Photovoltaic cleaning robot assisted lifting device

Abstract

The application relates to the technical field of auxiliary devices for cleaning equipment, and particularly discloses an auxiliary lifting device for a photovoltaic cleaning robot, which comprises a first connecting plate rotatably connected to a base, a first driving assembly arranged between the base and the first connecting plate, a controller fixedly connected to the base, a connecting frame fixedly connected to the bottom of the base, connecting feet rotatably connected to the connecting frame, a first stepping motor fixedly connected to the connecting frame, wheel bodies rotatably connected to the bottom of the connecting feet, and second driving assemblies arranged on the connecting feet. The four-wheel independent driving system is adopted to realize the omni-directional moving function by accurately coordinating the motion states of the wheel bodies, and the first connecting plate can be dynamically leveled to ensure that the photovoltaic cleaning robot placed on the auxiliary lifting device can always obtain horizontal stable bearing support.

Description

Technical Field

[0001] This invention relates to the field of auxiliary devices for cleaning equipment, specifically disclosing an auxiliary lifting device for a photovoltaic cleaning robot. Background Technology

[0002] Photovoltaic cleaning robots are essential equipment for the operation and maintenance of photovoltaic power plants. They are used to clean dust and other contaminants from the surface of photovoltaic panels, effectively ensuring the power generation efficiency of the photovoltaic system. In practical applications, due to the differences in installation height, tilt angle, and layout of photovoltaic arrays, cleaning robots need to be equipped with lifting devices to smoothly deliver them to the surface of the photovoltaic panels, enabling the cleaning robot to perform cleaning operations on photovoltaic panels at different heights and positions.

[0003] The lifting devices used in photovoltaic cleaning robots mainly employ electric push rods or scissor lift structures as their primary lifting solutions. While these structures can meet basic lifting requirements, their functionality is relatively limited and they are ill-suited for complex application scenarios. To improve equipment adaptability, modern designs typically integrate mobile functional modules into the lifting device. By adding wheeled, tracked, or legged walking mechanisms, the lifting device gains both lifting and movement capabilities, thereby expanding its application range.

[0004] However, the existing walking mechanism design is simple and has limited ability to pass through complex terrain. In fact, photovoltaic power stations are mostly located in special terrain areas such as deserts and mountains. These sites have environmental characteristics such as ground slope changes, local potholes and unevenness, and loose soil. As a result, the lifting device often performs poorly when facing these complex terrains, making equipment transportation difficult and seriously affecting operation and maintenance efficiency. In other words, the existing technology lacks flexible posture adjustment capabilities and is difficult to adapt to the changing working terrain. Summary of the Invention

[0005] This invention addresses the shortcomings of existing technologies in adaptability to complex terrain by proposing an auxiliary lifting device for photovoltaic cleaning robots that enhances their terrain adaptability, thereby improving the operational reliability and maintenance efficiency of photovoltaic cleaning robots in complex environments.

[0006] The technical solution of the present invention is: a photovoltaic cleaning robot auxiliary lifting device, comprising: a base, a scissor lift, a first electric push rod, and a second connecting plate; the device further comprises: a first connecting plate rotatably connected to the base, the scissor lift being connected between the first connecting plate and the second connecting plate; a first drive assembly disposed between the base and the first connecting plate; a controller fixedly connected to the base, the controller being electrically connected to the first electric push rod, the controller having a sensor group for environmental perception, used to generate a navigation map by fusing data and plan a global path based on the navigation map, and continuously optimizing the travel route according to the difficulty of road conditions and the time taken during travel; a connecting frame fixedly connected to the bottom of the base; connecting feet rotatably connected to the connecting frame, at least three sets of connecting feet being provided; a first stepper motor fixedly connected to the connecting frame, the output end of the first stepper motor being fixed to the connecting feet, the controller being electrically connected to each first stepper motor; a wheel rotatably connected to the bottom of the connecting feet; and a second drive assembly disposed on each connecting foot, the second drive assembly being connected to the wheel to drive the wheel to rotate.

[0007] In one embodiment, the device further includes: a second stepper motor fixedly connected to the wheel body, and a controller electrically connected to the second stepper motor; wheel spikes slidably connected to the wheel body, the wheel spikes being arranged at equal intervals along the circumference of the wheel body; and a control disk rotatably connected to the wheel body, the wheel spikes being slidably connected to the control disk, the output end of the second stepper motor being coaxially fixed with the control disk.

[0008] In one embodiment, the first drive assembly includes: a movable block slidably connected to the base; a transmission plate rotatably connected between the movable block and a first connecting plate; a threaded rod rotatably connected to the base, the threaded rod being threadedly connected to the movable block; and a first servo motor fixedly connected to the base, the controller being electrically connected to the first servo motor, the output end of the first servo motor being coaxially fixed with the threaded rod.

