An adaptive robot

Abstract

This application relates to an adaptive robot, comprising: a robot main body; a cleaning module, which includes: a cleaning component and a connecting piece connected through a rotating module, and the connecting piece is fixedly connected to the robot main body; the rotating module includes: a rotating piece; the first end of the rotating piece is rotatably connected to the connecting piece, and the second end of the rotating piece is fixedly connected to the cleaning component; the first limiting mechanism includes: a limiting path provided on the connecting piece or the rotating piece, and a limiting piece correspondingly provided on the rotating piece or the connecting piece. When the rotating piece is installed on the connecting piece, the limiting piece can extend into the limiting path to limit the adjustable range of the included angle of the rotating piece between a first angle and a second angle; the second limiting mechanism includes: an adjusting part, an adjusting position is correspondingly provided on the connecting piece, and the adjusting part can realize relative movement with the adjusting position through the adjusting position. Compared with traditional robots, this application can sensitively and reliably adjust the adaptive angle of the cleaning component that tilts when crossing a threshold.

Description

[0001] Priority Application

[0002] This application claims the priority of the Chinese invention patent application 【2024107425951】 “

Cleaning Robot and Cleaning Component

[0003] The present invention belongs to the technical field of photovoltaic cleaning equipment, and particularly relates to an adaptive robot. Background Art

[0004] Currently, there are some cleaning robots for application scenarios such as glass, window surfaces, or photovoltaic panels on the market.

[0005] For example, CN105728360A discloses a water-free cleaning device for solar panels, which includes a frame driven by an external force or suspended on a photovoltaic array board by a self-propelled mechanism and moving forward or backward, and also includes a chain drive device and a cleaning device; the chain drive device includes a reduction motor, a driving wheel, a sprocket, a sprocket shaft for fixing the sprocket, a chain sleeved on the sprocket, and an electromagnetic clutch.

[0006] Again, for example, CN115990895A discloses a photovoltaic robot, including: a mobile chassis; a walking component arranged on the mobile chassis for driving the mobile chassis to move along the working surface; cleaning components, with a set at each of the front and rear ends of the mobile chassis, and each cleaning component includes a roller brush cleaning mechanism and a scraper located behind the roller brush cleaning mechanism, and the scraper is adapted to be in contact with the working surface to scrape off the stains on its surface.

[0007] However, since most photovoltaic panels are arranged in a spliced manner and affected by the actual terrain, the surface of the photovoltaic panel is not completely flat. At the same time, after the photovoltaic panel is used for a period of time, the surface of the photovoltaic panel will be eroded to form potholes. However, the roller brushes of the above cleaning robots are all fixed on the fuselage at a fixed angle. After the fuselage has an inclination angle, the fuselage will rise, and the rear roller brush scraper cannot play the role of brushing and draining water. Especially for the joint part of the uneven surface of the photovoltaic panel, it cannot be closely attached to the photovoltaic panel for cleaning, and it is very easy to have the phenomenon of missed brushing, affecting the cleaning effect.

[0008] In order to improve the cleaning effect, a cleaning robot solution that rotatably connects the robot chassis and the roller brush module has been proposed in the prior art.

[0009] For example, CN219394778U discloses a photovoltaic cleaning robot, including: a mobile chassis; a walking assembly for driving the mobile chassis to move along the working surface; a cleaning assembly, with at least one set located at the front end of the mobile chassis; and a connection structure, including a swing arm and a locking mechanism. Among them, the swing arm is connected to the cleaning assembly, the swing arm is rotatable relative to the mobile chassis, the locking mechanism includes a locking pin, the locking pin is detachably connected to the mobile chassis and the swing arm, and after the locking pin is connected to the mobile chassis and the swing arm, the swing arm can rotate relative to the mobile chassis.

[0010] For another example, CN220401703U discloses an adaptive terrain-following photovoltaic cleaning robot, including a self-moving robot. A front cleaning roller brush is installed on the front side of the self-moving robot, and a rear cleaning roller brush is connected to the rear side of the self-moving robot through an adaptive rotation connection module. A cleaning scraper is installed at the tail of the rear cleaning roller brush.

[0011] Still for another example, CN113098382A discloses a photovoltaic cleaning robot with an adaptive roller brush assembly. The photovoltaic cleaning robot includes a vehicle body and a crawler drive assembly. The crawler drive assembly is arranged on both sides of the vehicle body. The photovoltaic cleaning robot walks under the drive of the crawler drive assembly. The photovoltaic cleaning robot performs lifting and lowering actions on the roller brush module through the lifting module to adapt to the working surface of photovoltaic panels with height differences.

