Parking system

Abstract

A parking system includes a cleaning robot and a parking mechanism. The cleaning robot includes a driving mechanism and a rotating wheel. The driving mechanism is drivingly 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 through a hinge shaft, and is configured to limit the rotating wheel of the cleaning robot. The elastic element is connected to the limiting plate and configured to maintain a limiting state of the limiting plate. The elastic element defines a spiral space. The limiting plate defines a first hole. The hinge shaft passes through the first hole and the spiral space. The cleaning robot can be docked stably on the parking platform.

Description

CROSS-REFERENCE TO RELATED APPLICATION

[0001] The present application claims priority of a Chinese Patent Application No. 202421315738.2, filed on June 11, 2024 and titled "PARKING SYSTEM", the entire content of which is incorporated herein by reference.TECHNICAL FIELD

[0002] The present application relates to the field of photovoltaics, in particular to a parking system for a cleaning robot.BACKGROUND

[0003] With the development of technology, there are various cleaning robots on the market. The cleaning robots can automatically walk and clean the surface of photovoltaic modules. When the cleaning work is completed, the cleaning robots need to park aside. At present, most of the market uses electric push rods to make the cleaning robots park aside after cleaning. The cost of the electric push rods is relatively high, and the start or stop of the electric push rods depends on the sensitivity of the internal signal sensor. Large-scale photovoltaic power plants are generally built in relatively remote areas, and the working environment is relatively harsh. The sensitivity of the signal sensor is susceptible to interference from the external environment. There may be situations where the cleaning robot cannot park stably due to signal failure, so there is a risk of unstable parking.SUMMARY

[0004] An object of the present application is to provide a parking mechanism and a parking system that can enable a cleaning robot to dock stably on a parking platform and improve the stability during parking.

[0005] In order to achieve the above object, the present application adopts the following technical solution: a parking system, including: a cleaning robot, the cleaning robot including a driving mechanism and a rotating wheel; the driving mechanism being drivingly connected to the rotating wheel; the driving mechanism being configured to drive the rotating wheel to rotate; and a parking mechanism, the parking mechanism including a parking platform, a limiting plate and an elastic element; the limiting plate being rotatably connected to the parking platform through a hinge shaft, and being configured to limit the rotating wheel of the cleaning robot; the elastic element being connected with the limiting plate and being configured to maintain a limiting state of the limiting plate; the elastic element defining a spiral space, the limiting plate defining a first hole, and the hinge shaft passing through the first hole and the spiral space.

[0006] As a further improved technical solution of the present application, the parking platform at least includes a first cross beam and a second cross beam which are disposed in parallel in a front-rear direction and a first longitudinal beam and a second longitudinal beam which are disposed in parallel in a left-right direction; the first cross beam, the second cross beam, the first longitudinal beam and the second longitudinal beam together form 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 is rotatable around the hinge shaft relative to the first longitudinal beam and the second longitudinal beam.

[0007] As a further improved technical solution of the present application, an axis of the hinge shaft is perpendicular to or parallel to the parking surface.

[0008] As a further improved technical solution of the present application, each of the first longitudinal beam and the second longitudinal beam includes a first rod and a second rod; the limiting plate is disposed between the first rod and the second rod; each of the first rod and the second rod defines an open circular slot and an open elongated slot located next to the open circular slot; the elastic element is at least partially limited in the open circular slot; the elastic element includes a pin portion limited in the open elongated slot and a contact portion abutting against the limiting plate.

[0009] As a further improved technical solution of the present application, each of the first longitudinal beam and the second longitudinal beam includes a first rod and a second rod; the limiting plate is disposed between the first rod and the second rod; gasket plates are further provided on two sides of the limiting plate; the gasket plate defines an open circular slot and an open elongated slot located next to the open circular slot; the elastic element is at least partially limited in the open circular slot; the elastic element includes at least one pin portion limited in the open elongated slot and a contact portion abutting against the limiting plate.

[0010] As a further improved technical solution of the present application, the elastic element is an integrated torsion spring; the elastic element includes a first body portion and a second body portion; the integrated torsion spring further includes a connecting portion; the connecting portion connects the first body portion and the second body portion, and abuts against and cooperates with a bottom of the limiting plate.

[0011] As a further improved technical solution of the present application, the elastic element includes two sub-torsion springs which are separated from each other, each sub-torsion spring further includes a leg portion; the limiting plate defines a second hole; the leg portion of each sub-torsion spring is positioned through the second hole of the limiting plate.

[0012] As a further improved technical solution of the present application, the limiting plate includes a first end portion, a second end portion disposed oppositely to the first end portion, an upper edge connected between the first end portion and the second end portion, and a side edge located at the second end portion; the side edge has a toothed structure.

[0013] As a further improved technical solution of the present application, the parking mechanism includes a lower gear lever, the lower gear lever is fixedly installed below the parking platform at a distance from the parking platform; the parking mechanism further includes a limiting pin fixed on the limiting plate, the limiting pin is movable up and down between the parking platform and the lower gear lever; the cleaning robot further includes a windproof hook, the windproof hook cooperates with the lower gear rod and extends below the lower gear rod.

