An integrated correction and lifting adjustment module and a cleaning robot

Abstract

This invention belongs to the technical field of photovoltaic cleaning equipment, and relates to an integrated correction and lifting adjustment module and a cleaning robot. The integrated correction and lifting adjustment module is located between the main beam frame and the walking drive assembly on one side of the main beam frame, and includes a correction unit and a lifting unit. The correction unit includes a side plate, an adjustment shaft, and an angle detection assembly. The side plate always remains parallel to the side of the object to be cleaned. The adjustment shaft is rotatably mounted on the side plate. The angle detection assembly includes an angle sensor for detecting the deflection angle of the main beam frame relative to the side plate. The lifting unit includes a lifting seat, and a lifting adjustment mechanism is provided between the lifting seat and the adjustment shaft. The lifting seat is relatively fixed to a swing component and rotates around the axis of the adjustment shaft through the lifting adjustment mechanism. When the adjustment shaft rotates, it drives the lifting seat to move up and down. This invention enables the integration of correction and roller brush height adjustment functions into a cleaning robot within a limited assembly space.

Description

Technical Field

[0001] This invention belongs to the field of photovoltaic cleaning equipment technology, specifically relating to an integrated correction and lifting adjustment module and a cleaning robot. Background Technology

[0002] Photovoltaic power generation technology relies on large-area arrays of solar panels to absorb sunlight. To maintain optimal photoelectric conversion efficiency, regular cleaning and maintenance of the photovoltaic modules are essential. Currently, photovoltaic module cleaning methods mainly fall into two categories: manual cleaning and automated equipment cleaning. Manual cleaning suffers from drawbacks such as low efficiency, high cost, uneven cleaning results, easy scratching of photovoltaic glass, and high safety risks associated with working at heights, making it unsuitable for the large-scale operation and maintenance needs of ground-mounted and mountain-mounted photovoltaic power plants. Photovoltaic cleaning robots, as the core equipment for automated cleaning, offer advantages such as high cleaning efficiency, uniform results, unattended operation, and safety and reliability, and have become the mainstream technical solution for photovoltaic module cleaning and maintenance.

[0003] Most existing photovoltaic (PV) cleaning robots employ a dual-drive walking structure, where each end of the robot's main beam has an independent drive mechanism. Synchronous rotation of the two drive motors propels the robot along the length of the PV modules, while a roller brush on the main beam cleans the surface of the modules. However, during the robot's movement along long rows of PV modules, the robot's walking posture often deviates due to factors such as the tilted arrangement of the modules, differences in end faces, uneven installation tracks, or inconsistent power output from the two drive motors. This means the main beam is no longer perpendicular to the direction of movement, resulting in one end leading and the other lagging behind. If this deviation is not corrected promptly, it can increase running resistance or even cause the robot to jam on the PV modules, leading to motor burnout or structural damage. Furthermore, the thickness of PV panels from different manufacturers varies, causing the roller brush to be unable to adapt to the varying panel heights and maintain a constant downward cleaning force when traversing long distances across different panel arrays, thus reducing cleaning effectiveness.

[0004] To prevent photovoltaic cleaning robots from getting stuck during long-distance operation, Chinese patent application CN115833731A discloses a photovoltaic panel cleaning device. Structurally, the first end of the walking beam is rotatably connected to the first side drive assembly, while the second end of the walking beam is fixedly connected to the second side drive assembly. A detection module consisting of an angle-sensing magnet and an angle sensor is installed at the rotatable connection. This patent application uses a design where one end is fixed and the other rotates, allowing the walking beam to deflect within a certain angle range, preventing it from getting stuck when encountering obstacles. Furthermore, the combination of the angle sensor and the angle-sensing magnet enables non-contact angle detection, allowing for differential speed control of the two motors to adjust the posture.

[0005] Most existing photovoltaic (PV) cleaning robots employ a rotating brush mounted on the main beam. The length of the brush typically covers the width of the PV panel to achieve cleaning. While the technical solutions disclosed in the aforementioned patent applications can prevent the PV cleaning robot from jamming during long-distance operation, they cannot adapt the brush's installation height to the varying heights of different PV panels. To solve this problem, adjustment mechanisms for the brush height need to be installed on both sides of the main beam. However, the installation space between the two ends of the brush and the corresponding drive components is limited. Therefore, how to rationally design the PV cleaning robot within the limited assembly space, enabling it to simultaneously achieve anti-jamming and brush height adjustment functions, has become a pressing issue in the field. Summary of the Invention

[0006] To address the aforementioned issues, this invention provides an integrated correction and lifting adjustment module, which can both correct the deviation of the cleaning robot and adjust the height of the roller brush. This invention also provides a cleaning robot employing the integrated correction and lifting adjustment module, which has a simple structure, high integration, and can stably perform cleaning operations in different environments.

