An intelligent cleaning robot for photovoltaic panels

Abstract

The present invention relates to the technical field of photovoltaic panel cleaning, and specifically relates to an intelligent cleaning robot for photovoltaic panels, which includes a mobile vehicle and a robotic arm. A positioning component is arranged on the mobile vehicle, and the robotic arm is fixedly connected to the positioning component; guide bars are fixedly connected to the bottoms of multiple photovoltaic panels, and tracks are arranged on the guide bars; a first limiting member is arranged on the positioning component. Through the sliding cooperation between the first limiting member and the tracks, the movement trajectory of the mobile vehicle is limited, so that the mobile vehicle can only slide along the track direction, restricting its lateral and vertical offsets. Through the physical constraint of the tracks, the movement of the mobile vehicle is restricted to a single linear direction. The robotic arm only needs to perform cleaning according to the preset movement, without the need for redundant attitude adjustment, reducing the complexity of the control algorithm for the robotic arm and the accuracy requirement for the robotic arm, which helps to reduce the investment in cleaning equipment and the popularization of photovoltaic panel cleaning equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic panel cleaning, and specifically relates to an intelligent cleaning robot for photovoltaic panels. Background Art

[0002] Currently, photovoltaic devices are usually composed of multiple photovoltaic panels arranged at intervals. When exposed to the external environment for a long time, dust deposition will significantly reduce the power generation, shorten the component life, and even cause safety problems such as hot spot effects. Traditional cleaning methods such as manual cleaning have low efficiency, high costs, and safety hazards; robotic arm cleaning relies on complex algorithms to control the posture of the robotic arm, has high requirements for terrain flatness, and is prone to pressing plate risks due to vibration or wind; although flat panel machines can efficiently clean a single photovoltaic panel, auxiliary bridges or high-precision positioning are required when crossing panels, resulting in difficult installation and insufficient reliability.

[0003] Chinese Patent Application Publication No. CN115351797A discloses a photovoltaic panel cleaning device that realizes cross-panel cleaning through the cooperation of a moving component, a transfer component, a grasping component, and a cleaning component. Its core solution is: using a robotic arm to grasp the magnetically connected cleaning component, relying on pressure sensors, distance sensors, etc. to calibrate the grasping pressure and position in real time, and adjusting the posture of the cleaning component through a multi-degree-of-freedom robotic arm to adapt to the photovoltaic panel. However, this solution has the following defects:

[0004] The device relies on high-precision sensors and needs to be equipped with various sensors such as pressure measurement, distance measurement, and positioning, resulting in high equipment costs and complex maintenance. Moreover, the sensors are prone to signal deviation in harsh environments such as multi-dust, high and low temperatures, affecting the cleaning reliability; and its robotic arm needs to process sensor data in real time and adjust multi-joint movements, which requires high computing power for the control system and there is a risk of grasping failure or damage to the photovoltaic panel due to algorithm delay or error. Summary of the Invention

[0005] In view of the above problems, an intelligent cleaning robot for photovoltaic panels is provided. Through the sliding cooperation between the first limiting member and the track, the movement trajectory of the moving vehicle is limited, so that the moving vehicle can only slide along the track direction, restricting its lateral and vertical offsets. Through the physical constraint of the track, the movement of the moving vehicle is restricted to a single linear direction. The robotic arm only needs to complete the cleaning according to the preset movement, without the need for redundant posture adjustment, reducing the complexity of the control algorithm for the robotic arm and the accuracy requirement for the robotic arm, which helps to reduce the investment in cleaning equipment and the popularization of photovoltaic panel cleaning equipment.

[0006] In order to solve the problems of the prior art, the present invention provides a photovoltaic panel intelligent cleaning robot, which is applied to multiple photovoltaic panels arranged at intervals, and includes a mobile vehicle and a mechanical arm. The mobile vehicle is provided with a positioning component, and the positioning component has the freedom to move in the horizontal direction and the vertical direction, and the mechanical arm is fixedly connected to the positioning component; the bottoms of the multiple photovoltaic panels are fixedly connected with guide bars, and the guide bars are provided with tracks extending along the cleaning path direction; the positioning component is provided with a first limiter, and when the mobile vehicle moves to the side of the photovoltaic panel, the first limiter is driven by the coordinated movement of the positioning component in the horizontal direction and the vertical direction to insert into the track and slide with the track, so as to constrain the positioning component through the track, so that the mobile vehicle can make linear motion along the track.

[0007] Preferably, the positioning assembly is provided with a mounting plate extending toward the photovoltaic panel in a horizontal direction, a connecting head is provided at one end of the mounting plate away from the positioning assembly, and a first limiting member is slidably provided below the connecting head in a vertical direction.