[0012] However, the above-mentioned adaptive robots have at least the following defects:

[0013] 1) In the connection method of the chassis and the roller brush module, the flexibility and accuracy of adaptive adjustment are relatively low;

[0014] 2) It is difficult to be applicable to different photovoltaic scenarios (such as photovoltaic panels with different undulations);

[0015] 3) The overall mechanical mechanism is relatively complex, and it is difficult to replace the cleaning component. Summary of the Invention

[0016] The purpose of the present invention is to provide an adaptive robot, which can partially solve or alleviate the above deficiencies in the prior art and can improve the flexibility and reliability of adaptive angle adjustment.

[0017] To solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions: An adaptive robot, including:

[0018] A robot main body;

[0019] At least one cleaning module, the cleaning module includes: a cleaning component and a connecting piece fixedly connected to the robot main body, and the cleaning component is rotationally connected to the connecting piece through at least one rotation module;

[0020] The rotating module includes: a rotating member, a first end of the rotating member is rotatably connected to the connecting member, and a second end of the rotating member is fixedly connected to the cleaning member;

[0021] A first limiting mechanism, the first limiting mechanism includes: a limiting path provided on the connecting member or the rotating member, and a limiting member correspondingly provided on the rotating member or the connecting member; when the rotating member is installed on the connecting member, the limiting member can extend into the limiting path to limit the adjustable range of the included angle of the rotating member between a first angle and a second angle; wherein, the included angle refers to the angle between the axis where the rotating member is located and the vertical direction;

[0022] A second limiting mechanism, the second limiting mechanism includes: an adjusting part, an adjusting position is correspondingly provided on the connecting member, and the adjusting part is rotatably arranged in the adjusting position; and when the adjusting part is in different positions, the angle between the limiting section plane of the adjusting part and the vertical direction will also change accordingly; the adjusting part is arranged above the rotating member to limit the maximum angle of the rotating member, wherein, when the rotating member rotates to the current maximum angle, the rotating member will come into contact with at least one point on the second side of the adjusting part, and the section plane of the point is the limiting section plane;

[0023] An elastic member, a first end and a second end of the elastic member are respectively fixed to the rotating member and the connecting member.

[0024] In some embodiments, the adjusting part includes a first adjusting part and a second adjusting part connected to each other, and the axes of the first adjusting part and the second adjusting part do not coincide; the second adjusting part faces the rotating member, so that when the included angle rotates to the current maximum angle, the second adjusting part will come into contact with the rotating member to limit the rotating member.

[0025] In some embodiments, the connecting member is fixedly connected to the robot main body, so that the connecting member and the robot main body form a rigid body.

[0026] In some embodiments, a first opening is provided at a first end of the rotating member, and a second opening is correspondingly provided on the connecting member. When a first fixing member passes through the first opening and the second opening, the first end of the rotating member can be fixed at the second opening, and the rotating member can rotate relatively along the axis of the second opening.

[0027] In some embodiments, a mounting opening is further provided at the second end of the rotating member, and the mounting opening is used to fixedly arrange a second fixing member on the cleaning component, so that the cleaning component can rotate together with the rotating member.

[0028] In some embodiments, the mounting opening is provided with a break opening through which the cleaning component can pass.

[0029] In some embodiments, a first mounting position is provided on the first side of the rotating member, a second mounting position is provided on the first side of the connecting member, and two ends of the elastic member are respectively fixed to the first mounting position and the second mounting position.

[0030] In some embodiments, two rotating modules are provided, and are respectively arranged on both sides of the cleaning component and the connecting member.

[0031] In some embodiments, the limiting path is a groove provided on the connecting member or the rotating member, and the limiting member is a limiting post with one end fixed to the rotating member or the connecting member.

[0032] In some embodiments, the cleaning component is a roller brush.

[0033] The principle and beneficial technical effects of the present invention are as follows:

[0034] During the installation process of the photovoltaic panel, due to the influence of the actual terrain, the photovoltaic panel may be uneven. At the same time, during the use of the photovoltaic panel, it will be eroded by the environment, further resulting in unevenness. The cleaning components in the prior art can only rotate within a fixed angle adjustment range and cannot well adapt to photovoltaic panels of different batches and different undulation degrees. While the present application proposes a double-limiting solution, which can perform adaptive adjustment for photovoltaic panels in different scenarios (for example, when cleaning the photovoltaic panel, first perform trial cleaning on a small part of the photovoltaic panels in the same area to judge the approximate undulation degree of the photovoltaic panel, and then adjust the angle adjustment range of the cleaning module according to the cleaning effect), so that the cleaning component can more accurately fit the surface of the photovoltaic panel for cleaning.