[0009] In one embodiment, the second drive assembly includes: a second servo motor fixedly connected to a connecting foot, a controller electrically connected to the second servo motor; two synchronous pulleys rotatably connected to the connecting foot, the output end of the second servo motor being coaxially fixed with one of the synchronous pulleys and the pulley body being coaxially fixed with the other synchronous pulley; and a synchronous belt wound between the two synchronous pulleys.

[0010] In one embodiment, the device further includes: a third connecting plate disposed on the second connecting plate; a connecting frame fixedly connected to the third connecting plate, the connecting frame containing fluid; telescopic columns slidably connected to the top of the connecting frame, the telescopic columns being arranged in a matrix and communicating with the connecting frame; a second electric push rod fixedly connected to the connecting frame, the controller being electrically connected to the second electric push rod; and a piston plate slidably connected to the connecting frame, the push rod of the second electric push rod being fixed to the piston plate, and the piston plate maintaining a dynamic sealing fit with the inner wall of the connecting frame when it is displaced.

[0011] In one embodiment, the device further includes a ball head fixedly connected to the top of the telescopic column, the ball head being in communication with the telescopic column.

[0012] In one embodiment, the device further includes: a docking plate rotatably connected to a third connecting plate; and a transmission assembly disposed between the docking plate and the connecting frame.

[0013] In one embodiment, the transmission assembly includes: a connecting pipe fixedly connected to the connecting frame, the connecting pipe communicating with the connecting frame; a piston rod slidably connected to the connecting pipe, wherein when the piston rod is displaced, its periphery maintains a dynamic sealing fit with the inner wall of the connecting pipe; and a transmission frame fixedly connected to the docking plate, wherein the piston rod and the transmission frame are slidably and rotatably connected.

[0014] In one embodiment, the device further includes a reset torsion spring fixedly connected between the docking plate and the third connecting plate.

[0015] In one embodiment, a third connecting plate is rotatably connected to a second connecting plate, and a set of first driving components is connected between the third connecting plate and the second connecting plate. In the first driving components, a moving block is slidably connected to the second connecting plate, a transmission plate is rotatably connected between the moving block and the third connecting plate, a threaded rod is rotatably connected to the second connecting plate, and a first servo motor is fixedly connected to the second connecting plate.

[0016] The beneficial effects of this invention are as follows: This invention employs a four-wheel independent drive system, achieving omnidirectional movement by precisely coordinating the motion of each wheel. This allows the invention to travel in various complex terrains, improving its stability and obstacle-crossing ability in irregular environments. Simultaneously, the dynamically levelable first connecting plate ensures that the photovoltaic cleaning robot placed on this invention always receives stable horizontal support, enhancing its operational reliability in complex environments. This invention utilizes a unique wheel spike switching structure, enabling the wheels to adapt to various ground conditions and maintain optimal grounding characteristics, thereby improving its travel performance and efficiency. This invention uses a combination of pressure-controlled matrix telescopic columns and ball joints. By automatically adjusting the extension of each column according to the robot's bottom contour, it precisely limits the photovoltaic cleaning robot, thus improving its placement stability. This invention uses an automatically deployable docking plate to facilitate the convenient transfer of the photovoltaic cleaning robot between the invention and photovoltaic panels. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the connection structure when the scissor lift is in the deployed state in this invention.

[0019] Figure 3 This is a schematic diagram of the connection structure between the base and the wheel in this invention.

[0020] Figure 4 This is a cross-sectional view of the connection structure between the connecting foot, wheel, and second drive assembly in this invention.

[0021] Figure 5 This is a cross-sectional view of the connection structure between the wheel body and the wheel spike in this invention.

[0022] Figure 6 This is a schematic diagram of the connection structure of the base, the first connecting plate, and the first driving component in this invention.

[0023] Figure 7 This is a schematic diagram showing the connection state of the first driving component unfolding the first connecting plate in this invention.

[0024] Figure 8 This is a schematic diagram showing the positional structure of the third connecting plate, connecting frame, and ball head in this invention.

[0025] Figure 9 This is a cross-sectional view of the connection structure of the connecting frame, telescopic column, and second electric push rod in this invention.

[0026] Figure 10 This is a schematic diagram of the telescopic column in the restricted state in this invention.

[0027] Figure 11 This is a schematic diagram showing the connection state of the first driving component of the present invention when the third connecting plate is deployed.

[0028] Figure 12 This is a schematic diagram of the connection structure between the docking plate and the transmission assembly in this invention.

[0029] Figure 13 This is a cross-sectional view of the connection structure when the docking plate is in the flipped state in this invention.

