Photovoltaic panel cleaning robot with parallel buffer mechanism

Abstract

The invention discloses a photovoltaic panel cleaning robot with a parallel buffer mechanism, and relates to the technical field of photovoltaic system cleaning, the photovoltaic panel cleaning robot comprises a walking mechanism, a control assembly and the parallel buffer mechanism are installed on the walking mechanism, and the parallel buffer mechanism comprises a supporting plate and a middle execution mechanism connected between the supporting plate and the walking mechanism. And the four driving branches are located on the periphery of the middle executing mechanism, under the action of the four driving branches, displacement of the supporting plate along the X axis and the Z axis and rotation around the X axis and the Y axis are achieved, a mechanical arm is installed on the supporting plate, and the movable end of the mechanical arm is connected with the cleaning mechanism. And the control assembly controls the parallel buffer mechanism and the mechanical arm to counteract road surface fluctuation of freedom degrees in five directions and controls the mechanical arm to enable the cleaning mechanism to be attached to the photovoltaic panel. According to the cleaning robot, through coordination and cooperation of the control assembly and the parallel buffer mechanism, the cleaning robot can adapt to complex road surface conditions in the northwest region, and the cleaning task can be effectively completed in complex environments such as field mountainous regions.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic system cleaning, and in particular to a photovoltaic panel cleaning robot with a parallel buffer mechanism. Background Art

[0002] With the transformation of the global energy structure and the improvement of environmental protection awareness, photovoltaic power generation technology has become one of the ideal renewable energy technologies due to its sustainability, environmental friendliness and cleanliness. The core of photovoltaic power generation technology is photovoltaic panels, which can directly convert solar energy into electrical energy. However, during the long-term operation of photovoltaic panels, the surface is prone to accumulate dirt such as sand and dust, which not only reduces the photovoltaic conversion efficiency of photovoltaic panels, with an efficiency loss of up to 60%, but also may cause heat island effects, causing local overheating and damage to photovoltaic panels. Therefore, cleaning photovoltaic panels is essential to maintain their efficient operation.

[0003] Northwest my country has become a hot spot for photovoltaic power station construction due to its rich solar energy resources. The natural environment conditions in the region, such as heavy wind and sand, drought and little rain, and large ground undulations, have put forward higher requirements for the operation and maintenance of photovoltaic power stations. Existing technologies usually rely on manual cleaning and maintenance of photovoltaic power stations, which is inefficient and consumes a lot of water. Some other large photovoltaic power stations use automatic cleaning robots to regularly clean and maintain photovoltaic panels. However, traditional automatic cleaning robots are mainly suitable for flat ground photovoltaic power stations. In outdoor mountain photovoltaic power stations, the movement and positioning of robots become extremely complicated due to the uneven terrain and slope changes. As the construction of photovoltaic power stations gradually expands to outdoor mountains, the cleaning of photovoltaic panels faces new challenges. The complex terrain and large ground undulations in outdoor mountains have brought great difficulties to the automated operation of photovoltaic panel cleaning robots.

[0004] In view of this, there is an urgent need for a photovoltaic panel cleaning robot that can complete the cleaning of photovoltaic power stations under complex environmental conditions in the northwest region to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a photovoltaic panel cleaning robot with a parallel buffer mechanism to solve the above-mentioned technical problems existing in the prior art.

[0006] To achieve the above object, the present invention provides the following solution: a photovoltaic panel cleaning robot with a parallel buffer mechanism, comprising:

[0007] A walking mechanism, wherein the walking mechanism comprises a walking chassis, and a control component is installed on the walking chassis;

[0008] A parallel buffer mechanism comprises a support plate, an intermediate actuator is movably connected between the support plate and the walking mechanism, a third driving branch and a fourth driving branch are symmetrically installed at the bottom of the support plate, and the third driving branch and the fourth driving branch are respectively located at the front and rear sides of the intermediate actuator; the left and right sides of the intermediate actuator are movably connected with a first driving branch and a second driving branch; under the action of the first driving branch, the second driving branch, the third driving branch and the fourth driving branch, the support plate can achieve displacement along the X-axis and the Y-axis, and rotation around the X-axis and the Y-axis;

[0009] A mechanical arm is installed above the support plate, a cleaning mechanism is installed at the movable end of the mechanical arm, and the control component controls the mechanical arm to move the cleaning mechanism and attach it to the surface of the photovoltaic panel.

