Photovoltaic panel cleaning robot mobile structure

Abstract

The application relates to the technical field of cleaning structures, in particular to a mobile structure of a photovoltaic panel cleaning robot, which comprises a machine table, a plurality of rolling bodies oppositely arranged on the machine table and used for driving the machine table to move, and a suction unit arranged on the machine table. Through the application, the drawbacks that the traditional mobile structure is difficult to move or is easy to cause damage to the photovoltaic panel are effectively solved; the plurality of rolling bodies on the machine table are closely combined with the photovoltaic panel through part of suction cylinders; the movement of the rolling bodies on the photovoltaic panel is matched; the robot can move on the photovoltaic panel; the alternating suction of the plurality of suction cylinders to the photovoltaic panel during the relative movement of the machine table and the plurality of suction cylinders is matched; the stable and frictionless moving mode of the machine table is realized; the moving resistance of the robot is greatly reduced; and the photovoltaic panel can be conveniently protected due to the static suction mode.

Description

Technical Field

[0001] This invention relates to the field of cleaning structure technology, and in particular to a mobile structure for a photovoltaic panel cleaning robot. Background Technology

[0002] As an important component of clean energy, photovoltaic power generation relies on photovoltaic panels, the core power generation unit, which are exposed to the outdoor environment for extended periods. These panels are prone to accumulating pollutants such as dust, sand, and bird droppings, leading to a decrease in glass transmittance and severely reducing photoelectric conversion efficiency and power generation. Regular cleaning of photovoltaic panels is crucial for ensuring the stable and efficient operation of power plants. To address this, photovoltaic panel cleaning robots have emerged, capable of replacing traditional manual cleaning and achieving automated, high-frequency cleaning operations.

[0003] One of the core functional modules of a cleaning robot is its mobility structure. This structure needs to ensure that the robot can stably attach to and move flexibly on the tilted or even vertical glass surface of a photovoltaic panel. Currently, the main mobility structure solutions in this field focus on two mainstream technical paths: magnetic adsorption and mechanical climbing. Magnetic adsorption structures can be further divided into magnetic wheel type and magnetic track type. They rely on permanent magnets or electromagnets to generate adsorption force, which works in conjunction with the metal plate on the back of the photovoltaic panel to allow the robot to adhere to the surface of the photovoltaic panel and move. However, this type of structure has significant drawbacks: during the robot's movement, it is located on the drive wheels or tracks. The magnet at the end needs to periodically detach from the photovoltaic panel to move forward. This process requires constantly overcoming magnetic attraction, resulting in huge driving resistance and difficulty in moving. Another type of climbing claw structure moves by grabbing the edge of the photovoltaic panel or frame with a biomimetic mechanical claw or hook-like mechanism. Although this method avoids the desorption power consumption problem of magnetic adsorption, its mechanical claw part is mostly in hard contact or intermittent impact with the surface or edge of the photovoltaic panel. Long-term operation can easily cause scratches, wear and other physical damage to the anti-reflective coating, glass and even the protective layer of the frame of the photovoltaic panel, which poses a safety hazard that affects the life of the module and the power generation performance. Summary of the Invention

[0004] This invention provides a mobile structure for a photovoltaic panel cleaning robot, which can effectively solve the problems in the background art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A mobile structure for a photovoltaic panel cleaning robot includes a platform, a plurality of rolling elements disposed opposite to each other on the platform and used to drive the platform to move, and an adsorption unit disposed on the platform.

[0007] The adsorption unit includes several sliders that slide on the machine base and several electromagnetic structures that are disposed on the machine base. The sliders move alternately, and each slider is provided with a magnetic plate and a suction cylinder. The electromagnetic structure works in conjunction with the magnetic plate, and the suction cylinder uses its internal negative pressure to adsorb and fix the external photovoltaic panel.

[0008] Furthermore, a sealing ring is provided at the bottom of the suction cylinder to provide a sealing effect.

[0009] Furthermore, the sealing ring has an inflation groove inside, and the sealing ring is designed to expand and contract.

[0010] Furthermore, the adsorption unit also includes a pump body disposed on the machine platform, with an air guide pipe one and an air guide pipe two respectively disposed at the input end and the output end of the pump body. The input end of the air guide pipe one is connected to each of the suction cylinders, and the air guide pipe two is connected to each of the air filling slots through a plurality of air guide pipes three.

