Photovoltaic installation self-cleaning programmed robot

Abstract

This application provides a self-cleaning programmable robot for photovoltaic installation, belonging to the field of photovoltaic automated installation technology. The robot includes a robotic arm, an end base, a suction cup, and a vacuum mechanism. The end base is mounted on the end of the robotic arm, and the suction cup is mounted on the end base. An airflow channel is provided within the end base; one end of the airflow channel communicates with the airflow channel of the suction cup, and the other end communicates with the vacuum mechanism. The end base also has an air collection chamber, which is connected to the airflow channel via a connecting channel controlled by a control mechanism. When the suction cup approaches the photovoltaic panel, the control mechanism opens the connecting channel, allowing air from the air collection chamber to be blown out through the suction cup, thereby cleaning the surface of the photovoltaic panel. This effectively reduces the impact of dust / sand on photovoltaic panel installation, ensures the safe operation of the robot, reduces safety risks, and lowers the probability of accidental damage to the photovoltaic panel. It is suitable for batch installation of photovoltaic panels in dusty / sandy environments.

Description

Technical Field

[0001] This application relates to the field of photovoltaic automated installation technology, and more specifically, to a self-cleaning programmable robotic arm for photovoltaic installation. Background Technology

[0002] Currently, photovoltaic installation robots / manipulators are widely used in the mass installation of photovoltaic panels. Among photovoltaic installation robots, vacuum suction cups are mainly used to grasp and place photovoltaic panels.

[0003] However, when the installation environment is dusty (sandstorm weather) or when the amount of dust in the installation environment is large, there will often be a layer of dust / sand on the surface of the photovoltaic panel. At this time, the gripping effect of the vacuum suction cup on the photovoltaic panel will be significantly affected. In severe cases, the photovoltaic panel may accidentally fall off (from the photovoltaic installation robot), which seriously affects construction safety and will also cause damage to the photovoltaic panel.

[0004] In view of the above, this application is hereby submitted. Summary of the Invention

[0005] The purpose of this application is to provide a self-cleaning programmable robot for photovoltaic installation, which can effectively reduce the impact of dust / sand on photovoltaic panel installation, ensure the safe operation of the robot, reduce safety risks, and reduce the probability of accidental damage to photovoltaic panels. It is suitable for mass installation of photovoltaic panels in dusty / sandy environments.

[0006] The embodiments of this application are implemented as follows: A self-cleaning programmable robot for photovoltaic installation includes: a robotic arm, an end seat, a suction cup, and a vacuum mechanism.

[0007] The end mount is installed at the end of the robotic arm, and the suction cup is installed on the end mount. An airflow channel is provided inside the end mount. One end of the airflow channel is connected to the airflow channel of the suction cup, and the other end of the airflow channel is connected to the vacuum mechanism.

[0008] The end seat also has an air collection chamber, which is connected to the air guide channel through a connecting channel, which is controlled by a control mechanism to open and close.

[0009] When the suction cup approaches the photovoltaic panel, the control mechanism opens the communication channel, allowing air in the gas collection chamber to be blown out through the suction cup, thereby cleaning the surface of the photovoltaic panel.

[0010] Furthermore, the airflow channel includes a first channel and a second channel. The first channel is connected to the air passage of the suction cup and extends axially along the air passage. The second channel is located on the side wall of the first channel and is connected to the first channel, and the other end of the second channel is connected to the vacuum mechanism.

[0011] The control mechanism includes: a control lever, a transmission assembly, a first transmission lever, and a second transmission lever.

[0012] The control rod is arranged along the axial direction of the air passage. One end of the control rod passes through the suction cup, and the other end of the control rod extends into the first flow channel and is embedded in the end wall of the first flow channel away from the air passage. Along the axial direction of the air passage, the control rod slides and seals with the suction cup, and also slides and seals with the end wall of the first flow channel.

[0013] The control lever has a first rack arranged along its length.

[0014] The transmission assembly is installed in the first flow channel and is engaged with the first rack and pinion drive.

[0015] The connecting channels include: a first channel, a second channel, and a third channel. The first channel is located on the side wall of the first flow channel, and the second channel is connected to the end of the first channel furthest from the first flow channel, with the second channel arranged axially along the first channel. The gas collecting chamber is spaced apart from the second channel, and the third channel is located on the side wall of the second channel, connecting the second channel and the gas collecting chamber. The inner diameter of the first channel is larger than the inner diameter of the second channel.

[0016] The first transmission rod is located within the first channel and is arranged along the axial direction of the first channel. The first transmission rod is also in transmission cooperation with the transmission assembly. The first transmission rod is rotatably fitted within the first channel.

[0017] A mating hole is formed on the end face of the first transmission rod away from the transmission assembly, extending axially along the first transmission rod, and the second transmission rod is accommodated in the mating hole. Along the axial direction of the first transmission rod, the second transmission rod is in sliding engagement with the first transmission rod. Along the circumferential direction of the first transmission rod, the second transmission rod is in fixed engagement with the first transmission rod.

[0018] The end of the second transmission rod furthest from the first transmission rod engages with the second channel, and the outer wall of the second transmission rod is in contact with the inner wall of the second channel. Along the axial direction of the second channel, the second transmission rod and the second channel are in a sliding engagement and provide a sliding seal. Along the circumferential direction of the second channel, the second transmission rod and the second channel are in a rotational engagement and provide a rotational seal.

[0019] The second transmission rod has an axial through hole through which it passes. The mating hole has a connecting hole that communicates with the first flow channel. A first elastic element abuts between the end wall of the second transmission rod and the bottom wall of the mating hole.

[0020] The middle section of the second transmission rod has an external thread, which is located within the first channel. The first channel also contains a mating component that engages with the external thread of the second transmission rod.

[0021] The control lever is coupled with a second elastic element, which drives the control lever to move from the first flow channel to the air channel. When the control lever moves towards the air channel and reaches its stop point, the end wall of the second transmission rod fits against the end wall of the second channel, and the second transmission rod closes the third channel.

[0022] When the suction cup approaches the photovoltaic panel, the photovoltaic panel pushes the control rod, which moves from the air passage to the first flow channel. The control rod drives the first and second transmission rods to rotate through the transmission assembly, so that the second transmission rod moves towards the first channel, thereby opening the third channel.

[0023] Furthermore, the airflow channel also includes a third flow channel. The third flow channel is also located on the side wall of the first flow channel, and is spaced apart from the second flow channel. The end of the third flow channel away from the first flow channel is connected to the second flow channel.

