Industrial robot based on Internet of Things

Abstract

The invention discloses an industrial robot based on the Internet of Things, and relates to the technical field of industrial robots. The industrial robot comprises a vehicle body, a moving mechanism arranged at the bottom of the vehicle body and a driving mechanism arranged in the vehicle body and used for driving the moving mechanism to operate. A photovoltaic panel A is arranged at the top of the vehicle body, grooves are formed in the two sides of the vehicle body and the side wall of the vehicle tail, photovoltaic panels B are installed in the grooves, and the photovoltaic panel A and the photovoltaic panels B are used for charging a storage battery module arranged in the vehicle body; and a driving system for driving the photovoltaic panel B to rotate is mounted in the vehicle body. The photovoltaic panel B is rotationally mounted on the peripheral side wall of the vehicle body, the photovoltaic panel B is controlled to be unfolded during charging and controlled to be stored during carrying operation, and normal carrying operation is not affected while the light energy capturing effect of the whole vehicle body under illumination is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial robots, and in particular relates to an industrial robot based on the Internet of Things. Background Art

[0002] AGV transport robots automatically transport items to designated locations through special landmark navigation. The most common guidance methods are magnetic strip guidance, laser guidance, magnetic nail navigation, and inertial navigation. It is currently a more common type of transport robot, especially with the continuous development of my country's economy, the continuous improvement of people's living standards, and the continuous progress of the express delivery industry. In order to achieve more intelligent and efficient express sorting, the use of AGV transport robots will inevitably increase. The current internal technology of AGV transport robots is already relatively sound, and can basically complete the current designated path transportation work, barely meeting current usage needs.

[0003] In the prior art, mobile industrial robots generally have the following defects: existing unmanned logistics AGV vehicles based on photovoltaic technology often set photovoltaic panels on the outside of the vehicle, and they cannot control the expansion of the photovoltaic panels during photovoltaic charging, which affects the overall charging efficiency under illumination. Summary of the invention

[0004] The purpose of the present invention is to provide an industrial robot based on the Internet of Things. By rotatably installing a photovoltaic panel B on the side wall of the vehicle body, the photovoltaic panel B can be controlled to be unfolded during charging and to be stored during handling operations, thereby solving the problems raised by the existing background technology.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention is an industrial robot based on the Internet of Things, comprising a body, a moving mechanism arranged at the bottom of the body, and a driving mechanism arranged in the body and used for driving the moving mechanism to operate; a photovoltaic panel A is arranged on the top of the body, grooves are provided on the side walls of both sides of the body and the rear of the body, photovoltaic panels B are installed in the grooves, and the photovoltaic panels A and B are used to charge a battery module arranged in the body; a driving system for driving the photovoltaic panel B to rotate is installed in the body; the battery module supplies power to the driving mechanism; a processor, a multimodal sensor, and a state monitoring sensor are mounted on the body, the processor is connected to a cloud platform through a communication module, and the cloud platform is connected to a management system; the processor is also connected to a positioning module, and a two-dimensional map model of the working environment of the industrial robot is established when in use.

[0007] Furthermore, the multimodal sensor includes a laser radar, a visual camera, an ultrasonic sensor, an RFID or a two-dimensional code scanner; and the state monitoring sensor includes a gyroscope, an accelerometer and a compass.

[0008] Furthermore, the photovoltaic panel B includes a rectangular outer frame and a photovoltaic panel body arranged inside the rectangular outer frame, and both ends of the rectangular outer frame are connected to shafts; mounting holes for cooperating with the shafts are arranged on the opposite side walls of the groove; the driving system includes three groups of rotating motors, and the output ends of the rotating motors are connected to one of the shafts through a coupling.

[0009] Furthermore, it also includes a groove arranged at both ends of the groove and recessed toward the interior of the vehicle body; a telescopic mechanism A that can be extended and retracted in the horizontal direction is arranged in the groove, and the end of the telescopic mechanism A is connected to an electromagnet, and the electromagnet is magnetically attracted to an iron block when powered, and the iron block is fixed to a support rod that slides along the inner wall of the groove; when the support rod extends from the groove, it is supported on the bottom side of the unfolded rectangular outer frame; the support rod is provided with a rectangular opening along its length direction, and a limit block that cooperates with the rectangular opening is provided at the end of the groove.

