Photovoltaic cleaning robot with locking mechanism

Abstract

The application discloses a photovoltaic cleaning robot with a locking mechanism, a locking electric cylinder is arranged at the inner top end of the extension cover, a top clamping block and a bottom clamping block are sequentially and slidably arranged between two groups of lifting tracks from top to bottom, the push rod of the locking electric cylinder is fixed to the upper surface of the top clamping block, a linkage is rotatably arranged on the inner wall of the front plate, the left and right ends of the linkage are movably connected with the bottom clamping block and the top clamping block respectively, two groups of mounting sleeves are symmetrically and slidably arranged in the linear sliding port, elastic elements are slidably arranged in the slots of the mounting sleeves, the cleaning elements are arranged at one end of the elastic elements close to the photovoltaic panel, clamping blocks are arranged on the top clamping block and the bottom clamping block, the locking electric cylinder can make the top clamping block and the bottom clamping block approach the photovoltaic panel synchronously, so that the clamping blocks can clamp and lock the upper and lower surfaces of the photovoltaic panel, the photovoltaic cleaning robot is fixed on the photovoltaic panel, and the photovoltaic cleaning robot can stop at any position on the photovoltaic panel.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic cleaning robots, and particularly relates to a photovoltaic cleaning robot with a locking mechanism. BACKGROUND

[0002] Solar photovoltaic panels generate electricity as one of green and clean renewable energy sources. Due to geographical environment and light conditions, solar photovoltaic panels are mainly installed in large scale in desert and gobi areas. In these areas, dust and sand are easily accumulated on the surface of solar photovoltaic panels. Photovoltaic cleaning robots are generally used to clean the surface of solar photovoltaic panels regularly. The current cleaning robots are generally provided with a parking position at the head or tail of the solar photovoltaic panel for placing and locking the robot. Although the design of the photovoltaic cleaning robot provided with the fixed parking position at both ends of the solar photovoltaic panel is simple and easy to implement, the robot needs to return to the fixed parking position (such as the starting end) after each cleaning task is completed, which increases the empty running distance, especially for a large number of long-row photovoltaic arrays installed outdoors, the influence is more obvious. At the same time, the emergency response capability is insufficient, and the robot cannot quickly lock the risk position. If the robot encounters extreme weather in the middle of the solar photovoltaic panel, such as in a strong wind scene, the robot needs to move to the parking position at both ends, and may slip or fall in the middle due to environmental interference (especially for the solar photovoltaic panel installed at an angle).

[0003] In addition, for the solar photovoltaic panel installed in the desert area, the wind and sand are relatively large in the desert area. When the robot moves from the head to the tail along the solar photovoltaic panel, some sand may be attached to the surface of the solar photovoltaic panel. When the robot continues to move forward, it may slip due to the wind speed increasing. If the return journey is also affected by the wind resistance and the sand attached to the surface of the solar photovoltaic panel, the roller may slip and cannot move, and the robot cannot quickly return to the parking position. The design of the fixed parking position at both ends reduces the initial development cost, but sacrifices the running efficiency, safety and scene adaptability. With the expansion of the scale of the photovoltaic power station and the improvement of the environmental complexity, the traditional parking method has gradually exposed limitations. SUMMARY

[0004] The photovoltaic cleaning robot with a locking mechanism provided by the present application solves the above problems.

[0005] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0006] A photovoltaic cleaning robot with a locking mechanism includes a tracked cleaning robot mounted on a photovoltaic panel. An extension cover is screwed onto the outer sides of both the front and rear ends of the tracked cleaning robot. A front plate is fixed to the side of the extension cover away from the tracked cleaning robot, and a rear plate is fixed to the side of the extension cover closer to the tracked cleaning robot. A locking electric cylinder is installed at the top inside the extension cover. An adsorption component is fixed to the upper part of the inner wall of the front plate. Two sets of lifting tracks are symmetrically fixed to the left and right sides of the inner wall of the front plate. An upper clamping block and a lower clamping block are slidably installed between the two sets of lifting tracks from top to bottom. The push rod of the locking electric cylinder is fixed to the upper surface of the upper clamping block. A linkage component is rotatably installed on the inner wall of the front plate, and the left and right ends of the linkage component are movably connected to the lower clamping block and the upper clamping block, respectively.

[0007] Four sets of clamping blocks arranged in a rectangular structure are fixed on the upper surface of the upper clamping block and the lower surface of the lower clamping block. The adsorption component below the upper clamping block is connected to the clamping block through a flexible tube. The upper clamping block has a straight sliding opening that runs vertically through it. Two sets of mounting sleeves are symmetrically and slidably installed in the straight sliding opening. Elastic components are slidably installed vertically in the slots of the mounting sleeves. A cleaning component is provided at the end of the elastic component near the photovoltaic panel.

[0008] The mounting sleeve has a limiting groove formed on both sides, and the limiting groove is connected to the inner cavity of the mounting sleeve. The elastic element includes a lifting column that slides up and down and is inserted into the mounting sleeve. The end of the lifting column facing the photovoltaic panel passes through the straight sliding opening and is placed between the upper and lower clamping blocks.

[0009] A lifting spring is inserted into the mounting sleeve, and the two ends of the lifting spring abut against the lifting column and the mounting sleeve, respectively. The outer ring of the lifting column is symmetrically provided with limit sliders on the left and right sides. The limit sliders are slidably placed in the limit groove. The design of the limit sliders can guide the up and down movement of the lifting column and limit the maximum stroke of the lifting column to prevent the lifting column from disengaging from the mounting sleeve. In addition, the lifting spring ensures that the lifting column always tends to move towards the photovoltaic panel.

