A photovoltaic cleaning robot anti-stuck deviation correction mechanism and photovoltaic cleaning robot

Abstract

The application discloses a photovoltaic cleaning robot anti-stuck deviation correction mechanism and a photovoltaic cleaning robot, and belongs to the photovoltaic cleaning equipment field.The photovoltaic cleaning robot anti-stuck deviation correction mechanism comprises a follow-up arm, side wheels, a swing arm shaft, a swing detection element and an elastic reset element, the middle of the follow-up arm is rotatably installed on a mounting frame on one side of the photovoltaic cleaning robot through the swing arm shaft, and the side wheels are installed at both ends of the follow-up arm; the elastic reset element is arranged on the mounting frame and elastically acts on the wheel shaft of the follow-up arm or the side wheels; and the swing detection element is arranged on the mounting frame.The side wheels of the photovoltaic cleaning robot are arranged on the follow-up arm, the elastic reset element is used for keeping the side wheels and the mounting frame in a relatively stable state, the swing detection element is used for detecting the swing direction and the swing position of the follow-up arm, and then the photovoltaic cleaning robot is timely corrected, so that the problem of being stuck is prevented; the structure design is simple and compact, the detection is accurate and stable, and the manufacturing cost is low.

Description

TECHNICAL FIELD

[0001] The present application relates to a photovoltaic cleaning robot, more particularly to a photovoltaic cleaning robot anti-stuck deviation correction mechanism and a photovoltaic cleaning robot. BACKGROUND

[0002] The photovoltaic cleaning robot is a mechanical device installed on the photovoltaic module to periodically clean the surface of the photovoltaic module to prevent dust from affecting the effective irradiation of the photovoltaic module. The photovoltaic module generally has a certain installation inclination angle with the ground, and the photovoltaic cleaning robot also runs obliquely close to the photovoltaic module. The existing photovoltaic cleaning robot mainly includes upper end walking wheels, lower end walking wheels, and a rolling brush assembly arranged between the upper and lower end walking wheels, and the upper and lower end walking wheels are generally driven by independent driving mechanisms. Due to differences in environmental factors, installation process, motor synchronization, and running friction of the upper and lower end walking wheels, the synchronization of the upper and lower end walking wheels cannot be guaranteed when the photovoltaic cleaning robot is running, resulting in different running speeds of the upper and lower end walking wheels and causing the photovoltaic cleaning robot to tilt and deviate, and in severe cases, even causing the photovoltaic cleaning robot to be stuck.

[0003] In order to prevent the photovoltaic cleaning robot from tilting and being stuck, many photovoltaic cleaning robots currently have walking posture detection and deviation correction control functions. For example, Chinese Patent No. ZL201811267387.1 discloses a "photovoltaic panel cleaning robot and its deviation detection and correction method", and Chinese Patent No. ZL201910397748.2 discloses a "photovoltaic cleaning robot inclination posture detection method, controller and photovoltaic cleaning robot". The former sets a universal wheel in the middle of the photovoltaic panel cleaning robot, and uses the rotational displacement of the universal wheel when the photovoltaic cleaning robot deviates to detect the deviation angle and direction, but the universal wheel is prone to free swing during walking, and its own state during walking is not easy to guarantee, which can easily cause detection errors. The latter suspends a heavy block through a swing arm inside the photovoltaic cleaning robot, and uses a distance measuring sensor on the photovoltaic cleaning robot to detect the deviation distance of the heavy block, thereby determining the deviation angle and direction, but during the walking process of the photovoltaic cleaning robot, due to inertia and vibration, the heavy block itself will sway uncontrollably, thereby causing the walking posture detection to be distorted. For example, Chinese Patent No. ZL202211133635.X discloses a "motion control method of a flat cleaning robot and related device", Chinese Patent Application No. 202210547250.1 discloses a "photovoltaic module deviation correction type intelligent cleaning robot and control method thereof", and Chinese Patent No. ZL202210121295.2 discloses a "solar photovoltaic system", etc. These patent applications all use distance measuring sensors, position sensors, and displacement sensors to detect the deviation angle and direction. These sensors are easily affected by environmental factors, have poor actual working stability, and require complex calculations, and the control system and method are relatively complex.