[0010] Furthermore, a socket is provided on the bottom side surface of the groove, and a plug block inserted into the socket is provided on one side wall of the rectangular outer frame; a through hole is provided on the plug block, a convex ring is provided in the middle of the through hole, and both sides of the convex ring are connected to the positioning block through a spring; side panels are provided on the inner side walls of the vehicle body located on both sides of the socket, and positioning grooves for inserting the positioning block are provided on opposite sides of the two side panels, and through holes are provided on the bottom side surfaces of the positioning grooves; guide bevels A and guide bevels B are provided on both sides of the end of the plug block, respectively; and a telescopic module B or a control mechanism is also included, the control end of which passes through the through hole and abuts against the end of the positioning block.

[0011] Furthermore, the control mechanism includes a gear connected to the output end of the motor, and racks meshing with the gear are respectively provided on both sides of the gear, and one side of the rack is fixed on a guide bar with a "T"-shaped cross-section; the guide bar is slidably installed on a fixed beam with a T-shaped slide groove on one side; the opposite ends of the two guide bars are respectively connected to connecting rods A, the end of the connecting rod A is connected to the connecting rod B, and the end of the connecting rod B is connected to the connecting rod C, and the connecting rods A, B and C are matched to form a U shape; the connecting rod C is opposite to the through hole.

[0012] Furthermore, it also includes a cleaning base station, which includes a U-shaped enclosure installed on the ground, and a cover plate is detachably installed on the top of the U-shaped enclosure; both open ends of the U-shaped enclosure are provided with a first cleaning mechanism for cleaning the photovoltaic panels B on both sides of the vehicle body; the bottom of the open end of the U-shaped enclosure is provided with a second cleaning mechanism for cleaning the photovoltaic panels A on the top of the vehicle body; and the end of the U-shaped enclosure is provided with a third cleaning mechanism for cleaning the photovoltaic panel B at the rear end of the vehicle body.

[0013] Further, the first cleaning mechanism comprises a vertically arranged water spray pipe A, a cleaning roller A and an air jet pipe A, and the water spray pipe A and the air jet pipe A are respectively connected to a plurality of water spray nozzles A and air jet nozzles A; the second cleaning mechanism comprises a horizontally arranged water spray pipe B, a cleaning roller B and an air jet pipe B, and the water spray pipe B and the air jet pipe B are respectively connected to a plurality of water spray nozzles B and air jet nozzles B, and the two ends of the cleaning roller B are respectively connected to an electric slider A; guide rails A cooperating with the electric slider A are vertically arranged on both side walls of the U-shaped enclosure; the third cleaning mechanism comprises a vertically arranged water spray pipe C, and a pair of guide rails B are also vertically arranged on the side walls of the U-shaped enclosure, and the guide rails B are matched with the electric slider B, and a side mounting plate is arranged on the slider B, and the horizontally arranged air jet pipe C and the cleaning roller C are connected between the two side mounting plates;

[0014] The water spray pipe C and the air spray pipe C are respectively provided with a water spray nozzle C and an air spray nozzle C.

[0015] Furthermore, a limiting mechanism is connected between the two inner walls at the end of the U-shaped enclosure; the limiting mechanism includes a horizontally arranged fixing rod, and a plurality of telescopic modules D are fixed at equal intervals on one side of the fixing rod, and the end of the telescopic module D is connected to one side of a limiting rod; the inner walls of the U-shaped enclosure are respectively telescopically connected with plywood, and the outer wall of the U-shaped enclosure is provided with a telescopic module C whose output end passes through the U-shaped enclosure and is connected to the plywood.

[0016] Furthermore, a cross bar is provided at the bottom position of the inner side of the U-shaped enclosure, and guide rods are provided at the ends of the cross bar, and the two guide rods are in an "eight" shape; four guide wheel brackets distributed in a rectangular shape are provided on the periphery of the bottom of the vehicle body, and guide wheels are installed on the guide wheel brackets, and also include a pressure sensor embedded in the guide wheel shaft seat.