[0007] The technical solution of the integrated correction and lifting adjustment module provided by this invention is as follows:

[0008] An integrated correction and lifting adjustment module is disposed between a main beam frame and a walking drive component on one side of the main beam frame. A roller brush unit is rotatably mounted on the main beam frame, including a correction unit and a lifting unit. The correction unit includes a side plate, an adjustment shaft, an angle detection component, and a bracket. The lifting unit includes a lifting seat. The walking drive assembly is installed on the side plate and has a clearance opening. When the walking drive assembly moves on the object to be cleaned, the side plate always remains parallel to the side of the object to be cleaned. The adjustment shaft is rotatably mounted on the side plate. The angle detection assembly includes a mechanical angle sensor installed on the side plate and a swinging component that can rotate around the axis of the adjustment shaft. The swinging component is connected to the detection end of the mechanical angle sensor. The mechanical angle sensor is used to detect the deflection angle of the main beam frame relative to the side plate. The lifting seat is positioned corresponding to the clearance opening and connected to the main beam frame. A lifting adjustment mechanism is provided between the lifting seat and the adjusting shaft. The lifting seat achieves relative rotation with the adjusting shaft through the lifting adjustment mechanism. When the adjusting shaft rotates, the lifting seat is driven to move up and down through the lifting adjustment mechanism. The bracket is connected to the lifting seat, and the bracket and the swinging component are in a circumferential engagement with the adjusting shaft and in a sliding engagement with each other in the vertical direction.

[0009] Beneficial effects: When the robot's walking posture deviates, the main beam frame, roller brush unit, and lifting seat rotate together around the axis of the adjustment shaft. The clearance openings on the side plates provide deflection clearance space, while a mechanical angle sensor detects the deflection angle of the main beam frame relative to the side plates in real time, providing reliable data support for posture correction and preventing the robot from getting stuck. Furthermore, before cleaning, the adjustment shaft can be rotated according to the thickness of the object to be cleaned. Driven by the lifting adjustment mechanism, the height of the roller brush unit can be adjusted, thus adapting to objects of different sizes and maintaining a stable cleaning effect. The adjustment shaft can both deflect the main beam frame relative to the walking drive component for correction and adjust the height of the roller brush unit, integrating the robot's correction and roller brush unit height adjustment functions into a single module. This invention, through the multi-functional adjustment shaft, can simultaneously realize two core functions of the robot within a limited assembly space, making the overall structure of the robot simpler and more compact. Meanwhile, the combination of mechanical angle sensors and swing components to achieve angle detection avoids the problems of origin loss and signal offset that are prone to occur in non-contact angle sensors, thus improving the stability and reliability of angle detection. Even under long-distance continuous walking conditions, it can continuously and accurately output deflection angle data, ensuring the continuous effectiveness of the correction function.

[0010] Furthermore, the lifting adjustment mechanism is a lead screw and nut transmission mechanism, including a lead screw and nut fixed coaxially with the lifting seat and a threaded section disposed on the adjustment shaft, the threaded section being threadedly engaged with the lead screw and nut.

[0011] Beneficial effects: The lead screw and nut transmission mechanism can convert the rotational motion of the adjusting shaft into the linear motion of the lifting seat. The transmission process is smooth and stable, and it can accurately control the up and down movement of the lifting seat, thereby achieving precise adjustment of the height of the roller brush unit. This allows the roller brush unit to stably adapt to different height differences of objects to be cleaned.

[0012] Furthermore, height limiting components for restricting the lifting height of the roller brush unit are respectively provided on the upper and lower sides of the clearance opening.

[0013] Beneficial effects: The height limiter can rigidly limit the vertical movement of the lifting seat, thereby limiting the upper and lower limits of the lifting height of the roller brush unit. This prevents the roller brush unit from excessively lifting and lowering, which could lead to rigid collisions with the objects to be cleaned or interference with other structural components of the robot. It protects the roller brush unit and the main structure of the robot from damage, while also controlling the lifting range of the roller brush unit within the effective cleaning range.

[0014] Furthermore, the front and rear sides of the clearance opening are respectively provided with angle limiting components for limiting the deflection angle of the main beam frame relative to the side plate.

[0015] Beneficial effects: The angle limiting component can limit the deflection angle of the main beam frame relative to the side plate, avoiding excessive deflection of the main beam frame which could cause the overall posture of the cleaning robot to become out of control, or excessive pulling between structural components that could cause damage. At the same time, it can control the deflection range of the main beam frame within the effective detection range of the angle sensor, ensuring that the angle detection component can continuously and stably capture the deflection signal, providing reliable detection data for the correction action.

[0016] Furthermore, the bracket is provided with a slot extending in the vertical direction for cooperating with the swinging component. The slot is a notch extending to the end of the bracket so that when the bracket rotates with the lifting seat, it drives the swinging component to rotate together around the axis of the adjusting shaft.