[0024] The second flow channel is provided with a first one-way structure. The first one-way structure allows air in the first flow channel to flow to the vacuum mechanism through the second flow channel, and prevents air at the vacuum mechanism from flowing to the first flow channel through the second flow channel.

[0025] The third flow channel is equipped with a second one-way structure. The second one-way structure prevents air in the first flow channel from flowing to the second flow channel through the third flow channel, while allowing air in the second flow channel to flow to the first flow channel through the third flow channel.

[0026] The control lever is equipped with a locking element to lock the first one-way structure, keeping it closed. When the control lever moves from the air passage to the first flow passage and reaches its stop point, the locking element unlocks the first one-way structure.

[0027] Furthermore, the first unidirectional structure includes: a stop ring, a sealing element, a slide bar, a positioning sleeve, and a third elastic element.

[0028] The stop ring is coaxially arranged with the second flow channel, and the outer ring wall of the stop ring is attached to and fixedly connected with the inner wall of the second flow channel.

[0029] The positioning sleeve and the stop ring are coaxially arranged and spaced apart, with the positioning sleeve located on the side of the stop ring away from the first flow channel.

[0030] The sliding rod is slidably fitted into the positioning sleeve, and the sealing element is connected to the end of the sliding rod near the stop ring. A third elastic element abuts between the sealing element and the positioning sleeve, so that the sealing element can abut against the stop ring and close the stop ring.

[0031] An extension rod is connected to the side of the sealing component near the first flow channel. The extension rod extends into the first flow channel, and a locking hole is provided at the end of the extension rod away from the sealing component.

[0032] The locking element is a pin that extends axially along the control lever. The pin engages with a locking hole. When the control lever moves from the air passage to the first flow passage and reaches its stop point, the pin retracts from the locking hole.

[0033] Furthermore, the transmission component is a ratchet structure.

[0034] When the control lever moves from the air passage to the first flow passage, it can drive the first transmission rod to rotate via the transmission assembly. When the control lever moves from the first flow passage to the air passage, it cannot drive the first transmission rod to rotate via the transmission assembly.

[0035] The mating component is a chuck, which is rotatably mounted within the first channel. The chuck is engaged with a fourth elastic element so that the tip of the chuck engages with the external thread of the second transmission rod.

[0036] The sidewall of the second flow channel has a clearance notch that connects the second flow channel and the first channel. The clearance notch extends along the length of the second flow channel.

[0037] A sliding strip is provided in the first channel. The sliding strip is set along the length of the first channel and can slide to fit into the first channel. The sliding strip will close the gap.

[0038] The end of the slider near the first flow channel has a toggle part.

[0039] The sealing component is fixedly connected to the sliding strip via a connector, which is located within the clearance notch.

[0040] When the vacuum mechanism is working, the sealing component separates from the stop ring, and the sealing component drives the sliding bar to move, so that the actuating part actuates the pawl, thereby separating the pawl tip from the external thread of the second transmission rod.

[0041] Furthermore, the gas collecting chamber extends along the length of the first channel. A piston is fitted inside the gas collecting chamber, and a pull rope is connected to the side of the piston away from the first flow channel. A fifth elastic element abuts against the end wall of the gas collecting chamber away from the first flow channel.

[0042] The end seat also has a winding chamber, which is located on the side of the gas collecting chamber away from the first flow channel and is spaced apart from the gas collecting chamber. The gas collecting chamber and the winding chamber are connected by a rope hole, and the pull rope extends into the winding chamber through the rope hole.

[0043] A winding drum is installed inside the winding chamber, and the pull rope is wound up into the winding drum.

[0044] The take-up cavity is connected to the first channel through an extension hole.

[0045] The sliding bar extends to the extension hole and then to the winding cavity. A second rack is connected to one end of the sliding bar near the winding cavity. The second rack and the winding drum are connected by a transmission structure.

[0046] The third channel is equipped with a third one-way structure. The third one-way structure allows air in the gas collection chamber to enter the second channel through the third channel, while preventing air in the second channel from entering the gas collection chamber through the third channel.

[0047] The air collection chamber is equipped with an air intake channel that communicates with the outside atmosphere. The air intake channel has a fourth one-way structure. The fourth one-way structure allows outside air to enter the air collection chamber through the air intake channel and prevents air inside the air collection chamber from entering the outside atmosphere through the air intake channel.

[0048] When the vacuum mechanism is working, the sealing element separates from the stop ring, and the sealing element drives the sliding bar to move, so that the second rack drives the winding drum, thereby causing the winding drum to pull the rope to draw air into the gas collection chamber from the outside.

[0049] Furthermore, a filter plate is provided at the end of the suction cup's air passage near the first flow channel, and a control rod passes through the filter plate. Along the axial direction of the control rod, the control rod can slide and fit into the filter plate, providing a sliding seal.

[0050] Furthermore, the suction cup has an inner cavity, and the air passage is connected to the inner cavity.

[0051] The suction surface of the suction cup has several air holes, all of which are connected to the inner cavity.

[0052] The gripping surface of the suction cup has a flange, which protrudes from the gripping surface and is located at the edge of the suction cup. The flange extends continuously in a ring along the axial direction of the suction cup. The flange is made of a flexible material.

[0053] Furthermore, an end plate is connected to the end of the control lever near the suction cup, and the thickness of the end plate is less than the protrusion height of the flange.

[0054] The beneficial effects of the technical solutions in this application include: The self-cleaning programmable robot for photovoltaic installation provided in this application can effectively reduce the impact of dust / sand on photovoltaic panel installation, ensure the safe operation of the robot, reduce safety risks, and reduce the probability of accidental damage to photovoltaic panels. It is suitable for batch installation of photovoltaic panels in dusty / sandy environments. Attached Figure Description

[0055] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1A schematic diagram of the main structure of the photovoltaic installation self-cleaning programmable robot provided in the embodiments of this application; Figure 2 for Figure 1 A schematic diagram showing the coordination of the first, second, and third flow channels; Figure 3 This is a schematic diagram of the engagement of the first and second transmission rods (initial state). Figure 4 This is a schematic diagram showing the engagement of the first and second transmission rods (when the third channel is open). Figure 5 This is a schematic diagram of the engagement between the first and second transmission rods (when the actuating part actuates the mating component).