[0014] As a further improved technical solution of the present application, the rotating wheel includes a traveling wheel, the driving mechanism drives the traveling wheel to rotate, the limiting plate is in contact with the traveling wheel and is configured to limit a forward movement of the traveling wheel; or,

[0015] the rotating wheel includes a guiding wheel, the driving mechanism drives the guiding wheel to rotate, the limiting plate is in contact with the guiding wheel and is configured to limit a forward movement of the guiding wheel.

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

[0017] 1. The present application realizes the mechanical limit of the cleaning robot when it is parked through structures such as the limiting plate and the torsion spring, ensuring that the cleaning robot is able to dock stably on the parking platform, and having simple structure and low cost.

[0018] 2. The limiting portion is provided at the end of the first cross beam of the present application to provide a position limit for the guiding wheel of the cleaning robot, thereby preventing the cleaning robot from moving backward when parked;

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

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

[0021] FIG. 1 is a state view of a cleaning robot of a parking system of the present application before parking on a parking mechanism; FIG. 2 is a state view of the cleaning robot of the parking system of the present application during a parking process on the parking mechanism, and the limiting plate is flattened due to the gravity of the cleaning robot itself; FIG. 3 is a parking state view of the cleaning robot in the parking system of the present application on the parking mechanism; FIG. 4 is a view of an initial state of the cleaning robot in the parking system of the present application when it needs to perform cleaning actions and therefore leaves the parking system; FIG. 5 to FIG. 7 are schematic views of the process of contact between a traveling wheel and a limiting plate when the cleaning robot in the parking system of the present application is parked; FIG. 8 is a perspective view of the limiting plate in the parking system of the present application; FIG. 9 is a perspective assembly view of the parking mechanism in the parking system of the present application; FIG. 10 is a partially exploded perspective view of the parking mechanism in the parking system of the present application; FIG. 11 is a partially exploded perspective view of the parking mechanism in the parking system of the present application in a first embodiment; FIG. 12 is a partially exploded perspective view of the parking mechanism in the parking system of the present application in a second embodiment; FIG. 13 is a partially exploded perspective view of the parking mechanism of the parking system of the present application in a third embodiment; FIG. 14 is a partially exploded perspective view of the parking mechanism in the parking system of the present application in a fourth embodiment; FIG. 15 is a top view of the parking mechanism in the parking system of the present application; FIG. 16 is an enlarged view of part A in FIG. 15; FIG. 17 is a cross-sectional view taken along line B-B in FIG. 15; FIG. 18 is an enlarged view of part C in FIG. 17; FIG. 19 is a schematic structural view of the limiting plate of the parking system of the present application installed horizontally in the parking mechanism; and FIG. 20 to FIG. 22 are schematic views of the process of contact between a guiding wheel and the limiting plate when the cleaning robot in the parking system of the present application is parked. DETAILED DESCRIPTION

[0022] Exemplary embodiments of the present application will be described in detail below with reference to the accompanying drawings. If there are several specific embodiments, features of these embodiments may be combined with each other provided there is no conflict. When the description refers to the drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise stated. The following description of exemplary embodiments does not represent all embodiments consistent with the present application. Rather, they are merely examples of devices, products and / or methods consistent with aspects of the present application as recited in the claims of the present application.

[0023] The terminologies used in the present application are only for the purpose of describing specific embodiments, and are not intended to limit the protection scope of the present application. The singular forms "a", "said", and "the" used in the specification and claims of the present application are also intended to include plural forms unless the context clearly indicates other meanings.

[0024] It should be understood that the terms "first", "second" and similar words used in the specification and claims of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. Similarly, "an" or "a" and other similar words do not mean a quantity limit, but mean that there is at least one. Unless otherwise noted, "front", "rear", "top", "bottom" and similar words are for ease of description only and are not limited to one location or one spatial orientation. Similar words such as "include" or "comprise" mean that elements or objects appear before "include" or "comprise" cover elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. The term "a plurality of" mentioned in the present disclosure includes two or more.

[0025] Referring to FIG. 1 to FIG. 18, the present application discloses a parking system, including a cleaning robot 200 and a parking mechanism 100. The cleaning robot 200 includes a driving mechanism and a plurality of rotating wheels. The driving mechanism is transmission connected with the rotating wheels. The driving mechanism can drive the rotating wheel to rotate. The parking mechanism 100 includes a parking platform 1, a limiting plate 2 and an elastic element. The limiting plate 2 is rotationally connected to the parking platform 1 through a hinge shaft 7 and is configured to limit the rotating wheel of the cleaning robot 200. The elastic element is connected with the limiting plate 2 and is configured to maintain a limiting state of the limiting plate 2. The elastic element defines a spiral space 300. The limiting plate 2 defines a first hole 210. The hinge shaft 7 passes through the first hole 210 and the spiral space 300. The parking mechanism 100 of the present application realizes the mechanical limit of the cleaning robot 200 when it is parked through the limiting plate 2, the elastic element and other related structures, which ensures that the cleaning robot 200 can dock stably on the parking platform 1, with a simple structure and low cost.

