CN211563791U

CN211563791U - Photovoltaic cleaning robot

Info

Publication number: CN211563791U
Application number: CN201922043939.7U
Authority: CN
Inventors: 吴清健; 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: 2020-09-25
Anticipated expiration: 2029-11-22

Abstract

The utility model relates to a photovoltaic cleaning machines people, which comprises a bod, be provided with actuating mechanism on the fuselage, crawler and clean the mechanism, actuating mechanism is connected with the crawler electricity, still be provided with photovoltaic board determine module on the fuselage, photovoltaic board determine module includes first photovoltaic board determine module, second photovoltaic board determine module, third photovoltaic board determine module and fourth photovoltaic board determine module, first photovoltaic board determine module sets up the front portion at fuselage left end lateral wall, second photovoltaic board determine module sets up the front portion at fuselage right-hand member lateral wall, third photovoltaic board determine module sets up the rear portion at fuselage right-hand member lateral wall, fourth photovoltaic board determine module sets up the rear portion at fuselage left end lateral wall. The utility model discloses can simplify photovoltaic cleaning machines people's detection structure, improve photovoltaic cleaning machines people's suitability and degree of automation to reach response photovoltaic surface and last the steady walking of automatic control clean, practice thrift the manpower and reduce the power station maintenance cost.

Description

Photovoltaic cleaning robot

Technical Field

The utility model relates to a cleaning machines people's technical field, concretely relates to photovoltaic cleaning machines people.

Background

Solar photovoltaic has become an important power of energy revolution in the world as a renewable clean energy. The surface of the solar cell panel is easy to accumulate dirt such as wind sand, dust and the like, and if the solar cell panel is not timely cleaned scientifically and professionally, the generated power of the module is reduced by 40-60% to the maximum extent, and the generated energy is reduced by 20-30%. Therefore, the concept of improving the power generation capacity and the benefit of the power station by reasonably and scientifically cleaning the solar cell panel and carefully maintaining the components is accepted by the industry.

When the photovoltaic cleaning walking robot works, the process is basically full-automatic, and the position of the photovoltaic cleaning walking robot needs to be judged by means of a detection device. At present, no mature movable detection mode exists in the market, and a specific sensing device or a fixing device is required to be added in a photovoltaic array for positioning, so that the machine can walk and be clean on the photovoltaic array. Such an induction method of adding a specific induction device or a fixing device not only increases the cost of the equipment, but also is easily limited by the size and shape of the photovoltaic array, so that an additional device cannot be installed.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned problem that exists among the prior art, the utility model discloses a main aim at provides a photovoltaic cleaning robot, can simplify photovoltaic cleaning robot's detection structure, improves photovoltaic cleaning robot's suitability and degree of automation to reach response photovoltaic surface and last the steady walking of automatic control clean, practice thrift the manpower and reduce the power station maintenance cost.

The technical scheme of the utility model is like this:

a photovoltaic cleaning robot comprises a robot body, wherein a driving mechanism, a crawler mechanism and a cleaning mechanism are arranged on the robot body, the driving mechanism is electrically connected with the crawler mechanism, the crawler mechanism drives the robot body to walk under the driving of the driving mechanism, the cleaning mechanism performs cleaning operation under the driving of the driving mechanism, the cleaning mechanism is fixedly arranged on the outer side wall of the front end of the robot body, a photovoltaic panel detection assembly is further arranged on the robot body and comprises a first photovoltaic panel detection module, a second photovoltaic panel detection module, a third photovoltaic panel detection module and a fourth photovoltaic panel detection module, the first photovoltaic panel detection module is fixedly arranged in the front of the outer side wall of the left end of the robot body, the second photovoltaic panel detection module is fixedly arranged in the front of the outer side wall of the right end of the robot body, the third photovoltaic panel detection module is fixedly arranged at the rear part of the outer side wall of the right end of the machine body, and the fourth photovoltaic panel detection module is fixedly arranged at the rear part of the outer side wall of the left end of the machine body.

Still be provided with metal induction assembly on the fuselage, metal induction assembly includes first metal inductor, second metal inductor, third metal inductor and fourth metal inductor, wherein: the first metal inductor is fixedly arranged in the middle of the outer side wall of the left end of the machine body, the second metal inductor is fixedly arranged in the middle of the inner side wall of the front end of the machine body, the third metal inductor is fixedly arranged in the middle of the outer side wall of the right end of the machine body, and the fourth metal inductor is fixedly arranged in the middle of the outer side wall of the rear end of the machine body.

The fuselage bottom is provided with first adsorption component, second adsorption component and third adsorption component, wherein, first adsorption component sets up the front side of fuselage bottom, the second adsorption component sets up the intermediate position of fuselage bottom, just the third adsorption component sets up the rear side of fuselage bottom.

The first sucking component comprises a first sucking disc, the second sucking component comprises a second sucking disc, the outer diameter of the second sucking disc is larger than that of the first sucking disc, the third sucking component comprises a third sucking disc, and the outer diameter of the third sucking disc is equal to that of the first sucking disc.

The second adsorbs the subassembly still includes the solid fixed ring of first solid fixed ring, second, fixed bolster, support frame and steering wheel, wherein: first solid fixed ring sets up the solid fixed ring's of second inside, just first solid fixed ring follows through a plurality of pulleys that its lateral wall circumferencial direction set up a plurality of pulley tracks of the vertical setting of the solid fixed ring inside wall circumferencial direction of second reciprocate, the solid fixed ring of second is through the chassis fixed connection of a plurality of fixed convex parts and fuselage bottom that its lateral wall circumferencial direction set up, be provided with deep groove ball bearing in the solid fixed ring of first, just first solid fixed ring inside wall lower part circumferencial direction is provided with the annular installation convex part of circle, deep groove ball bearing outer lane is located on the installation convex part and with first solid fixed ring's inside wall fixed connection.