[0017] Beneficial effects: It facilitates the assembly between the support and the swinging component, reduces the difficulty of component assembly, and at the same time, the notch provides sufficient room for the swinging component to move. When the support moves up and down or deflects with the lifting seat, it always maintains a stable engagement with the swinging component and will not disengage.

[0018] Furthermore, the bracket is equipped with a scale, which is parallel to the axis of the adjustment shaft.

[0019] Beneficial effects: It allows operators to accurately control the height adjustment distance of the roller brush unit, enabling the roller brush unit to be quickly adjusted to a suitable height according to the actual size of the object to be cleaned.

[0020] Furthermore, the lifting unit is detachably connected to the main beam frame, and the walking drive assembly is detachably connected to the correction unit.

[0021] Beneficial effects: It can simplify the overall assembly and disassembly process of the module, facilitate the daily maintenance and component replacement of the module, reduce the operation and maintenance cost of the robot, and at the same time enable the module to adapt to the main beam frame and walking drive components of different specifications, thereby improving the module's versatility and adaptability.

[0022] The technical solution of the cleaning robot provided by this invention is: A cleaning robot includes an integrated correction and lifting adjustment module as described in any of the above technical solutions. The integrated correction and lifting adjustment module is disposed between a main beam frame and a walking drive assembly on one side of the main beam frame. A roller brush unit is rotatably mounted on the main beam frame, including a correction unit and a lifting unit. The correction unit includes a side plate, an adjustment shaft, an angle detection assembly, and a bracket. The lifting unit includes a lifting seat. The walking drive assembly is mounted on the side plate and has a clearance opening. When the walking drive assembly moves on the object to be cleaned, the side plate always remains parallel to the side of the object. The adjustment shaft is rotatably mounted on the side plate. The angle detection assembly... The component includes a mechanical angle sensor mounted on the side plate and a swinging component capable of rotating around the axis of the adjustment shaft. The swinging component is connected to the detection end of the mechanical angle sensor, which is used to detect the deflection angle of the main beam frame relative to the side plate. A lifting seat is positioned corresponding to the clearance opening and connected to the main beam frame. A lifting adjustment mechanism is provided between the lifting seat and the adjustment shaft. The lifting seat achieves relative rotation with the adjustment shaft through the lifting adjustment mechanism. When the adjustment shaft rotates, the lifting seat is driven to move up and down through the lifting adjustment mechanism. A bracket is connected to the lifting seat, and the bracket and the swinging component are in upper limit engagement in the circumferential direction of the adjustment shaft and in sliding engagement in the vertical direction.

[0023] Beneficial effects: The cleaning robot of the present invention has both automatic correction and roller brush height adjustment functions. During long-distance walking operations, it can correct the deviation of walking posture in time, avoid the situation of getting stuck and unable to operate, improve the stability of robot operation and obstacle crossing performance, and can flexibly adjust the height of the roller brush unit according to the actual situation of the object to be cleaned, adapt to different cleaning scenarios, and improve the cleaning robot's adaptability to different working environments.

[0024] Furthermore, the lifting adjustment mechanism is a lead screw and nut transmission mechanism, including a nut coaxially fixed with the lifting seat and a threaded section disposed on the adjustment shaft, the threaded section being threadedly engaged with the nut.

[0025] Furthermore, height limiting components for restricting the lifting height of the roller brush unit are respectively provided on the upper and lower sides of the clearance opening.

[0026] Furthermore, the front and rear sides of the clearance opening are respectively provided with angle limiting components for limiting the deflection angle of the main beam frame relative to the side plate.

[0027] Furthermore, the bracket is provided with a slot extending in the vertical direction for cooperating with the swinging component. The slot is a notch extending to the end of the bracket so that when the bracket rotates with the lifting seat, it drives the swinging component to rotate together around the axis of the adjusting shaft.

[0028] Furthermore, the bracket is equipped with a scale, which is parallel to the axis of the adjustment shaft.

[0029] Furthermore, the lifting unit is detachably connected to the main beam frame, and the walking drive unit is detachably connected to the correction unit.

[0030] Compared with the prior art, the beneficial effects of the present invention include at least the following: This invention integrates the automatic correction function of the cleaning robot and the lifting and adjusting function of the roller brush unit into one unit within a limited assembly space without excessively increasing the complexity of the structure. This not only avoids the robot from getting stuck due to posture deviation during walking, ensuring the continuous and smooth operation of cleaning, but also adapts to different objects to be cleaned and cleaning scenarios, improving the cleaning robot's adaptability to different working environments and ensuring stable cleaning results. Attached Figure Description