[0010] The cleaning component includes a push plate fixed to the end of the lifting column away from the mounting sleeve. The end of the push plate near the clamping block slides in contact with the surface of the clamping block. The height of the push plate is less than the thickness of the clamping block. In this way, after the push plate is out of contact with the clamping block, the push plate can retract into the clamping block without interfering with the normal clamping of the clamping block.

[0011] The inner side of the push plate is fixed with a spring pin, the side away from the clamping block of the spring pin is fixed with a scraper, the scraper and the push plate are in sliding contact, the spring pin includes a fixed sleeve fixed with the push plate, a lifting rod is slidingly inserted in the fixed sleeve, a spring is arranged between the bottom end of the lifting rod and the bottom end of the inner cavity of the fixed sleeve, the spring pin makes the scraper always have a tendency to move away from the clamping block, and the end of the scraper away from the mounting sleeve can move towards the side of the mounting sleeve when being pressed until the side surface of the scraper away from the mounting sleeve is flush with the side surface of the push plate away from the mounting sleeve.

[0012] Preferably, the bottom end of the extension cover is designed to be open, the left and right sides of the extension cover are both partially cut to form rectangular notches, a rectangular opening is formed in the rear plate, the rectangular opening and the rectangular notches are communicated to form a mounting notch, the extension cover is clamped on the side edge of the photovoltaic panel through the mounting notch, and the rectangular opening divides the entire rear plate into upper and lower parts, wherein the upper part is above the photovoltaic panel and the lower part is below the photovoltaic panel.

[0013] The inner wall of the mounting notch and the surface of the photovoltaic panel have a spacing of 2-3 mm, the mounting notch does not directly contact the surface of the photovoltaic panel, thereby avoiding abrasion caused by contact with the photovoltaic panel, and the small gap between the extension cover, the rear plate and the photovoltaic panel can also block most sand from entering the inside of the extension cover, and the sand accumulated on the surface of the photovoltaic panel can be smoothed by the extension cover, thereby reducing the amount of sand adhering to the surface of the photovoltaic panel and facilitating subsequent cleaning and locking.

[0014] The inner side wall of the rear plate is fixed with a fixed support, the fixed support has a concave structure, a limiting wheel is rotatably installed at the lower end of the inner side wall of the fixed support through a shaft pin, the limiting wheel is in rolling contact with the lower surface of the photovoltaic panel and is below the photovoltaic panel, thereby limiting the up-and-down movement of the tracked cleaning robot and allowing it to move left and right along the surface of the photovoltaic panel only.

[0015] Preferably, the suction accessory includes a gas sleeve fixed on the inner wall of the front plate, a piston is slidingly installed in the gas sleeve, a pulling rod is fixed to the lower end of the piston, the bottom end of the pulling rod penetrates through the gas sleeve and is outside the gas sleeve, a lifting opening is formed in the bottom end of the pulling rod, a connecting groove is formed in the side surface of the pulling rod, the connecting groove is communicated with the lifting opening, a vertical rod is slidingly inserted in the lifting opening, a limiting block is fixed to the outer ring of the vertical rod, the limiting block is slidingly arranged in the connecting groove, and the bottom end of the vertical rod is fixed above the upper clamping block.

[0016] When the upper clamping block moves downward under the action of the push rod of the locking cylinder, the limiting block is at the bottom end of the connecting groove after the upper clamping block moves to a certain extent, at this time, the upper clamping block continues to move downward, the limiting block will drive the pulling rod to move downward together, so that the piston moves downward, and the air pressure above the gas sleeve decreases.

[0017] Preferably, the linkage comprises a fixed ring seat fixed in the middle of the inner wall of the front plate by a screw, a deflection plate rotatably mounted by a shaft pin near the side of the tracked cleaning robot, an upper deflection rod rotatably mounted by a shaft pin at the right end of the deflection plate, the other end of the upper deflection rod rotatably connected by a shaft pin to the middle of the upper clamping block, a lower deflection rod rotatably mounted by a shaft pin at the left end of the deflection plate, the other end of the lower deflection rod rotatably connected by a shaft pin to the middle of the lower clamping block.

[0018] In the process of moving linearly downward, the upper clamping block will cause the deflection plate to deflect clockwise around the axis of the fixed ring seat through the upper deflection rod, the right end of the deflection plate deflects downward, and the left end will deflect upward, the left end of the deflection plate deflects upward, which will drive the lower deflection rod on the left to move upward, thereby causing the lower clamping block to move upward, the upper clamping block and the lower clamping block will move towards each other, and both will approach the photovoltaic panel, thereby clamping the photovoltaic panel.

[0019] Preferably, each two adjacent clamping blocks have a spacing, the spacing is greater than the width of the linear sliding port, the clamping blocks are located on both sides of the linear sliding port, the clamping blocks are made of polyurethane material, and a silicon carbide coating is added to the contact surface of the clamping blocks and the photovoltaic panel, the thickness of the coating is 0.1-0.3mm, which improves wear resistance and reduces friction coefficient, and reduces the risk of scratching the surface of the photovoltaic panel.

[0020] Preferably, the clamping block comprises a plurality of clamping sleeves fixed on the lower surface of the upper clamping block and the upper surface of the lower clamping block, respectively, the clamping sleeves are designed with an opening on one side to form an expansion cavity, a clamping head is sealingly inserted in the expansion cavity and slides up and down, the clamping head extends into a groove formed on one side of the clamping sleeve, four groups of elastic columns of rectangular structure are fixed in the expansion cavity, the top end of the elastic column is fixed with the clamping head, the elastic column comprises an expansion rod and a spring, the spring is sleeved outside the expansion rod, and the top end of the expansion rod is fixed with the clamping head, when the clamping head contacts the edge of the photovoltaic panel, the clamping head will be compressed and shrunk into the expansion cavity during the continuous downward movement of the upper clamping head and the continuous upward movement of the lower clamping head, until it is completely shrunk.

