A robot and a connecting device thereof

Abstract

The present invention belongs to the field of photovoltaic operation and maintenance technology, and specifically relates to a connecting device of a robot, including a mounting piece and a first fixed plate arranged on the robot, the first fixed plate is provided with a first positioning piece and a second positioning piece, the second positioning piece includes a first positioning column, a connecting plate and a second positioning column, the first positioning column is arranged on the first fixed plate, one end of the connecting plate is connected to the first positioning column, and the other end of the connecting plate is detachably connected to the second positioning column; the present invention also provides a robot, including a robot body, and at least one functional module detachably connected to the robot body, etc. This scheme fixes the mounting piece and the first fixed plate through a multi-point double-acting structure, and forms a stable fixed structure while realizing rapid positioning, thereby realizing rapid assembly and effective fixation between the functional module and the robot body.

Description

[0001] Priority application

[0002] This application claims the priority of the Chinese invention patent application [202410864868.X] "[Modular photovoltaic robot, braking robot and braking method thereof]" filed on June 28, 2024, and the entire text of the priority invention patent application is incorporated by reference. Technical Field

[0003] The present invention belongs to the technical field of photovoltaic operation and maintenance, and specifically relates to a robot and a connecting device thereof. Background Art

[0004] At present, there are some cleaning robots on the market for application scenarios such as glass, window surfaces or photovoltaic panels. For example, the Chinese invention patent with publication number CN115990895A discloses a photovoltaic robot, including: a mobile chassis; a walking component arranged on the mobile chassis, used to drive the mobile chassis to move along the working surface; a cleaning component, one group is arranged at the front and rear ends of the mobile chassis, and the cleaning component includes a roller brush cleaning mechanism and a scraper located on the rear side of the roller brush cleaning mechanism, and the scraper is suitable for sticking to the working surface to scrape off stains on its surface.

[0005] On the one hand, during the cleaning process, the roller brush and other parts of the photovoltaic cleaning robot will inevitably encounter problems such as wear and aging; secondly, during the transportation or handling process, the photovoltaic cleaning robot is large in size and cannot be disassembled and carried, which is inconvenient to carry. On the other hand, in addition to cleaning the photovoltaic panels, the robot is often required to perform other processing on the photovoltaic panels, such as applying nano-coatings to the photovoltaic panels and detecting defects on the photovoltaic panels.

[0006] To this end, the Chinese invention patent with publication number CN113098382A also discloses a photovoltaic cleaning robot with an adaptive roller brush assembly. The roller brush module is arranged in the mounting bracket, and the mounting bracket is arranged on the front outer side wall of the frame through the connecting bracket, and the connecting bracket is respectively provided with a limited slideway, a limited groove and a rotating slideway, so that the roller brush module can be rotatably connected to the frame through the connecting bracket.

[0007] For another example, a Chinese invention patent with publication number CN116131746A discloses a photovoltaic panel cleaning robot and a control method, in which a frame and a cleaning part of the robot are connected by a connecting plate and a cleaning part mounting frame that cooperate with each other, wherein an elastic quick-release head and a positioning head are provided on the cleaning part mounting frame, and an arc-shaped card groove and a positioning groove are provided at the positions of the connecting plate corresponding to the elastic quick-release head and the positioning head.

[0008] However, the applicant has noticed that the connection components between the conventional cleaning member and the frame are often difficult to disassemble during actual use. Summary of the invention

[0009] The object of the present invention is to provide a connecting device for a robot to partially solve or alleviate the above-mentioned deficiencies in the prior art, and to form a more stable fixed structure while achieving rapid positioning.

[0010] In order to solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions: a connecting device of a robot, comprising a mounting member and a first fixing plate arranged on a robot body, wherein a first positioning member and a second positioning member are arranged on the first fixing plate, and the second positioning member comprises a first positioning column, a connecting plate and a second positioning column, wherein the first positioning column is arranged on the first fixing plate, one end of the connecting plate is connected to the first positioning column, and the other end of the connecting plate is connected to the second positioning column;

[0011] The mounting member comprises a first mounting plate, a first end of the first mounting plate is provided with a positioning area, the positioning area comprises a side edge, one end of the side edge extends to form a positioning opening, and the first mounting plate is further provided with a third mounting hole matched with the second positioning column;

[0012] When the mounting member and the first fixing plate are fixed together, the first positioning member abuts against the side, the first positioning column is stuck in the positioning opening, the second positioning column passes through the mounting plate and the third mounting hole in sequence and is fixed, and the line connecting the center points of the first positioning member, the first positioning column and the second positioning column forms a triangular force distribution area;

[0013] The first positioning member forms a first contact point with the side, the first positioning column forms a second contact point with the side, and a first connecting line intersecting with a vertical plane is formed between the first contact point and the second contact point. The vertical plane is a plane that is perpendicular or approximately perpendicular to the horizontal plane where the robot body is located.

[0014] As an improvement, the robot includes a robot body and a functional module, and the functional module is fixedly connected to the mounting member.

[0015] As an improvement, the edge of the positioning opening includes a first line segment and a second line segment connected to each other, the first line segment is formed by extending along the first end of the side edge, and the second line segment is parallel or approximately parallel to the side edge.

[0016] As an improvement, a second fixing plate is provided on the functional module, and the mounting member also includes: a second mounting plate, the second mounting plate includes a first sub-mounting plate that cooperates with the first mounting surface of the second fixing plate, and a second sub-mounting plate that cooperates with the second mounting surface of the second fixing plate, the first sub-mounting plate and the second sub-mounting plate cooperate to form a mounting area for mounting the second fixing plate.