[0017] The present invention has the following beneficial effects:

[0018] 1. The present invention realizes the control of unfolding the photovoltaic panel B during charging and folding the photovoltaic panel B during transportation by rotatably installing the photovoltaic panel B on the side wall of the vehicle body, thereby improving the overall capture of light energy by the vehicle body under illumination without affecting normal transportation operations;

[0019] 2. The innovatively designed U-shaped cleaning base station of the present invention integrates a high-pressure water-gas linkage cleaning device, and realizes a fully automatic cleaning process through a programmable logic controller (PLC); and a multi-sensor data fusion algorithm combines the lidar point cloud data with visual SLAM to achieve obstacle recognition response within 30ms in a complex dynamic environment, with a positioning accuracy of ±2cm.

[0020] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0022] Figure 1 This is a diagram of the photovoltaic panel B of the present invention in an unfolded state;

[0023] Figure 2 for Figure 1 Main view;

[0024] Figure 3 This is a diagram of the storage state of the photovoltaic panel B of the present invention;

[0025] Figure 4 It is a schematic diagram of the internal structure of the channel of the present invention;

[0026] Figure 5 It is a schematic diagram of the structure of the socket and the plug block in the matching state of the present invention;

[0027] Figure 6 It is a schematic diagram of the control mechanism structure of the present invention;

[0028] Figure 7 This is a schematic diagram of the cleaning base station structure of the present invention

[0029] Figure 8 for Figure 7 A partial enlarged view of the middle part;

[0030] Fig. 9 for Figure 7 A partial enlarged view of point B in the middle;

[0031] Fig.10 This is a schematic diagram of the coordination structure of the vehicle body and the cleaning base station of the present invention;

[0032] Fig.11 It is a schematic diagram of the vehicle body structure of the present invention;

[0033] Fig.12 It is a schematic diagram of the structure of the limiting mechanism of the present invention;

[0034] Fig.13 It is the layout diagram of the vehicle parking lot of the present invention. DETAILED DESCRIPTION

[0035] 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.

[0036] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0037] See also Figure 1-3 As shown, the present invention is an industrial robot based on the Internet of Things, including a body 1, a moving mechanism arranged at the bottom of the body 1, and a driving mechanism arranged in the body 1 and used for driving the moving mechanism to operate; a photovoltaic panel A11 is arranged on the top of the body 1, and grooves 10 are provided on the side walls on both sides of the body 1 and the rear of the body, and photovoltaic panels B2 are installed in the grooves 10, and the photovoltaic panels A11 and B2 are used to charge the battery module arranged in the body 1; a driving system for driving the photovoltaic panel B2 to rotate is installed in the body 1; the battery module supplies power to the driving mechanism; a processor is mounted on the body 1, and the processor is connected to the cloud platform through the communication module, and the cloud platform is connected to the management system; and then when in use, the industrial robot is seamlessly connected with the cloud platform and the enterprise management system through the Internet of Things technology, which significantly improves the efficiency and flexibility of logistics, and is widely used in warehousing, manufacturing, ports and other scenarios.

[0038] In order to facilitate the control of the movement of the vehicle body 1 during use, the vehicle body 1 is also equipped with a positioning module, a multimodal sensor, and a state monitoring sensor connected to the processor; then a two-dimensional map model of the working environment of the industrial robot is established during use. When in use, the multimodal sensor includes a lidar, a visual camera, and an ultrasonic sensor, and environmental perception and obstacle avoidance are achieved through the multimodal sensor; when the multimodal sensor also includes an RFID or a QR code scanner, it can identify cargo information during use.

[0039] At the same time, the status monitoring sensor includes a gyroscope, an accelerometer and a compass. By fusing the angular velocity information obtained by the gyroscope and the linear acceleration information obtained by the accelerometer, the displacement of the vehicle body 1 is calculated through integration and the coordination of the gyroscope, accelerometer and compass, high-precision motion perception and direction judgment can be achieved during use.

[0040] That is, during use, when it is detected that the battery module is low on power, the positioning module is used to locate the position of the vehicle body 1 to obtain the position information, and then the moving route of the vehicle body 1 is generated in combination with the two-dimensional map model, and the real-time navigation information is obtained according to the moving route: "Turn left → turn straight for 20m → turn right and go straight for 20m → turn right and go straight for 20m → turn left and go straight for 20m to reach the destination"; at this time, the destination includes a municipal charging location or an outdoor unobstructed place.