[0030] In the attached drawings, the following are the reference numerals: 11. Base; 12. First connecting plate; 13. Scissor lift; 1301. Slide rail; 1302. Support arm; 14. First electric push rod; 15. Second connecting plate; 16. First drive assembly; 1601. Moving block; 1602. Transmission plate; 1603. Threaded rod; 1604. First servo motor; 21. Controller; 22. Connecting frame; 23. Connecting foot; 24. First stepper motor; 25. Wheel; 26. Second drive assembly; 260. 1. Second servo motor; 2602. Synchronous pulley; 2603. Synchronous belt; 31. Second stepper motor; 32. Wheel spike; 33. Control panel; 41. Third connecting plate; 42. Connecting frame; 4201. Chamber; 4202. Partition plate; 43. Telescopic column; 44. Second electric push rod; 45. Piston plate; 46. Ball head; 51. Docking plate; 52. Transmission assembly; 5201. Connecting pipe; 5202. Piston rod; 5203. Transmission frame; 53. Reset torsion spring. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Example: Auxiliary lifting device for photovoltaic cleaning robot, combined with Figures 1-2As shown, the device includes: a base 11; a first connecting plate 12 rotatably mounted on the base 11 via a connecting shaft, the connecting shaft between the first connecting plate 12 and the base 11 being positioned at the front, causing the first connecting plate 12 to rotate and tilt forward to a lower front and higher rear position; a scissor lift 13 mounted on the first connecting plate 12, the scissor lift 13 consisting of multiple intersecting arms 1302 forming an X-shaped hinge structure, which achieves the telescopic movement of the entire scissor lift 13 structure by changing the included angle between the intersecting arms 1302; a second connecting plate 15 mounted on the scissor lift 13, the telescopic movement of the scissor lift 13 causing the second connecting plate 15 to rise and fall, the front arms 1302 of the scissor lift 13 rotatably mounted on the second connecting plate 15, the lower front arms 1302 of the scissor lift 13 rotatably mounted on the first connecting plate 12, and slide rails 1301 fixedly mounted on the rear top of the first connecting plate 12 and the rear bottom of the second connecting plate 15. The upper rear support arm 1302 of the scissor lift 13 is slidably mounted on the upper slide rail 1301, and the lower rear support arm 1302 of the scissor lift 13 is slidably mounted on the lower slide rail 1301, thereby achieving structural connection stability of the scissor lift 13 in the active state; the first electric push rod 14 is fixedly mounted on the first connecting plate 12, and the push rod of the first electric push rod 14 is connected to the lower rear support arm 1302 of the scissor lift 13 using a connector. The first electric push rod 14 drives the lower rear support arm 1302 of the scissor lift 13 to move back and forth, thereby achieving telescopic motion control of the overall structure of the scissor lift 13; the first drive assembly 16 is installed between the base 11 and the first connecting plate 12. The first drive assembly 16 is used to control the rotation of the first connecting plate 12 relative to the base 11. By controlling the first connecting plate 12 to always remain horizontal, the scissor lift 13 and the second connecting plate 15 on it are kept horizontal, ensuring that the photovoltaic cleaning robot can be placed stably.

[0033] When the first electric push rod 14 is activated, its push rod extends backward, pushing the lower rear support arm 1302 of the scissor lift 13 to move backward, controlling the vertical cross angle between the support arms 1302 of the scissor lift 13 to increase and the front-to-back cross angle to decrease, controlling the scissor lift 13 to retract as a whole and lower the second connecting plate 15; conversely, when the push rod of the first electric push rod 14 retracts forward, it pulls the support arm 1302 to move forward, controlling the vertical cross angle between the support arms 1302 of the scissor lift 13 to decrease and the front-to-back cross angle to increase, controlling the scissor lift 13 to extend as a whole and raise the second connecting plate 15.

[0034] Combination Figures 6-7As shown, the first drive assembly 16 includes: a movable block 1601 slidably mounted on the base 11, which moves back and forth; a transmission plate 1602 rotatably mounted between the movable block 1601 and the first connecting plate 12, which, when the movable block 1601 moves back and forth, drives the first connecting plate 12 to rotate around the connecting shaft between the movable block 1601 and the base 11 by rotating the transmission plate 1602; a threaded rod 1603 rotatably mounted on the base 11, which is threadedly mounted on the movable block 1601, and the rotational motion of the threaded rod 1603 is converted into the linear displacement of the movable block 1601 through the threaded pair; and a first servo motor 1604 fixedly mounted on the base 11, whose output shaft is coaxially fixed with the threaded rod 1603 using a coupling, providing rotational power to the threaded rod 1603. The first servo motor 1604 will precisely control the rotation amplitude of the first connecting plate 12 by adjusting the speed of the threaded rod 1603, thereby achieving flexible position adjustment of the first connecting plate 12.