[0026] Referring to FIG. 1 to FIG. 10, the parking platform 1 at least includes a plurality of cross beams 11 which are disposed in parallel in a front-rear direction, and a plurality of longitudinal beams 12 which are disposed in parallel in a left-right direction. The cross beam 11 includes a first cross beam 111 and a second cross beam 112 which are disposed in parallel in the front-rear direction. The longitudinal beam 12 includes a first longitudinal beam 121 and a second longitudinal beam 122 which are disposed 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 together form a parking space 101 for the cleaning robot 200. The parking platform 1 is provided with the parking surface 10. Referring to FIG. 7 to FIG. 9, the cross beam 11 further includes a third cross beam 113 which is disposed in parallel to 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. The two longitudinal beams 12 continue to extend from the second cross beam 112 toward the third cross beam 113. The longitudinal beams 12, the second cross beam 112 and the third cross beam 113 together form an installation space 102 for a photovoltaic module. The photovoltaic module is used to charge the cleaning robot 200. It is generally understood that after the cleaning robot 200 completes the cleaning work, it connects to the photovoltaic module in the installation space 102 for charging in preparation for next use.

[0027] In short, the cross beam 11 includes the first cross beam 111, the second cross beam 112 and the third cross beam 113. The second cross beam 112 is disposed in parallel between the first cross beam 111 and the third cross beam 113. The longitudinal beam 12 includes the first longitudinal beam 121 and the second longitudinal beam 122. 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 two sides. The parking platform 1 has the parking space 101 and the installation space 102 which are used for parking and charging of the cleaning robot 200, respectively.

[0028] Referring to FIG. 9, FIG. 10 and FIG. 16, each of the first longitudinal beam 121 and the second longitudinal beam 122 includes a first rod 1201 and a second rod 1202. The first rod 1201 and the second rod 1202 are disposed adjacent to each other to form a clamping space 120 of the limiting plate 2 between the first rod 1201 and the second rod 1202. Each end of the cross beam 11 is provided with the clamping space 120 for the limiting plate 2, which is used to clamp and limit each limiting plate 2 on the left and right sides to prevent it from deflecting during up and down rotation.

[0029] Referring to FIG. 9 and FIG. 10, limiting portions 1110 are respectively provided at two ends of the first cross beam 111. The limiting portion 1110 protrudes beyond a corresponding longitudinal beam 12 and is configured to limit the guiding wheel 202 of the cleaning robot 200. That is, the entire cleaning robot 200 is parked above the parking space 101. Regarding the traveling wheels 201 on the left and right sides of the cleaning robot 200, i.e., a front row of traveling wheels 201 and a rear row of traveling wheels 201 on each side, one of them (specifically, the rear row of traveling wheels 201 ) spans from the front side of the limiting plate 2 to the rear side, so that the front row of traveling wheels 201 and the rear row of traveling wheels 201 are positioned at the front and rear sides of the limiting plate 2 to achieve parking. During the parking process, the guiding wheel 202 of the cleaning robot 200 comes into contact with a side wall of the longitudinal beam 12 and moves along an extension direction of the longitudinal beam 12. Two ends of the first cross beam 111 protrude beyond the corresponding longitudinal beam 12 for limiting the guiding wheel 202. That is, the limiting plate 2 limits a forward movement of the traveling wheel 201 when the cleaning robot 200 is parked. The first cross beam 111 protrudes beyond each end of the longitudinal beam 12, that is, the limiting portion 1110 (for example, a left end portion and / or a right end portion) limits a backward movement of the guiding wheel 202. Therefore, the present application realizes the joint limitation of the cleaning robot 200 in the front and rear directions through the dual restriction effect in the forward and backward directions, thereby stably parking the cleaning robot 200 in the position shown in FIG. 3.

[0030] Referring to FIG. 9 to FIG. 14, the parking mechanism 100 further includes a hinge shaft 7. Referring to FIG. 11 to FIG. 14, the elastic element is a torsion spring 3 including a body portion 30. The body portion 30 forms a spiral space 300. A first hole 210 is opened in the limiting plate 2. The hinge shaft 7 passes through the first hole 210 and extends into the spiral space 300 of the body portion 30. The hinge shaft 7 is positioned and connected to the longitudinal beam 12. The limiting plate 2 is rotatable 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 body portion 30, a main body of the torsion spring 3 is positioned on the hinge shaft 7 without deflecting relative to the limiting plate 2. Moreover, by positioning an end of the torsion spring 3 to provide a biasing force, the torsion spring 3 is able to provide the limiting plate 2 with an elastic force to return to its original position after rotating relative to the longitudinal beam 12.

