Operation and maintenance robot

Abstract

The invention belongs to the technical field of photovoltaics, and discloses an operation and maintenance robot which comprises a vehicle body, swing arm walking assemblies and a rolling brush assembly, the two swing arm walking assemblies are installed on the left side and the right side of the vehicle body respectively, each swing arm walking assembly comprises a rocker arm, a connecting rod and walking wheels, the connecting rods are fixedly installed on the vehicle body, and the rocker arms are of a V-shaped structure; the crossed end of the V-shaped structure is hinged to one end of the connecting rod, the other end of the connecting rod is provided with a walking wheel, the two free ends of the V-shaped structure are each provided with a walking wheel, and the three walking wheels are arranged in a straight line; the rolling brush assembly comprises a roller brush and a connecting structure, the connecting structure is hinged to the vehicle body, and the roller brush is installed at the end, away from the vehicle body, of the connecting structure. According to the operation and maintenance robot, by arranging the swing arm walking assembly, when the robot encounters an obstacle, the swing arm swings, the two walking wheels installed at the free end of the swing arm can be self-adaptive, and the walking stability is improved; the operation and maintenance robot is simple in structure and convenient to install and debug.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaic technology, and in particular to an operation and maintenance robot. Background Art

[0002] Photovoltaic is the abbreviation of solar photovoltaic power generation system. It is a new type of power generation system that uses the photovoltaic effect of solar cell semiconductor materials to directly convert solar radiation energy into electrical energy. Photovoltaic has two operating modes: independent operation and grid-connected operation. Solar photovoltaic power generation systems are divided into two categories: one is centralized, such as large-scale northwest ground photovoltaic power generation systems; the other is distributed (with >6MW as the boundary), such as photovoltaic power generation systems on the roofs of industrial and commercial factory buildings, photovoltaic power generation systems on the roofs of residential buildings, etc.

[0003] In the process of using photovoltaic equipment, some large photovoltaic sites need to use operation and maintenance robots to clean photovoltaic modules. In this process, there may be many obstacles in the use site, which will affect the operation of the robot. The existing operation and maintenance robots generally have poor obstacle-crossing capabilities and high requirements for land conditions and bracket installation. They are mainly used in fixed bracket scenarios, which has caused certain inconveniences in use. In addition, the existing operation and maintenance robot equipment is expensive, the structure is complex, and the installation and debugging are cumbersome, which is not conducive to the productization and large-scale production of operation and maintenance robots.

[0004] Therefore, there is an urgent need for an operation and maintenance robot that can be used on a flexible support to adapt to undulating terrain scenarios to solve the above technical problems. Summary of the invention

[0005] The purpose of the present invention is to provide an operation and maintenance robot, aiming to solve the problems of complex structure and poor obstacle crossing ability of existing robots. The operation and maintenance robot has high obstacle crossing ability and walking stability, and has a relatively simple structure, is easy to install and debug, and is conducive to productization and large-scale production.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] An operation and maintenance robot, comprising:

[0008] Vehicle body;

[0009] A swing arm travel assembly, two groups of the swing arm travel assembly are respectively installed on the left and right sides of the vehicle body, the swing arm travel assembly comprises a swing arm, a connecting rod and a travel wheel, the connecting rod is fixedly installed on the vehicle body, the swing arm is arranged in a V-shaped structure, the cross end of the V-shaped structure is hinged to one end of the connecting rod, the other end of the connecting rod is equipped with a travel wheel, the two free ends of the V-shaped structure are respectively equipped with a travel wheel, and the three travel wheels are arranged in a straight line;

[0010] The roller brush assembly comprises a roller brush and a connecting structure, wherein the connecting structure is hinged to the vehicle body, and the roller brush is installed at one end of the connecting structure away from the vehicle body.

[0011] Preferably, the travel wheel is provided with a guide groove matching the steel strand, and the spacing between the two groups of the swing arm travel assemblies is the same as the spacing between the two steel strands used to connect the two photovoltaic modules.

[0012] Preferably, the connecting structure includes a swivel connecting rod and an elastic telescopic member, the swivel connecting rod is hinged on the vehicle body, one end of the swivel connecting rod is connected to the roller brush, the other end of the swivel connecting rod is connected to the first end of the elastic telescopic member, and the second end of the elastic telescopic member is fixedly connected to the vehicle body.