[0035] When the first servo motor 1604 starts and drives the threaded rod 1603 to rotate clockwise, it controls the moving block 1601 to move backward. During this process, the angle between the transmission plate 1602 and the base 11 increases, and the angle between the transmission plate 1602 and the first connecting plate 12 also increases, increasing the distance between the first connecting plate 12 and the base 11, thereby achieving clockwise rotation control of the first connecting plate 12. Conversely, when the first servo motor 1604 drives the threaded rod 1603 to rotate counterclockwise, the moving block 1601 moves forward, the angle between the transmission plate 1602 and the first connecting plate 12 decreases, the distance between the first connecting plate 12 and the base 11 decreases, and the first connecting plate 12 rotates counterclockwise. By precisely adjusting the speed of the threaded rod 1603, linear control of the rotation rate of the first connecting plate 12 can be achieved: the speed of the threaded rod 1603 is positively correlated with the rotation rate of the first connecting plate 12; an increase in speed accelerates rotation, and a decrease in speed decelerates rotation.

[0036] Combination Figures 3-4 As shown, it also includes: a controller 21 fixedly installed on the front side of the base 11. The controller 21 is electrically connected to the first electric push rod 14 to control the scissor lift 13 to perform telescopic movement. The height H of the scissor lift is controlled by the displacement s of the first electric push rod, satisfying the following conditions: (α is the included angle of the scissor lift arm) To ensure lifting accuracy, the controller 21 is electrically connected to the first servo motor 1604 to control the rotation of the first connecting plate 12. The controller 21 has a built-in high-precision level module. Based on the tilt angle θ fed back by the level, the controller 21 sends a signal in real time to control the first servo motor 1604 to rotate the first connecting plate 12 at a speed v, so that the rotation angle of the first connecting plate is... satisfy (k is the transmission ratio coefficient), to achieve dynamic leveling of the first connecting plate 12; a connecting frame 22 fixedly installed at the bottom of the base 11; connecting feet 23 rotatably installed at the four corners of the connecting frame 22, the four connecting feet 23 can independently rotate freely in a full 360-degree circumference; a first stepper motor 24 fixedly installed at the four corners of the connecting frame 22, the output end of each first stepper motor 24 is fixedly installed to the corresponding connecting foot 23 through a coupling, each first stepper motor 24 independently provides rotational driving force to each connecting foot 23, the controller 21 is electrically connected to each first stepper motor 24 to precisely adjust the angle position of the connecting foot 23; rotatably installed at the connecting foot 2 The bottom wheel 25 contacts the ground. When the wheel 25 is rotated in a controlled manner, it will effectively drive the device forward through the friction generated with the ground. When the first stepper motor 24 drives the connecting foot 23 to rotate, the direction of movement of the device can be actively controlled by adjusting the deflection angle of the wheel 25. The second drive assembly 26 is installed on each connecting foot 23 and is connected to the wheel 25. It provides the driving force for the device by driving the wheel 25 to rotate. Each second drive assembly 26 independently controls the rotation of each wheel 25, so that any wheel 25 can be used as an active drive wheel to improve the motion performance and terrain adaptability of the device.

[0037] Combination Figure 4 As shown, the second drive assembly 26 includes: a second servo motor 2601 fixedly mounted on the connecting foot 23; a controller 21 electrically connected to the second servo motor 2601 to control the operation of the second servo motor 2601; two synchronous pulleys 2602 rotatably mounted on the connecting foot 23; the output end of the second servo motor 2601 is coaxially fixed to one of the synchronous pulleys 2602 using a coupling; and the wheel body 25 is coaxially fixed to the other synchronous pulley 2602; a synchronous belt 2603 wound between the two synchronous pulleys 2602; the synchronous belt 2603 realizes the synchronous rotation between the two synchronous pulleys 2602; when the second servo motor 2601 starts, it transmits power to the wheel body 25 through the synchronous belt 2603 and the synchronous pulleys 2602, thereby driving the rotation of the wheel body 25.

[0038] The second servo motors 2601 on the left and front right sides start synchronously, and the corresponding wheels 25 automatically become active drive wheels, providing smooth forward driving force and controlling the device to move forward. When turning is required, the first stepper motors 24 on the front left and front right sides work together to precisely adjust the deflection angle of the two wheels 25, realizing smooth turning movements. In special terrains such as narrow spaces, where the site conditions are insufficient for the device to turn around, by controlling the synchronous deflection angle of the four wheels 25 and switching the wheels 25 as active drive wheels, the device can quickly complete complex maneuvers such as turning in place or lateral translation, improving its mobility in different terrains. In summary, this device achieves omnidirectional movement by adopting a four-wheel independent drive system and precisely coordinating the movement state of each wheel 25. Furthermore, thanks to the four-wheel independent steering and drive capabilities, the device can complete complex direction adjustments in a single operation, thus avoiding the repeated movement and position correction process required by traditional solutions, significantly shortening the direction adjustment time and reducing energy consumption. Therefore, this device achieves a perfect unity of precise control and efficient movement.