[0031] Referring to FIG. 1 to FIG. 22, an axis of the hinge shaft 7 is perpendicular or parallel to the parking surface 10. In a first embodiment shown in FIG. 1 to FIG. 18, the axis of the hinge shaft 7 is parallel to the parking surface 10. In a second embodiment shown in FIG. 19 to FIG. 22, by collectively rotating the functional components related to the hinge shaft 7 in the first embodiment above by 90 degrees, the axis of the hinge shaft 7 can be made perpendicular to the parking surface 10. Both ways of being perpendicular to the parking surface 10 or parallel to the parking surface 10 can realize that the torsion spring 3 is sleeved on the hinge shaft 7, thereby acting as an elastic force when the limiting plate 2 rotates relative to the longitudinal beam 12.

[0032] Referring to FIG. 10 to FIG. 16, the hinge shaft 7 is positioned and connected to the longitudinal beam 12. The function of the hinge shaft 7 is to provide a rotational connection of the limiting plate 2 on the longitudinal beam 12, and the limiting plate 2 rotates around the hinge shaft 7.

[0033] Specifically, in the first embodiment, referring to FIG. 10, FIG. 11 and FIG. 18, the limiting plates 2 are further provided on two sides of gasket plates 6. The gasket plate 6 is disposed between the first rod 1201 and the second rod 1202 so as to provide a position limit for the limiting plate 2, and at the same time provide a position limit and an accommodating space for the hinge shaft 7 and the torsion spring 3. The gasket plate 6 is L-shaped as a whole and includes a vertical portion 61 and a horizontal portion 62. Two sides of the vertical portion 61 are aligned with the limiting plate 2 and the first rod 1201 / the second rod 1202, respectively. An upper surface of the horizontal portion 62 is flush with a bottom surface of the first rod 1201 or the second rod 1202, and is provided below the first rod 1201 or the second rod 1202. The horizontal portion 62 is provided so that the gasket plate 6 is limited by the first rod 1201 or the second rod 1202, thereby preventing the gasket plate 6 from rotating around the hinge shaft 7 and tilting one end, causing interference to the cleaning robot 200 during the parking or de-parking movement, and causing the parking or de-parking to be unable to be completed smoothly. In a specific embodiment, the gasket plate 6 is disposed between the limiting plate 2 and each of the first rod 1201 and the second rod 1202. The vertical portion 61 of the gasket plate 6 defines an open circular slot 801. One end of the hinge shaft 7 passes through the gasket plate 6, the limiting plate 2 and the first rod 1201, and then, the position is limited by a latch 71. For example, the gasket plate 6, the limiting plate 2 and the first rod 1201 are all provided with holes for the hinge shaft 7 to pass through. Specifically, the first hole 210 on the limiting plate 2 is used for the hinge shaft 7 to pass through, the open circular slot 801 of the gasket plate 6 is used for the hinge shaft 7 to pass through, and the open circular slot 801 of the first rod 1201 is used for the hinge shaft 7 to pass through. The hinge shaft 7 is provided with a latch hole 70 for allowing the latch 71 to pass. The other end of the hinge shaft 7 is provided with a limiting end portion 72. A diameter of the limiting end portion 72 is larger than a diameter of each of the open circular slot 801 of the gasket plate 6, the first hole 201 on the limiting plate 2 and the open circular slot 801 on the first rod 1201. By providing the limiting end portion 72 and the latch 71, the hinge shaft 7 is limited. Furthermore, the second rod 1202 is provided with a through hole 12020 corresponding to the hinge shaft 7. After the hinge shaft 7 passes through the through hole 12020, the limiting end portion 72 of one end thereof is limited by the gasket plate 6 on one side of the limiting plate 2, and the other end of the hinge shaft 7 passes through the limiting plate 2, the gasket plates 6 disposed on two sides of the limiting plate 2, and the first rod 1201, and then 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.

[0034] Continuing to refer to FIG. 10 and FIG. 11, the vertical portion 61 of the gasket plate 6 further defines an open elongated slot 802 located next to the open circular slot 801. The torsion spring 3 includes a body portion 30, a pin portion 31 and a contact portion that contacts the limiting plate 2. Specifically, in this embodiment, the torsion spring 3 is integrated and includes the body portion 30 and the pin portion 31. The body portion 30 of the torsion spring 3 is sleeved on the hinge shaft 7 and is at least partially limited in the open circular slot 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 a connecting portion 32. 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 the two open elongated slots 802 on the vertical portion 61 of the corresponding gasket plate 6. That is to say, the open circular slot 801 and the open elongated slot 802 limit the torsion spring 3. The integrated torsion spring 3 further includes the connecting portion 32. The connecting portion 32 is the aforementioned contact portion that contacts the limiting plate 2. The connecting portion 32 connects the first body portion 301 and the second body portion 302, and abuts against and cooperates with a bottom of the limiting plate 2, so that the limiting plate 2 protrudes beyond the parking surface 10 under the action of the torsion spring 3.

