CN220371665U

CN220371665U - Photovoltaic robot

Info

Publication number: CN220371665U
Application number: CN202321739214.1U
Authority: CN
Inventors: 金璐丰; 李嘉旗; 张杭; 杨俊�; 唐成
Original assignee: Hangzhou Dazuo Robot Technology Co ltd
Current assignee: Hangzhou Dazuo Robot Technology Co ltd
Priority date: 2023-07-04
Filing date: 2023-07-04
Publication date: 2024-01-23
Anticipated expiration: 2033-07-04

Abstract

The present disclosure provides a photovoltaic robot comprising: a main body bracket; a main body detachably coupled to the main body holder; the driving assemblies are detachably arranged on the main body support, each driving assembly comprises a driving wheel and an annular belt arranged on the outer side of the driving wheel, and the driving assemblies are used for driving the photovoltaic robot to penetrate through the terrain on the photovoltaic panel under the driving of the driving wheel; a cleaning module detachably mounted on the main body bracket; the rolling brush is detachably arranged on the cleaning module and is used for stripping attachments on the photovoltaic panel; a suction cup assembly connected to the body, the suction cup assembly configured to be capable of being lowered a first distance relative to the body; an actuation assembly coupled to the suction cup assembly, the actuation assembly configured to drive the suction cup assembly a second distance downward relative to the body; the second distance is less than the first distance.

Description

Photovoltaic robot

Technical Field

The present disclosure relates to a photovoltaic robot.

Background

Currently, most photovoltaic panels in use only rely on manual periodic cleaning. Because the photovoltaic panel of large-scale power station is bulky, and the panel quantity that uses simultaneously is many, and the environment that is located is abominable, arranges under the wide environment that does not shelter from generally, and the dust can accumulate repeatedly, needs to wash repeatedly. In many cases, in order to improve the space utilization, the photovoltaic panel is arranged at a high place through the mounting bracket, which makes cleaning more difficult and risks more. In order to reduce the cleaning costs, many users of photovoltaic panels have to choose not to clean or to clean passively by natural rainfall, and therefore have to withstand the power loss from dust.

Some photovoltaic panels have been introduced to an automatic photovoltaic robot for cleaning, but they have the following problems because they need to be applied to inclined surfaces of the photovoltaic panels unlike conventional photovoltaic robots which can only be applied to horizontal surfaces.

The photovoltaic robot has insufficient mobility and poor free movement efficiency. Since the angle of inclination of a photovoltaic panel is typically 10-50 degrees, and under certain demands, the photovoltaic panel can change a larger inclination angle as the angle of the sun changes. Because the photovoltaic panel is smooth, traditional photovoltaic robots need to be suitable for working outdoors throughout the year even under severe weather conditions, so that most of the robots are composed of metal parts, and once the robots slide down or roll over, the photovoltaic panel is damaged, so that an adsorption assembly is required to be configured to reliably adsorb the photovoltaic robots on the surface of the photovoltaic panel.

Because the working environment has the uneven condition, liftable adsorption component among the prior art, when falling to the lift stroke minimum, there is the adsorption contact plane and can not paste the planar condition for adsorption force greatly reduced leads to the equipment unable steady operation follow-up action.

Disclosure of Invention

In order to solve one of the above technical problems, the present disclosure provides a photovoltaic robot.

According to one aspect of the present disclosure, there is provided a photovoltaic robot including:

a main body bracket;

a main body detachably coupled to the main body holder;

the driving assemblies are detachably arranged on the main body support, each driving assembly comprises a driving wheel and an annular belt arranged on the outer side of the driving wheel, and the driving assemblies are used for driving the photovoltaic robot to penetrate through the terrain on the photovoltaic panel under the driving of the driving wheel;

a cleaning module detachably mounted on the main body bracket;

the rolling brush is detachably arranged on the cleaning module and is used for stripping attachments on the photovoltaic panel;

a suction cup assembly connected to the body, the suction cup assembly configured to be capable of being lowered a first distance relative to the body;

an actuation assembly coupled to the suction cup assembly, the actuation assembly configured to drive the suction cup assembly a second distance downward relative to the body;

the second distance is less than the first distance.

According to a photovoltaic robot of at least one embodiment of the present disclosure, an actuating assembly includes a driving member connected to the suction cup assembly at a first side of the suction cup assembly, and a guide bar member connected to the suction cup assembly at a second side of the suction cup assembly, the driving member, the suction cup assembly, and the guide bar member being sequentially arranged on the main body.

The photovoltaic robot according to at least one embodiment of the present disclosure, the driving member further includes: the driving motor is fixed on the main body and used for providing lifting power; a screw powered by the drive motor, the screw including screw threads on at least a portion of an outer surface thereof.