Fixed surface is provided with fixed disc on the second sucking disc, fixed disc's last fixed surface is provided with annular unable adjustment base of ring, unable adjustment base is located deep groove ball bearing's inside, just unable adjustment base with deep groove ball bearing inner circle fixed connection, deep groove ball bearing inner circle for deep groove ball outer circle rotates, the last first fixed recess that is provided with of unable adjustment base, the fixed spacing portion that is provided with in the first fixed recess, just the outside extension of the upper end lateral wall circumferencial direction of spacing portion is provided with the spacing bulge loop of ring shape, spacing bulge loop is located deep groove ball bearing's the upper end outside is with the restriction deep groove ball bearing rebound.

The lower end of the fixed bracket is fixedly arranged on a chassis at the bottom of the machine body, the steering engine is fixedly arranged at the upper end of the fixed bracket through a mounting plate, a steering wheel is fixedly arranged at the end part of the driving shaft of the steering engine, a connecting rod is fixedly arranged on the steering wheel, one end of the connecting rod, which is far away from the rudder plate, is fixedly arranged on the support frame, the support frame comprises a support rod, a first support part and a second support part, the first support part and the second support part are fixedly arranged below two ends of the support rod, the inner side wall of the first supporting part is provided with a circular arc-shaped first sliding chute, the inner side wall of the second supporting part is provided with a circular arc-shaped second sliding chute, and the first sliding groove and the second sliding groove are matched with the outer side wall of the first fixing ring, the support frame is tightly matched with the outer side wall of the first fixing ring through the first sliding groove and the second sliding groove, and the machine body is rotatably connected with the second sucker through the deep groove ball bearing.

The fixing disc is characterized in that a limiting hole is formed in a first fixing groove of the fixing base, a second fixing groove is formed in the limiting portion, a positioning convex portion extends downwards from the lower surface of the bottom of the second fixing groove and is arranged in the limiting hole, a plurality of first mounting holes are formed in the second fixing groove, a plurality of second mounting holes are formed in the first fixing groove and correspond to the second mounting holes, a plurality of third mounting holes are formed in the fixing disc, and the third mounting holes correspond to the second mounting holes.

First solid fixed ring lateral wall outwards extends and is provided with a plurality of spacing convex parts, just spacing convex part and first solid fixed ring are integrated into one piece, the vertical spacing recess that is provided with of spacing convex part lateral wall, install a plurality of pulleys along vertical direction in the spacing recess, first solid fixed ring passes through the pulley and sets up along the solid fixed ring inside wall of second the pulley track reciprocates.

The support frame is located the solid fixed ring's of second inside, the upper end center of bracing piece is provided with the installation department, the installation department passes through the lower extreme fixed connection of fastening bolt and connecting rod, the upper end of first supporting part with the one end fixed surface connection of bracing piece, the upper end of second supporting part with the other end fixed surface connection of bracing piece, first spout sets up the lower part of the inside wall of first supporting part, just the second spout sets up the lower part of the inside wall of second supporting part.

The utility model has the advantages of it is following and beneficial effect: the embodiment of the utility model provides a photovoltaic cleaning robot, through still be provided with photovoltaic board detection assembly on the fuselage, and photovoltaic board detection assembly includes first photovoltaic board detection module, second photovoltaic board detection module, third photovoltaic board detection module and fourth photovoltaic board detection module, first photovoltaic board detection module is located the front portion of fuselage left end lateral wall, second photovoltaic board detection module is located the front portion of fuselage right-hand member lateral wall, third photovoltaic board detection module is located the rear portion of fuselage right-hand member lateral wall, fourth photovoltaic board detection module is located the rear portion of fuselage left end lateral wall, because above-mentioned four photovoltaic board detection modules are located respectively the different positions of fuselage, that is, four photovoltaic detection modules can output different detection data when placing the different positions of photovoltaic board; meanwhile, a metal induction assembly is further arranged on the machine body and comprises a first metal inductor, a second metal inductor, a third metal inductor and a fourth metal inductor, the first metal inductor is positioned in the middle of the outer side wall of the left end of the machine body, the second metal inductor is positioned in the middle of the inner side wall of the front end of the machine body, the third metal inductor is positioned in the middle of the outer side wall of the right end of the machine body, the fourth metal inductor is positioned in the middle of the outer side wall of the rear end of the machine body, the four metal inductors can judge whether photovoltaic panels exist all around, send data to a master control and provide basic data for continuous cleaning; therefore the utility model discloses not only can simplify photovoltaic cleaning machines people's detection structure, still can improve photovoltaic cleaning machines people's suitability to improve photovoltaic cleaning machines people's degree of automation, in order to reach the response photovoltaic surface and last the steady walking of automatic control clean and stride the bridge, practice thrift the manpower and reduce the power station maintenance cost.

Drawings

Fig. 1 is a top view structure diagram of the photovoltaic cleaning robot provided by the embodiment of the utility model.

Fig. 2 is the embodiment of the utility model provides a photovoltaic cleaning robot turns the rotatory schematic diagram of operation in-process fuselage.

Fig. 3 is a schematic perspective view of a second adsorption assembly according to an embodiment of the present invention.