[0039] Specifically, the controller 21 is equipped with a sensor group for environmental perception, generates a navigation map (including obstacle markings) by fusing data, plans a global path based on the navigation map, and continuously optimizes the route during travel based on the difficulty of road conditions and the time taken. Specifically, the sensor group in the controller 21 includes: 3D LiDAR, IMU, and ground-penetrating radar. Among them, the 3D LiDAR scans the environment of the photovoltaic panel matrix to obtain point cloud density. (points / m²) and vertical resolution and obstacle height With distribution density And through point cloud density (points / m²) and vertical resolution Constructing a terrain elevation model Based on the terrain elevation model Calculate the local mean elevation, calculate the standard deviation of the elevation values, and thus calculate the terrain roughness. ,in This is the local average elevation. For terrain roughness; The number of environmental feature points; the IMU is used to measure the vehicle body tilt angle. With roll angle Ground-penetrating radar collects ground adhesion coefficient. .

[0040] Furthermore, defining the terrain difficulty coefficient C as a multi-feature weighting function, we have:

[0041]

[0042] in, Let be the weighting coefficient, satisfying ; The larger the surface, the more rugged the terrain, and the lower the driving stability; when The higher the altitude, the denser the obstacles, increasing the complexity of obstacle avoidance; The smaller the value, the worse the ground adhesion and the lower the driving efficiency. The larger the value, the higher the energy consumption for climbing and the risk of slippage; that is, C can represent the predicted value of terrain traversal difficulty.

[0043] Calculation of single-segment travel time t based on dynamic model:

[0044] ,

[0045] Where L is the length of the road segment. The theoretical maximum speed is given by k, which is the difficulty attenuation coefficient. Furthermore, the exponential function reflects the nonlinear inhibitory effect of difficulty on speed (e.g., ...). hour, , hour ).

[0046] Planning the global path is achieved through two stages: a global coarse planning stage and a local refinement stage. The global coarse planning stage generates an initial path based on the prior map. ,by

[0047]

[0048] Let be the cost function: where, The cost of road section renewal Let be the length of the i-th road segment. Let i be the predicted difficulty value for the i-th road segment. The weighting coefficients are used for the real-time acquisition of environmental feature point cloud density during the local refinement stage. (points / m²) and vertical resolution and obstacle height With distribution density The difficulty prediction value is dynamically updated, and the road segment update cost is calculated. This is continuously applied based on the road segment update cost. Algorithm path correction.

[0049] Combination Figures 4-5As shown, it also includes: a second stepper motor 31 fixedly installed inside the wheel body 25, the controller 21 being electrically connected to the second stepper motor 31 to control the operation of the second stepper motor 31; wheel spikes 32 slidably installed on the wheel body 25, the wheel spikes 32 being arranged at equal intervals along the circumference of the wheel body 25; a control disk 33 rotatably installed inside the wheel body 25, the control disk 33 being provided with obliquely arranged sliding grooves, the wheel spikes 32 being slidably installed with the control disk 33 through the sliding grooves, and the output end of the second stepper motor 31 being coaxially fixed with the control disk 33 using a coupling.

[0050] The second stepper motor 31 starts, and by driving the control disk 33 to rotate forward and backward, the extension and retraction state of the spur wheel 32 can be precisely adjusted. Specifically, the extension and retraction state of the spur wheel is determined by the ground hardness parameter μ: when At that time, the control panel rotates 33 degrees. The drive wheel spike 32 extends from inside the wheel body 25, with an extension length of... ( The variable radius of curvature of the spikes (32) enhances adhesion on soft surfaces, effectively preventing slippage and improving climbing performance on slopes. In hard ground mode, the spikes 32 retract completely into the wheel body 25 to minimize rolling resistance, ensuring smooth operation and low energy consumption at high speeds. Therefore, by using a variable wheel body 25 structure, the device can automatically adapt to various driving environments, adjusting the working state of the spikes 32 accordingly to maintain optimal ground contact characteristics. Furthermore, the device features a closed-loop control design, equipped with a pressure sensor and road surface recognition module, enabling rapid mode switching and providing a protection mechanism against accidental triggering.

[0051] Combination Figure 8 and Figure 11 As shown, it also includes: a third connecting plate 41 rotatably mounted on the second connecting plate 15 via a connecting shaft. The connecting shaft between the third connecting plate 41 and the second connecting plate 15 is located at the front, so that the third connecting plate 41 rotates to tilt forward in a state of low front and high back. A set of first drive components 16 is installed between the third connecting plate 41 and the second connecting plate 15. The first drive components 16 realize the control of the rotation of the third connecting plate 41. The moving block 1601 of the first drive components 16 is slidably mounted on the second connecting plate 15, the transmission plate 1602 is rotatably mounted between the moving block 1601 and the third connecting plate 41, the threaded rod 1603 is rotatably mounted on the second connecting plate 15, and the first servo motor 1604 is fixedly mounted on the second connecting plate 15.

