CN214560948U - Buffer structure and adsorption type robot - Google Patents

Abstract

The utility model provides a buffer structure and absorption formula robot. The buffer structure comprises a wind resistance frame and a buffer frame; the top of the buffer frame is connected to the lower surface of a bottom plate of a vehicle body, and the bottom of the buffer frame is connected to the upper surface of a wind resistance frame; the height of the buffer frame is adjustable. The utility model discloses a buffer frame, windage frame and spacing post form buffer structure jointly, and buffer frame has realized the stress action of buffering windage frame through elastic deformation for closely laminating all the time between windage frame and the photovoltaic panel, can realize that there is not the clearance between windage frame and the photovoltaic panel, and the adsorption effect is better; the utility model discloses set up spacing post support windage frame inside wall, make it can not take place great deformation when marcing, prevent that windage frame and panel linking department from leaking gas and leading to the robot to skid, ensure that absorption formula robot can be march and accomplish cleaning operation on the panel that the angle of inclination is more than 30 degrees (more than 40 degrees even).

Description

Buffer structure and adsorption type robot

Technical Field

The utility model relates to an absorption formula robot field, in particular to buffer structure and absorption formula robot.

Background

In recent years, the development of the photovoltaic power generation industry in China is rapid, but the photovoltaic panel is very easily influenced by the environment, and the power generation efficiency of a photovoltaic power station is severely restricted by panel dust deposition and hot plate effect, so that the problem that the photovoltaic power station must face is to be solved by regularly cleaning the dust deposition and the dirt. Because manual cleaning wastes time and labor, the efficiency is low, the cost is higher, and the technology of cleaning the solar panel by adopting a cleaning robot is produced at present.

In order to obtain the best power generation efficiency, the photovoltaic panels are generally required to be arranged in an inclined manner, and the inclined angles (the included angles between the panels and the horizontal plane) of the photovoltaic panels of the photovoltaic power stations located in different latitudes are different. The photovoltaic panel in the prior art has a smooth outer surface and a generally small friction coefficient, and a cleaning robot is easy to slip when moving on the panel, which is a technical problem that needs to be solved.

If the inclination angle of photovoltaic panel is less, cleaning machines people bottom sets up the track, increases the coefficient of friction of track, increases the area of contact of track and panel to can promote the frictional force between track and the panel, with "the land fertility of grabbing" of strengthening cleaning machines people. If the inclination of photovoltaic panel is great, only increase the frictional force of track and panel or can not avoid the robot to take place the phenomenon of skidding completely, this ground gripping power that just needs to use other technical means to promote the robot.

In view of the foregoing problem, patent document CN111942490A provides an adsorption robot, as shown in fig. 1, which includes an adsorption device 930 and a negative pressure device 940. The adsorption device 930 includes a mounting plate 91, a bellows 92, and a windage frame 93; the bellows 92 is provided below the mounting plate 91, and is connected to the mounting plate 91; the windage frame 93 is annular, and the top of the windage frame 93 is sealingly connected to the edge of the mounting plate 91. The negative pressure device 940 includes a vacuum apparatus 941 and a vacuum pipe 942; vacuum line 942 is connected at one end to vacuum apparatus 941 and at the other end to blower 92 through a through hole 94. The lower windage frame 32 of the windbox 92 is provided with a plurality of air holes 95 uniformly distributed for generating an adsorption force. An annular buffer frame 96 is further included between the wind resistance frame 93 and the wind box 92 for buffering stress of the wind resistance frame 93. First, the air holes 95 in the bottom surface of the bellows 92 are small in size and easily blocked by foreign matters, thereby deteriorating the adsorption effect; secondly, the vacuum pipeline 942 is a circular pipeline, and if the ventilation volume needs to be ensured and sufficient negative pressure needs to be provided, the cross-sectional area of the vacuum pipeline 942 needs to be ensured to be larger than a certain threshold value, so that the circular pipeline occupies a larger space; the vacuum device 941 is fixed in the vehicle body and needs to be provided with a mounting bracket; because the internal space of automobile body is limited, installing support, circular pipeline occupation space are too big, can influence the overall arrangement of other parts in the automobile body, therefore all can be restricted like water tank and battery volume, influence the duration of a journey ability of robot. Thirdly, if the water tank and the battery are ensured to have enough volumes, the sizes of the pipeline and the vacuum equipment are limited, so that the adsorption effect is poor, and when the inclination angle of the panel is more than 30 degrees or 40 degrees, the robot can easily slide off the panel; this solution is therefore generally only applicable to photovoltaic panels with a tilt angle of less than 20 degrees. Fourthly, the wind resistance frame 93 and the buffer frame 96 are arranged, so that the wind resistance frame 93 keeps contact with the surface of the panel, and the wind resistance frame 93 is made of elastic materials, so that air leakage at the joint of the wind resistance frame 93 and the panel can be prevented in a static state of the vehicle body; however, in the vehicle body marching, because the buffering frame 96 can not exert decurrent continuous pressure to the windage frame 93, the windage frame 93 can be scraped to the panel for the windage frame 93 takes place deformation, and windage frame 93 still probably leaks gas with the panel junction, will influence holistic adsorption effect like this, and the phenomenon of skidding still can take place occasionally, and vehicle body poor stability. Fifth, the vacuum apparatus 941, the vacuum pipe 942, and the mounting bracket need to be mounted in the vehicle body three times, and the space in the vehicle body is limited, which makes the mounting operation complicated.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a buffer structure and absorption formula robot to the technical problem of the windage frame of solving current absorption formula robot and the panel linking department easily leak gas, and solve the technical problem that windage frame adsorption pressure is not enough, only can be applicable to the photovoltaic panel that the angle of inclination is below 20 degrees.