Fig. 4 is an exploded schematic view of a second adsorption assembly according to an embodiment of the present invention.

Fig. 5 is an enlarged schematic structural view of a support frame in a second adsorption assembly according to an embodiment of the present invention.

Fig. 6 is a schematic perspective view of an air pressure detecting device according to an embodiment of the present invention.

Fig. 7 is an exploded schematic view of an air pressure detecting device according to an embodiment of the present invention.

Fig. 8 is a schematic structural view of the second adsorption assembly, in which the limiting portion, the deep groove ball bearing, and the first fixing ring are matched.

Fig. 9 is a schematic perspective view of a fixing base in a second adsorption assembly according to an embodiment of the present invention.

Detailed Description

The purpose, technical scheme and advantage of the embodiment of the present invention are more clear, will combine below in the embodiment of the present invention the attached drawings in the embodiment of the present invention, to the technical scheme in the embodiment of the present invention clearly, describe completely, obviously, the embodiment described is a partial embodiment of the present invention, rather than whole embodiment. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

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

As shown in fig. 1 to 9: the photovoltaic cleaning robot provided by the embodiment of the utility model comprises a robot body 100, wherein a driving mechanism (not shown in the figure), a crawler 101 and a cleaning mechanism 102 are arranged on the robot body 100, the driving mechanism is electrically connected with the crawler 101, the crawler 101 drives the robot body 100 to walk under the driving of the driving mechanism, the cleaning mechanism 102 cleans under the driving of the driving mechanism, the cleaning mechanism 102 is fixedly arranged on the outer side wall of the front end of the robot body 100, a photovoltaic panel detection assembly is also arranged on the robot body 100, the photovoltaic panel detection assembly comprises a first photovoltaic panel detection module 111, a second photovoltaic panel detection module 112, a third photovoltaic panel detection module 113 and a fourth photovoltaic panel detection module 114, wherein the first photovoltaic panel detection module 111 is fixedly arranged in the front part of the outer side wall of the left end of the robot body 100, the second photovoltaic panel detection module 112 is fixedly arranged at the front part of the outer side wall of the right end of the machine body 100, the third photovoltaic panel detection module 113 is fixedly arranged at the rear part of the outer side wall of the right end of the machine body 100, and the fourth photovoltaic panel detection module 114 is fixedly arranged at the rear part of the outer side wall of the left end of the machine body 100. The first photovoltaic panel detection module 111, the second photovoltaic panel detection module 112, the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114 can be formed by an STM32 control chip + OV7725 camera + E18-D80NK diffuse reflection type infrared photoelectric switches so as to realize a detection function.

Still be provided with metal induction component on the fuselage 100, metal induction component includes first metal inductor 121, second metal inductor 122, third metal inductor 123 and fourth metal inductor 124, wherein: first metal inductor 121 is fixed to be set up the middle part of fuselage 100 left end lateral wall, second metal inductor 122 is fixed to be set up the middle part of fuselage 100 front end inside wall, third metal inductor 123 is fixed to be set up the middle part of fuselage 100 right-hand member lateral wall, fourth metal inductor 124 is fixed to be set up the middle part of fuselage 100 rear end lateral wall. The first metal inductor 121, the second metal inductor 122, the third metal inductor 123 and the fourth metal inductor 124 are all LJA30M-40N1 metal inductors.

Through the above design, four photovoltaic panel detection modules (a first photovoltaic panel detection module 111, a second photovoltaic panel detection module 112, a third photovoltaic panel detection module 113, and a fourth photovoltaic panel detection module 114) are distributed at four corners of the machine body 100, so as to sense three different states of the border, the plane, and the suspension of the photovoltaic panel; metal inductors (namely a first metal inductor 121, a second metal inductor 122, a third metal inductor 123 and a fourth metal inductor 124) are arranged at the center positions of the left edge, the front edge, the right edge and the rear edge of the body 100 so as to sense whether the photovoltaic panel exists near the body; data are provided for the decision of linear walking and seam crossing cleaning of the machine through the four photovoltaic detection modules; the four metal sensors provide data for the decision of continuous cleaning and autonomous cleaning of the machine; the integrated data of the four photovoltaic detection modules and the four metal sensors provides data for the decision of the photovoltaic cleaning robot on cross-seam cleaning, continuous cleaning, autonomous cleaning and cross-bridge driving so as to realize the functions.

When the four photovoltaic panel detection modules work, the modules are judged to be in a plane state (namely inside the photovoltaic panel), a frame state (namely right along the frame) and a suspension state (namely outside the photovoltaic panel); four photovoltaic detection modules that four corners of fuselage distribute, the welt carries out clear in-process about photovoltaic cleaning machines people, plays the effect respectively.

When the photovoltaic cleaning robot cleans the left welt (namely, the left welt) of the photovoltaic panel, the two photovoltaic panel detection modules (namely, the first photovoltaic panel detection module 111 and the fourth photovoltaic panel detection module 114) on the left side play a role in providing data for linear correction control; the two photovoltaic panel detection modules in the front (namely the first photovoltaic panel detection module 111 and the second photovoltaic panel detection module 112) have the function of detecting the photovoltaic panel frame in the front, and the two photovoltaic detection modules in the rear (namely the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114) have the function of detecting the photovoltaic panel frame in the rear, so that data are provided for cleaning the front and rear cross seams and stopping cleaning.