[0057] Explanation of reference numerals in the attached figures: Robotic arm 100; end seat 200; first flow channel 210; second flow channel 220; clearance notch 221; stop ring 222a; sealing component 222b; slide rod 222c; positioning sleeve 222d; third elastic element 222e; third flow channel 230; second one-way structure 231; air collection chamber 240; piston 241; pull rope 242; fifth elastic element 243; air intake channel 244; fourth one-way structure 245; winding chamber 250; winding drum 251; first channel 310; extension hole 311; second channel 320; and the third... Three-channel 330; third unidirectional structure 331; control rod 400; transmission assembly 410; first transmission rod 420; mating hole 421; second transmission rod 430; axial through hole 431; external thread 432; first elastic element 440; mating part 450; locking part 460; extension rod 470; end plate 480; sliding bar 500; actuating part 510; second rack 520; connecting part 530; suction cup 600; air passage 610; inner cavity 620; suction surface 630; air hole 640; flange 650; filter plate 660. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0059] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0060] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0061] The terms “first,” “second,” “third,” “fourth,” etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0062] Furthermore, the terms "vertical" and "parallel" do not mean that the parts must be absolutely vertical or parallel, but can be slightly tilted.

[0063] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0064] The technical solutions of this application will be described by way of example through some embodiments below.

[0065] To overcome the shortcomings of existing technologies, see Figures 1-3 This application provides a photovoltaic installation self-cleaning programmable robot, which includes: a robotic arm 100, an end base 200, a suction cup 600, and a vacuum mechanism (not shown in the figure).

[0066] The robotic arm 100 can be an existing industrial robotic arm 100.

[0067] The end mount 200 is mounted on the end of the robotic arm 100, and the suction cup 600 is mounted on the end mount 200.

[0068] An airflow channel is provided inside the end seat 200. One end of the airflow channel is connected to the air passage 610 of the suction cup 600, and the other end of the airflow channel is connected to the vacuum mechanism.

[0069] The vacuum mechanism is used to provide a vacuum level for the suction cup 600 so that the suction cup 600 can grasp the photovoltaic panel.

[0070] The end seat 200 also has an air collecting chamber 240, which is connected to the air guiding channel through a connecting channel, which is controlled by a control mechanism to open and close.

[0071] When the suction cup 600 approaches the photovoltaic panel, the control mechanism opens the communication channel so that the air in the air collection chamber 240 is blown out through the suction cup 600, thereby cleaning the surface of the photovoltaic panel.

[0072] Specifically, the airflow channels include: a first flow channel 210 and a second flow channel 220. The first flow channel 210 is connected to the air passage 610 of the suction cup 600, and the first flow channel 210 extends along the axial direction of the air passage 610.

[0073] The second flow channel 220 is opened on the side wall of the first flow channel 210 and is connected to the first flow channel 210. The other end of the second flow channel 220 is connected to the vacuum mechanism.

[0074] In this embodiment, the second flow channel 220 is arranged perpendicular to the first flow channel 210, the inner diameter of the air passage 610 is the same as the inner diameter of the first flow channel 210, and the air passage 610 and the first flow channel 210 are arranged coaxially.

[0075] The control mechanism includes: a control lever 400, a transmission assembly 410, a first transmission lever 420, and a second transmission lever 430.

[0076] The control lever 400 is arranged along the axial direction of the air passage 610, and the diameter of the control lever 400 is smaller than the inner diameter of the air passage 610 and the first flow passage 210.

[0077] In this embodiment, the suction cup 600 has an inner cavity 620, and the air passage 610 is located on the side of the inner cavity 620 near the end seat 200 and communicates with the inner cavity 620.

[0078] The suction surface 630 of the suction cup 600 has several air holes 640, all of which are connected to the inner cavity 620.

[0079] The gripping surface of the suction cup 600 has a flange 650, which is formed by protruding from the surface of the gripping surface toward the side away from the end seat 200. The flange 650 is located at the edge of the suction cup 600 and extends continuously in an annular shape along the axial direction of the suction cup 600. The flange 650 is made of a flexible material, such as rubber, but not limited to it.

[0080] One end of the control lever 400 near the suction cup 600 penetrates the suction surface 630 of the suction cup 600, and the other end of the control lever 400 extends to the first flow channel 210 and is embedded in the end wall of the first flow channel 210 away from the air passage 610. In this embodiment, the end of the control lever 400 away from the suction cup 600 is penetrated by the end wall of the first flow channel 210 to the side surface of the end seat 200 away from the suction cup 600.

[0081] Along the axial direction of the air passage 610, the control rod 400 slides and seals with the suction cup 600, and the control rod 400 also slides and seals with the end wall of the first flow channel 210.

[0082] The control lever 400 has a first rack (not shown) arranged along its length.

[0083] The transmission assembly 410 is installed in the first flow channel 210, and the transmission assembly 410 is engaged with the first rack and pinion.

[0084] The connecting channels include: the first channel 310, the second channel 320, and the third channel 330.

[0085] The first channel 310 is formed on the side wall of the first flow channel 210 and communicates with the first flow channel 210. The first channel 310 is arranged parallel to the second flow channel 220. In this embodiment, the first channel 310 is located on the side of the second flow channel 220 away from the suction cup 600.

[0086] The second channel 320 is located at the end of the first channel 310 away from the first flow channel 210 and is connected to the first channel 310. The second channel 320 extends along the axial direction of the first channel 310. The inner diameter of the first channel 310 is larger than the inner diameter of the second channel 320.

[0087] The gas collecting chamber 240 and the second channel 320 are spaced apart. The third channel 330 is opened on the side wall of the second channel 320, and the third channel 330 connects the second channel 320 and the gas collecting chamber 240. The third channel 330 is perpendicular to the second channel 320.

[0088] The first transmission rod 420 is located inside the first channel 310 and is arranged along the axial direction of the first channel 310. The diameter of the first transmission rod 420 is smaller than the inner diameter of the first channel 310, and the first transmission rod 420 is coaxially arranged with the first channel 310.

[0089] The end of the first transmission rod 420 near the transmission assembly 410 is engaged with the transmission assembly 410, and the first transmission rod 420 is rotatably engaged within the first channel 310.

[0090] A mating hole 421 is provided on the end face of the first transmission rod 420 away from the transmission assembly 410. The mating hole 421 extends along the axial direction of the first transmission rod 420 and is coaxially arranged with the first transmission rod 420. The mating hole 421 is a blind hole.