In order to achieve the above object, the present invention provides a buffer structure, which includes a wind resistance frame and a buffer frame, wherein the wind resistance frame is annular; the buffering frame is annular, the top of the buffering frame is connected to the lower surface of a fixed foundation, and the bottom of the buffering frame is connected to the upper surface of the wind resistance frame; the height of the buffer frame is adjustable.

Further, the buffer frame comprises an annular top plate, an annular bottom plate and a folding elastic ring; the annular top plate is hermetically connected to the lower surface of the fixed foundation; the annular bottom plate is hermetically connected to the upper surface of the wind resistance frame; the top of the folded elastic ring is hermetically connected to the annular bottom plate, and the bottom of the folded elastic ring is hermetically connected to the annular top plate.

Furthermore, the annular top plate and the annular bottom plate are both rectangular or round-corner rectangular or oval annular structures.

Further, the forward projections of the annular top plate, the annular bottom plate and the folding elastic ring on the fixed foundation are overlapped.

Furthermore, the fixed foundation is a flat plate, and a negative pressure cavity is formed by the flat plate, the buffer frame and the wind resistance frame in an enclosing mode.

Furthermore, the buffer structure also comprises a limiting column which protrudes out of the lower surface of the fixed foundation and is positioned in an annular shape formed by the buffer frame; the limiting column is opposite to the inner side wall of the buffering frame.

Further, the minimum distance between the limiting column and the buffering frame is smaller than 1 centimeter.

Further, the height of the limiting column is smaller than the minimum total height of the buffering frame and the wind resistance frame.

Further, when the number of the limiting columns is more than two, the more than two limiting columns are uniformly distributed at the edge of the area defined by the inner side wall of the buffer frame.

In order to achieve the above object, the present invention further provides an adsorption robot, which includes the above buffer structure.

The utility model has the advantages that a buffer structure and an adsorption robot are provided, the buffer frame, the wind resistance frame and the limiting column jointly form the buffer structure, the adsorption device is formed by adopting the combination mode of the wind resistance frame and the buffer frame, the buffer frame realizes the stress action of the buffer wind resistance frame through elastic deformation, so that the wind resistance frame and the photovoltaic panel are always tightly attached, no gap is formed between the wind resistance frame and the photovoltaic panel, and the adsorption effect is better; the utility model discloses set up spacing post support windage frame inside wall, set up the windage frame of oppression downwards of pressure device, make it can not take place great deformation when marcing, prevent that windage frame and panel linking department from leaking gas and leading to the robot to skid, ensure that absorption formula robot can be march and accomplish cleaning operation on the panel that the angle of inclination is more than 30 degrees (even more than 40 degrees).

Drawings

Fig. 1 is a schematic structural diagram of the adsorption device and the vacuum apparatus of an adsorption robot in patent document CN 111942490A;

fig. 2 is a schematic structural diagram of an adsorption robot according to the embodiment of the present invention from above;

fig. 3 is a schematic structural view of the adsorption robot according to embodiment 1 of the present invention from the bottom;

fig. 4 is a schematic structural diagram of a bottom side view of the adsorption robot according to embodiment 1 of the present invention;

fig. 5 is a schematic structural view of the adsorption device mounted on the lower surface of the vehicle body in embodiment 1 of the present invention;

fig. 6 is a schematic side view of the adsorption device mounted on the lower surface of the vehicle body in embodiment 1 of the present invention;

fig. 7 is a schematic structural view of the negative pressure device mounted on the upper surface of the vehicle body in embodiment 1 of the present invention;

fig. 8 is a schematic side view of the negative pressure device mounted on the upper surface of the vehicle body in embodiment 1 of the present invention;

fig. 9 is a schematic structural view of the negative pressure device in embodiment 1 of the present invention;

fig. 10 is a schematic view of a part of the structure of the negative pressure device in one direction according to embodiment 1 of the present invention;

fig. 11 is a schematic structural view of the first housing in embodiment 1 of the present invention;

fig. 12 is a schematic structural view of the fan in embodiment 1 of the present invention;

fig. 13 is an exploded schematic view of the buffer frame in embodiment 1 of the present invention;

fig. 14 is a schematic structural view of the adsorption device mounted on the lower surface of the vehicle body in embodiment 2 of the present invention;

fig. 15 is a schematic view of a partial structure of the wind resistance frame in embodiment 2 of the present invention;

fig. 16 is a schematic view of a partial structure of a pressure device according to embodiment 2 of the present invention in one direction;

fig. 17 is a schematic view of a partial structure of a pressing device according to embodiment 2 of the present invention in another direction;

fig. 18 is an exploded schematic view of a partial structure of the pressure device according to embodiment 2 of the present invention.

The various components in the figures are numbered as follows:

the suction-type robot 100 is provided with a suction-type robot,

a vehicle body 10, a cleaning device 20, an adsorption device 30, a negative pressure device 40,

the combination of the bottom plate 11, the side plates 12,

a buffer frame 31, a wind resistance frame 32, a spacing column 33, an elastic ring 34, a pressure device 35,

a fixed base 41, a mounting bracket 42, a fan 43, fasteners 44,

a first mounting plate 45, a second mounting plate 46, a first mounting hole 47, a second mounting hole 48,

annular top plate 311, annular bottom plate 312, folding elastic ring 313, annular groove 321,

a base 351, a fixed plate 352, a mounting hole 353, a movable rod 354, a spring 355, a rotating rod 356,

a through hole 411, a first housing 421, a first air inlet 422, a first air outlet 423,

a second housing 431, a second air inlet 432, a second air outlet 433, an air outlet pipe 434,

a semi-circular arc part 3201, a linear part 3202, a screw groove 3511, a first through hole 3512,

a second through hole 3541, annular grooves 3542, 3561, and annular stopper plates 3543, 3562.

Detailed Description

The preferred embodiments of the present invention will be fully described below with reference to the accompanying drawings, so that the technical contents thereof will be more clearly understood. The present invention may be embodied in many different forms of embodiments and its scope is not limited to the embodiments described herein.