[0004] Chinese patent application No. 202110112658.1 discloses a photovoltaic panel cleaning robot and its deviation correction method, which detects the angle between the driving assembly and the outer edge of the photovoltaic panel to obtain the deviation angle of the photovoltaic panel cleaning robot. Two guide wheels are respectively rotatably installed on the fixed plate through the support rods. The tension spring ensures that the two guide wheels are always in contact with the photovoltaic panel frame. Two position sensors are used to detect the inclination angle of the corresponding support rod, and then the angle between the driving assembly and the outer edge of the photovoltaic panel is calculated. The detection data is more accurate, but the structure design is more complex, and the installation precision of the mechanism is also higher, which increases the manufacturing cost of the photovoltaic panel cleaning robot. SUMMARY

[0005] 1. Technical problems to be solved by the invention

[0006] The purpose of the present application is to overcome the shortcomings of the prior art photovoltaic cleaning robot, such as poor deviation correction detection accuracy, complex structure design, and high manufacturing cost. The present application provides a photovoltaic cleaning robot anti-stuck deviation correction mechanism and a photovoltaic cleaning robot. The side wheels of the photovoltaic cleaning robot are arranged on the intermediate rotating follower arm. The elastic return element is used to maintain the relative stable state of the side wheels and the mounting bracket. The swing detection element is used to detect the swing direction and position of the follower arm. When the photovoltaic cleaning robot deviates, the follower arm will also deviate correspondingly under the action of the side wheels. This deviation will be detected by the swing detection element, and the photovoltaic cleaning robot will be corrected in time to prevent the problem of being stuck. The structure design is simple and compact, the detection is accurate and stable, and the manufacturing cost is low.

[0007] 2. Technical solutions

[0008] To achieve the above-mentioned purposes, the technical solutions provided by the present application are as follows:

[0009] The photovoltaic cleaning robot anti-stuck deviation correction mechanism of the present application comprises a follower arm, a side wheel, a swing arm shaft, a swing detection element, and an elastic return element. The intermediate follower arm is rotatably installed on the mounting bracket on one side of the photovoltaic cleaning robot through the swing arm shaft. The side wheels are installed at both ends of the follower arm and are used to roll with the photovoltaic frame side wall on the corresponding side of the photovoltaic module. The elastic return element is arranged on the mounting bracket and elastically acts on the wheel shaft of the follower arm or the side wheel, so as to maintain the relative stable state of the side wheels at both ends of the follower arm and the mounting bracket. The swing detection element is arranged on the mounting bracket and is used to detect the swing direction and position of the follower arm.

[0010] Further, the elastic return element is an elastic block installed on both sides of the mounting bracket corresponding to the wheel shaft of the corresponding side wheel. The wheel shaft side wall of the side wheel abuts against the corresponding elastic block.

[0011] Further, the elastic block is provided with a compression deformation hole.

[0012] Further, the elastic block is a rectangular block structure and is fixed on the mounting frame by a screw, the wheel shaft has an abutting end head, and the abutting end head has an abutting plane abutting against the elastic block.

[0013] Further, the swing detection element is a micro switch or a switch circuit or an angle sensor.

[0014] Further, when the swing detection element is a micro switch, the follow-up arm is provided with a touch column for triggering the micro switch, and the micro switch is provided with one on each side of the swing direction of the touch column.

[0015] Further, the lower part of the mounting frame has a bottom plate, the swing arm shaft is rotatably supported on the bottom plate by a bearing seat, and the follow-up arm is located below the bottom plate.

[0016] Further, the swing detection element and the elastic reset member are both arranged on the upper side of the bottom plate, and the bottom plate is further provided with a corresponding avoiding hole.

[0017] The photovoltaic cleaning robot provided by the application comprises a frame assembly, an upper walking wheel assembly, a lower walking wheel assembly and a rolling brush assembly, the upper walking wheel assembly and the lower walking wheel assembly are respectively arranged at two ends of the frame assembly and are used for driving the photovoltaic cleaning robot to walk on a photovoltaic module, the rolling brush assembly is arranged below the frame assembly and is used for cleaning a photovoltaic panel of the photovoltaic module, and the photovoltaic cleaning robot anti-blocking deviation rectifying mechanism is further arranged on the mounting frame of the lower walking wheel assembly.

[0018] Further, the frame assembly is provided with a controller for respectively controlling the walking speeds of the upper walking wheel assembly and the lower walking wheel assembly, and the controller is in communication connection with the swing detection element in the deviation rectifying mechanism.