A photovoltaic robot according to at least one embodiment of the present disclosure, the chuck assembly further comprises: a sliding block fixedly connected with the first end of the sucker component,

the slider is capable of moving downward along the screw thread by the second distance under rotation of the screw.

According to at least one embodiment of the present disclosure, the slider is disengaged from the screw thread after moving down the screw thread by the second distance.

According to the photovoltaic robot of at least one embodiment of the present disclosure, the suction cup assembly further includes an elastic member connected to the lower end of the slider and sleeved outside the screw shaft, for providing an elastic force upward along the central axis direction of the screw shaft after the suction cup assembly is configured to descend a second distance with respect to the main body.

A photovoltaic robot according to at least one embodiment of the present disclosure, the suction cup assembly further includes a suction cup assembly bracket connected between the driving member and the guide rod assembly;

a chuck body configured to be coupled within the chuck assembly holder, the chuck body being capable of free rotation relative to the chuck assembly holder;

a rotating member configured to be coupled within the chuck assembly holder that provides the free rotation.

According to a photovoltaic robot of at least one embodiment of the present disclosure, the guide bar member further includes: a guide rod secured to the body for providing a fixed path to the suction cup assembly for adapting a slide aperture in which the guide rod is mounted and which is free to slide on a track defined by the guide rod, the slide aperture being configured to be fixedly linked to the second end of the suction cup assembly.

A photovoltaic robot according to at least one embodiment of the present disclosure, the chuck assembly further comprises:

A photovoltaic robot according to at least one embodiment of the present disclosure, the rotating member further comprises: the rotary joint support is positioned between the sucker component support and the sucker main body, the first part of the rotary joint support is fixedly connected with the sucker main body, and the bearing is arranged between the second part of the rotary joint support and the sucker component support so as to provide relative rotation between the sucker main body and the sucker component support.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1 is a schematic structural view of a photovoltaic robot according to one embodiment of the present disclosure.

Fig. 2 is a schematic side view of a structure of a photovoltaic robot according to one embodiment of the present disclosure.

Fig. 3 shows a schematic view of a body mount of a photovoltaic robot according to one embodiment of the present disclosure.

Fig. 4 illustrates a schematic diagram of a water spray structure according to one embodiment of the present disclosure.

Fig. 5 is a schematic bottom view of a photovoltaic robot according to one embodiment of the present disclosure.

Figure 6 illustrates a schematic view of the position of a chuck assembly of a photovoltaic robot according to one embodiment of the present disclosure.

Fig. 7 illustrates a schematic view of a chuck assembly position structure of a photovoltaic robot according to one embodiment of the present disclosure.

Figure 8 is a schematic structural view of a suction cup assembly according to one embodiment of the present disclosure.

Fig. 9 is a schematic structural view of a lift drive mechanism of an actuation assembly according to one embodiment of the present disclosure.

Figure 10 is a schematic structural view of a chuck body of a chuck assembly according to one embodiment of the present disclosure.

Figure 11 is a schematic cross-sectional view of a chuck assembly according to one embodiment of the present disclosure.

Figure 12 illustrates a schematic view of a suction cup assembly lowered relative to a photovoltaic robot body, according to one embodiment of the present disclosure.

Detailed Description

The present disclosure is described in further detail below with reference to the drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant content and not limiting of the present disclosure. It should be further noted that, for convenience of description, only a portion relevant to the present disclosure is shown in the drawings.

In addition, embodiments of the present disclosure and features of the embodiments may be combined with each other without conflict. The technical aspects of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Unless otherwise indicated, the exemplary implementations/embodiments shown are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Thus, unless otherwise indicated, features of the various implementations/embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concepts of the present disclosure.

The use of cross-hatching and/or shading in the drawings is typically used to clarify the boundaries between adjacent components. As such, the presence or absence of cross-hatching or shading does not convey or represent any preference or requirement for a particular material, material property, dimension, proportion, commonality between illustrated components, and/or any other characteristic, attribute, property, etc. of a component, unless indicated. In addition, in the drawings, the size and relative sizes of elements may be exaggerated for clarity and/or descriptive purposes. While the exemplary embodiments may be variously implemented, the specific process sequences may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in reverse order from that described. Moreover, like reference numerals designate like parts.

When an element is referred to as being "on" or "over", "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to," or "directly coupled to" another element, there are no intervening elements present. For this reason, the term "connected" may refer to physical connections, electrical connections, and the like, with or without intermediate components.