In the drawings, elements having the same structure are denoted by the same reference numerals, and elements having similar structure or function are denoted by the same reference numerals throughout. The directional terms used in the present invention, such as upper, lower, front, rear, left, right, inner, outer, upper surface, lower surface, side, top surface, bottom, front end, rear end, etc., are only directions in the drawings, and are used only for explaining and explaining the present invention, but not for limiting the protection scope of the present invention.

When certain components are described as being "on" another component, the components can be directly on the other component; there may also be an intermediate member disposed on the intermediate member and the intermediate member disposed on the other member. When an element is referred to as being "mounted to" or "connected to" another element, they may be directly "mounted to" or "connected to" the other element or indirectly "mounted to" or "connected to" the other element through an intermediate element.

Example 1

As shown in fig. 2, 3, and 4, in embodiment 1, there is provided an adsorption robot 100 (hereinafter, simply referred to as a robot), where the adsorption robot 100 includes a vehicle body 10, and the vehicle body 10 can stably travel on an obliquely disposed smooth plane, in this embodiment, the smooth plane is a photovoltaic panel (also referred to as a solar panel) or a panel array composed of a plurality of photovoltaic panels for cleaning. In this embodiment, the inclination angle of the photovoltaic panel (i.e. the angle between the photovoltaic panel and the horizontal plane) may be any value between 0 and 60 degrees, preferably between 30 and 40 degrees. The edge of each photovoltaic panel on the panel array is optionally provided with a frame, a gap exists between any two adjacent photovoltaic panels, and the adsorption robot 100 has the capacity of spanning the frame and the gap of the panel. In other embodiments, the smooth surface of the present invention may be an ice surface or a glass plate.

Alternatively, a cleaning device 20 may be installed at a front or rear end of the vehicle body 10, including a roller brush for cleaning a surface of the panel, a motor for rotating the roller brush, a nozzle for spraying a cleaning agent, a suction air opening, and the like. The photovoltaic panel may be cleaned by the cleaning device 20 when the adsorption robot 100 moves forward or backward on the photovoltaic panel. As shown in fig. 3 and 4, crawler wheels are provided on both sides of the vehicle body 10, the suction device 30 is provided on the lower surface of the vehicle body 10, and the negative pressure device 40 is provided in the vehicle body 10 or on the vehicle body 10, and the negative pressure device 40 communicates with the suction device 30.

As shown in fig. 5, 6, 7, and 8, the negative pressure device 40 includes a bottom plate 41 of the vehicle body 10, a mounting bracket 42, and a fan 43. The bottom plate 41 is provided with a through hole 411; the base plate 41 is a fixed base of a plurality of components in the vehicle body 10, and the blower 43 is fixedly connected to the upper side of the base plate 41 through the mounting bracket 42.

As shown in fig. 9, 10, 11 and 12, the mounting bracket 42 includes a first casing 421 and a first air duct disposed in the first casing 421; a cavity is arranged in the first casing 421 to form a first air duct; a first air inlet 422 and a first air outlet 423 are respectively arranged at two ends of the first air duct; the minimum cross-sectional area of the first air duct is greater than or equal to the area of the first air inlet 422. The first housing 421 is mounted to the top surface of the floor panel 41 of the vehicle body 10; the first air inlet 422 is located at the bottom of the first shell 421 and is communicated with the through hole 411 in a sealing manner; the first outlet 423 is located on a side of the first housing 421 and communicates with the first inlet 422. The blower 43 includes a second housing 431, a rotating shaft, a fan blade, and a second air duct; the rotating shaft and the fan blades are installed in the second shell 431. The second air duct is disposed in the second housing 431, a second air inlet 432 and a second air outlet 433 are respectively disposed at two ends of the second air duct, and the second air outlet 433 is communicated to the second air inlet 432. The second housing 431 is mounted to a side of the first housing 421; the second air inlet 422 is located on the surface of the second housing 431 and is in sealed communication with the first air outlet 423.

The mounting bracket 42 is a mounting bracket for fixing the fan 43 and is also a ventilation duct, so that the number of components of the negative pressure device 40 is reduced, and the occupied space of the negative pressure device 40 is reduced. Because the automobile body 10 space is little, if current support, pipeline and fan need install respectively to the automobile body in, the operation is troublesome. In this embodiment, the blower 43 is first mounted on the mounting bracket 42 outside the vehicle body 10, so that the two form an integrated structure, and only the mounting bracket 42 needs to be mounted on the bottom surface of the vehicle body 10, and during mounting, the air inlet of the pipeline and the through hole 411 need to be arranged oppositely and communicated with each other; the installation process is simple and convenient.

In this embodiment, the first casing 421 is a flat oblique cylinder, which can reduce the length, width and height of the first casing 421, reduce the overall height of the robot, reduce the space occupied by the negative pressure device, and improve the structural strength. The ratio of the length of the projection of the first housing 421 on the upper surface of the vehicle body floor 41 (fixed base) to the width of the projection is 2 to 10. The projection of the first housing 421 on the upper surface of the vehicle body floor 41 (fixed base) is rectangular, rounded rectangular, or elliptical. Specifically, the first housing 421 is flat, on the one hand, the width of the first housing 421 can be reduced, so that the width of the first housing 421 is not too large, the structural strength can be improved, and the length of the first housing can be set longer without stress deformation, on the other hand, the through hole 411 of the first housing 421 at the position of the vehicle body bottom plate 41 can form a rectangle, a rounded rectangle, an oblong or an oval, a first air duct can be formed by utilizing a cavity structure in the first housing 421, the overall weight is reduced, and the first housing 421 has the functions of ventilation and support. First casing 421 is the oblique cylinder structure, can reduce the height of first casing 421 and increase the length of first casing 421 simultaneously to make the focus of first casing 421 of oblique cylinder structure lower than the focus of first casing 421 of vertical body structure, increased the focus stability of absorption formula robot 100. The inclination angle of the first casing 421 to the vehicle body floor 41 is between 30 degrees and 60 degrees, preferably 40 degrees, 45 degrees, and 50 degrees.