[0019] 3. Beneficial effects

[0020] Compared with the prior art, the technical scheme provided by the application has the following remarkable effects:

[0021] (1) The photovoltaic cleaning robot anti-stuck deviation correction mechanism of the application comprises a follower arm, a side wheel, a swing arm shaft, a swing detection element and an elastic reset element, the middle of the follower arm is rotatably installed on the mounting frame on one side of the photovoltaic cleaning robot through the swing arm shaft, the side wheels are installed at both ends of the follower arm and are used for rolling cooperation with the side walls of the photovoltaic frames on the corresponding side of the photovoltaic module, the elastic reset element is arranged on the mounting frame and elastically acts on the wheel shaft of the side wheel, and is used for keeping the side wheels at both ends of the follower arm and the mounting frame in a relatively stable state, the swing detection element is arranged on the mounting frame and is used for detecting the swing direction and swing position of the follower arm, the side wheels of the photovoltaic cleaning robot are arranged on the follower arm which rotates in the middle, the elastic reset element is used for keeping the side wheels and the mounting frame in a relatively stable state, the swing detection element is used for detecting the swing direction and swing position of the follower arm, when the photovoltaic cleaning robot deviates during walking, the follower arm will also deviate correspondingly under the action of the side wheels, the deviation will be detected by the swing detection element, and then the photovoltaic cleaning robot is corrected in time to prevent the problem of being stuck, the structure is simple and compact, the detection is accurate and stable, and the manufacturing cost is low.

[0022] (2) The photovoltaic cleaning robot anti-stuck deviation correction mechanism of the application, the elastic reset element is an elastic block arranged on the mounting frame on the corresponding side of the wheel shaft of the side wheel, the wheel shaft side wall of the side wheel abuts against the corresponding elastic block, the elastic reset element is simple in structure, directly abuts against the wheel shaft of the side wheel, is convenient to install, the two elastic blocks can keep the follower arm relatively stable, are not easily affected by the walking vibration of the photovoltaic cleaning robot and other factors, the deviation detection of the photovoltaic cleaning robot is more stable and reliable, the side wheel is designed as a follower structure, can adapt to the deviation of the photovoltaic cleaning robot to a certain extent, so that the photovoltaic cleaning robot is not easy to be directly stuck even if there is a certain deviation, and the problem that the existing photovoltaic cleaning robot is easy to be stuck can be effectively solved.

[0023] (3) The photovoltaic cleaning robot anti-stuck deviation correction mechanism of the application, the elastic block is provided with a compression deformation hole, the compression deformation hole can improve the elastic deformation amplitude of the elastic block, and the deformation amount and the elastic performance of the elastic block are considered, so that the swing stability of the follower arm is ensured.

[0024] (4) The photovoltaic cleaning robot anti-stuck deviation correction mechanism of the application, the elastic block is a rectangular block structure and is fixed on the mounting frame through a screw, the wheel shaft has an abutting end, the abutting end has an abutting plane which abuts against the elastic block, the elastic block is simple and convenient to install, and the elastic abutting action on the wheel shaft is more stable and reliable.

[0025] (5) The photovoltaic cleaning robot anti-stuck deviation correction mechanism of the application, the swing detection element is a micro switch or a switch circuit or an angle sensor, which can simply and accurately detect the swing amount of the follower arm, and correct the photovoltaic cleaning robot when the swing amount reaches the set threshold, and the correction detection and control are stable and reliable;

[0026] (6) The photovoltaic cleaning robot anti-stuck deviation correction mechanism of the application, when the swing detection element is a micro switch, a touch column for triggering the micro switch is arranged on the follower arm, and one micro switch is arranged on each side of the swing direction of the touch column, so that the set maximum value of the swing of the follower arm can be detected by using the two micro switches, the structure design is simple, the correction detection is stable, the service life is long, and the correction control algorithm can be simplified;

[0027] (7) The photovoltaic cleaning robot anti-stuck deviation correction mechanism of the application, the lower part of the mounting frame has a bottom plate, the swing arm shaft is rotatably supported on the bottom plate through a bearing seat, and the follower arm is located below the bottom plate; the swing detection element and the elastic reset member are arranged on the upper side of the bottom plate, and the bottom plate is also provided with corresponding avoiding holes; by using the above design, the swing detection element and the elastic reset member can be conveniently closed, the working environment is good, and the working stability and service life of the swing detection element and the elastic reset member are improved;

[0028] (8) The photovoltaic cleaning robot of the application comprises a rack assembly, an upper walking wheel assembly, a lower walking wheel assembly and a rolling brush assembly, and the above-mentioned deviation correction mechanism is mounted on the mounting frame of the lower walking wheel assembly; compared with the existing photovoltaic cleaning robot, only the side wheels of the lower walking wheel assembly are designed as swingable side wheels through the follower arm, the side wheels are rolled with the photovoltaic frame side wall on the corresponding side of the photovoltaic module, the deviation detection of the photovoltaic cleaning robot is realized, the structure design is simple and compact, the detection is stable and reliable, and the problem of deviation and stuck of the photovoltaic cleaning robot is effectively solved;