[0041] When the destination is a municipal charging location, a smart charging device connected to a municipal power supply circuit is provided at the municipal charging location. When the vehicle body 1 moves to the destination, information that charging is required is sent to the cloud platform. The cloud platform then sends the above information to the management system. The management system distributes the information to the corresponding terminal device. When the terminal device receives the information that charging is required and generates a reminder, the staff member moves to the location of the vehicle body 1 and plugs in the mains for charging. When the battery power detection module provided in the system detects that the power of the battery module has increased, it is determined that the battery module in the vehicle body 1 has been charged. At this time, the information that charging is in progress is sent to the cloud platform. At the same time, when the battery power detection module detects that the power of the battery module has reached the maximum power storage capacity, that is, charging is completed, the smart charging device that charges the battery module is controlled to be powered off, and the information that charging is completed is sent to the cloud platform.

[0042] In the above, through the linkage between the cloud platform and the terminal equipment, the delay caused by human communication is reduced and the charging response time is significantly shortened; and the cloud platform, as a data hub, records the charging status in real time (such as "charging" and "charging completed") to form a complete charging log; this data can provide a basis for subsequent operation and maintenance analysis (such as battery health assessment and charging efficiency statistics); if the system detects that the power does not increase as expected during the charging process (such as charging interruption or equipment failure), it can quickly trigger an alarm and notify relevant personnel to investigate, reducing battery damage or operation stagnation caused by delayed processing.

[0043] At the same time, from triggering the charging request to completing the charging, the Internet of Things technology realizes the closed-loop automation of "perception-transmission-decision-execution", which significantly improves efficiency; the real-time data feedback of the Internet of Things enables the system to dynamically adjust resource allocation (such as personnel scheduling and power load balancing) to avoid waste of resources.

[0044] When the destination is an unobstructed environment, which is an open illuminated place, the vehicle body 1 is controlled to move to the unobstructed place, and the photovoltaic panel B2 on the vehicle body 1 is controlled to unfold for charging; when the staff sends an instruction to the management system through the terminal device that the vehicle body 1 needs to move to the corresponding position, the management system forwards the information to the cloud platform, and the cloud platform issues an instruction to the processor on any vehicle body 1 that has completed charging. After receiving the instruction, the processor generates a moving route for the vehicle body 1 through its own position and the target position and in combination with a two-dimensional map model, and obtains real-time navigation information based on the moving route; when the vehicle body moves to the target position with the assistance of real-time navigation information, it sends arrival information to the cloud platform, and the cloud platform sends a reminder message to the terminal device.

[0045] like Fig.13 The open illuminated area is used as a parking lot 100 for the vehicle body 1 , and the parking lot 100 is defined with a parking space 101 for each vehicle body 1 .

[0046] Specifically, the present invention provides a specific implementation form of controlling the rotation of the photovoltaic panel B2 as follows, the photovoltaic panel B2 includes a rectangular outer frame 20, and a photovoltaic panel body 21 arranged inside the rectangular outer frame 20, both ends of the rectangular outer frame 20 are connected with shafts, and mounting holes for matching with the shafts are arranged on the opposite side walls of the groove 10, and the driving system includes three groups of rotating motors, and the output end of the rotating motor is connected to one of the shafts through a coupling, and then the photovoltaic panel B2 is driven to flip by controlling the rotation of the rotating motor.

[0047] Based on the above, after the photovoltaic panel B2 is controlled to be unfolded, in order to reduce the load of the rotating motor, the photovoltaic panel B2 needs to be supported, such as Figure 4 As shown, the present invention also provides grooves 13 recessed toward the inside of the vehicle body 1 at both end positions of the groove 10 at the top of the vehicle body 1, and a telescopic mechanism A132 that telescopes in the horizontal direction is provided in the groove 13, and the ends of the telescopic mechanism A132 are connected to an electromagnet 133, and the electromagnet 133 is magnetically attracted to an iron block 142 when powered, and the iron block 142 is fixed to a support rod 14 that slides along the inner wall of the groove 13; when the support rod 14 extends out of the groove 13, it is supported on the bottom side of the unfolded rectangular outer frame 20; the support rod 14 is opened along its length direction A rectangular opening 141 is provided, and a limit block 134 cooperating with the rectangular opening 141 is provided at the end of the groove 13; when the control electromagnet 133 is powered off, the control telescopic mechanism A132 is extended to drive the control support rod 14 to extend out of the groove 13, and then the control telescopic mechanism A132 is retracted; conversely, when the telescopic mechanism A132 is extended, the control electromagnet 133 is energized, at this time the electromagnet 133 and the iron block 142 are together, and then the telescopic mechanism A132 is controlled to retract, at this time driving the support rod 14 to retract into the groove 13.