[0031] Figure 1 A three-dimensional structural diagram of the integrated correction and lifting adjustment module provided by the present invention; Figure 2 A front view of the integrated correction and lifting adjustment module provided by the present invention; Figure 3 Rear view of the integrated correction and lifting adjustment module provided by the present invention; Figure 4 A side view of the integrated correction and lifting adjustment module provided by the present invention; Figure 5 A three-dimensional structural diagram of the cleaning robot provided by the present invention. Figure 1 ; Figure 6 A schematic diagram of the three-dimensional structure of the cleaning robot provided by the present invention after removing the first walking drive component. Figure 2 ; Figure 7 for Figure 6 Enlarged view of point A in the middle; Figure 8 for Figure 6 Enlarged view of point B in the middle; Figure 9 A cross-sectional view that can show the assembly relationship between the main beam frame, the roller brush unit, the integrated correction and lifting adjustment module, and the second travel drive assembly; Figure 10 This is a schematic diagram of the cleaning robot provided by the present invention in its normal walking state; Figure 11 This is a schematic diagram of the cleaning robot provided by the present invention when its posture deflects.

[0032] Explanation of reference numerals in the attached figures: 1. Main beam frame; 101. Beam body; 102. Adapter; 2. Adjusting shaft; 201. Threaded section; 3. Lifting seat; 4. Side plate; 41. Clearance opening; 5. Lead screw nut; 6. Mechanical angle sensor; 7. Swinging component; 8. First bearing seat; 9. Second bearing seat; 10. Height limiter; 11. Angle limiter; 12. Bracket; 121. Slot; 13. Scale; 14. Threaded adjusting rod; 15. Vertical plate; 16. 17. Mounting block; 18. Slide rod; 19. Slider; 20. Motor base; 21. Moving plate; 22. Bearing cover; 23. Flange bushing; 24. First motor; 25. Universal joint; 26. First pin; 27. Second pin; 28. Sliding bearing; 100. First travel drive assembly; 200. Second travel drive assembly; 300. Roller brush unit; 3001. Drive shaft; 3002. Roller brush; 400. Object to be cleaned. Detailed Implementation

[0033] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0034] Specific embodiments of the integrated correction and lifting adjustment module provided by this invention: like Figure 1 and Figure 5 As shown, the integrated correction and lifting adjustment module in this embodiment is assembled between the main beam frame 1 and the first walking drive assembly 100 of the cleaning robot, and the whole includes a correction unit and a lifting unit assembled together. Wherein, as Figure 8 As shown, the main beam frame 1 includes a beam body 101 and a transition piece 102 connected to one end of the beam body 101. A roller brush unit 300 is mounted on the transition piece 102; as... Figure 1 As shown, the correction unit includes a side plate 4, an adjustment shaft 2, an angle detection component, and a bracket 12, while the lifting unit includes a lifting seat 3.

[0035] Specifically, such as Figure 2 and Figure 3 As shown, a clearance opening 41 is provided on the side plate 4, and the clearance opening 41 is rectangular in shape. The first travel drive assembly 100 includes first travel drive units symmetrically assembled on the front and rear sides of the clearance opening 41. Figure 4As shown, a first bearing seat 8 and a second bearing seat 9 are fixed to the upper and lower sides of the clearance opening 41 on the side plate 4 using bolt and nut assemblies. Both bearing seats 8 and 9 contain embedded bearings, arranged coaxially. The adjusting shaft 2 is coaxially assembled with these two bearings, allowing it to rotate around its own axis, thus achieving rotational assembly with the side plate 4. The adjusting shaft 2 has two shoulders, which engage with the first bearing seat 8 and the second bearing seat 9 in the upper and lower directions respectively, preventing axial displacement of the adjusting shaft 2. The upper and lower ends of the adjusting shaft 2 pass through the first bearing seat 8 and the second bearing seat 9, respectively, with the upper end serving as the operating end for rotation by the operator. Figure 2 As shown, the surface of the shaft section of the adjusting shaft 2 located between the first bearing seat 8 and the second bearing seat 9 is machined with external threads to form a threaded section 201.

[0036] like Figure 3 and Figure 8 As shown, the lifting seat 3 is positioned corresponding to the clearance opening 41 and connected to the main beam frame 1. The size of the lifting seat 3 is smaller than the size of the clearance opening 41, allowing the lifting seat 3 to move within the allowable range of the clearance opening 41. A lifting adjustment mechanism is provided between the lifting seat 3 and the adjusting shaft 2. In this embodiment, the lifting adjustment mechanism is a screw and nut transmission mechanism, including a screw and nut 5 coaxial with the lifting seat 3 and a threaded section 201 provided on the adjusting shaft 2. The threaded section 201 is threadedly engaged with the screw and nut 5. Figure 4 and Figure 9 As shown, the lead screw nut 5 is coaxially inserted into the lifting seat 3 and connected to the lifting seat 3 by bolts. The threaded section 201 is formed by machining external threads on the surface of the adjusting shaft 2, and the threaded section 201 is located between the first bearing seat 8 and the second bearing seat 9.