[0010] Optionally, the robotic arm includes a robotic arm base, a first robotic arm link, a second robotic arm link, a third robotic arm link, a fourth robotic arm link, a fifth robotic arm link and a sixth robotic arm link which are rotatably connected in sequence, and a drive motor for driving each link to rotate or pitch.

[0011] Optionally, the robotic arm base is mounted on the support plate, and a plurality of posture sensors are arranged between the robotic arm base and the support plate, and the posture sensors are electrically connected to the control component.

[0012] Optionally, the cleaning mechanism includes a shell, a roller brush motor and a roller brush, wherein the roller brush motor is fixedly connected to one side of the shell, one end of the roller brush is connected to the roller brush motor, and the other end is rotatably connected to the shell.

[0013] Optionally, a distance sensor is installed on the side of the shell facing the photovoltaic panel, and the distance sensor is electrically connected to the control component for obtaining the distance between the cleaning mechanism and the photovoltaic panel.

[0014] Optionally, an angle sensor is installed on the side of the shell facing the photovoltaic panel, and the angle sensor is electrically connected to the control component to obtain the inclination angle of the cleaning mechanism relative to the photovoltaic panel.

[0015] Optionally, the cleaning mechanism is detachably connected to the robotic arm.

[0016] Optionally, a binocular camera is installed on the walking chassis of the walking mechanism, and the binocular camera is signal-connected to the control component.

[0017] Optionally, the intermediate actuator includes two symmetrical connecting bases, and the two connecting bases are respectively rotatably connected with double-link adjustment structures. The tops of the two double-link adjustment structures are connected to the same intermediate support. The rotating shaft on the intermediate support is connected to a vertical support rod, and one end of the support rod away from the intermediate support is fixedly connected to the bottom center of the support plate.

[0018] Optionally, two partitions are fixedly connected at intervals inside the intermediate support, a support shaft is fixedly connected between the two partitions, and one end of the support rod is rotatably connected to the support shaft.

[0019] Compared with the prior art, the present invention at least discloses the following beneficial effects:

[0020] The present invention proposes a photovoltaic panel cleaning robot, which is equipped with a set of parallel buffer mechanisms to adapt to complex and changeable terrain conditions. The robot can travel stably on various road surfaces through its walking mechanism. When encountering uneven road surfaces, the parallel buffer mechanism and the robotic arm work together to ensure that the cleaning mechanism always fits tightly to the surface of the photovoltaic panel, thereby maintaining an efficient cleaning effect. The design of the parallel buffer mechanism and the robotic arm allows the robot to adjust or maintain the distance and angle between the cleaning mechanism and the photovoltaic panel to adapt to high-frequency small-amplitude vibrations and low-frequency large-amplitude changes caused by complex road surfaces. This design enables the robot to continuously maintain contact with the photovoltaic panel under different road conditions, ensure the effectiveness of the cleaning work, and improve the cleaning efficiency of the photovoltaic panel and the overall performance of the photovoltaic power station. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0023] Figure 2 A schematic diagram of the structure of a mechanical arm in an embodiment of the present invention;

[0024] Figure 3 It is a structural schematic diagram of a cleaning mechanism in an embodiment of the present invention;

[0025] Figure 4 It is a structural schematic diagram of the walking mechanism in an embodiment of the present invention;

[0026] Figure 5 It is an overall structural diagram of the parallel buffer mechanism in an embodiment of the present invention;

[0027] Figure 6 The structure of the parallel buffer mechanism in the embodiment of the present invention is shown in FIG. Figure 1 ;

[0028] Figure 7 The structure of the parallel buffer mechanism in the embodiment of the present invention is shown in FIG. Figure 2 ;

[0029] Figure 8 The structure of the parallel buffer mechanism in the embodiment of the present invention is shown in FIG. Figure 3 ;

[0030] Fig. 9 It is a partial schematic diagram of the intermediate actuator in the embodiment of the present invention;

[0031] Fig.10 Schematic diagram of the matching connection relationship of the parallel buffer mechanism in an embodiment of the present invention;

[0032] Fig.11 Schematic diagram of the cleaning process of an embodiment of the present invention.