[0029] (9) The photovoltaic cleaning robot of the application, the rack assembly is provided with a controller for controlling the walking speed of the upper walking wheel assembly and the lower walking wheel assembly respectively, the controller is in communication connection with the swing detection element in the deviation correction mechanism, when the photovoltaic cleaning robot deviates, the swing detection element feeds back the deviation angle and deviation direction signals to the controller, the walking speed of the upper walking wheel assembly and the lower walking wheel assembly is controlled by the controller, so that the deviation of the photovoltaic cleaning robot is corrected, and the working stability of the photovoltaic cleaning robot is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is a running state schematic view of the photovoltaic cleaning robot of the application on the photovoltaic module;

[0031] Figure 2A perspective view of a photovoltaic cleaning robot according to the present application (omitted middle length);

[0032] Figure 3 A schematic view of the installation structure of the anti-stuck deviation correction mechanism of a photovoltaic cleaning robot according to the present application on the lower walking wheel assembly;

[0033] Figure 4 A schematic view of the assembly structure of the anti-stuck deviation correction mechanism of a photovoltaic cleaning robot according to the present application;

[0034] Figure 5 A schematic view of the disassembly structure of the anti-stuck deviation correction mechanism of a photovoltaic cleaning robot according to the present application;

[0035] Figure 6 A schematic view of the installation structure of the anti-stuck deviation correction mechanism of a photovoltaic cleaning robot according to the present application on the lower walking wheel assembly; Figure 5 A local enlarged view of K in FIG. 6;

[0036] FIG. 7(a) is a schematic view of the cross-sectional structure in the A-A direction (non-inclined state of the follow-up arm); Figure 4

[0037] FIG. 7(b) is a schematic view of the cross-sectional structure in the A-A direction (inclined state of the follow-up arm). Figure 4

[0038] Explanation of the reference numerals in the schematic view:

[0039] 100, rack assembly; 200, upper walking wheel assembly; 300, lower walking wheel assembly; 31, mounting rack; 31-1, bottom plate; 31-1a, wheel shaft avoiding hole; 31-1b, touch column avoiding hole; 32, lower walking wheel motor; 33, lower walking wheel; 400, deviation correction mechanism; 41, follow-up arm; 41-1, touch column; 42, side wheel; 42-1, wheel shaft; 43, swing arm shaft; 44, bearing seat; 45, swing detection element; 46, elastic reset member; 46-1, compression deformation hole; 500, intermediate wheel assembly; 600, photovoltaic assembly; 601, photovoltaic frame; 700, rolling brush assembly; 71, rolling brush motor. DETAILED DESCRIPTION

[0040] For further understanding of the present application, the application will be described in detail with reference to the drawings and examples.

[0041] [EXAMPLE]

[0042] In combination with Figures 1 to 5 ​​As shown, the anti-blocking deviation correction mechanism of the photovoltaic cleaning robot in the embodiment is installed on the photovoltaic cleaning robot and used for preventing the photovoltaic cleaning robot from being blocked due to excessive deviation during walking. The deviation correction mechanism 400 comprises a follow-up arm 41, side wheels 42, a swing arm shaft 43, a swing detection element 45 and an elastic reset member 46. The middle of the follow-up arm 41 is rotatably installed on the mounting frame 31 on one side of the photovoltaic cleaning robot through the swing arm shaft 43, so that the follow-up arm 41 can freely rotate around the swing arm shaft 43. The side wheels 42 are installed at both ends of the follow-up arm 41 and used for rolling cooperation with the side wall of the photovoltaic frame 601 on the corresponding side of the photovoltaic module 600, so as to improve the walking stability of the photovoltaic cleaning robot. The two side wheels 42 can adapt to the photovoltaic frame 601. When the photovoltaic cleaning robot deviates, the follow-up arm 41 will also correspondingly deviate, and the adaptive deviation can avoid the photovoltaic cleaning robot from being blocked on the photovoltaic module 600 to a certain extent. The elastic reset member 46 is arranged on the mounting frame 31 and elastically acts on the wheel shaft 42-1 of the follow-up arm 41 or the side wheel 42, so as to keep the side wheels 42 at both ends of the follow-up arm 41 and the mounting frame 31 in a relatively stable state. In this way, when the photovoltaic cleaning robot does not deviate, the follow-up arm 41 can be basically parallel to the photovoltaic frame 601, and the two side wheels 42 will not deviate relative to the mounting frame 31. When the photovoltaic cleaning robot deviates, the two side wheels 42 still keep stable rolling with the side wall of the photovoltaic frame 601, and only the follow-up arm 41 deviates relative to the mounting frame 31, so that the corresponding elastic reset member 46 is compressed. After the deviation of the photovoltaic cleaning robot is corrected, the elastic reset member 46 can reset the follow-up arm 41 to a stable state. The swing detection element 45 is arranged on the mounting frame 31 and used for detecting the deviation direction and position of the follow-up arm 41. In this way, the deviation state of the photovoltaic cleaning robot can be judged by detecting the deviation of the follow-up arm 41 by the swing detection element 45, and then accurate deviation correction control can be performed. By adopting the above design, the side wheels 42 of the photovoltaic cleaning robot are arranged on the middle rotating follow-up arm 41, the elastic reset member 46 is used to keep the side wheels 42 and the mounting frame 31 in a relatively stable state, the swing detection element 45 is used to detect the deviation direction and position of the follow-up arm 41, when the photovoltaic cleaning robot deviates during walking, the follow-up arm 41 will also deviate correspondingly under the action of the side wheels 42. The deviation will be detected by the swing detection element 45, and then the photovoltaic cleaning robot is timely corrected to prevent the problem of being blocked. The structure design is simple and compact, the detection is accurate and stable, and the manufacturing cost is low.