[0008] Preferably, the track is an inverted T-shaped structure, and both ends of the first limit member are provided with sliding components that can be connected to the side walls of the track. The sliding components include two limit frames that can rotate relative to each other, and the two limit frames are both drivingly connected to the first limit member.

[0009] Preferably, the two limit frames are arranged in mirror symmetry, both limit frames are provided with inclined slide rails, the first limit member is provided with a guide rod that slides with the slide rail, and both limit frames are provided with rollers on one side close to the inner wall of the track.

[0010] Preferably, a plurality of first balls arranged in a rectangular row are provided at the bottom of the first limiting member.

[0011] Preferably, the roller is slidably arranged on the limiting frame, and the roller is elastically connected to the limiting frame. When the guide rod moves along the slide rail, the roller is driven to be ejected from the limiting frame.

[0012] Preferably, a second rotatable ball is provided on one end of the axis of the roller wheel close to the inner wall of the track.

[0013] Preferably, a sensor and a protruding second limiting member are provided on the connecting head.

[0014] Preferably, a mounting groove is provided on the mobile vehicle, and the positioning assembly includes a plurality of limit rods extending in the vertical direction and fixedly connected to the mounting groove, the limit rods are provided with positioning plates slidingly matched therewith, and the mounting groove is also provided with a first linear drive for driving the positioning plate to move along the limit rods.

[0015] Preferably, a guide rail extending in the horizontal direction is provided on the positioning plate, a support plate slidably engaged with the guide rail is provided on the guide rail, the robotic arm is fixedly connected to the support plate, and a second linear driver for driving the support plate to move is provided below the positioning plate.

[0016] The beneficial effects of the present invention compared with the prior art are as follows:

[0017] 1. By the sliding fit of the first limiting member and the track, the movement trajectory of the moving vehicle is limited, so that the moving vehicle can only slide along the track direction, restricting its lateral and vertical offsets. In the prior art, it highly depends on the multi-degree-of-freedom movement of the robotic arm and the real-time calibration of the attitude by a complex sensing system. However, in this solution, through the physical constraint of the track, the movement of the moving vehicle is limited to a single linear direction. The robotic arm only needs to perform the preset movement to complete the cleaning, without the need for redundant attitude adjustment, reducing the complexity of the control algorithm for the robotic arm and the accuracy requirement for the robotic arm, which helps to reduce the investment in cleaning equipment and the popularization of photovoltaic panel cleaning equipment.

[0018] 2. The movement of the first limiting member drives the two limiting frames of the sliding assembly. Only through the linkage of the mechanical structure, the docking of the positioning assembly and the track can be completed, simplifying the control logic and reducing the dependence of the equipment on a high-precision positioning system. The surface contact and abutment of the limiting frame and the side wall of the track can effectively suppress the offset of the moving vehicle caused by vibration or wind force during the cleaning process, ensuring a constant distance between the robotic arm and the surface of the photovoltaic panel, and avoiding pressing plates or cleaning blind spots.

[0019] 3. By detecting the contact between the mounting plate and the guiding strip, the positioning deviation caused by insufficient or excessive horizontal extension is avoided, ensuring the vertical fitting accuracy between the connecting head and the guiding strip. Without relying on complex visual positioning or laser ranging, only through three mechanical actions of extension, abutment and retraction and the switch signal of the sensor, the preliminary positioning can be completed, reducing the control difficulty of the equipment. After the preliminary positioning, the insertion path of the first limiting member has been accurately defined, and the ejection action of the sliding assembly no longer needs to perform large-range position calibration, which can reduce the docking time and improve the coherence of the cleaning operation. Description of the Drawings

[0020] Figure 1 is a schematic three-dimensional structure of a photovoltaic panel intelligent cleaning robot Figure 1 .

[0021] Figure 2 is a schematic three-dimensional structure of a photovoltaic panel intelligent cleaning robot Figure 2 .

[0022] Figure 3 is a schematic partial three-dimensional structure of the guiding strip, robotic arm and positioning assembly in a photovoltaic panel intelligent cleaning robot Figure 1 .

[0023] Figure 4 is a schematic perspective view of a partial structure of a guide bar, a robotic arm, and a positioning component in an intelligent cleaning robot for photovoltaic panels Figure 2 .