[0033] In the figure: 1. Robotic arm; 101. Robotic arm base; 102. First motor of the robot arm; 103. First connecting rod of the robot arm; 104. Second motor of the robot arm; 105. Second connecting rod of the robot arm; 106. Third motor of the robot arm; 107. Third connecting rod of the robot arm; 108. Fourth motor of the robot arm; 109. Fifth motor of the robot arm; 110. Sixth motor of the robot arm; 111. Fourth connecting rod of the robot arm; 112. Fifth connecting rod of the robot arm; 113. Sixth connecting rod of the robot arm; 2. Cleaning mechanism; 201. Distance sensor; 202. Roller brush motor; 203. Roller brush; 204. Angle sensor; 205. Shell; 3. Walking mechanism; 301. Walking chassis; 302. Control component; 303. Binocular camera; 4. Parallel buffer mechanism; 400. Intermediate actuator; 401. Connecting base; 402. First rotating shaft; 403. First support rod; 404, second rotation axis; 405, second support rod; 406, third rotation axis; 407, intermediate support; 408, support axis; 409, support rod; 410, first drive branch; 411, electric cylinder base; 412, electric cylinder rotation axis; 413, electric cylinder one; 414, electric cylinder one rotation pair; 420, second drive branch; 421, electric cylinder base; 422, electric cylinder two rotation axis; 423, electric cylinder two; 424, electric cylinder second rotation pair; 430, third drive branch; 431, electric cylinder third base; 432, electric cylinder third U pair; 433, electric cylinder three; 434, electric cylinder three ball pair; 435, electric cylinder three top seat; 440, fourth drive branch; 441, electric cylinder fourth base; 442, electric cylinder fourth U pair; 443, electric cylinder four; 444, electric cylinder four ball pair; 445, electric cylinder four top seat; 450, support plate; 460, posture sensor. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In the complex terrain conditions in the northwest region, there is a lack of robots on the market that can efficiently complete the cleaning of photovoltaic power stations. The existing cleaning methods are not only inefficient, but also difficult to adapt to complex terrain, resulting in major challenges in the cleaning of photovoltaic power stations.

[0036] To this end, the Chinese invention patent application with publication number CN117013950A discloses a cleaning robot for inspection and cleaning of photovoltaic panels, including a crawler-type walking mechanism, a cleaning mechanism, a mechanical arm transmission mechanism, a dust suction mechanism and a binocular camera acquisition unit; the cleaning mechanism is installed on the crawler-type walking mechanism through the mechanical arm transmission mechanism, the cleaning mechanism has a contact part for contact cleaning of the surface of the photovoltaic panel, and the mechanical arm transmission mechanism is used to adjust the position of the cleaning mechanism relative to the photovoltaic panel so that the contact part of the cleaning mechanism contacts the surface of the photovoltaic panel; the feeding port of the dust suction mechanism is located on the cleaning mechanism and is used to absorb the dust raised by the cleaning mechanism. In the above scheme, the dust on the surface of the photovoltaic panel is cleaned by the cleaning mechanism, and the dust raised during the cleaning process is absorbed by the dust suction mechanism to further increase the dust removal effect; the inspection function of photovoltaic module defect detection is realized by collecting photos of the photovoltaic panel through the binocular camera acquisition unit.

[0037] However, when the above photovoltaic panel cleaning robot encounters undulating roads, it can only rely on the adjustment of the mechanical arm to make the cleaning mechanism fit the surface of the photovoltaic panel. The road conditions of photovoltaic power stations in the northwest region are complex, which will produce high-frequency small amplitude and low-frequency large amplitude road excitation. However, the existing photovoltaic panel cleaning robot only relies on the adjustment of a single mechanical arm and cannot adapt to complex road conditions.