[0043] The elastic reset member 46 has the function of keeping the follow-up arm 41 in a state of being substantially parallel to the mounting frame 31, and can be a spring or other existing elastic member. In the embodiment, the elastic reset member 46 is preferably an elastic block mounted on both sides of the mounting frame 31 and corresponding to the wheel shaft 42-1 of the corresponding side wheel 42, and the side wall of the wheel shaft 42-1 of the side wheel 42 abuts against the corresponding elastic block. The elastic reset member 46 has a simple structure, directly abuts against the wheel shaft 42-1 of the side wheel 42, is easy to install, and the two elastic blocks can keep the follow-up arm 41 relatively stable and are not easily affected by the walking vibration of the photovoltaic cleaning robot and other factors, so that the photovoltaic cleaning robot is more stable and reliable in the detection of the inclination. In addition, the side wheel 42 is designed as a follow-up structure, which can adapt to the inclination of the photovoltaic cleaning robot to a certain extent, so that the photovoltaic cleaning robot is not easily directly stuck even if it has a certain inclination, and the problem that the existing photovoltaic cleaning robot is easily stuck can be effectively solved. The elastic block can be made of elastic materials such as rubber, and has a compression deformation hole 46-1, which can improve the elastic deformation range of the elastic block, and has the deformation amount and elastic performance of the elastic block, and ensures the stability of the inclination of the follow-up arm 41. Further, the elastic block is a rectangular block structure and is fixed on the mounting frame 31 by a screw, the wheel shaft 42-1 has an abutting end, and the abutting end has an abutting plane abutting against the elastic block. With this design, the elastic block is easy to install, and the elastic abutting effect on the wheel shaft 42-1 is more stable and reliable. The elastic block acts on the wheel shaft 42-1, and the inclination angle of the follow-up arm 41 is more sensitive, so that the follow-up arm 41 is not easily shaken due to vibration.

[0044] The swing detection element 45 is used to detect the inclination of the follow-up arm 41, and can be detected in various ways. In the embodiment, the swing detection element 45 is preferably a microswitch or a switch circuit or an angle sensor. These detection elements can simply and accurately detect the inclination of the follow-up arm, and can correct the photovoltaic cleaning robot when the inclination reaches a set threshold, so that the correction detection and control are stable and reliable. Specifically, refer to Figures 3 to 6As shown, when the swing detection element 45 is a micro switch, the swing arm 41 is provided with a touch column 41-1 for triggering the micro switch, and the micro switch is provided with one on each side of the swing direction of the touch column 41-1. During the swing of the swing arm 41, the touch column 41-1 will trigger the micro switch on one side. Since the triggering position of the micro switch is the set maximum swing angle position, once the micro switch is triggered, it means that the swing arm 41 has swung to the set maximum angle, so the triggering signal of the micro switch is the correction action control signal. In order to prevent the touch column 41-1 from directly pressing the micro switch and causing damage, a resilient arm can be provided on the micro switch, the middle part of the resilient arm corresponds to the contact of the micro switch, and the free end of the resilient arm corresponds to the touch column 41-1. The touch column 41-1 deforms to trigger the micro switch, so even if the touch column 41-1 presses the resilient arm too much, it can have a certain buffer margin. Using two micro switches can detect the set maximum value of the swing of the swing arm 41, the structure design is simple, the correction detection stability is good, the service life is long, and it is conducive to simplifying the correction control algorithm. When the swing detection element 45 is a switch circuit, its principle is similar to that of the micro switch, that is, the swing state of the swing arm 41 is detected through a simple circuit on-off signal. There are two circuit on-off points on the switch circuit, and the switch trigger piece similar to the touch column 41-1 is used to realize the circuit on-off control of the circuit on-off point when the swing arm 41 swings, thereby generating the correction control signal. When the swing detection element 45 is an angle sensor, it can be installed on the swing arm shaft 43. At this time, the swing arm shaft 43 is fixedly connected with the swing arm 41, and during the swing of the swing arm 41, the swing arm shaft 43 rotates with it. The rotation angle of the swing arm shaft 43 can be detected by using an angle sensor, and a correction control signal is sent when the rotation angle exceeds the set threshold. The angle sensor can be a existing magneto-resistive angle sensor or a resistance type angle sensor.