[0011] Furthermore, an exhaust hopper is provided on the machine platform, with the opening of the exhaust hopper facing away from the external photovoltaic panel. The second air guide pipe is connected to the exhaust hopper, and a pressure regulating valve is provided between the second air guide pipe and the exhaust hopper.

[0012] Furthermore, the rolling element includes a support ring disposed on the machine base and a support shaft located inside the support ring. Both ends of the support shaft are provided with brackets, which move on the support ring via rollers. A ball that can move on the external photovoltaic panel is disposed in the middle of the support shaft.

[0013] Furthermore, a magnet is provided inside the sphere, and the magnet is used in conjunction with the metal plate on the back of the external photovoltaic panel;

[0014] The magnet includes a mounting base disposed on the support shaft and a plurality of magnetic groups disposed on the mounting base. Each magnetic group is composed of a plurality of magnetic strips. The number of magnetic strips in the magnetic group is an odd number of at least three. The magnetic field direction of the magnetic strip located in the middle of the magnetic group is perpendicular to the external photovoltaic panel, and the magnetic field direction of the plurality of magnetic strips located on both sides of the magnetic strip changes at equal angles in sequence.

[0015] The mounting base is rotatably mounted on the support shaft, and the center of gravity of the magnet is located between the support shaft and the external photovoltaic panel.

[0016] Furthermore, the magnetic strip is arc-shaped, pointing towards the external photovoltaic panel.

[0017] Furthermore, a buffer structure is provided on the mounting base to buffer the rotation of the magnet on the support shaft. The buffer structure includes an annular cavity opened in the mounting base, through which the support shaft passes. Two partitions are provided in the annular cavity to separate the annular cavity. The two partitions are fixedly connected to the support shaft and the mounting base respectively, and a through hole is opened on one of the partitions.

[0018] Furthermore, the rolling element also includes an annular toothed groove formed on the sphere, a gear that cooperates with the annular toothed groove, and a rotating ring located outside the gear. The gear is rotatably mounted on the rotating ring, and the rotating ring is rotatably mounted on the machine base. The annular toothed groove is coaxially arranged with the support shaft.

[0019] A worm and a turbine are provided inside the rotating ring for mutual cooperation. The turbine is connected to the gear transmission, and the worm is coaxially arranged with the support ring.

[0020] The technical solution of this invention can achieve the following technical effects:

[0021] This design effectively solves the drawbacks of traditional mobile structures, such as difficulty in movement or easy damage to photovoltaic panels. Utilizing negative pressure adsorption, several rolling elements on the machine platform achieve close contact with the photovoltaic panels through partial suction cylinders. Combined with the movement of the rolling elements on the photovoltaic panels, the robot can move on them. Furthermore, the alternating adsorption of the photovoltaic panels by the suction cylinders during relative movement with the machine platform achieves stable, frictionless movement, significantly reducing the robot's resistance. The static adsorption mode also facilitates the protection of the photovoltaic panels. By separating the adsorption work on the photovoltaic panels from the movement on the panels using the rolling elements and adsorption units, the suction cylinders only need to perform the adsorption function. The relative friction between the suction cylinders and the photovoltaic panels is minimal, effectively preventing slippage and gas leakage, thus improving the stability of the structure.

[0022] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the moving structure of a photovoltaic panel cleaning robot.

[0025] Figure 2 for Figure 1 Schematic diagram of the adsorption unit structure;

[0026] Figure 3 for Figure 2 A schematic diagram of the middle slider and its upper structure;

[0027] Figure 4 for Figure 3 A cross-sectional view of the middle suction cylinder;

[0028] Figure 5 for Figure 1 Schematic diagram of the structure of the rolling element;

[0029] Figure 6 for Figure 5 A schematic diagram of the exploded structure;

[0030] Figure 7 for Figure 6 Schematic diagram of the internal structure of the central sphere;

[0031] Figure 8 for Figure 7 A cross-sectional view of the mounting base;

[0032] Attached label: 100, machine tool;

[0033] 200. Rolling element; 201. Support shaft; 202. Ball; 203. Carrier; 204. Roller; 205. Support ring; 206. Mounting base; 207. Magnetic strip; 208. Annular cavity; 209. Partition plate; 210. Through hole; 211. Annular tooth groove; 212. Rotating ring; 213. Gear; 214. Worm gear; 215. Turbine gear;

[0034] 300. Adsorption unit; 301. Slider; 302. Magnetic suction plate; 303. Suction cylinder; 304. Electromagnetic structure; 305. Sealing ring; 306. Air filling groove; 307. Pump body; 308. Air guide pipe one; 309. Air guide pipe two; 310. Air guide pipe three; 311. Exhaust hopper; 312. Pressure regulating valve. Detailed Implementation

[0035] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0037] like Figures 1 to 3 As shown, this application provides a mobile structure for a photovoltaic panel cleaning robot, including a machine base 100, a plurality of rolling bodies 200 disposed opposite to each other on the machine base 100 and used to drive the machine base 100 to move, and an adsorption unit 300 disposed on the machine base 100.