For descriptive purposes, the present disclosure may use spatially relative terms such as "under … …," under … …, "" under … …, "" lower, "" above … …, "" upper, "" above … …, "" higher "and" side (e.g., as in "sidewall"), etc., to describe one component's relationship to another (other) component as illustrated in the figures. In addition to the orientations depicted in the drawings, the spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture. For example, if the device in the figures is turned over, elements described as "under" or "beneath" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "below" … … can encompass both an orientation of "above" and "below". Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising," and variations thereof, are used in the present specification, the presence of stated features, integers, steps, operations, elements, components, and/or groups thereof is described, but the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof is not precluded. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximation terms and not as degree terms, and as such, are used to explain the inherent deviations of measured, calculated, and/or provided values that would be recognized by one of ordinary skill in the art.

As shown in fig. 1-3, the photovoltaic robot includes a chassis and a housing secured to the chassis, which form a photovoltaic robot body 200, the body 200 being removably attached to the body frame. The photovoltaic robot is used for cleaning a surface to be cleaned of a photovoltaic panel, peeling off dust and debris and the like from a working surface, and cleaning. The photovoltaic robot includes a main body frame including a first frame 110, a second frame 120, a third frame 130, and a fourth frame 140, which are detachably connected. The photovoltaic robot according to one embodiment of the present disclosure includes a cleaning module 500 provided with a driving module 300 to travel on a surface to be cleaned of a photovoltaic panel, and provided on the driving module 300.

In one embodiment, the cleaning module 500 strips dust debris on the working surface from the photovoltaic panel surface. The main body 200 covers internal components of the photovoltaic robot including the main controller and the battery pack, and serves to change the external appearance of the photovoltaic robot.

The power system provides a means to propel the robotic device and operate the cleaning mechanism during movement of the robotic device. The photovoltaic robot includes a driving module 300 for pushing the photovoltaic robot to freely move on the photovoltaic panel, and the driving module 300 may be coupled to the body bracket 100. And an endless belt 320 disposed outside the driving wheel, for driving the photovoltaic robot to traverse the terrain on the photovoltaic panel under the driving of the driving wheel, one of the cleaning difficulties of the photovoltaic panel is associated with the fact that the photovoltaic panel is generally inclined, and there is an adjustment direction keeping the adaptability of the direct solar angle constant. Therefore, the robot must be able to guarantee the stability of the photovoltaic robot on the slope and vary with the slope angle. Thus, the main drive module 300 is typically an endless belt, which may include an outer running layer made of structural rubber or leather to ensure a large contact surface between the robot and the photovoltaic panel, so that the photovoltaic robot may be relatively stably arranged on the target plane. In another example, the movement mechanism may include wheels.

The drive motors 310 operate independently by control signals generated by the control module as a response to executing the behavioral patterns. Separate independent operation of the drive motors 310 enables the endless belt 320 to: rotate at the same speed in the same direction to push the robot device to advance or retreat along a straight line; different rotational speeds (including the case where one of the endless belts 320 does not rotate) to achieve various right-and/or left-turn modes of the robotic device; and rotating at the same speed in opposite directions, respectively, to cause the robotic device to rotate in place, thereby providing the robotic device with a wide range of motion capabilities. The robot is provided with an autonomous traveling mechanism comprising left and right 2 driving wheels constituting front driving wheels, left and right 2 driving wheels constituting rear driving wheels provided at the rear end, and a plurality of freely rotatable driven wheels positioned between the front and rear driving wheels. The left and right driving wheels are coupled to the driving motor 310, respectively, and can be independently driven to rotate left and right. Thus, the robot can move forward, backward, rotate, and travel around a curve. The rotational speed and the rotational direction of each driving wheel are detected by a rotary encoder. Rotary encoders are mounted on the left and right drive wheels, respectively.

The rotational speed of the drive motor 310 is controlled by a controller provided in the robot body. When the controller controls the rotation speed of each driving motor, the photovoltaic robot can move linearly or in a turn. The controller controls the rotational speed of each drive motor 310 to control the movement of the photovoltaic robot. The controller stores a moving path of the photovoltaic robot, and the photovoltaic robot can automatically move along the moving path on the target plane. The movement of the photovoltaic robot may also be controlled by providing signals from the outside to the controller. For example, the movement of the photovoltaic robot may be remotely controlled using a remote controller.

The cleaning module may be coupled to the support for cleaning the solar panel. According to one embodiment of the present disclosure, the cleaning module includes: a cleaning module carrier; a cleaning head, i.e. a roller brush 510, rotatably connected to the cleaning module carrier. The roller brush 510 is detachably mounted on the cleaning module for sweeping attachments on the photovoltaic panel. And a cleaning drive motor 520 carried by the cleaning module carriage and operable to drive the roller brush 510. The cleaning module may also be configured to facilitate transport of the robot between the discrete and spaced apart solar panels.