[0017] As an improvement, at least one second mounting hole is respectively provided on the first mounting surface and the second mounting surface, and at least one first mounting hole corresponding to the second mounting hole is respectively provided on the first sub-mounting board and the second sub-mounting board.

[0018] As an improvement, the functional module is connected to the robot body via at least two mounting parts.

[0019] As an improvement, the first mounting plate is further provided with connecting holes through which the connecting rod can pass, and the connecting rod passes through at least two of the connecting holes in sequence.

[0020] The present invention further provides a robot, comprising a robot body, and at least one functional module detachably connected to the robot body, wherein a first fixing plate is provided on the robot body, and the first fixing plate and the functional module are connected via a mounting member; a first positioning member and a second positioning member are provided on the first fixing plate;

[0021] The mounting member comprises a first mounting plate and a second mounting plate, a first end of the first mounting plate is provided with a positioning area, the positioning area comprises a side edge, and one end of the side edge extends to form a positioning opening;

[0022] Wherein, the side edge is an inclined side edge, and when the mounting member is engaged with the first fixing plate, a first contact point is formed between the first positioning member and the side edge, and a second contact point is formed between the second positioning member and the side edge, and a first connecting line intersecting with a vertical plane is formed between the first contact point and the second contact point, and the vertical plane is a plane perpendicular or approximately perpendicular to the horizontal plane where the robot body is located;

[0023] The second mounting plate is further provided with at least one first mounting hole, and correspondingly, the functional module is provided with at least one second mounting hole matching with the first mounting hole.

[0024] As an improvement, the functional module includes one or more of a cleaning module, an intelligent coating module and an intelligent detection module.

[0025] As an improvement, the second positioning member includes a first positioning column, a connecting plate and a second positioning column, the first positioning column is arranged on the first fixing plate, one end of the connecting plate is connected to the first positioning column, and the other end of the connecting plate is connected to the second positioning column;

[0026] When the mounting member and the first fixing plate are fixed together, the first positioning member abuts against the side, the first positioning column is stuck in the positioning port, the second positioning column is fixed through the mounting plate and the third mounting hole in sequence, and the line connecting the center points of the first positioning member, the first positioning column and the second positioning column forms a triangular force distribution area.

[0027] It should be noted that for application scenarios such as large centralized photovoltaic power stations, for example, some large centralized photovoltaic power stations have a scale of 2.2 GW and cover an area of ​​8,700 acres. The demand for automatic cleaning of these large areas also puts higher requirements on the working stability of photovoltaic cleaning robots. In addition, in order to maintain the stability of photovoltaic panels during long-term operation, regular cleaning, spraying, status detection and other maintenance measures are required, so the maintenance cost is also very high.

[0028] The principles and beneficial effects of the present invention are:

[0029] First of all, in order to improve the working stability of photovoltaic operation and maintenance robots, especially to improve the service life of key consumables (such as mounting parts), and at the same time reduce the operation and maintenance costs of large-scale centralized photovoltaic power stations, the present invention preferably proposes a dual-acting (combining the dual functions of auxiliary positioning and coordinated distribution of force) mounting part with a distributed multi-point design to flexibly and stably connect the functional module and the robot body in a detachable manner.

[0030] Among them, on the one hand, the present application cooperates with the first positioning member through the positioning area, so as to quickly guide the user to complete the preliminary clamping (that is, preliminarily complete the clamping between the positioning port in the positioning area and the first positioning column) through the auxiliary positioning function of the first positioning member; at the same time, after the mounting member completes the fixed connection with the robot body, the positioning area can also form a coordinated triangular force distribution area with the second positioning member (that is, the first positioning column, the connecting plate and the second positioning column). The force distribution area, on the one hand, reliably fixes and limits the mounting member through the limiting action of multiple points in different directions, and at the same time, the multi-point limiting action disperses the overall limiting force to achieve balanced distribution of force at each point, thereby improving the stability of the mounting member during long-term use (improving service life).

[0031] In other words, this double-acting mounting component can not only improve the convenience of the installation operation, but also improve the service life of the mounting component.

[0032] When this dual-acting mounting part is used in scenarios such as large centralized photovoltaic power stations, it can effectively reduce maintenance costs and alleviate the labor intensity of users.

[0033] For example, for different types of maintenance needs such as cleaning, spraying or panel inspection, the same robot main body equipment can be used to replace the functional module only through the double-acting mounting parts, thereby reducing the configuration cost of the operation and maintenance robot. In addition, large-scale centralized photovoltaic power stations often require batch operation and maintenance robots to work synchronously, and the auxiliary positioning design of the mounting parts can reduce the labor intensity of batch replacement work; making this application mode of easy disassembly of functional modules easier to implement.

[0034] In addition, since the operation and maintenance robot needs to work for a long time in an outdoor environment with strong light, and different photovoltaic panel areas may have different undulations (for example, the specifications of the photovoltaic panels are different, or due to the accumulation of dust obstacles of different thicknesses, etc.), this will also cause the robot to frequently bump during long-term operation. The double-acting mounting parts proposed in this application can not only strengthen the installation and fixing effect with the help of the force distribution area, but also distribute the forces it bears during the working process (such as the impact of frequent shaking on it) in a more balanced manner, thereby improving the working stability and service life of the mounting parts during long-term operation. This will also further reduce the cost of consumables required for the operation and maintenance process.

[0035] Furthermore, with respect to the cleaning mode of the operation and maintenance robot (i.e., when the functional module is a cleaning module), unlike the traditional rotatable connection scheme in the prior art (such as directly rotatably connecting the cleaning module to the robot body), the present invention splits the demand for the rotatable connection scheme, and respectively realizes the adaptive adjustment of the cleaning module and the fixed connection between the cleaning module and the robot body relatively independently through a rotatable rotating module and a double-acting mounting part.