[0038] To meet these challenges, an embodiment of the present invention proposes a photovoltaic panel cleaning robot with a parallel buffer mechanism, which enables the robot to travel on complex roads through a walking mechanism; through the setting of the parallel buffer mechanism and the robotic arm, the cleaning mechanism of the robot can always adhere to the surface of the photovoltaic panel to ensure cleaning efficiency when encountering a complex road surface.

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] The present invention provides a photovoltaic panel cleaning robot with a parallel buffer mechanism for automatic cleaning of photovoltaic panels. Figures 1 to 11 As shown, the photovoltaic panel cleaning robot includes a walking mechanism 3, a parallel buffer mechanism 4 installed on the walking mechanism 3, a mechanical arm 1 connected to the parallel buffer mechanism 4, and a cleaning mechanism 2 connected to the movable end of the mechanical arm 1.

[0041] In this embodiment, if Figure 4 As shown, the walking mechanism 3 includes a walking chassis 301, on which a binocular camera 303 and a control component 302 are installed, and the binocular camera 303 and the control component 302 are connected by signal. The binocular camera 303 can obtain the posture of the photovoltaic panel under the control of the control component 302, and transmit the obtained posture signal to the control component 302. The walking chassis 301 can drive the robot to walk along a predetermined track under the control of the control component 302. The walking chassis 301 can adopt the existing technology, which will not be described in detail here.

[0042] In this embodiment, if Figure 2 As shown, the robot 1 includes a robot base 101, a first robot motor 102, a first robot link 103, a second robot motor 104, a second robot link 105, a third robot motor 106, a third robot link 107, a fourth robot motor 108, a fifth robot motor 109, a sixth robot motor 110, a fourth robot link 111, a fifth robot link 112, and a sixth robot link 113. The robot base 101, the first robot link 103, the second robot link 105, the third robot link 107, the fourth robot link 111, the fifth robot link 112, and the sixth robot link 113 are rotated and connected in sequence. The first motor 102 of the robotic arm drives the first connecting rod 103 of the robotic arm to perform rotational motion under the control of the control component 302; the second motor 104 of the robotic arm drives the second connecting rod 105 of the robotic arm to perform pitch motion under the control of the control component 302; the third motor 106 of the robotic arm drives the third connecting rod 107 of the robotic arm to perform pitch motion under the control of the control component 302; the fourth motor 108 of the robotic arm drives the fourth connecting rod 111 of the robotic arm to perform rotational motion under the control of the control component 302; the fifth motor 109 of the robotic arm drives the fifth connecting rod 112 of the robotic arm to perform pitch motion under the control of the control component 302; the sixth motor 110 of the robotic arm drives the sixth connecting rod 113 of the robotic arm to perform rotational motion under the control of the control component 302.

[0043] Based on the above-mentioned structure of the robotic arm 1, the first motor 102, the second motor 104, the third motor 106, the fourth motor 108, the fifth motor 109 and the sixth motor 110 of the robotic arm, under the control of the control component 302, can enable the cleaning mechanism 2 fixedly connected to the end of the sixth connecting rod 113 of the robotic arm to move along the X-axis direction, move along the Y-axis direction, move along the Z-axis direction, rotate around the X-axis direction, rotate around the Y-axis direction and rotate around the Z-axis direction.

[0044] In this embodiment, if Figure 3 As shown, the cleaning mechanism 2 includes a housing 205, a roller brush motor 202 and a roller brush 203. The upper surface of the housing 205 is connected to the sixth connecting rod 113 of the mechanical arm, and a detachable connection method can be adopted to facilitate replacement of the cleaning mechanism 2. The roller brush motor 202 is fixedly connected to the right surface of the housing 205, one end of the roller brush 203 is connected to the motor shaft of the roller brush motor 202, and the other end is rotatably connected to the housing 205. Under the control of the control component 302, the roller brush motor 202 can drive the roller brush 203 to rotate at a high speed to complete the cleaning of the surface of the photovoltaic panel.