[0038] The adsorption unit 300 includes several sliders 301 that are slidably arranged on the machine base 100 and several electromagnetic structures 304 that are arranged on the machine base 100. The sliders 301 move alternately. Each slider 301 is provided with a magnetic plate 302 and a suction cylinder 303. The electromagnetic structure 304 works in conjunction with the magnetic plate 302. The suction cylinder 303 uses its internal negative pressure to adsorb and fix the external photovoltaic panel.

[0039] Specifically, several rolling elements 200 are distributed around the machine platform 100, or several rolling elements 200 are arranged in two rows and respectively set on both sides of the machine platform 100. In this way, the rolling elements 200 can both support the machine platform 100 and drive the machine platform 100 to move. The rolling elements 200 can move laterally or longitudinally on the photovoltaic panel, so that the movement trajectory of the rolling elements 200 and the machine platform 100 can fully cover the photovoltaic panel, which facilitates the cleaning robot to thoroughly clean the surface of the photovoltaic panel. The machine platform 100 can provide a mounting position for the adsorption unit 300 on it. Of course, the controller, battery pack and other auxiliary structures of the cleaning robot can also be installed on the machine platform 100. The adsorption unit 300 is mainly used to adsorb and fix the machine platform 100 to the surface of the photovoltaic panel. With the movement of the rolling elements 200, the overall structure can move on the photovoltaic panel.

[0040] The adsorption unit 300 mainly adsorbs the photovoltaic panel through several suction cylinders 303 on it, thereby creating multiple adsorption points between the machine base 100 and the photovoltaic panel. The bottom of the suction cylinder 303 is open, and this opening is mainly used to contact the photovoltaic panel. The negative pressure inside the suction cylinder 303 is used to firmly adsorb the suction cylinder 303 onto the photovoltaic panel. When the slider 301 moves on the machine base 100, the electromagnetic structure 304 can be energized and provide magnetic attraction force to the magnetic suction plate 302, thereby adsorbing the slider 301 to a position close to the electromagnetic structure 304, so that the electromagnetic structure 304 and the magnetic suction plate 302 come into contact with each other.

[0041] Two sets of suction cylinders 303 are divided into two groups. In use, the first set of suction cylinders 303 adheres to the photovoltaic panel using negative pressure. At this time, the friction between the rolling element 200 and the photovoltaic panel prevents the machine platform 100 from moving. When the rolling element 200 moves the machine platform 100, the machine platform 100 moves relative to the slider 301 of the first group, and the slider 301 slides on the machine platform 100. The first set of suction cylinders 303 remains stationary, the magnetic plate 302 separates from the electromagnetic structure 304, and the electromagnetic structure 304 is de-energized. After the machine platform 100 advances a specified distance, the second set of suction cylinders 303 adheres to and is fixed to the photovoltaic panel. At this time, the first set of suction cylinders 303... 03 can stop the adsorption work, and the pressure inside the suction cylinder 303 returns to normal. The electromagnetic structure 304 of the first group is energized, and the electromagnetic structure 304 can attract each other with the corresponding magnetic suction plate 302, so that the suction cylinder 303 of the first group moves towards its initial position. The suction cylinder 303 of the second group keeps relatively fixed with the photovoltaic panel, and the machine platform 100 moves relative to the suction cylinder 303 of the second group. When the suction cylinder 303 of the first group moves to the initial position on the machine platform 100, the suction cylinder 303 of the first group is adsorbed and fixed with the photovoltaic panel again, and the suction cylinder 303 of the second group stops adsorption work. This is repeated, so as to achieve the effect of the machine platform 100 moving stably forward on the photovoltaic panel.

[0042] It should be noted that since the rolling element 200 can move horizontally or vertically, the suction cylinders 303 and their structures can be divided into four groups, with each group having at least one suction cylinder 303 and its structure. The first and second groups can be used alternately when the machine 100 moves horizontally, and the third and fourth groups can be used alternately when the machine 100 moves vertically.