When the photovoltaic cleaning robot cleans the right welt (namely the right welt) of the photovoltaic panel, the two photovoltaic detection modules (namely the second photovoltaic panel detection module 112 and the third photovoltaic panel detection module 113) on the right side play a role in providing data for linear correction control; the two photovoltaic detection modules in front (namely the first photovoltaic panel detection module 111 and the second photovoltaic panel detection module 112) play a role in detecting the photovoltaic panel frame in front, and the two photovoltaic detection modules in rear (namely the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114) play a role in detecting the photovoltaic panel frame in rear, so that data are provided for cleaning and stopping cleaning of front and rear cross seams.

The photovoltaic cleaning robot has the advantages that the metal inductors (namely the second metal inductor 122 and the fourth metal inductor 124) distributed at the centers of the front edge and the rear edge of the robot body can detect whether photovoltaic panels exist in the front and the rear of the robot body. When the two photovoltaic detection modules in front or the two photovoltaic detection modules in back detect the frame of the photovoltaic panel, the second metal inductor 122 and the fourth metal inductor 124 can be used for inducing whether the photovoltaic panel exists in front or behind, and data master control is given to judge whether cleaning is performed along the current direction; in addition still cooperate with photovoltaic detection module and play supplementary and prevent falling the effect, when the unexpected undetected frame of photovoltaic detection module (being first photovoltaic board detection module 111 and second photovoltaic board detection module 112), rely on second metal inductor 122 to judge whether there is the photovoltaic board in the place ahead of direction of advance, if sense the place ahead and do not have the photovoltaic board, and photovoltaic detection module (being first photovoltaic board detection module 111 and second photovoltaic board detection module 112) is in unsettled state (outside the photovoltaic board), the state of stopping advancing is published immediately to the master control, play supplementary detection and prevent falling the effect.

Above-mentioned photovoltaic cleaning machines people, the metal inductor (being first metal inductor 121, third metal inductor 123) that distributes in fuselage left and right sides edge center play the effect that whether there is the photovoltaic board left and right sides of detection. When the photovoltaic robot is started, the photovoltaic robot can judge the cleaning direction according to the data of the photovoltaic detection assembly and the metal induction assembly, the left side inducts the photovoltaic panel to clean leftwards and the right side inducts the photovoltaic panel to clean rightwards at the edge of the photovoltaic array; in the moving process, according to the clean path planning given by the photovoltaic robot, whether the photovoltaic panel is in work or not needs to be judged, if the photovoltaic panel needs to continue to work, whether the photovoltaic panel exists or not is detected through the first metal inductor 121 on the left side, if the photovoltaic panel needs to continue to work, whether the photovoltaic panel exists or not is detected through the third metal inductor 123 on the right side, if the photovoltaic panel exists, the photovoltaic panel continues to be cleaned after the photovoltaic panel reaches a new photovoltaic panel row and column in a steering mode, and if the photovoltaic panel does not exist, the cleaning is finished.

Photovoltaic cleaning machines people is when striding the bridge, and second metal inductor 122 through the place ahead detects, judges whether to walk the end of place ahead direction, when reacing the end, judges that the rotation direction back is rotatory to continue to stride the bridge and travel through judging whether there is metal on the left and right sides. 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 bridge runs. The width of the bridge is slightly wider than the critical distance between the photovoltaic detection modules on the two sides when planes are detected, when the machine body is completely arranged on the bridge, the four photovoltaic panel detection modules detect the planes, and at the moment, the speed is kept to walk linearly. If the photovoltaic cleaning robot runs on the bridge floor forward and is deviated to the left, the photovoltaic detection modules distributed at the rear in the photovoltaic detection assembly sense the same state, and the first photovoltaic detection module 111 at the upper left corner does not sense the plane; or the fourth photovoltaic detection module 114 at the lower left corner senses the plane, and the third photovoltaic detection module 113 at the lower right corner does not sense the plane. At the moment, the deviation can be corrected by adjusting the running speed, and the effect of straight line correction walking is achieved. If the photovoltaic cleaning robot runs on the bridge floor forward and deviates to the right, the photovoltaic detection modules distributed at the back in the photovoltaic detection assembly sense the same state, and the second photovoltaic detection module 112 at the upper right corner does not sense a plane; or the third photovoltaic detection module 113 at the lower right corner senses the plane, and the fourth photovoltaic detection module 114 at the lower left corner does not sense the plane. At the moment, the deviation can be corrected by adjusting the running speed, and the effect of straight line correction walking is achieved.

A first adsorption module 300, a second adsorption module 400 and a third adsorption module 500 are disposed on the chassis 103 at the bottom of the body 100, wherein the first adsorption module 300 is disposed at the front side of the chassis 103 at the bottom of the body, the second adsorption module 300 is disposed at the middle position of the chassis 103 at the bottom of the body 100, the third adsorption module 500 is disposed at the rear side of the chassis 103 at the bottom of the body 100, when the cleaning robot performs a turning operation, the second adsorption module 400 is opened, the air pressure inside the second adsorption module 400 is detected by the air pressure detection device 200, when the detected air pressure is lower than a preset air pressure expectation value, the second adsorption module 400 adsorbs the body on the operation plane, the first adsorption module 300 and the third adsorption module 500 are closed at the same time, and the body 100 can rotate around the second adsorption module 400 by the second adsorption module 400, at the same time, the body 100 is driven by the crawler belt 101 to turn the body 100.