[0021] The lower surface of the plurality of clamping heads below the upper clamping block is provided with a suction cup, the upper and lower surfaces of the clamping head are formed with a suction port, the surface of the clamping head away from the suction cup is recessed to form a suction cavity, the suction port is communicated with the suction cavity, and the inside of the expansion cavity is communicated with the upper part of the air sleeve through a hose.

[0022] Preferably, the upper clamping block is fixed with a linear guide rod by a bracket near the side of the photovoltaic panel, a linear sliding sleeve is fixed on the outer surface of the mounting sleeve, the linear sliding sleeve is slidingly sleeved on the linear guide rod, a moving sliding rod is fixed on the outer surface of the mounting sleeve, and a stand is welded between the linear sliding sleeve and the moving sliding rod to strengthen the strength of the moving sliding rod and prevent it from being deformed during movement.

[0023] Preferably, the extension cover is installed with a moving guide plate above the inner wall of the side of the tracked cleaning robot, two groups of symmetrically distributed moving sliding ports are opened on the moving guide plate, the two moving sliding ports on the moving guide plate are distributed in a spreader shape, and the moving sliding rod is slidably inserted into the moving sliding port.

[0024] The moving sliding port comprises horizontally sliding ports designed in an inclined manner, the two horizontally sliding ports are extended outward at one end close to each other to form vertically designed lifting sliding ports, and the lifting sliding ports are designed away from the photovoltaic panel.

[0025] The beneficial effects of the present application are:

[0026] 1. One extension cover is installed at the front and rear ends of the photovoltaic cleaning robot respectively, a locking electric cylinder, a suction accessory, an upper clamping block and a lower clamping block are installed in the extension cover, clamping blocks are arranged on the upper clamping block and the lower clamping block, the locking electric cylinder can make the upper clamping block and the lower clamping block approach the photovoltaic panel synchronously, so that the clamping blocks can clamp and lock the upper and lower surfaces of the photovoltaic panel, after clamping and locking, the clamping blocks will also be adsorbed on the photovoltaic panel, so that the photovoltaic cleaning robot is fixed on the photovoltaic panel, and it can stop at any position on the photovoltaic panel, avoiding displacement damage caused by not stopping in time in strong wind weather.

[0027] 2. The mounting sleeve is slidably arranged on the upper clamping block and the lower clamping block, the mounting sleeve is provided with a pushing plate and a scraping plate for cleaning the clamping blocks and the photovoltaic panel through elastic members, the pushing plate and the scraping plate can clean the surfaces of the clamping blocks and the photovoltaic panel respectively before clamping and locking, so as to prevent sand from adhering to the surfaces, so that the clamping blocks can avoid damage to the surfaces of the photovoltaic panel when clamping and locking, the clamping force between them is also improved, the firmness after adsorption is ensured, and the stability after locking is improved. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is an installation schematic view of the photovoltaic cleaning robot with a locking mechanism and a photovoltaic panel proposed in the present application.

[0029] Figure 2 It is a schematic view of the photovoltaic cleaning robot with a locking mechanism proposed in the present application.

[0030] Figure 3 It is Figure 2 a structural schematic view of the extension cover in the present application.

[0031] Figure 4 It is Figure 2 an internal schematic view of the extension cover in the present application.

[0032] Figure 5 It is Figure 4 a front schematic view.

[0033] Figure 6 For Figure 4 The structure diagram of the middle locking cylinder, upper clamp block, lower clamp block, elastic member and cleaning member;

[0034] Figure 7 For Figure 6 The exploded view;

[0035] Figure 8 For Figure 7 The exploded view of the clamping block;

[0036] Figure 9 For Figure 6 The exploded view of the moving guide plate, elastic member and cleaning member.

[0037] Reference signs in the drawings: 1, crawler-type cleaning robot; 2, extension cover; 21, mounting notch; 22, front plate; 23, rear plate; 3, limiting wheel; 31, fixed support; 4, locking cylinder; 41, suction accessory; 411, air sleeve; 412, piston; 413, pulling rod; 414, vertical rod; 415, connecting groove; 5, upper clamp block; 51, lower clamp block; 52, linkage member; 521, fixed ring seat; 522, deflection plate; 523, upper deflection rod; 524, lower deflection rod; 53, lifting rail; 54, clamping block; 541, clamping head; 542, clamping sleeve; 543, elastic column; 544, suction disc; 545, suction port; 55, linear sliding port; 56, linear guide rod; 6, moving guide plate; 61, moving sliding port; 611, horizontal sliding port; 612, lifting sliding port; 7, mounting sleeve; 701, limiting sliding groove; 702, linear sliding sleeve; 71, moving sliding rod; 72, elastic member; 721, lifting column; 722, jacking spring; 723, limiting sliding block; 73, pushing plate; 731, spring pin; 74, scraper. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments.

[0039] Reference Figure 1 - Figure 9The utility model provides a photovoltaic cleaning robot with locking mechanism, including the crawler type cleaning robot 1 installed on the photovoltaic panel, and the crawler type cleaning robot 1 is screw mounted with one extension cover 2 on the outside of two ends of front and back, the side of extension cover 2 away from the crawler type cleaning robot 1 is fixed with the front plate 22, the side of extension cover 2 close to the crawler type cleaning robot 1 is fixed with the rear plate 23, the inside top of extension cover 2 is installed with locking electric cylinder 4, the inboard wall of front plate 22 is fixed with suction accessory 41 on the top, the inboard wall of front plate 22 is fixed with two groups of lifting tracks 53 left and right symmetry, and the upper clamp block 5 and the lower clamp block 51 are sequentially slidably installed between the two groups of lifting tracks 53 from top to bottom, the upper clamp block 5 and the lower clamp block 51 are symmetrically distributed, the push rod of locking electric cylinder 4 is fixed with the upper surface of upper clamp block 5, the inboard wall of front plate 22 is rotatably installed with linkage 52, and the left and right ends of linkage 52 are movably connected with lower clamp block 51 and upper clamp block 5 respectively,

