Photovoltaic robot transferring device and operation conveying system

Abstract

The invention discloses a photovoltaic robot transfer device and an operation conveying system, a sub-machine circulating mechanism of the photovoltaic robot transfer device comprises at least one sub-machine tray, a plurality of photovoltaic cleaning robot units can be stored in a limited space, and the sub-machine tray of the sub-machine circulating mechanism can rotate relative to a sliding block assembly. The postures of the sub-machine trays are not changed during circulating conveying, the photovoltaic cleaning robot units can be protected against damage in the conveying process, the photovoltaic cleaning robot units are kept in one posture all the time, and the parking requirement of the multiple photovoltaic cleaning robot units is met. According to the photovoltaic cleaning robot operation system, through cooperation of the transfer trolley unit and the unmanned aerial vehicle unit, the photovoltaic cleaning robot unit is put on a photovoltaic panel, and the photovoltaic cleaning robot unit completes a cleaning task, so that the carrying difficulty of the photovoltaic cleaning robot unit is reduced, and the cleaning cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic cleaning robot operation, and in particular to a photovoltaic robot transfer device and an operation conveying system. Background Art

[0002] Solar energy is a clean, safe, and renewable energy source that plays an important role in long-term energy strategies. Atmospheric dust is one of the key factors that affect the efficiency of solar power generation. Dust and other pollution can significantly reduce the power generation of photovoltaic power stations, estimated to be at least 5% per year. Therefore, regular cleaning of photovoltaic panels is particularly important. Currently, there are three common cleaning methods: (1) manual cleaning, (2) semi-automatic cleaning, and (3) automatic cleaning.

[0003] At present, these three cleaning methods can cover most of the solar power stations, especially the third automatic cleaning (crawler cleaning robot and hanging cleaning robot) greatly improves the cleaning efficiency; the disadvantage is that crawler photovoltaic cleaning robots are mainly carried to the photovoltaic panels manually, and crawler cleaning robots are relatively heavy and troublesome to carry. Some solar power stations are built in the air or in the water, so it is difficult to carry the robot to the photovoltaic panel; although hanging cleaning robots can complete the cleaning without transportation, each photovoltaic panel array needs to be equipped with a hanging cleaning robot, which requires a huge investment cost and a large amount of subsequent maintenance work. Some solar power stations have scattered photovoltaic arrays that are not suitable for hanging cleaning robots.

[0004] When performing photovoltaic cleaning, in order to improve work efficiency, multiple photovoltaic robots are generally used for cleaning. Therefore, after the photovoltaic robot cleaning operation, the photovoltaic robot needs to be parked and charged. Conventional existing charging base stations are equipped with multiple parking platforms to charge multiple photovoltaic robots. Figure 1 The circular rail conveying mechanism shown in the figure is used to convey the photovoltaic robot. A plurality of pallets are arranged at intervals on the circular rail conveying mechanism, and the photovoltaic robot is placed on the pallet. However, in the technical solution, the state of the pallet is inconsistent between the upper and lower layers during the circular conveying, and it will flip 180 degrees on the lower layer. Therefore, when the pallet is on the lower layer, the photovoltaic robot cannot be placed, and the photovoltaic robot needs to be taken out of the pallet, otherwise the photovoltaic robot will be damaged. Therefore, it is necessary to provide a transfer device that will not cause damage to the photovoltaic robot and can meet the parking needs of multiple photovoltaic robots. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a photovoltaic robot transfer device that can park multiple photovoltaic robots without causing damage to the photovoltaic robots. At the same time, the present invention provides a photovoltaic robot operation conveying system that can transport photovoltaic cleaning robots at high altitudes.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A photovoltaic robot transfer device includes a sub-machine circulation mechanism for transferring multiple photovoltaic cleaning robot units, the sub-machine circulation mechanism includes a frame, a sub-machine tray, a drive assembly, a slider assembly and a main transmission assembly, two annular main transmission assemblies are relatively arranged on the frame, at least one sub-machine tray is located between the main transmission assemblies and is used to place the photovoltaic cleaning robot unit, the two ends of the sub-machine tray are respectively connected to the main transmission assembly through the slider assembly, the sub-machine tray is rotatable relative to the slider assembly, and the drive assembly is used to drive the main transmission assembly to transmit.

