Photovoltaic robot transfer device and operation conveying system

Abstract

The application discloses a photovoltaic robot transfer device and a working 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 limited space, the sub-machine tray of the sub-machine circulating mechanism is rotatable relative to a sliding block assembly, the attitude of the sub-machine tray is not changed during circulation conveying, the photovoltaic cleaning robot unit can be protected from being damaged during transportation, and the photovoltaic cleaning robot unit always maintains an attitude, thereby meeting the parking demand of the plurality of photovoltaic cleaning robot units. The photovoltaic cleaning robot working system of the application cooperates the transfer vehicle unit and the unmanned aerial vehicle unit, the photovoltaic cleaning robot unit is put on the photovoltaic panel, and the photovoltaic cleaning robot unit completes the cleaning task, thereby reducing the carrying difficulty of the photovoltaic cleaning robot unit and reducing the cleaning cost.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic cleaning robot operation technology, and in particular to a photovoltaic robot transfer device and operation conveying system. Background Technology

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

[0003] Currently, these three cleaning methods can cover the vast majority of solar power plants, especially the third type of automatic cleaning (tracked cleaning robots and hanging cleaning robots), which greatly improves cleaning efficiency. However, the shortcomings are that tracked photovoltaic cleaning robots are mainly carried onto the photovoltaic panels manually. Tracked cleaning robots are relatively heavy and difficult to move. Some solar power plants are located at high altitudes or in water, making it difficult to move the robots onto the photovoltaic panels. Although hanging cleaning robots can complete the cleaning without carrying, each photovoltaic panel array needs to be equipped with a hanging cleaning robot, which requires a huge investment and a large amount of maintenance work. Some solar power plant photovoltaic arrays are scattered and not suitable for hanging cleaning robots.

[0004] To improve work efficiency during photovoltaic (PV) cleaning, multiple PV robots are typically used. Therefore, after each cleaning operation, the PV robots need to be parked and charged. Existing charging stations typically have multiple parking platforms to charge multiple PV robots. During transport, methods such as... Figure 1 The illustrated circular guide rail conveyor mechanism transports photovoltaic (PV) robots. Multiple trays are spaced apart on the mechanism, and the PV robots are placed on these trays. However, in this design, the trays are not in the same state on the upper and lower layers during the cyclic transport; they rotate 180 degrees on the lower layer. Therefore, when a tray is on the lower layer, a PV robot cannot be placed on it and must be removed to avoid damage. Therefore, a transfer device is needed that does not damage the PV robots and can accommodate multiple PV robots. Summary of the Invention

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

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[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 disposed opposite to each other 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 units. 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. The drive assembly is used to drive the main transmission assembly.

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

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

[0010] The main drive assembly also includes a drive rail, which is arranged along the outer circumference of the main drive chain, and the slider assembly slides in conjunction with the drive rail.

[0011] The slider assembly includes a slider base, a slider roller assembly, and a support member. The slider roller assembly and the support member are disposed opposite to each other on both sides of the slider base. The slider base is connected to the main drive chain, the slider roller assembly is slidably engaged with the drive guide rail, and the support member is rotatably engaged with the submachine tray.

[0012] The submachine circulation mechanism also includes a tray limiting guide rail, which is arc-shaped and arranged at both ends of the main transmission assembly. The submachine tray is provided with engaging rollers, which are in rolling engagement with the tray limiting guide rail.

[0013] A photovoltaic cleaning robot operation and transportation system includes a transfer vehicle unit, a drone unit, and a photovoltaic cleaning robot unit. The drone unit is used to lift the photovoltaic cleaning robot unit from the transfer vehicle unit to the cleaning station, or to lift the photovoltaic cleaning robot unit from the cleaning station onto the transfer vehicle unit. The transfer vehicle unit includes a carriage, a drone parking platform, a charging device, a controller, and the photovoltaic robot transfer device. The drone circulation mechanism is located on the carriage, and the drone parking platform is erected above the drone circulation mechanism. The charging device is used to charge the photovoltaic cleaning robot unit or the drone unit. The controller is used to control the charging device, the drone unit, the photovoltaic cleaning robot unit, and the drone circulation mechanism.