[0043] The technical solution of this invention effectively solves the drawbacks of traditional mobile structures, such as difficulty in movement or easy damage to photovoltaic panels. By utilizing negative pressure adsorption, several rolling bodies 200 on the machine platform 100 are tightly attached to the photovoltaic panel through some suction cylinders 303. Combined with the movement of the rolling bodies 200 on the photovoltaic panel, the robot can move on the photovoltaic panel. Furthermore, the alternating adsorption of the photovoltaic panel by the suction cylinders 303 during relative movement with the machine platform 100 achieves a stable and frictionless movement of the machine platform 100, greatly reducing the resistance of robot movement. Moreover, due to the use of static adsorption mode, the photovoltaic panel can be easily protected. By using the rolling bodies 200 and adsorption units 300, the adsorption work on the photovoltaic panel and the movement on the photovoltaic panel can be separated, so that the suction cylinders 303 only need to perform the adsorption work. The relative friction between the suction cylinders 303 and the photovoltaic panel is small, effectively avoiding slippage of the suction cylinders 303 on the photovoltaic panel and the generation of gas leakage, thus improving the stability of the structure operation.

[0044] Furthermore, to improve the seal between the bottom opening of the suction cup 303 and the photovoltaic panel, and to prevent external air from entering the suction cup 303 through the gap between the bottom of the suction cup 303 and the photovoltaic panel, such as... Figure 3 As shown, a sealing ring 305 can be set at the bottom of the suction cylinder 303 to provide a seal. This can stabilize the air pressure inside the suction cylinder 303 and make it easier for the suction cylinder 303 to provide a long-term and stable adsorption force to the photovoltaic panel.

[0045] Specifically, the shape of the sealing ring 305 is consistent with the shape of the bottom opening of the suction cylinder 303, and to enhance its sealing performance, the cross-section of the sealing ring 305 can be set to a herringbone shape, a multi-tooth shape, or other shapes.

[0046] Furthermore, such as Figure 4 As shown, the sealing ring 305 has an inflation groove 306 inside, and the sealing ring 305 can expand and contract to deform.

[0047] When air is injected into the inflation groove 306, the volume of the sealing ring 305 expands, allowing the bottom of the sealing ring 305 to abut against the surface of the photovoltaic panel. This creates sufficient pressure between the sealing ring 305 and the photovoltaic panel, improving its sealing performance. When the air pressure inside the inflation groove 306 decreases, the sealing ring 305 shrinks, allowing the bottom of the sealing ring 305 to separate from the photovoltaic panel. This facilitates the movement of the suction cylinder 303 on the machine base 100. It also prevents frictional sliding between the sealing ring 305 or the suction cylinder 303 and the photovoltaic panel when the slider 301 and suction cylinder 303 move, thus hindering the normal movement of the slider 301 on the machine base 100.

[0048] In some embodiments, the sealing ring 305 can also be configured to move on the suction cylinder 303. When sealing is required, the sealing ring 305 moves down and contacts the photovoltaic panel. When the slider 301 needs to move, the sealing ring 305 moves up and separates from the photovoltaic panel.

[0049] Furthermore, the adsorption unit 300 also includes a pump body 307 mounted on the machine base 100. A first air guide pipe 308 and a second air guide pipe 309 are respectively mounted at the input and output ends of the pump body 307. The input end of the first air guide pipe 308 is connected to each suction cylinder 303, and the second air guide pipe 309 is connected to each air filling groove 306 through several third air guide pipes 310.

[0050] like Figure 2As shown, when the pump body 307 is running, it can draw air out of each suction cylinder 303 through the air guide pipe 308, thereby creating a negative pressure inside the suction cylinder 303. This negative pressure state can be maintained for a long time. Even if there is a gas leak between the suction cylinder 303 and the photovoltaic panel, the pump body 307 will promptly draw out the excess air in the suction cylinder 303, so that the internal pressure of the suction cylinder 303 remains constant.

[0051] The pump body 307 can introduce air into the air filling groove 306 through the second air guide pipe 309 and the third air guide pipe 310, thereby causing the sealing ring 305 to expand. At this time, the suction cylinder 303 uses the expanded sealing ring 305 to seal, and the suction cylinder 303 uses the negative pressure inside to adsorb and fix the photovoltaic panel. This adsorption force can also act on the sealing ring 305, making the sealing ring 305 and the photovoltaic panel close to each other, thus improving the sealing performance of the sealing ring 305.