[0036] Moreover, this split independent working solution can have a longer service life in long-term work in outdoor complex environments. This is completely opposite to the traditional way of rotating the cleaning module directly relative to the robot body.

[0037] Specifically, the present invention can arrange the roller brush to rotate relatively inside the cleaning module, that is, the lighter roller brush is rotatably connected to the connecting piece, so that the supporting force required to support the rotation of the roller brush is provided by the rotating module, thereby improving the service life and rotation flexibility of the rotating module to a certain extent.

[0038] At the same time, this internal rotation setting can further reduce the overall vibration of the cleaning module when the operation and maintenance robot passes over a ridge, thereby reducing the impact of the vibration activity on the mounting parts during the passing of the 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 drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without paying creative labor.

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

[0041] Figure 2 for Figure 1 An exploded schematic diagram of the parts of the cleaning module shown;

[0042] Figure 3 for Figure 1 A partial perspective schematic diagram of the cleaning module shown;

[0043] Figure 4 for Figure 1 a side view of the cleaning module shown;

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

[0045] Figure 6 It is a structural schematic diagram of a rotating member in an exemplary embodiment of the present application;

[0046] Figure 7 This is a schematic diagram of the structure of a robot in an exemplary embodiment of the present application;

[0047] Figure 8 This is a schematic diagram of the angle design of the scraper in an exemplary embodiment of the present application;

[0048] Fig. 9 This is a schematic diagram of the connection relationship between the functional module and the robot in an exemplary embodiment of the present application;

[0049] Fig.10 This is a first structural schematic diagram of a mounting plate in an exemplary embodiment of the present application;

[0050] Fig.11 It is a second structural schematic diagram of a mounting plate in an exemplary embodiment of the present application;

[0051] Fig.12 It is a third structural schematic diagram of a mounting plate in an exemplary embodiment of the present application;

[0052] Fig.13 It is a fourth structural schematic diagram of a mounting plate in an exemplary embodiment of the present application;

[0053] Fig.14 It is a structural schematic diagram of a first fixing plate in an exemplary embodiment of the present application;

[0054] Fig.15 is a schematic structural diagram of a second fixing member in an exemplary embodiment of the present application;

[0055] Fig.16 This is a first schematic diagram of the matching relationship between the mounting plate and the positioning member in an exemplary embodiment of the present application;

[0056] Fig.17 A second schematic diagram of the matching relationship between the mounting plate and the positioning member in an exemplary embodiment of the present application

[0057] Fig.18 Schematic diagram of the robot structure.

[0058] Summary of figure markings:

[0059] 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 scraper; 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, and 49 is the fourth fixing member; 50 is the elastic member, 61 is the adjusting part, 611 is the first adjusting part, 612 is the second adjusting part, P1 is the limiting section, P2 is the first plane, and P3 is the second plane;

[0060] 100 is a mounting member, 101 is a first mounting plate, 102 is a positioning area, 1021 is a positioning opening, and 1022 is a side; 103 is a second mounting plate, 1031 is a first sub-mounting plate, 1032 is a second sub-mounting plate, 104 is a connecting hole, 105 is a third mounting hole, and 106 is a connecting rod; 200 is a first fixing plate, 201 is a first positioning member, 202 is a second positioning member, 2021 is a first positioning column, 2022 is a connecting plate, and 2023 is a second positioning column; 300 is a second fixing plate, 301 is a first mounting surface, and 302 is a second mounting surface; P4 is a third plane (also called: mounting slope). DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0062] Herein, suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings by themselves. Therefore, "module", "component" or "unit" can be used mixedly.

[0063] In this document, the terms "upper", "lower", "inner", "outer", "front", "back", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0064] In this document, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" 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, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] Herein "and / or" includes any and all combinations of one or more of the associated listed items.

[0066] Herein, "plurality" means two or more than two, ie, it includes two, three, four, five, etc.

[0067] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0068] The embodiment is basically as follows Figure 1-Figure 18 As shown:

[0069] Embodiment 1

[0070] See also Figure 1-Figure 8 As shown, an adaptive robot (the robot in this article may also be referred to as a cleaning robot or a photovoltaic operation and maintenance robot) includes:

[0071] Robot body 10;

[0072] At least one cleaning module, the cleaning module comprises: a cleaning component 30, a connecting member 20, the cleaning component 30 is rotatably connected to the connecting member 20 via a rotating module 40, and the connecting member 20 is fixedly connected to the robot body 10; wherein,

[0073] The rotating module 40 includes: a rotating member 41; wherein a first end of the rotating member 41 is rotatably connected to the connecting member, and a second end of the rotating member 41 is fixedly connected to the cleaning member 30;

[0074] 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 provided on the rotating member 41 or the connecting member 20 accordingly, wherein 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 angle of the rotating member to a first angle to a second angle; wherein the angle refers to an angle between an axis of the rotating member (such as an axis direction, i.e., a direction of the first plane P2) and a vertical direction (e.g., a vertical direction is a plane direction of the second plane P3);

[0075] Herein, 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.

[0076] Furthermore, the present embodiment further includes: a second limiting mechanism, the second limiting mechanism including: an adjusting portion 61, an adjusting position 22 is correspondingly provided on the connecting member 20, and the adjusting portion 61 can realize 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 P1 of the adjusting portion 61 and the vertical direction will also change accordingly; wherein,

[0077] 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 of the point is the limiting section P1 .

[0078] See also Figure 5As 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).

