High-trafficability photovoltaic station inspection robot

Abstract

The invention relates to a high trafficability photovoltaic station inspection robot, and relates to the field of photovoltaic station inspection, the high trafficability photovoltaic station inspection robot comprises a rack, the bottom of the rack is provided with a power assembly, the rack is also provided with a positioning assembly used for positioning, the middle of the rack is provided with a storage bin, the storage bin is internally provided with a plurality of base rods, and the storage bin is provided with grooves used for placing the base rods; the extension rod is provided with a detection assembly and an impurity removal assembly, the detection assembly is used for detecting the surface of the photovoltaic panel, the impurity removal assembly is used for cleaning the surface of the photovoltaic panel, one end of the base rod is hinged to the storage bin, the storage bin is provided with a rotating motor used for rotating the base rod out of the storage bin, and the extension rod is slidably connected into the base rod. The base rod is provided with a telescopic motor used for controlling the extension rod to stretch out and retract, and a hydraulic system used for controlling balance of the rack is arranged at the bottom of the rack. The photovoltaic panel inspection robot has the effect that the robot can pass through the uneven ground and inspect a photovoltaic panel while moving in a narrow space.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaic power station inspection, and in particular to a high-passability photovoltaic power station inspection robot. Background Art

[0002] With the development of society, the demand for energy is also increasing day by day. With the gradual depletion of resources due to the increasing exploitation of traditional fossil fuels, and the environmental pollution problems caused by the combustion of fossil fuels, the development of new energy has gradually attracted attention. Among them, photovoltaic power generation, as a relatively mature and relatively easy-to-implement solution at the present stage, is also further developing and optimizing.

[0003] In order to improve the efficiency of photovoltaic panels as much as possible, photovoltaic power stations are often located in areas with relatively flat terrain and sufficient sunlight; in order to reduce the cost of land use and not occupy arable land, photovoltaic power stations are often located in wastelands, deserts, gobi, tidal flats and other lands, and often transform and reorganize idle lands such as abandoned factories, mines, warehouses, etc. to realize the infrastructure construction of the power station. Regular inspections are required inside the photovoltaic power station to ensure the normal operation of photovoltaic equipment. The inspection methods usually adopt manual inspections, or set inspection drones, inspection robots, etc. to replace manual inspections. The inspection content is also often the main detection objects for whether the photovoltaic panels are damaged or dirty.

[0004] In view of the above related technologies, since inspection robots usually detect the appearance of photovoltaic panels through visual inspection, it is necessary to install relatively high poles above the inspection robots to install cameras. However, the lower edges of the photovoltaic panels in some power stations are set relatively low, and the distance between adjacent rows of photovoltaic panels is relatively close. Therefore, when the robot passes through the relatively narrow area inside the power station, interference will occur, and it can only pass through specific complex routes to avoid interference. Eventually, the inspection route and inspection efficiency of the inspection robot will be greatly affected. Summary of the Invention

[0005] In order to inspect the inside of a photovoltaic power station with poor ground conditions and facilitate the inspection of a photovoltaic power station with relatively low and close photovoltaic panels, the present invention provides a high-passability photovoltaic power station inspection robot.

[0006] The present invention provides a high-passability photovoltaic power station inspection robot, adopting the following technical solutions:

[0007] A high-passing photovoltaic power station inspection robot, including a frame, is characterized in that: a power component is arranged at the bottom of the frame, and a positioning component for positioning is also arranged on the frame. A storage bin is arranged in the middle of the frame. Several base rods are arranged inside the storage bin. The storage bin is provided with grooves for placing the base rods. The extension rod is provided with a detection component and a cleaning component. The detection component is used for detecting the surface of the photovoltaic panel, and the cleaning component is used for cleaning the surface of the photovoltaic panel. One end of the base rod is hinged to the storage bin, and the storage bin is provided with a rotating motor for rotating the base rod out of the storage bin. An extension rod is slidably connected inside the base rod, and the base rod is provided with a telescopic motor for controlling the extension and retraction of the extension rod. A hydraulic system for controlling the balance of the frame is arranged at the bottom of the frame.

[0008] By adopting the above technical solution, the robot drives the frame to reach the photovoltaic panel through the power component. The hydraulic system detects and adjusts the balance state of the storage bin to keep the storage bin horizontal. While the photovoltaic panel is cleaned by the cleaning component, the detection component detects the photovoltaic panel. Since the center of gravity of the robot is low and the components above can be stored in the storage bin, the robot can move between the photovoltaic panels, effectively improving the passing performance of the robot.

[0009] Optionally, the base rod includes a first base rod and a second base rod. The detection component is arranged on the first base rod, and the cleaning component is arranged on the second base rod. The telescopic motor is located at one end of the first base rod away from the storage bin. An extending gear is arranged at the end of the telescopic motor. The first base rod is provided with a transmission shaft, and the transmission shaft sequentially passes through the two extending gears. The extension rod is provided with a through groove along the length direction. A rack is arranged in the through groove from top to bottom. A bent arc part is arranged at the end of the rack at the lower side of the through groove. A guiding arc is arranged at one end of the base rod away from the hinge, and the guiding arc is located on the side close to the rack. A limiting block is arranged at the end of the guiding arc.