[0052] The first servo motor 1604 on the second connecting plate 15 is started, which controls the rotation of the third connecting plate 41. The rotation of the third connecting plate 41 is aligned with the angle of the photovoltaic panel. At this time, the device moves to the highest position of the photovoltaic panel, and the photovoltaic cleaning robot placed on the device can smoothly transfer to the photovoltaic panel to carry out cleaning work.

[0053] Combination Figure 8 and Figure 10 As shown, it also includes: a connecting frame 42 fixedly installed on the third connecting plate 41, with a chamber 4201 provided inside the connecting frame 42, and fluid provided in the chamber 4201; telescopic columns 43 slidably installed on the top of the connecting frame 42, the telescopic columns 43 being arranged in a matrix and communicating with the chamber 4201; a second electric push rod 44 fixedly installed inside the connecting frame 42, the controller 21 being electrically connected to the second electric push rod 44 to control the operation of the second electric push rod 44; and a piston plate 45 slidably installed inside the chamber 4201, the push rod of the second electric push rod 44 being fixed to the piston plate 45 using a connector, and the piston... When the plate 45 is displaced, its periphery maintains a dynamic sealing fit with the inner wall of the chamber 4201. The displacement of the piston plate 45 will dynamically adjust the fluid distribution in the chamber 4201. The connecting frame 42 is provided with a partition plate 4202, which divides the chamber 4201 into two interconnected sections. The second electric push rod 44 and the piston plate 45 are set in the lower half of the chamber 4201. By optimizing the relative position layout of the telescopic column 43 and the second electric push rod 44, it is ensured that their movement trajectories do not interfere with each other. The ball head 46 is fixedly installed on the top of the telescopic column 43 and is connected to the telescopic column 43 to form a pressure self-balance.

[0054] The second electric actuator 44 is activated, controlling the movement of the piston plate 45 to compress the volume inside the connecting frame 42, thus increasing the fluid pressure inside. This drives the matrix-arranged telescopic columns 43 to extend outward synchronously. Conversely, increasing the volume of the chamber 4201 reduces the fluid pressure inside the chamber 4201, causing the telescopic columns 43 to retract. A pressure compensation valve is installed inside the connecting frame 42, which is electrically connected to the second electric actuator 44 to form a closed-loop control. By dynamically maintaining the optimal working pressure range within the connecting frame 42, the force transmission function of the fluid is ensured while preventing the connecting frame from... The internal overload of 42 improves the performance of the fluid pressure section of this device. When the telescopic column 43 extends, the fluid synchronously fills the cavity of the ball head 46, causing it to expand into a spherical contact surface. This ensures that: the spherical profile of the ball head 46 forms point contact with the photovoltaic cleaning robot, reducing contact stress and improving the safety of the photovoltaic cleaning robot; the fluid forms a buffer layer inside the ball head 46, absorbing impact energy; and the adaptive spherical contact method allows for deflection tolerance, effectively preventing jamming between the telescopic column 43 and the photovoltaic cleaning robot.

[0055] When the photovoltaic cleaning robot is placed on the third connecting plate 41, the telescopic columns 43 will automatically adjust the extension of each column according to the bottom contour of the robot. At the same time, the ball head 46 expands and takes shape under the action of fluid pressure. Therefore, the photovoltaic cleaning robot will be precisely restrained so that it can be stably placed on this device. Adaptive and compliant docking is achieved through the spherical contact surface and the fluid buffer layer. When the pressure compensation valve senses the pressure value in the chamber 4201 to the limit value, the pressure compensation valve will send a real-time feedback signal to the second electric push rod 44 to control it to close, thereby controlling the piston plate 45 to stop moving, so as to prevent the pressure of the telescopic columns 43 from resisting the photovoltaic cleaning robot and causing negative effects.

[0056] Combination Figures 12-13 As shown, it also includes: a docking plate 51 rotatably mounted on the front side of the third connecting plate 41, the docking plate 51 being used to dock with the photovoltaic panel, enabling the photovoltaic cleaning robot to be stably transferred onto the photovoltaic panel; a transmission assembly 52 disposed between the docking plate 51 and the connecting frame 42, the transmission assembly 52 being used to transmit fluid pressure changes within the connecting frame 42 to the docking plate 51, thereby enabling the docking plate 51 to automatically unfold; and a reset torsion spring 53 sleeved on the rotating shaft of the docking plate 51, the two ends of the reset torsion spring 53 being fixed to the docking plate 51 and the third connecting plate 41 respectively, the reset torsion spring 53 being used to assist the operation of the transmission assembly 52, enabling the docking plate 51 to better rotate in the opposite direction and reset.