[0035] Specifically, on the one hand, the present application proposes a double-limiting mechanism with different limiting effects (that is, the limiting angle is adjustable), which can avoid over-adjustment by the user on the basis of ensuring a certain degree of adjustment freedom for the user (for example, if the upper limit angle is adjusted too large, the cleaning mechanism cannot be in contact with the ground).

[0036] On the other hand, the anti-fooling design is adopted for the limiting solution in this scheme to avoid, to a certain extent, the situation that the lower limit angle is adjusted too large due to the user's misoperation or unskilled operation, which may cause the robot to easily catch the ground when crossing a threshold and affect the cleaning efficiency.

[0037] In other words, by designing a double-limiting scheme with an optional rotation angle, the present solution provides a greater rotation range for the rotation of the cleaning mechanism, thereby adapting to photovoltaic panels with different undulation degrees, making the adjustment more flexible and effectively improving the overall cleaning effect.

[0038] Furthermore, the present solution also forms a triple-limiting scheme by arranging elastic members to cooperate with the two limiting mechanisms. While enabling the cleaning assembly to have a greater adjustment angle range, it also avoids to a certain extent the problem of excessive rotation of the cleaning assembly (for example, when the cleaning assembly rotates too fast or the adjustment range is too large, the cleaning is not in place when crossing a ridge). BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale. Obviously, the following-described drawings are some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0040] Figure 1 Structural schematic diagram of the cleaning module in an exemplary embodiment of the present application;

[0041] Figure 2 For Figure 1 Exploded view of the parts of the cleaning module shown;

[0042] Figure 3 For Figure 1 Partial perspective view of the cleaning module shown;

[0043] Figure 4 For Figure 1 Side view of the cleaning module shown;

[0044] Figure 5 Side view of the cleaning module in an exemplary embodiment of the present application;

[0045] Figure 6 Structural schematic diagram of the rotating member in an exemplary embodiment of the present application;

[0046] Figure 7 Structural schematic diagram of the robot in an exemplary embodiment of the present application;

[0047] Figure 8 Perspective view of the robot in an exemplary embodiment of the present application.

[0048] Summary of the identification of reference numerals:

[0049] 10 is the robot body; 20 is the connecting member, 21 is the second opening, 22 is the adjustment position, 23 is the limiting path, 24 is the scraping plate; 30 is the cleaning component; 40 is the rotating module, 41 is the rotating member, 42 is the second fixing member, 43 is the first fixing member, 44 is the mounting opening, 45 is the mounting hole, 46 is the first mounting position, 47 is the fifth fixing member, 48 is the first opening, 49 is the fourth fixing member; 50 is the elastic member, 61 is the adjusting portion, 611 is the first adjusting portion, 612 is the second adjusting portion, P1 is the limiting section plane, P2 is the first plane, P3 is the second plane. Detailed implementation manners

[0050] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0051] In this article, suffixes such as "module", "component" or "unit" used to represent elements are only for the convenience of describing the present invention, and have no specific meaning in themselves. Therefore, "module", "component" or "unit" can be used interchangeably.

[0052] In this article, terms such as "upper", "lower", "inner", "outer", "front", "rear", "one end", "the other end", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation on the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0053] In this article, unless otherwise clearly specified and defined, terms such as "installation", "provided with", "connection", etc. shall be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0054] In this article, "and / or" includes any and all combinations of one or more of the listed related items.

[0055] As used herein, "a plurality of" means two or more, that is, it includes two, three, four, five, etc.

[0056] It should be noted that, as used herein, the terms "comprises", "comprising", or any other variation thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a series of elements includes not only those elements but also other elements not expressly listed, or elements that are inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0057] As used in this specification, the term "about" typically means + / - 5% of the stated value, more typically + / - 4% of the stated value, more typically + / - 3% of the stated value, more typically + / - 2% of the stated value, even more typically + / - 1% of the stated value, and even more typically + / - 0.5% of the stated value.