In the present embodiment, the ratio of the length of the projection of the second housing 431 on the upper surface of the vehicle body floor 41 (fixed base) to the width of the projection is in the range of 1.2 to 10, preferably 1.5, 2, 3, 4, 5, 6. The first and second cases 421 and 431 are each provided as a flat irregular cylinder having a height greater than its length and its width so that the projections of the first and second cases 421 and 431 on the upper surface of the vehicle body floor 41 are as small as possible. Like this, under the prerequisite of guaranteeing the wind gap area, save the space that installing support and air pipe occupy in automobile body 10 as far as possible, because automobile body 10 inner space is limited, can be so that battery and water tank volume can be bigger to strengthen the duration of a journey ability of robot.

In this embodiment, the through hole 411 and the first air inlet 422 on the vehicle body bottom plate 41 have the same shape and size, and are communicated with each other; the through-hole 411 comprises a rectangular or rounded rectangular or oblong; the ratio of the length of the through-hole 411 to its width is in the range of 2-10, preferably 2, 3, 4, 5 and 6. Preferably, the through hole 411 and the first air inlet 422 are both waist-shaped holes, so that on one hand, the cross-sectional area of the air inlet 422 can be enlarged as much as possible to increase the ventilation and the adsorption force, and on the other hand, the projection area of the first shell 421 on the upper surface of the vehicle body bottom plate 41 can be reduced, the length, the width and the height of the first shell 421 can be effectively shortened, and the occupied space of the first shell 421 can be reduced.

The lower half part of the first air duct is in a flat tubular shape, preferably, the area of the cross section of each position in the first air duct is greater than or equal to the area of the first air inlet 422, and the area 423 of the first air outlet 423 is greater than or equal to the area of the first air inlet 422, so that the ventilation capacity of the first air duct can be effectively increased, and the adsorption force of the adsorption device 30 can be improved.

The blower 43 includes a second housing 431, a rotating shaft, a fan blade, and a second air duct; the rotating shaft and the fan blades are arranged in the second shell 431, and the rotating shaft is perpendicular to the side surface of the first shell 421 provided with the first air outlet 422; the fan blades are mounted to the shaft side walls. After the blower is started, the rotating shaft drives the fan blades to rotate, so that air is pumped from the first air inlet 421 to the first air outlet 422. The ratio of the length of the fan blade to the width of the fan blade ranges from 1 to 10, preferably 1.2,1.5,1.8 or 2, and the second housing 431 is approximately a relatively flat cylinder, so that the projection area of the second housing 431 on the vehicle body bottom plate 41 is as small as possible.

In this embodiment, the negative pressure device 40 further includes a fastener 44, the second housing 431 is detachably mounted to a side surface of the first housing 421 by the fastener 44, and the second air inlet 422 on a surface of the second housing 431 is hermetically communicated to the first air outlet 423. As can be seen from the drawings, the fan 43 is mounted on the mounting bracket 42 by a fastener 44 and is suspended above the vehicle body bottom plate 41 (fixed foundation), so that the mounting bracket 42 has the dual functions of forming the first air duct and fixedly mounting the fan 43.

As shown in fig. 9, 10, 11 and 12, in the present embodiment, the negative pressure device 40 further includes a first mounting plate 45, a second mounting plate 46, a first mounting hole 47, a second mounting hole 48 and a fastener; the plurality of triangular first mounting plates 45 protrude from the top surface or the side wall of the first housing 421; the second mounting plate 46 protrudes from the top surface or the side wall of the second housing 431, and is disposed opposite to the first mounting plate 45. A first mounting hole 47 is formed in one side wall of the first mounting plate 45 or the first housing 421; a second mounting hole 48 is formed in one side wall of the second mounting plate 46 or the second housing 431 and is opposite to the first mounting hole 47; the fastener is preferably a bolt, and the bolt comprises a screw rod and a nut, wherein the screw rod penetrates through the first mounting hole 47 and the second mounting hole 48, and the screw rod is locked by the nut.

The adsorption robot comprises an adsorption device 30 arranged on a vehicle body 10; the vehicle body 10 comprises a bottom plate 11 and side plates 12 positioned on two sides of the bottom plate 11, wherein the bottom plate 11 and the side plates 12 on the two sides form a load bearing cavity; the bottom plate 11 of the vehicle body 10 is a fixed foundation; the adsorption device 30 is ring-shaped, and the top of the adsorption device is hermetically connected to the lower bottom surface of the bottom plate 11; wherein, the through hole 411 is located in the projection area of the adsorption device 30 on the bottom plate 11, and the negative pressure device 40 is installed on the top surface of the bottom plate 11. The adsorption device 30 and the bottom plate 11 of the vehicle body form a negative pressure cavity, and when the fan is started, the negative pressure cavity is vacuumized, so that the vehicle body 10 is effectively prevented from sliding off the photovoltaic panel.

Compared with the scheme in the background art, the through hole 411 is arranged at the top of the negative pressure cavity, the area of the through hole is far larger than the total area of the air holes of the air box 92 in the background art, and the adsorption force is larger; even set up than the less fan of fan power among the background art, also can guarantee the adsorption effect to can alleviate the weight and the volume of fan, save space, and promote robot's duration.

The edge of the photovoltaic panel is provided with a frame (usually 0.5-2 cm), and gaps (usually 1-4 cm) exist among a plurality of photovoltaic panels on one photovoltaic panel array, and when the adsorption robot 100 travels on the panel array, the frame or the gaps need to be crossed. If only set up an adsorption equipment 30, when adsorption equipment 30 was located frame or clearance top, automobile body 10 will lose the adsorption affinity, lead to the robot landing from the photovoltaic panel, consequently, preferably, adsorption equipment 30 need be set up to more than two, when a certain adsorption equipment 30 loses the adsorption affinity, other adsorption equipment 30 can also guarantee the adsorption effect.