[0052] Furthermore, an exhaust hopper 311 is provided on the machine 100, with the opening of the exhaust hopper 311 facing away from the external photovoltaic panel. The second air guide pipe 309 is connected to the exhaust hopper 311, and a pressure regulating valve 312 is provided between the second air guide pipe 309 and the exhaust hopper 311.

[0053] like Figure 2 As shown, the pressure regulating valve 312 is located between the air guide pipe 310 and the exhaust hopper 311. In this way, the pressure regulating valve 312 can limit the internal pressure of the air guide pipe 309, the air guide pipe 310 and the inflation tank 306. When the air pressure in the air guide pipe 309 exceeds the specified value, the excess gas will enter the exhaust hopper 311 and be discharged through the opening on the exhaust hopper 311. This makes it easy to keep the internal pressure of the inflation tank 306 within the specified range and the volume expansion of the sealing ring 305 within the specified range.

[0054] When excess gas is discharged through the opening of the exhaust hopper 311, the reaction force of the airflow provides a thrust towards the photovoltaic panel to the exhaust hopper 311 and the machine 100, thereby increasing the mutual attraction between the machine 100 and the photovoltaic panel.

[0055] The opening of the exhaust hopper 311 can be set in two rows, each row consisting of multiple narrow openings. This can disperse the reaction force of the airflow on the exhaust hopper 311, making the reaction force of the airflow on the machine 100 more uniform.

[0056] Furthermore, the rolling element 200 includes a support ring 205 disposed on the machine base 100 and a support shaft 201 located inside the support ring 205. Both ends of the support shaft 201 are provided with a bracket 203. The bracket 203 moves on the support ring 205 through rollers 204. A ball 202 that can move on the external photovoltaic panel is disposed in the middle of the support shaft 201.

[0057] like Figure 5 and Figure 6 As shown, the support ring 205 supports the support shaft 201 and the ball 202. The ball 202 can rotate on the support shaft 201, thereby enabling the machine 100 to move by the rolling of the ball 202 on the photovoltaic panel. The clamp 203 is clamped on the support ring 205 and moves on the support ring 205 through several rollers 204, thereby enabling the support shaft 201 and the ball 202 to perform circular motion around the axis of the support ring 205. This method can be used to adjust the rolling direction of the ball 202, thereby adjusting the forward direction of the machine 100. Furthermore, the connection method of the clamp 203, rollers 204 and support ring 205 can reduce the frictional resistance when adjusting the rolling direction of the ball 202.

[0058] Furthermore, such as Figure 7 As shown, a magnet is installed inside the sphere 202, and the magnet works in conjunction with the metal plate on the back of the external photovoltaic panel;

[0059] The magnet includes a mounting base 206 disposed on a support shaft 201 and a plurality of magnetic groups disposed on the mounting base 206. Each magnetic group is composed of a plurality of magnetic strips 207. The number of magnetic strips 207 in the magnetic group is an odd number of at least three. The magnetic field direction of the magnetic strip 207 located in the middle of the magnetic group is perpendicular to the external photovoltaic panel. The magnetic field directions of the plurality of magnetic strips 207 located on both sides of the magnetic strip 207 change at equal angles in sequence.

[0060] The mounting base 206 is rotatably mounted on the support shaft 201, and the center of gravity of the magnet is located between the support shaft 201 and the external photovoltaic panel.

[0061] In traditional magnetic attraction methods, the magnet needs to move closer to and away from the metal plate on the back of the photovoltaic panel, making its movement difficult and resulting in high resistance to robot movement. However, in the above structure, the magnet is placed inside the sphere 202 and can rotate on the support shaft 201, which keeps the distance between the magnet and the photovoltaic panel constant. This greatly reduces the difficulty in moving the sphere 202 due to magnetic attraction. At the same time, since the magnet can rotate on the support shaft 201 through the mounting base 206, the magnet can face any direction. For example, when the photovoltaic panel is horizontal, the magnet faces vertically downwards; when the photovoltaic panel is tilted, the magnet tilts and faces vertically towards the photovoltaic panel. This allows the magnetic attraction effect to automatically adjust the direction and position of the magnet.