[0057] Combination Figures 12-13 As shown, the transmission assembly 52 includes: a connecting pipe 5201 fixedly installed on the connecting frame 42, the connecting pipe 5201 communicating with the upper half of the chamber 4201 of the connecting frame 42; a piston rod 5202 slidably installed on the connecting pipe 5201, the piston rod 5202 maintaining a dynamic sealing fit with the inner wall of the connecting pipe 5201 when it is displaced; and a transmission frame 5203 fixedly installed on the docking plate 51, the end of the transmission frame 5203 being provided with a sliding groove, the piston rod 5202 sliding and rotating with the transmission frame 5203 through the sliding groove.

[0058] When the fluid pressure within the control connecting frame 42 increases, the fluid pressure also pushes the piston rod 5202 out, which in turn pushes the transmission frame 5203 to control the rotation of the docking plate 51 until it is perpendicular to the third connecting plate 41. The reset torsion spring 53 deforms, and at this point, the docking plate 51 is in a folded state, reducing its horizontal projected area and thus lowering the risk of collision during the device's transfer process. Simultaneously, the period when the fluid pressure in the control chamber 4201 increases corresponds to the period when the telescopic column 43 restricts the photovoltaic cleaning robot and performs the transfer; conversely, when the piston rod 5202 is retracted into the connecting pipe 5201, the docking plate 51 rotates and unfolds, while the telescopic column 43 retracts into the connecting frame 42, unlocking the restriction on the photovoltaic cleaning robot. The unfolded docking plate 51 can then dock, facilitating the photovoltaic cleaning robot's position transfer. The use of the transmission component 52 enables the automatic unfolding and retraction of the docking plate 51 without the need for additional control, making it convenient to use.

[0059] When using this device, place the photovoltaic cleaning robot on the third connecting plate 41. Then, control the extension of the telescopic column 43 to stabilize the photovoltaic cleaning robot on the device by restricting its position. After completion, control the rotation of the wheels 25 to drive the device to move and transfer the photovoltaic cleaning robot to the highest position of the photovoltaic panel. During the movement, the device can freely switch the active drive wheels, change the direction and angle of travel, and switch the state of the wheels 25 according to the road conditions. It also dynamically controls the rotation of the first connecting plate 12 to ensure the photovoltaic cleaning robot placed on the device can maintain its position. To prevent tipping and improve the safety of the photovoltaic cleaning robot, the device is kept level to prevent tipping. When the photovoltaic cleaning robot is moved to the side of the highest position of the photovoltaic panel, the direction of the device is adjusted so that the front of the device aligns with the side facing the highest position of the photovoltaic panel. The scissor lift 13 is then extended to lift the photovoltaic cleaning robot, and the third connecting plate 41 is rotated to the same angle as the photovoltaic panel. The telescopic column 43 is then retracted to unlock the photovoltaic cleaning robot. During this process, the docking plate 51 automatically unfolds and docks between the photovoltaic panel and the third connecting plate 41. At this point, the photovoltaic cleaning robot can be easily transferred to the photovoltaic panel for cleaning operations.

[0060] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A lifting device for photovoltaic cleaning robots, including: The device comprises a base (11), a scissor lift (13), a first electric push rod (14), and a second connecting plate (15); characterized in that the device further comprises: a first connecting plate (12) rotatably connected to the base (11), the scissor lift (13) being connected between the first connecting plate (12) and the second connecting plate (15); a first drive assembly (16) disposed between the base (11) and the first connecting plate (12), the first drive assembly (16) controlling the first connecting plate (12) to rotate relative to the base (11) to adjust the rotation of the first connecting plate (12) to maintain horizontality; and a controller (21) fixedly connected to the base (11). The controller (21) is electrically connected to the first electric push rod (14) to control its operation. The controller (21) is equipped with a sensor group for environmental perception, which is used to generate a navigation map by fusing data and plan a global path based on the navigation map. During the journey, the route is continuously optimized according to the difficulty of the road conditions and the time taken. The connecting frame (22) is fixedly connected to the bottom of the base (11). The connecting feet (23) are rotatably connected to the connecting frame (22). There are at least three sets of connecting feet (23), and each connecting foot (23) can rotate independently in the full circumference. The first stepper motor is fixedly connected to the connecting frame (22). 24), the output end of the first stepper motor (24) is fixed to the connecting foot (23), the controller (21) is electrically connected to each first stepper motor (24) to control its operation; the wheel (25) is rotatably connected to the bottom of the connecting foot (23); the second drive assembly (26) is set on each connecting foot (23), the second drive assembly (26) is connected to the wheel (25) to drive the wheel (25) to rotate, and each second drive assembly (26) independently controls each wheel (25); the device also includes: a third connecting plate (41) set on the second connecting plate (15); fixedly connected to the third connecting plate (41) The connecting frame (42) contains fluid; the telescopic column (43) is slidably connected to the top of the connecting frame (42), the telescopic column (43) is arranged in a matrix, and the telescopic column (43) is connected to the connecting frame (42); the second electric push rod (44) is fixedly connected to the connecting frame (42), and the controller (21) is electrically connected to the second electric push rod (44) to control its operation; the piston plate (45) is slidably connected to the connecting frame (42), the push rod of the second electric push rod (44) is fixed to the piston plate (45), and when the piston plate (45) is displaced, its periphery maintains a dynamic sealing fit with the inner wall of the connecting frame (42).