[0035] Referring to FIG. 5 to FIG. 8, the limiting plate 2 further includes a first end portion 21 and a second end portion 22 which are arranged oppositely. Preferably, when the cleaning robot 200 is parked, a distance between an apex of the second end portion 22 and the parking surface 10 is not less than a radius of the rotating wheel of the cleaning robot 200. In this way, a more stable position limit can be provided for the cleaning robot 200. The limiting plate 2 includes an upper edge 23 connected between the first end portion 21 and the second end portion 22, and a side edge 24 located at the second end portion 22. The side edge 24 has a toothed structure. This arrangement, on the one hand, increases the friction between the cleaning robot 200 and the traveling wheel 201 made of rubber material when parked, further improving the parking stability of the cleaning robot 200. On the other hand, when the cleaning robot 200 leaves the parking state and starts the cleaning work, the traveling wheel 201 rotates counterclockwise, which gives a downward force to the toothed structure of the limiting plate 2, thereby driving the limiting plate 2 to move downwardly. It is understandable that when the limiting plate 2 moves below the radius of the traveling wheel 201, the traveling wheel 201 can smoothly cross the limiting plate 2 in a reverse direction and move from a side where the second end portion 22 is located to a side where the first end portion 21 is located, so as to get out of the parked state. Furthermore, the outside of the traveling wheel 201 is made of rubber material, so that it can fit more closely with the toothed structure. The generated force can be better transmitted to the toothed structure, thereby making the process of releasing the parking state smoother. In a preferred embodiment, the upper edge 23 is provided with an arc-shaped groove (not shown in the drawings). An opening of the arc-shaped groove faces toward a direction close to the cleaning robot 200. With this arrangement, a distance between the upper edge 23 and a roller brush shaft 203 of the cleaning robot 200 can be increased to avoid wear of the bristles on the roller brush shaft 203 due to too close distance, thereby increasing the service life of the cleaning robot 200.

[0036] Referring to FIG. 1 to FIG. 4 and FIG. 10, the parking mechanism 100 includes a lower gear lever 4. The lower gear lever 4 is fixedly installed below the parking platform 1 at a distance from the parking platform 1. The lower gear lever 4 includes a main body portion 41 fixedly connected below each longitudinal beam 12, and an end cantilever portion 42 extending forwardly from the main body portion 41. The end cantilever portion 42 is tilted upwardly to guide the windproof hook 204 to enter below the main body portion 41. Referring to FIG. 1 to FIG. 3, the windproof hook 204 includes a vertical rod 2041 and a horizontal rod 2042. During the parking process of the cleaning robot 200 from front to back, the horizontal rod 2042 of the windproof hook 204 extends under the lower gear rod 4 and hooks it, so that the lower gear rod 4 can provide an upward position limit for the cleaning robot 200.

[0037] Referring to FIG. 1 to FIG. 10, the parking mechanism 100 further includes a limiting pin 5 fixed on the limiting plate 2. The limiting pin 5 is movable up and down between the parking platform 1 and the lower gear lever 4 to limit the position. Since the limiting plate 2 is hinged on the parking platform 1 and the first end portion 21 is connected to the elastic element (for example, the torsion spring 3), it is elastically pulled downwardly. That is, referring to FIG. 1 for details, as mentioned above, the limiting plate 2 is like a seesaw. Since the elastic element (for example, the torsion spring 3) elastically pushes the second end portion 22 upward in its natural state, the second end portion 22 in the initial state protrudes upward beyond the parking platform 1. Because the cleaning robot 200 needs to cross the upwardly protruding second end portion 22 when parking from front to back on the parking platform 1, at least part of the limiting plate 2 will rotate up and down. In other words, when the first end portion 21 rotates upwardly, the second end portion 22 rotates downwardly; and when the first end portion 21 rotates downwardly, the second end portion 22 rotates upwardly. The present application provides the limiting pin 5 for the purpose of limiting the up and down rotation of the limiting plate 2 within a reasonable range by moving it up and down between the parking platform 1 and the lower gear lever 4. On the one hand, it is avoided that the cleaning robot 200 is difficult to cross the limiting plate 2 due to excessive upward rotation of the second end portion 22. On the other hand, when the limiting pin 5 moves to contact the lower gear lever 4, the limiting plate 2 is restricted from further movement, which prevents the elastic element (for example, the torsion spring 3) from being over-biased by the limiting plate 2 and causing the elastic force to be unable to recover.

[0038] In a second embodiment, referring to FIG. 12, the difference from the first embodiment is that the torsion spring 3 in the second embodiment has a split structure. The torsion spring 3 includes two sub-torsion springs 3' which are separated from each other. In addition to the body portion 30 and the pin portion 31, each sub-torsion spring 3' further includes a leg portion 33. The leg portion 33 is the aforementioned contact portion that abuts against the limiting plate 2. The limiting plate 2 defines a second hole 220. The leg portion 33 of each sub-torsion spring 3' passes through the second hole 220 on the limiting plate 2 to achieve positioning. The pin portion 31 of each sub-torsion spring 3' is stuck in the open elongated slot 802 of the gasket plate 6.