[0008] As a further improvement of the above technical solution:

[0009] The main transmission assembly includes a main transmission chain and a transmission gear set, the transmission gear set includes at least two transmission gears arranged in parallel, the main transmission chain is arranged around the transmission gear set, the main transmission chains of the two main transmission assemblies are arranged opposite to each other, and the plurality of slider assemblies are connected to the main transmission chain and move with the movement of the main transmission chain.

[0010] The main transmission assembly also includes a transmission guide rail, which is arranged along the outer circumference of the main transmission chain, and the slider assembly is slidably matched with the transmission guide rail.

[0011] The slider assembly includes a slider seat, a slider roller group and a support member, wherein the slider roller group and the support member are relatively arranged on both sides of the slider seat, the slider seat is connected to the main transmission chain, the slider roller group is slidably matched with the transmission guide rail, and the support member is rotationally matched with the sub-machine tray.

[0012] The sub-machine circulation mechanism also includes a tray limiting guide rail, which is arc-shaped and arranged at both ends of the main transmission component. The sub-machine tray is provided with a locking roller, which is rollingly matched with the tray limiting guide rail.

[0013] A photovoltaic cleaning robot operation conveying system comprises a transfer vehicle unit, a drone unit and a photovoltaic cleaning robot unit, wherein the drone unit is used to hoist the photovoltaic cleaning robot unit on the transfer vehicle unit to a cleaning station, or to hoist the photovoltaic cleaning robot unit at the cleaning station to the transfer vehicle unit; the transfer vehicle unit comprises a carriage, a drone parking platform, a charging device, a controller and the photovoltaic robot transfer device, the sub-machine circulation mechanism is located on the carriage, the drone parking platform is set up above the sub-machine circulation mechanism, the charging device is used to charge the photovoltaic cleaning robot unit or the drone unit, and the controller is used to control the charging device, the drone unit, the photovoltaic cleaning robot unit and the sub-machine circulation mechanism.

[0014] As a further improvement of the above technical solution:

[0015] The drone unit includes a drone body, a hoisting mechanism connected to the drone body, and an auxiliary guiding mechanism. The auxiliary guiding mechanism is used for guiding when hoisting or placing the photovoltaic cleaning robot unit, and the hoisting mechanism is used for hoisting the photovoltaic cleaning robot unit.

[0016] The drone unit also includes a support frame, which includes a support rod and a support frame. The support frame is located below the drone body. The support rod is used to connect the support frame to the drone body. The winch hoisting mechanism is located in the support frame.

[0017] The drone parking platform is provided with an entrance and exit for facilitating the entry and exit of the photovoltaic cleaning robot unit. The support frame is parked on the drone parking platform and the photovoltaic cleaning robot unit is hoisted or placed from the entrance and exit.

[0018] The drone parking platform is also provided with a locking piece for fixing the support frame, and the locking piece is arranged along the outer side of the inlet and outlet.

[0019] Compared with the prior art, the advantages of the present invention are:

[0020] The photovoltaic robot transfer device of the present invention has a sub-machine circulation mechanism including at least one sub-machine tray, which can store multiple photovoltaic cleaning robot units in a limited space. The sub-machine tray of the sub-machine circulation mechanism is rotatable relative to the slider assembly, and the posture of the sub-machine tray is not changed during the circulation transportation. The photovoltaic cleaning robot unit can be protected from damage during transportation and always maintains a posture, thereby meeting the parking requirements of multiple photovoltaic cleaning robot units.

[0021] The photovoltaic cleaning robot operation system of the present invention, through the cooperation of the transfer vehicle unit and the drone unit, places the photovoltaic cleaning robot unit onto the photovoltaic panel, and the photovoltaic cleaning robot unit completes the cleaning task. The photovoltaic cleaning robot unit can be transported and cleaned at high altitude, thereby reducing the difficulty of transporting the photovoltaic cleaning robot unit and reducing the cleaning cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of a conventional annular guide rail conveying mechanism in the prior art.

[0023] Figure 2 It is a structural schematic diagram of the photovoltaic robot transfer device in Example 1 of the present invention.

[0024] Figure 3 yes Figure 2 A partial enlarged view of point A in the middle.

[0025] Figure 4 yes Figure 2 A partial enlarged view of point B in the middle.

[0026] Figure 5 It is a top view of the photovoltaic robot transfer device in Example 1 of the present invention.

[0027] Figure 6 It is a side view of the photovoltaic robot transfer device in the first embodiment of the present invention.

[0028] Figure 7 It is a structural diagram of the photovoltaic cleaning robot operation and conveying system in the second embodiment of the present invention.