[0045] In a further preferred embodiment, the cleaning mechanism 2 further includes a distance sensor 201 and an angle sensor 204 provided on the housing 205, and the distance sensor 201 and the angle sensor 204 are fixedly connected to the front surface of the housing 205. The distance sensor 201 and the angle sensor 204 can obtain the distance and the tilt angle of the cleaning mechanism 2 relative to the photovoltaic panel under the control of the control component 302, and provide data support for the robot to adjust the angle of the cleaning mechanism 2.

[0046] In this embodiment, in order to ensure that the cleaning mechanism 2 is always in contact with the photovoltaic panel, it is necessary to control the freedom of the cleaning mechanism 2 in five directions, namely, movement along the X-axis direction, movement along the Z-axis direction, rotation around the X-axis direction, rotation around the Y-axis direction, and rotation around the Z-axis direction. To this end, a parallel buffer mechanism 4 is provided, and the parallel buffer mechanism 4 and the robot arm 1 are coordinated and controlled by the control component 302 to meet the above-mentioned action requirements.

[0047] In this embodiment, if Figure 1 and Figure 4 As shown, for ease of understanding, the travel direction of the walking mechanism 3 is taken as the front and back, and the left and right sides of the travel direction are taken as the left and right. The parallel buffer mechanism 4 is fixed at the top center of the walking chassis 301, and is used to support and install the robot arm 1. Figure 5As shown, the parallel buffer mechanism 4 includes an intermediate actuator 400, a first drive branch 410, a second drive branch 420, a third drive branch 430 and a fourth drive branch 440. The intermediate actuator 400 is located at the top center of the walking chassis 301, the first drive branch 410 and the second drive branch 420 are respectively located on the left and right sides of the intermediate actuator 400, and the third drive branch 430 and the fourth drive branch 440 are respectively located on the front and rear sides of the intermediate actuator 400. The first drive branch 410, the second drive branch 420, the third drive branch 430 and the fourth drive branch 440 act on the intermediate actuator 400 under the control of the control component 302, so that the support plate 450 can move along the X-axis and Z-axis directions and rotate along the X-axis and Y-axis directions.

[0048] Based on the above embodiments, Figure 8 As shown, the intermediate actuator 400 is distributed on the opposite sides of the middle dividing line in the left and right directions of the walking mechanism 3, and includes connecting bases 401 symmetrically fixedly installed on the left and right sides of the walking chassis 301, and the two connecting bases 401 are rotatably connected to the first support rod 403 and the second support rod 405 in turn, and the top ends of the two second support rods 405 are rotatably connected to the same intermediate support 407 through two third rotating shafts 406 respectively, and the intermediate support 407 is provided with a support shaft 408 rotatably connected along the left and right directions, and a vertical support rod 409 is rotatably connected to the support shaft 408, and the top end of the support rod 409 is used to connect the support plate 450, and then connected to the robot arm 1 through the support plate 450. One end of the first support rod 403 is rotatably connected to the connection base 401 through the first rotation axis 402, and the other end is rotatably connected to the second support rod 405 through the second rotation axis 404. The two first support rods 403 and the two second support rods 405 are combined into a symmetrical double-link lifting structure, and the middle support 407 is supported and connected on the two second support rods 405. The first driving branch 410 and the second driving branch 420 are respectively connected to the two second rotation axes 404 on the left and right sides, and the angles of the first support rod 403 and the second support rod 405 are controlled by controlling the second rotation axis 404.

[0049] like Fig. 9 As shown, specifically, the top of the support plate 450 is used to fix the robot arm base 101, the support rod 409 passes through the gap in the middle of the middle support 407, two partitions perpendicular to the middle support 407 are fixed between the two middle supports 407, and a support shaft 408 passing through the support rod 409 and parallel to the middle support 407 is fixed between the two partitions.

