A cleaning robot ferrying device and a ferrying method capable of passing through a partition

Abstract

The present application relates to photovoltaic module cleaning technical field, specifically to a kind of cleaning robot ferry device and ferry method through partition wall, including two ferry cars and the ferry track matched with ferry car, the ferry car is used to correspond arrangement in the left and right sides of partition wall, the ferry track is arranged between two ferry cars to be used to move between two ferry cars for cleaning robot;The ferry car includes base, lifting mechanism and carrier, the carrier is used to carry cleaning robot, carrier is movably assembled on base, under the driving of lifting mechanism, carrier has first docking position corresponding to photovoltaic panel on its active stroke to transfer between ferry car and photovoltaic panel for cleaning robot, and second docking position corresponding to conveying track to transfer between ferry track and corresponding ferry car for cleaning robot;The present application can realize the transfer operation of cleaning robot on partition wall, and reduces the layout cost of photovoltaic cleaning equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic module cleaning, in particular to a cleaning robot transfer device capable of passing through a partition wall and a transfer method. BACKGROUND

[0002] With the continuous growth of power demand, solar power generation has become a preferred solution for sustainable and efficient energy, and is widely used in industrial and commercial energy fields. However, the power generation efficiency of photovoltaic panels is affected by the cleanliness of the panel surface. In order to maintain high power generation efficiency of photovoltaic panels, regular cleaning of photovoltaic panels is required. Photovoltaic cleaning robots are intelligent cleaning equipment developed for the dust problem of photovoltaic panels. Existing photovoltaic cleaning robots can automatically clean a single photovoltaic panel.

[0003] For example, a photovoltaic cleaning robot capable of climbing a large slope is disclosed in Chinese patent application publication CN118631158A. By adding a plurality of adsorption units to the track climbing mechanism, additional support for climbing is provided, so that the weight distribution of the photovoltaic robot is more uniform during climbing, reducing the risk of tilting or sliding on uneven surfaces. At the same time, the negative pressure generated by the adsorption units increases the normal pressure between the photovoltaic cleaning robot and the working surface, increasing the friction and grip between the track and the working surface, allowing the photovoltaic cleaning robot to freely walk and work on a large slope without damaging the photovoltaic panel.

[0004] However, in order to avoid mutual shading between adjacent photovoltaic panels, photovoltaic panels are usually arranged in an array. When laying photovoltaic panels on existing industrial and commercial rooftops, in order to reduce the cost of photovoltaic cleaning robots, photovoltaic panels are usually laid continuously for a long distance to facilitate continuous cleaning by the cleaning robot. However, due to the different structures of different building rooftops, there may be partition walls on the laying path of the photovoltaic panels, which prevents continuous laying of photovoltaic panels. The above-mentioned photovoltaic cleaning robot cannot continuously clean photovoltaic panels on both sides of the partition wall, and a photovoltaic cleaning robot in the same area cannot clean multiple rows of photovoltaic panels. Therefore, multiple cleaning robots need to be installed in different rows in the same area and in different areas separated by partition walls, which undoubtedly increases the cost of laying photovoltaic equipment and subsequent maintenance costs.

[0005] There are glass cleaning robots in the prior art that can cross obstacles, such as the wall climbing cleaning robot disclosed in Chinese patent application publication CN106889957A. By the suction and exhaust of two air suction pumps, one robot arm is fixed, and the other robot arm is lifted by the double-output shaft rudder to make the entire robot body rise. The cleaning device is lifted by the screw nut to realize the function of crossing obstacles. However, the obstacles between adjacent glass panels are relatively narrow, while the distance between different rows and different areas of photovoltaic panels is relatively large. At the same time, photovoltaic panels are usually installed at an angle, so this device cannot cross obstacles between different photovoltaic panels.

[0006] Therefore, there is a need for a shuttle vehicle that can enable a photovoltaic cleaning robot to transfer between different rows and different areas of photovoltaic panels, thereby reducing the layout and later maintenance costs of the photovoltaic cleaning robot. SUMMARY

[0007] The present application provides a cleaning robot shuttle device capable of transferring between different rows and different areas of photovoltaic panels, thereby reducing the layout and maintenance costs of the photovoltaic cleaning robot.