[0079] 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 restrictive limiting and freely adjustable limiting mechanisms work together to prevent the robot from rotating too violently (such as tilting too much) when passing over a bump. At the same time, free adjustment space can be reserved for the user to flexibly fine-tune according to different cleaning needs and photovoltaic panel surfaces, thereby improving adjustment reliability.

[0080] For example, in some embodiments, see Figure 3 As 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 to install a limiting member (such as a screw, a bolt, etc.); wherein, when the rotating member 41 rotates along a set direction, the limiting member will also move accordingly on the limiting path 23, and when it moves to the two ends of the limiting path 23, the rotation angle or trend of the rotating member will also be correspondingly limited.

[0081] For example, in some embodiments, the adjusting portion 61 includes a first adjusting portion 611 and a second adjusting portion 612 that are 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 is arranged toward the rotating member 41, so that when the angle rotates to the current maximum angle, the second adjusting portion 612 will come into contact with the rotating member 41, thereby limiting the rotating member 41.

[0082] In some embodiments, the second limiting mechanism is disposed above the rotating member to limit the maximum angle within the rotatable range of the rotating member.

[0083] In this embodiment, the first limiting mechanism is preferably used to achieve the lower limit, and the second limiting mechanism is used to achieve the upper limit. This can avoid over-adjustment by the user (for example, causing the lower limit angle to be too large and unable to stick to the ground) while ensuring that the user has a certain degree of adjustment freedom.

[0084] In other words, the present embodiment adopts a fool-proof design for the limit scheme to prevent, to a certain extent, the user from adjusting the lower limit angle too much due to misoperation or unskilled operation, which may cause the robot to easily grab the ground when crossing a bump, affecting the cleaning efficiency.

[0085] In some embodiments, the adjustment portion 61 may be an eccentric shaft.

[0086] In some embodiments, the connecting member 20 and the robot body 10 are fixedly connected so that the connecting member and the robot body form a rigid body.

[0087] Preferably, in some embodiments, the rotating modules are arranged on both sides of the cleaning component 30 and the connecting member 20 (specifically, arranged on the end surfaces of both sides of the cleaning component and the connecting member). In this embodiment, the solution of implementing the layout of the rotating modules at both ends in the cleaning module can also improve the rotation flexibility to a certain extent.

[0088] In some embodiments, see 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 relatively along the axis of the second opening.

[0089] For example, in some embodiments, it also 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 end extending from the first fixing member 43 to further fix the rotating member 41.

[0090] In some embodiments, a mounting opening 44 is further provided at the second end of the rotating member 41 , and the mounting opening 44 is used to fix a second fixing member 42 provided on the cleaning component 30 , thereby enabling the cleaning component 30 to perform an angle adaptive adjustment relative to the rotation of the rotating member 41 .

[0091] Preferably, the installation opening 44 is a non-enclosed opening, that is, the edge of the installation opening 44 is a non-continuous surface with a break, so as to facilitate the quick removal of the cleaning component 30 .

[0092] In some embodiments, it further includes: an elastic adjustment module, the elastic adjustment module includes: an elastic member 50; correspondingly, a first mounting position 46 is provided on the rotating member 41, and a second mounting 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 mounting position 46 and the second mounting position;

[0093] The elastic member 50 applies a force toward a first direction to the cleaning component 30 , and the first direction refers to a direction in which the cleaning component 30 points to the area to be cleaned.

[0094] For another example, in some embodiments, the elastic member may also be a tension spring or other spring forms.

[0095] In stark contrast to the traditional way of rotating the cleaning module directly relative to the robot body, in this embodiment, the roller brush (equivalent to the cleaning component) is set to rotate relatively inside the cleaning module, that is, the lighter roller brush is rotatably connected to the connecting piece, so that the rotating module supports the supporting force required for the roller brush to rotate, thereby improving the service life and rotation flexibility of the rotating module to a certain extent. At the same time, in view of the internal relative rotation scheme of this cleaning module, this embodiment also uses a second limit mechanism and an elastic adjustment module to coordinate the directions of fixing the limiting angle and elastically limiting the rotation speed in the upper and lower directions, respectively, so as to avoid the "over-flexibility" such as excessive rotation resulting in insufficient contact with the photovoltaic panel or too little contact pressure, while satisfying the rotation flexibility and retaining the adjustment flexibility.

[0096] Embodiment 2

[0097] See also Figure 1-Figure 7 As shown, a cleaning component comprises:

[0098] The cleaning module includes: a cleaning component 30, a connecting member 20, wherein the cleaning component 30 is rotatably connected to the connecting member 20 via a rotating module 40, and the connecting member 20 is fixedly connected to the robot body 10; the rotating module 40 includes: a rotating member 41; wherein a first end of the rotating member 41 is rotatably connected to the connecting member, and a second end of the rotating member 41 is fixedly connected to the cleaning component 30;

[0099] 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 provided on the rotating member 41 or the connecting member 20 accordingly, wherein 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 to a first angle to a second angle; wherein the included angle refers to an angle between an axis of the rotating member and a vertical direction;

[0100] 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 realize 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 P1 of the adjusting portion 61 and the vertical direction will also change accordingly; wherein,

[0101] 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 of the point is the limiting section P1 .

[0102] In some embodiments, a scraper 24 is further provided on the connector 20. The contact surface of the scraper 24 for cleaning the area to be cleaned (such as a photovoltaic panel) has an angle β with the vertical direction, and the optional range of the angle β is 19.45°-20°.

[0103] The angle setting of the scraper can be found in Figure 8 shown.

[0104] In some embodiments, the second limiting mechanism is disposed above the rotating member to limit the maximum angle within the rotatable range of the rotating member. For example, the adjusting portion 61 further limits the adjustable range to a first angle to a third angle, and the third angle is less than or equal to the second angle.