[0045] Connect Figures 3 to 6 As shown, in the present embodiment, the lower part of the mounting frame 31 has a bottom plate 31-1, the swing arm shaft 43 is rotatably supported on the bottom plate 31-1 through a bearing seat 44, and the swing arm 41 is located below the bottom plate 31-1. The swing detection element 45 and the elastic reset element 46 are both arranged on the upper side of the bottom plate 31-1, and the bottom plate 31-1 is also provided with a corresponding avoiding hole. Specifically, taking the case that the swing detection element 45 adopts a micro switch as an example, wheel shaft avoiding holes 31-1a and touch column avoiding holes 31-1b are respectively arranged at the corresponding positions of the bottom plate 31-1, the upper end of the wheel shaft 42-1 of the side wheel 42 passes through the corresponding wheel shaft avoiding hole 31-1a and acts on the corresponding elastic reset element 46, and the upper end of the touch column 41-1 passes through the corresponding touch column avoiding hole 31-1b and cooperates with the micro switch. By using the above design, the swing detection element 45 and the elastic reset element 46 can be conveniently closed, the working environment can be ensured to be good, and the working stability and service life of the swing detection element 45 and the elastic reset element 46 can be improved.

[0046] Referring to Figure 1 and Figure 2 As shown in the figure, the embodiment also relates to a photovoltaic cleaning robot, which comprises a rack assembly 100, an upper walking wheel assembly 200, a lower walking wheel assembly 300 and a rolling brush assembly 700. The rack assembly 100 is arranged on the photovoltaic module 600. The upper walking wheel assembly 200 and the lower walking wheel assembly 300 are respectively arranged at two ends of the rack assembly 100, and are used to drive the photovoltaic cleaning robot to walk on the photovoltaic module 600. The rolling brush assembly 700 is arranged below the rack assembly 100, and is used to clean the photovoltaic panel of the photovoltaic module 600. The upper walking wheel assembly 200 and the lower walking wheel assembly 300 are independently driven. The upper walking wheel assembly 200 is located at the upper part of the photovoltaic module 600, and comprises an upper walking wheel, a side driving wheel and an upper walking wheel motor. The axes of the upper walking wheel and the side driving wheel are perpendicular to each other. The upper walking wheel motor can be in transmission cooperation with the upper walking wheel and the side driving wheel through a pair of bevel gears, so as to drive the upper walking wheel and the side driving wheel to rotate synchronously. The lower walking wheel assembly 300 is located at the lower part of the photovoltaic module 600, and comprises a lower walking wheel motor 32 and a lower walking wheel 33. The lower walking wheel 33 is installed on a mounting bracket 31, and is perpendicular to the axis of the side wheel 42. The lower walking wheel motor 32 is in transmission connection with the lower walking wheel 33, and drives the lower walking wheel 33 to rotate. The rolling brush assembly 700 comprises a brush and a rolling brush motor 71. The rolling brush motor 71 can be installed on the mounting bracket 31, and is in transmission connection with the brush, so as to drive the brush to rotate and clean the photovoltaic panel. Different from the existing photovoltaic cleaning robot, the photovoltaic cleaning robot of the embodiment further comprises the above-mentioned photovoltaic cleaning robot anti-stuck deviation correction mechanism. The deviation correction mechanism 400 is installed on the mounting bracket 31 of the lower walking wheel assembly 300. In this way, when the photovoltaic cleaning robot is not deviated, the side wheel 42 mainly plays a guiding role. Once the photovoltaic cleaning robot is deviated, the side wheel 42 drives the follow-up arm 41 to swing relative to the mounting bracket 31, so that the swing direction and angle of the follow-up arm 41 can be detected through the swing detection element 45, and the deviation angle of the photovoltaic cleaning robot on the photovoltaic module 600 can be reflected, and then the deviation correction control of the photovoltaic cleaning robot can be realized.