[0048] Based on the above, in order to fix the photovoltaic panel B2 in the storage state during use to prevent the photovoltaic panel B2 from shaking during the movement of the vehicle body 1, as shown in FIG. Figure 5 The present invention is provided with a plug hole 12 on the bottom side of the groove 13, and a plug block 22 inserted into the plug hole 12 is provided on one side wall of the rectangular outer frame 20; a through hole 221 is provided on the plug block 22, a convex ring 222 is provided in the middle of the through hole 221, and both sides of the convex ring 222 are connected to the positioning block 224 through springs 223; side plates 15 are provided on the inner side walls of the vehicle body 1 located on both sides of the plug hole 12, and positioning grooves 151 for inserting the positioning block 224 are provided on the opposite sides of the two side plates 15, and a through hole 152 is provided on the bottom side of the positioning groove 151; guide slopes A225 and guide slopes B226 are provided on both sides of the end of the plug block 22; and the control end passes through the through hole 15 2 and abuts against the telescopic module B16 or control mechanism at the end of the positioning block 224; that is, when the photovoltaic panel B2 is controlled to be flipped for storage during use, the insert block 22 is inserted into the insert hole 12, and the positioning block 224 is controlled to retract into the through hole 221 under the action of the guide slope A225 until the positioning block 224 is inserted into the positioning groove 151 after facing the positioning groove 151; when the photovoltaic panel B2 needs to be controlled to be unfolded, the telescopic module B16 or the control mechanism is first extended to drive the positioning block 224 to retract into the through hole 221, and then the photovoltaic panel B2 is controlled to be unfolded, and the positioning block 224 is controlled to slide out of the positioning groove 151 under the action of the guide slope B226.

[0049] Specifically, Figure 6 The control mechanism includes a gear 161 connected to the output end of the motor, and racks 162 meshing with the gear 161 are respectively provided on both sides of the gear 161, and one side of the rack 162 is fixed on a guide bar 163 with a "T"-shaped cross-section; the guide bar 163 is slidably installed on a fixed beam 164 with a T-shaped slide groove on one side; the opposite ends of the two guide bars 163 are respectively connected to connecting rods A165, the end of the connecting rod A165 is connected to the connecting rod B166, and the end of the connecting rod B166 is connected to the connecting rod C167, and the connecting rods A165, B166 and C167 cooperate to form a U shape; the connecting rod C167 is opposite to the through hole 152.

[0050] The telescopic mechanism A132 and the telescopic module B16 mentioned above can be selected from telescopic cylinders or telescopic motors.

[0051] With long-term use and due to the large amount of dust in the working environment, a large amount of dust is easily attached to the surface of the photovoltaic panels A11 and B2 during use. The presence of such dust will affect the power generation efficiency of the photovoltaic panels A11 and B2. Based on this, a cleaning base station is set up, such as Figure 7-10The cleaning base station includes a U-shaped enclosure 3 installed on the ground 300, and a removable cover is installed on the top of the U-shaped enclosure 3; both open ends of the U-shaped enclosure 3 are provided with a first cleaning mechanism for cleaning the photovoltaic panels B2 on both sides of the vehicle body 1; the bottom of the open end of the U-shaped enclosure 3 is provided with a second cleaning mechanism for cleaning the photovoltaic panel A11 on the top of the vehicle body 1; the end of the U-shaped enclosure 3 is provided with a third cleaning mechanism for cleaning the photovoltaic panel B2 at the rear end of the vehicle body 1; when in use, the first cleaning mechanism, the second cleaning mechanism and the third cleaning mechanism are used to clean the photovoltaic panels B2 on both sides of the vehicle body 1, the photovoltaic panel A11 on the top of the vehicle body 1, and the photovoltaic panel B2 at the end of the vehicle body 1 respectively.