[0062] The number of magnetic strips 207 in each magnetic group can be an odd number, such as three, five, or seven. By specially setting the magnetic field direction of several magnetic strips 207 in the magnetic group, the magnetic fields of several magnetic strips 207 in the magnetic group can be easily integrated, so that the magnetic field of the magnetic group facing the photovoltaic panel is enhanced, while the magnetic field of the magnetic group away from the photovoltaic panel is weakened, thus achieving the effect of magnetic concentration and magnetic isolation. The specific arrangement of several magnetic strips 207 in the magnetic group can be such that the magnetic field of the middle magnetic strip 207 is perpendicular to the photovoltaic panel, and the magnetic field direction of the magnetic strips 207 adjacent to the middle magnetic strip 207 is tilted towards the magnetic field direction of the middle magnetic strip 207. For example, the tilt angle can be between 10° and 90°. The outermost magnetic strips 207 are also arranged with the same tilt angle, thereby making the magnetic field direction of several magnetic strips 207 on both sides of the middle magnetic strip 207 change at the same angle.

[0063] Furthermore, the magnetic strip 207 is arc-shaped, facing outwards towards the photovoltaic panel. When the magnetic strip 207 is arc-shaped, its magnetic field is concentrated, and the magnetic field strength reaches its maximum value at a certain point. The arrangement of several magnetic strips 207 in the magnetic group can arrange the strongest point of the magnetic field into a line, thereby enabling the magnetic field generated by several magnetic strips 207 in each magnetic group to be concentrated into a line, thus improving the overall magnetic attraction.

[0064] Furthermore, a buffer structure is provided on the mounting base 206 to buffer the rotation of the magnet on the support shaft 201. The buffer structure includes an annular cavity 208 opened in the mounting base 206, through which the support shaft 201 passes. Two partitions 209 are provided in the annular cavity 208 to separate the annular cavity 208. The two partitions 209 are fixedly connected to the support shaft 201 and the mounting base 206 respectively, and a through hole 210 is opened on one of the partitions 209.

[0065] like Figure 8 As shown, when the mounting base 206 rotates relative to the support shaft 201, the two partitions 209 move relative to each other, and the space between the two partitions 209 changes. The space on one side of the partition 209 decreases, and the space on the other side increases. Air in the space can flow through the through hole 210, and the through hole 210 restricts the air flow speed, thereby limiting the rotational speed of the mounting base 206 on the support shaft 201, so as to achieve the purpose of providing a buffer function for the magnet.

[0066] In some embodiments, water, oil or other fluids can also be stored in the annular cavity 208, which can also serve as a buffer.

[0067] Furthermore, the rolling element 200 also includes an annular toothed groove 211 formed on the ball 202, a gear 213 that cooperates with the annular toothed groove 211, and a rotating ring 212 located outside the gear 213. The gear 213 is rotatably mounted on the rotating ring 212, and the rotating ring 212 is rotatably mounted on the machine base 100. The annular toothed groove 211 is coaxially mounted with the support shaft 201.

[0068] A worm 214 and a turbine 215 are provided inside the rotating ring 212 for mutual use. The turbine 215 is connected to the gear 213 for transmission, and the worm 214 is coaxially arranged with the support ring 205.

[0069] like Figure 6 As shown, both the annular groove 211 and the gear 213 are offset from the axis of the support ring 205, and the support ring 205 and the worm 214 are coaxially arranged. Utilizing the cooperative relationship between the annular groove 211 and the gear 213, the rotation of the gear 213 can drive the ball 202 to rotate on the support shaft 201. When the rotating ring 212 rotates, it drives the ball 202 to rotate around the axis of the support ring 205 through the gear 213 and the annular groove 211, thereby adjusting the rolling direction of the ball 202. When the rotating ring 212 rotates, the gear 213 and the worm 215 both rotate around the worm 214. The worm 214 remains stationary and maintains a meshing transmission relationship with the worm 215, thus the worm 214 can provide forward power for the ball 202 at any forward angle. The rotation of the rotating ring 212 and the rotation of the worm 214 can be driven by two motors.

[0070] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of the application as defined herein, and are to be considered as covering any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Thus, if such modifications and modifications fall within the scope of this application and its equivalents, this application intends to include such modifications and modifications.

