CN111348116B

CN111348116B - Bridge type continuity of operation's photovoltaic cleaning machines people is crossed to tripodia

Info

Publication number: CN111348116B
Application number: CN201911161536.0A
Authority: CN
Inventors: 田殷钦; 陈应洪
Original assignee: Shenzhen Monster Robot Co ltd
Current assignee: Shenzhen Monster Robot Co ltd
Priority date: 2019-11-22
Filing date: 2019-11-22
Publication date: 2021-07-02
Anticipated expiration: 2039-11-22
Also published as: CN111348116A

Abstract

The invention relates to a three-foot bridge-crossing type continuous-operation photovoltaic cleaning robot, which walks on photovoltaic panel arrays to perform cleaning operation on the photovoltaic panel arrays, gaps between two adjacent photovoltaic panel arrays are connected through a bridge floor, the photovoltaic cleaning robot comprises a robot body, a driving mechanism, a walking device and a cleaning mechanism are arranged on the robot body, the walking device comprises a crawler walking device and a mechanical leg walking device, the robot body comprises a chassis and a fixed frame fixedly arranged on the chassis, and the front part and the rear part of the chassis are respectively provided with the mechanical leg walking device. The invention can realize an automatic bridge-crossing continuous operation mode among photovoltaic arrays of a large-scale photovoltaic power station, increase the adaptability to complex environment, improve the automation degree, reduce the labor cost and improve the cleaning efficiency.

Description

Bridge type continuity of operation's photovoltaic cleaning machines people is crossed to tripodia

Technical Field

The invention relates to the field of cleaning robots, in particular to a three-foot bridge-type continuous-operation photovoltaic cleaning robot.

Background

The sustainable development type and the environmental protection property of solar power generation make the solar power generation become one of the most ideal renewable energy technologies, wherein the photovoltaic power generation is mainly used, the photovoltaic ash deposition effect is one of the biggest problems of the photovoltaic power generation in large-scale application, most photovoltaic power stations with larger scale are established in areas with long sunshine time and less rainwater, and the generated energy can be reduced by 20% -30% under the condition of not cleaning for a long time, so that a great amount of economic loss is caused. Therefore, how to economically and reasonably solve the problem of dust accumulation becomes a key task for the development of the photovoltaic industry.

The distance between the photovoltaic arrays is about 0.5 m to 30m, and the small automatic cleaning equipment in the industry cannot span the photovoltaic arrays at present, or the photovoltaic arrays are paved on a track on the ground and are carried by one receiving and delivering equipment. The method for laying the track on the ground is greatly limited by the constraints of terrain and environment, the cost is high, after a photovoltaic array is cleaned, the track needs to return to the receiving and conveying equipment on the original way, and the cleaning efficiency is low.

Disclosure of Invention

In view of the above problems in the prior art, a primary object of the present invention is to provide a three-legged bridge-crossing type continuous operation photovoltaic cleaning robot, which can implement an automatic bridge-crossing continuous operation mode between photovoltaic arrays of a large-scale photovoltaic power station, increase adaptability to a complex environment, improve automation degree, reduce labor cost, and improve cleaning efficiency.

The technical scheme of the invention is as follows:

the utility model provides a bridge type continuity of operation's photovoltaic cleaning machines people is crossed to tripodia, photovoltaic cleaning machines people walks on the photovoltaic board array in order to carry out cleaning operation to it, and the clearance between two adjacent photovoltaic board arrays passes through the bridge face and connects, photovoltaic cleaning machines people includes the fuselage, be provided with actuating mechanism, running gear and clean the mechanism on the fuselage, running gear drives the fuselage and walks, it is fixed to set up to clean the mechanism on the fuselage front end lateral wall, just clean the mechanism and clean the operation under actuating mechanism's drive, running gear includes track running gear and mechanical leg running gear, the fuselage includes the chassis and fixes the setting and is in fixed frame on the chassis, the front portion and the rear portion on chassis are provided with mechanical leg running gear respectively.

Crawler unit includes track subassembly and the track driving motor who is connected with the track subassembly, wherein, the track subassembly includes left wheel track and right wheel track, track driving motor includes left wheel track driving motor and right wheel track driving motor, the left wheel track sets up the left side of fuselage bottom, just the left wheel track passes through left wheel track driving motor's drive removes, the right wheel track sets up the right side of fuselage bottom, just the right wheel track passes through right wheel track driving motor's drive removes.

The left wheel crawler belt and the right wheel crawler belt are both sliding type adsorption crawler belts, and the photovoltaic cleaning robot walks on the cleaning operation plane and adsorbs on the cleaning operation plane through the sliding type adsorption crawler belts.

The middle position of the front part of the chassis is provided with a mechanical leg walking device, and the left side and the right side of the rear part of the chassis are respectively provided with a mechanical leg walking device.

The mechanical leg walking device comprises a steering engine fixing support, a first connecting rod, a second connecting rod and an adsorbable sole, the mechanical leg walking device is fixedly arranged on a chassis through the steering engine fixing support, a first steering engine is arranged on the steering engine fixing support, a first steering wheel disc is fixedly arranged at the end of a first driving shaft of the first steering engine, the first steering wheel disc is fixedly arranged at one end of the first connecting rod, the other end of the first connecting rod is rotatably connected with one end of the second connecting rod through the second steering engine, and the other end of the second connecting rod is rotatably connected with the adsorbable sole through a third steering engine.

The second steering engine and the third steering engine are respectively and fixedly arranged at two ends of the second connecting rod, the end part of a second driving shaft of the second steering engine penetrates through a first through hole formed in one end of the second connecting rod and then is fixedly connected with a second steering wheel arranged at the other end of the first connecting rod, and the end part of a third driving shaft of the third steering engine penetrates through a second through hole formed in the other end of the second connecting rod and then is fixedly connected with a third steering wheel arranged on the adsorbable sole.

The adsorbable sole comprises a sole body, the sole body comprises a first sucker, a fixed disc and a mounting plate, the first sucking disc is fixedly arranged on the lower surface of the fixed disc, the mounting plate is fixedly arranged on the upper surface of the fixed disc, the fixing plate is vertically arranged on the mounting plate, the third rudder plate is fixedly arranged on the fixed plate, the inner side wall of the first sucker and the lower surface side wall of the fixed plate form an adsorption cavity, the third rudder plate further comprises a first air pipe and a second air pipe, the first air pipe is arranged above the mounting plate, the lower end of the first air pipe is fixedly connected with an electromagnetic valve arranged on the mounting plate, the electromagnetic valve is fixedly connected with the mounting plate through a plurality of fixing brackets, one end of the second air pipe is communicated with the electromagnetic valve, and the other end of the second air pipe is communicated with the adsorption cavity.

Be provided with metal induction component on the fuselage, just metal induction component includes first metal inductor, second metal inductor, third metal inductor and fourth metal inductor, first metal inductor is fixed to be set up on the left fixed frame's of fuselage lateral wall, the second metal inductor is fixed to be set up on the fixed frame's of fuselage front side inside wall, the third metal inductor is fixed to be set up on the fixed frame's on fuselage right side outside wall, the fourth metal inductor is fixed to be set up on the fixed frame's of fuselage rear side outside wall.

The invention has the following advantages and beneficial effects: the mechanical leg walking device is arranged in the middle position of the front part of the chassis of the photovoltaic cleaning robot, the mechanical leg walking devices are respectively arranged on the left side and the right side of the rear part of the chassis, a bridge deck with proper strength is built at the highest position of the photovoltaic panels among the arrays, the photovoltaic power generation arrays are connected, and the function that the photovoltaic cleaning robot walks from one photovoltaic panel array to the other photovoltaic panel array through the bridge deck to continue cleaning is realized by controlling the movement of the three mechanical leg walking devices; meanwhile, the left wheel track and the right wheel track of the photovoltaic cleaning robot are both sliding type adsorbable tracks, so that the cleaning robot can be stably adsorbed on photovoltaic panel arrays with various gradients to perform cleaning operation, and the cleaning robot is simpler in structure and smaller in size; in addition, the self-telescopic rotary sucker component is arranged in the middle of the bottom of the chassis of the body of the photovoltaic cleaning robot, so that the photovoltaic cleaning robot cannot slide down when turning on photovoltaic panel arrays with different inclination degrees, the normal operation of the photovoltaic cleaning robot is guaranteed, the continuous operation of the cleaning robot is guaranteed, the sucker structure of the photovoltaic cleaning robot is simplified, and the cleaning efficiency and the applicability of the photovoltaic cleaning robot are improved.