[0040] The upper surface of upper clamp block 5 and the lower surface of lower clamp block 51 are fixed with four groups of clamping blocks 54 distributed in rectangular structure, suction accessory 41 is communicated with the clamping block 54 below upper clamp block 5 through the hose, and linear sliding port 55 is formed in upper clamp block 5,

[0041] The left and right sides of installation sleeve 7 are formed with limiting sliding slot 701, and limiting sliding slot 701 is communicated with the inner chamber of installation sleeve 7, and elastic element 72 includes lifting column 721 slidably inserted in installation sleeve 7,

[0042] Lifting spring 722 is inserted in installation sleeve 7, and the two ends of lifting spring 722 are respectively abutted with lifting column 721 and installation sleeve 7, and the outer ring of lifting column 721 is left and right symmetrically provided with limiting sliding block 723,

[0043] The cleaning piece comprises a push plate 73 fixed at the end of the lifting column 721 away from the mounting sleeve 7, the upper surface of the push plate 73 is provided with a brush, which can clean the surface of the suction cup 544, avoid sand from adhering to the edge of the suction cup 544, and make the suction cup 544 fully contact with the surface of the photovoltaic panel; the end of the push plate 73 close to the clamping block 54 is in sliding contact with the surface of the clamping block 54, and the height of the push plate 73 is less than the thickness of the clamping block 54, so that the push plate 73 can be retracted into the clamping block 54 after being separated from the clamping block 54, and no interference is caused to the normal clamping of the clamping block 54;

[0044] When the moving slide rod 71 is in the lifting slide opening 612, the push plate 73 is in the space between the two groups of clamping blocks 54 at this time; when the moving slide rod 71 is at the other end of the horizontal slide opening 611 away from the lifting slide opening 612, the push plate 73 is on the outside of the clamping block 54.

[0045] The push plate 73 is fixed with a spring pin 731 on the inward side, the spring pin 731 is fixed with a scraper 74 away from the clamping block 54, the scraper 74 is in sliding contact with the push plate 73, the spring pin 731 comprises a fixed sleeve fixed with the push plate 73, a lifting rod is slidingly inserted into the fixed sleeve, a spring is arranged between the bottom end of the lifting rod and the bottom end of the inner cavity of the fixed sleeve, the spring pin makes the scraper 74 always have a tendency to move away from the clamping block 54, and the end of the scraper 74 away from the mounting sleeve 7 can move towards the side of the mounting sleeve 7 when being pressed until the side surface of the scraper 74 away from the mounting sleeve 7 is flush with the side surface of the push plate 73 away from the mounting sleeve 7.

[0046] When the upper clamping block 5 and the lower clamping block 51 move towards each other and close to the upper and lower surfaces of the photovoltaic panel, the mounting sleeve 7 on the upper clamping block 5 and the lower clamping block 51 will move towards the photovoltaic panel, and the mounting sleeve 7 will drive the moving slide rod 71, the push plate 73 and the scraper 74 to move towards the photovoltaic panel when moving towards the photovoltaic panel; the moving slide rod 71 moves along the lifting slide opening 612 when the upper clamping block 5 and the lower clamping block 51 move for the first time, and the moving slide rod 71 only moves up and down at this time.

[0047] When the upper clamping block 5 and the lower clamping block 51 move for a distance, that is, move a distance of one lifting slide opening 612, the moving slide rod 71 is at the intersection of the lifting slide opening 612 and the horizontal slide opening 611 at this time, and the scraper 74 on the upper clamping block 5 will be in contact with the upper surface of the photovoltaic panel, so that the scraper 74 can move linearly along the horizontal slide opening 611 during the subsequent clamping process by following the moving slide rod 71, thereby scraping and cleaning the surface of the photovoltaic panel, so that sand does not adhere to the surface of the photovoltaic panel, and the photovoltaic panel is not damaged by the sand on the surface when the clamping block 54 clamps and adsorbs.

[0048] Refer toFigure 1 - Figure 4 The extension cover 2 has an opening at the bottom. Both sides of the extension cover 2 have rectangular notches formed by cutting off parts. The rear plate 23 has a rectangular opening. The rectangular opening and the rectangular notch are connected to form an installation notch 21. The extension cover 2 is snapped onto the side of the photovoltaic panel through the installation notch 21. The rectangular opening divides the entire rear plate 23 into upper and lower parts. The upper part is placed above the photovoltaic panel, while the lower part is placed below the photovoltaic panel.

[0049] There is a 2-3mm gap between the inner wall of the mounting notch 21 and the surface of the photovoltaic panel. The mounting notch 21 does not directly contact the surface of the photovoltaic panel, avoiding wear caused by contact with the photovoltaic panel. In addition, the small gap between the extension cover 2, the rear plate 23 and the photovoltaic panel can also prevent most of the sand and gravel from entering the interior of the extension cover 2. The sand and gravel accumulated on the surface of the photovoltaic panel can be smoothed out by the action of the extension cover 2, reducing the amount of sand and gravel adhering to the surface of the photovoltaic panel, which is convenient for subsequent cleaning and tightening.

[0050] Reference Figure 2 - Figure 4 A fixed bracket 31 is fixed to the inner wall of the rear plate 23. The fixed bracket 31 has a U-shaped structure. A limit wheel 3 is rotatably installed on the inner side of the lower end of the fixed bracket 31 through a shaft pin. The limit wheel 3 rolls in contact with the lower surface of the photovoltaic panel. The limit wheel 3 is located below the photovoltaic panel and can limit the tracked cleaning robot 1 to the upper and lower positions, so that it can only move left and right along the surface of the photovoltaic panel, but cannot move up and down.