The first suction assembly 300 includes a first suction cup (not shown), the second suction assembly 400 includes a second suction cup 401, and the outer diameter of the second suction cup 401 is greater than the outer diameter of the first suction cup, and the third suction assembly 500 includes a third suction cup (not shown), and the outer diameter of the third suction cup is equal to the outer diameter of the first suction cup. Through the design, the outer diameter of the second sucker in the middle of the bottom of the machine body 100 is larger than the outer diameters of the first sucker and the second sucker, namely, the second sucker in a large size is arranged in the middle of the bottom of the machine body 100, so that the adsorption force of the cleaning robot in turning is increased, and the safety and reliability are improved to a certain degree.

The second adsorption component 400 further comprises a first fixing ring 402, a second fixing ring 403, a fixing bracket 404, a support frame 405 and a steering engine 406, wherein: first solid fixed ring 402 sets up the inside of the solid fixed ring 403 of second, just first solid fixed ring 402 is followed through a plurality of pulleys 407 that its lateral wall circumferencial direction set up a plurality of pulley tracks 408 of the vertical setting of the solid fixed ring 403 inside wall circumferencial direction of second reciprocate, the solid fixed ring 403 of second is through a plurality of fixed convex parts 409 that its lateral wall circumferencial direction set up and the chassis 103 fixed connection of fuselage 100 bottom, be provided with deep groove ball bearing 410 in the first solid fixed ring 402, just first solid fixed ring 402 inside wall lower part circumferencial direction is provided with annular installation convex part 411 of circle, deep groove ball bearing outer lane (not shown in the figure) is located on the installation convex part 411 and with the inside wall fixed connection of first solid fixed ring 402.

The fixed disc 412 that is provided with of second sucking disc 401 upper surface, the fixed annular unable adjustment base 413 that is provided with of upper surface of fixed disc 412, unable adjustment base 413 is located deep groove ball bearing 410's inside, just unable adjustment base 413 with deep groove ball bearing inner circle (not shown in the figure) fixed connection, deep groove ball bearing inner circle for deep groove ball bearing outer lane rotates, be provided with first fixed recess 414 on the unable adjustment base 413, fixed spacing portion 415 that is provided with in the first fixed recess 414, just the outside extension of upper end lateral wall circumferencial direction of spacing portion 415 is provided with annular spacing bulge 416 of circle, spacing bulge 416 is located the upper end outside of deep groove ball bearing 410 is in order to restrict deep groove ball bearing 410 rebound. Through the above design, the limiting portion 415 and the fixing base 413 are both fixedly connected to the fixing disc 412, and the fixing disc 412 is fixedly connected to the second suction cup 401, so that the second suction cup 401 is driven by the fixing base 413 to rotate together.

The lower end of the fixed support 404 is fixedly arranged on the chassis 103 at the bottom of the body 100, the steering engine 406 is fixedly arranged at the upper end of the fixed support 404 through a mounting plate 417, a steering wheel 418 is fixedly arranged at the end part of a driving shaft (not shown in the figure) of the steering engine 406, a connecting rod 419 is fixedly arranged on the steering wheel 418, one end of the connecting rod 419 far away from the steering wheel 418 is fixedly arranged on the support frame 405, the support frame 405 comprises a support rod 420, a first support part 421 and a second support part 422 which are fixedly arranged below two ends of the support rod 420, the inner side wall of the first support part 421 is provided with a circular arc-shaped first sliding groove 423, the inner side wall of the second support part is provided with a circular arc-shaped second sliding groove 424, the first sliding groove 423 and the second sliding groove 424 are matched with the outer side wall of the first fixing ring 402, and the support frame 405 is tightly matched with the outer side wall of the first fixing ring 402, the machine body 100 is rotatably connected with the second suction cup 401 through the deep groove ball bearing 410.

A limiting hole 425 is formed in the first fixing groove 414 of the fixing base 413, a second fixing groove 426 is formed in the limiting portion 415, a positioning protrusion (not shown) extends downward from a lower surface of a bottom of the second fixing groove 426, the positioning protrusion is located in the limiting hole 425, a plurality of first mounting holes 427 are formed in the second fixing groove 426, a plurality of second mounting holes 428 are formed in the first fixing groove 414, the second mounting holes 428 correspond to the first mounting holes 427, a plurality of third mounting holes 429 are formed in the fixing disc 412, and the third mounting holes 429 correspond to the second mounting holes 428. Through the above design, namely, the limiting hole 425 is arranged in the first fixing groove 414 and the positioning convex part is arranged on the lower surface of the bottom of the second fixing groove 426 in a downward extending manner, so that the limiting part 415 can be conveniently and accurately positioned on the fixing base 413, and meanwhile, the limiting part 415 and the fixing base can be conveniently and firmly fixed on the fixing disc 412 through the arranged first mounting hole 427, the second mounting hole 428 and the third mounting hole 429 by fastening screws, and the safety and reliability are improved.

First solid fixed ring 402 lateral wall outwards extends and is provided with a plurality of spacing convex parts 430, just spacing convex part 430 is integrated into one piece with first solid fixed ring 402, the vertical spacing recess 431 that is provided with of spacing convex part 430 lateral wall, install a plurality of pulleys 407 along vertical direction in the spacing recess 431, first solid fixed ring 402 passes through pulley 407 and follows the setting of the solid fixed ring 403 inside wall of second pulley track 408 reciprocates. Through the design, the steering wheel 418 is driven to rotate by the driving shaft of the steering engine 406, the rotation of the steering wheel 418 further drives the connecting rod 419 to move, the connecting rod 419 further pulls up or puts down the support frame 405, and the support frame 405 drives the suction cup to ascend or descend through the first fixing ring 402.