[0014] As a further improvement to 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 to guide the photovoltaic cleaning robot unit during hoisting or placement, and the hoisting mechanism is used to hoist 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, and the support rod is used to connect the support frame to the drone body. The hoisting mechanism is located inside the support frame.

[0017] The drone landing platform has an entrance and exit for easy access to the photovoltaic cleaning robot unit. The support frame is placed on the drone landing platform and the photovoltaic cleaning robot unit is hoisted or placed from the entrance and exit.

[0018] The drone landing platform is also equipped with locking components for fixing the support frame, which are arranged outwards along the perimeter of the inlet and outlet.

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

[0020] The photovoltaic robot transfer device of the present invention includes a sub-machine circulation mechanism comprising 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 its posture does not change during circulation transport, thus protecting the photovoltaic cleaning robot units from damage during transportation and maintaining a single posture at all times, 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 a transfer vehicle unit and a drone unit, deploys the photovoltaic cleaning robot unit onto the photovoltaic panel, and the photovoltaic cleaning robot unit completes the cleaning task. It can transport and clean the photovoltaic cleaning robot unit at high altitude, thereby reducing the difficulty of transporting the photovoltaic cleaning robot unit and reducing the cleaning cost. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of a conventional ring-shaped guide rail conveying mechanism in the prior art.

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

[0024] Figure 3 yes Figure 2 Enlarged view of a portion of point A in the middle.

[0025] Figure 4 yes Figure 2 Enlarged view of section B in the middle.

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

[0027] Figure 6 This is a side view of the photovoltaic robot transfer device in Embodiment 1 of the present invention.

[0028] Figure 7 This is a schematic diagram of the photovoltaic cleaning robot operation and conveying system in Embodiment 2 of the present invention.

[0029] Figure 8 This is a schematic diagram of the photovoltaic cleaning robot operation and conveying system from another perspective in Embodiment 2 of the present invention.

[0030] Figure 9 This is a schematic diagram of the structure of the unmanned aerial vehicle (UAV) unit in Embodiment 2 of the present invention.

[0031] Figure 10 This is a side view of the unmanned aerial vehicle (UAV) unit in Embodiment 2 of the present invention.

[0032] Figure 11 This is a schematic diagram of the photovoltaic cleaning robot unit in Embodiment 2 of the present invention.

[0033] Figure 12 This is a schematic diagram of the structure of the drone parking platform in Embodiment 2 of the present invention.

[0034] The labels in the diagram represent:

[0035] 1. Transfer vehicle unit; 11. Carriage; 12. UAV landing platform; 121. Entrance / exit; 122. Locking components; 13. Sub-unit circulation mechanism; 131. Frame; 132. Tray limit rail; 133. Sub-unit pallet; 1331. Pallet body; 1332. Suspension connecting plate; 1333. Limiting baffle; 134. Drive assembly; 135. Slider assembly; 1351. Slider seat; 1352. Slider roller assembly; 1353. Support component; 136. Main transmission assembly; 1361. Main transmission chain; 1362. Transmission rail; 1363. Transmission gear set; 137. Secondary 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 guiding 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 Implementation

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

[0037] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0039] In this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] Example 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 drive assembly 134, a slider assembly 135, and a main transmission assembly 136. Two annular main transmission assemblies 136 are arranged opposite to each other 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 units 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. The drive assembly 134 is used to drive the main transmission assembly 136 to drive the transmission.

[0042] The photovoltaic robot transfer device of this embodiment includes a sub-machine circulation mechanism 13, which includes at least one sub-machine tray 133. It 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. The posture of the sub-machine tray 133 does not change during circulation and transportation, which can protect the photovoltaic cleaning robot units 3 from damage during transportation and always maintain a single posture to meet the parking needs of multiple photovoltaic cleaning robot units 3.

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

[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. The slider assembly 135 is slidably engaged with the transmission guide rail 1362. The transmission guide rail 1362 guides the slider assembly 135, preventing it from deviating from its direction of motion during operation. In this embodiment, the transmission guide rail 1362 and the transmission gear set 1363 are fixed to the frame 131.