[0051] Reference Figure 4 - Figure 6 The adsorption component 41 includes an air sleeve 411 fixed to the inner wall of the front plate 22. A piston 412 is slidably installed inside the air sleeve 411. A pull rod 413 is fixed to the lower end of the piston 412. The bottom end of the pull rod 413 passes through the air sleeve 411 and is outside it. A lifting port is opened at the bottom end of the pull rod 413. A connecting groove 415 is opened on the side of the pull rod 413. The connecting groove 415 communicates with the lifting port. A vertical rod 414 is slidably inserted into the lifting port. A limit block is fixed to the outer ring of the vertical rod 414. The limit block is slidably placed in the connecting groove 415. The bottom end of the vertical rod 414 is fixed above the upper clamping block 5.

[0052] When the upper clamping block 5 moves downward under the action of the push rod of the locking electric cylinder 4, after the upper clamping block 5 moves to a certain extent, the limiting block is at the bottom of the connecting groove 415. At this time, the upper clamping block 5 continues to move downward, and the limiting block will drive the pulling rod 413 to move downward together, thereby causing the piston 412 to move downward and the air pressure inside the air sleeve 411 to decrease.

[0053] Reference Figure 4 - Figure 7The linkage 52 comprises a fixed ring seat 521 fixed in the middle of the inner wall of the front plate 22 by a screw, and a deflection plate 522 rotatably installed by a shaft pin near one side of the tracked cleaning robot 1, the right end of the deflection plate 522 is rotatably installed by a shaft pin, and an upper deflection rod 523 is rotatably connected to the middle of the upper clamping block 5 through a shaft pin at the other end of the upper deflection rod 523, the left end of the deflection plate 522 is rotatably installed by a shaft pin, and a lower deflection rod 524 is rotatably connected to the middle of the lower clamping block 51 through a shaft pin at the other end of the lower deflection rod 524;

[0054] When the tracked cleaning robot 1 is locked and fixed above the photovoltaic panel, after the tracked cleaning robot 1 stops moving left and right, the push rod of the locking electric cylinder 4 extends downward and pushes the upper clamping block 5 to move downward along the two lifting rails 53, and in the process of moving downward in a straight line, the upper clamping block 5 will make the deflection plate 522 deflect clockwise around the axis of the fixed ring seat 521 through the upper deflection rod 523, that is, the right end of the deflection plate 522 deflects downward, and the left end deflects upward, and when the left end of the deflection plate 522 deflects upward, it will drive the left lower deflection rod 524 to move upward, thereby making the lower deflection rod 524 pull the lower clamping block 51 to move upward, and the upper clamping block 5 and the lower clamping block 51 will move towards each other and synchronously approach the photovoltaic panel, thereby clamping the photovoltaic panel, so that the tracked cleaning robot 1 is locked and fixed on the photovoltaic panel, and even if it encounters a large wind, it will not move and fall, thereby improving safety.

[0055] Referring to Figure 6 , Figure 7 Each two adjacent clamping blocks 54 have a spacing, and the spacing is greater than the width of the straight sliding port 55, the clamping blocks 54 are located on both sides of the straight sliding port 55, the clamping blocks 54 are made of polyurethane material, and a silicon carbide coating is added to the contact surface of the clamping blocks 54, the thickness of the silicon carbide coating is 0.1-0.3mm, which improves wear resistance and reduces friction coefficient, and reduces the risk of scratching the surface of the photovoltaic panel.

[0056] Referring to Figure 6 , Figure 7 and Figure 8The clamping block 54 comprises a plurality of clamping sleeves 542 fixed on the lower surface of the upper clamping block 5 and the upper surface of the lower clamping block 51 respectively. The opposite sides of the two symmetrical clamping sleeves 542 are designed to form an expansion cavity. The clamping head 541 is slidingly and sealingly inserted into the expansion cavity. The clamping head 541 extends into the recess on one side of the clamping sleeve 542 to form a groove. Four groups of elastic columns 543 of rectangular structure are fixed in the expansion cavity. The top end of the elastic column 543 is fixed with the clamping head 541. The elastic column 543 comprises an expansion rod and a spring. The spring is connected to the outside of the expansion rod. The top end of the expansion rod is fixed with the clamping head 541. When the clamping head 541 contacts the edge of the photovoltaic panel, the upper clamping block 5 continues to move downward, and the lower clamping block 51 continues to move upward, the clamping head 541 will be compressed and shrunk into the expansion cavity until it is completely shrunk.

[0057] The lower surface of the clamping head 541 below the upper clamping block 5 is provided with a suction cup 544. The upper and lower surfaces of the clamping head 541 are provided with suction ports 545. The side surface of the clamping head 541 away from the suction cup 544 is recessed to form an adsorption cavity. The suction port 545 is in communication with the adsorption cavity.

[0058] When the limiting block is at the bottom end of the connecting groove 415, the clamping head 541 is in contact with the surface of the edge of the photovoltaic panel. When the upper clamping block 5 continues to move downward, the clamping head 541 is pressed by the photovoltaic panel and will be shrunk into the expansion cavity. At the same time, the piston 412 moves downward, the air pressure in the expansion cavity decreases, the clamping head 541 is adsorbed with the photovoltaic panel, and the upper and lower clamping heads 541 will be clamped and adsorbed to the photovoltaic panel after the upper clamping block 5 and the lower clamping block 51 are completely clamped. The clamping and adsorption of the photovoltaic panel improves the firmness after locking.