[0058] In this specification, certain embodiments may be disclosed in a format that is within a certain range. It should be understood that this description of "within a certain range" is merely for convenience and brevity and should not be construed as a rigid limitation on the disclosed range. Therefore, the description of a range should be considered to have specifically disclosed all possible sub-ranges and individual numerical values within that range. For example, the description of the range 1 - 6 should be regarded as having specifically disclosed sub-ranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc., as well as the individual numbers within that range, such as 1, 2, 3, 4, 5, and 6. This rule applies regardless of the breadth of the range.

[0059] Embodiment 1

[0060] See Figures 1-7 As shown, an adaptive robot (the robot herein may also be referred to as: a cleaning robot, or a photovoltaic operation and maintenance robot) includes:

[0061] A robot main body 10;

[0062] At least one cleaning module, the cleaning module includes: a cleaning component 30, a connecting member 20, the cleaning component 30 is rotatably connected to the connecting member 20 through a rotating module 40, and the connecting member 20 is fixedly connected to the robot main body 10; wherein,

[0063] The rotating module 40 includes: a rotating member 41; wherein, the first end of the rotating member 41 is rotatably connected to the connecting member, and the second end of the rotating member 41 is fixedly connected to the cleaning component 30;

[0064] A first limiting mechanism, the first limiting mechanism comprising: a limiting path provided on the connecting member 20 or the rotating member 41, and a limiting member correspondingly provided on the rotating member 41 or the connecting member 20. When the rotating member is mounted on the connecting member 20, the limiting member can extend into the limiting path to limit the adjustable range of the included angle of the rotating member between a first angle and a second angle; wherein, the included angle refers to the angle between the axis of the rotating member (such as the axis direction, i.e., the direction of the first plane P2) and the vertical direction (for example, the vertical direction is the plane direction of the second plane P3).

[0065] Further, this embodiment further includes: a second limiting mechanism, the second limiting mechanism comprising: an adjusting portion 61, an adjusting position 22 is correspondingly provided on the connecting member 20, and the adjusting portion 61 can move relative to the adjusting position 22 through the adjusting position 22; and when the adjusting portion 61 is in different positions, the angle between the limiting section plane P1 of the adjusting portion 61 and the vertical direction will also change accordingly; wherein,

[0066] When the rotating member rotates to the current maximum angle (i.e., the upper limit angle), the rotating member will come into contact with at least one point on the adjusting portion 61, and the section plane of the point is the limiting section plane P1.

[0067] In this article, the first angle is also referred to as the lower limit angle. Under the limitation of the second limiting mechanism, the maximum angle that the rotating member can rotate is also referred to as the upper limit angle.

[0068] See Figure 5 As shown, the first plane P2 is the side surface of the rotating member; the second plane P3 is a vertical plane (for example, a plane perpendicular or approximately perpendicular to the horizontal plane).

[0069] In this embodiment, the limiting distance of the first limiting mechanism is limited to be non-adjustable, while the limiting distance of the second limiting mechanism can be automatically adjusted by the user. The cooperation of this restrictive limiting and freely adjustable limiting mechanism can avoid the rotating member from rotating too violently (such as tilting too much) when the robot crosses a threshold, and at the same time can reserve a free adjustment space for the user to flexibly fine-tune according to different cleaning requirements and photovoltaic panels, improving the adjustment reliability.

[0070] For example, in some embodiments, see Figure 3As shown, a limiting path 23 is provided on the connecting member 20, and a mounting hole 45 is provided on the rotating member 41; the mounting hole 45 is used for mounting a limiting member; wherein, when the rotating member 41 rotates in a set direction, the limiting member will correspondingly move on the limiting path 23, and when it moves to both ends of the limiting path 23, the rotation angle or trend of the rotating member will be correspondingly restricted.

[0071] In some embodiments, the limiting path is a groove. Correspondingly, the limiting member is a limiting post (preferably a screw, a bolt, etc.). One end of the limiting post is fixed in the mounting hole, and the other end extends into the limiting path.

[0072] In some embodiments, the limiting path is an arc path.

[0073] For example, in some embodiments, the adjusting part 61 includes a connected first adjusting part 611 and a second adjusting part 612, and the axes of the first adjusting part 611 and the second adjusting part 612 do not coincide; the second adjusting part 612 faces the rotating member 41, so that when the included angle rotates to the current maximum angle, the second adjusting part 612 will come into contact with the rotating member 41, thereby limiting the rotating member 41.

[0074] In some embodiments, the second limiting mechanism is arranged above the rotating member to limit the maximum included angle (i.e., the upper limit angle) within the rotatable range of the rotating member.