[0037] like Figure 4 As shown, the bracket 12 is L-shaped, comprising a horizontal plate segment and a vertical plate segment that are perpendicular to each other. The horizontal plate segment is sandwiched between the lead screw nut 5 and the lifting seat 3. The bolts that fix the lead screw nut 5 and the lifting seat 3 pass through the horizontal plate segment, so that the lead screw nut 5 presses the bracket 12 tightly onto the lifting seat 3. That is, the bracket 12 and the lifting seat 3 are assembled as a whole. When the lifting seat 3 moves up and down or rotates around the axis of the adjusting shaft 2, the bracket 12 also moves up and down or rotates around the axis of the adjusting shaft 2 accordingly.

[0038] like Figure 4As shown, the angle detection assembly includes an angle sensor and a swing element 7. In this embodiment, the angle sensor is a mechanical angle sensor 6, employing a common encoder, used to detect the deflection angle of the main beam frame 1 relative to the side plate 4; the swing element 7 is a swing arm. The mechanical angle sensor 6, the swing element 7, and the adjusting shaft 2 are in a vertically corresponding relationship. The fixed end of the mechanical angle sensor 6 is fixed to the side plate 4, and the detection end is coaxially fixed to the swing element 7. Figure 1 and Figure 2 As shown, a slot 121 extending vertically is provided on the vertical plate segment corresponding to the position of the swing member 7. In this embodiment, the slot 121 is a notch extending downward to the end face of the vertical plate segment, which facilitates the installation of the swing member 7 and the bracket 12. The slot 121 can restrict the circumferential deflection of the swing member 7 relative to the bracket 12, that is, the swing member 7 and the bracket 12 rotate synchronously; at the same time, the slot 121 allows the bracket 12 and the swing member 7 to move relative to each other in the vertical direction. The length of the slot 121 can meet the vertical height adjustment of the roller brush unit 300.

[0039] like Figure 1 and Figure 2 As shown, in order to facilitate observation of the height adjustment distance of the roller brush unit 300, a scale 13 extending in the vertical direction is attached to the vertical plate section of the bracket 12 and is perpendicular to the upper end surface of the swing member 7.

[0040] like Figure 3 and Figure 8 As shown, to prevent excessive height adjustment of the roller brush unit 300, height limiting members 10 are fixed on the upper and lower sides of the clearance opening 41 on the side plate 4. The height limiting members 10 are used to limit the lifting height of the roller brush unit 300. In this embodiment, the height limiting member 10 is in the form of a stop bar. Of course, the height limiting member 10 is not limited to the form of a stop bar; for example, it can also be a stop block, stop bar, or other structure that can achieve a blocking effect. To avoid rigid collisions, a suitable buffer layer can also be added to the stop bar.

[0041] In this embodiment, the deflection angle range of the main beam frame 1 relative to the side plate 4 is -10° to 10°. Of course, this angle range can be adaptively adjusted according to the size of the clearance opening 41 and the actual usage scenario. To avoid excessive deflection of the main beam frame 1 relative to the side plate 4, such as... Figure 3 and Figure 8 As shown, angle limiting members 11 are fixed on the side plate 4 at the front and rear sides of the clearance opening 41. In this embodiment, the angle limiting member 11 is a hexagonal head bolt with a stop. Of course, the angle limiting member 11 is not limited to the form of a hexagonal head bolt with a stop; for example, it can also be a structure that can achieve a blocking effect, such as a stop bar. In order to avoid rigid collisions, a suitable buffer layer can also be added to the angle limiting member 11.

[0042] In actual assembly, the two first travel drive units of the first travel drive assembly 100 are fixed to the side plate 4 by bolt assemblies, and are symmetrically arranged on the front and rear sides of the clearance opening 41. Figure 8 and Figure 9 As shown, a sliding bearing 27 is connected inside the adapter 102 of the main beam frame 1. A flange sleeve 22 is coaxially mounted inside the sliding bearing 27. The drive shaft 3001 of the roller brush unit 300 is mounted inside the flange sleeve 22 via a deep groove ball bearing. The end of the drive shaft 3001 is connected to a universal joint 24 via a first pin 25. The roller brush 3002 of the roller brush unit 300 is connected to the universal joint 24 via a second pin 26. A bearing cap 21 is connected to one end of the flange sleeve 22. The lifting seat 3 is fixed to the bearing cap 21 by a bolt assembly, thereby achieving a fixed assembly with the main beam frame 1. It should be noted that the lifting unit and the main beam frame 1, as well as the first travel drive assembly 100 and the correction unit, are all detachably connected to facilitate daily maintenance and component replacement of the entire integrated correction and lifting adjustment module. Of course, the lifting unit and the main beam frame 1, and the first walking drive component 100 and the correction unit can also be fixedly connected without disassembly. In this case, if the corresponding structural components fail or are damaged, the entire cleaning robot can be replaced.