[0039] In a third embodiment, referring to FIG. 13, the difference from the first embodiment is that the gasket plate 6 is eliminated. The limiting plate 2 is directly limited between the first rod 1201 and the second rod 1202. Correspondingly, the open circular slot 801 and the open elongated slot 802 are provided on the longitudinal beam 12. Specifically, the first rod 1201 and the second rod 1202 of the longitudinal beam 12 are provided with the open circular slot 801 and the open elongated slot 802 located next to the open circular slot 801. The first body portion 301 and the second body portion 302 of the torsion spring 3 are sleeved on the hinge shaft 7, and are at least partially limited in the open circular slot 801 on the first rod 1201 and the open circular slot 801 on the second rod 1202, respectively. The first pin portion 311 and the second pin portion 312 are respectively located in the two open elongated slots 802 on the first rod 1201 and the second rod 1202. That is, part of the torsion spring 3 is positioned on the longitudinal beam 12, but other part of the torsion spring 3 is in contact with the limiting plate 2 and can receive the force from the limiting plate 2 to bias the torsion spring 3, so that the torsion spring 3 can be biased by the force from the limiting plate 2. As a result, after the biasing force disappears, the torsion spring 3 can provide the limiting plate 2 with an elastic force to return to the original position again.

[0040] In a fourth embodiment, referring to FIG. 14, different from the first embodiment, the gasket plate 6 is eliminated in this embodiment. The limiting plate 2 is directly limited between the first rod 1201 and the second rod 1202. Correspondingly, the open circular slot 801 and the open elongated slot 802 are provided on the longitudinal beam 12. The first rod 1201 and the second rod 1202 of the longitudinal beam 12 are provided with the open circular slot 801 and the open elongated slot 802 located next to the open circular slot 801. The torsion spring 3 has a split structure. The torsion spring 3 includes two sub-torsion springs 3' which are separated from each other. In addition to the body portion 30 and the pin portion 31, each sub-torsion spring 3' further includes a leg portion 33. The limiting plate 2 defines a second hole 220. The leg portion 33 of each sub-torsion spring 3' is positioned through the second hole 220 on the limiting plate 2. The body portion 30 of each sub-torsion spring 3' is at least partially located within a corresponding open circular slot 801. The pin portion 31 of each sub-torsion spring 3' is correspondingly stuck in the open elongated slots 802 of the first rod 1201 and the second rod 1202.

[0041] In summary, it can be seen that there are two forms of positions of the open circular slot 801 and the open elongated slot 802. In the absence of the gasket plate 6, they are provided on the longitudinal beam 12 (specifically, an inner wall surface of the first rod 1201 and an inner wall surface of the second rod 1202). If there is the gasket plate 6, they are provided on the gasket plate 6. The difference between the integrated torsion spring 3 and the two split torsion springs 3' is that the connecting portion 32 of the integrated torsion spring 3 is pressed against the bottom of the limiting plate 2 to make contact. While the two split torsion springs 3' are not connected to each other, the positioning and matching effect between the leg portions 33 of each sub-torsion spring 3' and the limiting plate 2 is unstable. Therefore, the limiting plate 2 specially defines the second hole 220 to position the leg portion 33 of each sub-torsion spring 3' to prevent detachment.

[0042] In other embodiments, the elastic element is a tension spring. One end of the tension spring is connected to the first end portion 21 of the limiting 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 plate spring, a scroll spring, or an annular spring, etc., which is not limited in types, as long as an elastic force can be provided for the limiting plate 2.

[0043] Referring to FIG. 1 to FIG. 7, especially FIG. 3, the rotating wheel includes a traveling wheel 201. The driving mechanism drives the traveling wheel 201 to rotate. The limiting plate 2 is in contact with the traveling wheel 201 and is configured to limit a forward movement of the traveling wheel 201. In this way, the cleaning robot 200 enters the parked state, and the limiting plate 2 provides a forward position limit. The present application provides the forward position limit through the limiting plate 2 so as to prevent the cleaning robot 200 from leaving the parking position and returning to the charging position in unexpected circumstances, thus ensuring the stability of the parking state.

[0044] Referring to FIG. 1 to FIG. 4, the rotating wheel further includes a plurality of guiding wheels 202. The guiding wheels 202 are located on two sides of the cleaning robot 200. On the one hand, they plays a guiding role for the cleaning robot 200 to walk on the parking platform 1. On the other hand, the driving mechanism can also drive the guiding wheel 202 to rotate (described in detail later). The limiting plate 2 is in contact with the guiding wheel 202 to limit the forward movement of the guiding wheel 202. Such an arrangement can also enable the cleaning robot 200 to enter the parked state, and provide a forward position limit effect through the limiting plate 2 to ensure the stability of the parked state.

[0045] Referring to FIG. 19, in the specific embodiment in which the driving mechanism drives the guiding wheel 202 to rotate, the limiting plate 2 is arranged parallel to the parking surface 10, and is located between the second rod 1202 and the lower gear lever 4. The hinge shaft 7 is disposed perpendicular to the parking surface 10. The hinge shaft 7 passes through the second rod 1202 and the lower gear lever 4. The second rod 1202 and the lower gear rod 4 are respectively provided with the open circular slot 801 and the open elongated slot 802. The open circular slot 801 allows the hinge shaft 7 to pass through and provides a position limit for the body portion 30 of the torsion spring 3. The open elongated slot 802 is configured to provide a position limit for the pin portion 31 of the torsion spring 3. It can be understood that, like the previous embodiment, the torsion spring 3 can have two structures: a one-piece type or a split type, which will not be described again here.