[0024] Figure 5 is a schematic perspective view of a connection head, a first limiting member, and a sliding component in an intelligent cleaning robot for photovoltaic panels

[0025] Figure 6 is Figure 5 an enlarged view of portion A in

[0026] Figure 7 is a schematic cross-sectional view of a connection head, a first limiting member, and a sliding component in an intelligent cleaning robot for photovoltaic panels

[0027] Figure 8 is Figure 7 an enlarged view of portion B in

[0028] Figure 9 is a schematic perspective view of a first limiting member and a sliding component in an intelligent cleaning robot for photovoltaic panels

[0029] Figure 10 is a schematic perspective view of a partial structure of a first limiting member and a sliding component in an intelligent cleaning robot for photovoltaic panels

[0030] The reference numerals in the figure are as follows

[0031] 1, photovoltaic panel; 11, guide bar; 111, track; 2, mobile vehicle; 21, robotic arm; 22, mounting groove; 3, positioning component; 31, mounting plate; 311, connection head; 3111, first limiting member; 31111, guide rod; 3112, first ball; 3113, sensor; 3114, second limiting member; 312, sliding component; 3121, limiting frame; 3122, slide rail; 3123, roller; 3124, second ball; 32, limiting rod; 33, positioning plate; 331, guide rail; 332, support plate; 333, second linear actuator; 34, first linear actuator Detailed implementation manners

[0032] To further understand the features, technical means, specific purposes, and functions achieved by the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and specific implementation manners

[0033] As Figures 1 to 7As shown: A photovoltaic panel intelligent cleaning robot is applied to multiple photovoltaic panels 1 arranged at intervals, including a mobile vehicle 2 and a mechanical arm 21, the mobile vehicle 2 is provided with a positioning component 3, the positioning component 3 has the freedom to move in the horizontal direction and the vertical direction, and the mechanical arm 21 is fixedly connected to the positioning component 3; the bottoms of the multiple photovoltaic panels 1 are fixedly connected with a guide bar 11, and the guide bar 11 is provided with a track 111 extending along the cleaning path direction; the positioning component 3 is provided with a first limit member 3111, when the mobile vehicle 2 moves to the side of the photovoltaic panel 1, the first limit member 3111 is driven by the coordinated movement of the positioning component 3 in the horizontal direction and the vertical direction to insert into the track 111 and slide with the track 111, so as to constrain the positioning component 3 through the track 111, so that the mobile vehicle 2 can make linear motion along the track 111.

[0034] When the photovoltaic panel 1 needs to be cleaned, the mobile vehicle 2 travels to the side of the target photovoltaic panel 1, and the positioning component 3 adjusts its position by virtue of its horizontal and vertical freedom of movement (such as telescopic and lifting mechanisms), preferably by first extending the guide bar 11 at the bottom of the photovoltaic panel 1 in the horizontal direction to make the first limit member 3111 on the positioning component 3 close to the track 111; then descending or ascending in the vertical direction, the first limit member 3111 is accurately inserted into the track 111 of the guide bar 11, thereby completing the connection.

[0035] Through the sliding cooperation between the first limiting member 3111 and the track 111 (such as the T-rail and the T-slider, the I-rail and the slot), the moving trajectory of the mobile vehicle 2 is limited so that the mobile vehicle 2 can only slide along the track 111, limiting its lateral and vertical deviations.

[0036] Since the robot arm 21 is fixedly connected to the positioning assembly 3, the robot arm 21 can clean the photovoltaic panel 1 through a preset fixed action. When the area of ​​the photovoltaic panel 1 is large, the robot arm 21 is driven to move by the linear movement of the mobile vehicle 2. The track 111 preferably extends along the length direction of the photovoltaic panel 1 to provide a preset motion trajectory for the mobile vehicle 2. After the first limiter 3111 is inserted into the track 111, the freedom of movement of the positioning assembly 3 is constrained by the track 111, and it can only perform linear reciprocating motion along the track 111, thereby completing the surface cleaning of the photovoltaic panel 1, without the need for additional adjustment of the movement posture of the robot arm 21. Under the constraint of the track 111, the mobile vehicle 2 slides smoothly along the length direction of the photovoltaic panel 1, and the robot arm 21 maintains a constant distance and angle with the surface of the photovoltaic panel 1.

[0037] After the cleaning of a single photovoltaic panel 1 is completed, the positioning component 3 moves horizontally and vertically in the reverse direction to pull out the first limiting member 3111 from the track 111. The moving vehicle 2 can freely drive to the side of the next photovoltaic panel 1, and repeat the above docking and cleaning process. In a relatively flat sampling area, the guiding strips 11 of multiple photovoltaic panels 1 can be docked, so that the first limiting member 3111 can achieve continuous cleaning of multiple photovoltaic panels 1 without being taken out.