When the number of the adsorption devices 30 is more than two, the adsorption devices 30 are arranged along the central line perpendicular to the adsorption type robot, so that the adsorption force of the vehicle body when crossing the obstacle is always ensured. The middle line is a connecting line between the head middle point and the tail middle point of the vehicle body. When the number of the negative pressure devices 30 is even (e.g. two or four), the same number of fans are arranged on the front side and the rear side of the vehicle body 10, so as to ensure that the rear side part is still effectively attached when the front side part passes through the obstacle to release pressure, and the front side part is effectively attached to the ground when the rear side part passes through the obstacle to release pressure as the equipment continues to move. Therefore, the space enclosed by the at least one negative pressure device 30 and the photovoltaic panel can form a sealing area, and better adsorption force is maintained. While ensuring that the center of gravity of the vehicle body 10 is as close as possible to the centerline of the vehicle body 10, ensuring that the vehicle body 10 is balanced.

In this embodiment, the adsorption robot further includes a limiting column 33, the limiting column 33 protrudes from the lower surface of the bottom plate 11 and is located in an annular shape surrounded by the adsorption device 30; the limiting column 33 is arranged adjacent to and opposite to the inner side wall of the adsorption device 30, and the minimum distance between the limiting column 33 and the adsorption device 30 is less than 1 cm; the height of the limiting column 33 is smaller than the minimum height of the adsorption device 30. The number of the limiting columns 33 is more than two, and the limiting columns 33 are uniformly distributed at the edge of the area surrounded by the inner side wall of the adsorption device 30.

As shown in fig. 4 to 6, in the present embodiment, the adsorption device 30 includes a buffer frame 31 and a wind resistance frame 32. The buffer frame 31 is annular, and the top of the buffer frame 31 is hermetically connected to the lower surface of the bottom plate 11 of the vehicle body 10; the height of the buffer frame 31 is adjustable.

As shown in fig. 13, the buffer frame 31 includes an annular top plate 311, an annular bottom plate 312, and a folding elastic ring 313; an annular top plate 311 is sealingly connected to the lower surface of the bottom plate 11; the annular base plate 312 is sealingly connected to the upper surface of the windage frame 32; the top of the folded resilient ring 313 is sealingly connected to the annular bottom plate 312 and its bottom is sealingly connected to the annular top plate 311. The folding elastic ring 313 can maintain the distance between the annular top plate 311 and the annular bottom plate 312 connected with the folding elastic ring, can have elastic deformation, can have a reset function after the distance between the annular top plate 311 and the annular bottom plate 312 is lengthened, and can lengthen the distance between the annular top plate 311 and the annular bottom plate 312 to buffer the running resistance when the vehicle body 10 runs. The annular top plate 311 and the annular bottom plate 312 are both rectangular, rounded rectangular or oblong annular structures. The front projections of the annular top plate 311, the annular bottom plate 312 and the folding elastic ring 313 on the bottom plate 11 are coincident.

The wind resistance frame 32 is annular, the top of the wind resistance frame 32 is hermetically connected to the lower surface of the buffer frame 31, and the buffer frame 31, the wind resistance frame 32 and the vehicle body bottom plate 41 jointly enclose a negative pressure cavity. The material of the wind resistance frame 32 is preferably hard rubber, hard silica gel, hard plastic or the like, and has good abrasion resistance. The windage frame 32 sags by gravity so that the bottom surface of the windage frame 32 contacts the upper surface of the photovoltaic panel. When the vehicle body 10 slowly advances, the upper part of the buffer frame 31 moves forwards along with the vehicle body, and the wind resistance frame 32 slowly moves along with the photovoltaic panel under the driving of the buffer frame 31, so that the air leakage of the negative pressure cavity is less, and a better adsorption effect is maintained.

During the slow movement of the wind resistance frame 32 against the photovoltaic panel, the folding elastic ring 313 of the buffer frame 31 cannot deform too much, otherwise the folding elastic ring 313 is in a fatigue state for a long time and is easy to damage. If the folded elastic ring 313 is stretched to the limit, a gap is generated between the wind resistance frame 32 and the photovoltaic panel, resulting in air leakage of the negative pressure chamber. Therefore, the adsorption robot 100 is further provided with a limiting column 33, and the limiting column 33 protrudes out of the lower surface of the bottom plate 11 and is located in the ring surrounded by the adsorption device 30; the limiting column 33 is adjacent to and opposite to the inner side wall of the adsorption device 30. The wind resistance frame 32 is the inner side wall of the adsorption device 30, the wind resistance frame 32 is annular and is provided with a front frame, a rear frame, a left frame and a right frame which are sequentially connected end to end, and the limiting column 33 is arranged adjacent to the front frame and the rear frame and adjacent to the left frame and the right frame, so that the limiting column 33 can prevent the wind resistance frame 32 from being too large in offset distance when the adsorption robot 100 travels in any direction.