[0105] In some embodiments, it further includes: an elastic adjustment module, the elastic adjustment module includes: an elastic member 50; correspondingly, a first mounting position 46 is provided on the rotating member 41, and a second mounting 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 mounting position 46 and the second mounting position;

[0106] The elastic member 50 applies a force toward a first direction to the cleaning component 30 , and the first direction refers to a direction in which the cleaning component 30 points to the area to be cleaned.

[0107] In this embodiment, the provision of the elastic member can further limit the rotation tendency of the rotating member to a certain extent, so as to ensure that a certain magnitude of relative force is maintained between the cleaning member and the area to be cleaned, thereby improving the cleaning force.

[0108] The provision of the elastic member can also, to a certain extent, prevent the angle α from being adjusted too quickly or too large, resulting in inadequate cleaning when crossing a ridge.

[0109] The principle and beneficial technical effects of the present invention are:

[0110] Photovoltaic panels are affected by the actual terrain during installation, and there will be unevenness. At the same time, because photovoltaic panels are subject to environmental erosion during use, further unevenness will occur. The cleaning components in the prior art can only rotate within a fixed angle adjustment range, and cannot adapt well to photovoltaic panels of different batches and different undulations. The present application proposes a dual-limit solution that can adaptively adjust photovoltaic panels in different scenarios (for example, when cleaning photovoltaic panels, first conduct trial cleaning on a small number of photovoltaic panels in the same area to determine the approximate undulation of the photovoltaic panels, 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.

[0111] Specifically, on the one hand, the present application proposes a double limit mechanism with different limit functions (that is, the limit angle is adjustable), which can avoid excessive adjustment by the user (for example, the upper limit angle is adjusted too large, resulting in the cleaning mechanism being unable to touch the ground) while ensuring that the user has a certain degree of adjustment freedom.

[0112] On the other hand, this solution adopts a fool-proof design for the limit solution to prevent the user from adjusting the lower limit angle too much due to misoperation or unskilled operation, which may cause the robot to easily grab the ground when passing over bumps, affecting the cleaning efficiency.

[0113] In other words, this solution provides a wider rotation range for the rotation of the cleaning mechanism by designing a double limit solution with optional rotation angles, so as to adapt to photovoltaic panels with different degrees of undulation, make the adjustment more flexible, and effectively improve the overall cleaning effect.

[0114] Furthermore, the present solution also forms a three-limit solution by setting an elastic member to cooperate with two limit mechanisms, so that the cleaning component has more adjustment angle ranges while also avoiding the problem of excessive rotation of the cleaning component (for example, the cleaning component rotates too fast or the adjustment range is too large, resulting in inadequate cleaning when passing over bumps) to a certain extent.

[0115] Embodiment 3

[0116] See also Figure 1-Figure 7 As shown, a robot with easily detachable cleaning parts comprises:

[0117] Robot body 10;

[0118] At least one cleaning module, the cleaning module comprising: a cleaning component 30, a connecting member 20, the cleaning component 30 is rotatably connected to the connecting member 20 via a rotating module 40 (in some embodiments, the connecting member 20 is fixedly connected to the robot body 10); wherein,

[0119] The rotating module 40 includes: a rotating member 41; wherein a first end of the rotating member 41 is rotatably connected to the connecting member, and a second end of the rotating member 41 is fixedly connected to the cleaning member 30;

[0120] Preferably, the second end of the rotating member 41 is detachably connected to the cleaning member 30 via a second fixing member 42;

[0121] See also Figure 3As shown, the second end of the rotating member 41 is provided with a mounting opening 44, and the cleaning component 30 is provided with a second fixing member 42 corresponding to the mounting opening; the second fixing member 42 is provided with at least one first fixing position 421, and the mounting opening 44 is correspondingly provided with at least one second fixing position 441, 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 mounting opening 44, so that the cleaning component 30 can perform an adaptive adjustment of the angle relative to the rotation of the rotating member 41.

[0122] In some embodiments, the first fixing position 421 is a mounting groove disposed outside the second fixing member 42, the second fixing position 441 is a through hole disposed corresponding to the first fixing position, and the second fixing member 42 may be a hexagonal nut. The third fixing member can penetrate the second fixing position 441 and extend into the first fixing position 42 to fix the hexagonal nut. When the hexagonal nut is removed, the cleaning component (such as a roller brush) can be removed.

[0123] In some embodiments, the third fixing member may be a tensioning shaft.

[0124] Preferably, see Figure 6 As shown, the installation opening 44 is a non-enclosed opening, that is, the edge of the installation opening is a non-continuous surface, so that disassembly openings 442 are formed at the edges of both ends of the installation opening 44, and the disassembly openings 442 are used for portable disassembly of the hexagonal nut.

[0125] In some embodiments, a first positioning rod 31 is provided on the cleaning component 30. When the second fixing member 42 is installed on the first positioning rod 31 close to the first end of the cleaning component, the inner surface of the mounting opening 44 contacts the outer surface of the second fixing member 42, and the second end of the first positioning rod 31 is also provided with a fourth fixing member 49 (such as a pulley).

[0126] Specifically, the first positioning rod 31 extends from one end into the inner side of the second fixing member 42 and extends from the other side of the second fixing member 42 , and the fourth fixing member 49 is sleeved on the extended portion thereof to fix the second fixing member 42 .

[0127] In some embodiments, the adjusting portion 61 includes 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 is arranged toward the rotating member 41, so that when the angle rotates to the current maximum angle, the second adjusting portion 612 will come into contact with the rotating member 41, thereby limiting the rotating member 41.