[0052] Specifically, Figure 8 The first cleaning mechanism includes a vertically arranged water spray pipe A31, a cleaning roller A32 and an air jet pipe A33, and the water spray pipe A31 and the air jet pipe A33 are respectively connected to a plurality of water spray nozzles A311 and an air jet nozzle A331; in fact, it is currently used to control the vehicle body 1 to move toward the U-shaped enclosure 3, and then the cleaning roller A32 is used to perform roller brush cleaning; then when the vehicle body 1 moves out from the U-shaped enclosure 3, the air jet nozzle A331 is used to blow dry.

[0053] Specifically, Figure 8 The second cleaning mechanism includes a horizontally arranged water spray pipe B344, a cleaning roller B342 and an air jet pipe B343. The water spray pipe B344 and the air jet pipe B343 are respectively connected to a plurality of water spray nozzles B and air jet nozzles B. Both ends of the cleaning roller B342 are respectively connected to an electric slider A341; guide rails A34 cooperating with the electric slider A341 are vertically arranged on both side walls of the U-shaped enclosure 3; when in use, when the vehicle body 1 is controlled to move toward the U-shaped enclosure 3, it is first rinsed by spraying water with the water spray nozzle B and then cleaned by a roller brush with the cleaning roller B342; then when the vehicle body 1 is moved out from the U-shaped enclosure 3, the air jet nozzle B is used to blow dry; when in use, according to the position of the vehicle body 1 in the U-shaped enclosure 3, the electric slider A341 is controlled to move on the guide rail A34 to drive the cleaning roller B342 to move up and down.

[0054] Specifically, Fig. 9The third cleaning mechanism includes a vertically arranged water spray pipe C35, and a pair of guide rails B36 are also vertically arranged on the side wall of the U-shaped enclosure 3. The guide rail B36 is matched with an electric slider B361, and a side mounting plate 362 is arranged on the slider B361. The horizontally arranged jet pipe C364 and the cleaning roller C363 are connected between the mounting plates 362 on both sides. The water spray pipe C35 and the jet pipe C364 are respectively provided with a water spray nozzle C351 and a jet nozzle C365; when in use, it controls the vehicle body After the vehicle body 1 moves to the designated position A inside the U-shaped enclosure 3, the water spray nozzle C351 is controlled to spray water for washing, and then the vehicle body 1 is controlled to continue to move to the designated position B inside the U-shaped enclosure 3. At this time, the photovoltaic panel B2 contacts the cleaning roller C363. At this time, the electric slider B361 is controlled to move on the guide rail B36 to drive the cleaning roller C363 to clean the photovoltaic panel B2; after the cleaning is completed, the vehicle body 1 is controlled to the designated position A inside the U-shaped enclosure 3, and the jet nozzle C365 is used to blow dry.

[0055] In order to control the position of the vehicle body 1 inside the U-shaped enclosure 3 during use, a limiting mechanism 37 is connected between the two inner walls at the end of the U-shaped enclosure 3; Fig.12 The limiting mechanism 37 includes a horizontally arranged fixed rod 370, and a plurality of telescopic modules D371 are fixed at equal intervals on one side of the fixed rod 370, and the end of the telescopic module D371 is connected to one side of a limiting rod 372; and a contact sensor is arranged on the limiting rod 372; that is, when in use, when the telescopic module D371 is fully extended, the moving end of the vehicle body 1 abuts against the limiting rod 372, and the position of the limiting rod 372 is the designated position A; when the telescopic module D371 is fully retracted, the moving end of the vehicle body 1 abuts against the limiting rod 372, and the position of the limiting rod 372 is the designated position B.

[0056] In order to fix the vehicle body 1 during use and prevent the vehicle body 1 from moving during the cleaning process of the roller brush C363, the inner wall of the U-shaped enclosure 3 is telescopically connected with a clamping plate 38, and the outer wall of the U-shaped enclosure 3 is provided with a telescopic module C380 whose output end passes through the U-shaped enclosure 3 and is connected to the clamping plate 38.