When the vehicle body is static, the minimum distance between the limiting column 33 and the wind resistance frame 32 is less than 1 cm, and the minimum distance between the limiting column 33 and the buffer frame 31 is less than 1 cm; the height of the limiting column 33 is smaller than the minimum total height of the buffer frame 31 and the wind resistance frame 32; when the vehicle body 10 and the stopper post 33 move forward, the wind resistance frame 32 remains in place for a short time, and the wind resistance frame 32 moves backward relative to the vehicle body for a short time. If the moving distance is too long, the folding elastic ring 313 is easily damaged, the limiting column 33 can effectively limit the moving distance of the wind resistance frame 32, prevent the folding elastic ring 313 from deforming too much, and prevent the folding elastic ring 313 from being in a fatigue state for a long time. The height of the limiting column 33 is smaller than the minimum height of the adsorption device 30, so that the bottom of the limiting column 33 is prevented from rubbing against the photovoltaic panel and damaging the photovoltaic panel. When the vehicle body 10 moves forward or backward, the wind resistance frame 32 also moves backward or forward, and more than two limit posts 33 are arranged adjacent to the front frame and the rear frame, so that the wind resistance frame 32 can be prevented from being excessively deviated forward or backward. When the vehicle body 10 moves leftwards or rightwards, the wind resistance frame 32 also moves rightwards or leftwards, and more than two limiting columns 33 are arranged adjacent to the left side frame and the right side frame, so that the wind resistance frame 32 can be prevented from shifting too much rightwards or leftwards.

In this embodiment, the longitudinal section of the wind resistance frame 32 is approximately triangular or trapezoidal, the width of the top surface of the wind resistance frame 32 is greater than that of the bottom surface thereof, the bottom surface thereof is an outwardly convex annular arc-shaped surface, and the top surface thereof is directly or indirectly (through the cushion frame) connected to the lower surface of the vehicle body floor 11. The inner and outer sidewalls of the wind resistance frame 32 are inclined planes, so that the adsorption robot 100 can cross over obstacles such as the panel frame. Specifically, the wind resistance frame 32 is annular and has an inner side wall and an outer side wall which are inclined planes, the lower interval between the inner side wall and the outer side wall is smaller than the upper interval, the inner side wall and the outer side wall form a V shape, and the plane where the inner side wall is located and the horizontal plane form any angle between 30 degrees and 60 degrees, preferably 40 degrees, 45 degrees and 50 degrees; the included angle between the plane of the inner side wall and the plane of the outer side wall is any angle between 60 degrees and 90 degrees, preferably 65 degrees, 70 degrees, 75 degrees, 80 degrees and 85 degrees. The bottom surface of the wind resistance frame 32 is an outward convex annular arc-shaped surface, and the top surface of the wind resistance frame 32 is directly or indirectly hermetically connected to the lower surface of a fixed foundation. When the adsorption type robot 100 moves across the obstacle on the photovoltaic panel, the outer side wall of the wind resistance frame 32 contacts with the obstacle, the outer side wall is an inclined surface, so that the outer side wall of the wind resistance frame 32 can conveniently slide on the surface of the obstacle to be lifted, and when the inner side wall of the wind resistance frame 32 slides to contact with the obstacle, the inner side wall is an inclined surface, so that the inner side wall of the wind resistance frame 32 can conveniently slide on the surface of the obstacle to smoothly descend, and therefore stable obstacle crossing is achieved. The obstacles are blocky bulges on the surface of the photovoltaic panel 200, can be dry bird droppings, gravels and the like, and can also be strip-shaped structures at the joint of two adjacent photovoltaic panels 200.

When the vehicle body is static, no gap exists between the wind resistance frame 32 and the photovoltaic panel, and the adsorption effect is good; when the automobile body marchd, the windage frame 32 is dragged by buffering frame 31, slides along with the automobile body forward, and the slip in-process exists great clearance between stereoplasm windage frame 32 and the stereoplasm photovoltaic panel, leads to negative pressure chamber to leak out of the air, can influence adsorption effect. This embodiment adopts the combination mode of windage frame 32 and buffer frame 31 to form adsorption equipment 30, and buffer frame 31 has realized the stress action of buffering windage frame 32 through elastic deformation for closely laminate all the time between windage frame 32 and the photovoltaic panel.

The buffer frame 31, the wind resistance frame 32 and the limiting columns 33 jointly form a buffer structure, the stress effect of the wind resistance frame 32 can be buffered through the elastic deformation of the buffer frame 31, the wind resistance frame 32 and the photovoltaic panel are always tightly attached, no gap can be formed between the wind resistance frame 32 and the photovoltaic panel, and the adsorption effect is good; and the limiting column 33 supports the inner side wall of the wind resistance frame 32, so that the wind resistance frame does not deform greatly when the robot travels, the robot is prevented from slipping due to air leakage at the joint of the wind resistance frame 32 and the panel, and the adsorption type robot 100 is ensured to travel on the panel with the inclination angle of more than 30 degrees (even more than 40 degrees) and complete cleaning operation.

As shown in fig. 15, the adsorption device 30 further includes an elastic ring 34, which is a tubular ring, mounted to a lower surface of the wind resistance frame 32. Specifically, an annular groove 321 is formed in the bottom surface of the wind resistance frame 32, the bottom surface of the wind resistance frame 32 is a convex annular arc-shaped surface, and the annular groove 321 is concave in the middle of the annular arc-shaped surface; the annular groove 321 includes a notch, the elastic ring 34 is fixed in the annular groove 321 and extends from the notch to the outside of the wind resistance frame 32, and the height of the elastic ring 34 exposed outside the wind resistance frame 32 is about 0.2-1 cm, preferably 0.5, 0.6, 0.7 cm. The elastic ring 34 can reduce the gap between the wind resistance frame 32 and the photovoltaic panel, so that the air leakage of the negative pressure cavity is reduced as little as possible, and the adsorption effect of the wind resistance frame 32 is improved.