The support frame 405 is located the inside of the second fixed ring 403, the upper end center of bracing piece 420 is provided with installation department 432, installation department 432 passes through fastening bolt (not shown in the figure) and the lower extreme fixed connection of connecting rod 419, the upper end of first supporting part 421 with the one end fixed surface of bracing piece 420 is connected, the upper end of second supporting part 422 with the other end fixed surface of bracing piece 420 is connected, first spout 423 sets up the lower part of the inside wall of first supporting part 421, just second spout 424 sets up the lower part of second supporting part 422 inside wall.

The air pressure detection device 200 is disposed on the chassis 103 of the body 100, and the air pressure detection device 200 includes an upper housing 201, a base 202, and a lower housing 203, the upper housing 201 is disposed above the base 202, the lower housing 203 is disposed below the base 202, a plurality of first fixing holes 204 are disposed at a left end of the base 202, a plurality of second fixing holes 205 are disposed at a right end of the base 202, a plurality of first pressure sensors 206 are mounted on an upper surface of the base 202, a plurality of first mounting grooves (not shown) are disposed inside the upper housing 201, the first mounting grooves extend to a lower surface of the upper housing 201 and correspond to the first pressure sensors 206, a first input interface 207 and a first output interface 208 communicated with the first mounting grooves are disposed on the upper housing 201, a plurality of second pressure sensors (not shown) are mounted on a lower surface of the base 202, a plurality of second mounting grooves 209 are formed in the lower housing 203, the second mounting grooves 209 extend to the upper surface of the lower housing 203 and correspond to the second upper end pressure sensor, and a second input interface 210 and a second output interface 211 communicated with the second mounting grooves 209 are formed in the lower housing 203. Through the design, the air pressure detection device has multi-path air pressure detection, and is convenient for various machines and industrial equipment to use.

The two ends of the upper shell 201 extend outwards to form a first installation part 212 and a second installation part (not shown in the figure), and the upper shell 201 is fixedly arranged above the base 202 through the first installation part 212 and the second installation part. Through the above design, through setting up first installation department 212 and second installation department at the both ends of last casing 201 promptly, make things convenient for the installation between last casing 201 and the base 202 and the maintenance in later stage, convenient operation and swift.

The first mounting portion 212 is provided with a first mounting hole 213, the first mounting hole 213 corresponds to the first fixing hole 204, the second mounting portion is provided with a second mounting hole (not shown), the second mounting hole corresponds to the second fixing hole 205, and the upper housing 201 is fixedly connected to the base 202 through the cooperation of the first mounting hole 213 and the first fixing hole 204 and the cooperation of the second mounting hole and the second fixing hole 205.

The both ends of lower casing 203 are provided with third installation department 216 and fourth installation department 217 respectively, lower casing 203 passes through third installation department 216 and fourth installation department 217 are fixed to be set up the below of base 202. Through the above design, namely, the third installation part 216 and the fourth installation part are arranged at the two ends of the lower shell 203, so that the installation and the later maintenance between the lower shell 203 and the base 202 are facilitated, and the operation is convenient and fast.

A third mounting hole 218 is formed in the third mounting portion 216, the third mounting hole 218 corresponds to the first fixing hole 204, a fourth mounting hole 219 is formed in the fourth mounting portion 217, the fourth mounting hole 219 corresponds to the second fixing hole 205, and the lower shell 203 is fixedly connected with the base 202 through the cooperation of the third mounting hole 218 and the first fixing hole 204 and the cooperation of the fourth mounting hole 219 and the second fixing hole 205.

Through the above design, namely, the first mounting hole 213 is disposed on the first mounting portion 212, the second mounting hole is disposed on the second mounting portion, the first fixing hole 204 and the second fixing hole 205 are correspondingly disposed at the left end and the right end of the base 205, the third mounting hole 218 is disposed on the third mounting portion 216, and the fourth mounting hole 219 is disposed on the fourth mounting portion 217, that is, the two fastening screws respectively pass through the first mounting hole 213 or the second mounting hole, then pass through the first fixing hole 204 or the second fixing hole 205 on the base 202, then pass through the third mounting hole 218 or the fourth mounting hole 219, and finally fasten the fastening screws, thereby achieving the fastening between the upper housing 201 and the lower housing 203 and the base 202, improving the safety and reliability to a certain extent, and further prolonging the service life of the air pressure monitoring device.

Base 202 is the PCB circuit board, base 202's shape is the rectangle just base 202's length and width are 70mm and 35mm respectively, base 202's left end outwards extends and is provided with installation department 220, be provided with data output interface 221 on the installation department 220, first pressure sensor 206 and second pressure sensor all with data output interface 221 links to each other. The mounting portion 220 and the base 202 can be integrally formed, so that the processing is convenient, the strength between the mounting portion 220 and the base 202 is improved, and the service life is prolonged.

The first pressure sensor 206 and the second pressure sensor are both BMP180 high-precision digital pressure sensors, and the first pressure sensor 206 and the second pressure sensor are both BMP180 high-precision digital pressure sensors, so that the detection precision and sensitivity of the air pressure detection device can be improved; base 202's top is provided with first sealed pad (not shown in the figure), the shape of first sealed pad is cuboid and first sealed length, width and height of filling up are 50mm, 10mm and 3mm respectively, just be provided with first opening (not shown in the figure) on the first sealed pad, first pressure sensor 206 is located in the first opening. By the arrangement of the first sealing gasket, good sealing performance can be improved when the upper housing 201 is combined with the base 202, and the first pressure sensor 206 arranged on the upper surface of the base is completely sealed by the upper housing 201.