[0010] By adopting the above technical solution, the rotating motor rotates the base rod out of the storage bin, and the extension rod is extended into the base rod through the telescopic motor. As the extension rod extends, the extending gear will engage with the bent arc part at the end of the extension rod, so that the whole extension rod rotates, and thus the angles between the detection component and the cleaning component and the photovoltaic panel can be effectively adjusted.

[0011] Optionally, the detection component includes a camera and a laser rangefinder. The camera is located on the side of the extension rod away from the guiding arc. Several cameras are arranged along the length direction of the extension rod. The laser rangefinder is arranged at an interval with the camera. The cleaning component includes a nozzle, a compressed air tank and a water tank. The nozzle is fixedly connected to the extension rod. The inside of the cleaning component is connected by a fluid transport pipe, and the fluid transport pipe is provided with a three-way control valve.

[0012] By adopting the above technical solution, a three-way control valve is used to control the switch between the compressed air tank and the nozzle. When the photovoltaic panel needs to be cleaned, compressed air reaches the nozzle through the fluid transport pipe. When flushing is required, the three-way control valve connects the nozzle, the compressed air tank and the water tank. When the compressed air passes through the water tank, a negative pressure is formed, and then the water inside the water tank is sucked out and brought to the nozzle, realizing the cleaning of the photovoltaic panel with different cleaning intensities.

[0013] Optionally, openings are provided on one side of the first base rod and the second base rod close to the storage bin, and the storage bin is provided with a communication hole for communicating the two grooves.

[0014] By adopting the above technical solution, when the detection component and the impurity removal component need to be cleaned, the first base rod and the second base rod are retracted into the storage bin. At this time, the compressed air inside the compressed air tank enters the communication hole through the nozzle and reaches the inside of the groove, thereby realizing the cleaning of the detection component.

[0015] Optionally, the rotating motor is vertically arranged at the center position on the upper side of the storage bin. The motor shaft of the rotating motor is provided with a combined gear, which includes an upper conical tooth surface. A turning shaft is rotatably connected inside the frame, and both ends of the turning shaft are respectively fixedly connected to one side of the first base rod and the second base rod close to the storage bin. A first bevel gear is provided in the middle of the turning shaft. A first horizontal shaft is provided inside the frame, and both ends of the first horizontal shaft are respectively close to the first bevel gear and the upper conical tooth surface. Second bevel gears are provided at both ends of the first horizontal shaft, and the second bevel gears are respectively adapted to the first bevel gear and the upper conical tooth surface.

[0016] Optionally, the combined gear further includes a lower conical tooth surface located on the lower side of the combined gear. The storage bin is rotatably connected to the frame. A toothed ring is provided on the lower side of the storage bin. A second horizontal shaft is rotatably connected to the lower side of the storage bin, and both ends of the second horizontal shaft are respectively located at the toothed ring and the lower side of the lower conical tooth surface. Third bevel gears are provided at both ends of the second horizontal shaft, and the third bevel gears are respectively adapted to the toothed ring and the lower conical tooth surface. The combined gear is fixedly connected to a sliding sleeve, and the sliding sleeve is slidably connected to the motor shaft of the rotating motor. Thrust bearings are provided on both the upper and lower sides of the combined gear. A return spring is provided between the upper thrust bearing and the storage bin. A propulsion cylinder for pushing the lower thrust bearing is provided at the bottom of the storage bin, and the end of the propulsion cylinder is slidably connected to the sliding sleeve.

[0017] Optionally, the power assembly includes a driven wheel and a plurality of driving wheels. Floating blocks corresponding to the driving wheels one by one are provided below the frame. The driving wheels are rotatably connected to the floating blocks. The floating blocks are provided with driving motors for driving the driving wheels to rotate. One end of the floating block close to the inner side of the frame is provided with a swinging spring. A lower support arm extending downward is provided on the lower side of the frame. One end of the floating block close to the outer side of the frame is hinged to the lower support arm. The driven wheel is located on one side of the bottom of the frame away from the driving wheels, and a buffer spring is provided between the driven wheel and the frame.

[0018] Optionally, the hydraulic system includes a hydraulic pump, a level sensor, a main hydraulic rod, an auxiliary hydraulic rod, and a hydraulic valve. The level sensor is used to detect whether the whole frame is kept level. The main hydraulic rod is disposed inside the swing spring. The upper end of the main hydraulic rod is hinged to the lower side of the frame, and the lower end of the main hydraulic rod is hinged to the swing rod. The auxiliary hydraulic rod is disposed inside the buffer spring. The upper end of the auxiliary hydraulic rod is fixedly connected to the bottom of the frame, and the lower end of the auxiliary hydraulic rod is rotatably connected to the driven wheel. The hydraulic pump and the hydraulic valve are used to control the main hydraulic rod and the auxiliary hydraulic rod.