[0038] In the prior art, it highly depends on the multi-degree-of-freedom movement of the robotic arm 21 and the complex sensing system to calibrate the posture in real time. However, in this solution, through the physical constraint of the track 111, the movement of the moving vehicle 2 is restricted to a single linear direction. The robotic arm 21 only needs to perform the cleaning according to the preset movement, without unnecessary posture adjustment, reducing the complexity of the control algorithm for the robotic arm 21 and the accuracy requirement for the robotic arm 21, which helps to reduce the investment in cleaning equipment and the popularization of photovoltaic panel 1 cleaning equipment.

[0039] The guiding strip 11 and the track 111 at the bottom of the photovoltaic panel 1 can be prefabricated integrally with the photovoltaic support. The first limiting member 3111 of the positioning component 3 adopts a unified specification interface, which supports rapid installation and replacement, solving the problem that traditional cleaning equipment needs to be adjusted one by one for each photovoltaic panel 1, and is especially suitable for the standardized deployment of centralized photovoltaic power stations.

[0040] The guiding strip 11 and the first limiting member 3111 are both independent modular components. When damaged, they can be replaced separately without the need to disassemble the equipment as a whole; the connection interface between the positioning component 3 and the moving vehicle 2 is convenient for standardization, supports rapid maintenance and upgrade, reduces the difficulty of operation and maintenance, and can also reduce labor costs.

[0041] As Figures 1 to 7 shown: An installation plate 31 extending horizontally towards the photovoltaic panel 1 is provided on the positioning component 3. A connection head 311 is provided at one end of the installation plate 31 away from the positioning component 3. The first limiting member 3111 is slidably arranged vertically below the connection head 311.

[0042] After the moving vehicle 2 drives to the side of the target photovoltaic panel 1, the horizontal movement of the positioning component 3 will drive the movement of the installation plate 31, so that the connection head 311 at the end of the installation plate 31 reaches directly below or directly above the track 111. The horizontal extension length of the installation plate 31 can cover the distance between the photovoltaic panel 1 and the moving vehicle 2, ensuring that the connection head 311 can be aligned with the track 111.

[0043] The first stopper 3111 below the connector 311 slides downward or upward in the vertical direction, so that the first stopper 3111 can be inserted into the track 111 on the guide bar 11 and slide with it. After the stopper is inserted into the track 111, the mounting plate 31 and the connector 311 form a rigid support, limiting the lateral and vertical shaking of the mobile vehicle 2, and only allowing the mobile vehicle 2 to slide linearly along the track 111, ensuring that the mechanical arm 21 can smoothly clean along the surface of the photovoltaic panel 1.

[0044] like Figures 3 to 10 As shown: the track 111 is an inverted T-shaped structure, and both ends of the first limit member 3111 are provided with sliding components 312 that can be connected to the side walls of the track 111. The sliding component 312 includes two limit frames 3121 that can rotate relative to each other, and the two limit frames 3121 are both transmission connected to the first limit member 3111.

[0045] When the positioning assembly 3 drives the first limit piece 3111 to approach the track 111, the limit frame 3121 is in a retracted state and is located at both ends of the first limit piece 3111. When the positioning assembly 3 drives the first limit piece 3111 to move onto the track 111, the first limit piece 3111 is inserted into the track 111 by sliding in the vertical direction. At the same time, the two limit frames 3121 on the sliding assembly 312 are in an open state through relative rotation until the limit frames 3121 abut against the two side walls of the track 111, thereby achieving docking with the track 111.

[0046] When the positioning assembly 3 drives the first stopper 3111 to move toward the inverted T-shaped track 111 at the bottom of the photovoltaic panel 1, the two stoppers 3121 of the sliding assembly 312 are in a retracted state. The stoppers 3121 in the retracted state reduce the horizontal space occupied, avoid collision with the edge of the track 111, and ensure that the first stopper 3111 can smoothly enter the insertion area directly above the track 111. When the positioning assembly 3 drives the mounting plate 31 to move in the vertical direction until the mounting plate 31 abuts against the track 111, the first stopper 3111 slides in the vertical direction at this time, so that the first stopper 3111 is inserted into the track 111. When the main body of the first stopper 3111 enters the inverted T-shaped groove of the track 111, the two stoppers 3121 of the sliding assembly 312 rotate relative to each other, gradually changing from a retracted state to an open state. During the opening process, the outer wall of the stopper 3121 gradually fits the inner wall of the track 111 until it is completely abutted, forming a stable structure clamped on both sides.

[0047] After the limiting frame 3121 is opened to abut against the side wall of the track 111, its surface fits closely with the side wall of the track 111, restricting the lateral movement of the first limiting member 3111 and only allowing sliding along the length direction of the track 111. The rotation angle of the limiting frame 3121 matches the width of the cross beam of the track 111 to ensure uniform force during abutment, avoid unilateral inclination or jamming, and enable the moving vehicle 2 to slide smoothly along the track 111.