Drawings

Fig. 1 is a schematic top view of a three-legged bridge-type continuous photovoltaic cleaning robot with a mechanical leg-removed walking device according to an embodiment of the present invention.

Fig. 2 is a schematic perspective view of a three-legged bridge-crossing type continuously operating photovoltaic cleaning robot with mechanical leg-removed walking device according to an embodiment of the present invention.

Fig. 3 is a schematic front view of a mechanical leg walking device in a three-foot bridge-type continuous photovoltaic panel cleaning robot according to an embodiment of the present invention.

Fig. 4 is a schematic perspective view of a mechanical leg walking device in a three-legged bridge-type continuous photovoltaic panel cleaning robot according to an embodiment of the present invention.

Fig. 5 is a schematic front view of an ascending slope of a three-legged bridge-type continuous photovoltaic panel cleaning robot according to an embodiment of the present invention.

Fig. 6 is a schematic top view of an ascending slope of a three-legged bridge-type continuous photovoltaic panel cleaning robot according to an embodiment of the present invention.

Fig. 7 is a flowchart of the bridge ascending of the three-legged bridge-passing type continuous operation photovoltaic panel cleaning robot provided by the embodiment of the invention.

Fig. 8 is a schematic perspective view of a three-legged gap-bridge type continuous operation photovoltaic panel cleaning robot for gap bridge according to an embodiment of the present invention.

Fig. 9 is a schematic perspective view of an embodiment of an absorbable sole of a foot according to the present invention.

Fig. 10 is a schematic perspective view of another direction of the attachable sole according to the embodiment of the present invention.

Fig. 11 is a schematic front view of an adsorbable sole according to an embodiment of the present invention.

Fig. 12 is an exploded schematic view of an air pressure detecting module according to an embodiment of the present invention.

Fig. 13 is a schematic perspective view of an air pressure detection module according to an embodiment of the present invention.

FIG. 14 is a schematic perspective view of one direction of a self-retracting spin chuck assembly according to an embodiment of the present invention.

FIG. 15 is a schematic perspective view of another embodiment of a self-retracting spin chuck assembly according to the present invention.

FIG. 16 is a schematic front view of a self-retracting rotary chuck assembly according to an embodiment of the present invention.

FIG. 17 is an exploded view of a self-retracting spin chuck assembly according to an embodiment of the present invention.

Fig. 18 is a schematic perspective view of a connecting rod assembly according to an embodiment of the present invention.

Fig. 19 is a perspective view of a first sliding bracket of the sliding bracket assembly according to the embodiment of the invention.

Fig. 20 is a schematic perspective view of a suction cup link connecting bracket according to an embodiment of the present invention.

Fig. 21 is a schematic perspective view of a slip ring in the slip ring assembly according to the embodiment of the present invention.

Fig. 22 is a schematic perspective view of a suction cup fixing bracket according to an embodiment of the present invention.

Fig. 23 is a schematic diagram of a photovoltaic cleaning robot turning on a photovoltaic panel according to an embodiment of the present invention.

Fig. 24 is a schematic front view of the photovoltaic cleaning robot provided in the embodiment of the present invention when the photovoltaic cleaning robot does not encounter the frame of the photovoltaic panel.

Fig. 25 is a schematic front view of the photovoltaic cleaning robot according to the embodiment of the present invention when the photovoltaic cleaning robot encounters the frame of the photovoltaic panel.

Fig. 26 is a schematic cross-sectional structural view of the photovoltaic cleaning robot provided in the embodiment of the present invention when encountering a frame of a photovoltaic panel.

Fig. 27 is a schematic perspective view of a sliding type adsorbable track according to an embodiment of the invention.

Fig. 28 is an exploded schematic view of the slidable track according to the embodiment of the present invention.

Fig. 29 is a schematic perspective view of a vacuum chamber in the sliding type adsorbable track according to an embodiment of the invention.

Fig. 30 is a schematic view of a three-dimensional structure of the sliding type adsorbable track in another direction of the vacuum chamber according to an embodiment of the invention.

Fig. 31 is an exploded view of the vacuum chamber in the slidable track according to the embodiment of the present invention.

Fig. 32 is a schematic perspective view of a vacuum chamber support in a vacuum chamber according to an embodiment of the present invention.

Fig. 33 is a schematic perspective view of a three-dimensional structure of a track tension wheel and a tension wheel bracket in the sliding type adsorbable track according to an embodiment of the invention.

Fig. 34 is a schematic cross-sectional structural view of the vacuum chamber and the crawler belt at a certain time point in the moving process of the sliding type adsorbable crawler belt according to the embodiment of the invention.

Fig. 35 is a schematic cross-sectional structure view of the vacuum chamber and the crawler when the sliding type adsorbable crawler moves a distance after passing a certain time point in the moving process according to the embodiment of the invention.

Fig. 36 is an exploded view of another embodiment of a vacuum chamber of a sliding type adsorbable track according to an embodiment of the invention.

Fig. 37 is an exploded view of another direction of the vacuum chamber of another embodiment of the slide-type adsorbable track according to an embodiment of the invention.

Fig. 38 is a schematic cross-sectional view of a vacuum chamber of another embodiment of the sliding type adsorbable track according to an embodiment of the invention.

Fig. 39 is a schematic perspective view illustrating a vacuum chamber and an air pressure detecting module of another embodiment of the sliding type adsorbable track according to an embodiment of the invention.

Fig. 40 is a schematic perspective view of a structure of the sliding type adsorbable track according to an embodiment of the invention, the structure being matched with an air pressure detection module after a suction cup is installed in an adsorption groove.

Fig. 41 is a schematic cross-sectional view of the sliding type adsorbable track according to an embodiment of the invention after a suction cup is mounted in the suction groove.

Detailed Description

The invention will be further described with reference to the drawings and specific examples.

As shown in fig. 1 to 41: the photovoltaic cleaning robot comprises a body, a driving mechanism, a traveling device and a cleaning mechanism 141 are arranged on the body 100, the traveling device drives the body 100 to travel, the cleaning mechanism 141 is fixedly arranged on the outer side wall of the front end of the body 100, the cleaning mechanism 141 is driven by the driving mechanism to perform cleaning operation, the traveling device comprises a crawler traveling device and a mechanical leg traveling device, the body 100 comprises a chassis 142 and a fixed frame 143 fixedly arranged on the chassis, the front part and the rear part of the chassis 142 are respectively provided with the mechanical leg traveling device, the middle position of the bottom of the body 100 is provided with a self-telescopic rotary sucker component 200, when the cleaning robot turns on the cleaning operation plane, the cleaning robot is adsorbed on the cleaning operation plane through the self-telescopic rotary sucker assembly 200.

The crawler traveling device includes a crawler assembly and a crawler driving motor connected to the crawler assembly, wherein the crawler assembly includes a left-wheel crawler belt 144 and a right-wheel crawler belt 145, the crawler driving motor includes a left-wheel crawler belt driving motor 146 and a right-wheel crawler belt driving motor 147, the left-wheel crawler belt 144 is disposed at the left side of the bottom of the body 100, and the left-wheel crawler belt 144 is moved by the driving of the left-wheel crawler belt driving motor 146, the right-wheel crawler belt 145 is disposed at the right side of the bottom of the body 100, and the right-wheel crawler belt 145 is moved by the driving of the right-wheel crawler belt driving motor 147.

A mechanical leg walking device is arranged at the middle position of the front part of the chassis 100, and a mechanical leg walking device is respectively arranged at the left side and the right side of the rear part of the chassis 100, so that the photovoltaic cleaning robot walks by three feet (i.e. three mechanical leg walking devices). Mechanical leg running gear includes steering wheel fixed bolster 401, first connecting rod 402, second connecting rod 403 and adsorbable sole, mechanical leg running gear passes through steering wheel fixed bolster 401 and fixes the setting on chassis 142, be provided with first steering wheel 405 on the steering wheel fixed bolster 404, the end fixing of the first drive shaft 406 of first steering wheel 405 is provided with first steering wheel 407, first steering wheel 407 is fixed to be set up the one end at first connecting rod 402, the other end of first connecting rod 402 is rotated with the one end of second connecting rod 403 through second steering wheel 408 and is connected, the other end of second connecting rod 403 is rotated with adsorbable sole through third steering wheel 409 and is connected.