[0019] Optionally, the driving wheel includes a main transmission gear, a crawler belt, two auxiliary transmission gears, and a plurality of tension wheels. The main transmission wheel is disposed on the motor shaft of the driving motor. A lower swing arm is provided on the lower side of the floating block. Two movable blocks are hinged to the lower swing arm, and the axial direction of the hinge is the same as the axial direction of the driving motor. The auxiliary transmission gears and the tension wheels are all rotatably connected to the lower side of the movable blocks. The crawler belt is sleeved between the main transmission gear and the auxiliary transmission gears. In the natural state, the tension wheels are kept in contact with the crawler belt.

[0020] In summary, the present invention includes at least one of the following beneficial technical effects of the high-passability photovoltaic power station inspection robot:

[0021] 1. The robot drives the frame to reach the photovoltaic panel through the power assembly. The hydraulic system detects and adjusts the balance state of the storage bin to keep the storage bin level. While the photovoltaic panel is cleaned by the impurity removal assembly, the detection assembly detects the photovoltaic panel. Since the center of gravity of the robot is low and the components above can be stored in the storage bin, the robot can move between the photovoltaic panels, effectively improving the passability of the robot.

[0022] 2. The rotating motor screws out the base rod from the storage bin, and the telescopic motor extends the extension rod into the base rod. As the extension rod extends, the extending gear will engage with the curved portion at the end of the extension rod, thereby causing the whole extension rod to rotate, and thus the angle between the detection assembly and the impurity removal assembly and the photovoltaic panel can be effectively adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic diagram of the overall structure of a high-passability photovoltaic power station inspection robot.

[0024] Figure 2 is a bottom view of the overall structure.

[0025] Figure 3 is a schematic diagram of the overall structure after the extension rod extends.

[0026] Figure 4 is a top view of the overall structure.

[0027] Figure 5 is Figure 4Schematic cross-sectional view along A-A

[0028] Figure 6 is Figure 4 Schematic cross-sectional view along B-B

[0029] Figure 7 is Figure 6 Enlarged schematic view of part A

[0030] Figure 8 Schematic view of the overall structure in Embodiment 2

[0031] Explanation of reference numerals: 1, frame; 2, storage bin; 21, groove; 22, rotating motor; 23, communication hole; 24, first horizontal shaft; 241, first bevel gear; 242, turning shaft; 243, second bevel gear; 25, second horizontal shaft; 251, third bevel gear; 26, propulsion cylinder; 27, combined gear; 271, upper bevel gear surface; 272, lower bevel gear surface; 28, sliding sleeve; 281, return spring; 3, power assembly; 31, driving wheel; 32, floating block; 33, driving motor; 34, lower support arm; 35, swing spring; 36, driven wheel; 362, buffer spring; 37, main transmission gear; 38, crawler belt; 39, lower swing arm; 391, auxiliary transmission gear; 392, tensioning wheel; 4, base rod; 41, first base rod; 411, telescopic motor; 412, detection assembly; 413, camera; 414, laser rangefinder; 42, second base rod; 43, extension rod; 431, rack; 432, guiding arc; 433, extending gear; 44, transmission shaft; 45, impurity removal assembly; 451, water tank; 452, compressed air tank; 453, fluid transport pipe; 454, nozzle; 5, hydraulic system; 52, main hydraulic rod; 53, auxiliary hydraulic rod. Detailed implementation manners

[0032] The present invention will be further described in detail below with reference to all the drawings.

[0033] An embodiment of the present invention discloses a high-passability photovoltaic power station inspection robot.

[0034] Embodiment 1:

[0035] Refer to Figures 1 to 7, a high-passability photovoltaic power station inspection robot, including a frame 1, a power component 3 is provided at the bottom of the frame 1, the frame 1 is also provided with a positioning component for positioning, a storage bin 2 is provided in the middle of the frame 1, several base rods 4 are provided inside the storage bin 2, the storage bin 2 is provided with a groove 21 for placing the base rods 4, the extension rod 43 is provided with a detection component 412 and a cleaning component 45, the detection component 412 is used to detect the surface of the photovoltaic panel, and the cleaning component 45 is used to clean the surface of the photovoltaic panel. One end of the base rod 4 is hinged to the storage bin 2, the storage bin 2 is provided with a rotating motor 22 for rotating the base rod 4 out of the storage bin 2, an extension rod 43 is slidably connected inside the base rod 4, and the base rod 4 is provided with a telescopic motor 411 for controlling the extension and retraction of the extension rod 43. A hydraulic system 5 for controlling the balance of the frame 1 is provided at the bottom of the frame 1.

[0036] The positioning component mentioned in this article can be positioned in different ways, such as a satellite positioning system, a Bluetooth positioning system inside the power station, and a positioning system that locates by identifying identifiers. In this embodiment, the satellite positioning method is used to determine the position of the robot. This positioning method is an existing technology that has been published, and this article will not elaborate on it.