[0048] Only through the linkage of the mechanical structure can the docking of the positioning component 3 with the track 111 be completed, simplifying the control logic and reducing the dependence of the equipment on the high-precision positioning system. The surface contact abutment between the limiting frame 3121 and the side wall of the track 111 can effectively suppress the deviation of the moving vehicle 2 caused by vibration or wind force during the cleaning process, ensure a constant distance between the robotic arm 21 and the surface of the photovoltaic panel 1, and avoid pressing plates or cleaning blind spots.

[0049] As Figures 3 to 10 shown: The two limiting frames 3121 are arranged in mirror symmetry. Inclined slide rails 3122 are provided on both of the two limiting frames 3121. Guide rods 31111 that are slidably matched with the slide rails 3122 are provided on the first limiting member 3111. Roller wheels 3123 are provided on one side of both of the two limiting frames 3121 close to the inner wall of the track 111.

[0050] When the positioning component 3 drives the first limiting member 3111 to slide vertically and insert into the track 111, the guide rods 31111 on the first limiting member 3111 slide in the inclined slide rails 3122 of the limiting frame 3121. Since the slide rails 3122 are inclined, the sliding of the guide rods 31111 will cause the relative rotation of the two limiting frames 3121, making the two limiting frames 3121 gradually change from the contracted state to the opened state. Because the two limiting frames 3121 are arranged in mirror symmetry, they will open synchronously until the roller wheels 3123 provided on one side of the limiting frame 3121 close to the inner wall of the track 111 abut against the two side walls of the track 111. In this way, the docking of the first limiting member 3111 with the track 111 is achieved, and at the same time, the roller wheels 3123 can roll on the side wall of the track 111, reducing the friction during the sliding process.

[0051] During the movement of the moving vehicle 2 along the track 111, the first limiting member 3111 always maintains linkage with the limiting frame 3121 through the cooperation of the guiding rod 31111 and the inclined slide rail 3122 on the limiting frame 3121. The roller 3123 on the limiting frame 3121 rolls along the side wall of the track 111. On the one hand, it provides stable support for the first limiting member 3111 and restricts the movement of the first limiting member 3111 in the direction perpendicular to the track 111. On the other hand, the rolling roller 3123 makes the whole movement process smoother, reducing the energy loss and component wear caused by friction. The driving of the first limiting member 3111 is preferably driven by a hydraulic cylinder or an electric push rod to ensure the stability of the movement of the first limiting member 3111.

[0052] The cooperation mode of the guiding rod 31111 and the inclined slide rail 3122 makes the opening action of the limiting frame 3121 a gradual and controllable process. When inserting into the track 111, the opening degree of the limiting frame 3121 can be automatically adjusted according to the insertion depth of the first limiting member 3111, ensuring the tight abutment of the roller 3123 and the side wall of the track 111, and further enhancing the stability of the connection.

[0053] As Figures 3 to 10 shown: Multiple first balls 3112 arranged in a rectangular array are provided at the bottom of the first limiting member 3111.

[0054] When the positioning assembly 3 drives the first limiting member 3111 to insert into the track 111 and complete the docking with the track 111, multiple first balls 3112 arranged in a rectangular array at the bottom of the first limiting member 3111 start to play a role. At the moment of docking, these balls can initially disperse the contact pressure between the first limiting member 3111 and the bottom of the track 111, avoiding damage to the track 111 or the first limiting member 3111 itself due to excessive local pressure.

[0055] In the process of the mobile vehicle 2 driving the first limiter 3111 to slide along the track 111, the first ball 3112 rolls in contact with the bottom of the track 111. Due to the rolling contact, the friction is greatly reduced compared to the traditional sliding contact. The rectangular array arrangement makes the support of the first limiter 3111 on the track 111 more uniform, which can effectively disperse the gravity and the external force generated during the cleaning process, and ensure that the first limiter 3111 slides smoothly on the track 111. At the same time, this uniform support can also reduce the wear of the track 111 and the shaking of the first limiter 3111 caused by uneven local force. The rolling contact mode of the first ball 3112 significantly reduces the friction between the first limiter 3111 and the track 111. This means that when driving the mobile vehicle 2 to move along the track 111, less power is required, thereby reducing the energy consumption of the equipment. Smaller friction also reduces the loss of energy during the friction process and improves the energy efficiency of the equipment. The conventional sliding contact method easily leads to aggravated wear of the surface of the track 111 and the bottom of the first stopper 3111, shortening the service life of the components. The use of the first ball 3112 makes the wear mainly concentrated on the surface of the ball, and since the ball can be replaced, the maintenance cost is relatively low. At the same time, the uniform support and rolling contact method reduces the damage of components caused by local stress concentration, further extending the service life of the track 111 and the first stopper 3111.