[0047] Further, the rack assembly 100 is provided with a controller for controlling the walking speed of the upper walking wheel assembly 200 and the lower walking wheel assembly 300 respectively. The controller is in communication connection with the swing detection element 45 in the deviation correction mechanism 400. After the photovoltaic cleaning robot is deviated, the swing detection element 45 detects that the deviation angle exceeds the set threshold value. At this time, the swing detection element 45 sends a deviation correction control signal to the controller. The controller controls the walking speed of the upper walking wheel assembly 200 and the lower walking wheel assembly 300 to change according to the signal fed back by the swing detection element 45, so as to correct the walking posture of the photovoltaic cleaning robot, and prevent the photovoltaic cleaning robot from being deviated and stuck.

[0048] Fig. 7(a) and Fig. 7(b) show the anti-stuck deviation correction mechanism of the photovoltaic cleaning robot and the deviation correction action principle of the photovoltaic cleaning robot. Fig. 7(a) shows the state that no deviation occurs between the follow-up arm 41 and the mounting frame 31. During the walking process of the photovoltaic cleaning robot, due to the walking speed synchronization of the upper walking wheel assembly 200 and the lower walking wheel assembly 300 and other influencing factors, it is difficult for the photovoltaic cleaning robot to completely keep from deviating on the photovoltaic module 600. When the photovoltaic cleaning robot deviates, since the side wheel 42 can keep in contact with the side wall of the photovoltaic frame 601 of the photovoltaic module 600, the follow-up arm 41 can keep moving basically parallel to the photovoltaic frame 601, at this time, the mounting frame 31 and the follow-up arm 41 produce an inclination, as shown in Fig. 7(b), the wheel shaft 42-1 of the side wheel 42 on one side presses the corresponding elastic return member 46, the wheel shaft 42-1 of the side wheel 42 on the other side is away from the corresponding elastic return member 46, at the same time, the relative position of the touch column 41-1 on the follow-up arm 41 and the mounting frame 31 also changes, the touch column 41-1 contacts the corresponding swing detection element 45 (micro switch), so that the swing detection element 45 generates a deviation correction signal; the swing detection element 45 feeds back the signal to the controller of the photovoltaic cleaning robot, the controller controls the walking speed of the walking wheel assembly on the relatively lagging side to accelerate or the walking speed of the walking wheel assembly on the relatively leading side to decelerate according to the deviation direction of the photovoltaic cleaning robot, so as to correct the walking posture of the photovoltaic cleaning robot.

[0049] For the photovoltaic cleaning robot with large span, the middle wheel assembly 500 can be arranged in the middle part of the frame assembly 100, the middle wheel assembly 500 includes a roller mounting frame and a middle roller arranged on the roller mounting frame, the middle roller can be a follow-up wheel or a driving wheel through a transmission shaft and the upper walking wheel assembly 200 and / or the lower walking wheel assembly 300.

[0050] As for other specific structures and working principles of the photovoltaic cleaning robot, they are similar to the prior art, so they will not be described here.

[0051] The anti-blocking deviation correction mechanism of the photovoltaic cleaning robot comprises a side wheel of a lower walking wheel assembly arranged on a follow-up arm capable of rotating in the middle, an elastic reset member for keeping the side wheel and the mounting frame in a relatively stable state, and a swing detection element for detecting the swing direction and position of the follow-up arm; when the photovoltaic cleaning robot deviates, the follow-up arm will also swing correspondingly under the action of the side wheel, and the swing will be detected by the swing detection element, so that the photovoltaic cleaning robot can be corrected in time to prevent the problem of blocking. The structure is simple and compact, the detection is accurate and stable, and the manufacturing cost is low. The photovoltaic cleaning robot with the above-mentioned deviation correction mechanism only needs to design the side wheel of the lower walking wheel assembly as a swingable side wheel through the follow-up arm, and the side wheel is rolled with the photovoltaic frame side wall on the corresponding side of the photovoltaic module to realize the deviation detection of the photovoltaic cleaning robot. The structure is simple and compact, the detection is stable and reliable, and the problem of deviation and blocking of the photovoltaic cleaning robot is effectively solved.