[0128] In this embodiment, a detachable design is integrated on the rotating module, so that the cleaning components (such as roller brushes, hair brushes, etc.) can be partially disassembled by using the rotating module, and the installation method is convenient.

[0129] Moreover, this functional integrated design can effectively simplify the overall mechanical structure, so as to further reduce the difficulty of processing while facilitating manual operation by users.

[0130] For example, the present embodiment preferably supports the quick installation of a brush having a length specification of 13mm-15mm.

[0131] It can be understood that the robot in this embodiment can also include the same or similar components as in any other embodiment, which will not be described in detail here.

[0132] Embodiment 4

[0133] An easily removable cleaning assembly, see Figure 1-Figure 6 ,include:

[0134] At least one cleaning module, the cleaning module comprises: 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 body 10; the rotating module 40 comprises: 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; wherein,

[0135] A mounting opening 44 is provided at the second end of the rotating member 41, and a second fixing member 42 corresponding to the mounting opening is provided on the cleaning member; 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 opening 44, and when the 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 opening 44; the mounting opening is used to fix the second fixing member 42 arranged on the cleaning member 30, so that the cleaning member 30 can perform an angle adaptive adjustment relative to the rotation of the rotating member 41.

[0136] In some embodiments, the connecting member 20 and the robot body 10 may be fixedly connected in a detachable manner.

[0137] In some embodiments, a first positioning rod 31 is provided on the cleaning component 30. When the second fixing member 42 is installed on the first positioning rod 31 close to the first end of the cleaning component, the inner surface of the mounting port 44 contacts the outer surface of the second fixing member 42, and the second end of the first positioning rod 31 is also sleeved with a fourth fixing member 49.

[0138] Embodiment 5

[0139] The present invention provides a photovoltaic operation and maintenance robot with modular design. Figure 7-Figure 18 The modular photovoltaic robot includes: a robot body 10, and at least one functional module connected to the robot body 10 in a detachable manner.

[0140] In some embodiments, the functional module includes one or more of the following: a cleaning module, an intelligent coating module, and an intelligent detection module.

[0141] Among them, the intelligent coating module can apply nano coating to the photovoltaic panel; specifically, the intelligent coating module includes: a storage mechanism for storing spraying materials, and a plurality of spraying mechanisms connected to the storage mechanism through pipelines, and the spraying mechanisms are used to spray the spraying materials onto the photovoltaic panel.

[0142] Among them, the intelligent detection module uses the principle of photoluminescence to complete real-time monitoring of photovoltaic components.

[0143] In some embodiments, the smart detection module is capable of autonomously detecting defects on the photovoltaic panel.

[0144] In some embodiments, the functional module is detachably connected to the robot body 10 through the mounting member 100. The robot body 10 is provided with a first fixing plate 200 that matches the mounting member 100, and the first fixing plate 200 is provided with a first positioning member 201 and a second positioning member 202 that match the mounting member 100. At least one functional module is also provided with a second fixing plate 300 that matches the mounting member 100. For example, the second fixing plate 300 is provided on the connecting member 20.

[0145] Herein, the mounting member and the first fixing plate are also collectively referred to as a connecting device of the robot.

[0146] Correspondingly, in some embodiments, see Fig.11 As shown, the mounting member 100 comprises:

[0147] A first mounting plate 101, wherein a positioning area 102 is provided at the first end of the first mounting plate 101; the positioning area is used to cooperate with the first positioning member and the second positioning member to complete a preliminary clamping connection; wherein the positioning area 102 includes: a side edge 1022, wherein the side edge 1022 forms a limiting path on the surface of which the first positioning member can slide, and one end of the side edge also extends to form a positioning port 1021, wherein when the positioning area and the first fixing plate 200 complete a preliminary clamping connection, the second positioning member is clamped into the positioning port, and the side edge abuts against the first positioning member 201.

[0148] Preferably, the line connecting the center points of the first positioning member 201 and the second positioning member 202 is inclined, that is, the line intersects with the vertical plane (the angle is γ); wherein the vertical plane refers to a plane that is perpendicular or approximately perpendicular to the horizontal plane where the robot body is located.

[0149] In some embodiments, the mounting member and the second fixing plate are fixedly connected.

[0150] In this article, fixed connection refers to a connection in which there is no relative movement after the parts or components are fixed. Fixed connection includes detachable connection and non-detachable connection.

[0151] For example, the fixed connection between the mounting member and the second fixing plate means that there is no relative rotation between them after the connection.

[0152] For example, in some embodiments, in order to further reduce the labor intensity of replacing the functional module, the mounting member may also be integrally fixedly connected to the functional module.

[0153] Further, see Figure 9-11 The mounting member 100 further includes: a second mounting plate 103 extending along the second end of the first mounting plate 101; wherein the second mounting plate 103 includes:

[0154] A first sub-mounting plate 1031; the first sub-mounting plate 1031 is used to cooperate with the first mounting surface 301 of the second fixing plate 300; wherein, at least one first mounting hole is provided on the first sub-mounting plate 1031, and the first mounting surface 301 is also provided with a second mounting hole corresponding thereto, when at least one positioning component (such as a screw, a positioning pin, etc.) passes through the first mounting hole and is inserted into the second mounting hole, the first sub-mounting plate 1031 and the first mounting surface 301 are tightly connected to each other.

[0155] Furthermore, the second mounting plate 103 may also include:

[0156] The second sub-mounting plate 1032 is used to cooperate with the second mounting surface 302 of the second fixed plate 300; wherein, the second sub-mounting plate 1032 is provided with at least one first mounting hole, and the second mounting surface 302 is also provided with a second mounting hole corresponding thereto, the first mounting plate and the second mounting plate cooperate to form a mounting area for mounting the second fixed plate, and when at least one positioning component (such as a screw, a positioning pin, etc.) passes through the first mounting hole and is inserted into the second mounting hole, the second sub-mounting plate 1032 and the second mounting surface 302 are tightly connected to each other.