[0056] like Figures 3 to 10 As shown: the roller 3123 is slidably arranged on the limiting frame 3121, and the roller 3123 is elastically connected to the limiting frame 3121. When the guide rod 31111 moves along the slide rail 3122, the roller 3123 is driven to be ejected from the limiting frame 3121.

[0057] When the positioning assembly 3 drives the first stopper 3111 to approach the track 111, the roller 3123 is in a contracted state in the stopper 3121. Since the roller 3123 is elastically connected to the stopper 3121, the elastic component is in a pre-compressed state, so that the roller 3123 is stably located in the stopper 3121, reducing the size of the overall structure, making it easier for the first stopper 3111 to approach the track 111 smoothly and avoid interference with the track 111.

[0058] When the positioning component 3 drives the first limiting member 3111 to slide vertically and insert into the track 111, the guiding rod 31111 moves along the inclined sliding rail 3122 on the limiting frame 3121. As the guiding rod 31111 moves, it exerts a force on the roller 3123, overcoming the elastic force of the elastic member and driving the roller 3123 to eject from the limiting frame 3121. The rollers 3123 on the two symmetrically arranged limiting frames 3121 eject synchronously until they abut against the two side walls of the track 111. During this process, since the roller 3123 is elastically connected to the limiting frame 3121, the roller 3123 can make a certain degree of adaptive adjustment according to the actual situation of the side wall of the track 111 to ensure a tight abutment.

[0059] During the process of the moving vehicle 2 driving the first limiting member 3111 to slide along the track 111, if there are unevenness or slight dimensional deviations on the side wall of the track 111, the roller 3123 will make an adaptive slide under the action of the elastic connection. When encountering a protrusion, the roller 3123 will be compressed back into the limiting frame 3121 to some extent, and the elastic member will be further compressed to buffer the pressure; when encountering a depression, the elastic member will stretch to keep the roller 3123 in contact with the side wall of the track 111, ensuring the stable sliding of the whole device on the track 111.

[0060] The process of the roller 3123 ejecting from the limiting frame 3121 and abutting against the side wall of the track 111 is a dynamic adaptive process. Even if there are certain errors in the installation of the track 111 or slight position deviations when the first limiting member 3111 is inserted, the roller 3123 can adjust its position and closely fit the side wall of the track 111 under the action of the elastic connection, greatly improving the success rate and reliability of the docking between the first limiting member 3111 and the track 111. Since the roller 3123 can adapt to the situation of the side wall of the track 111, excessive wear caused by hard contact is avoided. When encountering protrusions or unevenness on the surface of the track 111, the roller 3123 can disperse the pressure through elastic deformation, reducing the wear degree of the roller 3123 and the side wall of the track 111, extending the service life of the equipment and reducing the maintenance cost.

[0061] As Figures 3 to 10 shown: A rotatable second ball 3124 is provided at one end of the axis of the roller 3123 close to the inner wall of the track 111.

[0062] The second ball 3124 is arranged at one end of the axis of the roller 3123 close to the inner wall of the track 111, and its rotation axis is perpendicular to the rolling direction of the roller 3123. When the roller 3123 expands with the limiting frame 3121 and abuts against the side wall of the track 111, the spherical surface of the second ball 3124 contacts the inner wall of the track 111, forming a point contact or a small-area contact. Since the second ball 3124 can rotate freely, when the roller 3123 slides along the side wall of the track 111, the second ball 3124 rolls with the relative movement of the contact point instead of sliding.

[0063] When the moving vehicle 2 drives the first limiting member 3111 to slide along the track 111, the roller 3123 rolls on the side wall of the track 111, and at the same time, the second ball 3124 at its end rolls on the inner wall of the track 111. The rotation direction of the second ball 3124 and the rolling direction of the roller 3123 form a compound motion, further reducing the contact resistance.

[0064] If there are protrusions, depressions or angular deviations on the inner wall of the track 111, the second ball 3124 can adjust its contact posture by rotating itself. For example, when there is a small protrusion on the inner wall of the track 111, the second ball 3124 can rotate around its own axis to roll over the protrusion on the inner wall of the track 111, avoiding jamming of the roller 3123 due to rigid contact; when the track 111 is inclined, the spherical surface contact of the second ball 3124 allows a certain angle of deflection, maintaining continuous contact with the inner wall of the track 111 without causing stress concentration.

[0065] As Figures 3 to 7 shown: A sensor 3113 and a protruding second limiting member 3114 are arranged on the connector 311.