[0013] Preferably, the rotary connecting rod is connected to the roller brush via a cover plate, the cover plate is in an elongated strip shape, a receiving groove for receiving part of the roller brush is provided on the cover plate, and both ends of the roller brush are rotatably connected to the two side walls of the receiving groove respectively.

[0014] Preferably, the elastic telescopic member is configured as a gas spring.

[0015] Preferably, the vehicle body includes a vehicle main body and a support plate installed on the vehicle main body, the support plate includes a first guide plate and a second guide plate arranged at right angles, the first guide plate is connected to the vehicle main body, the rotary connecting rod is hinged to an end of the second guide plate away from the first guide plate, and the elastic telescopic part is connected to the second guide plate.

[0016] Preferably, the roller brush comprises a roller and bristles, a plurality of the bristles are evenly distributed or spirally distributed along the circumference of the roller, and two ends of the roller are rotatably connected to two side walls of the receiving groove respectively.

[0017] Preferably, a control box is provided in the vehicle body, and a control mechanism for controlling the operation of the running wheels is installed in the control box.

[0018] Preferably, the operation and maintenance robot further comprises a support frame, wherein the support frame is arranged above the vehicle body, and rotating wheels for deviation correction are installed at both ends of the support frame.

[0019] Preferably, the roller brush assembly is provided with two groups, and the two groups of roller brush assemblies are respectively installed on the front and rear sides of the vehicle body.

[0020] The beneficial effects of the present invention are as follows: the operation and maintenance robot provided by the present invention, by providing a swing arm walking assembly, when encountering an obstacle, the swing arm swings, and the two walking wheels installed at the free end of the swing arm can adapt to each other, thereby enhancing the obstacle surmounting ability of the operation and maintenance robot and improving the walking stability; the roller brush is hinged to the vehicle body through a connecting structure, when encountering an obstacle, the obstacle will lift up the roller brush barrel, thereby ensuring that the operation and maintenance robot smoothly overcomes the obstacle; the operation and maintenance robot has a simple structure and is relatively convenient to install and debug, which is conducive to the productization and large-scale production of the operation and maintenance robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the operation and maintenance robot provided by the present invention from one perspective;

[0022] Figure 2 This is a front view of the operation and maintenance robot provided by the present invention;

[0023] Figure 3 is a structural schematic diagram of the operation and maintenance robot provided by the present invention from another perspective;

[0024] Figure 4 is a structural schematic diagram of the operation and maintenance robot provided by the present invention from another perspective;

[0025] Figure 5 It is a top view of the operation and maintenance robot provided by the present invention.

[0026] In the figure:

[0027] 100, vehicle body; 110, vehicle body; 120, support plate; 121, first guide plate; 122, second guide plate;

[0028] 200, swing arm travel assembly; 210, rocker arm; 220, connecting rod; 230, travel wheel; 231, guide groove;

[0029] 300, roller brush assembly; 310, roller brush; 320, connecting structure; 321, rotary connecting rod; 322, elastic telescopic member; 330, cover plate;

[0030] 400, support frame;

[0031] 500. Rotating wheel. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0033] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0035] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0036] This embodiment provides an operation and maintenance robot, which aims to solve the problems of complex structure and poor obstacle crossing ability of existing robots. The operation and maintenance robot has high obstacle crossing ability and walking stability, and has a relatively simple structure, which is easy to install and debug, and is conducive to productization and large-scale production.

[0037] See also Figures 1 to 5The operation and maintenance robot includes a vehicle body 100, a swing arm walking assembly 200 and a roller brush assembly 300. Two sets of swing arm walking assemblies 200 are respectively installed on the left and right sides of the vehicle body 100. The swing arm walking assembly 200 includes a swing arm 210, a connecting rod 220 and a walking wheel 230. The connecting rod 220 is fixedly installed on the vehicle body 100. The swing arm 210 is arranged in a V-shaped structure. The crossing end of the V-shaped structure is hinged to one end of the connecting rod 220. A walking wheel 230 is installed at the other end of the connecting rod 220. A walking wheel 230 is respectively installed at the two free ends of the V-shaped structure. The three walking wheels 230 are arranged in a straight line; the roller brush assembly 300 includes a roller brush 310 and a connecting structure 320. The connecting structure 320 is hinged to the vehicle body 100, and the roller brush 310 is installed at one end of the connecting structure 320 away from the vehicle body 100.