Claims

1. A photovoltaic panel cleaning robot mobile structure, characterized by, The machine table, a plurality of rolling bodies arranged on the machine table and used for driving the machine table to move, and a suction unit arranged on the machine table; The suction unit comprises a plurality of sliders arranged on the machine table and a plurality of electromagnetic structures arranged on the machine table, the plurality of sliders are staggered, each of the sliders is provided with a magnetic plate and a suction cylinder, the electromagnetic structures are used in cooperation with the magnetic plates, and the suction cylinders are used for suction and fixation of external photovoltaic panels by means of negative pressure in the suction cylinders; A sealing ring is arranged at the bottom of the suction cylinder and used for sealing; The sealing ring is provided with an inflation groove inside and is arranged in an expandable and deformable manner; The suction unit further comprises a pump body arranged on the machine table, a gas guide pipe one and a gas guide pipe two are arranged at the input end and the output end of the pump body respectively, the input end of the gas guide pipe one is communicated with each of the suction cylinders, and the gas guide pipe two is communicated with each of the inflation grooves through a plurality of gas guide pipes three; The rolling body comprises a support ring arranged on the machine table and a support shaft located inside the support ring, the support shaft is provided with a clamping frame at both ends, the clamping frame moves on the support ring through a roller, and the support shaft is provided with a ball capable of moving on an external photovoltaic panel in the middle part; A magnet is arranged inside the ball and used in cooperation with a metal plate on the back of the external photovoltaic panel; The magnet comprises a mounting seat arranged on the support shaft and a plurality of magnetic groups arranged on the mounting seat, the magnetic groups are composed of a plurality of magnetic strips, the number of the magnetic strips in the magnetic groups is an odd number of at least three, the magnetic field direction of the magnetic strip located in the middle of the magnetic groups is perpendicular to the external photovoltaic panel, and the magnetic field directions of the magnetic strips located on both sides of the magnetic strip change in turn at equal angles; The mounting seat is arranged in a rotatable manner on the support shaft, and the center of gravity of the magnet is located between the support shaft and the external photovoltaic panel; The shape of the magnetic strip is arc-shaped towards the external photovoltaic panel; A buffer structure is arranged on the mounting seat and used for buffering the rotation of the magnet on the support shaft, the buffer structure comprises a ring cavity opened in the mounting seat, the support shaft passes through the ring cavity, two partition plates are arranged in the ring cavity and used for partitioning the ring cavity, the two partition plates are fixedly connected with the support shaft and the mounting seat respectively, and a through hole is arranged in one of the partition plates. When in use, the suction cylinders of the first group are adsorbed on the photovoltaic panel by the negative pressure in the suction cylinders, at this time, the friction between the rolling body and the photovoltaic panel will make the machine table unable to move, when the rolling body drives the machine table to move, the machine table moves relative to the sliding blocks of the first group, the sliding blocks slide on the machine table, the suction cylinders of the first group remain in the stationary state, the magnetic plate and the electromagnetic structure are separated from each other, and the electromagnetic structure is in the power-off state, when the machine table advances a specified distance, the suction cylinders of the second group are adsorbed and fixed on the photovoltaic panel, at this time, the suction cylinders of the first group can stop adsorption work, the normal pressure state is restored in the suction cylinders of the first group, the electromagnetic structure of the first group is powered on, the electromagnetic structure of the first group can be attracted to the corresponding magnetic plate, so that the suction cylinders of the first group move towards the initial position, the suction cylinders of the second group remain in the relative fixed state, and the machine table moves relative to the suction cylinders of the second group, when the suction cylinders of the first group move to the initial position on the machine table, the suction cylinders of the first group are adsorbed and fixed on the photovoltaic panel again, the suction cylinders of the second group stop adsorption work, and the process is repeated, so that the effect of stable advancement of the machine table on the photovoltaic panel is realized.

2. A photovoltaic panel cleaning robot movement structure according to claim 1, characterized in that, An exhaust hopper is arranged on the machine table, an opening direction of the exhaust hopper is directed away from the external photovoltaic panel, the air guide pipe two is communicated with the exhaust hopper, and a pressure regulating valve is arranged between the air guide pipe two and the exhaust hopper.

3. A photovoltaic panel cleaning robot movement structure according to claim 1, characterized in that, The rolling body further comprises an annular tooth groove opened on the ball, a gear used in cooperation with the annular tooth groove, and a rotating ring located outside the gear, the gear is rotationally arranged on the rotating ring, the rotating ring is rotationally arranged on the machine table, and the annular tooth groove is coaxially arranged with the support shaft; a worm and a turbine that are used in cooperation with each other are arranged in the rotating ring, the turbine is in transmission connection with the gear, and the worm is coaxially arranged with the support ring.

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