[0066] The positioning assembly 3 first drives the mounting plate 31 to move horizontally until it reaches the maximum movement position. At this time, by moving the positioning assembly 3 vertically, the mounting plate 31 can abut against the guiding strip 11. In cooperation with the setting of the sensor 3113, the contact between the mounting plate 31 and the guiding strip 11 is detected. After abutting, at this time, the positioning assembly 3 drives the mounting plate 31 to retract. Since the mounting plate 31 will move to the maximum position, the second limiting member 3114 exceeds the distance between the guiding strip 11 and the moving vehicle 2. At this time, since the mounting plate 31 has abutted against the track 111, the protruding second limiting member 3114 can abut against the side of the guiding strip 11 away from the moving vehicle 2, and in cooperation with the recognition of the sensor 3113, preliminary positioning is achieved, thus facilitating the subsequent insertion of the first limiting member 3111 and the ejection of the sliding assembly 312.

[0067] First, the positioning component 3 drives the mounting plate 31 to extend horizontally towards the guiding strip 11 at the bottom of the photovoltaic panel 1 until it reaches the preset maximum movement position. At this time, the connector 311 moves with the mounting plate 31 to directly below or above the guiding strip 11, ensuring that the position of the second limiting member 3114 covers the spacing between the guiding strip 11 and the moving vehicle 2. At this time, the height of the mounting plate 31 is adjusted vertically through the positioning component 3 so that the mounting plate 31 contacts the guiding strip 11. After the sensor 3113 (such as a contact switch or a pressure sensor) on the connector 311 detects the contact signal, it feeds back to the control system at the rear end to confirm that the mounting plate 31 has been fitted to the guiding strip 11.

[0068] At this time, the control system drives the mounting plate 31 to retract horizontally, that is, to move towards the moving vehicle 2. Since the second limiting member 3114 has crossed the side of the guiding strip 11 away from the moving vehicle 2 at the maximum position of the mounting plate 31, during the retraction process, the protruding second limiting member 3114 will abut against the side edge of the guiding strip 11, and the abutting state will be verified through the sensor 3113 to complete the preliminary positioning, providing an accurate position reference for the subsequent insertion of the first limiting member 3111 into the track 111.

[0069] By detecting the contact between the mounting plate 31 and the guiding strip 11, it is possible to avoid positioning deviations caused by insufficient or excessive horizontal extension, and ensure the vertical fitting accuracy between the connector 311 and the guiding strip 11.

[0070] Without relying on complex visual positioning or laser ranging, only through three mechanical actions of extension, abutment, and retraction and the switching signal of the sensor 3113, the preliminary positioning can be completed, reducing the control difficulty of the equipment.

[0071] After the preliminary positioning, the insertion path of the first limiting member 3111 has been accurately defined, and the ejection action of the sliding component 312 no longer requires large-range position calibration, which can reduce the docking time and improve the coherence of the cleaning operation.

[0072] As Figures 1 to 5 shown: An installation groove 22 is provided on the moving vehicle 2. The positioning component 3 includes a plurality of limiting rods 32 extending vertically and fixedly connected in the installation groove 22. A positioning plate 33 is slidably fitted on the limiting rods 32, and a first linear driver 34 for driving the positioning plate 33 to move along the limiting rods 32 is further provided in the installation groove 22.

[0073] The installation groove 22 on the mobile vehicle 2 provides a rigid installation basis for the positioning assembly 3. A plurality of limiting rods 32 are fixed in the installation groove 22 in the vertical direction to form a parallel guiding structure. The positioning plate 33 is slidably matched with the limiting rods 32 through linear bearings or sliders to ensure that it can only move up and down along the limiting rods 32 and avoid lateral shaking. The first linear driver 34 is preferably installed in the installation groove 22 through a lead screw transmission mechanism, and the axis of the lead screw is parallel to the limiting rods 32. The positioning plate 33 is driven to move by the lead screw transmission. Since this structure has a self-locking characteristic, it can ensure the stability of the robotic arm 21 after the position of the positioning assembly 3 is adjusted.

[0074] As Figures 1 to 5 shown: A guide rail 331 extending in the horizontal direction is provided on the positioning plate 33. A support plate 332 slidably matched with the guide rail 331 is provided on the guide rail 331. The robotic arm 21 is fixedly connected to the support plate 332. A second linear driver 333 for driving the support plate 332 to move is provided below the positioning plate 33.

[0075] The positioning plate 33 moves vertically along the limiting rods 32 through the first linear driver 34 and is adjusted to a height equal to the bottom track 111 of the photovoltaic panel 1 to provide a basic height reference for the robotic arm 21. The horizontal guide rail 331 on the positioning plate 33 provides lateral sliding guidance for the support plate 332. The second linear driver 333 drives the support plate 332 to move along the guide rail 331. The robotic arm 21 is fixed to the support plate 332 and adjusts its lateral position along with the horizontal sliding of the support plate 332 to ensure that the cleaning tool of the robotic arm 21 is completely aligned with the surface of the photovoltaic panel 1.