[0075] In this embodiment, preferably, the first limiting mechanism is used to achieve the lower limit, and the second limiting mechanism is used to achieve the upper limit, which can avoid over-adjustment by the user (for example, resulting in an excessive lower limit angle and inability to touch the ground) on the basis of ensuring a certain degree of adjustment freedom for the user.

[0076] In other words, in this embodiment, an anti-fool design is adopted for the limiting scheme to avoid, to a certain extent, the situation that the user adjusts the lower limit angle too large due to misoperation or unskilled operation, resulting in easy ground grasping when the robot crosses a threshold and affecting the cleaning efficiency.

[0077] In some embodiments, the adjusting part 61 can be an eccentric shaft.

[0078] In some embodiments, the connecting member 20 and the robot main body 10 are fixedly connected so that the connecting member and the robot main body form a rigid body.

[0079] Preferably, in some embodiments, two rotation modules are provided, which are respectively arranged on both sides of the cleaning component 30 and the connecting member 20 (specifically, on the end faces on both sides of the cleaning component and the connecting member). In this embodiment, the solution of realizing the layout of the rotation modules at both ends in the cleaning module can also improve the rotation flexibility to a certain extent.

[0080] In some embodiments, referring to Figure 3 As shown, a first opening 48 is provided at the first end of the rotating member 41, and a second opening 21 is correspondingly provided on the connecting member 20. When a first fixing member 43 (for example, a fixing pin) passes through the first opening 48 and the second opening 21, the first end of the rotating member 41 can be fixed at the second opening 21 and can rotate relative to the axis of the second opening.

[0081] For example, in some embodiments, it further includes: a fifth fixing member 47 (for example, a pulley); wherein, the first fixing member 43 extends into the first opening 48 from one end and extends out from the other end of the first opening 48, and the fifth fixing member 47 is sleeved on the extending end of the first fixing member 43 to further fix the rotating member 41.

[0082] In some embodiments, an installation opening 44 is further provided at the second end of the rotating member 41, and the installation opening 44 is used to fixedly arrange a second fixing member 42 on the cleaning component 30, so that the cleaning component 30 can adaptively adjust the included angle relative to the rotation of the rotating member 41.

[0083] Preferably, the installation opening 44 is an open-ended opening, that is to say, the edge of the installation opening 44 is a discontinuous surface with a break, so as to facilitate the quick removal of the cleaning component 30.

[0084] In some embodiments, it further includes: an elastic member (such as a spring), and the first end and the second end of the elastic member are respectively fixed on the rotating member and the connecting member.

[0085] Furthermore, the elastic member is preferably arranged on the lower side (such as the elastic member can apply a force in the first direction to the cleaning component). For example, in some embodiments, it further includes: an elastic adjustment module, and the elastic adjustment module includes: an elastic member 50; correspondingly, a first installation position 46 is provided on the rotating member 41, and a second installation position is correspondingly provided on the connecting member 20; the first end and the second end of the elastic member 50 are respectively connected to the first installation position 46 and the second installation position;

[0086] Wherein, the elastic member 50 will apply a force in the first direction to the cleaning component 30, and the first direction refers to the direction in which the cleaning component 30 points to the area to be cleaned.

[0087] In some embodiments, the first mounting position is located on the first side (i.e., the bottom, which is the side close to the ground) of the rotating member, the second side of the rotating member faces the adjusting portion, and the second mounting position is located on the first side (the side close to the ground) of the connecting member. Wherein, during the rotation of the rotating member, the elastic member, the first fixing member and the limiting member do not contact each other and do not interfere with each other; at the same time, this design method can make the length of the elastic member relatively short, with good pulling effect and higher stability.

[0088] For another example, in some embodiments, the elastic member can also be a tension spring or other spring forms.

[0089] This solution restricts the rotation of the cleaning component by adopting a three-limiting method, which can prevent the situation of "over-flexible" to a certain extent.

[0090] Specifically, in contrast to the traditional rotation method in which the cleaning module directly rotates relative to the robot main body, in this embodiment, the roller brush (equivalent to the cleaning component) is arranged to rotate relative to the inside of the cleaning module, that is, the lighter roller brush is rotatably connected to the connecting member (at this time, the rotation module drives the roller brush to rotate, and the supporting force required to provide is relatively small), thereby improving the service life and rotation flexibility of the rotation module to a certain extent. At the same time, for this internal relative rotation solution of the cleaning module, this embodiment also adopts a second limiting mechanism and an elastic adjustment module to cooperate with each other to fix and limit the rotation angle and elastically limit the rotation speed in the up and down directions respectively, so as to avoid the situation of "over-flexible" such as insufficient contact with the photovoltaic panel or too small contact pressure due to too fast rotation on the basis of meeting the rotation flexibility and retaining the adjustment flexibility.