[0029] Figure 8 This is a schematic structural diagram from another perspective of the photovoltaic cleaning robot operation and conveying system in the second embodiment of the present invention.

[0030] Fig. 9 It is a schematic diagram of the structure of the drone unit in the second embodiment of the present invention.

[0031] Fig.10 It is a side view of the drone unit in the second embodiment of the present invention.

[0032] Fig.11 It is a structural schematic diagram of the photovoltaic cleaning robot unit in the second embodiment of the present invention.

[0033] Fig.12 It is a structural schematic diagram of the drone parking platform in the second embodiment of the present invention.

[0034] The symbols in the figure represent:

[0035] 1. Transfer vehicle unit; 11. Carriage; 12. UAV parking platform; 121. Entrance and exit; 122. Locking parts; 13. Sub-machine circulation mechanism; 131. Frame; 132. Tray limit rail; 133. Sub-machine tray; 1331. Tray body; 1332. Suspension connecting plate; 1333. Limit baffle; 134. Driving assembly; 135. Slider assembly; 1351. Slider seat; 1352. Slider roller assembly; 1353. Support member; 136. Main transmission assembly; 1361. Main transmission chain; 1362. Transmission rail; 1363. Transmission gear set; 137. Auxiliary transmission assembly; 13 71. First transmission gear; 1372. First transmission chain; 1373. Second transmission gear; 1374. Second transmission chain; 1375. Chain tensioning mechanism; 1376. Third transmission gear; 14. Charging device; 15. Controller; 2. UAV unit; 21. UAV body; 22. Winch hoisting mechanism; 23. Support frame; 231. Support rod; 232. Support frame; 24. Auxiliary guide mechanism; 3. Photovoltaic cleaning robot unit; 31. Cleaning roller brush; 32. Anti-fall sensor; 33. Locking hoisting mechanism; 34. Camera assembly; 35. RTK assembly; 36. Robot body. DETAILED DESCRIPTION

[0036] The present invention will be described in further detail below. Unless otherwise specified, the instruments or materials used in the present invention are commercially available.

[0037] In the description of the present invention, it is necessary to understand that the orientations or positional relationships indicated by terms such as “upper”, “lower”, “front”, “back”, “top”, “bottom”, “inside” and “outside” are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0039] In the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", "fixed" and the like 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.

[0040] Embodiment 1

[0041] like Figures 2 to 6 As shown, the photovoltaic robot transfer device of this embodiment includes a sub-machine circulation mechanism 13 for transferring multiple photovoltaic cleaning robot units 3, the sub-machine circulation mechanism 13 includes a frame 131, a sub-machine tray 133, a driving assembly 134, a slider assembly 135 and a main transmission assembly 136, two annular main transmission assemblies 136 are relatively arranged on the frame 131, at least one sub-machine tray 133 is located between the main transmission assemblies 136 and is used to place the photovoltaic cleaning robot unit 3, the two ends of the sub-machine tray 133 are respectively connected to the main transmission assembly 136 through the slider assembly 135, the sub-machine tray 133 is rotatable relative to the slider assembly 135, and the driving assembly 134 is used to drive the main transmission assembly 136 to transmit.

[0042] The photovoltaic robot transfer device of the present embodiment, the sub-machine circulation mechanism 13 includes at least one sub-machine tray 133, which can store multiple photovoltaic cleaning robot units 3 in a limited space. The sub-machine tray 133 of the sub-machine circulation mechanism 13 is rotatable relative to the slider assembly 135, and the posture of the sub-machine tray 133 is not changed during the circulation transportation, which can protect the photovoltaic cleaning robot unit 3 from damage during transportation and always maintain a posture to meet the parking requirements of multiple photovoltaic cleaning robot units 3.

[0043] like Figure 3 As shown, the main transmission assembly 136 includes a main transmission chain 1361 and a transmission gear set 1363. The transmission gear set 1363 includes at least two transmission gears arranged in parallel. The main transmission chain 1361 is arranged around the transmission gear set 1363. The main transmission chains 1361 of the two main transmission assemblies 136 are arranged opposite to each other. A plurality of slider assemblies 135 are connected to the main transmission chain 1361 and move with the movement of the main transmission chain 1361. The transmission gear set 1363 is driven to rotate by the driving assembly 134. The transmission gear set 1363 and the main transmission chain 1361 cooperate to drive the main transmission chain 1361 to move, thereby driving the slider assembly 135 to circulate. In other embodiments, the main transmission chain 1361 can be replaced by a transmission belt, and the transmission gear set 1363 can be replaced by a transmission wheel, which can also achieve similar technical effects.