[0059] The upper clamping block 5 and the lower clamping block 51 are fixed with a linear guide rod 56 through a support near the photovoltaic panel. The outer surface of the mounting sleeve 7 is fixed with a linear sliding sleeve 702. The linear sliding sleeve 702 is slidingly sleeved on the linear guide rod 56. The outer surface of the mounting sleeve 7 is fixed with a moving slide rod 71. The linear sliding sleeve 702 and the moving slide rod 71 are welded with a stand column to strengthen the strength of the moving slide rod 71 and prevent it from deforming during movement.

[0060] Referring to Figure 4 - Figure 9 The extension cover 2 is provided with a moving guide plate 6 on the inner wall near the tracked cleaning robot 1. Two groups of moving sliding grooves 61 are symmetrically arranged on the moving guide plate 6. The two moving sliding grooves 61 on the moving guide plate 6 are in a spread structure. The moving slide rod 71 is slidingly inserted into the moving sliding groove 61.

[0061] The moving sliding port 61 comprises two horizontal sliding ports 611 designed in a tilt manner, and the two ends of the two horizontal sliding ports 611 close to each other extend outward to form a lifting sliding port 612 designed in a vertical manner, and the lifting sliding port 612 is designed away from the photovoltaic panel.

[0062] In the initial state, the moving sliding rod 71 is in the lifting sliding port 612, at this time, the two moving sliding rods 71 on the upper clamping block 5 are in the middle of the moving guide plate 6, when the upper clamping block 5 and the lower clamping block 51 move close to each other, the two moving sliding rods 71 will also move away from each other, the moving sliding rod 71 will first move along the lifting sliding port 612, at this time, the moving sliding rod 71 only moves up and down, and does not move left and right, and then the two moving sliding rods 71 move into the two horizontal sliding ports 611 and move away from each other;

[0063] When the moving sliding rod 71 moves to the intersection of the lifting sliding port 612 and the horizontal sliding port 611, the moving sliding rod 71 will move left and right along the horizontal sliding port 611, and move towards the two ends of the moving guide plate 6, at this time, the two moving sliding rods 71 symmetrically left and right move away from each other.

[0064] Working principle: In the initial state, the push rod of the locking cylinder 4 is in the retracted state, the upper clamping block 5 and the lower clamping block 51 are respectively at the uppermost and lowermost positions, and both are away from the upper and lower surfaces of the photovoltaic panel, at this time, the moving sliding rod 71 is in the lifting sliding port 612, and there is a certain gap between the upper and lower groups of scrapers 74 and the upper and lower surfaces of the photovoltaic panel, and the scraper 74 does not directly contact the surface of the photovoltaic panel, so that the scraper 74 does not cause wear and tear to the surface of the photovoltaic panel during the normal movement and cleaning process of the crawler-type cleaning robot 1.

[0065] When the crawler-type cleaning robot 1 needs to be stopped and locked without being in the parking position, at this time, the crawler-type cleaning robot 1 stops running and locks the moving wheels, and the push rod of the locking cylinder 4 is pushed out and extended downward, as the push rod of the locking cylinder 4 is pushed out downward, the upper clamping block 5 connected with the push rod will move downward along the lifting rail 53 in a straight line, in the process of moving downward in a straight line, the upper clamping block 5 will make the deflection plate 522 deflect clockwise around the axis of the fixed ring seat 521 through the upper deflection rod 523, that is, the right end of the deflection plate 522 deflects downward, and the left end deflects upward, when the left end of the deflection plate 522 deflects upward, it will drive the left lower deflection rod 524 to move upward, and then make the lower defamping block 51 move upward, the upper clamping block 5 and the lower clamping block 51 will move towards each other, and at the same time, the vertical rod 414 above the upper clamping block 5 will move downward with the upper clamping block 5, and the limiting block on the vertical rod 414 will move downward in the connecting groove 415;

[0066] In the process of moving the upper clamp block 5 and the lower clamp block 51 towards the upper and lower side surfaces of the photovoltaic panel, the mounting sleeve 7, the moving slide rod 71, the elastic member 72, the push plate 73 and the scraper 74 on the upper clamp block 5 will also move towards the photovoltaic panel.

[0067] When the upper clamp block 5 and the lower clamp block 51 are first moved, the moving slide rod 71 moves along the lifting slide 612, and at this time, the moving slide rod 71 only moves up and down. When the upper clamp block 5 and the lower clamp block 51 move towards each other by a distance, that is, by a distance of the height of one lifting slide 612, the moving slide rod 71 is at the intersection of the lifting slide 612 and the horizontal slide 611, and the scraper 74 on the upper clamp block 5 will be in contact with the upper surface of the photovoltaic panel.

[0068] Then the upper clamp block 5 and the lower clamp block 51 continue to move and approach the upper and lower side surfaces of the photovoltaic panel, and in this process, the push plate 73 and the scraper 74 will also continue to move downwards. Since the scraper 74 is connected to the push plate 73 by the spring pin 731, the scraper 74 will ensure contact with the surface of the photovoltaic panel during the process of continuing to move downwards, and at the same time, the scraper 74 will also shrink inward to avoid interfering with the upper clamp block 5.

[0069] At the same time, the moving slide rod 71 will move along the horizontal slide 611 towards the side away from the lifting slide 612. During the movement of the moving slide rod 71, it will drive the mounting sleeve 7, the elastic member 72, and the push plate 73 and the scraper 74 to move left and right. In this process, the upper and lower push plates 73 will respectively scrape the side surface of the clamping block 54 close to the photovoltaic panel to avoid sand and gravel adhering to the clamping block 54, and the scraper 74 can scrape the upper surface of the photovoltaic panel to avoid sand and gravel adhering to the surface of the photovoltaic panel.