[0050] In a further preferred embodiment, a plurality of posture sensors 460 are connected between the support plate 450 and the robot base 101, that is, the posture sensor 460 is installed at the top of the support plate 450. The posture sensor 460 is used to obtain the posture information of the support plate 450, and timely assist the control of the control component 302 by obtaining the position signal. The parallel buffer mechanism 4 and the robot 1 move to offset the road surface undulations of five degrees of freedom, namely, movement along the X-axis direction, movement along the Z-axis direction, rotation around the X-axis direction, rotation around the Y-axis direction, and rotation around the Z-axis direction.

[0051] Based on the above embodiments, Figure 6 As shown, the first driving branch 410 and the second driving branch 420 form movable supports from the left and right sides of the intermediate actuator 400. The first driving branch 410 and the second driving branch 420 each include an electric cylinder base fixed on the walking chassis 301 on the left / right side of the intermediate actuator 400, an electric cylinder rotating on the electric cylinder base toward the side of the intermediate actuator 400, and an electric cylinder rotation pair fixed to the output end of the electric cylinder, and the electric cylinder rotation pair is sleeved with the second rotation shaft on the corresponding side. Specifically, the first driving branch 410 includes an electric cylinder base 411 fixed on the walking chassis 301 on the left side of the intermediate actuator 400, an electric cylinder 413 rotated on the inner side of the electric cylinder base 411 (towards the side of the intermediate actuator 400) through an electric cylinder rotating shaft 412, and an electric cylinder rotating pair 414 fixed to the output end of the electric cylinder 413, the electric cylinder rotating pair 414 is socketed with the second rotating shaft on this side, that is, the second rotating shaft 404 on the left side of the intermediate actuator 400 rotates in the electric cylinder rotating pair 414. Correspondingly, the second driving branch 420 includes an electric cylinder second base 421 fixed on the walking chassis 301 on the right side of the intermediate actuator 400, an electric cylinder second 423 rotated on the inner side of the electric cylinder second base 421 (towards the side of the intermediate actuator 400) through the electric cylinder second rotating shaft 422, and an electric cylinder second rotating pair 424 fixedly connected to the output end of the electric cylinder second 423, the electric cylinder second rotating pair 424 is socketed with the second rotating shaft on this side, that is, the second rotating shaft 404 on the right side of the intermediate actuator 400 rotates in the electric cylinder second rotating pair 424.

[0052] Based on the above embodiments, Figure 7As shown, the third driving branch 430 and the fourth driving branch 440 are respectively located at the front and rear sides of the intermediate actuator 400, and are symmetrically connected to the bottom of the support plate 450. The third driving branch 430 and the fourth driving branch 440 both include an electric cylinder base fixed on the walking chassis 301 at the front / rear side of the intermediate actuator 400, the electric cylinder U pair is connected to the top of the electric cylinder, the electric cylinder U pair is supported at the bottom of the electric cylinder, the electric cylinder ball pair is connected to the top output shaft of the electric cylinder, the electric cylinder ball pair supports the electric cylinder top seat, and the electric cylinder top seat is used to connect with the bottom of the support plate 450. Specifically, the third driving branch 430 includes an electric cylinder three base 431 fixed on the walking chassis 301 on the front side of the intermediate actuator 400, and an electric cylinder three U pair 432 is connected above the electric cylinder three base 431. The electric cylinder three U pair 432 is supported on the bottom of the electric cylinder three 433. The top output shaft of the electric cylinder three 433 is connected with an electric cylinder three ball pair 434. The electric cylinder three ball pair 434 supports the electric cylinder three top seat 435, and the electric cylinder three top seat 435 is used to connect with the bottom of the support plate 450. Similarly, the fourth driving branch 440 includes an electric cylinder four base 441 fixed on the walking chassis 301 at the rear side of the middle actuator 400, and an electric cylinder four U pair 442 is connected to the top of the electric cylinder four U pair 442, which is supported on the bottom of the electric cylinder four 443, and an electric cylinder four ball pair 444 is connected to the top output shaft of the electric cylinder four 443, and the electric cylinder four ball pair 444 supports the electric cylinder four top seat 445, and the electric cylinder four top seat 445 is used to connect with the bottom of the support plate 450. Among them, the electric cylinder three base 431 and the electric cylinder four base 441 are symmetrically fixed on the walking chassis 301, one front and one back, and the other components are symmetrically installed in sequence.