[0008] To solve the above problems, the present application provides a cleaning robot shuttle device capable of passing through a partition wall, which adopts the following technical solutions:

[0009] A cleaning robot shuttle device capable of passing through a partition wall, comprising two shuttle vehicles and a shuttle track matched with the shuttle vehicles, the shuttle vehicles are arranged on the left and right sides of the partition wall, and the shuttle track is arranged between the two shuttle vehicles for the cleaning robot to move between the two shuttle vehicles.

[0010] The shuttle vehicle comprises a base, a lifting mechanism and a carrying frame, the carrying frame is used to carry the cleaning robot, and the carrying frame is movably assembled on the base, under the drive of the lifting mechanism, the carrying frame has a first docking position corresponding to the photovoltaic panel in its active stroke for the cleaning robot to transfer between the shuttle vehicle and the photovoltaic panel, and a second docking position corresponding to the conveying track for the cleaning robot to transfer between the shuttle track and the corresponding shuttle vehicle.

[0011] Further, one end of the carrying frame is rotatably assembled with the base through a hinge shaft, and the lifting mechanism drives the carrying frame to swing up and down around the hinge shaft to assemble the carrying frame on the base.

[0012] Further, the lifting mechanism is a telescopic rod mechanism, which comprises a support and a telescopic rod telescopically assembled on the support, one of the support and the telescopic rod is hinged with the base, and the other is hinged with the carrying frame, so as to drive the carrying frame to swing up and down during the telescopic movement of the telescopic rod.

[0013] Further, the base comprises a bottom frame, a support column and an inclined strut, the support column is fixed at one end of the bottom frame, and the inclined strut is obliquely installed between the support column and the bottom frame, the carrying frame is hinged with the support column, and one of the support and the telescopic rod is hinged with the inclined strut to realize the hinged assembly with the base.

[0014] Further, the transfer vehicle further comprises a rotation limiting assembly, the rotation limiting assembly comprises a limiting plate, a limiting seat and a limiting rod, the limiting plate extends along the up-down direction and is fixedly assembled with the bearing frame, the limiting plate is provided with an arc-shaped limiting groove extending along the up-down direction, the limiting seat is fixed on the base, and the limiting rod is fixed on the limiting seat and penetrates through the limiting groove to limit the rotation angle of the bearing frame in the up-down direction.

[0015] Further, two front-rear telescopic stoppers are movably assembled on the bearing frame, the stoppers are located on the stroke of the cleaning robot on the bearing frame, the stoppers have an extended position of extending out of the bearing frame to stop the cleaning robot and a retracted position of retracting into the bearing frame for the cleaning robot to pass through, and the bearing frame is further provided with a direct acting element for driving the stoppers to switch between the extended position and the retracted position to limit the stroke of the cleaning robot on the bearing frame.

[0016] Further, the stoppers are limiting stop rods, two limiting stop rods are respectively arranged on the left and right sides of the front end of the bearing frame along the front-rear direction, the limiting stop rods are provided with a lever between them, the rear ends of the limiting stop rods are respectively hinged to the two ends of the lever, and the middle part of the lever is hinged with a support, the support is fixed on the support frame, and the direct acting element is an electric push rod, the output end of the electric push rod is hinged to one end of the lever to control the limiting stop rods to switch between the extended position and the retracted position.

[0017] Further, each of the transfer vehicles is provided with a front-rear extending conveying track below, and the transfer vehicle moves along the conveying track.

[0018] Further, the transfer vehicle further comprises a safety locking mechanism, the safety locking mechanism comprises a driving element, a locking rod and a locking ring, the driving element is installed on the base, the locking rod extends along the left-right direction and is fixedly connected with the output end of the driving element, and the locking ring is fixed on the conveying track and is used for the locking rod to insert to achieve the locking of the transfer vehicle on the conveying track.

[0019] The cleaning robot transfer device provided by the application has the following advantages:

[0020] 1. The cleaning robot ferrying device capable of passing through the partition wall provided in the application comprises a ferrying track and a ferrying vehicle, so that the cleaning robot can be transferred to the ferrying vehicle on the opposite side of the partition wall through the ferrying vehicle and the ferrying track after completing the cleaning work of the photovoltaic panel on one side of the partition wall, and then be moved to the corresponding photovoltaic panel through the ferrying vehicle, thereby realizing the transfer function of the cleaning robot across the partition wall, improving the working range of the cleaning robot, and reducing the layout cost of the photovoltaic cleaning equipment. In addition, the setting of the ferrying vehicle can enable the cleaning robot to transfer between multiple rows of photovoltaic panels, thereby enabling the cleaning robot to complete the cleaning work of multiple rows of photovoltaic panels, facilitating the overall planning during the initial installation of the equipment, and being beneficial to improving the working efficiency of the photovoltaic cleaning equipment and reducing the investment cost and the later maintenance cost of the cleaning robot.