[0070] When the clamping block 54 on the upper clamp block 5 and the lower clamp block 51 is in contact with the upper and lower side surfaces of the photovoltaic panel, the push plate 73 and the scraper 74 are on the outside of the clamping block 54, and the push plate 73 will also shrink inwardly. At this time, the limiting block on the vertical rod 414 is at the bottom end of the connecting groove 415, and the clamping head 541 is in contact with the surface of the edge of the photovoltaic panel. Then the upper clamp block 5 continues to move downwards under the action of the locking cylinder 4, and the clamping head 541 is pressed by the photovoltaic panel and will shrink into the telescopic cavity. At the same time, the piston 412 moves downwards, the air pressure in the telescopic cavity decreases, and the clamping head 541 is adsorbed to the photovoltaic panel. Until the upper clamp block 5 and the lower clamp block 51 are completely clamped, at this time, the upper and lower clamping heads 541 will clamp and adsorb the photovoltaic panel to achieve double locking.

[0071] When it is necessary to release the locking of the tracked cleaning robot 1, the push rod of the locking cylinder 4 moves upward to retract, and the upper clamping block 5 will move upward under the action of the locking cylinder 4. During the upward linear movement of the upper clamping block 5, the upper clamping block 5 will make the deflection plate 522 deflect counterclockwise about the axis of the fixed ring seat 521 through the upper deflection rod 523, that is, the right end of the deflection plate 522 deflects upward, and the left end deflects downward. When the left end of the deflection plate 522 deflects downward, it will drive the left lower deflection rod 524 to move downward, thereby making the lower deflection rod 524 pull the lower clamping block 51 to move downward. The upper clamping block 5 and the lower clamping block 51 will move in opposite directions and synchronously away from the photovoltaic panel.

[0072] And during the movement away from the photovoltaic panel, the clamping head 541 returns to its original position under the action of the elastic column 543, and then the push plate 73 and the scraper 74 will also move inward and away from the photovoltaic panel until they return to the initial state. At this time, the locking is completely released, and the tracked cleaning robot 1 can move and clean normally.

[0073] By installing an extension cover 2 at the front and rear ends of the photovoltaic cleaning robot, the extension cover 2 is internally provided with a locking cylinder 4, a suction accessory 41, and an upper clamping block 5 and a lower clamping block 51. The upper clamping block 5 and the lower clamping block 51 are each provided with a clamping block 54. The locking cylinder 4 can make the upper clamping block 5 and the lower clamping block 51 approach the photovoltaic panel synchronously, thereby enabling the clamping block 54 to clamp and lock the upper and lower surfaces of the photovoltaic panel. After clamping and locking, the clamping block 54 will also be adsorbed on the photovoltaic panel, so that the photovoltaic cleaning robot is fixed on the photovoltaic panel and can stop at any position on the photovoltaic panel, avoiding displacement damage caused by failure to stop in strong winds;

[0074] By slidingly arranging the mounting sleeve 7 on the upper clamping block 5 and the lower clamping block 51, the mounting sleeve 7 is provided with a push plate 73 and a scraper 74 for cleaning the clamping block 54 and the photovoltaic panel through an elastic member 72. Before clamping and locking the clamping block 54, the push plate 73 and the scraper 74 can clean the surface of the clamping block 54 and the photovoltaic panel, respectively, to prevent sand from adhering to the surface. When the clamping block 54 is clamped and locked, it avoids damage to the surface of the photovoltaic panel, improves the clamping force between the two, and ensures the firmness after adsorption and the stability after locking.

[0075] In the description of the application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0076] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0077] The above is only the preferred specific implementation of the application, but the protection scope of the application is not limited thereto, and any person skilled in the art can make equivalent replacements or changes within the technical scope disclosed by the application according to the technical scheme and inventive concept of the application, which should be covered within the protection scope of the application.

Claims

1. A photovoltaic cleaning robot with a locking mechanism, characterized in that, The system includes a tracked cleaning robot (1) mounted on a photovoltaic panel. An extension cover (2) is screwed onto the outer sides of both the front and rear ends of the tracked cleaning robot (1). A front plate (22) is fixed to the side of the extension cover (2) away from the tracked cleaning robot (1), and a rear plate (23) is fixed to the side of the extension cover (2) closer to the tracked cleaning robot (1). A locking electric cylinder (4) is installed at the top inside the extension cover (2). Above the inner wall of the front plate (22)... An adsorption component (41) is fixed. Two sets of lifting rails (53) are symmetrically fixed on the inner wall of the front plate (22). An upper clamping block (5) and a lower clamping block (51) are slidably installed between the two sets of lifting rails (53) from top to bottom. The push rod of the locking electric cylinder (4) is fixed to the upper surface of the upper clamping block (5). A linkage component (52) is rotatably installed on the inner wall of the front plate (22). The left and right ends of the linkage component (52) are movably connected to the lower clamping block (51) and the upper clamping block (5), respectively. Four sets of clamping blocks (54) in a rectangular structure are fixed on the upper surface of the upper clamping block (5) and the lower surface of the lower clamping block (51). The adsorption component (41) is connected to the clamping block (54) below the upper clamping block (5) through a hose. The upper clamping block (5) has a straight sliding opening (55) that runs through it vertically. Two sets of mounting sleeves (7) are symmetrically installed in the straight sliding opening (55). Elastic components (72) are installed vertically in the slots of the mounting sleeves (7). A cleaning component is provided at the end of the elastic component (72) near the photovoltaic panel. The mounting sleeve (7) has a limiting groove (701) formed through the left and right sides, and the limiting groove (701) is connected to the inner cavity of the mounting sleeve (7). The elastic element (72) includes a lifting column (721) that slides up and down in the mounting sleeve (7). The lifting column (721) passes through the straight sliding opening (55) and is placed between the upper and lower clamping blocks (54) at the end facing the photovoltaic panel. A lifting spring (722) is inserted in the mounting sleeve (7). The two ends of the lifting spring (722) abut against the lifting column (721) and the mounting sleeve (7) respectively. The outer ring of the lifting column (721) is symmetrically provided with limiting sliders (723) on the left and right. The limiting sliders (723) slide in the limiting groove (701). The cleaning component includes a push plate (73) fixed to the end of the lifting column (721) away from the mounting sleeve (7). The end of the push plate (73) near the clamping block (54) slides in contact with the surface of the clamping block (54). A spring pin (731) is fixed to the inward side of the push plate (73). A scraper (74) is fixed to the side of the spring pin (731) away from the clamping block (54). The scraper (74) slides in contact with the push plate (73). The spring pin (731) includes a fixing sleeve fixed to the push plate (73). A lifting rod is slidably inserted into the fixing sleeve. A spring abuts between the bottom end of the lifting rod and the bottom end of the inner cavity of the fixing sleeve. The elastic pin makes the scraper (74) always tend to move away from the clamping block (54).