[0091] The second transmission rod 430 is accommodated in the mating hole 421. Along the axial direction of the first transmission rod 420, the second transmission rod 430 is in sliding engagement with the first transmission rod 420. Along the circumferential direction of the first transmission rod 420, the second transmission rod 430 is in fixed engagement with the first transmission rod 420. That is, when the first transmission rod 420 rotates, it can drive the second transmission rod 430 to rotate.

[0092] The end of the second transmission rod 430 furthest from the first transmission rod 420 is fitted into the second channel 320. The diameter of the second transmission rod 430 matches the inner diameter of the second channel 320, and the outer sidewall of the second transmission rod 430 is in contact with the inner sidewall of the second channel 320. Along the axial direction of the second channel 320, the second transmission rod 430 and the second channel 320 are in a sliding engagement and provide a sliding seal. Along the circumferential direction of the second channel 320, the second transmission rod 430 and the second channel 320 are in a rotational engagement and provide a rotational seal.

[0093] The second transmission rod 430 has an axial through hole 431 through which it passes. The bottom wall of the mating hole 421 has a connecting hole (not shown in the figure) that communicates with the first flow channel 210.

[0094] The end wall of the second transmission rod 430 away from the second channel 320 abuts against the bottom wall of the mating hole 421. The first elastic element 440 is located between the end wall of the second transmission rod 430 away from the second channel 320 and the bottom wall of the mating hole 421.

[0095] The middle section of the second transmission rod 430 has an external thread 432, which is located within the first channel 310. The first channel 310 also contains a mating part 450 that engages with the external thread 432 of the second transmission rod 430.

[0096] The control lever 400 is fitted with a second elastic element (not shown in the figure), which is used to drive the control lever 400 to move from the first flow channel 210 into the air channel 610.

[0097] When the control lever 400 slides along the axial direction of the air passage 610, the end of the control lever 400 away from the suction cup 600 is always engaged with the end wall of the first flow channel 210, that is, the control lever 400 will never come off the end wall of the first flow channel 210 away from the suction cup 600.

[0098] In its natural state, due to the elastic force of the second elastic element, the control lever 400 is pushed towards the air passage 610. When the control lever 400 is moved towards the air passage 610 and reaches its stop point, the end of the control lever 400 extends beyond the suction surface 630 of the suction cup 600, such as... Figure 1 and Figure 2 As shown, in this state, the end wall of the second transmission rod 430 is in contact with the end wall of the second channel 320, and the second transmission rod 430 closes the third channel 330, as... Figure 3 As shown.

[0099] When the suction cup 600 approaches the photovoltaic panel, the control rod 400 contacts the photovoltaic panel before the suction cup 600. The photovoltaic panel then pushes the control rod 400, causing it to move from the air passage 610 towards the side where the first flow channel 210 is located. The control rod 400 is gradually pushed inward. The control rod 400 drives the first transmission rod 420 and the second transmission rod 430 to rotate through the transmission assembly 410. Under the action of the mating part 450 and guided by the external thread 432, the second transmission rod 430 moves into the mating hole 421. The first elastic element 440 is elastically compressed, and the second transmission rod 430 moves into the first channel 310. The second transmission rod 430 separates from the end wall of the second channel 320. When the second transmission rod 430 is misaligned with the third channel 330, the third channel 330 opens. Figure 4 As shown.

[0100] In this embodiment, the airflow channel further includes a third flow channel 230.

[0101] The third flow channel 230 is also formed on the side wall of the first flow channel 210 and is connected to the first flow channel 210. The third flow channel 230 is parallel to and spaced apart from the second flow channel 220. The third flow channel 230 is located on the side of the second flow channel 220 closer to the suction cup 600. The end of the third flow channel 230 away from the first flow channel 210 is connected to the second flow channel 220.

[0102] The second flow channel 220 is provided with a first one-way structure. The first one-way structure allows air in the first flow channel 210 to flow to the vacuum mechanism through the second flow channel 220, and prevents air at the vacuum mechanism from flowing to the first flow channel 210 through the second flow channel 220.

[0103] The third flow channel 230 is provided with a second one-way structure 231. The second one-way structure 231 prevents the air in the first flow channel 210 from flowing to the second flow channel 220 through the third flow channel 230, and allows the air in the second flow channel 220 to flow to the first flow channel 210 through the third flow channel 230.

[0104] The control lever 400 is equipped with a locking element 460, which is used to lock the first one-way structure so that the first one-way structure remains closed.

[0105] When the control lever 400 moves from the air passage 610 to the first flow passage 210 and reaches the movement stop point, the locking member 460 unlocks the first one-way structure so that the first one-way structure can be opened.

[0106] Specifically, the first unidirectional structure includes: a stop ring 222a, a sealing element 222b, a sliding rod 222c, a positioning sleeve 222d, and a third elastic element 222e.

[0107] The stop ring 222a is coaxially arranged with the second flow channel 220, and the outer ring wall of the stop ring 222a is attached to and fixedly connected with the inner wall of the second flow channel 220.

[0108] The positioning sleeve 222d and the stop ring 222a are coaxially arranged and spaced apart, with the positioning sleeve 222d located on the side of the stop ring 222a away from the first flow channel 210. The outer diameter of the positioning sleeve 222d is smaller than the inner diameter of the second flow channel 220, and the positioning sleeve 222d is fixedly connected to the inner wall of the second flow channel 220 by a connecting post.

[0109] The slide rod 222c is slidably fitted into the positioning sleeve 222d, and the slide rod 222c and the positioning sleeve 222d are coaxially arranged. The sealing member 222b is connected to the end of the slide rod 222c near the stop ring 222a, and the sealing member 222b is coaxially arranged with the slide rod 222c. The outer diameter of the sealing member 222b is larger than the inner diameter of the stop ring 222a.

[0110] The third elastic element 222e abuts against the sealing element 222b and the positioning sleeve 222d, so that the sealing element 222b can abut against the side of the stop ring 222a away from the first flow channel 210 and close the stop ring 222a. This causes the first unidirectional structure to enter the closed state.

[0111] An extension rod 470 is connected to the side of the sealing member 222b near the first flow channel 210. The extension rod 470 extends axially along the second flow channel 220 and extends into the first flow channel 210. A locking hole (not shown in the figure) is provided at the end of the extension rod 470 away from the sealing member 222b.