[0091] Thereby, it can effectively balance the situation that the rotation module is directly connected to the relatively light cleaning component (such as a roller brush), and the cleaning component may rotate too fast.

[0092] Embodiment 2

[0093] See Figures 1-7 As shown, a cleaning component includes:

[0094] The cleaning module includes: a cleaning component 30, a connecting member 20, the cleaning component 30 is rotatably connected to the connecting member 20 through a rotation module 40, and the connecting member 20 is fixedly connected to the robot main body 10; the rotation module 40 includes: a rotating member 41; wherein, the first end of the rotating member 41 is rotatably connected to the connecting member, and the second end of the rotating member 41 is fixedly connected to the cleaning component 30;

[0095] The first limiting mechanism, the first limiting mechanism includes: a limiting path provided on the connecting member 20 or the rotating member 41, and a limiting member correspondingly provided on the rotating member 41 or the connecting member 20. When the rotating member is installed on the connecting member 20, the limiting member can extend into the limiting path to limit the adjustable range of the included angle of the rotating member between a first angle and a second angle; wherein, the included angle refers to the angle between the axis where the rotating member is located and the vertical direction;

[0096] The second limiting mechanism, the second limiting mechanism includes: an adjusting portion 61. An adjusting position 22 is correspondingly provided on the connecting member 20, and the adjusting portion 61 can achieve relative movement with the adjusting position 22 through the adjusting position 22; and when the adjusting portion 61 is in different positions, the angle between the limiting section plane P1 of the adjusting portion 61 and the vertical direction will also change accordingly; wherein,

[0097] When the rotating member rotates to the current maximum angle, the rotating member will come into contact with at least one point on the adjusting portion 61, and the section plane of the point is the limiting section plane P1.

[0098] In some embodiments, a scraping plate 24 is further provided on the connecting member 20. Wherein, the contact surface of the scraping plate 24 for cleaning the area to be cleaned (such as a photovoltaic panel) forms an angle β with the vertical direction, and the optional range of the angle β is 19.45° - 20°.

[0099] The angle setting of the scraping plate can be referred to Figure 8 as shown

[0100] In some embodiments, the second limiting mechanism is provided above the rotating member to limit the maximum included angle within the rotatable range of the rotating member. For example, the adjusting portion 61 will further limit the adjustable range between a first angle and a third angle, and the third angle is less than or equal to the second angle.

[0101] In some embodiments, it further includes: an elastic adjustment module, the elastic adjustment module includes: an elastic member 50; correspondingly, a first installation position 46 is provided on the rotating member 41, and a second installation position is correspondingly provided on the connecting member 20; the first end and the second end of the elastic member 50 are respectively connected to the first installation position 46 and the second installation position;

[0102] Wherein, the elastic member 50 will apply a force in a first direction to the cleaning component 30, and the first direction refers to the direction in which the cleaning component 30 points to the area to be cleaned.

[0103] In this embodiment, the elastic member can further limit the rotation trend of the rotating member to a certain extent, so as to ensure a certain relative force between the cleaning component and the area to be cleaned, and improve the cleaning strength.

[0104] The setting of the elastic member can also prevent the angle α from being adjusted too quickly or the adjustment range from being too large to cause insufficient cleaning when crossing a threshold to a certain extent.

[0105] Of course, in some other embodiments, the elastic member can also be arranged at the upper end of the rotating member 41.

[0106] Embodiment Three

[0107] See Figures 1-7 As shown, a robot with a detachable cleaning component includes:

[0108] The robot main body 10;

[0109] At least one cleaning module, the cleaning module includes: a cleaning component 30, a connecting member 20, and the cleaning component 30 is rotatably connected to the connecting member 20 through a rotating module 40 (in some embodiments, the connecting member 20 is fixedly connected to the robot main body 10); wherein,

[0110] The rotating module 40 includes: a rotating member 41; wherein, the first end of the rotating member 41 is rotatably connected to the connecting member, and the second end of the rotating member 41 is fixedly connected to the cleaning component 30;

[0111] Preferably, the second end of the rotating member 41 is detachably connected to the cleaning component 30 through a second fixing member 42;

[0112] See Figure 2 As shown, an installation opening 44 is provided at the second end of the rotating member 41, and a second fixing member 42 corresponding to the installation opening is provided on the cleaning component 30; at least one first fixing position 421 is provided on the second fixing member 42, and at least one second fixing position 441 is correspondingly provided on the installation opening 44. When a third fixing member (not shown in the figure) passes through the first fixing position 421 and the second fixing position 441 respectively, the second fixing member 42 is clamped by the installation opening 44, so that the cleaning component 30 can perform angle self-adaptive adjustment relative to the rotation of the rotating member 41.