[0053] As can be seen from the above content, the present invention discloses a photovoltaic panel cleaning robot with a parallel buffer mechanism, including a robot arm 1, a cleaning mechanism 2, a walking mechanism 3 and a parallel buffer mechanism 4. When passing through a photovoltaic panel, a binocular camera 303 obtains the posture of the photovoltaic panel, and a control component 302 controls the robot arm 1 to move the cleaning mechanism 2 to the vicinity of the photovoltaic panel; the distance sensor 201 and the angle sensor 204 obtain the distance and tilt angle of the cleaning mechanism 2 relative to the photovoltaic panel, and the control component 302 controls the robot arm 1 to fit the cleaning mechanism 2 to the photovoltaic panel. The posture sensor 460 obtains the posture information of the support plate 450, and the control component 302 controls the parallel buffer mechanism 4 and the robot arm 1 to offset the road surface undulations in five directions of freedom, including movement along the X-axis direction, movement along the Z-axis direction, rotation around the X-axis direction, rotation around the Y-axis direction, and rotation around the Z-axis direction. Through the coordinated control of the control component 302, the photovoltaic panel cleaning robot with a parallel buffer mechanism can adapt to the complex road conditions in the northwest region.

[0054] like Fig.11 As shown, the working principle of the embodiment of the present invention is:

[0055] Under the control of the control component 302, the walking chassis 301 drives the photovoltaic panel cleaning robot to travel along a predetermined track on one side of the photovoltaic panel; when passing the photovoltaic panel, the binocular camera 303 obtains the posture of the photovoltaic panel, and the control component 302 controls the mechanical arm 1 to move the cleaning mechanism 2 to the vicinity of the photovoltaic panel; the distance sensor 201 and the angle sensor 204 obtain the distance and tilt angle of the cleaning mechanism 2 relative to the photovoltaic panel, and the control component 302 controls the mechanical arm 1 to fit the cleaning mechanism 2 to the photovoltaic panel; the posture sensor 460 obtains the posture information of the support plate 450, and when encountering small road undulations, the control Component 302 controls the movement of support plate 450 to offset the road surface fluctuations in four degrees of freedom, namely, movement in the X-axis direction, movement in the Z-axis direction, rotation in the X-axis direction, and rotation in the Y-axis direction, and controls the movement of the first link 103 of the mechanical arm to offset the road surface fluctuations in the Z-axis rotation direction; when encountering large road surface fluctuations and the support plate 450 reaches the limit position, the support plate 450 is controlled to return to the initial position, and the mechanical arm 1 is controlled to offset the road surface fluctuations in five directions of freedom, namely, movement in the X-axis direction, movement in the Z-axis direction, rotation around the X-axis direction, rotation around the Y-axis direction, and rotation around the Z-axis direction. The parallel buffer mechanism 4 has fast response, high precision, and strong carrying capacity, and the mechanical arm 1 has a large working space. Through the coordinated control of the control component 302, the photovoltaic panel cleaning robot with a parallel buffer mechanism has higher terrain adaptability and obstacle crossing ability in complex terrain, and can also effectively complete the cleaning task in a wild mountain photovoltaic power station.

[0056] It should be understood that in actual applications, the walking mechanism 3 can be structurally replaced according to the actual road conditions in the area where the photovoltaic panels are installed, such as a walking mechanism 3 with tracks, or a walking mechanism 3 with wheels, or a walking vehicle with the function of carrying people and goods, etc.

[0057] The details not described in detail in the present invention are all conventional technical means well known to those skilled in the art.

[0058] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, 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 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 should not be understood as a limitation on the present invention.