[0043] The correction principle of the integrated correction and lifting adjustment module of this invention is as follows: like Figure 10 As shown, when the cleaning robot is normally moving along the object 400 to be cleaned, the side plate 4 is continuously in contact with the side of the object 400 to be cleaned through the first walking drive assembly 100 and the second walking drive assembly 200, always maintaining a parallel state with the side of the object 400 to be cleaned, which serves as a stable detection benchmark for the walking posture of the cleaning robot. At this time, the main beam frame 1 and the side plate 4 maintain a vertical benchmark posture, and there is no relative deflection between the main beam frame 1, the lifting seat 3, the bracket 12 and the side plate 4. The swinging component 7 is at the benchmark zero point position of the mechanical angle sensor 6, and the mechanical angle sensor 6 does not output a deflection signal. The control system of the cleaning robot controls the drive motors of the walking drive assemblies on both sides to keep running synchronously, and the roller brush unit 300 completes the cleaning operation on the surface of the object 400 to be cleaned as the cleaning robot moves.

[0044] When there is a difference in power output between the two sides of the robot's walking drive components, or when the object to be cleaned 400 is laid at an angle, has different end faces, or has an uneven mounting surface, the main beam frame 1 will deflect relative to the side plate 4 around the axis of the adjustment shaft 2. Figure 6 and Figure 11As shown. Since the lifting seat 3 is fixedly connected to the main beam frame 1, when the main beam frame 1 deflects, it will synchronously drive the lifting seat 3 to rotate around the axis of the adjusting shaft 2, and the bracket 12, which is fixed to the lifting seat 3, will rotate synchronously as well. The slot 121 extending along the vertical direction on the bracket 12 forms a circumferential limiting fit with the swinging component 7. When the bracket 12 rotates, it will drive the swinging component 7 to rotate synchronously around the axis of the adjusting shaft 2 through the slot 121. The swinging component 7 is coaxially fixed with the detection end of the mechanical angle sensor 6. Therefore, the rotation angle of the swinging component 7 will be synchronously transmitted to the detection end of the mechanical angle sensor 6. The mechanical angle sensor 6 collects the deflection angle data of the main beam frame 1 relative to the side plate 4 in real time and transmits the collected data to the robot's control system in real time. When the main beam frame 1 rotates, the roller brush unit 300 will still have a small floating rise and fall due to the threaded engagement between the lead screw nut 5 and the adjusting shaft 2. Since the deflection angle range is limited to -10°~10°, the rise and fall height of the roller brush unit 300 can be ignored and will not affect the cleaning effect of the roller brush or the downward pressure on the surface of the object to be cleaned 400.

[0045] When the deflection angle data received by the control system exceeds the preset safety threshold of 3°, it immediately sends a differential speed adjustment command to the drive motors of the two walking drive components. This commands reduce the speed of the drive motor on the leading side and increase the speed of the drive motor on the lagging side. Through the speed difference between the two walking drive components, the main beam frame 1 rotates in the opposite direction around the axis of the adjustment shaft 2. During this process, the mechanical angle sensor 6 continuously collects deflection angle data in real time until it detects that the main beam frame 1 has returned to a reference posture perpendicular to the side plate 4. At this point, the control system immediately stops the differential speed adjustment, restores the synchronous operation of the two drive motors, and completes one full automatic correction cycle.

[0046] Throughout the entire process of deflection and correction adjustment of the main beam frame 1, the clearance opening 41 on the side plate 4 provides sufficient space for the deflection of the lifting seat 3 and the main beam frame 1. The angle limiting parts 11 on the front and rear sides of the clearance opening 41 rigidly limit the maximum deflection angle of the main beam frame 1, so as to prevent the main beam frame 1 from deflecting excessively beyond the effective detection range of the angle sensor, or causing the robot's structural components to be pulled and damaged, thus ensuring the stability and controllability of the entire correction process.

[0047] The height adjustment principle of the 300 roller brush unit is: The height adjustment of the roller brush unit 300 is a static pre-adjustment before the cleaning operation. During the adjustment process, the cleaning robot remains stationary. The adjustment action and the robot's correction function are completely independent and do not interfere with each other.

[0048] During adjustment, the operator rotates the operating end of the upper part of the adjusting shaft 2, causing the adjusting shaft 2 to rotate around its own axis within the first bearing seat 8 and the second bearing seat 9. The threaded section 201 on the adjusting shaft 2 forms a threaded transmission engagement with the lead screw nut 5. Since the lead screw nut 5 is coaxially fixed with the lifting seat 3 and the lifting seat 3 is relatively fixed with the main beam frame 1, it cannot rotate circumferentially with the rotation of the adjusting shaft 2. Therefore, the lead screw nut transmission mechanism converts the rotational motion of the adjusting shaft 2 into a linear lifting motion of the lead screw nut 5 and the lifting seat 3 along the axis of the adjusting shaft 2. When the lifting seat 3 moves up and down, it synchronously drives the main beam frame 1, which is fixedly connected to it, to complete the up and down displacement. The roller brush unit 300, which is rotatably mounted on the main beam frame 1, adjusts its height synchronously to adapt to objects 400 of different thicknesses and installation heights, so that the roller brush unit 300 and the surface of the object 400 to be cleaned maintain a constant contact gap and downward pressure, ensuring a uniform and stable cleaning effect.