[0057] At the same time, if Fig.10 and 11 In order to facilitate the control of the movement of the vehicle body 1 into the U-shaped enclosure 3 during use, a cross bar 39 is provided at the bottom position of the inner side of the U-shaped enclosure 3, and a guide rod 391 is provided at the end of the cross bar 39, and the two guide rods 391 are in an "eight" shape; four guide wheel brackets 17 distributed in a rectangular shape are provided on the bottom periphery of the vehicle body 1, and a guide wheel 171 is installed on the guide wheel bracket 17, and also includes a pressure sensor embedded in the guide wheel shaft seat.

[0058] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0059] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An industrial robot based on the Internet of Things, characterized by: It comprises a vehicle body (1), a moving mechanism arranged at the bottom of the vehicle body (1), and a driving mechanism arranged in the vehicle body (1) and used for driving the moving mechanism to operate; A photovoltaic panel A (11) is arranged on the top of the vehicle body (1), grooves (10) are provided on the side walls of both sides of the vehicle body (1) and the rear of the vehicle, photovoltaic panels B (2) are installed in the grooves (10), and the photovoltaic panels A (11) and B (2) are used to charge a battery module arranged in the vehicle body (1); a driving system for driving the photovoltaic panel B (2) to rotate is installed in the vehicle body (1); The battery module supplies power to the drive mechanism; The vehicle body (1) is equipped with a processor, a multi-modal sensor, and a state monitoring sensor; the processor is connected to a cloud platform through a communication module, and the cloud platform is connected to a management system; The processor is also connected to the positioning module and establishes a two-dimensional map model of the working environment of the industrial robot when in use.

2. The industrial robot based on the Internet of Things according to claim 1, characterized in that: The multimodal sensor includes a laser radar, a visual camera, an ultrasonic sensor, an RFID or a QR code scanner; The state monitoring sensor includes a gyroscope, an accelerometer and a compass; The communication module uses a 5G or Wi-Fi 6 module.

3. An industrial robot based on the Internet of Things according to claim 1 or 2, characterized in that: The photovoltaic panel B (2) comprises a rectangular outer frame (20) and a photovoltaic panel body (21) arranged inside the rectangular outer frame (20), and both ends of the rectangular outer frame (20) are connected to shafts; Mounting holes for mounting in cooperation with the shaft are provided on opposite side walls of the groove (10); The driving system comprises three sets of rotating motors, and the output ends of the rotating motors are connected to one of the shafts through a coupling.

4. The industrial robot based on the Internet of Things according to claim 3, characterized in that: It also includes grooves (13) arranged at both ends of the groove (10) and recessed toward the interior of the vehicle body (1); A telescopic mechanism A (132) is arranged in the groove (13) and is telescopic in the horizontal direction. The end of the telescopic mechanism A (132) is connected to an electromagnet (133). When the electromagnet (133) is powered, it is magnetically attracted to an iron block (142). The iron block (142) is fixed to a support rod (14) that slides along the inner wall of the groove (13). When the support rod (14) extends out from the groove (13), it is supported on the bottom side of the unfolded rectangular outer frame (20); The support rod (14) is provided with a rectangular opening (141) along its length direction, and a limiting block (134) cooperating with the rectangular opening (141) is provided at the end of the channel (13).

5. An industrial robot based on the Internet of Things according to claim 3 or 4, characterized in that: The bottom side of the groove (13) is provided with an insertion hole (12), and a side wall of the rectangular outer frame (20) is provided with an insertion block (22) inserted into the insertion hole (12); The insert block (22) is provided with a through hole (221), a convex ring (222) is provided in the middle of the through hole (221), and both sides of the convex ring (222) are connected to the positioning block (224) via springs (223); The inner side walls of the vehicle body (1) located on both sides of the insertion hole (12) are respectively provided with side panels (15), and the opposite sides of the two side panels (15) are both provided with positioning grooves (151) for inserting the positioning blocks (224), and the bottom side surfaces of the positioning grooves (151) are provided with through holes (152); the ends of the insertion blocks (22) are respectively provided with guide slopes A (225) and guide slopes B (226); It also includes a telescopic module B (16) or a control mechanism, the control end of which passes through the through hole (152) and abuts against the end of the positioning block (224).