The second steering engine 408 and the third steering engine 409 are respectively and fixedly arranged at two ends of the second connecting rod 403, the end part of a second driving shaft 410 of the second steering engine 408 penetrates through a first through hole formed in one end of the second connecting rod 403 and then is fixedly connected with a second steering wheel 411 arranged at the other end of the first connecting rod 402, and the end part of a third driving shaft 412 of the third steering engine 409 penetrates through a second through hole formed in the other end of the second connecting rod 403 and then is fixedly connected with a third steering wheel 413 arranged on the sole of the foot.

As shown in fig. 9 to 11, the adsorbable ball of foot comprises a ball body, the ball body comprises a first suction cup 501, a fixed disk 502 and a mounting plate 503, the first suction cup 501 is fixedly arranged on the lower surface of the fixed disk 502, the mounting plate 503 is fixedly arranged on the upper surface of the fixed disk 502, the mounting plate 503 is vertically provided with a fixing plate 507, the third rudder plate 313 is fixedly arranged on the fixing plate 507, the inner side wall of the first suction plate 501 and the side wall of the lower surface of the fixing plate 502 form a suction cavity, the third rudder plate further comprises a first air pipe 511 and a second air pipe 506, the first air pipe 511 is arranged above the mounting plate 503, the lower end of the first air pipe 511 is fixedly connected with an electromagnetic valve 508 arranged on the mounting plate 503, the electromagnetic valve 508 is fixedly connected with the mounting plate 503 through a plurality of fixing brackets 510, one end of the second air pipe 506 is communicated with the electromagnetic valve 508, and the other end of the second air pipe 506 is communicated with the adsorption cavity. Meanwhile, the first suction cup 501 and the fixed disk 502 can be integrally formed, so that the strength between the first suction cup 501 and the fixed disk 502 is improved, and the service life of the absorbable sole is prolonged.

The fixed disc 502 and the mounting plate 503 are both circular, the outer diameter of the mounting plate 503 is not larger than that of the fixed disc 502, the mounting plate 503 is provided with a plurality of first mounting holes 505, and the fixed disc 502 is provided with second mounting holes (not shown in the figure) at positions corresponding to the first mounting holes 505; the fixing plate is characterized by further comprising a fastening screw, the fastening screw penetrates through the first mounting hole 505 and is arranged in the second mounting hole, and the mounting plate 503 is fixedly connected with the fixing plate 502 through the matching of the fastening screw and the first mounting hole 505 as well as the second mounting hole. Through above-mentioned design, through fastening screw, be in the same place the firm combination of fixed disk 502 and mounting panel 503, the fail safe nature obtains promoting, and makes things convenient for equipment and later stage maintenance in earlier stage to change.

A first gasket (not shown) is disposed in the first mounting hole 505, and a second gasket (not shown) is disposed in the second mounting hole. By providing the first sealing pad in the first mounting hole 505 and the second sealing pad in the second mounting hole, the fastening performance of the fastening screw with the first mounting hole and the second mounting hole can be improved, and the firmness of the combination of the fixing plate 502 and the mounting plate 503 can be improved.

The fixing plate 507 is provided with a first fixing hole 513 and a second fixing hole 514. Through the above design, set up fixed plate 507 promptly on mounting panel 503, can make this adsorbable sole fixed with third rudder disk 313, make things convenient for the maintenance of equipment and later stage in earlier stage, improve the fastness that this adsorbable sole and mechanical leg running gear combined together simultaneously to increase of service life.

The electromagnetic valve 508 is fixedly arranged on one side of the upper surface of the mounting plate 503, and a plurality of fixing brackets 510 are uniformly distributed at the bottom of the outer side wall of the electromagnetic valve 508. With the above-described design, the solenoid valve 508 is firmly disposed on the upper surface of the fixing plate 503 by the plurality of fixing brackets 510, so that the solenoid valve 508 can be firmly combined with the mounting plate 503.

The upper end of the electromagnetic valve 508 is provided with a first connection port (not shown) connected to the lower end of the first air pipe 511, and the side wall of the electromagnetic valve 508 is provided with a second connection port (not shown) connected to one end of the second air pipe 506. By the above design, the electromagnetic valves 508 are respectively communicated with the first air pipe 511 and the second air pipe 5106. The solenoid valve 508 has a power connector 509 at an upper portion of a sidewall thereof, and an exhaust port 512 at a lower portion of the sidewall thereof.

A first fixing hole 504 is formed in the mounting plate 503, a second fixing hole (not shown) is formed in a position, corresponding to the first fixing hole, of the fixing disc 502, a third fixing hole (not shown) is formed in a position, corresponding to the second fixing hole, of the suction disc 501, the third fixing hole is communicated with the adsorption cavity, and one end, far away from the electromagnetic valve, of the second air pipe 506 penetrates through the first fixing hole 504 and the second fixing hole in sequence and is fixedly arranged in the third fixing hole. Through the design, namely, the first fixing hole 504 is formed in the mounting plate 503, the second fixing hole is formed in the fixed disc 502, and the third fixing hole is formed in the sucker 501, so that the second air pipe 506 can be fixedly connected with the sucker after penetrating through the mounting plate 503 and the fixed disc 502, the second air pipe 506 is communicated with the adsorption cavity, and the mounting is convenient and fast.

A first sealing ring is disposed in the first fixing hole 504, a second sealing ring is disposed in the second fixing hole, and a third sealing ring is disposed in the third fixing hole. Through the above design, that is, by disposing the first sealing ring in the first fixing hole 504, disposing the second sealing ring in the second fixing hole, and disposing the third sealing ring in the third fixing hole, the sealing performance of the second air pipe 506 in cooperation with the fixing plate 503, the fixing plate 502, and the suction cup, especially the sealing performance between the second air pipe 506 and the suction cup 501, can be improved, and the suction capacity of the suction cup can be further improved.

The adsorbable sole can be communicated with an external adsorption device, and the adsorption device can provide adsorption force for the adsorbable sole of the robot and can adopt a vacuum pump; because the photovoltaic cleaning robot adopts the sucking disc and the vacuum pump of the adsorption device, sufficient adsorption force is provided, and the photovoltaic cleaning robot can walk on the surface of a photovoltaic array. Adsorbable sole still can be connected with outside atmospheric pressure detection module, and is concrete, can insert atmospheric pressure detection module with the first trachea that the solenoid valve upper end set up, reads the atmospheric pressure value through atmospheric pressure detection module, provides the data foundation for judging whether firm the absorption in the clean plane of operation of this adsorbable sole provides. And finally, the air pressure detection module is connected into the adsorption device through a third air pipe to complete the connection of an integral adsorption component. The air pressure detection module can be used for detecting the air pressure value of the second sucker so as to detect the adsorption performance of the second sucker; due to the adoption of the air pressure detection module, whether the adsorbable sole is firmly adsorbed on the cleaning operation plane can be accurately judged.

As shown in fig. 12 to 13, the air pressure detecting module 300 specifically includes an upper housing 301, a base 302, and a lower housing 303, wherein the upper housing 301 is disposed above the base 302, the lower housing 303 is disposed below the base 302, a plurality of first fixing holes 304 are disposed at a left end of the base 302, a plurality of second fixing holes 305 are disposed at a right end of the base 302, a plurality of first pressure sensors 306 are mounted on an upper surface of the base 302, a plurality of first mounting grooves (not shown) are disposed inside the upper housing 301, the first mounting grooves extend to a lower surface of the upper housing 301 and correspond to the first pressure sensors 306, a first input interface 307 and a first output interface 308 communicated with the first mounting grooves are disposed on the upper housing 301, a plurality of second pressure sensors are mounted on a lower surface of the base 302, a plurality of second mounting grooves 309 are disposed inside the lower housing 303, the second mounting groove 309 extends to the upper surface of the lower housing 303 and corresponds to the second pressure sensor, and the lower housing 303 is provided with a second input interface 310 and a second output interface 311 which are communicated with the second mounting groove 309.

A first mounting portion 312 and a second mounting portion (not shown) are respectively disposed at two ends of the upper casing 301 and extend outwards, and the upper casing 301 is fixedly disposed above the base 302 through the first mounting portion 312 and the second mounting portion. The first mounting portion 312 is provided with a first mounting hole 313, the first mounting hole 313 corresponds to the first fixing hole 304, the second mounting portion is provided with a second mounting hole (not shown) corresponding to the second fixing hole 305, and the upper housing 301 is fixedly connected to the base 302 by the engagement of the first mounting hole 313 and the first fixing hole 304 and the engagement of the second mounting hole and the second fixing hole 305.