[0112] In this embodiment, the locking element 460 is a pin, which extends axially along the control rod 400 and is parallel and spaced apart from the control rod 400. The pin engages with the locking hole. When the control rod 400 moves from the air passage 610 to the first flow channel 210 and reaches its movement stop, the pin retracts from the locking hole. In other states (during the movement of the control rod 400 from the first flow channel 210 to the air passage 610, and when the control rod 400 moves to the air passage 610 and reaches its movement stop), the pin is inserted into the locking hole. That is, the first one-way structure is only unlocked after the control rod 400 moves from the air passage 610 to the first flow channel 210 and reaches its movement stop.

[0113] Furthermore, in this embodiment, the transmission assembly 410 is a ratchet structure. Specifically, when the control lever 400 moves from the air passage 610 to the first flow passage 210, the control lever 400 can drive the first transmission lever 420 to rotate via the transmission assembly 410. When the control lever 400 moves from the first flow passage 210 to the air passage 610, the control lever 400 cannot drive the first transmission lever 420 to rotate via the transmission assembly 410.

[0114] The mating part 450 is a chuck, which is rotatably mounted in the first channel 310. The chuck is fitted with a fourth elastic element (not shown in the figure) so that the tip of the chuck fits against the outside of the second transmission rod 430 and engages with the external thread 432 of the second transmission rod 430.

[0115] The fourth elastic element may be a torsion spring, but is not limited to this.

[0116] The second flow channel 220 has a clearance notch 221 on the side wall near the first channel 310. The clearance notch 221 connects the second flow channel 220 and the first channel 310 and extends along the length of the second flow channel 220.

[0117] A sliding strip 500 is provided inside the first channel 310. The sliding strip 500 is attached to the side wall of the first channel 310 near the second flow channel 220. The sliding strip 500 is arranged along the length direction of the first channel 310 and slidably engages with the first channel 310, and the sliding strip 500 closes the clearance notch 221. As the sliding strip 500 slides along the length direction of the first channel 310, the sliding strip 500 always closes the clearance notch 221.

[0118] The sliding bar 500 has a toggle part 510 at one end near the first flow channel 210.

[0119] The sealing element 222b is fixedly connected to the sliding strip 500 via the connector 530, which is located within the clearance notch 221.

[0120] When the vacuum mechanism is working, the sealing member 222b separates from the stop ring 222a, and the sealing member 222b drives the sliding bar 500 to move, so that the actuating part 510 actuates the pawl, thereby separating the pawl tip from the external thread 432 of the second transmission rod 430.

[0121] Furthermore, the gas collecting chamber 240 is located on the side of the first channel 310 and the second channel 320 that is away from the second flow channel 220, and both the first channel 310 and the second channel 320 are spaced apart from the gas collecting chamber 240.

[0122] The gas collecting chamber 240 extends along the length of the first channel 310.

[0123] In this embodiment, the third flow channel 230, the second flow channel 220, the first channel 310 and the gas collection chamber 240 are all located on the same side of the first flow channel 210.

[0124] A piston 241 is fitted inside the gas collecting chamber 240. A pull rope 242 is connected to the side of the piston 241 away from the first flow channel 210. A fifth elastic element 243 abuts between the piston 241 and the end wall of the gas collecting chamber 240 away from the first flow channel 210.

[0125] The third channel 330 is located at one end of the gas collecting chamber 240 near the first flow channel 210.

[0126] The third channel 330 is provided with a third one-way structure 331. The third one-way structure 331 allows air in the gas collecting chamber 240 to enter the second channel 320 through the third channel 330, and prevents air in the second channel 320 from entering the gas collecting chamber 240 through the third channel 330.

[0127] The end of the gas collecting chamber 240 near the first flow channel 210 is also provided with an air intake channel 244 communicating with the outside atmosphere, extending through to the surface of the end seat 200. The air intake channel 244 is provided with a fourth one-way structure 245. The fourth one-way structure 245 allows outside air to enter the gas collecting chamber 240 through the air intake channel 244, and prevents air inside the gas collecting chamber 240 from entering the outside atmosphere through the air intake channel 244.

[0128] In this embodiment, an air filter is also provided at the inlet end of the air intake channel 244 (the end away from the air collection chamber 240) to filter dust and particulate impurities in the air.

[0129] The fifth elastic element 243 is used to push the piston 241 to move toward the side where the first flow channel 210 sits.

[0130] The end seat 200 also has a winding cavity 250. The winding cavity 250 is located on the side of the gas collecting cavity 240 away from the first flow channel 210 and is spaced apart from the gas collecting cavity 240. The gas collecting cavity 240 and the winding cavity 250 are connected by a rope hole, and the pull rope 242 extends into the winding cavity 250 through the rope hole.

[0131] A winding drum 251 is installed inside the winding chamber 250, and the pull rope 242 is wound into the winding drum 251.

[0132] An extension hole 311 is provided on the end wall of the first channel 310 near the second channel 320, extending along the length direction of the first channel 310. The extension hole 311 is parallel to and spaced apart from the second channel 320. The extension hole 311 extends from the first channel 310 to the winding cavity 250, and the winding cavity 250 is connected to the first channel 310 through the extension hole 311.

[0133] In this embodiment, the sliding bar 500 is located inside the extension hole 311 and extends through the extension hole 311 to the winding cavity 250, and the actuating part 510 is located at one end of the sliding bar 500 near the first channel 310.

[0134] The sliding bar 500 is also connected to a second rack 520 at one end near the take-up cavity 250. The second rack 520 and the take-up drum 251 are connected by a transmission structure (not shown in the figure). The transmission structure can be a gear transmission structure, but is not limited to it. The transmission ratio of the transmission structure can be flexibly set according to actual needs.

[0135] A portion of the mating part 450 (claw) extends into the extension hole 311. The part of the mating part 450 (claw) that is actuated by the actuating part 510 is located within the extension hole 311.

[0136] In this embodiment, the extension hole 311 is provided with a seal (not shown in the figure). The seal cooperates with the sliding bar 500 and is located between the actuating part 510 and the second rack 520, with both the actuating part 510 and the second rack 520 spaced apart from the seal. The seal is used to maintain a sliding seal between the sliding bar 500 and the extension hole 311 when the sliding bar 500 slides along the length direction of the extension hole 311. In this way, the seal can be used to block the winding cavity 250 and the first channel 310, avoiding interference.

[0137] When the vacuum mechanism is working, the sealing member 222b separates from the stop ring 222a, and the sealing member 222b drives the sliding bar 500 to move, so that the second rack 520 drives the winding drum 251, thereby causing the winding drum 251 to pull the pull rope 242 to draw air from the outside into the air collecting chamber 240.