[0021] 2. Through the cooperation of the limiting plate, the limiting rod and the limiting seat, the angle range of the rotating bearing frame around the hinge end can be limited by the arc-shaped slot on the limiting plate, so that the bearing frame is prevented from rotating excessively, the safety and reliability of the ferrying vehicle are improved, and the bearing frame is ensured to rotate within a safe angle range.

[0022] 3. The combination of the straight-moving piece, the lever, the support and the limiting stop rod, and the connection of the output end of the straight-moving piece with the lever, can control the extension and retraction states of the two limiting stop rods. During the movement of the cleaning robot from the photovoltaic panel to the bearing frame, the limiting stop rod in the forward direction of the cleaning robot will remain in the extended state, limiting the forward position of the cleaning robot and preventing it from falling, so as to ensure the stability of the cleaning robot during the transfer process. When the cleaning robot is moved from the bearing frame to the photovoltaic panel, the limiting stop rod in the moving direction of the cleaning robot will remain in the retracted state to avoid the cleaning robot.

[0023] 4. The safety locking mechanism arranged at the bottom of the ferrying vehicle can lock the ferrying vehicle on the conveying track through the cooperation of the locking rod and the locking ring in windy weather, so as to ensure the stability and safety of the ferrying vehicle in windy weather.

[0024] To solve the above problems, the ferrying method of the cleaning robot capable of passing through the partition wall provided in the application adopts the following technical scheme:

[0025] The ferrying method of the cleaning robot capable of passing through the partition wall is realized by using the above-mentioned cleaning robot ferrying device capable of passing through the partition wall, and the specific steps are as follows:

[0026] S1, the moving-in ferrying vehicle is moved to the position of the photovoltaic panel where the cleaning robot to be ferried is located, the lifting mechanism on the moving-in ferrying vehicle adjusts the bearing frame to the first docking position, and the cleaning robot is moved from the photovoltaic panel to the bearing frame of the moving-in ferrying vehicle;

[0027] S2, the lifting mechanism on the moving-in shuttle adjusts the bearing frame to the second docking position, so that the bearing frame on the moving-in shuttle is docked with the corresponding shuttle track, while the bearing frame on the moving-out shuttle is adjusted to the second docking position, and the cleaning robot moves from the bearing frame on the moving-in shuttle to the bearing frame on the moving-out shuttle along the shuttle track;

[0028] S3, the bearing frame on the moving-out shuttle is adjusted to the first docking position, the cleaning robot moves from the moving-out shuttle to the photovoltaic panel to be cleaned, and the shuttle of the cleaning robot is completed.

[0029] The cleaning robot passing through the partition wall provided by the present application has the beneficial effects of:

[0030] By setting the shuttle track and the shuttle, the cleaning robot can be transferred to the shuttle on the opposite side of the partition wall through the shuttle and the shuttle track after completing the cleaning work of the photovoltaic panel on one side of the partition wall, and then moved to the corresponding photovoltaic panel through the shuttle, thereby realizing the transfer function of the cleaning robot across the partition wall, improving the working range of the cleaning robot, and reducing the layout cost of the photovoltaic cleaning equipment. BRIEF DESCRIPTION OF DRAWINGS

[0031] The above and other objects, features and advantages of the exemplary embodiments of the present application will be more apparent from the following detailed description taken in conjunction with the accompanying drawings, which show, by way of example, several embodiments of the present application. In the drawings, identical or corresponding parts are denoted by the same or corresponding reference numerals, and:

[0032] Figure 1 A structure diagram of a cleaning robot shuttle device provided by the present application passing through a partition wall;

[0033] Figure 2 A structure diagram of a cleaning robot shuttle device provided by the present application passing through a partition wall; Figure 1 Figure 1 ;

[0034] Figure 3 A structure diagram of a cleaning robot shuttle device provided by the present application passing through a partition wall; Figure 2