As shown in fig. 4, in one embodiment, the photovoltaic robot of the present disclosure is further configured with a water spray assembly 600, the water spray assembly 600 being detachably mounted on the cleaning module in front of the roll brush 510, so that the surface to be cleaned is rinsed by a cleaning liquid including clear water before the roll brush 510 passes over the surface of the photovoltaic panel to be cleaned. The surface to be cleaned is washed by water, and the stripping efficiency of dust attachments can be obviously improved. The water spray assembly 600 may include a nozzle 610, wherein the nozzle 610 communicates with a supply tank in the main body, the nozzle 610 is detachably mounted on the cleaning member, and a pump device is installed between the supply tank and the nozzle 610 for supplying the cleaning liquid in the supply tank to the nozzle 610. The cleaning liquid is sprayed from the nozzle 610 so that the sprayed water has a large coverage area to form a fan-shaped radiation surface. The nozzle 610 is perpendicular or substantially perpendicular to a surface to be cleaned (photovoltaic panel surface) as the photovoltaic robot moves along the surface.

The photovoltaic robots include a variety of different sensors operable to generate signals that control the behavior mode operation of the robotic device. The memory has a route information memory, a walking pattern memory, and a cleaning pattern memory. The walking control unit is provided with a walking control unit, and the walking control unit drives and controls the driving module. In addition, a cleaning module control unit is provided for driving and controlling the cleaning module and the water spray assembly.

During cleaning, the cleaning pattern memory stores a plurality of patterns to be used in cleaning. During cleaning, the cleaning mode is read out from the cleaning mode memory according to external information received by the wireless communication unit of the photovoltaic robot, such as weather information synchronized by the master control device of the photovoltaic panel power plant, and the cleaner control unit controls the cleaning module of the photovoltaic robot to take a corresponding cleaning mode according to the read-out cleaning mode. For example, in rainy weather, the controller stops the operation of the water spray assembly 600, and washes the surface of the photovoltaic panel with water of natural rainfall, in combination with the rolling brush 510 of the cleaning module.

The controller uses the output of the rotary encoder provided on the drive module 300 to identify the position and orientation. When the output of each rotary encoder changes by the same amount in the same time, the photovoltaic robot advances in a straight line, and the amount of movement can be calculated from the output amount, the number of pulses per revolution of the rotary encoder, and the diameter of the driving wheel. Since the origin and the initial movement direction have already been determined, the amount and direction of movement of the photovoltaic robot can be determined from this origin.

As in fig. 5 and 6, the controller can also identify where on the map it is or if there is soil coverage (e.g., bird feces) on the photovoltaic panel to be cleaned by matching the image acquired by the vision sensor 700 with an image representing the photovoltaic panel to be cleaned. The position is determined by the output of each rotary encoder described above, and the output of the visual sensor 700 described above can be used for route calibration from the grid of the photovoltaic panel. The visual sensor 700 may also be used primarily for position confirmation, but in this case, it is preferable to use the outputs of the rotary encoder and the visual sensor at the same time to complement each other. In one embodiment of the present disclosure, the vision sensor 700 is located at the bottom of the photovoltaic robot body, performs position confirmation and route correction in cooperation with the rotary encoder, and is used to identify defects of the photovoltaic panel surface and feed back the corresponding positions.

The controller may also calculate the tilt angle of the photovoltaic robot to the horizontal from the output of a tilt sensor (not shown) and identify from a previously known angle threshold whether the current pose belongs to a safe pose, such as when working on a photovoltaic panel of a large tilt angle. The tilt sensor comprises at least a six-axis motion sensor comprising an electronic gyroscope and accelerometer.

In one embodiment of the present disclosure, as in fig. 5, a cliff sensor 800 is mounted in combination on the body 200 of the photovoltaic robot. Each cliff sensor 800 includes a pair of infrared emitting receivers configured and operative to establish a focal point such that radiation emitted downwardly by the emitter is reflected from the traversed surface and detected by the receivers. If the receiver does not detect reflected radiation, i.e., determines that a cliff is encountered, cliff sensor 800 transmits a signal to a control module, which sends a control signal to the cleaning module and the drive assembly to perform a back, turn or turn around drive action to prevent the robot from dropping the cliff. As shown in fig. 8, the robot needs to turn or turn around near the edge of the photovoltaic panel, and in the above-mentioned turning or turning around actions, the robot itself receives the influence of its own weight, inclination, wind speed and friction coefficient between the endless belt and the surface of the photovoltaic panel, so that it is particularly easy for the robot to slip off during the turning or turning around process.

The safety and durability of the photovoltaic robot under different wind conditions is of concern to the owners of the photovoltaic panels using the robots. As described above, most of the photovoltaic robots are made of sheet metal, and the heavier robots are more likely to prevent the robots from being lifted off the surface of the photovoltaic panel under high wind conditions, but the increased weight may damage the anti-reflection coating for improving solar energy production efficiency.