The below of base 202 is provided with the sealed pad of second (not shown in the figure), the sealed shape of filling up of second is that cuboid and the sealed length, width and the height that fills up of second are 50mm, 10mm and 3mm respectively, just be provided with the second opening on the sealed pad of second, second pressure sensor is located in the second opening. Through the second sealing gasket, the sealing performance of the lower shell 217 and the base 202 can be improved, and the second pressure sensor arranged on the lower surface of the base is completely sealed by the lower shell 217.

The first mounting groove is square, and a third sealing gasket (not shown in the figure) is arranged in the first mounting groove. Through the third gasket that sets up, after last casing 202 and base 202 installation are fixed, first pressure sensor 206 is arranged in first mounting groove to can carry out good sealed processing to first pressure sensor 206, be used for preventing that first pressure sensor 206 from receiving the influence of outside dust, and guarantee good air circulation nature, make the data that above-mentioned atmospheric pressure detection device 200 detected have fine precision and reliability.

The second mounting groove 209 has a square shape, and a fourth gasket (not shown) is disposed in the second mounting groove 209. Through the fourth sealing gasket, when the lower shell 217 is fixedly installed on the base 202, the second pressure sensor is located in the second installation groove 209, so that the second pressure sensor can be well sealed, the second pressure sensor is prevented from being affected by external dust, good air circulation is ensured, and data detected by the air pressure detection device 200 has good accuracy and reliability.

The shape of going up casing 201 is the cuboid, and is a plurality of first input interface 207 evenly sets up in last casing 201 along its length direction's a side, and is a plurality of first output interface 208 evenly sets up go up casing 201 along its length direction's another side.

The lower housing 203 is shaped like a cuboid, the plurality of second input interfaces 210 are uniformly arranged on one side surface of the lower housing 203 along the length direction thereof, and the plurality of second output interfaces 211 are uniformly arranged on the other side surface of the lower housing 203 along the length direction thereof; the second input interface 207, the first output interface 208, the second input interface 210 and the second output interface 211 are all pluggable air pipes.

The plurality of first pressure sensors 206 are 4 first pressure sensors 206, and are respectively and uniformly arranged on the upper surface of the base 202 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 202 along the length direction thereof.

The air pressure detection device adopts multi-path air pressure detection based on the BMP180 high-precision digital pressure sensor, has the characteristics of small volume, high sensitivity, wide application range, easiness in installation and the like, can be used for testing the vacuum air pressure of a small robot (such as a cleaning robot) when a sucker moves, and can also be used for air pressure detection of large-scale industrial equipment.

The utility model discloses photovoltaic cleaning robot turns method of operation as follows:

when the photovoltaic cleaning robot turns, the second adsorption component 400 is opened, the second adsorption component 400 drives the rudder disc 418 to rotate through the driving shaft of the steering engine 406, and the rotation of the rudder disc 418 can drive the connecting rod 419 to move, so that the supporting frame 405 moves downwards through the connecting rod 419, and as the supporting frame 405 is tightly and fixedly matched with the first fixing ring 402, the first fixing ring 402 moves downwards along the pulley track 408 arranged on the inner side wall of the second fixing ring 403 through the roller wheel under the driving of the downward acting force of the supporting frame 405, so as to drive the second suction cup to descend and tightly adsorb the operation plane; then, the air pressure inside the second suction cup in the second suction assembly 400 is detected by the air pressure detection device 200, and when the detected air pressure is lower than a preset expected value of the air pressure, the second suction assembly 400 firmly sucks the body of the cleaning robot on the working plane; then, the first adsorption assembly 300 and the third adsorption assembly 500 are closed, exhaust valves arranged in the first adsorption assembly 300 and the third adsorption assembly 500 are started at the same time, the adsorption force of the first suction cup and the adsorption force of the third suction cup are weakened in an accelerated manner so that the first suction cup and the third suction cup move upwards to be separated from the operation plane, the two crawler mechanisms 101 on the left side and the right side of the machine body 100 are driven by corresponding driving motors to move at the same speed and in opposite directions, and therefore the machine body 100 rotates through the second adsorption assembly 400 and with the second adsorption assembly 400 as the center of a circle when turning; meanwhile, after the body 100 is driven by the two crawler mechanisms 101 to turn the body 100 to reach a specified angle, the first adsorption component and the third adsorption component are started to adsorb, when the detected air pressure in the first adsorption component and the third adsorption component is lower than a preset air pressure expected value, the second adsorption component is closed, and the cleaning robot starts cleaning operation through the first adsorption component and the third adsorption component.

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 should be understood by those skilled 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; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims

1. The utility model provides a photovoltaic cleaning machines people, photovoltaic cleaning machines people includes the fuselage, be provided with actuating mechanism, crawler and clean the mechanism on the fuselage, actuating mechanism with the crawler electricity is connected, crawler drives the fuselage walking under actuating mechanism's drive, clean the operation of cleaning the mechanism under actuating mechanism's drive, its characterized in that: clean the fixed setting of mechanism and be in on the fuselage front end lateral wall, still be provided with photovoltaic board determine module on the fuselage, photovoltaic board determine module includes first photovoltaic board determine module, second photovoltaic board determine module, third photovoltaic board determine module and fourth photovoltaic board determine module, wherein, first photovoltaic board determine module is fixed to be set up the front portion of fuselage left end lateral wall, second photovoltaic board determine module is fixed to be set up the front portion of fuselage right-hand member lateral wall, third photovoltaic board determine module is fixed to be set up the rear portion of fuselage right-hand member lateral wall, fourth photovoltaic board determine module is fixed to be set up the rear portion of fuselage left end lateral wall.