[0046] Referring to FIG. 20 to FIG. 22, when the cleaning robot 200 needs to park, the driving mechanism of the cleaning robot 200 drives the guiding wheel 202 to move backwardly along a side of the second rod 1201 perpendicular to the parking surface 10. During the movement, it gradually contacts the upper edge 23 of the limiting plate 2 and presses it into the parking platform 1 until it completely passes the upper edge 23. At this time, the limiting plate 2 is reset under the action of the torsion spring 3. The guiding wheel 202 is in contact with the side edge 24 of the limiting plate 2 to limit the position of the guiding wheel 202. When the cleaning robot 200 needs to contact the parking state, the guiding wheel 202 moves forwardly under the action of the driving mechanism, giving a leftward force to the toothed structure of the limiting plate 2, thereby driving the limiting plate 2 to move leftward until the guiding wheel 202 completely passes through the limiting plate 2. At this time, the limiting plate 2 is reset under the action of the torsion spring 3. It can be understood that in this embodiment, the limiting pin 5 is also provided. Two ends of the limiting pin 5 are respectively in contact with the side walls of the second rod 1202 and the lower gear lever 4 away from the upper edge 23 of the limiting plate 2 in the left and right directions, thereby limiting the maximum rotation range of the limiting plate 2.

[0047] Continuing to refer to FIG. 1 to FIG. 4, the cleaning robot 200 further has a windproof hook 204 which is used to limit the upward movement of the cleaning robot 200. The lower gear lever 4 includes a main body portion 41 fixedly connected below each longitudinal beam 12 and an end cantilever portion 42 extending forwardly from the main body portion 41. The end cantilever portion 42 is tilted upward to guide the windproof hook 204 to enter below the main body portion 41. Referring to FIG. 1 to FIG. 3, the windproof hook 204 includes a vertical rod 2041 and a horizontal rod 2042. During the parking process of the cleaning robot 200 from front to back, the horizontal rod 2042 of the windproof hook 204 gradually extends into a lower part of the lower gear rod 4 and hooks it, so that the lower gear rod 4 can provide an upward position limit for the cleaning robot 200.

[0048] The working principle of the parking system of the present application is that when the cleaning robot 200 needs to be parked, a motor drives the walking wheel 201 to rotate forwardly. The self-gravity of the cleaning robot 200 enables the rear row of traveling wheels 201 to cross from the first end portion 21 to the second end portion 22 on the limiting plate 2. In this way, the cleaning robot 200 enters the parking state. The limiting plate 2 provides a forward position limit. In the parked state, an end of the first cross member 111 protrudes beyond the limiting portion 1110 of the corresponding longitudinal beam 12. The limiting portion 1110 is configured to provide a backward position limit for the guiding wheel 202 of the cleaning robot 200. The limiting plate 2 and the limiting portion 1110 provide a common position limit for the cleaning robot 200 in both front and rear directions. The lower gear lever 4 cooperates with the windproof hook 204 of the cleaning robot 200 to limit the upward movement of the cleaning robot 200. When the cleaning robot 200 needs to perform cleaning work, the motor drives the front row traveling wheels 201 and the rear row traveling wheels 201 to rotate in opposite directions. The toothed structure of the second end portion 22 contacts the rear row wheel 201 to generate friction. The friction force enables the rear row wheels 201 to cross backward from the second end portion 22 to the first end portion 21 on the limiting plate 2. The windproof hook 204 of the cleaning robot 200 and the lower gear lever 4 are disengaged from each other, so that the cleaning robot 200 is released from the parked state.

[0049] The beneficial effects of the present application include: firstly, the present application provides the forward position limit through the limiting plate 2 to prevent the cleaning robot 200 from leaving the parking position and returning to the charging position in unexpected circumstances. The elastic element (for example, the torsion spring 3) is connected with the limiting plate 2. The elastic element (for example, the torsion spring 3) provides the elastic restoring force required for the rotation of the limiting plate 2, and is configured to maintain the limiting state of the limiting plate 2. Secondly, the present application adopts the limiting plate 2 and the limiting portion 1110 to provide the common position limit for the cleaning robot 200 in both the front and rear directions of parking, so that the cleaning robot 200 can stably stay in the parking position and cannot move forwardly or backwardly. Thirdly, the present application can cooperate with the windproof hook 204 of the cleaning robot 200 through the lower gear lever 4. Specifically, the horizontal rod 2042 of the windproof hook 204 extends below the lower gear rod 4 and hooks it, so that the lower gear lever 4 is able to provide an upward position limit for the cleaning robot 200 to prevent the cleaning robot 200 from moving upwardly when parking on the parking platform 1. As a result, the stability during the parked state is improved. Finally, the present application further contacts the vertical rod 2041 of the windproof hook 204 with the lower gear rod 4 and / or the longitudinal beam 12 of the parking platform 1 so as to provide left and right position limits for the cleaning robot 200 when parked, which prevents the cleaning robot 200 from moving left and right due to the influence of external force (such as wind) in the parked state.