[0113] In some embodiments, the first fixing position 421 is a mounting groove provided outside the second fixing member 42, the second fixing position 441 is a through hole provided corresponding to the first fixing position, and the second fixing member 42 can be a hexagonal nut. The third fixing member can penetrate through the second fixing position 441 and extend into the first fixing position 42 to fix the hexagonal nut. And when the hexagonal nut is removed, the cleaning component (such as a roller brush) can be taken off.

[0114] In some embodiments, the third fixing member can be a tensioning shaft.

[0115] Preferably, as shown in Figure 6 the mounting opening 44 is an open-ended opening, that is, the edge of the mounting opening is a discontinuous surface, so that dismounting openings 442 are formed at both ends of the mounting opening 44, and the dismounting openings 442 are used for the portable dismounting of the hexagonal nut.

[0116] In some embodiments, a first positioning rod 31 is provided on the cleaning component 30. When the second fixing member 42 is mounted on the first end of the first positioning rod 31 close to the cleaning component, the inner surface of the mounting opening 44 is in contact with the outer surface of the second fixing member 42, and a fourth fixing member 49 (such as a pulley) is also sleeved on the second end of the first positioning rod 31.

[0117] Specifically, the first positioning rod 31 extends into the inner side of the second fixing member 42 from one end and extends out from the other side of the second fixing member 42, and the fourth fixing member 49 is sleeved on the extending part thereof to fix the second fixing member 42.

[0118] In some embodiments, the adjusting part 61 includes a connected first adjusting part 611 and a second adjusting part 612, and the axes of the first adjusting part 611 and the second adjusting part 612 do not coincide; the second adjusting part 612 faces the rotating part 41, so that when the included angle rotates to the current maximum angle, the second adjusting part 612 will contact the rotating part 41 to limit the rotating part 41.

[0119] In this embodiment, a detachable design is integrated on the rotating module to synchronously complete the partial disassembly of the cleaning component (such as a roller brush, a brush, etc.) by using the rotating module, and the installation method is convenient.

[0120] Moreover, this functional integrated design can effectively simplify the overall mechanical structure, so as to further reduce the processing difficulty on the basis of facilitating the manual operation of the user.

[0121] For example, this embodiment preferably supports the quick installation and replacement of brushes with a length specification of 13 mm to 15 mm.

[0122] It can be understood that the robot in this embodiment may also include the same or similar components in any other embodiment, which will not be elaborated here.

[0123] Embodiment Four

[0124] A detachable cleaning component, comprising:

[0125] At least one cleaning module, the cleaning module includes: a cleaning component 30, a connecting piece 20, the cleaning component 30 is rotationally connected to the connecting piece 20 through a rotating module 40, and the connecting piece 20 is fixedly connected to the robot main body 10; the rotating module 40 includes: a rotating piece 41; wherein, the first end of the rotating piece 41 is rotationally connected to the connecting piece, and the second end of the rotating piece 41 is fixedly connected to the cleaning component 30; wherein,

[0126] The second end of the rotating piece 41 is provided with a mounting port 44, and the cleaning component is provided with a second fixing member 42 corresponding to the mounting port; at least one first fixing position 421 is provided on the second fixing member 42, and at least one second fixing position 441 is correspondingly provided on the mounting port 44. When a third fixing member passes through the first fixing position 421 and the second fixing position 441 respectively, the second fixing member 42 is clamped by the mounting port 44; the mounting port is used for fixedly arranging the second fixing member 42 on the cleaning component 30, so that the cleaning component 30 can adaptively adjust the included angle relative to the rotation of the rotating piece 41.

[0127] In some embodiments, the connecting piece 20 and the robot main body 10 may be fixedly connected in a detachable manner.