[0052] The above describes the present application and its embodiments in a schematic manner, which is not restrictive, and the drawings only show one of the embodiments of the present application, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by it, without departing from the purpose of the present application, similar structure and embodiments can be designed without creativity, which should belong to the protection scope of the present application.

Claims

1. A photovoltaic cleaning robot anti-stuck deviation correction mechanism, characterized in that: The device comprises a following arm (41), a side wheel (42), a swing arm shaft (43), a swing detection element (45) and an elastic reset element (46). The middle of the following arm (41) is rotatably installed on a mounting frame (31) on one side of a photovoltaic cleaning robot through the swing arm shaft (43). The side wheel (42) is installed on both ends of the following arm (41) and is used for rolling cooperation with the side wall of a photovoltaic frame (601) on the corresponding side of a photovoltaic module (600). The elastic reset element (46) is arranged on the mounting frame (31) and elastically acts on the wheel shaft (42-1) of the side wheel (42) or the following arm (41) and is used for keeping the side wheels (42) at both ends of the following arm (41) and the mounting frame (31) in a relatively stable state. When the photovoltaic cleaning robot does not appear to be skewed, the following arm (41) can basically keep parallel with the photovoltaic frame (601) and the two side wheels (42) will not appear to be skewed relative to the mounting frame (31). When the photovoltaic cleaning robot appears to be skewed, the two side wheels (42) still keep stable rolling with the side wall of the photovoltaic frame (601), so that the following arm (41) appears to be skewed relative to the mounting frame (31). The swing detection element (45) is arranged on the mounting frame (31) and is used for detecting the skewing direction and position of the following arm (41).

2. The photovoltaic cleaning robot anti-stuck deviation correction mechanism according to claim 1, characterized in that: The elastic reset element (46) is an elastic block arranged on both sides of the mounting frame (31) and corresponding to the wheel shaft (42-1) of the corresponding side wheel (42). The side wall of the wheel shaft (42-1) of the side wheel (42) abuts against the corresponding elastic block.

3. The photovoltaic cleaning robot anti-stuck deviation rectifying mechanism according to claim 2, characterized in that: The elastic block is provided with a compression deformation hole (46-1).

4. The photovoltaic cleaning robot anti-stuck deviation rectifying mechanism according to claim 2, characterized in that: The elastic block is a rectangular block structure and is fixed on the mounting frame (31) through a screw. The wheel shaft (42-1) has an abutting end head. The abutting end head has an abutting plane abutting against the elastic block.

5. The photovoltaic cleaning robot anti-stuck deviation rectifying mechanism according to any one of claims 1 to 4, characterized in that: The swing detection element (45) is a micro switch, a switch circuit or an angle sensor.

6. The photovoltaic cleaning robot anti-stuck deviation rectifying mechanism according to claim 5, characterized in that: When the swing detection element (45) is a micro switch, the following arm (41) is provided with a touch column (41-1) for triggering the micro switch. The micro switch is provided with one on each side of the skewing direction of the touch column (41-1).

7. The photovoltaic cleaning robot anti-stuck deviation rectifying mechanism according to claim 1, characterized in that: The lower part of the mounting frame (31) has a bottom plate (31-1). The swing arm shaft (43) is rotatably supported on the bottom plate (31-1) through a bearing seat (44). The following arm (41) is located below the bottom plate (31-1).

8. The photovoltaic cleaning robot anti-stuck deviation rectifying mechanism according to claim 7, characterized in that: The swing detection element (45) and the elastic reset element (46) are both arranged on the upper side of the bottom plate (31-1). The bottom plate (31-1) is also provided with a corresponding avoiding hole.

9. A photovoltaic cleaning robot, comprising a frame assembly (100), an upper walking wheel assembly (200), a lower walking wheel assembly (300) and a rolling brush assembly (700), the upper walking wheel assembly (200) and the lower walking wheel assembly (300) are respectively arranged at two ends of the frame assembly (100) and used to drive the photovoltaic cleaning robot to walk on a photovoltaic module (600); the rolling brush assembly (700) is arranged below the frame assembly (100) and used to clean a photovoltaic panel of the photovoltaic module (600); characterized in that: The device further comprises the photovoltaic cleaning robot anti-blocking deviation rectifying mechanism according to any one of claims 1 to 8. The deviation rectifying mechanism (400) is installed on the mounting frame (31) of the lower walking wheel assembly (300).

10. The photovoltaic cleaning robot of claim 9, wherein: The rack assembly (100) is provided with a controller for respectively controlling the walking speeds of the upper walking wheel assembly (200) and the lower walking wheel assembly (300). The controller is in communication connection with the swing detection element (45) in the deviation rectifying mechanism (400).

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