[0038] When the above-mentioned operation and maintenance robot is walking, the rocker arm 210 is usually located at the front end. When encountering an obstacle, the rocker arm 210 swings, and the two walking wheels 230 installed at the free end of the rocker arm 210 can adapt to each other, thereby enhancing the obstacle-crossing ability of the operation and maintenance robot and improving the walking stability; the roller brush 310 is hinged to the vehicle body 100 through the connecting structure 320. When encountering an obstacle, the obstacle will lift up the roller brush cylinder, thereby ensuring that the operation and maintenance robot smoothly crosses the obstacle; the operation and maintenance robot has a simple structure and is relatively easy to install and debug, which is conducive to the productization and large-scale production of the operation and maintenance robot.

[0039] Preferably, the walking wheel 230 is provided with a guide groove 231 matching the steel strand, and the spacing between the two sets of swing arm walking assemblies 200 is the same as the spacing between the two steel strands used to lay the photovoltaic module. In actual application, the photovoltaic module is usually supported by two parallel steel strands, and the spacing between the two sets of swing arm walking assemblies 200 is the same as the spacing between the two steel strands used to lay and fix the photovoltaic module. This arrangement enables the operation and maintenance robot to smoothly drive from the photovoltaic module onto the two steel strands, maintain the continuity of the walking path, and achieve continuous operation.

[0040] Optionally, the connecting structure 320 includes a swivel connecting rod 321 and an elastic telescopic member 322, the swivel connecting rod 321 is hinged on the vehicle body 100, one end of the swivel connecting rod 321 is connected to the roller brush 310, the other end of the swivel connecting rod 321 is connected to the first end of the elastic telescopic member 322, and the second end of the elastic telescopic member 322 is fixedly connected to the vehicle body 100. When encountering an obstacle, the obstacle lifts up the roller brush, the elastic telescopic member 322 retracts, and the operation and maintenance robot successfully crosses the obstacle. In this embodiment, the elastic telescopic member 322 is configured as a gas spring. The gas spring can play the role of support, buffering, braking and height adjustment, and its speed is relatively slow when it moves, and it is easy to control.

[0041] Specifically, see Figure 3The rotary connecting rod 321 is connected to the roller brush 310 through the cover plate 330. The cover plate 330 is in a long strip shape. The cover plate 330 is provided with a storage groove for storing part of the roller brush 310. The two ends of the roller brush 310 are respectively rotatably connected to the two side walls of the storage groove. The setting of the cover plate 330 can protect the roller brush 310. At the same time, the two ends of the roller brush 310 are respectively rotatably connected to the storage groove, which is convenient for disassembly and assembly.

[0042] In this embodiment, the roller brush 310 includes a roller and bristles, and the bristles are evenly distributed or spirally distributed along the circumference of the roller, and the two ends of the roller are respectively rotatably connected to the two side walls of the storage groove. When the roller rotates, it drives the bristles to rotate, and the bristles contact the surface of the photovoltaic module to clean it. The number and density of the bristles can be set as needed.

[0043] Preferably, two groups of roller brush assemblies 300 are provided, and the two groups of roller brush assemblies 300 are respectively installed on the front and rear sides of the vehicle body 100. This arrangement can effectively improve the cleaning efficiency of the roller brush assembly 300.

[0044] Alternatively, see Figure 4 The vehicle body 100 includes a vehicle body 110 and a support plate 120 installed on the vehicle body 110. The support plate 120 includes a first guide plate 121 and a second guide plate 122 arranged at right angles. The first guide plate 121 is connected to the vehicle body 110. The rotary connecting rod 321 is hinged to one end of the second guide plate 122 away from the first guide plate 121. The elastic telescopic member 322 is connected to the second guide plate 122. The setting of the support plate 120 facilitates the connection between the connecting structure 320 and the vehicle body 110. The setting of the first guide plate 121 allows sufficient space between the rotary connecting rod 321 and the vehicle body 110. When the roller brush is lifted, the rotary connecting rod 321 can fully move.