[0035] Figure 4 A structure diagram of a cleaning robot shuttle device provided by the present application passing through a partition wall; Figure 2

[0036] Figure 5 A structure diagram of a cleaning robot shuttle device provided by the present application passing through a partition wall; Figure 1 Figure 2

[0037] Figure 6 A structure diagram of a cleaning robot shuttle device provided by the present application passing through a partition wall; Figure 5

[0038] Figure 7 A structure diagram of a cleaning robot shuttle device provided by the present application passing through a partition wall;​​​​​​Figure 5 Bottom view of the shuttle vehicle;

[0039] Figure 8 Schematic view of the shuttle vehicle and the cleaning robot;

[0040] Figure 9 Schematic view of the structure of the safety locking assembly.

[0041] Explanation of reference signs:

[0042] 1. Conveying track; 11. Steel rail; 12. Cross beam; 13. Base;

[0043] 2. Shuttle track; 21. C-shaped steel rail;

[0044] 3. Shuttle vehicle; 31. Base; 311. Bottom frame; 312. Support column; 313. Inclined support rod;

[0045] 32. Carrying frame; 321. Limiting structure; 322. Straight-moving piece; 323. Lever; 324. Support; 325. Limiting stop rod;

[0046] 33. Lifting mechanism; 34. Driving assembly; 341. Driving motor; 342. Carrying wheel; 343. Guide wheel;

[0047] 35. Rotation limiting assembly; 351. Limiting plate; 352. Limiting seat; 353. Limiting rod; 354. Arc-shaped slot; 355. Reinforcing rod;

[0048] 36. Safety locking mechanism; 361. Driving piece; 362. Telescopic frame; 363. Locking rod; 364. Sleeve; 365. Locking ring;

[0049] 4. Controller; 5. Partition wall; 6. Photovoltaic panel; 7. Cleaning robot. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Those skilled in the art should know that the embodiments described below are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0051] The principles and spirits of the present application will be explained in detail below with reference to several representative embodiments of the present application.

[0052] Embodiment 1 of the shuttle device for the cleaning robot provided by the present application:

[0053] As Figures 1 to 9As shown in the figure, a cleaning robot shuttle device capable of passing through the partition wall comprises a conveying track 1, a shuttle track 2, a shuttle vehicle 3, a sensing assembly and a controller 4. The conveying track 1 extends in the front-back direction, and the number of the conveying track 1 is two. The two conveying tracks 1 are symmetrically arranged on the left and right sides of the partition wall 5 and are located between the photovoltaic panel 6 and the partition wall 5. The shuttle track 2 is fixed on the upper surface of the partition wall 5 and extends horizontally in the left-right direction. The number of the shuttle vehicle 3 is two. The two shuttle vehicles 3 are respectively slidingly installed on the two conveying tracks 1 and are used to carry and transfer the cleaning robot 7. The sensing assembly is used to detect the position of the shuttle vehicle 3 and feed back to the controller 4. The controller 4 controls the movement and lifting of the shuttle vehicle 3 according to the feedback of the sensing assembly.

[0054] Firstly, the conveying track 1 is introduced as follows, Figure 1 As shown in the figure, the conveying track 1 comprises two parallel steel rails 11 and a plurality of left-right extending cross beams 12 located below the steel rails 11. Each cross beam 12 is fixedly connected with the steel rail 11. The lower part of the left and right ends of each cross beam 12 is provided with a base 13 made of concrete. The two ends of the cross beam 12 are fixed on the base 13 by bolts.

[0055] The shuttle track 2 comprises two parallel and left-right extending C-shaped steel rails 21. The spacing between the two C-shaped steel rails 21 is consistent with the spacing between the moving wheels / track belts at the front and back ends of the cleaning robot 7, so that the cleaning robot 7 can pass through smoothly. The C-shaped steel rails 21 are fixed on the partition wall 5 by bolts.