A third mounting portion 316 and a fourth mounting portion 317 are respectively disposed at two ends of the lower housing 303, and the lower housing 303 is fixedly disposed below the base 302 through the third mounting portion 316 and the fourth mounting portion 317. The third mounting portion 316 is provided with a third mounting hole 318, the third mounting hole 318 corresponds to the first fixing hole 204, the fourth mounting portion 317 is provided with a fourth mounting hole 319, the fourth mounting hole 319 corresponds to the second fixing hole 305, and the lower housing 303 is fixedly connected to the base 302 through the cooperation of the third mounting hole 318 and the first fixing hole 304 and the cooperation of the fourth mounting hole 319 and the second fixing hole 305.

The base 302 is the PCB circuit board, and the shape of base 302 is rectangle and the length and the width of base 302 are 70mm and 35mm respectively, and the left end of base 302 outwards extends and is provided with installation department 320, is provided with data output interface 321 on the installation department 320, and first pressure sensor 306 and second pressure sensor all link to each other with data output interface 321. The mounting portion 320 and the base 302 may be integrally formed, which facilitates processing and improves strength between the mounting portion 320 and the base 302, thereby prolonging service life.

First pressure sensor 306 and second pressure sensor are BMP180 high accuracy digital pressure sensor, through all adopting BMP180 high accuracy digital pressure sensor with first pressure sensor 306 and second pressure sensor, can improve this atmospheric pressure detection device's detection accuracy and sensitivity.

The upper shell 301 is in a cuboid shape, the plurality of first input interfaces 307 are uniformly arranged on one side surface of the upper shell 301 along the length direction of the upper shell, and the plurality of first output interfaces 308 are uniformly arranged on the other side surface of the upper shell 301 along the length direction of the upper shell; the lower shell 303 is shaped like a cuboid, the plurality of second input interfaces 310 are uniformly arranged on one side surface of the lower shell 303 along the length direction of the lower shell, and the plurality of second output interfaces 311 are uniformly arranged on the other side surface of the lower shell 303 along the length direction of the lower shell; the second input interface 307, the first output interface 308, the second input interface 311, and the second output interface 312 are pluggable air pipes.

The plurality of first pressure sensors 306 are 4 first pressure sensors 306, and are respectively and uniformly arranged on the upper surface of the base 302 along the length direction thereof; the plurality of second pressure sensors are 3 second pressure sensors, and are respectively and uniformly arranged on the lower surface of the base 302 along the length direction thereof. The air pressure detection module adopts multi-path air pressure detection based on the BMP180 high-precision digital pressure sensor, and has the characteristics of small volume, high sensitivity, wide application range, easiness in installation and the like.

As shown in fig. 14-22, the self-retracting rotary chuck assembly 200 includes a link assembly, a sliding bracket assembly, a chuck link connecting bracket 201, a bearing 202, a sliding ring assembly, a chuck securing bracket 203, and a second chuck 204. The connecting rod assembly comprises a connecting rod fixing support 205, a first connecting rod 206, a second connecting rod 207 and a third connecting rod 208, one end of the connecting rod fixing support 205 is fixedly connected with the chassis 142 of the machine body 100, the other end of the connecting rod fixing support 205 is movably connected with one end of the first connecting rod 206, one end of the second connecting rod 207 is movably connected with the first connecting rod 206, and one end of the third connecting rod 208 is movably connected with the other end of the first connecting rod 205; the sliding bracket component comprises a first sliding bracket 209 and a second sliding bracket 210, the first sliding bracket 209 and the second sliding bracket 210 are both in a circular ring shape, the second sliding bracket 210 is arranged above the first sliding bracket 209, the other end of the second connecting rod 207 is movably connected with the second sliding bracket 210, and a plurality of sliding pieces 211 extend upwards in the circumferential direction of the upper surface of the first sliding bracket 209.

The shape of the second suction cup fixing support 203 is a circular ring shape, and the second suction cup fixing support 203 is arranged on the chassis 142 of the body 100 through a plurality of fixing portions 212 arranged in the circumferential direction of the lower portion of the outer side wall of the second suction cup fixing support 203, the first sliding support 209 is arranged at the bottom of the second suction cup fixing support 203, a plurality of first sliding grooves 213 are vertically arranged in the circumferential direction of the inner side wall of the second suction cup fixing support 203, the sliding piece 211 is arranged in the first sliding grooves 213, and the second sliding support and the sliding piece are fixedly assembled and then slide up and down in the first sliding grooves.

The inside wall circumferencial direction of second sucking disc fixed bolster 203 is located the equal vertical sliding support slide rail 214 that is provided with in both sides of first spout 213, and the outside wall circumferencial direction of second sliding support 210 is provided with a plurality of recesses 215, and second sliding support 210 slides from top to bottom through recess 215 and sliding support slide rail 214's cooperation in second sucking disc fixed bolster 203 is inside, and second sucking disc fixed bolster 203 inside wall circumferencial direction is vertical to be provided with a plurality of second spouts 216.

The sliding ring assembly comprises a sliding ring 217 and a plurality of sliding parts 218 arranged on the circumferential direction of the outer side wall of the sliding ring 217, the sliding parts 218 are formed by extending the outer side wall of the sliding ring 217 outwards, and the sliding ring 217 slides up and down in the second sucker fixing bracket 203 through the matching of the sliding parts 218 and the second sliding groove 216; the shape of second sucking disc connecting rod linking bridge 201 is the ring shape, and the other end and the second sucking disc connecting rod linking bridge 201 swing joint of third connecting rod 208, bearing 202 cover are established in the outside of second sucking disc connecting rod linking bridge 201, and bearing 202 sets up the inside at slip ring 217, and second sucking disc 204 sets up inside first slip support 209 and with second sucking disc connecting rod linking bridge 201 fixed connection.

The lower end of the connecting rod fixing bracket 205 is fixedly provided with a fixing plate 219, two ends of the fixing plate 219 are respectively provided with a first fixing hole 220, and the lower end of the connecting rod fixing bracket 205 is fixedly connected with the chassis 142 of the body 100 through the fixing plate 219. The fixing plate 219 is vertically disposed at a lower end of the connecting rod fixing bracket 205, the fixing plate 219 and the connecting rod fixing bracket 205 are integrally formed, and the fixing plate 219 is fixedly connected to the chassis 142 of the body 100 through two first fixing holes 220.

The upper surface of the first sliding support 209 is provided with a fixing ring 221, the fixing ring 221 and the first sliding support 209 are integrally formed, the inner diameter of the fixing ring 221 is smaller than the inner diameter of the first sliding support 209, the outer diameter of the fixing ring 221 is smaller than the outer diameter of the first sliding support 209, and the plurality of sliding pieces 211 are uniformly arranged on the upper surface of the fixing ring 221 and close to the circumferential direction of the inner side wall of the fixing ring 221; the second sliding support 210 is circular, a first support rod 222 is arranged in the second sliding support 210, two ends of the first support rod 222 are respectively and fixedly arranged on the inner side wall of the second sliding support 210, a first convex portion 223 extends upwards from the center of the upper end of the first support rod 222, a first through hole 224 is arranged in the first convex portion 223, and the other end of the second connecting rod 207 is movably connected with the first support rod 222 through the first convex portion 223.

The first sliding groove 213 is recessed in the vertical direction to form a positioning groove 225, a plurality of pulleys 226 are disposed at the lower portion of the positioning groove 225, fixing holes 227 are disposed at the lower portions of two corresponding side walls of the positioning groove 225, two ends of a fixing shaft 228 in each pulley 226 are disposed in the fixing holes 227, and the pulley 226 rotates in the positioning groove 225 through the fixing shaft 228 and abuts against the outer side wall of the sliding piece 211.

An annular mounting convex part 229 is arranged on the circumferential direction of the lower part of the inner side wall of the sliding ring 217, the bearing 202 is arranged inside the sliding ring 217 and located on the mounting convex part 229, a mounting groove 230 is vertically arranged on the outer side wall of the sliding part 218 on the sliding ring 219, a plurality of rollers 231 are arranged in the mounting groove 230 along the vertical direction, the rollers 231 are rotatably connected with the mounting groove 230, and the sliding ring 217 slides up and down along the second sliding groove 216 in the second sucker fixing support 203 through the rollers 231.