[0049] During the height adjustment of the roller brush unit 300, the bracket 12 moves up and down synchronously with the lifting seat 3. The slot 121 extending along the vertical direction on the bracket 12 forms an axial movable fit with the swinging component 7. The swinging component 7 slides relative to the bracket 121 in the vertical direction and will not be axially displaced with the vertical movement of the bracket 12. Therefore, the reference zero point of the mechanical angle sensor 6 will not be shifted due to the height adjustment of the roller brush unit 300. The slight rise and fall of the roller brush unit 300 during the correction process of the main beam frame 1 will not affect the cleaning effect, ensuring that the lifting adjustment function and the correction detection function operate completely independently and do not interfere with each other.

[0050] The scale 13 on the bracket 12 moves up and down synchronously with the bracket 12. The operator can intuitively read the height adjustment value of the roller brush unit 300 through the scale 13 to achieve precise control of the height of the roller brush unit 300. The height limiters 10 on the upper and lower sides of the clearance opening 41 on the side plate 4 rigidly limit the maximum lifting stroke of the lifting seat 3 to prevent the roller brush unit 300 from lifting excessively and rigidly colliding with the object to be cleaned 400 or other structural parts of the robot, thus protecting the equipment structure from damage.

[0051] In the above embodiments, the lifting adjustment mechanism is a screw and nut transmission mechanism. In other embodiments, the lifting adjustment mechanism can be replaced by a worm gear transmission mechanism. Specifically, a worm gear is coaxially fixed on the adjusting shaft 2, and a worm wheel meshing with the worm gear is set on the lifting seat 3. The axle of the worm wheel is fixedly connected to the lifting seat 3. When the adjusting shaft 2 rotates, it drives the worm gear to rotate. Through the meshing transmission of the worm gear, the lifting seat 3 moves up and down along the axis of the adjusting shaft 2, thereby realizing the height adjustment of the roller brush unit 300. Of course, in other embodiments, the lifting adjustment mechanism can also be replaced by a gear and rack transmission mechanism. Specifically, a transmission gear is coaxially fixed on the adjusting shaft 2, and a rack parallel to the axis of the adjusting shaft 2 is set on the lifting seat 3. The transmission gear meshes with the rack. When the adjusting shaft 2 rotates, it drives the transmission gear to rotate. Through the meshing transmission of the gear and rack, the rack and the lifting seat 3 move up and down, thereby completing the height adjustment of the roller brush unit 300.

[0052] In the above embodiments, the swing member 7 achieves anti-rotation and vertical sliding engagement with the bracket 12 through a notch on the bracket 12. In other embodiments, the notch can be replaced by a long strip-shaped through groove on the vertical plate section of the bracket 12, with the end of the swing member 7 passing through the long strip-shaped through groove to form a circumferential limiting engagement, and the length of the long strip-shaped through groove meeting the full stroke requirements of the bracket 12's vertical movement. Of course, in other embodiments, the slot 121 can also be replaced by a slide rail extending vertically on the bracket 12, with a slider 18 adapted to the slide rail at the end of the swing member 7. The slider 18 slides with the slide rail while forming a circumferential limiting engagement, ensuring that the bracket 12 rotates synchronously when it deflects, and that the bracket 12 slides relative to the swing member 7 when it moves vertically.

[0053] In addition to manual rotation, the rotation drive of the adjustment shaft 2 can also be replaced by setting a small motor at the upper end of the adjustment shaft 2. The output shaft of the small motor is fixed coaxially with the adjustment shaft 2. The robot's control system sends commands to control the forward and reverse rotation and the number of rotations of the small motor, so as to achieve electric precise adjustment of the 300mm height of the roller brush unit without manual operation, which is suitable for unattended automated cleaning scenarios.

[0054] It should also be noted that the object to be cleaned 400 is not limited to photovoltaic panels, that is, it is not limited to the field of photovoltaic cleaning. The cleaning robot of this invention can be used to clean the surface of any product with a rectangular frame.

[0055] Specific embodiments of the cleaning robot provided by this invention: like Figure 5As shown, the cleaning robot includes a main beam frame 1, a roller brush unit 300, a first walking drive assembly 100, and a second walking drive assembly 200. The roller brush unit 300 is mounted on the main beam frame 1, and its structure and installation method are existing technology, which will not be described in detail here. The first walking drive assembly 100 can rotate relative to the main beam frame 1, and the second walking drive assembly 200 is fixedly assembled to the main beam frame 1. The first walking drive assembly 100 and the second walking drive assembly 200 have the same structure, which is also existing technology; both include two sets of walking drive units. Each set of walking drive units includes two walking wheels with mutually perpendicular axes. One walking wheel travels in contact with the surface of the photovoltaic panel, and the other walking wheel travels in contact with the side of the object to be cleaned 400. The two walking wheels are driven by a motor, and the rotation of the two walking wheels is achieved through two meshing bevel gears.