[0056] The shuttle vehicle 3 is introduced as follows, Figure 2 、 Figure 5 As shown in the figure, the shuttle vehicle 3 comprises a base 31, a carrying frame 32, a lifting mechanism 33, a driving assembly 34, a rotation limiting assembly 35 and a safety locking mechanism 36. The base 31 comprises a bottom frame 311, support columns 312 and inclined struts 313. The bottom frame 311 is a horizontally extending rectangular metal frame. The number of the support columns 312 is two. Each support column 312 extends in the up-down direction and is fixed on the upper side of the rear end of the bottom frame 311. The inclined strut 313 is fixedly connected between the right support column 312 and the long side rod on the right side of the bottom frame 311. The carrying frame 32 is a rectangular metal frame. The short side rods at the front and back ends of the carrying frame 32 are used to carry the cleaning robot 7. The rear end of the carrying frame 32 is hingedly connected with the top ends of the two support columns 312. The lifting mechanism 33 is an electric push rod which is hingedly connected to the middle part of the inclined strut 313. The output end of the electric push rod is fixedly connected with the middle part of the long side rod of the carrying frame 32, so as to drive the carrying frame 32 to rotate around the hinged end. The carrying frame 32 has an inclined position which is aligned with the panel surface of the photovoltaic panel 6, and a horizontal position which is aligned with the shuttle track 2.

[0057] The front end of the carrying frame 32 is provided with a limiting structure 321 as shown in the figure, Figure 3As shown, it comprises a straight-moving piece 322, a lever 323, a support 324 and a limiting stopper 325. The support 324 is fixed at the middle of the short side of the front side of the bearing frame 32, the middle of the lever 323 is hinged on the support 324, the number of the limiting stoppers 325 is two, the two limiting stoppers 325 are respectively hinged on the left and right ends of the lever 323, and the ends of the limiting stoppers 325 away from the hinged points are arranged on the short side of the bearing frame 32 and extend forward. The straight-moving piece 322 is an electric push rod, which is fixed on the long side of the bearing frame 32, and the output end of the straight-moving piece 322 is hinged on the lever 323 to control the extending and retracting states of the limiting stoppers 325 on the long side of the bearing frame 32.

[0058] The driving assembly 34 comprises a driving motor 341 and a wheel set, such as Figures 5 to 7 As shown, the driving motor 341 is fixed between the two long sides of the bottom frame 311, the wheel set comprises a bearing wheel 342 and a guide wheel 343, the number of the bearing wheels 342 is four, the four bearing wheels 342 are respectively installed in front and back two groups at the front and back ends of the bottom frame 311, the bearing wheels 342 are in abutment with the upper surface of the steel rail 11, the output end of the driving motor 341 is in transmission connection with the axle of the rear end bearing wheel 342 to drive the two bearing wheels 342 at the rear end to rotate, thereby driving the transfer trolley 3 to move on the conveying rail 1. The number of the guide wheels 343 is four, the four guide wheels 343 are fixed in front and back two groups at the front and back ends of the bottom frame 311, each guide wheel 343 is in abutment with the side surface of the steel rail 11 to ensure the stability of the transfer trolley 3 running on the conveying rail 1 and prevent the transfer trolley 3 from derailing.

[0059] The rotation limiting assembly 35 comprises a limiting plate 351, a limiting seat 352, a limiting rod 353 and a reinforcing rod 355. As shown in Figure 2 and Figure 4 The limiting plate 351 is a rectangular plate extending upward and downward, the number of the limiting plates 351 is two, the two limiting plates 351 are respectively fixed on the lower sides of the two long sides of the bearing frame 32 and are located at the front end of the bearing frame 32, each limiting plate 351 is provided with an arc-shaped groove 354, and the reinforcing rod 355 is fixed between the two limiting plates 351 to enhance the stability of the limiting plate 351. The limiting seat 352 is a rod-shaped structure extending upward and downward, the number of the limiting seats 352 is two, the two limiting seats 352 are fixed on the upper side of the bottom frame 311 and are respectively arranged at the positions corresponding to the two limiting plates 351. The limiting rod 353 extends along the left and right directions, is fixed on the two limiting seats 352 by bolts, and is arranged in the limiting groove of the two limiting plates 351, so that the rotation angle of the bearing frame 32 can be limited when the bearing frame 32 rotates around the hinged end.