The circumferential direction of the outer side wall of the upper end of the second sucker connecting rod connecting bracket 201 extends outwards to form an annular limiting convex part 232, the limiting convex part 232 is located on the outer side of the upper end of the bearing 202 to limit the bearing 202 to move upwards, a second support rod 233 is arranged on the limiting convex part 232, a second convex part 234 extends upwards from the center of the upper end of the second support rod 233, a second through hole 235 is formed in the second convex part 234, the other end of the third connecting rod 208 is movably connected with the second support rod 233 through the second convex part 234, a first annular fixing plate 236 is arranged at the bottom of the second sucker connecting rod connecting bracket 201, the first fixing plate 236 is fixedly connected with the bottom of the inner side wall of the second sucker connecting rod connecting bracket 201, namely the first fixing plate 236 and the second sucker connecting rod connecting bracket 201 are integrally formed, the processing is convenient, and the strength between the first fixing plate 236 and the second sucker connecting rod connecting bracket; the first fixing plate 236 is provided with a first fixing hole 237, the upper end of the second suction cup 204 is fixedly provided with a circular second fixing plate 238, the second fixing plate 238 is provided with a second fixing hole 240, the second fixing plate 238 is fixedly connected with the first fixing plate 236 through a fastening bolt (not shown in the figure), and the second suction cup connecting bracket 201 is fixedly connected with the second suction cup 204 through the matching of the first fixing plate 236 and the second fixing plate 238.

When the photovoltaic cleaning robot travels on an inclined working plane with a certain gradient to perform cleaning operation, the photovoltaic cleaning robot needs to rotate 180 degrees or 90 degrees at corners and other positions according to a planned cleaning route to complete cleaning.

When the photovoltaic cleaning robot rotates, the self-telescopic rotating second sucker component arranged on the chassis 142 of the machine body 100 is adsorbed on the surface of the photovoltaic panel 600, the left wheel track driving motor 146 drives the left wheel track 144 and the right wheel track driving motor 147 drives the right wheel track 145, so that the machine body 100 turns, at the moment, the second sucker 204 is not fixed along with the rotation of the machine body 100 under the action of the bearing 202, the vacuum property is guaranteed not to be damaged due to the sliding of the second sucker 204, the whole machine body 100 can be accurately kept to rotate around the circle center of the second sucker 204, the machine body 100 is guaranteed not to slide down by virtue of the adsorption force of the second sucker 204, and after the rotation is completed, the cleaning operation is continued according to the planned path.

When photovoltaic cleaning machines people carries out straight line walking, when it does not meet the frame of photovoltaic board 600, second sucking disc 204 and the contact of photovoltaic board 600, provide certain adsorption affinity, as shown in fig. 12, first sliding support 209 bottom is slightly higher than second sucking disc 204 bottom this moment, when second sucking disc 204 is adsorbed completely when turning, because the air in second sucking disc 204 is taken away completely, second sucking disc 204 can take place deformation, the size of second sucking disc 204 can become flat, therefore, first sliding support 209 bottom need be slightly higher than second sucking disc 204 bottom, reserve some positions that let second sucking disc 204 adsorb deformation.

The second suction cup 204 is flexible, so that when the second suction cup 204 directly contacts with the frame of the photovoltaic panel 600, the edge of the second suction cup 204 can be bent by the force of the frame of the photovoltaic panel 600 on the second suction cup 204, the original structure is damaged, the vacuum performance is damaged, the second suction cup 204 cannot restore itself under pressure, the motion state of the photovoltaic cleaning robot is also damaged, and the photovoltaic cleaning robot cannot continue cleaning operation.

When the photovoltaic cleaning robot meets the frame of the photovoltaic panel, the first sliding support 209 contacts the frame of the photovoltaic panel 600 earlier than the second suction cup 204, the photovoltaic panel 600 provides a transverse force for the first sliding support 209, because the sliding sheet 211 of the first sliding support 209 is limited in the second sliding groove 216, the sliding sheet cannot move transversely but can move vertically, so that the transverse force is converted into a force for lifting the second sliding support 209 through the inclined surface at the lower end of the first sliding support 209, under the matching of the pulley 226 in the positioning groove 225 of the first sliding groove 213, the second sliding support 209 is lifted smoothly, the first sliding support 209 drives the sliding sheet 211 to lift together, the sliding sheet 211 drives the second sliding support 210 to lift, the second sliding support 210 drives the second connecting rod 207 to lift, the second connecting rod 207 drives the third connecting rod 208 to lift, the third connecting rod 208 drives the second suction cup connecting rod connecting support 201 to lift, the second suction cup connecting bracket 201 drives the second suction cup 204 to ascend, a connecting rod assembly consisting of the connecting rod fixing bracket 205, the first connecting rod 206, the second connecting rod 207 and the third connecting rod 208 plays a role in stroke amplification, and the ascending height of the second suction cup 204 is more than that of the first sliding bracket 209, so that the second suction cup 204 is lower than that of the first sliding bracket 209 when the photovoltaic cleaning robot does not meet the frame of the photovoltaic panel 600, and after the photovoltaic cleaning robot meets the frame of the photovoltaic panel 600, the second suction cup 204 is higher than that of the first sliding bracket 209, so that the second suction cup 204 can smoothly pass through the frame of the photovoltaic panel 600.

In the three-legged bridge-crossing type continuous operation photovoltaic cleaning robot provided by the embodiment of the invention, the body 100 of the robot is further provided with a metal induction component, the metal induction component comprises a first metal inductor 191, a second metal inductor (not shown in the figure), a third metal inductor 192 and a fourth metal inductor 193, the first metal inductor 191 is fixedly arranged on the outer side wall of the fixed frame 143 on the left side of the body 100, the second metal inductor is fixedly arranged on the inner side wall of the fixed frame 143 on the front side of the body 100, the third metal inductor 192 is fixedly arranged on the outer side wall of the fixed frame 143 on the right side of the body 100, and the fourth metal inductor 193 is fixedly arranged on the outer side wall of the fixed frame on the rear side of the body 100. The first metal inductor 191, the second metal inductor, the third metal inductor 192 and the fourth metal inductor 193 are LJA30M-40N1 metal inductors, so as to sense whether the photovoltaic panel exists near the body 100.

The photovoltaic cleaning robot detects the presence of photovoltaic panels at the front and rear of the body 100 by the metal sensors (i.e., the second metal sensor and the fourth metal sensor 193) distributed at the center of the front and rear edges of the body 100. Whether there is the photovoltaic board in the place ahead and the rear of response through second metal inductor and fourth metal inductor 193, and second metal inductor and fourth metal inductor 193 with data transmission for the master control, the master control judges again whether clean along current direction. Meanwhile, the metal sensors (i.e., the first metal sensor 191 and the third metal sensor 192) distributed at the centers of the left and right edges of the body 100 function to detect whether the photovoltaic panel is present on the left and right sides. When the photovoltaic cleaning robot is started, the photovoltaic cleaning robot can judge the cleaning direction according to the data of the metal sensing assembly, the left side senses the photovoltaic panel and cleans the photovoltaic panel leftwards and the right side senses the photovoltaic panel and cleans the photovoltaic panel rightwards at the edge of the photovoltaic array; in the moving process, according to a cleaning path plan given by the photovoltaic cleaning robot, whether the photovoltaic cleaning robot works or not needs to be judged, if the photovoltaic cleaning robot needs to work continuously to the left side, whether a photovoltaic panel exists or not is detected through the first metal inductor 191 on the left side, if the photovoltaic cleaning robot needs to work continuously to the right side, whether the photovoltaic panel exists or not is detected through the third metal inductor 192 on the right side, if the photovoltaic panel exists, the photovoltaic cleaning robot turns to and runs to reach a new photovoltaic panel row and column, and then the cleaning is continued to be cleaned, otherwise, the cleaning is finished.

When photovoltaic cleaning machines people walked on bridge floor 700, detected through the second metal inductor in the place ahead, judged whether to walk the end of place ahead direction, when reacing the end, judged whether to have metal to judge that the direction of rotation is rotatory to continue to stride the bridge and travel behind the side. And if the vehicle runs to the end of the front direction and no metal exists on the left side and the right side, the vehicle rotates downwards according to the self direction, and the running of the bridge deck is finished.

Both the left wheel crawler belt 144 and the right wheel crawler belt 145 adopt sliding type adsorption crawler belts, and the photovoltaic cleaning robot walks on the cleaning operation plane through the sliding type adsorption crawler belts and is adsorbed on the cleaning operation plane.