6. The industrial robot based on the Internet of Things according to claim 5, characterized in that: The control mechanism comprises a gear (161) connected to the output end of the motor, racks (162) meshing with the gear (161) are respectively arranged on both sides of the gear (161), one side of the rack (162) is fixed on a guide bar (163) with a "T"-shaped cross section; the guide bar (163) is slidably mounted on a fixed beam (164) with a T-shaped sliding groove on one side; The opposite ends of the two guide bars (163) are respectively connected to a connecting rod A (165), the end of the connecting rod A (165) is connected to a connecting rod B (166), the end of the connecting rod B (166) is connected to a connecting rod C (167), and the connecting rod A (165), the connecting rod B (166) and the connecting rod C (167) cooperate to form a U shape; The connecting rod C (167) is directly opposite to the through hole (152).

7. An industrial robot based on the Internet of Things according to claim 3 or 4, characterized in that: Also included is a cleaning base station, the cleaning base station comprising a U-shaped enclosure (3) installed on the ground (300), the top of the U-shaped enclosure (3) being provided with a detachable mounting cover plate; Both opening ends of the U-shaped enclosure (3) are provided with a first cleaning mechanism for cleaning the photovoltaic panels B (2) on both sides of the vehicle body (1); A second cleaning mechanism for cleaning the photovoltaic panel A (11) on the top of the vehicle body (1) is provided at the bottom of the open end of the U-shaped enclosure (3); A third cleaning mechanism for cleaning the photovoltaic panel B (2) at the rear end of the vehicle body (1) is provided at the end of the U-shaped enclosure (3).

8. The industrial robot based on the Internet of Things according to claim 7, characterized in that: The first cleaning mechanism comprises a vertically arranged water spray pipe A (31), a cleaning roller A (32) and an air jet pipe A (33), wherein the water spray pipe A (31) and the air jet pipe A (33) are respectively connected to a plurality of water spray nozzles A (311) and air jet nozzles A (331); The second cleaning mechanism comprises a horizontally arranged water spray pipe B (344), a cleaning roller B (342) and an air jet pipe B (343); the water spray pipe B (344) and the air jet pipe B (343) are respectively connected to a plurality of water spray nozzles B and air jet nozzles B; both ends of the cleaning roller B (342) are respectively connected to an electric slider A (341); guide rails A (34) cooperating with the electric slider A (341) are vertically arranged on both side walls of the U-shaped enclosure (3); The third cleaning mechanism comprises a vertically arranged water spray pipe C (35), a pair of guide rails B (36) are also vertically arranged on the side wall of the U-shaped enclosure (3), an electric slider B (361) is arranged on the guide rail B (36), a side mounting plate (362) is arranged on the slider B (361), and a horizontally arranged air spray pipe C (364) and a cleaning roller C (363) are connected between the two side mounting plates (362); The water spray pipe C (35) and the air spray pipe C (364) are respectively provided with a water spray nozzle C (351) and an air spray nozzle C (365).

9. The industrial robot based on the Internet of Things according to claim 8, characterized in that: A limiting mechanism (37) is connected between the two inner walls at the end of the U-shaped enclosure (3); The limiting mechanism (37) comprises a horizontally arranged fixing rod (370), a plurality of telescopic modules D (371) are fixed at equal intervals on one side of the fixing rod (370), and the ends of the telescopic modules D (371) are connected to one side of a limiting rod (372); The inner wall of the U-shaped enclosure (3) is telescopically connected to a clamping plate (38), and the outer wall of the U-shaped enclosure (3) is provided with a telescopic module C (380) whose output end passes through the U-shaped enclosure (3) and is connected to the clamping plate (38).

10. The industrial robot based on the Internet of Things according to claim 7, characterized in that: A cross bar (39) is provided at the bottom of the inner side of the U-shaped enclosure (3), and a guide bar (391) is provided at the end of the cross bar (39), and the two guide bars (391) are in an "eight" shape; Four guide wheel brackets (17) distributed in a rectangular shape are arranged on the circumferential side of the bottom of the vehicle body (1), and a guide wheel (171) is mounted on the guide wheel bracket (17), which also includes a pressure sensor embedded in the guide wheel shaft seat.

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