[0059] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A photovoltaic panel cleaning robot with a parallel buffer mechanism, characterized in that: include: A walking mechanism (3), the walking mechanism (3) having a walking chassis (301), and a control component (302) is installed on the walking chassis (301); The parallel buffer mechanism (4) comprises a support plate (450), an intermediate actuator (400) being movably connected between the support plate (450) and the walking mechanism (3), a third driving branch (430) and a fourth driving branch (440) being symmetrically mounted on the bottom of the support plate (450), the third driving branch (430) and the fourth driving branch (440) being respectively located on the front and rear sides of the intermediate actuator (400); a first driving branch (410) and a second driving branch (420) being movably connected on the left and right sides of the intermediate actuator (400); under the action of the first driving branch (410), the second driving branch (420), the third driving branch (430) and the fourth driving branch (440), the support plate (450) can achieve displacement along the X-axis and the Y-axis, and rotation around the X-axis and the Y-axis; A mechanical arm (1) is mounted above the support plate (450), a cleaning mechanism (2) being mounted on a movable end of the mechanical arm (1), and the control component (302) controls the mechanical arm (1) to move the cleaning mechanism (2) and attach it to the surface of the photovoltaic panel.

2. The photovoltaic panel cleaning robot with a parallel buffer mechanism according to claim 1, characterized in that: The robotic arm (1) comprises a robotic arm base (101), a robotic arm first link (103), a robotic arm second link (105), a robotic arm third link (107), a robotic arm fourth link (111), a robotic arm fifth link (112) and a robotic arm sixth link (113) which are rotatably connected in sequence, and a drive motor for driving each link to rotate or pitch.

3. The photovoltaic panel cleaning robot with a parallel buffer mechanism according to claim 2, characterized in that: The mechanical arm base (101) is mounted on the support plate (450), and a plurality of posture sensors (460) are provided between the mechanical arm base (101) and the support plate (450), and the posture sensors (460) are electrically connected to the control component (302).

4. The photovoltaic panel cleaning robot with a parallel buffer mechanism according to claim 1, characterized in that: The cleaning mechanism (2) comprises a housing (205), a roller brush motor (202) and a roller brush (203); the roller brush motor (202) is fixedly connected to one side of the housing (205); one end of the roller brush (203) is connected to the roller brush motor (202) and the other end is rotatably connected to the housing (205).

5. The photovoltaic panel cleaning robot with a parallel buffer mechanism according to claim 4, characterized in that: A distance sensor (201) is installed on the side of the shell (205) facing the photovoltaic panel. The distance sensor (201) is electrically connected to the control component (302) and is used to obtain the distance between the cleaning mechanism (2) and the photovoltaic panel.

6. The photovoltaic panel cleaning robot with a parallel buffer mechanism according to claim 4, characterized in that: An angle sensor (204) is installed on the side of the shell (205) facing the photovoltaic panel. The angle sensor (204) is electrically connected to the control component (302) and is used to obtain the inclination angle of the cleaning mechanism (2) relative to the photovoltaic panel.

7. The photovoltaic panel cleaning robot with a parallel buffer mechanism according to claim 1 or 4, characterized in that: The cleaning mechanism (2) is detachably connected to the mechanical arm (1).

8. The photovoltaic panel cleaning robot with a parallel buffer mechanism according to claim 1, characterized in that: A binocular camera (303) is installed on the walking chassis (301) of the walking mechanism (3), and the binocular camera (303) is connected to the control component (302) by signal.

9. The photovoltaic panel cleaning robot with a parallel buffer mechanism according to claim 1, characterized in that: The intermediate actuator (400) comprises two symmetrical connecting bases (401), and the two connecting bases (401) are rotatably connected to double-link adjustment structures respectively. The tops of the two double-link adjustment structures are connected to the same intermediate support (407). The rotating shaft on the intermediate support (407) is connected to a vertical support rod (409), and one end of the support rod (409) away from the intermediate support (407) is fixedly connected to the bottom center of the support plate (450).

10. The photovoltaic panel cleaning robot with a parallel buffer mechanism according to claim 9, characterized in that: Two partitions are fixedly connected inside the intermediate support (407), a support shaft (408) is fixedly connected between the two partitions, and one end of the support rod (409) is rotatably connected to the support shaft (408).

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