[0044] like Figure 3 As shown, the main transmission assembly 136 also includes a transmission guide rail 1362, which is arranged along the outer circumference of the main transmission chain 1361, and the slider assembly 135 is slidably matched with the transmission guide rail 1362. Through the arrangement of the transmission guide rail 1362, the slider assembly 135 is guided so that the movement direction of the slider assembly 135 will not be offset during operation. In this embodiment, the transmission guide rail 1362 and the transmission gear set 1363 are fixed on the frame 131.

[0045] like Figure 3 As shown, the slider assembly 135 includes a slider seat 1351, a slider roller group 1352 and a support member 1353. The slider roller group 1352 and the support member 1353 are relatively arranged on both sides of the slider seat 1351. The slider seat 1351 is connected to the main transmission chain 1361, the slider roller group 1352 is slidably matched with the transmission guide rail 1362, and the support member 1353 is rotatably matched with the sub-machine tray 133. In this embodiment, one side of the slider assembly 135 is guided, and the other side is connected to the sub-machine tray 133, so as to facilitate more stable operation.

[0046] In this embodiment, the support member 1353 is a support shaft, which is arranged vertically relative to the movement direction of the main transmission chain 1361. The sub-machine tray 133 includes a tray body 1331 and a hanging connecting plate 1332 connected to both ends of the tray body 1331. The hanging connecting plate 1332 is provided with a connecting hole, and the connecting hole and the support shaft are connected through a bearing.

[0047] like Figure 5 As shown, in this embodiment, a limit baffle 1333 is also provided on the sub-machine tray 133 , and the limit baffle 1333 is located on the tray body 1331 and is used to limit the photovoltaic cleaning robot unit 3 .

[0048] like Figure 2 , Figure 5 As shown, the sub-machine circulation mechanism 13 also includes a tray limiting guide rail 132, which is arc-shaped and arranged at both ends of the main transmission component 136. The sub-machine tray 133 is provided with a locking roller (not shown in the figure), and the locking roller and the tray limiting guide rail 132 are rollingly matched. The two ends of the main transmission component 136 are the boundaries between the upper and lower layers. The arrangement of the tray limiting guide rail 132 is conducive to preventing the sub-machine tray 133 from swinging significantly at this point, causing the photovoltaic cleaning robot unit 3 to fall.

[0049] like Figure 4 As shown, in this embodiment, the driving component 134 is a driving motor, which is used to drive the sub-machine circulation mechanism 13 to operate.

[0050] In this embodiment, a secondary transmission assembly 137 is also included. The secondary transmission assembly 137 is located between the driving assembly 134 and the main transmission assembly 136 and is used to transmit the driving force of the driving assembly 134 to the main transmission assembly 136 .

[0051] The auxiliary transmission assembly 137 includes a first transmission gear 1371, a first transmission chain 1372, a second transmission gear 1373, a second transmission chain 1374 and a third transmission gear 1376. The transmission shaft of the first transmission gear 1371 is connected to the output end of the driving motor, the first transmission chain 1372 is connected between the first transmission gear 1371 and the second transmission gear 1373, the second transmission chain 1374 is connected between the second transmission gear 1373 and the third transmission gear 1376, the second transmission gear 1373 and the third transmission gear 1376 are respectively connected to the frame 131, the third transmission gear 1376 and a transmission gear on the transmission gear group 1363 share the same transmission shaft, the tooth diameter of the third transmission gear 1376 is larger than the tooth diameter of the second transmission gear 1373, thereby transmitting and amplifying the motor driving force. The driving motor drives the first transmission gear 1371, which drives the first transmission chain 1372. The first transmission chain 1372 transmits the driving force of the driving motor to the second transmission gear 1373. The second transmission gear 1373 synchronously drives the second transmission chain 1374. The second transmission chain 1374 transmits the driving force to the third transmission gear 1376. The third transmission gear 1376 then drives the main transmission chain 1361.

[0052] The secondary transmission assembly 137 also includes a chain tensioning mechanism 1375 for preventing the second transmission chain 1374 from loosening. Preferably, the chain tensioning mechanism 1375 is a tensioning gear, which is connected to the frame 131 and is located outside the area surrounded by the second transmission chain 1374, and cooperates with the second transmission chain 1374. In this embodiment, the tensioning gear is located below the area surrounded by the second transmission chain 1374 and between the second transmission gear 1373 and the third transmission gear 1376, and applies an inward squeezing force or a supporting force to the second transmission chain 1374.