To this end, as shown in fig. 8-12, the photovoltaic robot of the present disclosure is equipped with an adsorption assembly 900. The photovoltaic robot may activate the suction assembly 900 under certain conditions, and suction the body of the photovoltaic robot to the surface of the photovoltaic panel using negative pressure. Even when the inclination angle of the photovoltaic panel is close to a threshold value, the photovoltaic robot can be prevented from being lifted up from the surface of the photovoltaic panel and turning over or slipping down from the photovoltaic panel under the condition of turning or turning around or under the condition of extreme wind power under the environment where the photovoltaic panel is located.

The suction assembly 900 is designed to be close to the bottom of the photovoltaic robot and is configured to selectively rotate the photovoltaic robot body with respect to the suction assembly 900 when the suction assembly 900 is suctioned to the surface of the photovoltaic panel. This is particularly advantageous. Because, the photovoltaic robot is turning or turning around, the driving structures at two sides generate differential speed, and the free rotation of the adsorption component 900 relative to the photovoltaic robot body makes the turning or turning around more convenient. Of course, in other cases, when the suction assembly 900 is sucked onto the surface of the photovoltaic panel, the photovoltaic robot main body may be optionally prevented from rotating relative to the suction assembly 900, especially in the case of sudden arrival of extreme weather, for example, the average wind force exceeds the set value; or the self-adjusting angle of the photovoltaic panel starts to approach the set value during the robot cleaning process.

One embodiment of the adsorption assembly 900 of the present disclosure is described below. The suction assembly 900 of the present disclosure has an actuation assembly therein, which is arranged for the purpose of not interfering with the free movement of the photovoltaic robot on the surface of the photovoltaic panel. When free to move, the actuation assembly causes the suction assembly 900 to rise toward the photovoltaic robot body such that the suction assembly 900 is away from the photovoltaic panel surface. When suction is required, the suction assembly 900 is lowered toward the photovoltaic robot body by the actuation assembly, so that the suction assembly 900 performs suction against the photovoltaic panel surface.

In one embodiment of the present disclosure, as shown in fig. 7 and 8, the actuating assembly includes a lift driving mechanism 930 connected to the suction cup assembly 920 at a first side of the suction cup assembly 920, and a guide rod member 940 connected to the suction cup assembly 920 at a second side of the suction cup assembly 920, the lift driving mechanism 930 sequentially aligning the suction cup assembly 920 and the guide rod member 940 on the main body, and the lift driving mechanism 930 driving the suction cup assembly 920 to descend along the guide rod member 940 with respect to the main body. The arrangement described above can effectively reduce the height of the adsorption assembly 900.

Specifically, the lifting driving mechanism 930 further includes: a driving motor 931 fixed to the main body for providing lifting power;

a screw 932 provided with rotational power by the driving motor 931;

a slider 933 movable up and down along the lead screw 932 under rotation of the lead screw 932, the slider 933 configured to be fixedly linked to a first end of the suction cup assembly 920;

the screw 932 is self-rotated by the driving motor 931. The inner wall of the slider 933 is provided with a groove matched with the screw thread 935, so that when the screw 932 rotates, the slider 933 matched with the screw 932 is driven to move up and down on the main body of the screw 932.

A reduction gearbox 934 is connected between the drive motor 931 and the lead screw 932 for transmitting power.

The reduction gearbox 934 includes:

a first gear G1 coaxially connected with the output shaft of the drive motor 931;

a second gear G2 coaxially connected with the screw;

and third and fourth gears G3 and G4 engaged with the first and second gears G1 and G2, respectively, transmitting power between the first and second gears G1 and G2;

the first gear G1, the second gear G2, the third gear G3, and the fourth gear G4 collectively transmit the forward and reverse rotation force output from the output shaft of the drive motor 931 to the screw 932.

The power of the forward and reverse rotation is transmitted to the screw 932 and the slider 933 through the reduction gearbox 934, and the screw 932 and the slider 933 convert the rotational force into the lifting force. The guide bar member 940 provides a compliant basis for a smooth lifting action. The guide rod member 940 includes: a guide 941 secured to the body for providing a fixed path to the suction cup assembly 920 for fitting the guide 941 and a slide hole 942 that is free to slide on a rail of the guide 941, the slide hole 942 being configured to be fixedly linked to a second end of the suction cup assembly 920.

In one embodiment of the present disclosure, suction cup assembly 920 is employed to effect suction. The suction cup assembly 920 further includes:

a suction cup assembly bracket 921 connected between the lift driving mechanism 930 and the guide bar 941 assembly;

a suction cup body 922 configured to be coupled within the suction cup assembly bracket 921 and capable of freely rotating with respect to the suction cup assembly bracket 921;

a rotating member configured to provide the free rotation coupled within the suction cup assembly bracket 921.