[0138] In this embodiment, a filter plate 660 is provided at one end of the air passage 610 of the suction cup 600 near the first flow channel 210, and a control rod 400 passes through the filter plate 660. Along the axial direction of the control rod 400, the control rod 400 is slidably fitted to the filter plate 660 and slides to seal.

[0139] An end plate 480 is connected to the end of the control lever 400 near the suction cup 600. The thickness of the end plate 480 is less than the protrusion height of the flange 650. The end plate 480 can effectively reduce the pressure when the control lever 400 contacts the photovoltaic panel, thus preventing damage to the photovoltaic panel.

[0140] The specific working principle of the photovoltaic installation self-cleaning programmable robot provided in this application embodiment is as follows.

[0141] (1) In the initial state (e.g.) Figure 1 , Figure 2 and Figure 3 (As shown).

[0142] When the self-cleaning robotic arm for photovoltaic installation fails to grasp the photovoltaic panel, under the action of the second elastic element, the control rod 400 naturally moves towards the side where the air passage 610 is located. Part of the control rod 400 extends beyond the suction surface 630 of the suction cup 600 and beyond the flange 650. The end plate 480 is also located on the side of the flange 650 away from the air passage 610. In other words, in this state, the distance between the end plate 480 and the suction surface 630 is greater than the height of the flange 650 protruding relative to the suction surface 630.

[0143] The piston 241 is located at the end of the gas collecting chamber 240 away from the first flow channel 210, and the fifth elastic element 243 is elastically compressed, so that the corresponding amount of air has been drawn into the gas collecting chamber 240.

[0144] The first unidirectional structure, the second unidirectional structure 231, the third unidirectional structure 331, and the fourth unidirectional structure 245 are all in the closed state.

[0145] The control lever 400 moves into the air passage 610 and reaches its stop point. The locking member 460 is inserted into the locking hole of the extension lever 470, and the first one-way structure is locked in the closed state.

[0146] The end wall of the second transmission rod 430 away from the first transmission rod 420 is in contact with the end wall of the second channel 320 away from the first channel 310, and the third channel 330 is closed.

[0147] (2) When the photovoltaic panel is started to be grasped.

[0148] When the photovoltaic panel is started to be grasped, the suction cup 600 gradually approaches the photovoltaic panel, and the end plate 480 will contact the surface of the photovoltaic panel before the suction cup 600. The photovoltaic panel pushes the control rod 400 to move through the end plate 480, thereby causing the control rod 400 to overcome the elastic force of the second elastic element and move to the side where the first flow channel 210 is located.

[0149] During the movement of the control lever 400, the first rack drives the first transmission lever 420 to rotate via the transmission assembly 410 (ratchet structure), and the first transmission lever 420 drives the second transmission lever 430 to rotate. Since the mating part 450 (pawl) engages with the external thread 432 of the second transmission lever 430, when the second transmission lever 430 rotates, under the action of the external thread 432, the second transmission lever 430 will move synchronously towards the side where the first transmission lever 420 is located, overcoming the elastic force of the first elastic element 440 and moving into the mating hole 421.

[0150] As the second transmission rod 430 moves, it separates from the end of the second channel 320. Subsequently, the second transmission rod 430 can no longer fully guide the third channel 330, as... Figure 4 As shown, the third channel 330 is then activated.

[0151] After the third channel 330 is opened, under the elastic force of the fifth elastic element 243, the piston 241 is pushed to the side closer to the first flow channel 210, and the air in the gas collecting chamber 240 is pushed into the second channel 320 through the third channel 330.

[0152] Because the locking member 460 keeps the first one-way structure locked during the movement of the control lever 400 toward the first flow channel 210, the air in the second channel 320 enters the mating hole 421 through the axial through hole 431 of the second transmission lever 430, and then continues to enter the first flow channel 210 through the connecting hole. After entering the first flow channel 210, the air can only enter the air passage 610 through the first flow channel 210, and is finally blown out through the air hole 640 of the suction cup 600.

[0153] In this way, the air in the air collection chamber 240 can be used to clean the dust / sand on the photovoltaic panel corresponding to the suction cup 600, preventing dust / sand from remaining at the location where the suction cup 600 is to contact. This avoids dust / sand from adversely affecting the suction cup 600's gripping of the photovoltaic panel, thus ensuring smooth and safe gripping.

[0154] (3) Complete the grabbing of photovoltaic panels.

[0155] As the suction cup 600 gradually approaches the photovoltaic panel, the control lever 400 is continuously pushed into the suction cup 600, and the air in the air collection chamber 240 continuously cleans the dust / sand at the corresponding position of the suction cup 600.

[0156] Once the suction cup 600 makes full and smooth contact with the photovoltaic panel, the end plate 480 is completely pushed into the range of the flange 650, and the flange 650 is fully attached to the surface of the photovoltaic panel.

[0157] At this point, the control lever 400 moves into the first flow channel 210 and reaches its stop point. The locking member 460 disengages from the locking hole of the extension lever 470, and the first one-way structure is unlocked. In this state, the air in the gas collecting chamber 240 is also exhausted by the piston 241, which is in contact with the end wall of the gas collecting chamber 240 near the first flow channel 210.

[0158] Subsequently, the vacuum mechanism can start working. The vacuum mechanism provides a vacuum degree through the second flow channel 220, so that the second flow channel 220, the first flow channel 210, the third flow channel 230 and the suction cup 600 all maintain the corresponding vacuum degree, so that the suction cup 600 can complete the gripping of the photovoltaic panel.

[0159] At this point, even if a small amount of dust / sand remains within the area corresponding to suction cup 600, this dust / sand will be blocked by filter plate 660. The next time air from collection chamber 240 is used to clean the dust / sand from the photovoltaic panel surface, this dust / sand blocked by filter plate 660 will be removed simultaneously, leaving no residue.

[0160] When the vacuum mechanism starts working, under the action of air pressure, the sealing member 222b will separate from the stop ring 222a, so that the sealing member 222b can move along the axial direction of the slide bar 222c. The sealing member 222b can then drive the sliding bar 500 to move towards the winding cavity 250 through the connecting member 530.