[0045] like Figure 3 As shown, the slider assembly 135 includes a slider base 1351, a slider roller assembly 1352, and a support member 1353. The slider roller assembly 1352 and the support member 1353 are arranged opposite to each other on both sides of the slider base 1351. The slider base 1351 is connected to the main drive chain 1361, the slider roller assembly 1352 is slidably engaged with the drive guide rail 1362, and the support member 1353 is rotatably engaged with the slave tray 133. In this embodiment, one side of the slider assembly 135 is used for guidance, and the other side is connected to the slave tray 133 to facilitate more stable operation.

[0046] In this embodiment, the support member 1353 is a support shaft, which is set perpendicular to the movement direction of the main drive chain 1361. The slave pallet 133 includes a pallet body 1331 and a suspension connecting plate 1332 connected to both ends of the pallet body 1331. The suspension connecting plate 1332 is provided with a connecting hole, and the connecting hole and the support shaft are connected by a bearing.

[0047] like Figure 5 As shown, in this embodiment, the sub-machine tray 133 is also provided with a limiting baffle 1333, which 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 submachine circulation mechanism 13 also includes a tray limiting guide rail 132. The tray limiting guide rail 132 is arc-shaped and arranged at both ends of the main drive assembly 136. The submachine tray 133 is provided with engaging rollers (not shown in the figure), which roll in cooperation with the tray limiting guide rail 132. The two ends of the main drive assembly 136 are the dividing points between the upper and lower layers. The setting of the tray limiting guide rail 132 helps to prevent the submachine tray 133 from swinging significantly at this point, which could cause the photovoltaic cleaning robot unit 3 to fall off.

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

[0050] In this embodiment, a secondary transmission component 137 is also included. The secondary transmission component 137 is located between the drive component 134 and the main transmission component 136 and is used to transmit the driving force of the drive component 134 to the main transmission component 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 drive 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 shares the same transmission shaft with a certain transmission gear on the transmission gear set 1363. The tooth diameter of the third transmission gear 1376 is larger than that of the second transmission gear 1373, thereby transmitting and amplifying the motor driving force. The drive motor drives the first transmission gear 1371, which in turn drives the first transmission chain 1372. The first transmission chain 1372 transmits the driving force of the drive 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 auxiliary 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 located outside the area enclosed by the second transmission chain 1374, cooperating with the second transmission chain 1374. In this embodiment, the tensioning gear is located below the area enclosed by the second transmission chain 1374 and between the second transmission gear 1373 and the third transmission gear 1376, providing an inward compressive or supporting force to the second transmission chain 1374.

[0053] Example 2

[0054] like Figures 7 to 12As shown, the photovoltaic cleaning robot operation and transportation 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 lift the photovoltaic cleaning robot unit 3 on the transfer vehicle unit 1 to the cleaning station, or to lift the photovoltaic cleaning robot unit 3 at the cleaning station onto 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 Embodiment 1. 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.

[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, deploys 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 transporting the photovoltaic cleaning robot unit 3 and reducing the cleaning cost.

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

[0057] like Figure 7 and 8 As shown, the UAV unit 2 includes a UAV body 21, a winch hoisting mechanism 22 connected to the UAV body 21, and an auxiliary guiding mechanism 24. The auxiliary guiding mechanism 24 is used to guide the UAV unit 2 during the hoisting or placement of the photovoltaic cleaning robot unit 3, and the winch hoisting mechanism 22 is used to hoist the photovoltaic cleaning robot unit 3. The auxiliary guiding mechanism 24 enables the UAV unit 2 to accurately deploy the winch hoisting mechanism 22 in the air without large swinging, achieving precise and rapid hoisting.

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

[0059] like Figure 11As shown, the photovoltaic cleaning robot unit 3 includes a cleaning roller brush 31, a fall prevention sensor 32, a locking and hoisting mechanism 33, a camera assembly 34, an RTK (Ray-Time Kinematic) assembly 35, and a robot body 36. The cleaning roller brush 31 is located on the side of the robot body 36, the locking and hoisting mechanism 33 is located on the upper part of the robot body 36, the fall prevention sensor 32 is located on the robot body 36 and is set on the side close to the cleaning roller brush 31, the camera assembly 34 is located on the robot body 36 and is used to photograph the stains on the photovoltaic panel, and the RTK assembly 35 is used for positioning.