The rotating member further includes: the rotary joint bracket 923 and the bearing 924 are located between the sucker assembly bracket 921 and the sucker main body 922, the first portion of the rotary structural bracket is fixedly connected with the sucker main body 922, and the bearing 924 is arranged between the second portion of the rotary joint bracket 923 and the sucker assembly bracket 921 so as to provide relative rotation between the sucker main body 922 and the sucker assembly bracket 921.

The rotating member further comprises a locking element (not shown) configured to receive a signal from the controller, locking the motion of the rotating member such that the suction cup body 922 and suction cup assembly bracket 921 are relatively stationary fixed to cope with extreme situations.

As shown in fig. 12, in one embodiment of the present disclosure, when the suction cup assembly 920 is required to be lowered, the lift driving mechanism 930 is operated, and the screw 932 is self-rotated. The grooves of the inner wall of the slider 933 are provided with a pair of screw threads 935, which when the screw threads 935 and thus the screw 932 are rotated, drive the slider 933, which is engaged with the screw 932, to move downwardly a second distance on the body of the screw 932.

In order to achieve a free suction action of the suction cup assembly 920 on the solar panel surface to be cleaned and to ensure that the screw 932 does not interfere with this action, it is necessary to design a suitable structure to embody the second distance, i.e., the driving distance of the screw 932. This drive distance is embodied such that the lead screw threads 935 of the lead screw 932 are prevented from exceeding the descendable distance, i.e., the first distance, of the suction cup assembly 920 in the longitudinal direction. With such a design, upon further rotation of the screw 932, the slider 933 will disengage from the screw threads 935, causing the entire suction cup assembly 920 to be further affected by its own weight, thereby allowing for free movement of the suction cup assembly 920 relative downward.

When the suction cup assembly 920 is free to move relatively downward and out of the screw threads 935, the suction cup assembly will be lowered into position and into contact with the solar panel surface to be cleaned, creating a sealed cavity. When the suction is performed, the air pressure inside the sealed cavity is reduced, and the suction cup assembly 920 is pressed down due to the action of the atmospheric pressure, so that the suction cup main body 922 is tightly attached to the surface of the panel. At this time, the sealed cavity formed by the suction cup assembly 920 allows the internal air pressure to be reduced, enhancing the suction effect of the suction cup. According to the actual working condition, the turning can be selectively started or the static adsorption action can be kept, so as to meet different cleaning requirements.

To achieve the free suction action of the suction cup assembly 920 on the surface of the solar panel to be cleaned, the driving distance (second distance) of the screw 932 needs to be considered so as not to interfere with the free movement of the suction cup assembly 920. By properly designing the range of longitudinal movement of the screw threads 935 of the screw 932, the slider 933 can be disengaged from the threads to automatically lower the chuck assembly 920. The sucker assembly 920 forms a sealed cavity after contacting the panel, the internal air pressure is reduced, and the sucker assembly 920 generates a pressing action to cling to the surface of the panel. The solar panel can be turned or kept to be static for adsorption according to the requirement so as to complete the cleaning task of the solar panel.

The suction cup assembly 920 further includes an elastic member 943 coupled to a lower end of the slider 933 and sleeved outside the screw 932, for providing an upward elastic force along a central axis of the screw 932 when the suction cup assembly is configured to descend a first distance with respect to the main body 200.

After the adsorption action is finished, the inside of the sucker main body 922 is filled with air pressure, the sucker assembly 920 is jacked up under the action of the elastic member 943, and meanwhile, the lifting driving mechanism 930 works, so that the slide block 933 is reconnected with the screw thread 935 to realize that the sucker assembly 920 moves upwards relatively, and when the sucker assembly 920 rises and is separated from the screw thread 935 again, the sucker assembly 920 rises to be in place.

An embodiment of the present disclosure is exemplified to specifically explain the application of the above manner. During the photovoltaic robot performing the cleaning routine, the robot may encounter the boundary of the photovoltaic panel. Before the robot reaches the boundary of the photovoltaic panel, continuously detecting cliff characteristic signals; and, receiving the real-time wind speed and the future average wind speed of the photovoltaic panel field; if the wind speed does not reach the threshold value, the robot continues to operate and reaches the boundary of the photovoltaic panel and stops at a position. Wherein one of the surface sensors extends above the boundary and the drive wheel is retained within the photovoltaic panel. In this position, the surface sensor does not detect the reflected infrared signal or there is little reflection of the reflected infrared light. In this case, the presence of a "cliff" or a substantial drop in surface height is indicated. In response, the controller controls the robot to move to avoid the photovoltaic panel cliff edge and remain on the photovoltaic panel. In response to the detection of the changed signal detection position by the sensor, the controller maneuvers the robot to avoid the edge of the photovoltaic panel cliff to turn or around.