2. The photovoltaic cleaning robot auxiliary lifting device as described in claim 1, characterized in that, The device further includes: a second stepper motor (31) fixedly connected inside the wheel body (25), a controller (21) electrically connected to the second stepper motor (31) to control its operation; wheel spikes (32) slidably connected to the wheel body (25), the wheel spikes (32) being arranged at equal intervals along the circumference of the wheel body (25); a control disk (33) rotatably connected inside the wheel body (25), the wheel spikes (32) being slidably connected to the control disk (33), and the output end of the second stepper motor (31) being coaxially fixed with the control disk (33).

3. The photovoltaic cleaning robot auxiliary lifting device as described in claim 2, characterized in that, The first drive assembly (16) includes: a movable block (1601) slidably connected to the base (11); a transmission plate (1602) rotatably connected between the movable block (1601) and the first connecting plate (12); a threaded rod (1603) rotatably connected to the base (11), the threaded rod (1603) being threadedly connected to the movable block (1601); a first servo motor (1604) fixedly connected to the base (11), the controller (21) being electrically connected to the first servo motor (1604) to control its operation, and the output end of the first servo motor (1604) being coaxially fixed with the threaded rod (1603).

4. The photovoltaic cleaning robot auxiliary lifting device as described in claim 3, characterized in that, The second drive assembly (26) includes: a second servo motor (2601) fixedly connected to the connecting foot (23), a controller (21) electrically connected to the second servo motor (2601) to control its operation; two synchronous pulleys (2602) rotatably connected to the connecting foot (23), the output end of the second servo motor (2601) being coaxially fixed with one of the synchronous pulleys (2602), and the wheel body (25) being coaxially fixed with the other synchronous pulley (2602); and a synchronous belt (2603) wound between the two synchronous pulleys (2602).

5. The photovoltaic cleaning robot auxiliary lifting device as described in claim 4, characterized in that, The device further includes a ball head (46) fixedly connected to the top of the telescopic column (43), and the ball head (46) is connected to the telescopic column (43).

6. The photovoltaic cleaning robot auxiliary lifting device as described in claim 5, characterized in that, The device further includes: a docking plate (51) rotatably connected to the third connecting plate (41), the docking plate (51) being used to dock with the photovoltaic panel; and a transmission component (52) disposed between the docking plate (51) and the connecting frame (42), the transmission component (52) being used to transmit the fluid pressure change in the connecting frame (42) to the docking plate (51) to control the docking plate (51) to rotate.

7. The photovoltaic cleaning robot auxiliary lifting device as described in claim 6, characterized in that, The transmission assembly (52) includes: a connecting pipe (5201) fixedly connected to the connecting frame (42), the connecting pipe (5201) communicating with the connecting frame (42); a piston rod (5202) slidably connected to the connecting pipe (5201), the piston rod (5202) maintaining a dynamic sealing fit with the inner wall of the connecting pipe (5201) when it is displaced; and a transmission frame (5203) fixedly connected to the docking plate (51), the piston rod (5202) and the transmission frame (5203) being slidably and rotatably connected.

8. The photovoltaic cleaning robot auxiliary lifting device as described in claim 7, characterized in that, The device further includes a reset torsion spring (53) fixedly connected between the docking plate (51) and the third connecting plate (41), the reset torsion spring (53) being used to assist the transmission assembly (52).

9. The photovoltaic cleaning robot auxiliary lifting device as described in claim 8, characterized in that, The third connecting plate (41) is rotatably connected to the second connecting plate (15). A set of first drive components (16) is connected between the third connecting plate (41) and the second connecting plate (15). The moving block (1601) in the first drive component (16) is slidably connected to the second connecting plate (15). The transmission plate (1602) is rotatably connected between the moving block (1601) and the third connecting plate (41). The threaded rod (1603) is rotatably connected to the second connecting plate (15). The first servo motor (1604) is fixedly connected to the second connecting plate (15).

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