2. The photovoltaic cleaning robot as claimed in claim 1, wherein a metal sensor assembly is further disposed on the body, the metal sensor assembly includes a first metal sensor, a second metal sensor, a third metal sensor and a fourth metal sensor, wherein: the first metal inductor is fixedly arranged in the middle of the outer side wall of the left end of the machine body, the second metal inductor is fixedly arranged in the middle of the inner side wall of the front end of the machine body, the third metal inductor is fixedly arranged in the middle of the outer side wall of the right end of the machine body, and the fourth metal inductor is fixedly arranged in the middle of the outer side wall of the rear end of the machine body.

3. The photovoltaic cleaning robot according to claim 1 or 2, wherein the bottom of the body is provided with a first suction module, a second suction module, and a third suction module, wherein the first suction module is disposed at a front side of the bottom of the body, the second suction module is disposed at a middle position of the bottom of the body, and the third suction module is disposed at a rear side of the bottom of the body.

4. The photovoltaic cleaning robot of claim 3, wherein the first suction assembly includes a first suction cup, the second suction assembly includes a second suction cup, and an outer diameter of the second suction cup is greater than an outer diameter of the first suction cup, the third suction assembly includes a third suction cup, and an outer diameter of the third suction cup is equal to the outer diameter of the first suction cup.

5. The photovoltaic cleaning robot as claimed in claim 4, wherein the second adsorption component further comprises a first fixing ring, a second fixing ring, a fixing bracket, a support frame and a steering engine, wherein: first solid fixed ring sets up the solid fixed ring's of second inside, just first solid fixed ring follows through a plurality of pulleys that its lateral wall circumferencial direction set up a plurality of pulley tracks of the vertical setting of the solid fixed ring inside wall circumferencial direction of second reciprocate, the solid fixed ring of second is through the chassis fixed connection of a plurality of fixed convex parts and fuselage bottom that its lateral wall circumferencial direction set up, be provided with deep groove ball bearing in the solid fixed ring of first, just first solid fixed ring inside wall lower part circumferencial direction is provided with the annular installation convex part of circle, deep groove ball bearing outer lane is located on the installation convex part and with first solid fixed ring's inside wall fixed connection.

6. The photovoltaic cleaning robot as claimed in claim 5, wherein a fixing disc is fixedly arranged on the upper surface of the second suction cup, a circular fixing base is fixedly arranged on the upper surface of the fixing disc, the fixing base is located inside the deep groove ball bearing, the fixing base is fixedly connected with the inner ring of the deep groove ball bearing, the inner ring of the deep groove ball bearing rotates relative to the outer ring of the deep groove ball bearing, a first fixing groove is formed in the fixing base, a limiting portion is fixedly arranged in the first fixing groove, a circular limiting convex ring extends outwards in the circumferential direction of the outer side wall of the upper end of the limiting portion, and the limiting convex ring is located on the outer side of the upper end of the deep groove ball bearing to limit the upward movement of the deep groove ball bearing.

7. The photovoltaic cleaning robot as claimed in claim 6, wherein the lower end of the fixed bracket is fixedly arranged on a chassis at the bottom of the body, the steering engine is fixedly arranged at the upper end of the fixed bracket through an installation plate, a steering wheel is fixedly arranged at the end part of the driving shaft of the steering engine, a connecting rod is fixedly arranged on the steering wheel, one end of the connecting rod, which is far away from the steering wheel, is fixedly arranged on the support frame, the support frame comprises a support rod, a first support part and a second support part which are fixedly arranged below two ends of the support rod, the inner side wall of the first support part is provided with a circular arc-shaped first sliding groove, the inner side wall of the second support part is provided with a circular arc-shaped second sliding groove, the first sliding groove and the second sliding groove are matched with the outer side wall of the first fixing ring, and the support frame is tightly matched with the outer side wall of the first fixing ring, the machine body is rotatably connected with the second sucker through the deep groove ball bearing.

8. The photovoltaic cleaning robot as claimed in claim 6, wherein a first fixing groove of the fixing base has a limiting hole, a second fixing groove is formed in the limiting portion, a positioning protrusion extends downward from a bottom lower surface of the second fixing groove and is located in the limiting hole, a plurality of first mounting holes are formed in the second fixing groove, a plurality of second mounting holes are formed in the first fixing groove and correspond to the first mounting holes, a plurality of third mounting holes are formed in the fixing disc and correspond to the second mounting holes.

9. The photovoltaic cleaning robot as claimed in claim 5, wherein a plurality of limiting protrusions extend outwards from the outer side wall of the first fixing ring, the limiting protrusions are integrally formed with the first fixing ring, a limiting groove is vertically formed in the outer side wall of the limiting protrusions, a plurality of pulleys are vertically installed in the limiting groove, and the first fixing ring moves up and down along the pulley track arranged on the inner side wall of the second fixing ring through the pulleys.

10. The photovoltaic cleaning robot as claimed in claim 7, wherein the support frame is located inside the second fixing ring, an installation portion is arranged at the center of the upper end of the support rod, the installation portion is fixedly connected with the lower end of the connecting rod through a fastening bolt, the upper end of the first support portion is fixedly connected with the lower end of the support rod, the upper end of the second support portion is fixedly connected with the lower end of the support rod, the first sliding groove is formed in the lower portion of the inner side wall of the first support portion, and the second sliding groove is formed in the lower portion of the inner side wall of the second support portion.