To avoid the risk of fuselage slippage during turning or u-turn maneuvers on a slope, the controller will attach the body of the photovoltaic robot to the photovoltaic panel surface by controlling the attachment assembly 900 prior to performing these maneuvers. The specific operation is as follows: the controller issues an instruction to stop driving the module 300 when the photovoltaic robot is approaching the cliff edge of the photovoltaic panel and the roller brush 510 is still located on the photovoltaic panel. Then, an activation signal is sent to the adsorption module 900 to activate the operation of the adsorption module.

In the adsorption assembly 900, the driving motor 931 in the elevating driving module is excited by the reverse current start signal to start operation. The driving motor 931 drives the driving gear and the driven gear, thereby causing the screw 932 to start the reverse movement. This causes lifting slide 933 to move downward, ultimately causing suction cup assembly 920 to move downward.

With the inversion of the screw 932, the elevating slider 933 moves downward by the screw motion of the screw thread 935. The suction cup assembly 920 is connected to the slider 933 so that as the slider descends, the suction cup assembly moves relatively downward.

The downward movement of the suction cup assembly 920 is controlled by a drive motor 931 in the lift drive module. The actuation signal of the drive motor triggers the reversing motion of the lead screw 932 such that the chuck assembly is free to move in a vertical direction under the control of the chuck assembly 900.

Through such an operation, the body of the photovoltaic robot can be firmly adsorbed on the photovoltaic panel to prevent the risk of sliding on the slope. The adsorption mechanism ensures the stability and safety of the photovoltaic robot when the photovoltaic robot turns or turns around.

In summary, the controller adsorbs the robot body to the panel by activating the adsorption assembly 900 when the photovoltaic robot approaches the edge of the cliff of the photovoltaic panel and the roll brush is located on the panel. The start signal triggers the operation of the drive motor 931 in the lift drive module to move the suction cup assembly 920 downward by the inversion of the lead screw 932. This mechanism ensures safety and stability in turning or turning around on a slope, after the suction cup reaches the solar photovoltaic panel, the driving motor continues to apply a counter current, and the air in the suction cup is extruded to the outside, thereby sucking the plane of the photovoltaic panel. Then, the photovoltaic robot is controlled in combination with the route planning so that the left and right driving modules 300 respectively operate at a differential speed, thereby realizing the steering and turning of the photovoltaic robot. The steering or turning action is performed at a differential run time of the left and right drive modules 300, which determines which action to take at the present time based on the position of the photovoltaic robot, the cleaning route and the plan.

After the differential operation starts, the photovoltaic robot rotates around the sucker body 922 through the bearing 924 by using the axis of the sucker body 922 as a rotation axis.

The angle of rotation is determined by the routine described above. Before the photovoltaic robot is ready to travel in a direction away from the cliff, the drive module 300 is stationary, at which point the controller, by activating the pressure relief valve, introduces external air into the chuck body 922, thereby releasing the suction to the photovoltaic panel. After the driving motor in the lifting driving module is started by the forward current, the screw 932 is rotated forward, so that the lifting slider 933 is moved upwards, and finally, the sucker assembly 920 is moved upwards to the end of the stroke. The photovoltaic robot then proceeds to the next routine.

The photovoltaic panels are located in locations that may have different wind conditions. In using robotic cleaning, the user is concerned with the safety and durability of the photovoltaic robot under different wind conditions. One embodiment of the present disclosure protects photovoltaic robots and photovoltaic panels from high wind conditions. The photovoltaic panel sites are equipped with a central control center, which may include a weather center that includes a system for measuring wind speed, barometric pressure, humidity, and receiving future weather indicators. The receiving device of the photovoltaic robot receives the information sent by the control and communication system of the photovoltaic panel field. The control and communication system may also signal a stop of cleaning in severe weather conditions, such as gusts or storms. Since the photovoltaic robots are relatively light, a strong enough wind may generate enough lift to lift the photovoltaic robots off the surface of the photovoltaic panel. Thus, certain wind conditions may cause the photovoltaic robot to turn over or fall off the photovoltaic panel surface.

In addition, the control and communication system of the photovoltaic panel site can determine wind pressure applied to the photovoltaic robot in the future according to weather information before the photovoltaic robot works. Weather information may be provided through a network connection to a weather service or may be provided from an anemometer coupled to the master controller for locally determining the photovoltaic panel site weather.

The master controller may set a lower average wind speed limit for commands to the photovoltaic robot to clean the surface of the solar photovoltaic panel normally. And if the wind speed received by the main controller exceeds or exceeds a threshold value in a future working period, controlling the photovoltaic robot to enter a maintenance action until the wind speed is determined to be reduced below the threshold value. As an example, the cleaning mode may be used to improve the cleaning efficiency of the photovoltaic robot under different wind conditions. As described above, a master controller (not shown) of the solar photovoltaic panel may be linked with a weather service or may include weather information equipment and instrumentation for determining the weather of the location of the photovoltaic panel park. If wind is detected, the master controller may instruct the photovoltaic robot to clean in a particular pattern such that the direction of the wind is used to assist in cleaning the surface of the photovoltaic panel.