Wherein the longitudinal cross section of the elastic ring 34 is circular or rectangular with round corners. When the cross section of the elastic ring 34 is circular, on one hand, when the adsorption type robot 100 crosses an obstacle, the surface of the elastic ring 34 slides on the surface of the obstacle to be lifted, and then the surface of the elastic ring 34 slides on the surface of the obstacle to smoothly descend, so that the stable crossing of the obstacle is realized; on the other hand, the circular structure can promote the elasticity resilience performance, is convenient for increase the anti deformability of elastic ring 34. When the cross section of elasticity ring 34 is the rectangle, can reduce the height of adsorption robot 100 by circular cross section relatively, only need to set up the width of elasticity ring 34 this moment to be the same with the width of annular groove 321, can stabilize with elasticity ring 34 fixed extremely in the annular groove 321, elasticity ring 34 need not bulge in annular groove 321 a lot moreover, only need with windage frame 32 bottom surface lifting break away from the photovoltaic panel can, and the bottom surface of elasticity ring 34 is rectangular form, can increase and photovoltaic panel between the area of contact, ensure that windage frame 32's elasticity ring 34 can be laminated to the photovoltaic panel, and produce great frictional force, further promote ground effect and adsorption effect of grabbing.

The wind resistance frame 32 includes two semi-circular arc portions 3201 and two linear portions 3202, the two semi-circular arc portions 3201 are a left side frame and a right side frame of the wind resistance frame 32, and the two linear portions 3202 are a front side frame and a rear side frame of the wind resistance frame 32. Two ends of the linear portion 3202 are respectively and correspondingly connected with the ends of the two semi-circular arc portions 3201, that is, one end of each semi-circular arc portion 3201 is connected to one end of the linear portion 3202, and the other end thereof is connected to one end of the other linear portion 3202; the material of the semi-circular arc 3201 is preferably hard plastic, and the material of the linear part 3202 is preferably hard rubber, so that the hardness of the semi-circular arc 3201 is smaller than that of the semi-circular arc 3201, the semi-circular arc 3201 can play a role of cushioning, and the semi-circular arc 3201 realizes a function of supporting and fixing the linear part 3202.

This embodiment has through setting up the installing support and forms first wind channel and fixed mounting the dual function of fan has reduced part quantity, has reduced occupation space, and the installation is simple and convenient. And through the cross section of increase through-hole and first wind channel, and directly correspond the air outlet and the through-hole of fan and be connected, the condition that the gas pocket easily blockked up has been avoided, not only air volume and adsorption affinity have been increased, and effectively shorten the length of first casing, thereby longitudinal length has been reduced, and can set up the fan of miniwatt in order to lighten weight, thereby vacuum apparatus small light in weight, can reduce the whole volume of adsorption type robot, show the adhesive force that improves adsorption type robot, and set up spacing post support windage frame and make it not take place deformation when marcing, avoid windage frame easily to leak gas and lead the complete machine to skid, ensure that equipment can carry out the cleaning work reliably on inclination more than 20 degrees, even on 35 degrees and above panel. At present, the climbing robot can operate on a plane with an inclination angle of 40 degrees, and the climbing angle can be continuously improved according to structural performance optimization at the later stage.

Example 2

As shown in fig. 14, embodiment 2 includes all the technical features of embodiment 1, and is different in that, in order to further enhance the adsorption effect, the adsorption device 30 further includes a pressure device 35 in embodiment 2. The pressure device 35 is used for applying pressure to the wind resistance frame 32 in a direction away from the bottom plate 11. As shown in fig. 13, 14, 16, 17, and 18, in this embodiment, one end of the pressure device 35 is connected to the bottom plate 11, and the other end of the pressure device is connected to the wind resistance frame 32 to press the wind resistance frame 32 downward, so that the wind resistance frame 32 is attached to the panel, the pressure device 35 provides downward pressure to the wind resistance frame 32, so that the wind resistance frame 32 is attached to the upper surface of the photovoltaic panel as much as possible, and the elastic ring 34 on the lower surface of the wind resistance frame 32 can ensure the sealing performance of the negative pressure cavity, further improve the adhesion force of the suction robot 100, and can operate on an inclined plane with an inclination angle of 0-40 degrees. In fig. 15, the second outlet 433 is connected to an outlet duct 434, and the outlet duct 434 passes through the bottom plate 11 and exhausts air downwards.

In this embodiment, the pressure device 35 includes a base 351, a fixing plate 352, a mounting hole 353, a movable rod 354, and a spring 355; a base 351 mounted to a lower surface of the base plate 11; the fixing plate 352 protrudes from the inner side wall of the wind resistance frame 32 and is parallel to the bottom plate 11; the mounting hole 353 penetrates the fixing plate 352 and is disposed opposite to the base 11; one end of the movable rod 354 is provided with a head which is hinged to the base 351, the other end of the movable rod is inserted into the mounting hole 353, and the outer diameter of the movable rod 354 is smaller than the inner diameter of the mounting hole 353; the spring 355 is sleeved outside the movable rod 354, and has one end abutting against the head and the other end abutting against the lower surface of the fixed plate 352. The pressure device 35 enables the wind resistance frame 32 to be pressed downwards, so that the elastic ring 34 of the wind resistance frame 32 can be attached to the photovoltaic panel, and the adsorption effect can be further improved. Under the pressure effect, elastic ring 34 produces deformation, laminates to the photovoltaic panel, produces great frictional force, further promotes and grabs ground effect. If the movable rod 354 is fixed at its upper end to the bottom of the vehicle body 10 and at its lower end to the wind resistance frame 32, the wind resistance frame 32 is locked to the vehicle body 10, the wind resistance frame 32 moves in full synchronization with the vehicle body 10, and the buffer frame 31 cannot function. Therefore, in the embodiment, the ratio of the outer diameter of the movable rod 354 to the inner diameter of the mounting hole 353 is 0.5-0.9, and a gap exists between the outer side wall of the movable rod 354 and the inner side wall of the mounting hole 353, so that the movable rod 354 can swing within the mounting hole 353 by a certain angle, preferably, the angle is less than 10 degrees, or 20 degrees, or 30 degrees.

When the vehicle body moves, the upper end of the movable rod 354 is hinged to the bottom of the vehicle body 10 and can rotate in a certain angle; the lower end of the movable rod 354 can swing within the mounting hole 353 of the wind resistance frame 32 by a small amount, so that the wind resistance frame 32 can swing with respect to the vehicle body 10.