[0161] During the movement of the sliding bar 500, the actuating part 510 contacts the mating part 450 and actuates the mating part 450 (claw), causing the claw tip to separate from the external thread 432 of the second transmission rod 430. Figure 5 As shown. At this time, the pawl is released from its position on the second transmission rod 430. Under the action of the first elastic element 440, the second transmission rod 430 is pushed back to its original position, and the second transmission rod 430 re-fits against the end wall of the second channel 320, and the third channel 330 is closed again.

[0162] Simultaneously, the second rack 520 drives the take-up drum 251, which pulls the draw rope 242 to seal the piston 241 at the end of the gas collecting chamber 240 away from the first flow channel 210. Since the third channel 330 has been sealed, the gas collecting chamber 240 is no longer affected by the vacuum level in the first flow channel 210. The piston 241 can smoothly draw air from the outside through the suction channel 244, refilling the gas collecting chamber 240 with the corresponding amount of air for cleaning the photovoltaic panel surface during the next grabbing of the photovoltaic panel.

[0163] When the vacuum mechanism starts working for a certain period of time, the vacuum levels in the second flow channel 220, the first flow channel 210, the third flow channel 230 and the suction cup 600 all reach the predetermined values, the first one-way structure will close again, and the sealing member 222b will be reset under the action of the third elastic member 222e.

[0164] After the sealing component 222b is reset, the sliding bar 500 is also reset. At this time, the actuating part 510 will separate from the mating part 450 again. Under the action of the fourth elastic element, the mating part 450 will rotate and reset and re-engage with the external thread 432 of the second transmission rod 430. The second rack 520 will then drive the take-up drum 251 to rotate in the opposite direction by the corresponding angle. The take-up drum 251 will release the corresponding amount of pull rope 242 (enough for the piston 241 to return to the end of the gas collecting chamber 240 near the first flow channel 210), so as not to interfere with the next exhaust of the piston 241.

[0165] At this point, the second drive rod 430, the first one-way structure, the take-up drum 251, and the piston 241 all returned to their original positions. Figure 1 and Figure 2 The state shown.

[0166] (4) Release the photovoltaic panels.

[0167] When the self-cleaning robotic arm for photovoltaic installation needs to release the photovoltaic panel, the vacuum mechanism is used to release the vacuum. Combined with the balancing effect of the second unidirectional structure 231, the pressure in the second flow channel 220, the first flow channel 210, the third flow channel 230 and the suction cup 600 is restored, and the suction cup 600 can be separated from the photovoltaic panel.

[0168] After the suction cup 600 begins to separate from the photovoltaic panel, the control rod 400 extends again under the action of the second elastic element, and the locking element 460 re-locks the first one-way structure. After the control rod 400 is fully reset, it returns to its original position. Figure 1 and Figure 2 The state shown.

[0169] Next, grabbing the photovoltaic panel again will repeat the above process, which will not be described in detail here.

[0170] In summary, without the need for an additional power source, the self-cleaning CNC robot for photovoltaic installation provided in this application embodiment can complete all the above processes, effectively reducing the impact of dust / sand on photovoltaic panel installation, ensuring the safe operation of the robot, reducing safety risks, and reducing the probability of accidental damage to photovoltaic panels. It is suitable for batch installation of photovoltaic panels in dusty / sandy environments.

[0171] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A self-cleaning programmable robotic arm for photovoltaic installation, characterized in that, include: Robotic arm, end mount, suction cup, and vacuum mechanism; The end seat is mounted on the end of the robotic arm, and the suction cup is mounted on the end seat; an airflow channel is provided inside the end seat, one end of the airflow channel is connected to the airflow channel of the suction cup, and the other end of the airflow channel is connected to the vacuum mechanism. The end seat also has an air collecting chamber, which is connected to the air guiding channel through a connecting channel, which is controlled to open and close by a control mechanism. When the suction cup approaches the photovoltaic panel, the control mechanism controls the opening of the communication channel so that the air in the gas collection chamber is blown out through the suction cup, thereby cleaning the surface of the photovoltaic panel.

2. The self-cleaning programmable robot for photovoltaic installation according to claim 1, characterized in that, The airflow channel includes: a first channel and a second channel; the first channel is connected to the air passage of the suction cup and extends along the axial direction of the air passage; the second channel is located on the side wall of the first channel and is connected to the first channel, and the other end of the second channel is connected to the vacuum mechanism. The control mechanism includes: a control lever, a transmission assembly, a first transmission lever, and a second transmission lever; The control rod is arranged along the axial direction of the air passage. One end of the control rod passes through the suction cup, and the other end of the control rod extends to the first flow channel and is embedded in the end wall of the first flow channel away from the air passage. Along the axial direction of the air passage, the control rod slides and seals with the suction cup, and the control rod also slides and seals with the end wall of the first flow channel. The control lever has a first rack arranged along its length; The transmission component is installed in the first flow channel, and the transmission component is engaged with the first rack and pinion drive. The connecting channels include: a first channel, a second channel, and a third channel; the first channel is formed on the side wall of the first flow channel, the second channel is connected to the end of the first channel away from the first flow channel, and the second channel is arranged along the axial direction of the first channel; the gas collecting chamber is spaced apart from the second channel, the third channel is formed on the side wall of the second channel, and the third channel connects the second channel and the gas collecting chamber; the inner diameter of the first channel is larger than the inner diameter of the second channel; The first transmission rod is located within the first channel and is arranged along the axial direction of the first channel. The first transmission rod is also in transmission cooperation with the transmission assembly. The first transmission rod is rotatably fitted within the first channel. The first transmission rod has a mating hole at one end face away from the transmission assembly. The mating hole extends along the axial direction of the first transmission rod, and the second transmission rod is accommodated in the mating hole. Along the axial direction of the first transmission rod, the second transmission rod is slidably engaged with the first transmission rod. Along the circumferential direction of the first transmission rod, the second transmission rod is fixedly engaged with the first transmission rod. The end of the second transmission rod away from the first transmission rod is fitted into the second channel, and the outer side wall of the second transmission rod is in contact with the inner side wall of the second channel; along the axial direction of the second channel, the second transmission rod is slidably fitted with the second channel and slidably sealed; along the circumferential direction of the second channel, the second transmission rod is rotatably fitted with the second channel and rotatably sealed. The second transmission rod has an axial through hole through which it passes; the mating hole has a connecting hole that communicates with the first flow channel; a first elastic element abuts between the end wall of the second transmission rod and the bottom wall of the mating hole; The middle section of the second transmission rod has an external thread, and the external thread of the second transmission rod is located in the first channel; the first channel is also provided with a mating part that mates with the external thread of the second transmission rod. The control rod is equipped with a second elastic element, which drives the control rod to move from the first flow channel to the air channel. When the control rod moves to the air channel and reaches the movement stop point, the end wall of the second transmission rod fits against the end wall of the second channel, and the second transmission rod closes the third channel. When the suction cup approaches the photovoltaic panel, the photovoltaic panel pushes the control rod, which moves from the air passage to the first flow channel. The control rod drives the first transmission rod and the second transmission rod to rotate through the transmission assembly, so that the second transmission rod moves towards the first channel, thereby opening the third channel.