As shown in fig. 27 to 41, the sliding type adsorbable track includes a track 101, a vacuum chamber, and a timing wheel 102, the track 101 is constituted by a timing belt, and the outer surface of the crawler 101 is provided with a plurality of adsorption grooves 103 along the length direction, a first through hole 104 is arranged in the adsorption groove 103, the first through hole 104 extends to the inner surface of the crawler 101, two sides of the inner surface of the crawler 101 along the length direction are respectively provided with a first gear tooth 105, two synchronizing wheels 102 are arranged in the crawler 101, two sides of the outer surface of the synchronizing wheels 102 along the circumferential direction are respectively provided with a second gear tooth 106, and the second gear tooth 106 is matched with the first gear tooth 105, one of the timing wheels 102 is connected to a drive motor (not shown) in the drive mechanism 160, the other synchronous wheel 102 is fixedly connected with a chassis 150 at the bottom of the machine body 100, the driving motor drives the synchronous wheel 102 to rotate, and the synchronous wheel 102 drives the crawler belt 101 to rotate so as to drive the cleaning robot to walk;

the vacuum chamber is positioned inside the crawler 101, the vacuum chamber comprises a vacuum chamber support 107, the vacuum chamber support 107 is rectangular, a first positioning concave part 108, a mounting part 109 and a second positioning concave part 110 are arranged on the lower surface of the vacuum chamber support 107 along the width direction, the first positioning concave part 108 and the second positioning concave part 110 are respectively arranged on two sides of the mounting part 109, the first positioning concave part 108 and the second positioning concave part 110 are respectively positioned above the first gear teeth 105 distributed on two sides of the inner surface of the crawler 101, the mounting part 109 is arranged above the inner surface of the crawler 101 and positioned between the two first gear teeth 105, a plurality of mounting grooves 111 are formed in the inner concave surface of the lower end of the mounting part 109, a second through hole 112 is arranged in each mounting groove 111, each second through hole 112 extends to the upper end surface of the mounting part 109, each second through hole 112 is connected with an air pipe 113, the upper end of each air pipe 113 is connected with a vacuum pump (not shown in the figure); meanwhile, each air pipe 113 can be connected with a joint at one end of the air pressure detection module 300, a joint at the other end corresponding to the air pressure detection module 300 is connected with an air pipe, and the other end of the air pipe is connected with a vacuum pump; a vacuum module 114 capable of sliding up and down is arranged in each mounting groove 111, the lower end of the vacuum module 114 is recessed inwards to form a cavity 115, a third through hole 116 is arranged at the bottom of the cavity 115 of the vacuum module 114, the third through hole 116 extends to the upper end surface of the vacuum module 114 and corresponds to the second through hole 112, the lower end of the air pipe 113 penetrates through the second through hole 112 to be communicated with the third through hole 116, and the lower end of the vacuum module 114 abuts against the inner surface of the crawler 101; that is, the vacuum pump is connected to the cavity 115 of the vacuum module 114 through an air tube, and an air pressure detecting module may be further provided, and the air pressure detecting module is respectively connected to the cavity 115 of the vacuum module 114 and the vacuum pump through an air tube.

The shape of the adsorption groove 103 is a rounded rectangle, the adsorption grooves 103 are uniformly arranged on the outer surface of the crawler 101 in parallel, and the long sides of the adsorption grooves 103 are located in the width direction of the crawler 101.

The first positioning recess 108, the mounting portion 109, and the second positioning recess 110 are all rectangular in shape, and both ends of the first positioning recess 108, the mounting portion 109, and the second positioning recess 110 in the longitudinal direction extend to both ends of the vacuum chamber holder 107 in the longitudinal direction, respectively.

A plurality of first springs 117 are further arranged in the vacuum chamber, a first spring 117 is arranged in each mounting groove 111, the upper end of each first spring 117 is fixed to the bottom of the corresponding mounting groove 111, the lower end of each first spring 117 is fixed to the upper end surface of the vacuum module 114, and the vacuum module 114 abuts against the upper surface of the track 101 through the first springs 117.

The bottom of the mounting groove 111 is provided with a first positioning portion 118, a second positioning portion (not shown) is fixedly provided at a position of the upper end surface of the vacuum module 114 corresponding to the first positioning portion 118, an upper end of the first spring 117 is fixedly connected with the first positioning portion 118, and a lower end of the first spring 117 is fixedly connected with the second positioning portion.

The sliding type adsorbable crawler belt further comprises a crawler belt tensioning wheel assembly, the crawler belt tensioning wheel assembly comprises a crawler belt tensioning wheel 119, third gear teeth 120 are respectively arranged on two sides of the outer surface of the crawler belt tensioning wheel 119 in the circumferential direction, the third gear teeth 120 are matched with the first gear teeth 105 and are in meshed transmission with the first gear teeth, a fixed shaft (not shown in the figure) is arranged in the crawler belt tensioning wheel 119, two ends of the fixed shaft are respectively arranged in supporting parts 122 at two ends of a tensioning wheel support 121 through bearings (not shown in the figure), and the tensioning wheel support 121 is arranged above the vacuum chamber support 107 through a plurality of second springs 123.

The tensioner bracket 121 is rectangular, two supporting portions 122 are respectively formed by extending the end portions of the tensioner bracket 121 in the width direction upwards, two second springs 123 are fixedly arranged on the lower surface of the tensioner bracket 121 along the length direction, and the lower ends of the second springs 123 are fixedly arranged on first fixing protrusions 124 arranged on the upper surface of the vacuum chamber bracket 107.

The length of the tension roller support 121 is greater than the width of the crawler 101, two second fixing protrusions (not shown in the figure) are fixedly arranged on the lower surface of the tension roller support 121 downwards along the length direction, two first fixing protrusions 124 are fixedly arranged on the upper surface of the vacuum chamber support 107 along the width direction, the upper end of the second spring 123 is fixedly connected with the tension roller support 121 through the second fixing protrusions, and the lower end of the second spring 123 is fixedly connected with the vacuum chamber support 107 through the first fixing protrusions 124.

The second fixing protrusion 124 and the tension roller bracket 121 are integrally formed, and the first fixing protrusion 124 and the vacuum chamber bracket 107 are integrally formed. The vacuum chamber bracket 107 is provided with a plurality of mounting parts 125 respectively extending outwards along both ends of the length direction, the mounting parts 125 are provided with fastening holes 126, and the vacuum chamber bracket 107 is fixedly connected with the chassis 150 of the body 100 through the mounting parts 125.

In the movement process of the sliding type adsorption crawler, when the position is shown in fig. 34, the cavity 115 sequentially comprises an a1 cavity, an a2 cavity, an a3 cavity, an a4 cavity, an a5 cavity and an a6 cavity from left to right, and the adsorption grooves 103 on the crawler 101 sequentially comprise a b2 adsorption groove, a b3 adsorption groove, a b4 adsorption groove, a b5 adsorption groove, a b6 adsorption groove, a b7 adsorption groove, a b8 adsorption groove, a b9 adsorption groove and a b10 adsorption groove from left to right; and the a1 cavity is communicated with the c1 vacuum pump, the a2 cavity is communicated with the c2 vacuum pump, the a3 mounting groove is communicated with the c3 vacuum pump, the a4 mounting groove is communicated with the c4 vacuum pump, the a5 cavity is communicated with the c5 vacuum pump, and the a6 cavity is communicated with the c6 vacuum pump, when a certain time point passes during the movement of the sliding type adsorbable crawler, wherein:

the b2 adsorption groove and the b10 adsorption groove are not in the range of the vacuum module, the first through hole is communicated with the atmosphere, and no adsorption effect is achieved, the b3 adsorption groove is connected with a vacuum space corresponding to the a1 installation groove in the vacuum module, the first vacuum pump pumps air in the b3 adsorption groove away to form a vacuum space, so that the part of the b3 adsorption groove is tightly pressed on the cleaning operation plane, air in the b4 adsorption groove is pumped away by the second vacuum pump, air in the b5 adsorption groove is pumped away by the third vacuum pump, air in the b6 adsorption groove and the b7 adsorption groove is pumped away by the fourth vacuum pump, air in the b8 adsorption groove is pumped away by the fifth vacuum pump, air in the b9 adsorption groove is pumped away by the sixth vacuum pump, and all the tracks in the area of the vacuum space are tightly pressed on the cleaning operation plane.