[0053] Embodiment 2

[0054] like Figures 7 to 12As shown, the photovoltaic cleaning robot operation conveying system of this embodiment includes a transfer vehicle unit 1, a drone unit 2 and a photovoltaic cleaning robot unit 3. The drone unit 2 is used to hoist the photovoltaic cleaning robot unit 3 on the transfer vehicle unit 1 to the cleaning station, or to hoist the photovoltaic cleaning robot unit 3 at the cleaning station to the transfer vehicle unit 1; the transfer vehicle unit 1 includes a carriage 11, a drone parking platform 12, a charging device 14, a controller 15 and the photovoltaic robot transfer device of Example 1, the sub-machine circulation mechanism 13 is located on the carriage 11, the drone parking platform 12 is set up above the sub-machine circulation mechanism 13, the charging device 14 is used to charge the photovoltaic cleaning robot unit 3 or the drone unit 2, and the controller 15 is used to control the charging device 14, the drone unit 2, the photovoltaic cleaning robot unit 3 and the sub-machine circulation mechanism 13.

[0055] The photovoltaic cleaning robot operation system of the present invention, through the cooperation of the transfer vehicle unit 1 and the drone unit 2, places the photovoltaic cleaning robot unit 3 onto the photovoltaic panel, and the photovoltaic cleaning robot unit 3 completes the cleaning task, thereby reducing the difficulty of carrying the photovoltaic cleaning robot unit 3 and reducing the cleaning cost.

[0056] In this embodiment, the body of the carriage 11 can be opened and closed.

[0057] like Figure 7 and 8 As shown, the drone unit 2 includes a drone body 21, a hoisting mechanism 22 connected to the drone body 21, and an auxiliary guide mechanism 24, the auxiliary guide mechanism 24 is used for guiding when hoisting or placing the photovoltaic cleaning robot unit 3, and the hoisting mechanism 22 is used for hoisting the photovoltaic cleaning robot unit 3. The auxiliary guide mechanism 24 enables the drone unit 2 to accurately drop the hoisting mechanism 22 in the air without large swing, thereby achieving accurate and rapid hoisting.

[0058] like Fig. 9 As shown, the drone unit 2 also includes a support frame 23, which is used to facilitate the landing of the drone body 21. The support frame 23 includes a support rod 231 and a support frame 232. The support frame 232 is located below the drone body 21. The support rod 231 is used to connect the support frame 232 to the drone body 21, and the winch lifting mechanism 22 is located in the support frame 232.

[0059] like Fig.11As shown, the photovoltaic cleaning robot unit 3 includes a cleaning roller brush 31, an anti-fall sensor 32, a locking hoisting mechanism 33, a camera assembly 34, an RTK (carrier phase differential technology) assembly 35 and a robot body 36. The cleaning roller brush 31 is located on the side of the robot body 36, the locking hoisting mechanism 33 is located on the upper part of the robot body 36, the anti-fall sensor 32 is located on the robot body 36 and is arranged close to one side of the cleaning roller brush 31, the camera assembly 34 is located on the robot body 36 and is used to photograph stains on the photovoltaic panels, and the RTK assembly 35 is used for positioning.

[0060] The locking hoisting mechanism 33 of this embodiment adopts an automatic pick-and-place mechanism for a drone hoisting robot disclosed in CN118145000A, which will not be described in detail here.

[0061] like Fig.12 As shown, the drone parking platform 12 is provided with an entrance and exit 121 for the photovoltaic cleaning robot unit 3 to enter and exit, and the support frame 232 is parked on the drone parking platform 12 to hoist or place the photovoltaic cleaning robot unit 3 from the entrance and exit 121. Through the setting of the entrance and exit 121, when the drone unit 2 is docked, it is convenient to place the photovoltaic cleaning robot unit 3 on the sub-machine tray 133.

[0062] The area below the entrance 121 is used as a working position, and the sub-machine tray 133 equipped with the photovoltaic cleaning robot unit 3 is transported to the working position for hoisting by the drone unit 2. The empty sub-machine tray 133 can also be transported to the working position to recycle the photovoltaic cleaning robot unit 3.