Before issuing a command to the photovoltaic robot to clean the photovoltaic panel, the master controller determines if there is a strong enough wind (not exceeding a threshold). If so, the main controller can give a specific command to the photovoltaic robot to perform cleaning in a low speed traveling manner. The main controller comprehensively judges according to the current weather conditions and the future weather conditions, calculates the weather conditions in one cleaning period of the photovoltaic robot, and can give a specific command to the photovoltaic robot to clean at a low speed if the wind speed in one period of the photovoltaic robot is predicted to exceed a threshold value, and stops driving and enters a maintenance state when judging that the real-time wind speed is close to the threshold value; or directly giving a specific command to the photovoltaic robot, wherein the photovoltaic robot is not started and directly enters a maintenance state until the wind speed in the next time period is judged not to exceed the threshold value, and the photovoltaic robot is restarted for cleaning.

As described above, the apparatus of the present disclosure improves the operational safety of a photovoltaic robot on a photovoltaic panel. In particular, the main controller of the photovoltaic robot may be coupled with the main controllers of other photovoltaic robots and the operation and maintenance robots and/or the main controller of the entire photovoltaic panel field so that information may be exchanged between these components. The information may include information of the photovoltaic robot's self-operation, weather information of the photovoltaic panel field, and information about the current status of each photovoltaic panel regulator. As described above, the information exchange between the master controllers is used for optimal and safe operation of the photovoltaic robots within the photovoltaic panels. This information exchange can be extended to other aspects of the operation of the photovoltaic panel, such as any breakage of the solar panel, etc.

In the description of the present specification, reference to the terms "one embodiment/manner," "some embodiments/manner," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/manner or example is included in at least one embodiment/manner or example of the present application. In this specification, the schematic representations of the above terms are not necessarily for the same embodiment/manner or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/modes or examples described in this specification and the features of the various embodiments/modes or examples can be combined and combined by persons skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

It will be appreciated by those skilled in the art that the above-described embodiments are merely for clarity of illustration of the disclosure, and are not intended to limit the scope of the disclosure. Other variations or modifications will be apparent to persons skilled in the art from the foregoing disclosure, and such variations or modifications are intended to be within the scope of the present disclosure.

Claims

1. A photovoltaic robot, comprising:

a main body bracket;

a main body detachably coupled to the main body holder;

a cleaning module detachably mounted on the main body bracket;

the second distance is less than the first distance.

2. The photovoltaic robot of claim 1, wherein the actuation assembly comprises a drive member connected to the suction cup assembly on a first side of the suction cup assembly and a guide member connected to the suction cup assembly on a second side of the suction cup assembly, the drive member, suction cup assembly and guide member being sequentially aligned on the body.

3. The photovoltaic robot of claim 2, wherein the drive member further comprises: the driving motor is fixed on the main body and used for providing lifting power; a screw powered by the drive motor, the screw including screw threads on at least a portion of an outer surface thereof.

4. The photovoltaic robot of claim 3,

the suction cup assembly further comprises: the sliding block is fixedly connected to the first end of the sucker assembly, and the sliding block can move downwards along the screw thread for a second distance under the rotation of the screw.

5. The photovoltaic robot of claim 4, wherein the slider disengages the lead screw thread after moving the second distance down the lead screw thread.

6. The photovoltaic robot of claim 5, wherein the chuck assembly further comprises an elastic member coupled to the lower end of the slider and sleeved outside the screw shaft for providing an elastic force upward along the central axis of the screw shaft after the chuck assembly is configured to descend a second distance with respect to the main body.

7. The photovoltaic robot of claim 4, wherein the suction cup assembly further comprises a suction cup assembly bracket connected between the drive member and the guide rod member.

8. The photovoltaic robot of claim 3, wherein the guide bar member further comprises: a guide rod secured to the body for providing a fixed path to the suction cup assembly for adapting a slide aperture in which the guide rod is mounted and which is free to slide on a track defined by the guide rod, the slide aperture being configured to be fixedly linked to the second end of the suction cup assembly.

9. The photovoltaic robot of claim 7, wherein the chuck assembly further comprises:

10. The photovoltaic robot of claim 9, wherein the rotating member further comprises: the rotary joint support is positioned between the sucker component support and the sucker main body, the first part of the rotary joint support is fixedly connected with the sucker main body, and the bearing is arranged between the second part of the rotary joint support and the sucker component support so as to provide relative rotation between the sucker main body and the sucker component support.