[0128] In some embodiments, a first positioning rod 31 is provided on the cleaning component 30. When the second fixing member 42 is installed at the first end of the first positioning rod 31 close to the cleaning component, the inner surface of the mounting port 44 is in contact with the outer surface of the second fixing member 42, and a fourth fixing member 49 is also sleeved on the second end of the first positioning rod 31.

[0129] It can be understood that the robot in this embodiment may also include the same or similar components in any other embodiment, which will not be elaborated here.

[0130] It should be noted that in this text, the terms "including", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the presence of additional identical elements in the process, method, article or device including such element.

[0131] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit and scope protected by the claims of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. An adaptive robot, characterized in that: Comprising: A robot body (10); At least one cleaning module, the cleaning module comprising: a cleaning component (30) and a connecting member (20) fixedly connected to the robot body (10), the cleaning component (30) being rotatably connected to the connecting member (20) through at least one rotating module (40); The rotating module (40) comprises: a rotating member (41), a first end of the rotating member (41) being rotatably connected to the connecting member (20), and a second end of the rotating member (41) being fixedly connected to the cleaning component (30); A first limiting mechanism, the first limiting mechanism comprising: a limiting path provided on the connecting member (20) or the rotating member (41), and a limiting member correspondingly provided on the rotating member (41) or the connecting member (20); when the rotating member is mounted on the connecting member (20), the limiting member can extend into the limiting path to limit the adjustable range of the included angle of the rotating member between a first angle and a second angle; wherein, the included angle refers to the angle between the axis of the rotating member and the vertical direction; A second limiting mechanism, the second limiting mechanism comprising: an adjusting portion (61), an adjusting position (22) being correspondingly provided on the connecting member (20), the adjusting portion (61) being rotatably provided in the adjusting position (22); and when the adjusting portion (61) is in different positions, the angle between the limiting section plane (P1) of the adjusting portion (61) and the vertical direction will also change accordingly; the adjusting portion is provided above the rotating member to limit the maximum angle of the rotating member, wherein, when the rotating member rotates to the current maximum angle, the rotating member will come into contact with at least one point on the second side of the adjusting portion (61), and the section plane of the point is the limiting section plane (P1); The adjusting portion (61) comprises a first adjusting portion (611) and a second adjusting portion (612) connected to each other, and the axes of the first adjusting portion (611) and the second adjusting portion (612) do not coincide; the second adjusting portion (612) faces the rotating member (41) so that when the included angle rotates to the current maximum angle, the second adjusting portion (612) will come into contact with the rotating member (41) to limit the rotating member (41); An elastic member (50), a first end and a second end of the elastic member (50) being respectively fixed to the rotating member (41) and the connecting member (20); A first mounting position (46) is provided on a first side of the rotating member, a second mounting position is provided on a first side of the connecting member, and two ends of the elastic member (50) are respectively fixed to the first mounting position (46) and the second mounting position; the first mounting position (46) is located on the first side of the rotating member (41), and the second side of the rotating member (41) faces the adjusting portion (61); The elastic member (50), the first limiting mechanism, and the second limiting mechanism cooperate with each other, so that the cleaning component (30) has different adjustment angle ranges, avoiding excessive rotation of the cleaning component (30).

2. The adaptive robot according to claim 1, characterized in that: The connecting member (20) and the robot main body (10) are fixedly connected, so that the connecting member and the robot main body form a rigid body.

3. An adaptive robot according to claim 1, characterized in that: A first opening (48) is provided at the first end of the rotating member (41), and a second opening (21) is correspondingly provided on the connecting member (20). When the first fixing member (43) passes through the first opening and the second opening, the first end of the rotating member can be fixed at the second opening, and the rotating member can rotate relative to the axis of the second opening.

4. An adaptive robot according to claim 1, characterized in that: An installation port (44) is further provided at the second end of the rotating member (41). The installation port (44) is used to fix the second fixing member (42) provided on the cleaning component (30), so that the cleaning component (30) can rotate together with the rotating member (41).

5. An adaptive robot according to claim 4, characterized in that: The installation port (44) is provided with a break that allows the cleaning component (30) to pass through.

6. An adaptive robot according to claim 1, wherein: There are two rotation modules, which are respectively arranged on both sides of the cleaning component and the connecting member.

7. An adaptive robot according to claim 1, wherein: The limiting path is a groove provided on the connecting member (20) or the rotating member (41), and the limiting member is a limiting post with one end fixed on the rotating member (41) or the connecting member (20).

8. An adaptive robot according to claim 1, characterized in that: The cleaning component is a roller brush.

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