[0060] As shown in Figure 7 and Figure 9As shown, the safety locking mechanism 36 comprises a driving member 361, a telescopic frame 362, a locking rod 363, a sleeve 364 and a locking ring 365. The driving member 361 is an electric push rod, which is installed on the bottom frame 311. The telescopic frame 362 is a parallelogram frame body, the front end of which is connected with the output end of the driving member 361, and the rear end of which is hinged to the bottom frame 311. The sleeve 364 extends along the left-right direction, and is fixed on the bottom frame 311. The number of the sleeves 364 is two, which are respectively located on the left and right sides of the telescopic frame 362. The number of the locking rods 363 is two, which are respectively arranged in the two sleeves 364. The left and right ends of the telescopic frame 362 are respectively hinged to the end portions of the two locking rods 363. Under the driving of the driving member 361, the two locking rods 363 can move in the left-right direction in the opposite direction. The number of the locking rings 365 is two, which are fixed on the rails 11 of the conveying track 1. The positions of the two locking rings 365 respectively correspond to the two locking rods 363. When the transfer trolley 3 is in a determined position, the locking rod 363 can be inserted into the locking ring 365 under the driving of the driving member 361, so as to lock the transfer trolley 3 in the strong wind.

[0061] The sensing assembly is introduced below, which comprises a plurality of position sensors, which are photoelectric sensors. The position sensors are installed on the rails 11 of the conveying track 1 and the left and right ends of the short side rods of the bearing frame 32. The positions of the photoelectric sensors on the rails 11 respectively correspond to the installation positions of each column of photovoltaic panels 6, which are used to control the parking position of the transfer trolley 3 on the rails 11. The photoelectric sensors on the bearing frame 32 are used to detect the moving position of the cleaning robot 7. The controller 4 is installed on the bottom frame 311 of the transfer trolley 3, which is signal connected with the cleaning robot 7, the driving member 361, the direct acting member 322, the driving motor 341, the lifting mechanism 33 and each position sensor, so as to realize the automatic control of the transfer device.

[0062] The working principle of the cleaning robot transfer device through the partition wall is summarized as follows:

[0063] When the cleaning robot 7 needs to pass through the partition wall 5, the cleaning robot 7 transmits a signal to the controller 4, at this time the driving motor 341 controls the transfer trolley 3 to move to one side of the row of photovoltaic panels 6. Then the lifting mechanism 33 controls the rotation of the carrying frame 32 until it is consistent with the angle of the photovoltaic panel 6, then the straight part 322 controls the retraction of the limiting stopper 325 close to one side of the photovoltaic panel 6, and the extension of the limiting stopper 325 away from one side of the photovoltaic panel 6, then the cleaning robot 7 moves to the carrying frame 32. After the photoelectric sensor on the carrying frame 32 detects that the cleaning robot 7 has moved into position, the driving motor 341 drives the transfer trolley 3 to move along the conveying track 1 to a determined position, then the straight part 322 controls the retraction of the limiting stopper 325, and the cleaning robot 7 moves onto the transfer track 2. At this time, the transfer trolley 3 on the other side of the partition wall 5 is docked with the transfer track 2 and retracts the limiting stopper 325 close to the transfer track 2, waiting to receive the cleaning robot 7.

[0064] When the cleaning robot 7 moves to the carrying frame 32 of the transfer trolley 3 on the other side, the limiting stopper 325 close to one side of the photovoltaic panel 6 of the transfer trolley 3 is retracted, and the lifting mechanism 33 controls the rotation of the carrying frame 32 until it is consistent with the angle of the adjacent photovoltaic panel 6, then the cleaning robot 7 moves onto the photovoltaic panel 6, thereby completing the transfer work of the cleaning robot 7 through the partition wall 5.

[0065] It should be noted that the existing cleaning robot 7 all has braking ability, when the cleaning robot 7 moves along with the carrying frame 32 of the transfer trolley 3 or is lifted, the cleaning robot 7 and the carrying frame 32 are relatively stationary, that is, the cleaning robot 7 will not slide or fall due to the movement or lifting of the carrying frame 32.

[0066] Embodiment 2 of the cleaning robot transfer device capable of passing through the partition wall provided by the application:

[0067] The main difference between the embodiment 2 and the embodiment 1 is:

[0068] In the embodiment 1, the base includes a diagonal support rod, a bottom frame and a support column, the lifting mechanism is an electric push rod hinged on the diagonal support rod, one end of the carrying frame is hinged on the base, and the other end is hinged with the output end of the electric push rod, the carrying frame is rotated for position adjustment by the electric push rod.