[0060] The locking and hoisting mechanism 33 in 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 Figure 12 As shown, the drone landing platform 12 has an entrance / exit 121 for easy access to the photovoltaic cleaning robot unit 3. The support frame 232 is placed on the drone landing platform 12, and the photovoltaic cleaning robot unit 3 is hoisted or placed through the entrance / exit 121. The entrance / exit 121 facilitates the placement of the photovoltaic cleaning robot unit 3 on the sub-machine tray 133 while the drone unit 2 is docked.

[0062] With the area below the inlet / outlet 121 as the working position, the sub-machine tray 133 containing the photovoltaic cleaning robot unit 3 is transported to the working position for the drone unit 2 to hoist. Alternatively, the empty sub-machine tray 133 can be transported to the working position to retrieve the photovoltaic cleaning robot unit 3.

[0063] like Figure 12 As shown, in this embodiment, the drone parking platform 12 is also provided with a locking member 122 for fixing the support frame 232. The locking member 122 is arranged outward around the entrance and exit 121.

[0064] The working principle of this 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 for identification. After being deployed to the photovoltaic matrix, the photovoltaic cleaning robot unit 3 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 optimal position, communicate with the controller 15, and wait for the drone unit 2 to lift it. 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 information such as whether there are spots or cracks on the surface of the photovoltaic panel, and then transmit it to the controller 15.

[0066] The compartment 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 controlled to descend and 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 accurately and smoothly engage and lock with the locking hoisting mechanism 33. The photovoltaic cleaning robot unit 3 communicates with the controller 15. After grabbing, the drone unit 2 lifts the photovoltaic cleaning robot unit 3 and places it on the photovoltaic array to be operated. After the photovoltaic cleaning robot unit 3 stops, it will communicate with the controller 15. The hoisting mechanism 22 and the locking hoisting mechanism 33 are unlocked and disengaged. The drone unit 2 returns to the drone parking platform 12, thus completing the deployment of the photovoltaic cleaning robot unit 3.

[0067] Since the transfer vehicle unit 1 contains multiple photovoltaic cleaning robot units 3, they can be deployed on multiple photovoltaic arrays. The photovoltaic cleaning robot units 3 will automatically start the cleaning task, achieving high-efficiency handling and cleaning.

[0068] When controller 15 receives the cleaning completion signal from the photovoltaic cleaning robot unit 3 with the corresponding number, drone unit 2 takes off from drone parking platform 12 and rises to a certain height above the photovoltaic cleaning robot unit 3 (the one that transmits the cleaning completion signal). The hoisting mechanism 22 on drone unit 2 descends and grabs the photovoltaic cleaning robot unit 3 from the photovoltaic array. The hoisting mechanism 22 can accurately and smoothly engage and lock with the locking mechanism 33. The photovoltaic cleaning robot unit 3 communicates with controller 15. After grabbing, drone unit 2 lifts the photovoltaic cleaning robot unit 3 and returns to above drone parking platform 12. With the assistance of auxiliary guide mechanism 24, the photovoltaic cleaning robot unit 3 is placed onto the sub-machine tray 133 along the inlet and outlet 121 on drone parking platform 12. After the photovoltaic cleaning robot unit 3 comes to a stop, it communicates with controller 15. The hoisting mechanism 22 and locking mechanism 33 unlock and disengage. Drone unit 2 returns to drone parking platform 12, thus completing the retrieval of photovoltaic cleaning robot unit 3.

[0069] Once all photovoltaic cleaning robot units 3 have been retrieved after completing their cleaning tasks, the carriage 11 is closed, thus completing the cleaning task. The controller 15 will then record various cleaning data for the day and generate reports.