Then, when the sliding type adsorbable endless track moves for a certain distance after a certain time point in the moving process, the plurality of vacuum modules slide relative to the endless track while the endless track rotates, and when the sliding type adsorbable endless track moves to the position shown in fig. 35, the cavities 115 are a1 cavity, a2 cavity, a3 cavity, a4 cavity, a5 cavity and a6 cavity from left to right, and the adsorption grooves 103 on the endless track 101 are b2 adsorption grooves, b3 adsorption grooves, b4 adsorption grooves, b5 adsorption grooves, b6 adsorption grooves, b7 adsorption grooves, b8 adsorption grooves, b9 adsorption grooves and b10 adsorption grooves from left to right, and the a1 cavity is communicated with a c1 vacuum pump, the a2 cavity is communicated with a c2 vacuum pump, the a3 cavity is communicated with a c3 vacuum pump, the a4 cavity is communicated with c4, the a5 cavity is communicated with c5 vacuum pump, and the a6 cavity is communicated with c6 vacuum pump, wherein:

the first through holes in the b9 adsorption groove and the b10 adsorption groove are not in a vacuum space and are communicated with the atmosphere, and no adsorption effect is achieved, the b2 adsorption groove is connected with the vacuum space corresponding to the first vacuum pump, the c1 vacuum pump pumps air in the b2 adsorption groove to form a vacuum space, the part of the b2 adsorption groove is tightly pressed on the cleaning operation plane, air in the b3 adsorption groove is pumped by the c2 vacuum pump, air in the b4 adsorption groove and the b5 adsorption groove is pumped by the c3 vacuum pump, air in the b6 adsorption groove is pumped by the c4 vacuum pump, air in the b7 adsorption groove is pumped by the c5 vacuum pump, air in the b8 washing groove is pumped by the c6 vacuum pump, and all caterpillar tracks in the area of the vacuum space are tightly pressed on the plane. At this time, if a gap occurs in the b4 adsorption groove or the b5 adsorption groove region, such as a gap between photovoltaic panels or a gap between curtain walls, or the third vacuum pump fails, the vacuum property of the vacuum space corresponding to the third vacuum pump is broken, and the region is no longer adsorbed, but the regions corresponding to the c1 vacuum pump, the c2 vacuum pump, the c4 vacuum pump, the c5 vacuum pump and the c6 vacuum pump are still adsorbed. If a small obstacle appears in the b4 adsorption groove or the b5 adsorption groove area, such as the frame of the photovoltaic panel, the second spring is compressed, the height of the tension wheel is lowered, the crawler belt part which does not contact the obstacle continues to be tightly attached to the photovoltaic panel, the vacuum performance of the vacuum space corresponding to the c3 vacuum pump is damaged, the area is not adsorbed, but the areas corresponding to the c1 vacuum pump, the c2 vacuum pump, the c4 vacuum pump, the c5 vacuum pump and the c6 vacuum pump are still adsorbed.

In still another embodiment of the vacuum chamber, the number of the first through holes 104 provided in each suction groove 103 of the crawler 101 is one. As shown in fig. 36 to 37, the vacuum chamber may include only a plurality of vacuum modules 114, and each vacuum module 114 is disposed above the inside of the crawler 101 through a fixing plate 170, that is, the vacuum module 114 is fixedly disposed on the upper surface of the fixing plate 170, and the fixing plate 170 is fixedly connected to the chassis 150 of the fuselage 100 through fastening bolts; the fixing plate 170 is provided with a fourth through hole 171, the through hole 171 is respectively communicated with the cavity 115 of the vacuum module 114 and the first through hole 104 in the adsorption groove 103 on the caterpillar 101, a connector 172 is arranged on the upper surface of the vacuum module 114 at the position of the third through hole 116, and the cavity 115 in the vacuum module 114 is communicated with the air pipe 113 through the connector 172. In addition, in order to increase the sealing performance between the vacuum module 114 and the inner side wall of the crawler 101, a foam 173 may be fixedly disposed on the inner side wall of the crawler 101, and a fifth through hole 174 corresponding to the first through hole 104 is disposed on the foam 173, and the fifth through hole 174 is communicated with the cavity 115 of the vacuum module 114.

For the vacuum chamber with the above structure, in the movement process of the sliding type adsorption crawler, when the position is shown in fig. 38, the cavities 115 are a d1 cavity, a d2 cavity, a d3 cavity, and a d4 cavity in sequence from left to right, and meanwhile, the grooves of the adsorption groove 103 on the crawler 101, which are grounded, are a b1 adsorption groove, a b2 adsorption groove, a b3 adsorption groove, a b4 adsorption groove, a b5 adsorption groove, a b6 adsorption groove, a b7 adsorption groove, a b8 adsorption groove, a b9 adsorption groove, and a b10 adsorption groove in sequence from left to right; and the d1 cavity is communicated with the e1 vacuum pump, the d2 cavity is communicated with the e2 vacuum pump, the d3 cavity is communicated with the e3 vacuum pump, and the d4 cavity is communicated with the e4 vacuum pump, when the sliding type adsorbable crawler passes a certain time point in the process of moving, wherein:

the first through holes 104 in the b1 adsorption groove and the b10 adsorption groove are not in the range of the vacuum module and are communicated with the atmosphere, and no adsorption effect is achieved, the b2 adsorption groove and the b3 adsorption groove are connected with the d1 cavity in the vacuum module 114, the e1 vacuum pump pumps air in the b2 adsorption groove and the b3 adsorption groove to form a vacuum space, so that the partial areas of the b2 adsorption groove and the b3 adsorption groove are tightly pressed with the cleaning operation plane, the air in the b4 adsorption groove and the b5 adsorption groove is pumped by the e2 vacuum pump, the air in the b6 adsorption groove and the b7 adsorption groove is pumped by the e3 vacuum pump, and the air in the b8 adsorption groove and the b9 adsorption groove is pumped by the e4, so that all the tracks in the vacuum space area are tightly pressed on the cleaning operation plane.

When the cleaning operation requires a larger suction force requirement for the sliding type adsorbable endless track of the cleaning robot and the speed requirement can be slightly reduced, the structure of the sliding type adsorbable endless track can be modified, as shown in fig. 40, a third suction cup 180 can be mounted on each groove 103 on the endless track 101, an inner side wall of the first through hole 104 in the groove 103 is provided with an internal thread, a sixth through hole 181 is provided in the suction cup 180, and the third suction cup 180 is fixedly connected with the groove 103 by a screw 182, that is, the screw 182 penetrates through the sixth through hole 181 in the third suction cup 180 and is disposed in the first through hole 104 in the groove 103, so that the third suction cup 180 is mounted in the groove 103 to be fastened with the endless track 101; meanwhile, the screw 182 is a hollow screw, that is, the screw 182 is provided with a seventh through hole 183 through which air can pass, the third suction cup 180 is fixedly arranged on the crawler 101 through the screw 182, and meanwhile, the crawler 101 can ensure a certain sealing property; the third suction cups 180 are fixedly arranged in each groove 103 on the outer surface of the crawler 101, so that the crawler 101 meets the requirement of large adsorption force.

After the third suction cups 180 are installed in the suction grooves 103 on the outer surface of the crawler 101, in the process of moving the sliding type suction crawler, when the positions are shown in fig. 41, the third suction cups 180 on the crawler 101, which are in contact with the working plane, can be an f1 suction cup, an f2 suction cup, an f3 suction cup and an f4 suction cup from left to right, and simultaneously, the vacuum pump connected to each air pipe 113 is a g1 vacuum pump, a g2 vacuum pump, a g3 vacuum pump and a g4 vacuum pump from left to right, wherein the f1 suction cup is connected with the cavity in the vacuum module corresponding to the g1 vacuum pump, the g1 vacuum pump pumps air in the f1 suction cup to form a vacuum space, so that the f1 suction cup is tightly pressed against the cleaning working plane, the air in the f2 suction cup is pumped by the g2 vacuum pump, the air in the f3 suction cup is pumped by the g3, and the air in the f4 is pumped by the g4, so that the f 36 1, the f2, The f3 suction cup and the f4 suction cup are all pressed tightly against the cleaning work plane.

After the cleaning robot is started, the vacuum pump starts to pump air into the vacuum space, the air pressure in the vacuum space is detected through the air pressure detection module, if the air pressure does not meet the requirement, the cleaning robot needs to be suspended for work, and the cleaning robot can not start to work until the air pressure meets the requirement required by the work. In the course of the work, cleaning machines people is according to the current slope of traveling that detects, but the intelligent adjustment adsorption affinity and the speed of traveling, and when the slope was lower, reduce the adsorption affinity, reduced the vacuum space vacuum degree requirement, and speed is improved simultaneously, promotes clean efficiency. When the slope is great, increase the adsorption affinity, require to promote vacuum space vacuum, improve speed simultaneously, guarantee the security. When a certain air pressure detection module detects that the long-time vacuum degree cannot meet the requirement, the air pressure detection module judges that a fault occurs, gives an alarm, stops working, increases the adsorption force, adsorbs, and waits for treatment.