[0037] The robot drives the frame 1 to reach the photovoltaic panel through the power component 3, detects and adjusts the balance state of the storage bin 2 through the hydraulic system 5 to keep the storage bin 2 horizontal, the rotating motor 22 rotates the base rod 4 out of the storage bin 2, and the telescopic motor 411 extends the extension rod 43 into the base rod 4. The power component 3 pushes the robot to continue moving, and while cleaning the photovoltaic panel through the cleaning component 45, the detection component 412 detects the photovoltaic panel. Since the overall height of the robot is relatively low when the base rod 4 is stored in the storage bin 2, the robot can pass under the photovoltaic panel more conveniently, and since the overall center of gravity is relatively low, the overall stability of the robot can also be greatly improved.

[0038] Since it is necessary to clean and detect the photovoltaic panel simultaneously, and the detection and cleaning are carried out synchronously. In order to detect the photovoltaic panel as soon as possible after cleaning. The base rod 4 includes a first base rod 41 and a second base rod 42. The detection component 412 is arranged on the first base rod 41, and the impurity removal component 45 is arranged on the second base rod 42. The telescopic motor 411 is located at one end of the first base rod 41 away from the storage bin 2. A protruding gear 433 is provided at the end of the telescopic motor 411. A transmission shaft 44 is provided on the first base rod 41. The transmission shaft 44 sequentially passes through the two protruding gears 433. A through groove is provided along the length direction of the extension rod 43. A rack 431 is provided in the through groove from top to bottom. The rack 431 is provided with a curved arc portion at the end of the lower side of the through groove. When it is necessary to extend the extension rod 43, while the telescopic motor 411 rotates, the transmission shaft 44 will drive the two protruding gears 433 to rotate simultaneously through the transmission shaft 44. While the protruding gear 433 rotates, since the protruding gear 433 meshes with the rack 431 inside the through groove, at this time the extension rod 43 will slide outwards synchronously with the first base rod 41 and the second base rod 42. As the extension rod 43 moves upwards, the protruding gear 433 will mesh with the curved arc portion at the end of the rack 431. As the protruding gear 433 meshes with the end of the rack 431, the entire extension rod 43 will be inclined, and finally the extension rod 43 will be in an inclined state, thereby effectively facilitating the adjustment of the angles of the detection component 412, the impurity removal component 45 and the photovoltaic panel. In order to enable the extension rod 43 to extend stably. A guiding arc 432 is provided at one end of the base rod 4 away from the hinge. The guiding arc 432 is located on the side close to the rack 431, and a limiting block is provided at the end of the guiding arc 432.

[0039] In order to effectively inspect the surface of the photovoltaic panel and clean the photovoltaic panel to reduce the error generated during detection. The detection component 412 includes a camera 413 and a laser rangefinder 414. The camera 413 is located on the side of the extension rod 43 away from the guiding arc 432. A plurality of cameras 413 are arranged along the length direction of the extension rod 43. The laser rangefinder 414 is arranged at an interval from the camera 413. The impurity removal component 45 includes a spray head 454, a compressed air tank 452 and a water tank 451. The spray head 454 is fixedly connected to the extension rod 43. The inside of the impurity removal component 45 is connected by a fluid transport pipe 453, and the fluid transport pipe 453 is provided with a three-way control valve. When detecting the photovoltaic panel, the laser rangefinder 414 is used to detect whether the positional relationship between the camera 413 and the photovoltaic panel is parallel, and then the telescopic motor 411 is used to control the rotation angle of the extension rod 43 until the extension rod 43 is parallel to the photovoltaic panel. By controlling the on-off of the three-way control valve, the spray head 454 is controlled to jet the compressed gas output from the compressed air pipe to the photovoltaic panel. The compressed gas cleans the photovoltaic panel, and then the robot continues to move along the length direction of the photovoltaic panel. As the robot advances, the camera 413 takes pictures of multiple different positions of the photovoltaic panel, and the taken pictures are compared with the pictures of the complete photovoltaic panel taken in advance, so as to realize the complete comparison of the photovoltaic panel.

[0040] When the photovoltaic panel does not match the preset picture after shooting and comparison, the robot retreats backward, and the three-way control valve connects the spray head 454, the compressed air tank 452 and the water tank 451 at the same time. At this time, when the compressed air in the compressed air tank 452 passes through the inside of the fluid transport pipe 453, a negative pressure will be generated at the pipeline between the water tank 451 and the three-way control valve. At this time, the water in the water tank 451 will be pumped out by the compressed air and sprayed out through the spray head 454. In this embodiment, in order to facilitate the compressed air to suck the water in the water tank 451, the water tank 451 is arranged on the base rod 4, and the distance between the water tank 451 and the spray head 454 is shortened as much as possible. After the photovoltaic panel is washed with water, the robot continues to advance, and the camera 413 takes pictures and compares the photovoltaic panel again. Since the leaves, dirt and other impurities on the photovoltaic panel will be cleaned to a great extent after being washed with water, the judgment error of the robot for the damage of the photovoltaic panel is effectively reduced.