[0063] like Fig.12 As shown, in this embodiment, the drone parking platform 12 is further provided with a locking member 122 for fixing the support frame 232 , and the locking member 122 is arranged outside along the circumference of the inlet and outlet 121 .

[0064] The working principle of the present invention is as follows:

[0065] The photovoltaic cleaning robot unit 3 is fixed on the sub-machine tray 133. Each photovoltaic cleaning robot unit 3 has a corresponding number to distinguish it. After the photovoltaic cleaning robot unit 3 is placed in the photovoltaic matrix, it will communicate with the controller 15 to obtain the coordinates of the photovoltaic matrix and automatically plan the best cleaning path. After the cleaning task is completed, it will stop at the best position, communicate with the controller 15, and wait for the drone unit 2 to be hoisted. During the cleaning process, the camera on the photovoltaic cleaning robot unit 3 will collect the cleaning information of the photovoltaic panel, as well as the information such as whether there are spots and cracks on the surface of the photovoltaic panel, and then transmit it to the controller 15;

[0066] The carriage 11 is opened, and the drone unit 2 takes off from the drone parking platform 12 to a certain height above the transfer vehicle unit 1; the hoisting mechanism 22 on the drone unit 2 is manually remotely controlled to descend to grab the photovoltaic cleaning robot unit 3 on the sub-machine tray 133; with the assistance of the auxiliary guiding mechanism 24, the hoisting mechanism 22 can be accurately and smoothly combined with the locking hoisting mechanism 33 to lock, and the photovoltaic cleaning robot unit 3 communicates with the controller 15; after the grabbing is completed, the drone unit 2 lifts the photovoltaic cleaning robot unit 3 and puts it on the photovoltaic array to be operated. After the photovoltaic cleaning robot unit 3 stops steadily, it will communicate with the controller 15; the hoisting mechanism 22 is unlocked and disengaged from the locking hoisting mechanism 33, and the drone unit 2 returns to the drone parking platform 12, and the placement of the photovoltaic cleaning robot unit 3 is completed.

[0067] Since multiple photovoltaic cleaning robot units 3 are stored in the transfer vehicle unit 1, they can be placed on multiple photovoltaic arrays, and the photovoltaic cleaning robot units 3 automatically start the cleaning task to achieve efficient transportation and cleaning.

[0068] The controller 15 receives the cleaning completion signal of the photovoltaic cleaning robot unit 3 with the corresponding number, and the drone unit 2 takes off from the drone parking platform 12 to a certain height above the photovoltaic cleaning robot unit 3 (the one that transmits the cleaning completion signal), and the winch hoisting mechanism 22 on the drone unit 2 descends to grab the photovoltaic cleaning robot unit 3 on the photovoltaic array, and the winch hoisting mechanism 22 can accurately and smoothly engage and lock with the locking hoisting mechanism 33, and the photovoltaic cleaning robot unit 3 communicates with the controller 15; after the grabbing is completed, the drone unit 2 lifts the photovoltaic cleaning robot unit 3 and returns to the drone parking platform 12. With the assistance of the auxiliary guide mechanism 24, the photovoltaic cleaning robot unit 3 is placed on the sub-machine tray 133 along the entrance and exit 121 on the drone parking platform 12. After the photovoltaic cleaning robot unit 3 stops steadily, it communicates with the controller 15, and the winch hoisting mechanism 22 is unlocked and disengaged from the locking hoisting mechanism 33; the drone unit 2 returns to the drone parking platform 12, and the recovery of the photovoltaic cleaning robot unit 3 is completed.

[0069] When all the photovoltaic cleaning robot units 3 that have completed the cleaning task are recovered and the carriage 11 is closed, the cleaning task is completed, and the controller 15 will record various cleaning data for the day and generate a report.

[0070] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention should fall within the scope of protection of the technical solution of the present invention.

Claims

1. A photovoltaic robot transfer device, comprising a sub-machine circulation mechanism (13) for transferring a plurality of photovoltaic cleaning robot units (3), characterized in that: The sub-machine circulation mechanism (13) comprises a frame (131), a sub-machine tray (133), a driving assembly (134), a slider assembly (135) and a main transmission assembly (136); two annular main transmission assemblies (136) are arranged on the frame (131) in a relative manner; at least one sub-machine tray (133) is located between the main transmission assemblies (136) and is used to place a photovoltaic cleaning robot unit (3); two ends of the sub-machine tray (133) are respectively connected to the main transmission assembly (136) through the slider assembly (135); the sub-machine tray (133) is rotatable relative to the slider assembly (135); and the driving assembly (134) is used to drive the main transmission assembly (136) to transmit.