3. The self-cleaning programmable robot for photovoltaic installation according to claim 2, characterized in that, The airflow channel further includes a third channel; the third channel is also formed on the side wall of the first channel, the third channel is spaced apart from the second channel, and the end of the third channel away from the first channel is connected to the second channel; The second flow channel is provided with a first one-way structure; the first one-way structure allows air in the first flow channel to flow to the vacuum mechanism through the second flow channel, and prevents air at the vacuum mechanism from flowing to the first flow channel through the second flow channel; The third flow channel is provided with a second one-way structure; the second one-way structure prevents air in the first flow channel from flowing to the second flow channel through the third flow channel, and allows air in the second flow channel to flow to the first flow channel through the third flow channel; The control lever is equipped with a locking element, which is used to lock the first one-way structure so that the first one-way structure remains closed; when the control lever moves from the air passage to the first flow passage and reaches the movement stop point, the locking element unlocks the first one-way structure.

4. The self-cleaning programmable robot for photovoltaic installation according to claim 3, characterized in that, The first unidirectional structure includes: a stop ring, a sealing element, a sliding rod, a positioning sleeve, and a third elastic element; The stop ring is coaxially arranged with the second flow channel, and the outer ring wall of the stop ring is attached to and fixedly connected with the inner wall of the second flow channel; The positioning sleeve is coaxially arranged with the stop ring and spaced apart, and the positioning sleeve is located on the side of the stop ring away from the first flow channel; The slide rod is slidably fitted to the positioning sleeve, and the sealing member is connected to one end of the slide rod near the stop ring; the third elastic member abuts between the sealing member and the positioning sleeve so that the sealing member can abut against the stop ring and close the stop ring; The sealing member is connected to an extension rod on the side near the first flow channel. The extension rod extends into the first flow channel, and a locking hole is provided at the end of the extension rod away from the sealing member. The locking element is a pin, which extends along the axial direction of the control rod; the pin engages with the locking hole; when the control rod moves from the air passage to the first flow passage and reaches the movement stop point, the pin retracts from the locking hole.

5. The self-cleaning programmable robot for photovoltaic installation according to claim 4, characterized in that, The transmission assembly is a ratchet structure; When the control lever moves from the air passage to the first flow passage, the control lever can drive the first transmission rod to rotate through the transmission assembly; when the control lever moves from the first flow passage to the air passage, the control lever cannot drive the first transmission rod to rotate through the transmission assembly. The mating component is a chuck, which is rotatably mounted in the first channel; the chuck is mated with a fourth elastic element so that the tip of the chuck engages with the external thread of the second transmission rod. The sidewall of the second flow channel is provided with a clearance notch, which connects the second flow channel and the first channel, and the clearance notch extends along the length of the second flow channel; A sliding strip is provided in the first channel. The sliding strip is arranged along the length direction of the first channel and slidably engages with the first channel. The sliding strip closes the clearance notch. The sliding bar has a toggle part at one end near the first flow channel; The sealing component is fixedly connected to the sliding strip via a connector, and the connector is located within the clearance notch; When the vacuum mechanism is working, the sealing member separates from the stop ring, and the sealing member drives the sliding bar to move, so that the actuating part actuates the pawl, thereby separating the pawl tip from the external thread of the second transmission rod.

6. The photovoltaic installation self-cleaning programmable robot according to claim 5, characterized in that, The gas collecting chamber extends along the length of the first channel; a piston is fitted inside the gas collecting chamber, a pull rope is connected to the side of the piston away from the first flow channel, and a fifth elastic element abuts between the piston and the end wall of the gas collecting chamber away from the first flow channel. The end seat also has a winding cavity, which is located on the side of the gas collecting cavity away from the first flow channel and is spaced apart from the gas collecting cavity. The gas collecting cavity and the winding cavity are connected by a rope hole, and the pull rope extends into the winding cavity through the rope hole. A winding drum is installed inside the winding cavity, and the pull rope is wound into the winding drum; The take-up cavity is connected to the first channel via an extension hole; The sliding bar extends to the extension hole and then to the winding cavity. A second rack is connected to one end of the sliding bar near the winding cavity. The second rack and the winding drum are driven together by a transmission structure. The third channel is provided with a third one-way structure; the third one-way structure allows air in the gas collecting chamber to enter the second channel through the third channel, and prevents air in the second channel from entering the gas collecting chamber through the third channel. The air collection chamber is provided with an air intake channel communicating with the outside atmosphere, and the air intake channel is provided with a fourth one-way structure; the fourth one-way structure allows outside air to enter the air collection chamber through the air intake channel and prevents the air in the air collection chamber from entering the outside atmosphere through the air intake channel. When the vacuum mechanism is working, the sealing member separates from the stop ring, and the sealing member drives the sliding bar to move, so that the second rack drives the winding drum, thereby causing the winding drum to pull the rope to draw air into the gas collection chamber from the outside.

7. The photovoltaic installation self-cleaning programmable robot according to claim 6, characterized in that, A filter plate is provided at one end of the air passage of the suction cup near the first flow channel, and the control rod passes through the filter plate; along the axial direction of the control rod, the control rod is slidably fitted to the filter plate and slidably sealed.

8. The self-cleaning programmable robot for photovoltaic installation according to claim 2, characterized in that, The suction cup has an inner cavity, and the air passage communicates with the inner cavity; The suction surface of the suction cup has several air holes, and all the air holes are in communication with the inner cavity; The gripping surface of the suction cup has a flange, which is formed by protruding from the gripping surface. The flange is located at the edge of the suction cup and extends continuously into a ring along the axial direction of the suction cup. The flange is made of a flexible material.

9. The self-cleaning programmable robot for photovoltaic installation according to claim 8, characterized in that, The end of the control rod near the suction cup is connected to an end plate, the thickness of which is less than the protrusion height of the flange.

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