[0070] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A photovoltaic cleaning robot work conveyance system characterized by: The utility model provides a photovoltaic cleaning robot transfer device, including transfer trolley unit (1), unmanned plane unit (2) and photovoltaic cleaning robot unit (3), unmanned plane unit (2) is used for hoisting photovoltaic cleaning robot unit (3) on transfer trolley unit (1) to cleaning station, or hoisting photovoltaic cleaning robot unit (3) at cleaning station to transfer trolley unit (1) on; The transfer trolley unit (1) includes a carriage (11), a drone parking platform (12), a charging device (14), a controller (15), and a photovoltaic robot transfer device; The photovoltaic robot transfer device includes a sub-machine circulating mechanism (13) for transferring multiple photovoltaic cleaning robot units (3). The sub-machine circulating mechanism (13) includes a machine frame (131), a sub-machine tray (133), a driving assembly (134), a sliding block assembly (135), and a main transmission assembly (136). Two ring-shaped main transmission assemblies (136) are oppositely arranged on the machine frame (131). At least one sub-machine tray (133) is located between the main transmission assemblies (136) and is used for placing the photovoltaic cleaning robot units (3). The two ends of the sub-machine tray (133) are connected to the main transmission assemblies (136) through the sliding block assemblies (135), respectively. The sub-machine tray (133) is rotatable relative to the sliding block assemblies (135). The driving assembly (134) is used for driving the main transmission assemblies (136) to transmit power. The main transmission assembly (136) further includes a transmission guide rail (1362). The sliding block assembly (135) includes a sliding block seat (1351), a sliding block roller set (1352), and a support (1353). The sliding block roller set (1352) and the support (1353) are oppositely arranged on both sides of the sliding block seat (1351). The sliding block seat (1351) is connected to the main transmission chain (1361). The sliding block roller set (1352) is in sliding fit with the transmission guide rail (1362). The support (1353) is in rotational fit with the sub-machine tray (133). The sub-machine circulating mechanism (13) further includes 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). The sub-machine tray (133) is provided with a clamping roller. The clamping roller is in rolling fit with the tray limiting guide rail (132). The sub-machine circulating mechanism (13) is located on the carriage (11). The drone parking platform (12) is erected above the sub-machine circulating mechanism (13). The charging device (14) is used for charging the photovoltaic cleaning robot units (3) or the unmanned plane unit (2). The controller (15) is used for controlling the charging device (14), the unmanned plane unit (2), the photovoltaic cleaning robot units (3), and the sub-machine circulating mechanism (13).

2. The photovoltaic cleaning robot work delivery system of claim 1, wherein: 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 side by side, 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 oppositely arranged, and 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 cleaning robot work delivery system of claim 2, wherein: The transmission guide rail (1362) is arranged along the outer periphery of the main transmission chain (1361), and the slider assembly (135) is in sliding fit with the transmission guide rail (1362).

4. Photovoltaic cleaning robot work conveyance system according to any one of claims 1 to 3, characterized in that: The unmanned aerial vehicle unit (2) comprises an unmanned aerial vehicle body (21), a hoisting and lifting mechanism (22) and an auxiliary guide mechanism (24) connected to the unmanned aerial vehicle body (21), the auxiliary guide mechanism (24) is used for guiding when hoisting or placing the photovoltaic cleaning robot unit (3), and the hoisting and lifting mechanism (22) is used for hoisting the photovoltaic cleaning robot unit (3).

5. The photovoltaic cleaning robot work delivery system of claim 4, wherein: The unmanned aerial vehicle unit (2) further comprises a support frame (23), the support frame (23) comprises a support rod (231) and a support frame (232), the support frame (232) is located below the unmanned aerial vehicle body (21), the support rod (231) is used for connecting the support frame (232) and the unmanned aerial vehicle body (21), and the hoisting and lifting mechanism (22) is located in the support frame (232).

6. The photovoltaic cleaning robot work delivery system of claim 5, wherein: The unmanned aerial vehicle parking platform (12) is provided with an entrance and exit (121) for facilitating the entry and exit of the photovoltaic cleaning robot unit (3), and the support frame (232) is parked on the unmanned aerial vehicle parking platform (12) to hoist or place the photovoltaic cleaning robot unit (3) from the entrance and exit (121).

7. The photovoltaic cleaning robot work delivery system of claim 6, wherein: The unmanned aerial vehicle parking platform (12) is further provided with a locking member (122) for fixing the support frame (232), and the locking member (122) is arranged along the outer side of the entrance and exit (121).

Images