[0041] Since the environment inside the photovoltaic power station is usually relatively harsh, the camera 413 and the laser rangefinder 414 may become dirty, blocked, etc. In order to clean the camera 413 and the laser rangefinder 414, openings are provided on one side of the first base rod 41 and the second base rod 42 close to the storage bin 2. The storage bin 2 is provided with a communication hole 23 for communicating the two grooves 21. When cleaning is required, the extension rod 43 is retracted into the base rod 4, and the rotating motor 22 retracts the first piece and the second base rod 42 into the storage bin 2. At this time, the three-way control valve is opened, and the camera 413 is flushed through the communication hole 23 with compressed air mixed with water, completing the cleaning of the camera 413 and the laser rangefinder 414.

[0042] In order to realize the rotation of the first base rod 41 and the second base rod 42 by the rotating motor 22. The rotating motor 22 is vertically arranged and is located at the central position on the upper side of the storage bin 2. The motor shaft of the rotating motor 22 is provided with a combined gear 27. The combined gear 27 includes an upper bevel gear surface 271. A turning shaft 242 is rotatably connected inside the frame 1. The two ends of the turning shaft 242 are respectively fixedly connected to one side of the first base rod 41 and the second base rod 42 close to the storage bin 2. A first bevel gear 241 is provided in the middle of the turning shaft 242. A first horizontal shaft 24 is provided inside the frame 1. The two ends of the first horizontal shaft 24 are respectively close to the first bevel gear 241 and the upper bevel gear surface 271. Second bevel gears 243 are provided at both ends of the first horizontal shaft 24, and the second bevel gears 243 are respectively adapted to the first bevel gear 241 and the upper bevel gear surface 271. When the rotating motor 22 rotates, the combined gear 27 rotates and meshes with the second bevel gear 243, thereby driving the first horizontal shaft 24 to rotate. The first horizontal shaft 24 realizes the rotation of the turning shaft 242 through the meshing of the second bevel gear 243 and the first bevel gear 241 on the turning shaft 242, thereby realizing the synchronous rotation of the first base rod 41 and the second base rod 42.

[0043] Since the photovoltaic panels inside the power station may not be arranged in parallel, it is possible that the bases of the photovoltaic panels are arranged in rows, and there is a certain angle between the photovoltaic panels and the bases. Therefore, when the robot moves along the row of bases, the detection component 412 cannot be directly facing the photovoltaic panel. In order to further adjust the angle of the photovoltaic panel to achieve a better detection effect.

[0044] The combined gear 27 further includes a lower bevel gear surface 272, which is located on the lower side of the combined gear 27. The storage bin 2 is rotatably connected to the frame 1. A gear ring is provided on the lower side of the storage bin 2. A second horizontal shaft 25 is rotatably connected to the lower side of the storage bin 2. The two ends of the second horizontal shaft 25 are respectively located at the gear ring and the lower side of the lower bevel gear surface 272. Third bevel gears 251 are respectively provided at the two ends of the second horizontal shaft 25, and the third bevel gears 251 are respectively adapted to the gear ring and the lower bevel gear surface 272. The combined gear 27 is fixedly connected to the sliding sleeve 28, and the sliding sleeve 28 is slidably connected to the motor shaft of the rotary motor 22. Thrust bearings are provided on both the upper and lower sides of the combined gear 27. A return spring 281 is provided between the upper thrust bearing and the storage bin 2. A propulsion cylinder 26 for pushing the lower thrust bearing is provided at the bottom of the storage bin 2, and the end of the propulsion cylinder 26 is slidably connected to the sliding sleeve 28.

[0045] In the natural state, the propulsion cylinder 26 retracts. At this time, the return spring 281 pushes the sliding sleeve 28 downward, thereby causing the lower bevel gear surface 272 to mesh with the third bevel gear 251 mounted on the second horizontal shaft 25. At this time, when the rotary motor 22 rotates, it will drive the sliding sleeve 28 to rotate through the motor shaft of the rotary motor 22, and then drive the combined gear 27 to rotate. The rotation of the second horizontal shaft 25 is realized through the meshing between the lower bevel gear surface 272 of the combined gear 27 and the third bevel gear 251 on the side of the second horizontal shaft 25 close to the combined gear 27. Then, through the meshing between the end of the second horizontal shaft 25 far from the combined gear 27 and the frame 1, the entire storage bin 2 is driven to rotate. Thus, the angle adjustment of the detection component 412 and the impurity removal component 45 located inside the storage bin 2 is realized. Furthermore, the angle change between the detection component 412 and the bottom moving component is realized, so that when the moving component moves forward normally, the detection component 412 can still be directly opposite to the staggered photovoltaic panels for detection, effectively reducing the error reporting caused by the inability to directly detect the photovoltaic panels.

[0046] When it is necessary to rotate the base rod 4 out of the storage bin 2, the propulsion cylinder 26 retracts. At this time, due to the sliding connection between the sliding sleeve 28 and the rotary motor 22, the sliding sleeve can move upward along the motor shaft of the rotary motor 22. At the same time, the return spring 281 is also compressed. When the propulsion cylinder 26 is fully extended, the upper end surface of the combined gear 27 meshes with the second bevel gear 243 on the first horizontal shaft 24. Therefore, when the rotary motor 22 rotates, the first horizontal shaft 24 and the turning shaft 242 rotate accordingly, realizing the rotation of the base rod 4 out of the storage bin 2.