[0050] The above embodiments are only used to illustrate the present application and do not limit the technical solutions described in the present application. The understanding of this description should be based on those skilled in the art. Although the present application has been described in detail with reference to the above-mentioned embodiments, it is understandable to those skilled in the art that those skilled in the art can still make modifications or equivalent substitutions to the present application. All technical solutions and improvements that do not depart from the spirit and scope of the present application shall be covered by the claims of the present application.

Claims

1. A parking system, comprising: a cleaning robot (200), the cleaning robot (200) comprising a driving mechanism and a rotating wheel; the driving mechanism being drivingly connected to the rotating wheel; the driving mechanism being configured to drive the rotating wheel to rotate; and a parking mechanism (100), the parking mechanism (100) comprising a parking platform (1), a limiting plate (2) and an elastic element; the limiting plate (2) being rotatably connected to the parking platform (1) through a hinge shaft (7), and being configured to limit the rotating wheel of the cleaning robot (200); the elastic element being connected with the limiting plate (2) and being configured to maintain a limiting state of the limiting plate (2); the elastic element defining a spiral space (300), the limiting plate (2) defining a first hole (210), and the hinge shaft (7) passing through the first hole (210) and the spiral space (300).

2. The parking system according to claim 1, wherein the parking platform (1) at least comprises a first cross beam (111) and a second cross beam (112) which are disposed in parallel in a front-rear direction and a first longitudinal beam (121) and a second longitudinal beam (122) which are disposed in parallel in a left-right direction; the first cross beam (111), the second cross beam (112), the first longitudinal beam (121) and the second longitudinal beam (122) together form 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); the limiting plate (2) is rotatable 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, wherein an axis of the hinge shaft (7) is perpendicular to or parallel to the parking surface (10).

4. The parking system according to claim 2, wherein each of the first longitudinal beam (121) and the second longitudinal beam (122) comprises a first rod (1201) and a second rod (1202); the limiting plate (2) is disposed between the first rod (1201) and the second rod (1202); each of the first rod (1201) and the second rod (1202) defines an open circular slot (801) and an open elongated slot (802) located next to the open circular slot (801); the elastic element is at least partially limited in the open circular slot (801); the elastic element comprises a pin portion (31) limited in the open elongated slot (802) and a contact portion abutting against the limiting plate (2).

5. The parking system according to claim 2, wherein each of the first longitudinal beam (121) and the second longitudinal beam (122) comprises a first rod (1201) and a second rod (1202); the limiting plate (2) is disposed between the first rod (1201) and the second rod (1202); gasket plates (6) are further provided on two sides of the limiting plate (2); the gasket plate (6) defines an open circular slot (801) and an open elongated slot (802) located next to the open circular slot (801); the elastic element is at least partially limited in the open circular slot (801); the elastic element comprises at least one pin portion (31) limited in the open elongated slot (802) and a contact portion abutting against the limiting plate (2).

6. The parking system according to claim 4 or 5, wherein the elastic element is an integrated torsion spring (3); the elastic element comprises a first body portion (301) and a second body portion (302); the integrated torsion spring (3) further comprises a connecting portion (32); the connecting portion (32) connects the first body portion (301) and the second body portion (302), and abuts against and cooperates with a bottom of the limiting plate (2).

7. The parking system according to claim 4 or 5, wherein the elastic element comprises two sub-torsion springs (3') which are separated from each other, each sub-torsion spring (3') further comprises a leg portion (33); the limiting plate (2) defines a second hole (220); the leg portion (33) of each sub-torsion spring (3') is positioned through the second hole (220) of the limiting plate (2).

8. The parking system according to claim 1, wherein the limiting plate (2) comprises a first end portion (21), a second end portion (22) disposed oppositely to the first end portion (21), an upper edge (23) connected between the first end portion (21) and the second end portion (22), and a side edge (24) located at the second end portion (22); the side edge (24) has a toothed structure.

9. The parking system according to claim 1, wherein the parking mechanism (100) comprises a lower gear lever (4), the lower gear lever (4) is fixedly installed below the parking platform (1) at a distance from the parking platform (1); the parking mechanism (100) further comprises a limiting pin (5) fixed on the limiting plate (2), the limiting pin (5) is movable up and down between the parking platform (1) and the lower gear lever (4); the cleaning robot (200) further comprises a windproof hook (204), the windproof hook (204) cooperates with the lower gear rod (4) and extends below the lower gear rod (4).

10. The parking system according to claim 1, wherein the rotating wheel comprises a traveling wheel (201), the driving mechanism drives the traveling wheel (201) to rotate, the limiting plate (2) is in contact with the traveling wheel (201) and is configured to limit a forward movement of the traveling wheel (201); or, the rotating wheel comprises a guiding wheel (202), the driving mechanism drives the guiding wheel (202) to rotate, the limiting plate (2) is in contact with the guiding wheel (202) and is configured to limit a forward movement of the guiding wheel (202).

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