2. A photovoltaic cleaning robot with a locking mechanism according to claim 1, characterized in that, The extension cover (2) has an opening at the bottom. Both sides of the extension cover (2) have rectangular notches formed by removing parts. The rear plate (23) has a rectangular opening. The rectangular opening and the rectangular notch are connected to form an installation notch (21). The extension cover (2) is snapped onto the side of the photovoltaic panel through the installation notch (21). There is a gap of 2-3mm between the inner wall of the installation notch (21) and the surface of the photovoltaic panel. The inner wall of the rear plate (23) is fixed with a fixing bracket (31). The fixing bracket (31) has a U-shaped structure. The inner side of the lower end of the fixing bracket (31) is rotatably mounted with a limiting wheel (3) through a shaft pin. The limiting wheel (3) makes rolling contact with the lower surface of the photovoltaic panel.

3. A photovoltaic cleaning robot with a locking mechanism according to claim 1, characterized in that, The adsorption component (41) includes an air sleeve (411) fixed on the inner wall of the front plate (22). A piston (412) is slidably installed inside the air sleeve (411). A pull rod (413) is fixed at the lower end of the piston (412). The bottom end of the pull rod (413) passes through the air sleeve (411) and is outside it. A lifting port is opened at the bottom end of the pull rod (413). A connecting groove (415) is opened on the side of the pull rod (413). The connecting groove (415) communicates with the lifting port. A vertical rod (414) is slidably inserted into the lifting port. A limit block is fixed on the outer ring of the vertical rod (414). The limit block is slidably placed in the connecting groove (415). The bottom end of the vertical rod (414) is fixed above the upper clamping block (5).

4. A photovoltaic cleaning robot with a locking mechanism according to claim 1, characterized in that, The linkage (52) includes a fixed ring seat (521) fixed to the middle of the inner wall of the front plate (22) by screws. The fixed ring seat (521) is rotatably mounted with a deflector plate (522) on the side near the tracked cleaning robot (1) by a shaft pin. The right end of the deflector plate (522) is rotatably mounted with an upper deflector rod (523) by a shaft pin. The other end of the upper deflector rod (523) is rotatably connected to the middle of the upper clamping block (5) by a shaft pin. The left end of the deflector plate (522) is rotatably mounted with a lower deflector rod (524) by a shaft pin. The other end of the lower deflector rod (524) is rotatably connected to the middle of the lower clamping block (51) by a shaft pin.

5. A photovoltaic cleaning robot with a locking mechanism according to claim 1, characterized in that, There is a gap between each two adjacent clamping blocks (54) that is greater than the width of the straight slide (55), and the clamping blocks (54) are made of polyurethane material.

6. A photovoltaic cleaning robot with a locking mechanism according to claim 1, characterized in that, The clamping block (54) includes multiple clamping sleeves (542), which are respectively fixed on the lower surface of the upper clamping block (5) and the upper surface of the lower clamping block (51). The clamping sleeves (542) have an opening on one side to form a telescopic cavity. A clamping head (541) is inserted into the telescopic cavity and slides up and down and is sealed. The clamping head (541) extends into the side of the clamping sleeve (542) to form a groove. Four sets of rectangular elastic columns (543) are fixed in the telescopic cavity. The top of the elastic column (543) is fixed to the clamping head (541). A suction cup (544) is provided on the lower surface of a plurality of clamping heads (541) located below the upper clamping block (5). A suction port (545) is formed through the upper and lower surfaces of the clamping head (541). An adsorption cavity is formed by a recess on the side surface of the clamping head (541) away from the suction cup (544). The suction port (545) is connected to the adsorption cavity. The inside of the telescopic cavity is connected to the inside upper part of the air jacket (411) through a hose.

7. A photovoltaic cleaning robot with a locking mechanism according to claim 1, characterized in that, The upper clamping block (5) is suspended and fixed with a linear guide rod (56) on the side near the photovoltaic panel by a bracket. A linear sliding sleeve (702) is fixed on the outer ring surface of the mounting sleeve (7). The linear sliding sleeve (702) is slidably sleeved on the linear guide rod (56). A movable sliding rod (71) is fixed on the outer ring surface of the mounting sleeve (7). A column is welded between the linear sliding sleeve (702) and the movable sliding rod (71).

8. A photovoltaic cleaning robot with a locking mechanism according to claim 7, characterized in that, The extension cover (2) is equipped with a movable guide plate (6) on the upper inner wall of the side close to the tracked cleaning robot (1). The movable guide plate (6) has two sets of symmetrically distributed movable slots (61). The two movable slots (61) on the movable guide plate (6) are distributed in a figure-eight structure. The movable slide rod (71) is slidably inserted into the movable slot (61). The movable slide (61) includes a horizontal slide (611) with an inclined design. The two horizontal slides (611) extend outward from one end close to each other to form a vertically designed lifting slide (612), and the lifting slide (612) is designed away from the photovoltaic panel.

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