[0047] Since the sliding sleeve 28 needs to rotate along with the motor shaft, in this embodiment, a keyway is adopted to enable the sliding sleeve 28 to slide along the length direction of the motor shaft of the rotating motor 22 and rotate along with the rotation of the rotating motor 22. Other connection methods such as splines can also be used for the connection between the sliding sleeve 28 and the rotating motor 22. When the sliding sleeve 28 rotates, the return spring 281 and the lower propulsion cylinder 26 below cannot rotate along with the sliding sleeve 28. Therefore, thrust bearings are installed on both the upper and lower sides of the sliding sleeve 28. The thrust bearings can keep the return spring 281 and the propulsion cylinder 26 on both the upper and lower sides in contact with the sliding sleeve 28 while not affecting the rotation of the sliding sleeve 28.

[0048] Since the impurity removal assembly 45 is already equipped with a compressed air tank 452, the propulsion cylinder 26 can directly use the compressed air therein, and there is no need to additionally install a motor to realize the rotation of the storage bin 2, thus realizing the control of the rotation of the base rod 4 and the rotation of the storage bin 2 by the rotating motor 22.

[0049] Due to the location selection of the photovoltaic power station, the internal roads in the station area are sometimes simply leveled land. After being eroded by outdoor wind and washed by rain, depressions and protrusions may appear on the leveled ground. At this time, conventional inspection robots will be difficult to maintain balance and may tip over. In order to effectively support and stabilize the whole robot, and thus effectively reduce the vibration during the whole movement and improve the passing performance on the uneven road surface. The power assembly 3 includes a driven wheel 36 and a plurality of driving wheels 31. A floating block 32 corresponding to each driving wheel 31 is provided below the frame 1. The driving wheel 31 is rotatably connected to the floating block 32. The floating block 32 is provided with a driving motor 33 for driving the driving wheel 31 to rotate. One end of the floating block 32 close to the inner side of the frame 1 is provided with a swing spring 35. A lower arm 34 extending downward is provided on the lower side of the frame 1. One end of the floating block 32 close to the outer side of the frame 1 is hinged to the lower arm 34. The driven wheel 36 is located on one side of the bottom of the frame 1 away from the driving wheels 31. A buffer spring 362 is provided between the driven wheel 36 and the frame 1.

[0050] When steering is required, the two driving wheels 31 rotate in different directions to achieve differential steering. The advantage is that the turning radius is small, which makes the steering and turning around of the robot more flexible, and it can move in a narrower space, thus effectively improving the passing performance of the robot.

[0051] In this embodiment, two sets of floating blocks 32 and driving wheels 31 are installed on the lower front side in the traveling direction of the robot, and a separate driven wheel 36 is installed at the rear side of the frame 1. If there are many potholes inside the field area, the number of driving wheels 31 can be appropriately increased. When the robot passes through an uneven road surface, one end of the floating block 32 close to the inside of the frame 1 can cause the driving wheel 31 to swing up and down. When one side of the driving wheel 31 enters a pothole, the swing spring 35 will be compressed. At the same time, the floating block 32 will also swing around the lower arm 34, so as to keep the overall stability of the frame 1 as much as possible. When one side of the driving wheel 31 is located on the bottom surface of a protrusion, the swing spring 35 will be stretched. At the same time, the floating block 32 will also swing around the lower arm 34. The driven wheel 36 plays a role in assisting the overall body height. When the driving wheel 31 is difficult to adjust the overall balance, the buffer of the driven wheel 36 will extend, so as to keep the overall frame 1 still in contact with the ground, and thus assist in maintaining the balance of the vehicle body.

[0052] When the robot is in motion, the photovoltaic panel is detected. If there are potholes during the detection, the detection result will be inaccurate, resulting in misjudgment. In order to be able to timely adjust the overall balance during the detection process. The hydraulic system 5 includes a hydraulic pump, a horizontal sensor, a main hydraulic rod 52, an auxiliary hydraulic rod 53 and a hydraulic valve. The horizontal sensor is used to detect whether the overall frame 1 is kept horizontal. The main hydraulic rod 52 is disposed inside the swing spring 35. The upper end of the main hydraulic rod 52 is hinged to the lower side of the frame 1, and the lower end of the main hydraulic rod 52 is hinged to a swing rod. The auxiliary hydraulic rod 53 is disposed inside the buffer spring 362. The upper end of the auxiliary hydraulic rod 53 is fixedly connected to the bottom of the frame 1, and the lower end of the auxiliary hydraulic rod 53 is rotatably connected to the driven wheel 36. The hydraulic pump and the hydraulic valve are used to control the main hydraulic rod 52 and the auxiliary hydraulic.

[0053] When it is necessary to detect the photovoltaic panel, the robot continues to move, and the inclination state of the overall vehicle frame is detected by the horizontal sensor. Then the hydraulic pump starts to operate, and the hydraulic valve controls the telescopic movement of the main hydraulic rod 52 and the auxiliary hydraulic rod 53 to adjust the overall stability of the frame 1 of the robot.