[0157] In some embodiments, the second mounting hole may be a through hole or a blind hole.

[0158] In some embodiments, the first positioning member 201 may be a positioning pin.

[0159] In some embodiments, see Fig. 9 As shown, the second positioning member 202 may include:

[0160] A first positioning column 2021 (for example, the positioning column can be a bolt, a positioning pin, etc.) is provided on the first fixing plate 200; a connecting plate 2022, the first end of which is sleeved and mounted on the first positioning column 2021; and a second positioning column 2023 is provided at the second end of the connecting plate. Correspondingly, a third mounting hole 105 is provided on the first mounting plate 101 corresponding to the second positioning column.

[0161] See also Fig.12 As shown, a first connecting line is formed between a first contact point formed by the first positioning member 201 and the side, and a second contact point formed by the first positioning column and the side (for example, it may refer to a point where the straight line where the side is located is tangent to the first positioning column), and the first connecting line is intersected with a vertical plane (with an angle of γ), and the vertical plane is a plane perpendicular or approximately perpendicular to the horizontal plane where the robot body is located.

[0162] Specifically, in the horizontal plane direction, the distance between the first contact point and the functional module is smaller than the distance between the second contact point and the functional module.

[0163] Correspondingly, the side edge is also set as an inclined side edge; therefore, when the user initially operates to make the mounting member 100 and the first fixing plate 200 engage with each other, it can move in a direction parallel or approximately parallel to the mounting inclined surface P4 (such as Fig.13 The first positioning member 201 is abutted against the first positioning member 201, and then the second positioning member 202 is clamped. The second positioning member 202 and the first positioning member 201 form at least two contact points with the side edges respectively; and the third plane P4 (also called the installation slope) is formed by the multiple contact points.

[0164] It is understandable that the first positioning member 201 can assist the positioning process of the second positioning member 202. For example, the lower end of the inclined surface can be abutted against the first positioning member 201, and the first positioning member 201 can be slid downward until the second positioning member 202 is found and the positioning opening 1021 is used to complete the initial fixation.

[0165] Subsequently, the second positioning column 2023 penetrates the third mounting hole 105 to achieve a tight connection between the second positioning member 202 and the mounting plate 100; at least one positioning member can be abutted against the side edge by point contact, line contact or surface contact.

[0166] Preferably, the edge of the positioning port 1021 includes: a first line segment and a second line segment connected in sequence, the first line segment is formed by bending and extending along the first end of the inclined surface (preferably an arc-shaped line segment matching the outer periphery of the first positioning column), and the second line segment is parallel or approximately parallel to the inclined surface, so that the user can smoothly insert the first positioning column 2021 along the direction of the installation inclined surface P4.

[0167] See also Fig.12 As shown, in this embodiment, the first positioning member 201, the second positioning member 202 and the third mounting hole (not shown in the figure) on the mounting member 100 cooperate to form a triangular force distribution area 500. The force distribution area 500 is connected by at least three points, namely, the center point O1 of the first positioning member 201, the center point O2 of the first positioning column 2021 in the second positioning member 202, and the center point O3 of the second positioning column 2022. The force distribution area 500 can, on the one hand, reliably fix the mounting member 100 by using the multi-point limiting effect, and at the same time, the overall limiting force can be dispersed through the decentralized multi-point design to reduce the force size at a single point, so as to enhance the working stability of the mounting member 100 and extend the service life of the mounting member 100, the positioning member and other connecting parts.

[0168] Preferably, in some embodiments, the functional module is connected to the robot body via at least two mounting members 100 .

[0169] In some embodiments, the mounting member can be fixedly connected to the functional module.

[0170] Alternatively, in other embodiments, the mounting member can also be rotatably connected to the functional module.

[0171] Furthermore, in some embodiments, a connection hole 104 is further provided on the first mounting plate 101, and the robot further comprises: a connection rod 106, wherein the connection rod respectively passes through the connection holes 104 on at least two first mounting plates 101. The user can conveniently operate the integral disassembly process of the functional module by grabbing the connection rod.

[0172] Furthermore, the present invention provides a cleaning robot, which includes a cleaning module. The cleaning module is detachably connected to the robot body through a mounting member 100; and a rotating module is provided inside the cleaning module to perform adaptive angle adjustment on the roller brush. The connection structure formed by the mounting member and the rotating module in sequence has both adjustment flexibility and working stability.

[0173] When assembling the functional module and the robot body, the two need to be quickly positioned to improve installation efficiency. At the same time, in order to maintain their working stability, the connection between the two needs to be made more stable.

[0174] In view of this, the present application fixes the mounting member and the first fixed plate through a multi-point double-acting structure, thereby achieving rapid positioning while forming a stable fixing structure; specifically, the present scheme forms a positioning path by setting a side edge on the mounting plate, and at the same time sets a positioning port at one end of the positioning path, and uses the first positioning member as an auxiliary positioning member, which can play an auxiliary positioning role in the clamping process of the first positioning column, and at the same time, the first positioning member can also cooperate with the first positioning column and the second positioning column to form a force distribution area, which can, on the one hand, utilize the multi-point limiting effect to reliably fix the mounting member and the first fixed plate, and at the same time, through the decentralized multi-point design, the overall limiting force can also be dispersed to achieve balanced distribution of force at each point, so as to enhance the working stability of the mounting member and extend the service life of connecting components such as the mounting member and the positioning member.