2. The photovoltaic robot transfer device according to claim 1, characterized in that: The main transmission assembly (136) comprises a main transmission chain (1361) and a transmission gear set (1363); the transmission gear set (1363) comprises at least two transmission gears arranged in parallel; the main transmission chain (1361) is arranged around the transmission gear set (1363); the main transmission chains (1361) of the two main transmission assemblies (136) are arranged opposite to each other; the plurality of slider assemblies (135) are connected to the main transmission chain (1361) and move with the movement of the main transmission chain (1361).

3. The photovoltaic robot transfer device according to claim 2, characterized in that: The main transmission assembly (136) further comprises a transmission guide rail (1362), wherein the transmission guide rail (1362) is arranged along the outer circumference of the main transmission chain (1361), and the slider assembly (135) is slidably matched with the transmission guide rail (1362).

4. The photovoltaic robot transfer device according to claim 3 is characterized in that: The slider assembly (135) comprises a slider seat (1351), a slider roller group (1352) and a support member (1353); the slider roller group (1352) and the support member (1353) are arranged on both sides of the slider seat (1351) in a relative manner; the slider seat (1351) is connected to a main transmission chain (1361); the slider roller group (1352) is slidably matched with a transmission guide rail (1362); and the support member (1353) is rotationally matched with a sub-machine tray (133).

5. The photovoltaic robot transfer device according to claim 4, characterized in that: The sub-machine circulation mechanism (13) further comprises a tray limiting guide rail (132), the tray limiting guide rail (132) is arc-shaped and arranged at both ends of the main transmission assembly (136), and a locking roller is provided on the sub-machine tray (133), and the locking roller is in rolling cooperation with the tray limiting guide rail (132).

6. A photovoltaic cleaning robot operation and delivery system, characterized in that: It comprises a transfer vehicle unit (1), an unmanned aerial vehicle unit (2) and a photovoltaic cleaning robot unit (3), wherein the unmanned aerial vehicle unit (2) is used to hoist the photovoltaic cleaning robot unit (3) on the transfer vehicle unit (1) to a cleaning station, or to hoist the photovoltaic cleaning robot unit (3) at the cleaning station to the transfer vehicle unit (1); The transfer vehicle unit (1) comprises a carriage (11), a drone parking platform (12), a charging device (14), a controller (15) and a photovoltaic robot transfer device according to any one of claims 1 to 5, wherein the sub-machine circulation mechanism (13) is located on the carriage (11), the drone parking platform (12) is erected above the sub-machine circulation mechanism (13), the charging device (14) is used to charge the photovoltaic cleaning robot unit (3) or the drone unit (2), and the controller (15) is used to control the charging device (14), the drone unit (2), the photovoltaic cleaning robot unit (3) and the sub-machine circulation mechanism (13).

7. The photovoltaic cleaning robot operation conveying system according to claim 6 is characterized in that: The drone unit (2) comprises a drone body (21), a hoisting mechanism (22) connected to the drone body (21), and an auxiliary guiding mechanism (24), wherein the auxiliary guiding mechanism (24) is used for guiding when hoisting or placing a photovoltaic cleaning robot unit (3), and the hoisting mechanism (22) is used for hoisting the photovoltaic cleaning robot unit (3).

8. The photovoltaic cleaning robot operation and delivery system according to claim 7, characterized in that: The drone unit (2) further comprises a support frame (23), wherein the support frame (23) comprises a support rod (231) and a support frame (232), wherein the support frame (232) is located below the drone body (21), wherein the support rod (231) is used to connect the support frame (232) to the drone body (21), and the hoisting mechanism (22) is located within the support frame (232).

9. The photovoltaic cleaning robot operation and delivery system according to claim 8, characterized in that: The drone parking platform (12) is provided with an entrance and exit (121) for facilitating the entry and exit of the photovoltaic cleaning robot unit (3); the support frame (232) is parked on the drone parking platform (12) and the photovoltaic cleaning robot unit (3) is hoisted or placed from the entrance and exit (121).

10. The photovoltaic cleaning robot operation and delivery system according to claim 9, characterized in that: The drone parking platform (12) is also provided with a locking member (122) for fixing the support frame (232), and the locking member (122) is arranged along the outer circumference of the inlet and outlet (121).

Images