[0054] It is also possible to choose to install a three-way four-way directional control valve plus a hydraulic lock and a relief valve to achieve the working conditions of the two-way movement, locking and free swinging of the main hydraulic rod 52. When the robot moves without detecting the photovoltaic panel, the two ends of the main hydraulic rod 52 are connected. Therefore, although the floating block 32 can continue to swing when swinging, affected by the flow rate of the hydraulic oil inside the main hydraulic rod 52, the swinging speed is affected not only by the swing spring 35 but also by the main hydraulic rod 52. Therefore, its swinging speed is effectively slowed down, and the up and down shaking of the robot when moving on a relatively flat ground is effectively suppressed.

[0055] Embodiment 2:

[0056] Referring to Figure 8 , the biggest difference between this embodiment and the first embodiment lies in the driving wheel 31. Since ordinary wheels are prone to potholes, slipping, etc. during movement, a crawler 38 type driving wheel 31 is provided in this embodiment to improve the passability of the robot.

[0057] The driving wheel 31 includes a main transmission gear 37, a crawler 38, two auxiliary transmission gears 391 and a plurality of tension wheels 392. The main transmission gear 37 is arranged on the motor shaft of the driving motor 33. A lower swing arm 39 is provided on the lower side of the floating block 32. Two movable blocks are hinged to the lower swing arm 39. The axial direction of the hinge is the same as the axial direction of the driving motor 33. The auxiliary transmission gears 391 and the tension wheels 392 are both rotatably connected to the lower side of the movable block. The crawler 38 is sleeved between the main transmission gear 37 and the auxiliary transmission gear 391. In the natural state, the tension wheels 392 are kept in contact with the crawler 38.

[0058] During movement, the driving motor 33 drives the main transmission gear 37 to move, and then drives the auxiliary transmission gear 391 and the tension wheels 392 to move through the crawler 38. When the robot climbs a slope or crosses a pit, the movable blocks hinged to the lower swing arm 39 will swing. At this time, the tension wheels 392 can effectively ensure that the crawler 38 is always hung between the main transmission gear 37 and the auxiliary transmission gear 391. Thus, the stable movement of the robot is realized.

[0059] The above are all the preferred embodiments of the present invention. The protection scope of the present invention is not limited hereby. Therefore, all equivalent changes made according to the structure, shape and principle of the present invention shall be covered within the protection scope of the present invention.

Claims

1. A high-throughput photovoltaic station inspection robot, comprising a frame (1), characterized in that: The frame (1) is provided with a power assembly (3) at the bottom, and the frame (1) is also provided with a positioning assembly for positioning. A storage bin (2) is provided in the middle of the frame (1), and a plurality of base rods (4) are provided inside the storage bin (2). The storage bin (2) is provided with a groove (21) for placing the base rods (4). One end of the base rod (4) is hinged to the storage bin (2), and the storage bin (2) is provided with a rotating motor (22) for rotating the base rod (4) out of the storage bin (2). An extension rod (43) is slidably connected inside the base rod (4), and the base rod (4) is provided with a telescopic motor (411) for controlling the extension and retraction of the extension rod (43). The extension rod (43) is provided with a detection assembly (412) and a dust removal assembly (45). The detection assembly (412) is used to detect the surface of the photovoltaic panel, and the dust removal assembly (45) is used to clean the surface of the photovoltaic panel. A hydraulic system (5) for controlling the balance of the frame (1) is provided at the bottom of the frame (1).

2. A high-throughput photovoltaic station inspection robot according to claim 1, characterized in that: The base rod (4) comprises a first base rod (41) and a second base rod (42); a detection component (412) is arranged on the first base rod (41); a debris removal component (45) is arranged on the second base rod (42); a telescopic motor (411) is located at an end of the first base rod (41) away from the storage bin (2); a protruding gear (433) is arranged at the end of the telescopic motor (411); a transmission shaft (44) is provided on the first base rod (41); the transmission shaft (44) passes through the two protruding gears (433) in sequence; a through slot is provided on the extension rod (43) along the length direction; a rack (431) is arranged inside the through slot from top to bottom; the rack (431) is provided with a curved portion at the lower end of the through slot; a guide arc (432) is provided at one end of the base rod (4) away from the hinge; the guide arc (432) is located on a side close to the rack (431); a limit block is provided at the end of the guide arc (432).

3. A high-throughput photovoltaic station inspection robot according to claim 2, characterized in that: The detection component (412) comprises a camera (413) and a laser rangefinder (414). The camera (413) is located on a side of the extension rod (43) away from the guide arc (432). The camera (413) is provided with a plurality of cameras (413) along the length direction of the extension rod (43). The laser rangefinder (414) and the camera (413) are arranged at intervals. The impurity removal component (45) comprises a nozzle (454), a compressed gas tank (452) and a water tank (451). The nozzle (454) is fixedly connected to the extension rod (43). The impurity removal component (45) is connected internally by a fluid transport pipe (453). The fluid transport pipe (453) is provided with a three-way control valve.