[0175] Especially for large-scale photovoltaic panel cleaning scenarios, since different photovoltaic panel areas may have different undulations (for example, different specifications of the photovoltaic panels, or due to the accumulation of dust obstacles of different thicknesses, etc.), the robot may frequently bump during long-term movement. The setting of the mounting parts can effectively improve the installation stability between the robot and the cleaning module. At the same time, choosing to set a rotation module inside the cleaning module can further reduce the impact of angle adjustment on the structural stability of the robot.

[0176] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0177] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A connecting device for a robot, characterized in that: The robot comprises a mounting member (100) and a first fixing plate (200) arranged on a robot body, wherein a first positioning member (201) and a second positioning member (202) are arranged on the first fixing plate, wherein the second positioning member (202) comprises a first positioning column (2021), a connecting plate (2022) and a second positioning column (2023), wherein the first positioning column is arranged on the first fixing plate, one end of the connecting plate is connected to the first positioning column, and the other end of the connecting plate is connected to the second positioning column; The mounting member (100) comprises a first mounting plate (101), a first end of the first mounting plate (101) being provided with a positioning area (102), the positioning area comprising a side edge (1022), one end of the side edge extending to form a positioning opening (1021), and the first mounting plate (101) being further provided with a third mounting hole (105) cooperating with the second positioning column (2023); When the mounting member (100) and the first fixing plate (200) are fixed together, the first positioning member (201) abuts against the side edge (1022), the first positioning column (2021) is stuck in the positioning opening (1021), the second positioning column (2023) passes through the connecting plate and the third mounting hole (105) in sequence and is fixed, and the line connecting the center points of the first positioning member (201), the first positioning column (2021) and the second positioning column (2023) forms a triangular force distribution area; The first positioning member (201) forms a first contact point with the side, the first positioning column forms a second contact point with the side, and a first connecting line intersecting with a vertical plane is formed between the first contact point and the second contact point. The vertical plane is a plane that is perpendicular or approximately perpendicular to the horizontal plane where the robot body is located.

2. A robot connection device according to claim 1, characterized in that: The robot comprises a robot body and a functional module, and the functional module is fixedly connected to the mounting member.

3. A robot connection device according to claim 1, characterized in that: The edge of the positioning opening (1021) comprises a first line segment and a second line segment that are connected, the first line segment is formed by extending along the first end of the side edge (1022), and the second line segment is parallel or approximately parallel to the side edge (1022).

4. A robot connection device according to claim 2, characterized in that: A second fixing plate (300) is arranged on the functional module, and the mounting member further comprises: a second mounting plate (103), the second mounting plate (103) comprising a first sub-mounting plate (1031) cooperating with a first mounting surface (301) of the second fixing plate (300), and a second sub-mounting plate (1032) cooperating with a second mounting surface (302) of the second fixing plate (300), the first sub-mounting plate (1031) and the second sub-mounting plate (1032) cooperating to form a mounting area for mounting the second fixing plate (300).

5. A robot connection device according to claim 4, characterized in that: At least one second mounting hole is respectively provided on the first mounting surface (301) and the second mounting surface (302), and at least one first mounting hole corresponding to the second mounting hole is respectively provided on the first sub-mounting plate (1031) and the second sub-mounting plate (1032).

6. A robot connection device according to claim 2, characterized in that: The functional module is connected to the robot body via at least two mounting parts (100).

7. A robot connection device according to claim 6, characterized in that: The first mounting plate (101) is also provided with connection holes (104) through which the connection rod (106) can pass, and the connection rod (106) passes through at least two of the connection holes (104) in sequence.

8. A robot, characterized in that: The robot comprises a robot body and at least one functional module detachably connected to the robot body, wherein a first fixing plate (200) is provided on the robot body, and the first fixing plate (200) and the functional module are connected via a mounting member (100); The first fixing plate (200) is provided with a first positioning member (201) and a second positioning member (202); The mounting member (100) comprises a first mounting plate (101) and a second mounting plate (103); a first end of the first mounting plate (101) is provided with a positioning area (102); the positioning area (102) comprises a side edge (1022); one end of the side edge (1022) extends to form a positioning opening (1021); Wherein, when the mounting member (100) is engaged with the first fixing plate (200), the first positioning member (201) forms a first contact point with the side edge, and the second positioning member forms a second contact point with the side edge, and a first connecting line intersecting with a vertical plane is formed between the first contact point and the second contact point, and the vertical plane is a plane perpendicular or approximately perpendicular to the horizontal plane where the robot body is located; The second mounting plate (103) is also provided with at least one first mounting hole, and correspondingly, the functional module is provided with at least one second mounting hole that matches the first mounting hole.

9. A robot according to claim 8, characterized in that: The functional modules include one or more of a cleaning module, an intelligent coating module and an intelligent detection module.

10. A robot according to claim 8, characterized in that: The second positioning member (202) comprises a first positioning column (2021), a connecting plate (2022) and a second positioning column (2023), wherein the first positioning column (2021) is arranged on the first fixing plate (200), one end of the connecting plate (2022) is connected to the first positioning column (2021), and the other end of the connecting plate (2022) is connected to the second positioning column (2023); When the mounting member (100) and the first fixing plate (200) are fixed together, the first positioning member (201) abuts against the side edge (1022), the first positioning column (2021) is stuck in the positioning opening (1021), the second positioning column (2023) passes through the third mounting hole (105) on the connecting plate and the mounting plate in sequence and is fixed, and the line connecting the center points of the first positioning member (201), the first positioning column (2021) and the second positioning column (2023) forms a triangular force distribution area.

Images