[0076] When the mobile vehicle 2 travels to the side of the photovoltaic panel 1, first, the positioning plate 33 is vertically lifted or lowered to the height of the track 111 through the first linear driver 34, and then the horizontal position of the support plate 332 is adjusted through the second linear driver 333 to align the robotic arm 21 with the center of the photovoltaic panel 1 or the area to be cleaned.

[0077] The above embodiments only represent one or several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A photovoltaic panel intelligent cleaning robot, which is applied to a plurality of photovoltaic panels (1) arranged at intervals, and includes a mobile vehicle (2) and a robotic arm (21), characterized in that, A positioning component (3) is provided on the mobile vehicle (2), the positioning component (3) has the freedom to move in the horizontal direction and the vertical direction, and the mechanical arm (21) is fixedly connected to the positioning component (3); The bottoms of the plurality of photovoltaic panels (1) are all fixedly connected to guide bars (11), and the guide bars (11) are provided with rails (111) extending in the direction of the cleaning path; A first limiting member (3111) is provided on the positioning assembly (3); when the moving vehicle (2) moves to the side of the photovoltaic panel (1), the first limiting member (3111) is driven to be inserted into the track (111) and to slide with the track (111) through the coordinated movement of the positioning assembly (3) in the horizontal direction and the vertical direction, so that the positioning assembly (3) is constrained by the track (111), and the moving vehicle (2) performs linear movement along the track (111).

2. The intelligent cleaning robot for a photovoltaic panel according to claim 1, wherein, The positioning assembly (3) is provided with a mounting plate (31) extending toward the photovoltaic panel (1) in a horizontal direction, and a connecting head (311) is provided at one end of the mounting plate (31) away from the positioning assembly (3), and a first stopper (3111) is slidably provided below the connecting head (311) in a vertical direction.

3. The intelligent cleaning robot for a photovoltaic panel according to claim 2, wherein The track (111) is an inverted T-shaped structure. Both ends of the first limiting member (3111) are provided with sliding components (312) that can be connected to the side walls of the track (111). The sliding component (312) includes two limiting frames (3121) that can rotate relative to each other. The two limiting frames (3121) are both drivingly connected to the first limiting member (3111).

4. The intelligent cleaning robot for a photovoltaic panel according to claim 3, wherein, The two limiting frames (3121) are arranged in a mirror-symmetrical manner, and both limiting frames (3121) are provided with an inclined slide rail (3122). The first limiting member (3111) is provided with a guide rod (31111) that is slidably matched with the slide rail (3122), and both limiting frames (3121) are provided with a roller (3123) on one side close to the inner wall of the track (111).

5. The intelligent cleaning robot for a photovoltaic panel according to claim 2, wherein A plurality of first rolling balls (3112) arranged in a rectangular row are provided at the bottom of the first limiting member (3111).

6. The intelligent cleaning robot for a photovoltaic panel according to claim 4, characterized in that, The roller (3123) is slidably arranged on the limiting frame (3121), and the roller (3123) is elastically connected to the limiting frame (3121). When the guide rod (31111) moves along the slide rail (3122), the roller (3123) is driven to be ejected from the limiting frame (3121).

7. The intelligent cleaning robot for a photovoltaic panel according to claim 4, characterized in that, A rotatable second ball (3124) is provided on one end of the axis of the roller (3123) close to the inner wall of the track (111).

8. The intelligent cleaning robot for a photovoltaic panel according to claim 3, wherein, The connecting head (311) is provided with a sensor (3113) and a protruding second limiting member (3114).

9. A photovoltaic panel intelligent cleaning robot according to any one of claims 1-8, characterized in that, The mobile vehicle (2) is provided with a mounting groove (22), the positioning assembly (3) comprises a plurality of limit rods (32) extending in a vertical direction and fixedly connected to the mounting groove (22), the limit rods (32) are provided with positioning plates (33) slidably matched therewith, and the mounting groove (22) is also provided with a first linear drive (34) for driving the positioning plates (33) to move along the limit rods (32).

10. The intelligent cleaning robot for a photovoltaic panel according to claim 9, wherein, A guide rail (331) extending in the horizontal direction is provided on the positioning plate (33). A support plate (332) that is slidably engaged with the guide rail (331) is provided on the guide rail (331). The robotic arm (21) is fixedly connected to the support plate (332). A second linear driver (333) for driving the support plate (332) to move is provided below the positioning plate (33).

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