[0069] In the embodiment, the base frame is provided with guide columns extending upward and downward, the carrying frame moves up and down along the guide columns, the lifting mechanism is an electric push rod, and the number of the electric push rods is at least three, each electric push rod extends in the upward and downward direction, one end of each electric push rod is connected to the base frame, and the other end of each electric push rod is connected to the carrying frame, and the carrying frame moves up and down through the cooperation of the electric push rods. In addition, the transfer track is also provided in an inclined manner, the carrying plane of the transfer track corresponds to the carrying plane of the carrying frame, and the carrying plane of the carrying frame corresponds to the panel surface of the photovoltaic panel, so that the carrying frame does not need to rotate, and the transfer of the transfer vehicle between the two sides of the partition wall can be realized only through the up and down movement.

[0070] Embodiment 3 of the cleaning robot transfer device capable of passing through a partition wall provided by the application:

[0071] The difference between the embodiment and the embodiment 1 is mainly that:

[0072] In the embodiment 1, the transfer track is fixed on the partition wall.

[0073] In the embodiment, the transfer track is fixed on the base frame of one of the transfer vehicles and moves synchronously with the transfer vehicle.

[0074] Embodiment 1 of the cleaning robot transfer method capable of passing through a partition wall provided by the application:

[0075] The cleaning robot transfer method capable of passing through a partition wall is realized by using the above cleaning robot transfer device, one of the two transfer vehicles 3 in the transfer device is an access transfer vehicle 3, and the other is a removal transfer vehicle 3, the two transfer vehicles 3 are used on the two sides of the partition wall 5, and the steps of the transfer are as follows

[0076] S1, the removal transfer vehicle 3 moves to the position of the photovoltaic panel 6 where the cleaning robot 7 to be transferred is located, the lifting mechanism 33 on the removal transfer vehicle 3 adjusts the carrying frame 32 to the first docking position to dock with the corresponding photovoltaic panel 6, and the cleaning robot 7 is moved from the photovoltaic panel 6 to the carrying frame 32 of the removal transfer vehicle 3;

[0077] S2, the lifting mechanism 33 on the removal transfer vehicle 3 adjusts the carrying frame 32 to the second docking position, so that the carrying frame 32 on the removal transfer vehicle 3 docks with the corresponding transfer track 2, and the carrying frame 32 of the removal transfer vehicle 3 on the other side of the partition wall 5 is adjusted to the second docking position to dock with the transfer track 2, and the cleaning robot 7 is moved from the carrying frame 32 of the removal transfer vehicle 3 to the carrying frame 32 of the removal transfer vehicle 3 along the transfer track 2;

[0078] S3, the carrying frame 32 of the removal transfer vehicle 3 is adjusted to the first docking position to align with the photovoltaic panel 6 to be cleaned, and the cleaning robot 7 is moved from the removal transfer vehicle 3 to the photovoltaic panel 6 to be cleaned, thereby completing the transfer of the cleaning robot 7.

[0079] According to the above description of the present specification, those skilled in the art can also understand that the terms used such as "upper", "lower", "front", "back", "left", "right", "width", "horizontal", "top", "bottom", "inner", "outer" and the like indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings of the present specification, which are only for the purpose of facilitating the description of the present application and simplifying the description, and are not explicitly or implicitly indicated that the devices or elements involved must have the specific orientation, be constructed and operated in a specific orientation, therefore the above-mentioned orientation or positional relationship terms cannot be understood or interpreted as a limitation on the present application.

[0080] In addition, in the description of the present specification, the meaning of "a plurality of" is at least two, such as two, three or more, etc., unless otherwise explicitly and specifically limited.