The wind resistance frame 32 can be buffered for a certain distance when the adsorption robot 100 travels, and rigid dragging is avoided. The pressure device 35 also has a function similar to that of the limiting column 33, can limit the sliding distance of the wind resistance frame 32, and avoids the wind resistance frame 32 from easily leaking air to cause the whole machine to slip.

The base 351 is a screw, and is screwed to the lower surface of the vehicle body 10. The head of the base 351 below the vehicle body 10 is provided with a screw groove 3511, the head of the movable rod 354 corresponds to the shape of the screw groove 3511, the head of the movable rod 354 is installed in the screw groove 3511, and the head of the movable rod 354 is hinged to the base 351.

Specifically, the base 351 has two opposite first through holes 3512 at the head thereof, which penetrate through two side walls of the screw groove 3511; the head of the movable rod 354 is provided with a second through hole 3541 which is arranged opposite to the first through hole 3512; the dwang 356 inserts to first through-hole 3512 and second through-hole 3541, the lateral wall at dwang 356 both ends is equipped with recessed ring channel 3561, be equipped with ring limiting plate 3562 in the ring channel 3561, ring limiting plate 3562's external diameter is greater than the internal diameter of first through-hole 3512, can make the rotatable formula of one end of dwang 356 install to first through-hole 3512 in, and can not follow first through-hole 3512 roll-off, make the rotatable formula of movable rod 354 head install to screw rod recess 3511 in, make the movable rod 354 head articulated to base 351. The annular limiting plate 3543 is arranged in the annular groove 3542 which is concave on the outer side wall of one end, away from the head, of the movable rod 354, the outer diameter of the annular limiting plate 3543 is larger than the inner diameter of the mounting hole 353, so that one end of the movable rod 354 can be rotatably or slidably mounted to the mounting hole 353 of the wind resistance frame, and cannot slide out of the mounting hole 353.

The beneficial effects of the utility model reside in that, a buffer structure and absorption formula robot is provided, have through setting up the installing support and form first wind channel and fixed mounting the dual function of fan has reduced part quantity, has reduced occupation space, and the installation is simple and convenient. The cross sections of the through hole and the first air channel are enlarged, and the air outlet of the fan is directly and correspondingly connected with the through hole, so that the situation that air holes are easily blocked is avoided, the ventilation volume and the adsorption force are increased, the length of the first shell is effectively shortened, the longitudinal length is reduced, a low-power fan can be arranged to reduce the weight, the negative pressure device is small in size and light in weight, the overall size of the adsorption type robot can be reduced, and the adhesive force of the adsorption type robot is remarkably improved; the buffer frame, the wind resistance frame and the limiting column form a buffer structure together, the adsorption device is formed by adopting a combination mode of the wind resistance frame and the buffer frame, the buffer frame realizes the stress effect of the buffer wind resistance frame through elastic deformation, so that the wind resistance frame and the photovoltaic panel are always tightly attached, no gap can be formed between the wind resistance frame and the photovoltaic panel, and the adsorption effect is good; and the limiting columns are arranged to support the wind resistance frame so that the wind resistance frame is not deformed when the wind resistance frame moves, the phenomenon that the wind resistance frame leaks air easily to cause the whole machine to skid is avoided, and the reliable cleaning operation of the equipment on a panel with the inclination of more than 30 degrees, even more than 40 degrees is ensured. And through setting up pressure device with the oppression the windage frame is attached on the panel, pressure device provides absorption positive pressure to the windage frame, the cooperation install extremely the leakproofness has been guaranteed to the elastic ring of the lower surface of windage frame, has further guaranteed the adhesive force of absorption formula robot, ensures to operate reliable and stable under the unstable operating mode, can operate on 40 degrees inclination's plane at present, and the later stage is optimized according to structural performance, and the angle of climbing will continue to promote.

The above are only preferred embodiments of the present invention, which will make it clear for a person skilled in the art how to practice the invention, and these embodiments do not limit the scope of the invention. For those skilled in the art, without departing from the principle of the present invention, several improvements and decorations can be made, and these improvements and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. A cushioning structure, comprising:

the wind resistance frame is annular;

the top of the buffer frame is connected to the lower surface of a fixed foundation, and the bottom of the buffer frame is connected to the upper surface of the wind resistance frame; the height of the buffer frame is adjustable.

2. The buffer structure of claim 1, wherein the buffer frame comprises

An annular top plate sealingly connected to a lower surface of the stationary base;

an annular base plate sealingly connected to an upper surface of the windage frame; and

a folded resilient ring having a top portion sealingly connected to the annular bottom plate and a bottom portion sealingly connected to the annular top plate.

3. The cushioning structure of claim 2,

the annular top plate and the annular bottom plate are both in rectangular or round-corner rectangular or oval annular structures.

4. The cushioning structure of claim 3,

the forward projections of the annular top plate, the annular bottom plate and the folding elastic ring on the fixed foundation are overlapped.

5. The cushioning structure of claim 1, wherein said fixed base is a flat plate, and forms a negative pressure chamber with said cushioning frame and said windage frame.

6. The cushioning structure of claim 5, further comprising

The limiting column protrudes out of the lower surface of the fixed foundation and is positioned in an annular shape formed by the buffer frame;

the limiting column is opposite to the inner side wall of the buffering frame.

7. The cushioning structure of claim 6,

the minimum distance between the limiting column and the buffer frame is less than 1 centimeter.

8. The cushioning structure of claim 6,

the height of the limiting column is smaller than the minimum total height of the buffering frame and the wind resistance frame.

9. The cushioning structure of claim 6,

when the number of the limiting columns is more than two,

more than two limiting columns are uniformly distributed at the edge of an area defined by the inner side wall of the buffering frame.

10. An adsorption robot comprising the buffer structure according to any one of claims 1 to 9.

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