[0045] Optionally, a control box is provided in the vehicle body 110, and a control mechanism for controlling the operation of the running wheel 230 is installed in the control box. The control mechanism includes an electrically connected power supply and a control unit, the power supply provides power to the control unit, and the control unit is used to control the operation of the running wheel 230.

[0046] The operation and maintenance robot also includes a support frame 400, which is arranged above the vehicle body 100. Rotating wheels 500 for deviation correction are installed at both ends of the support frame 400. When the operation and maintenance robot walks on the photovoltaic module, the rotating wheels 500 on both sides rotate along the side of the corresponding photovoltaic module, which corrects the walking direction and prevents the robot from tilting, ensuring that the operation and maintenance robot walks along the photovoltaic module.

[0047] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An operation and maintenance robot, characterized in that: include: Vehicle body (100); A swing arm travel assembly (200), wherein two groups of the swing arm travel assembly (200) are respectively mounted on the left and right sides of the vehicle body (100), the swing arm travel assembly (200) comprises a swing arm (210), a connecting rod (220) and a travel wheel (230), the connecting rod (220) is fixedly mounted on the vehicle body (100), the swing arm (210) is arranged in a V-shaped structure, the cross end of the V-shaped structure is hinged to one end of the connecting rod (220), the other end of the connecting rod (220) is equipped with a travel wheel (230), and the two free ends of the V-shaped structure are respectively equipped with a travel wheel (230), and the three travel wheels (230) are arranged in a straight line; The roller brush assembly (300) comprises a roller brush (310) and a connecting structure (320), wherein the connecting structure (320) is hinged to the vehicle body (100), and the roller brush (310) is installed at one end of the connecting structure (320) away from the vehicle body (100).

2. The operation and maintenance robot according to claim 1, characterized in that: The walking wheel (230) is provided with a guide groove (231) matching the steel strand, and the spacing between the two sets of the swing arm walking assemblies (200) is the same as the spacing between the two steel strands used to connect two photovoltaic assemblies.

3. The operation and maintenance robot according to claim 1, characterized in that: The connection structure (320) comprises a rotating connecting rod (321) and an elastic telescopic member (322); the rotating connecting rod (321) is hinged on the vehicle body (100); one end of the rotating connecting rod (321) is connected to the roller brush (310); the other end of the rotating connecting rod (321) is connected to the first end of the elastic telescopic member (322); and the second end of the elastic telescopic member (322) is fixedly connected to the vehicle body (100).

4. The operation and maintenance robot according to claim 3, characterized in that: The rotary connecting rod (321) is connected to the roller brush (310) via a cover plate (330); the cover plate (330) is in an elongated strip shape; a receiving groove for receiving part of the roller brush (310) is provided on the cover plate (330); and two ends of the roller brush (310) are rotatably connected to two side walls of the receiving groove respectively.

5. The operation and maintenance robot according to claim 3, characterized in that: The elastic expansion member (322) is configured as a gas spring.

6. The operation and maintenance robot according to claim 3, characterized in that: The vehicle body (100) comprises a vehicle body (110) and a support plate (120) mounted on the vehicle body (110); the support plate (120) comprises a first guide plate (121) and a second guide plate (122) arranged at right angles; the first guide plate (121) is connected to the vehicle body (110); the rotary connecting rod (321) is hinged to an end of the second guide plate (122) away from the first guide plate (121); and the elastic telescopic member (322) is connected to the second guide plate (122).

7. The operation and maintenance robot according to claim 4, characterized in that: The roller brush (310) comprises a roller and bristles, wherein a plurality of the bristles are evenly distributed or spirally distributed along the circumference of the roller, and the two ends of the roller are rotatably connected to the two side walls of the storage groove respectively.

8. The operation and maintenance robot according to claim 6, characterized in that: A control box is provided in the vehicle body (110), and a control mechanism for controlling the operation of the running wheels (230) is installed in the control box.

9. The operation and maintenance robot according to claim 1, characterized in that: The operation and maintenance robot further comprises a support frame (400), wherein the support frame (400) is arranged above the vehicle body (100), and rotating wheels (500) for deviation correction are installed at both ends of the support frame (400).

10. The operation and maintenance robot according to claim 1, characterized in that: The roller brush assembly (300) is provided with two groups, and the two groups of the roller brush assembly (300) are respectively installed on the front and rear sides of the vehicle body (100).

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