4. A high-throughput photovoltaic station inspection robot according to claim 3, characterized in that: The first base rod (41) and the second base rod (42) are provided with openings on one side close to the storage bin (2), and the storage bin (2) is provided with a connecting hole (23), and the connecting hole (23) is used to connect the two grooves (21).

5. The high-throughput photovoltaic station inspection robot according to claim 2 is characterized by: The rotating motor (22) is arranged vertically, and the rotating motor (22) is located at the center position of the upper side of the storage bin (2). The motor shaft of the rotating motor (22) is provided with a combined gear (27), and the combined gear (27) includes an upper bevel tooth surface (271). A flip shaft (242) is rotatably connected inside the frame (1). The two ends of the flip shaft (242) are respectively fixedly connected to the first base rod (41) and the second base rod (42) on the side close to the storage bin (2). A first bevel gear (241) is provided in the middle of the flip shaft (242). A first transverse shaft (24) is provided inside the frame (1). The two ends of the first transverse shaft (24) are respectively close to the first bevel gear (241) and the upper bevel tooth surface (271). The two ends of the first transverse shaft (24) are respectively provided with a second bevel gear (243), and the second bevel gear (243) is respectively adapted to the first bevel gear (241) and the upper bevel tooth surface (271).

6. The high-throughput photovoltaic station inspection robot according to claim 5 is characterized by: The combined gear (27) further comprises a lower bevel tooth surface (272), the lower bevel tooth surface (272) being located at the lower side of the combined gear (27), the storage bin (2) being rotatably connected to the frame (1), a gear ring being provided at the lower side of the storage bin (2), a second transverse shaft (25) being rotatably connected at the lower side of the storage bin (2), two ends of the second transverse shaft (25) being respectively located at the gear ring and at the lower side of the lower bevel tooth surface (272), two ends of the second transverse shaft (25) being respectively provided with a third bevel gear (251), the third bevel gear (25 1) are respectively adapted to the gear ring and the lower conical tooth surface (272), the combined gear (27) is fixedly connected to the sliding sleeve (28), the sliding sleeve (28) is slidably connected to the motor shaft of the rotating motor (22), thrust bearings are provided on the upper and lower sides of the combined gear (27), a return spring (281) is provided between the upper thrust bearing and the storage bin (2), a propulsion cylinder (26) for pushing the lower thrust bearing is provided at the bottom of the storage bin (2), and the end of the propulsion cylinder (26) is slidably connected to the sliding sleeve (28).

7. The high-throughput photovoltaic station inspection robot according to claim 1 is characterized by: The power assembly (3) comprises a driven wheel (36) and a plurality of driving wheels (31). A floating block (32) corresponding to the driving wheel (31) is provided below the frame (1). The driving wheel (31) is rotatably connected to the floating block (32). The floating block (32) is provided with a driving motor (33) for driving the driving wheel (31) to rotate. An end of the floating block (32) close to the inner side of the frame (1) is provided with a swing spring (35). A lower support arm (34) extending downward is provided at the lower side of the frame (1). An end of the floating block (32) close to the outer side of the frame (1) is hinged to the lower support arm (34). The driven wheel (36) is located at a side of the bottom of the frame (1) away from the driving wheel (31). A buffer spring (362) is provided between the driven wheel (36) and the frame (1).

8. The high-throughput photovoltaic station inspection robot according to claim 7 is characterized by: The hydraulic system (5) comprises a hydraulic pump, a level sensor, a main hydraulic rod (52), an auxiliary hydraulic rod (53) and a hydraulic valve. The level sensor is used to detect whether the frame (1) as a whole is kept horizontal. The main hydraulic rod (52) is inserted into the swing spring (35). The upper end of the main hydraulic rod (52) is hinged to the lower side of the frame (1). The lower end of the main hydraulic rod (52) is hinged to the swing rod. The auxiliary hydraulic rod (53) is inserted into the buffer spring (362). The upper end of the auxiliary hydraulic rod (53) is fixedly connected to the bottom of the frame (1). The lower end of the auxiliary hydraulic rod (53) is rotatably connected to the driven wheel (36). The hydraulic pump and the hydraulic valve are used to control the main hydraulic rod (52) and the auxiliary hydraulic rod (53).

9. The high-throughput photovoltaic station inspection robot according to claim 8 is characterized by: The driving wheel (31) comprises a main transmission gear (37), a crawler belt (38), two auxiliary transmission gears (391) and a plurality of tension wheels (392); the main transmission gear (37) is arranged on the motor shaft of the driving motor (33); a lower swing arm (39) is arranged on the lower side of the floating block (32); the lower swing arm (39) is hinged to two movable blocks; the axial direction of the hinge is the same as the axial direction of the driving motor (33); the auxiliary transmission gear (391) and the tension wheel (392) are both rotatably connected to the lower side of the movable block; the crawler belt (38) is sleeved between the main transmission gear (37) and the auxiliary transmission gear (391); and the tension wheel (392) and the crawler belt (38) are kept in contact with each other in a natural state.

Images