The embodiment of the invention provides a three-foot bridge-type continuous-operation photovoltaic cleaning robot, which comprises the following working processes: the photovoltaic cleaning robot firstly uses a track walking mode to clean a photovoltaic array according to a cleaning route, and then reaches the joint of the photovoltaic array and a bridge floor, the photovoltaic cleaning robot detects that the bridge floor is arranged in front through a metal sensing assembly and judges that the bridge floor is required to be arranged, the current inclined plane angle is obtained according to gyroscope data of the photovoltaic cleaning robot, a corresponding steering engine controls three mechanical leg walking devices to start working according to the inclined plane angle, the photovoltaic cleaning robot converts the track walking mode into the mechanical leg walking mode, after two mechanical leg walking devices extend to a designated position, corresponding first suckers are attached to a foot falling plane, a vacuum pump works to pump out air in the suckers, so that the first suckers are firmly adsorbed to the foot falling plane, and the air pressure in the first suckers in the mechanical leg walking devices is monitored in real time through an air pressure detection module, if the air pressure still does not meet the requirement after adsorbing for a certain time, the alarm is immediately issued, the work is stopped, and the maintenance is waited. After the air pressure meets the requirement, the three mechanical leg walking devices work to support the body of the photovoltaic cleaning robot, the body is conveyed to the bridge floor for a distance, then the three mechanical leg walking devices slowly place the body on the eaves of the photovoltaic array and the bridge floor, after the first sucking disc air pressure in the front mechanical leg walking device reaches the standard, the two rear mechanical leg walking devices rapidly exhaust air through the electromagnetic valve, the front mechanical leg walking device is adsorbed on the bridge floor, and the weight of a part of the body is shared by the photovoltaic array and the eaves of the bridge floor, so that the body is fixed at the current position. And then the two mechanical leg walking devices at the back are lifted up to move forwards for a certain distance, then the mechanical leg walking devices are put down and adsorbed, and after the air pressure reaches the standard, the mechanical leg walking devices at the front are lifted forwards for a certain distance. After the mechanical leg walking devices move for many times, the machine body is completely arranged on the bridge floor, the mechanical leg walking devices are folded, the mechanical leg walking modes are converted into crawler belt walking modes, the photovoltaic cleaning robot automatically runs according to data of the metal sensing assembly, the inclination angle of the photovoltaic panel under the bridge floor is obtained through the sensor after the mechanical leg walking devices reach the lower bridge surface point, the mechanical leg walking devices climb onto the photovoltaic panel, new photovoltaic arrays are continuously opened for cleaning, and bridge type continuous operation is achieved.

Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a bridge type continuity of operation's photovoltaic cleaning machines people is crossed to tripodia, photovoltaic cleaning machines people walks in order to clean the operation to it on the photovoltaic board array, and the clearance between two adjacent photovoltaic board arrays passes through the bridge floor to be connected, photovoltaic cleaning machines people includes the fuselage, be provided with actuating mechanism, running gear on the fuselage and clean the mechanism, running gear drives the fuselage and walks, it is fixed to set up to clean the mechanism on the fuselage front end lateral wall, just clean the mechanism and clean the operation, its characterized in that under actuating mechanism's drive: the cleaning robot comprises a cleaning operation plane, a self-telescopic rotary sucker assembly, a bearing, a sliding ring assembly, a sucker fixing support and a second sucker, wherein the self-telescopic rotary sucker assembly comprises a connecting rod assembly, a sliding support assembly, a sucker connecting rod connecting support, a bearing, a sliding ring assembly, a sucker fixing support and the second sucker; the connecting rod assembly comprises a connecting rod fixing support, a first connecting rod, a second connecting rod and a third connecting rod, one end of the connecting rod fixing support is fixedly connected with a chassis of the machine body, the other end of the connecting rod fixing support is movably connected with one end of the first connecting rod, one end of the second connecting rod is movably connected with the first connecting rod, and one end of the third connecting rod is movably connected with the other end of the first connecting rod; the sliding support assembly comprises a first sliding support and a second sliding support, the first sliding support and the second sliding support are both in a circular ring shape, the second sliding support is arranged above the first sliding support, the other end of the second connecting rod is movably connected with the second sliding support, and a plurality of sliding pieces are arranged on the first sliding support in an upward extending mode in the circumferential direction of the upper surface of the first sliding support.

2. The three-legged bridge-crossing type continuous photovoltaic cleaning robot as claimed in claim 1, wherein the crawler traveling device comprises a crawler assembly and a crawler driving motor connected with the crawler assembly, wherein the crawler assembly comprises a left wheel crawler and a right wheel crawler, the crawler driving motor comprises a left wheel crawler driving motor and a right wheel crawler driving motor, the left wheel crawler is arranged on the left side of the bottom of the machine body, the left wheel crawler is driven by the left wheel crawler driving motor to move, the right wheel crawler is arranged on the right side of the bottom of the machine body, and the right wheel crawler is driven by the right wheel crawler driving motor to move.

3. The three-legged bridge-type continuous photovoltaic cleaning robot as claimed in claim 2, wherein the left and right wheel tracks are both sliding adsorbable tracks, and the photovoltaic cleaning robot walks on the cleaning operation surface and adsorbs on the cleaning operation surface through the sliding adsorbable tracks.

4. The three-legged bridge-type continuous-operation photovoltaic cleaning robot as claimed in claim 1, wherein a mechanical leg walking device is provided at a middle position of a front portion of the chassis, and a mechanical leg walking device is provided at each of left and right sides of a rear portion of the chassis.

5. The three-legged bridge-crossing type continuous photovoltaic cleaning robot as claimed in any one of claims 1 to 4, wherein the mechanical leg walking device comprises a steering engine fixing support, a first connecting rod, a second connecting rod and an absorbable sole, the mechanical leg walking device is fixedly arranged on a chassis through the steering engine fixing support, a first steering engine is arranged on the steering engine fixing support, a first steering wheel is fixedly arranged at the end of a first driving shaft of the first steering engine, the first steering wheel is fixedly arranged at one end of the first connecting rod, the other end of the first connecting rod is rotatably connected with one end of the second connecting rod through a second steering engine, and the other end of the second connecting rod is rotatably connected with the absorbable sole through a third steering engine.

6. The three-legged bridge-crossing continuous-operation photovoltaic cleaning robot as claimed in claim 5, wherein the second steering engine and the third steering engine are respectively and fixedly arranged at two ends of the second connecting rod, the end part of the second driving shaft of the second steering engine penetrates through a first through hole formed in one end of the second connecting rod and then is fixedly connected with a second steering wheel arranged at the other end of the first connecting rod, and the end part of the third driving shaft of the third steering engine penetrates through a second through hole formed in the other end of the second connecting rod and then is fixedly connected with a third steering wheel arranged on the adsorbable sole.

7. The three-legged bridge-crossing type continuous photovoltaic cleaning robot as claimed in claim 6, wherein the adsorbable sole comprises a sole body, the sole body comprises a first sucker, a fixed disk and a mounting plate, the first sucker is fixedly arranged on the lower surface of the fixed disk, the mounting plate is fixedly arranged on the upper surface of the fixed disk, a fixed plate is vertically arranged on the mounting plate, a third sucker is fixedly arranged on the fixed plate, the inner side wall of the first sucker and the lower side wall of the fixed disk form an adsorption cavity, the three-legged bridge-crossing type continuous photovoltaic cleaning robot further comprises a first air pipe and a second air pipe, the first air pipe is arranged above the mounting plate, the lower end of the first air pipe is fixedly connected with an electromagnetic valve arranged on the mounting plate, and the electromagnetic valve is fixedly connected with the mounting plate through a plurality of fixed brackets, one end of the second air pipe is communicated with the electromagnetic valve, and the other end of the second air pipe is communicated with the adsorption cavity.

8. The three-legged bridge-type continuous photovoltaic cleaning robot as claimed in any one of claims 1 to 4, wherein the body is provided with a metal sensor assembly, and the metal sensor assembly comprises a first metal sensor, a second metal sensor, a third metal sensor and a fourth metal sensor, the first metal sensor is fixedly arranged on the outer sidewall of the fixed frame on the left side of the body, the second metal sensor is fixedly arranged on the inner sidewall of the fixed frame on the front side of the body, the third metal sensor is fixedly arranged on the outer sidewall of the fixed frame on the right side of the body, and the fourth metal sensor is fixedly arranged on the outer sidewall of the fixed frame on the rear side of the body.