Claims

1. A sweeping robot transfer device that can pass through partition walls, characterized in that, It includes two shuttle cars and a shuttle track used in conjunction with the shuttle cars. The shuttle cars are arranged on the left and right sides of the partition wall respectively, and the shuttle track is arranged between the two shuttle cars to allow the cleaning robot to move between the two shuttle cars. The shuttle vehicle includes a base, a lifting mechanism, and a support frame. The support frame is used to carry the cleaning robot. The support frame is mounted on the base and moves up and down. Driven by the lifting mechanism, the support frame has a first docking position corresponding to the photovoltaic panel for the cleaning robot to move between the shuttle vehicle and the photovoltaic panel, and a second docking position corresponding to the transport track for the cleaning robot to move between the shuttle track and the corresponding shuttle vehicle. The shuttle vehicle also includes a rotation limiting assembly, which includes a limiting plate, a limiting seat, and a limiting rod. The limiting plate extends in the vertical direction and is fixedly assembled with the support frame. The limiting plate has an arc-shaped limiting groove extending in the vertical direction. The limiting seat is fixed on the base, and the limiting rod is fixed on the limiting seat and passes through the limiting groove to limit the rotation angle of the support frame in the vertical direction. The support frame is movably equipped with two retractable stops. The stops are located on the travel of the cleaning robot on the support frame. The stops have a position that extends out of the support frame to stop the cleaning robot from extending, and a position that retracts back to the support frame to allow the cleaning robot to pass. The support frame also has a linear actuator for driving the stops to switch between the extended and retracted positions, so as to realize the travel limit of the cleaning robot on the support frame. The stop is a limiting stop bar, with two limiting stop bars respectively passing through the left and right sides of the front end of the support frame in the front-back direction. There is a lever between the two limiting stop bars, and the rear ends of the two limiting stop bars are respectively hinged to the two ends of the lever. A support is hinged to the middle of the lever, and the support is fixed on the support frame. The direct motion component is an electric push rod, and its output end is hinged to one end of the lever to control the limiting stop bar to switch between the extended position and the retracted position.

2. The sweeping robot transfer device that can pass through partition walls according to claim 1, characterized in that, One end of the support frame is rotatably assembled to the base via a hinge shaft. The lifting mechanism drives the support frame to swing up and down around the hinge shaft, so that the support frame swings up and down and is assembled on the base.

3. A sweeping robot transfer device that can pass through partition walls according to claim 2, characterized in that, The lifting mechanism is a telescopic rod mechanism, which includes a support member and a telescopic rod telescopically mounted on the support member. One of the support member and the telescopic rod is hinged to the base, and the other is hinged to the support frame, so as to drive the support frame to swing and lift during the extension and retraction of the telescopic rod.

4. A sweeping robot transfer device that can pass through partition walls according to claim 3, characterized in that, The base includes a base frame, a support column, and a diagonal brace. The support column is fixed to one end of the base frame, and the diagonal brace is installed obliquely between the support column and the base frame. The bearing frame is hinged to the support column, and one of the support member and the telescopic rod is hinged to the diagonal brace to achieve hinged assembly with the base.

5. A sweeping robot transfer device that can pass through partition walls according to any one of claims 1-4, characterized in that, Each of the shuttle vehicles has a conveyor track extending forward and backward beneath it, and the shuttle vehicle moves forward and backward along the conveyor track.

6. A sweeping robot transfer device that can pass through partition walls according to claim 5, characterized in that, The shuttle vehicle also includes a safety locking mechanism, which includes a drive component, a locking rod, and a locking ring. The drive component is mounted on a base, the locking rod extends in the left-right direction and is fixedly connected to the output end of the drive component, and the locking ring is fixed on the conveying track for the locking rod to be inserted to lock the shuttle vehicle on the conveying track.

7. A method for ferrying a cleaning robot that can pass through a partition wall, characterized in that, It utilizes the cleaning robot transfer device according to any one of claims 1-6. One of the two transfer vehicles in the transfer device is an access transfer vehicle, and the other is an exit transfer vehicle. The two transfer vehicles are located on either side of a partition wall during use. The transfer steps are as follows: S1. The transfer vehicle moves to the location of the photovoltaic panel where the cleaning robot to be transferred is located. The lifting mechanism on the transfer vehicle adjusts the support frame to the first docking position. The cleaning robot moves from the photovoltaic panel to the support frame of the transfer vehicle. S2. The lifting mechanism on the transfer vehicle adjusts the carrier frame to the second docking position, so that the carrier frame on the transfer vehicle docks with the corresponding transfer track. At the same time, the carrier frame of the transfer vehicle is adjusted to the second docking position, and the cleaning robot moves along the transfer track from the carrier frame of the transfer vehicle to the carrier frame of the transfer vehicle. S3. The carrier frame of the transfer vehicle is raised and adjusted to the first docking position, and the cleaning robot is moved from the transfer vehicle to the photovoltaic panel to be cleaned, completing the transfer of the cleaning robot.

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