on the photovoltaic panels, and in severe cases, there is a risk of fire.

[0078] Through the above-mentioned robot docking self-locking system, the photovoltaic cleaning machine in standby or shutdown can be effectively locked in the photovoltaic cleaning machine docking station, thus achieving the function of limiting the position. At the same time, this locking device does not require electric drive, which also saves energy consumption and is beneficial to improving the endurance of the photovoltaic cleaning machine.

[0079] It should be noted that the above-mentioned embodiments can be freely combined according to needs. The above is only the preferred implementation mode of this application. It should be pointed out that for those of ordinary skill in the art of this technology, without departing from the principle of this application, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of this application.

Claims

1. A robot docking self-locking system, used to lock the robot, characterized in that: include: A docking station, a driven wheel, a transmission mechanism and a movable locking member, wherein the driven wheel drives the movable locking member to move through the transmission mechanism, the driven wheel is rotatably embedded in the docking station and is located on the walking path of the robot entering or exiting the docking station, and the movable locking member is movably arranged at the docking station; The highest point of the driven wheel is higher than the walking surface of the robot on the docking station, so that the walking wheels of the robot synchronously drive the driven wheels when passing through the driven wheels in sequence, and the driven wheels drive the movable locking member through the transmission mechanism to lock the robot.

2. The robot docking self-locking system according to claim 1, characterized in that: The transmission mechanism includes a first transmission gear, and at least a portion of a surface of the movable locking member facing the first transmission gear is configured as a tooth surface to match the gear teeth of the first transmission gear; The first transmission gear and the driven wheel are coaxially arranged, so that when the traveling wheel drives the driven wheel to rotate, the first transmission gear can rotate synchronously.

3. The robot docking self-locking system according to claim 2, characterized in that: The diameter of the tooth top circle of the first transmission gear is smaller than the diameter of the driven gear.

4. The robot docking self-locking system according to claim 3, characterized in that: The first transmission gear is fixedly arranged on one of the disc surfaces of the driven wheel; or, The driven wheel is divided into two wheel segments with the same diameter along its radial plane, the first transmission gear is arranged between the two wheel segments, and the two wheel segments form an annular space relative to the first transmission gear.

5. The robot docking self-locking system according to any one of claims 2 to 4, characterized in that: The transmission mechanism further includes an even number of auxiliary transmission gears, which are sequentially arranged between the first transmission gear and the movable locking member and are sequentially matched and connected to transmit the driving force of the driven wheel to the movable locking member.

6. The robot docking self-locking system according to claim 5, characterized in that: The number of the auxiliary transmission gears is two, the two auxiliary transmission gears are located at the same height, and the two auxiliary transmission gears and the first transmission gear are connected to the docking station via a rotating shaft.

7. The robot docking self-locking system according to any one of claims 1 to 4 and 6, characterized in that: A fixed locking member is arranged on the side of the robot facing the docking station, and the fixed locking member is used to dock with the movable locking member when the movable locking member moves to a preset position, so as to relatively fix the robot and the docking station.

8. The robot docking self-locking system according to claim 7, characterized in that: The fixed locking member is a hollow tubular structure, and a clamping position is provided on the inner circumference of the fixed locking member, and a clamping portion is provided on the movable locking member, and the clamping position matches the clamping portion; During the movement of the movable locking member, the engaging portion can be engaged with the engaging position, thereby fixing the robot and the docking station relatively.

9. The robot docking self-locking system according to claim 7, characterized in that: Also includes: A proximity switch, the proximity switch is arranged on the robot and is used to determine whether the robot has completely entered the docking station; When the robot completely enters the docking station, the walking wheel located outside the docking station continues to rotate, driving the driven wheel to drive the movable locking member to continue to rise until the movable locking member is completely docked with the fixed locking member, completing the locking of the robot and the docking station.

10. A photovoltaic sweeper parking system, characterized in that: include: The robot docking self-locking system according to any one of claims 1 to 9, used to lock the photovoltaic sweeper to the photovoltaic sweeper docking station; Wherein, the photovoltaic sweeper is used as the robot, and the photovoltaic sweeper docking station is used as the docking station.

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