[0056] In addition, an integrated correction and lifting adjustment module is installed between the main beam frame 1 and the first walking drive component 100. The integrated correction and lifting adjustment module in this embodiment has the same structure as the integrated correction and lifting adjustment module in the above embodiments, and its structure and working principle will not be described in detail here.

[0057] It should be noted that the integrated correction and lifting adjustment module can adjust the height of one side of the roller brush unit 300. Therefore, in actual production, a simple height adjustment mechanism can be set on the other side of the roller brush unit 300, i.e., at the position where it is assembled with the second walking drive component 200. As one implementation method, such as... Figure 7 As shown, the roller brush unit 300 is driven to rotate by the first motor 23. A movable plate 20 is connected to the motor base 19 that fixes the first motor. A slider 18 is fixed on the movable plate 20. A threaded adjusting rod 14 is threaded onto the slider 18. The threaded adjusting rod 14 is rotatably mounted on the vertical plate 15 on the other side of the main beam frame 1 via a mounting block 16. The vertical plate 15 is parallel to the side plate 4. Two sliding rods 17 are connected to the front and rear sides of the threaded adjusting rod 14 on the mounting block 16, respectively. The slider 18 slides with the two sliding rods 17 in the vertical direction. At this time, rotating the threaded adjusting rod 14 can drive the motor base 19 and the roller brush unit 300 to adjust their height as a whole.

[0058] While various embodiments of the invention have been shown and described in this specification, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and essence of the invention.

Claims

1. An integrated correction and lifting adjustment module, disposed between a main beam frame and a walking drive assembly on one side of the main beam frame, wherein a brush unit is rotatably mounted on the main beam frame, characterized in that, It includes a correction unit and a lifting unit; the correction unit includes a side plate, an adjustment shaft, an angle detection component, and a bracket; the lifting unit includes a lifting seat; The walking drive assembly is installed on the side plate and has a clearance opening. When the walking drive assembly moves on the object to be cleaned, the side plate always remains parallel to the side of the object to be cleaned. The adjustment shaft is rotatably mounted on the side plate. The angle detection assembly includes a mechanical angle sensor installed on the side plate and a swinging component that can rotate around the axis of the adjustment shaft. The swinging component is coaxially fixedly connected to the detection end of the mechanical angle sensor. The mechanical angle sensor is used to detect the deflection angle of the main beam frame relative to the side plate. Height limiters for limiting the lifting height of the roller brush unit are respectively provided on the upper and lower sides of the clearance opening, and angle limiters for limiting the deflection angle of the main beam frame relative to the side plate are respectively provided on the front and rear sides of the clearance opening. The lifting seat is positioned corresponding to the clearance opening and connected to the main beam frame. A lifting adjustment mechanism is provided between the lifting seat and the adjusting shaft. The lifting seat achieves relative rotation with the adjusting shaft through the lifting adjustment mechanism. When the adjusting shaft rotates, the lifting seat is driven to move up and down through the lifting adjustment mechanism. The bracket is connected to the lifting seat, and the bracket and the swing component are in a limit engagement in the circumferential direction of the adjustment shaft and in a sliding engagement in the vertical direction; The bracket is provided with a slot extending in the vertical direction for cooperating with the swing component. The slot is a notch extending to the end of the bracket so that when the bracket rotates with the lifting seat, it drives the swing component to rotate together around the axis of the adjusting shaft. When the main beam frame deflects, it will simultaneously drive the lifting seat to rotate around the axis of the adjustment shaft. The bracket, which is fixed to the lifting seat, will also rotate synchronously. The slot and the swinging component form a circumferential limiting fit. During the height adjustment of the roller brush unit, the bracket moves up and down synchronously with the lifting seat. The slot and the swinging component form an axial movable fit. The swinging component slides relative to each other in the up and down direction within the slot.

2. The integrated correction and lifting adjustment module according to claim 1, characterized in that, The lifting adjustment mechanism is a lead screw and nut transmission mechanism, which includes a lead screw and nut fixed coaxially with the lifting seat and a threaded section set on the adjustment shaft. The threaded section is threadedly engaged with the lead screw and nut.

3. The integrated correction and lifting adjustment module according to claim 1, characterized in that, The bracket is equipped with a scale, which is parallel to the axis of the adjustment shaft.

4. The integrated correction and lifting adjustment module according to claim 1, characterized in that, The lifting unit is detachably connected to the main beam frame, and the walking drive assembly is detachably connected to the correction unit.

5. A cleaning robot, characterized in that, Includes the integrated correction and lifting adjustment module as described in any one of claims 1-4.

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