Intelligent photovoltaic panel mobile cleaning robot

Abstract

The application provides a smart photovoltaic panel mobile cleaning robot, and belongs to the technical field of photovoltaic panel cleaning equipment, and comprises a mobile robot main body, a water pipe support assembly, a rolling brush assembly, an L-shaped limiting plate, a U-shaped fixing frame, a track guide limiting structure comprising a rolling brush support, an inclined track groove, a first limiting pin and a second limiting pin; the device is automatically limited and locked in an inclined insertion and rotation mode through cooperation of the inclined track groove, the first limiting pin and the second limiting pin, and the stability of the limiting is ensured through the L-shaped limiting plate, so that disassembly and assembly can be completed without tools, and the operation steps are few and the efficiency is high; the rolling brush assembly and the water pipe support assembly both adopt a tool-free disassembly and assembly structure, so that an operator can complete replacement and maintenance of the two core components without carrying any tools.

Description

Technical Field

[0001] This invention belongs to the field of photovoltaic panel cleaning equipment technology, specifically relating to an intelligent mobile cleaning robot for photovoltaic panels. Background Technology

[0002] As a crucial component of clean energy, photovoltaic (PV) power generation efficiency is closely related to the cleanliness of the PV panel surface. PV panels are constantly exposed to the outdoor environment, easily accumulating dirt such as sand, dust, and bird droppings. If not cleaned promptly, this can lead to a decrease in the power output of the modules and a reduction in electricity generation. With the continuous expansion of PV power plants, manual cleaning methods are no longer sufficient to meet the demands of large-scale, high-efficiency operation and maintenance. PV panel cleaning robots have emerged as an intelligent solution to address this need.

[0003] Currently, photovoltaic panel cleaning robots are mainly divided into track-mounted, tracked, and crawling types. Tracked photovoltaic cleaning robots, due to their excellent maneuverability and adaptability, have become the mainstream choice for large-scale ground-mounted photovoltaic power plants. However, existing tracked photovoltaic cleaning robots still have the following shortcomings in practical applications: The roller brush is inconvenient to assemble and disassemble, resulting in low maintenance efficiency. As a core working component of cleaning robots, the roller brush is a consumable part that requires frequent replacement or cleaning. In existing technologies, some photovoltaic cleaning robots use a fixed structure for their brushes, making it impossible to disassemble the brushes individually. Only a complete disassembly of the entire machine can remove them. Although some structures for quick brush replacement have emerged in recent years, such as those using a body connection mechanism in conjunction with a brush connection mechanism, utilizing limit brackets, fastening bolts, and locking plates to achieve quick brush assembly and disassembly; or those using detachable connections between the drive assembly, roller brush assembly, and body to achieve quick assembly and disassembly, these solutions often require rotating the locking plates and aligning the insertion points and fastening bolts, making the structure relatively complex and involving numerous steps. Furthermore, the reliability of the limit positioning needs improvement. In particular, existing technologies have not yet developed a simplified structure that achieves automatic limit locking of the roller brush through a "slanted insertion and rotation" method.

[0004] Meanwhile, the disassembly and assembly of water pipe supports is cumbersome. Although existing photovoltaic cleaning robots have partially achieved the detachability of roller brushes and water pipe supports, the quick-release structures of roller brushes and water pipe supports are independent of each other and lack a unified technical concept. That is, to achieve convenient design in both the disassembly and assembly of roller brushes and water pipe supports in order to achieve the goal of tool-free and rapid maintenance of the whole machine. This means that when the robot is maintained on site, different disassembly and assembly methods are still required for different parts, and there is still a lot of room for improvement in the overall maintenance efficiency. Summary of the Invention

[0005] This invention provides an intelligent mobile cleaning robot for photovoltaic panels. By enabling tool-free quick assembly and disassembly of the roller brush and quick insertion and removal of the water pipe bracket, a collaborative quick-disassembly system for tool-free rapid maintenance of the entire machine is constructed, improving overall maintenance efficiency and solving the problems existing in the prior art.

[0006] This invention provides an intelligent photovoltaic panel mobile cleaning robot, including a mobile robot body, a water pipe support assembly, a roller brush assembly, a track guide and limiting structure, an L-shaped limiting plate, and a U-shaped fixing frame; The front and rear ends of the mobile robot body in the direction of movement are respectively detachably assembled with roller brushes through the track guide limiting structure. The longitudinal part of the L-shaped limiting plate is fixed to the front and rear ends of the mobile robot body in the direction of movement, and the transverse part of the L-shaped limiting plate abuts against the upper end of the roller brush assembly on the same side. The upper end of the mobile robot body is equipped with a U-shaped fixing frame, and a water pipe support assembly is detachably assembled on its upper end. The water pipe support assembly supplies water to the working area where the roller brush assembly is located. The track guide limiting structure includes a roller brush bracket, an inclined track groove, a first limiting pin, and a second limiting pin. The first limiting pin and the second limiting pin are fixed together on the left and right sides of the outer walls at the front and rear ends of the mobile robot body. The inclined track groove is opened on the roller brush bracket corresponding to the first limiting pin and the second limiting pin. The inclined track groove has an inlet end and a limiting end, and the inlet end is inclined downward. The roller brush assembly has an installation posture and a working posture relative to the main body of the mobile robot. The roller brush assembly switches between the installation posture and the working posture and achieves limit locking through the cooperation of the inclined track groove with the first limit pin and the second limit pin. A mesh slot is provided on the inner side of the roller brush bracket near the side where the roller brush assembly is located.

[0007] As an optimization, in the installation posture, the roller brush assembly drives the roller brush bracket to be inserted at an inclined angle so that the first limiting pin and the second limiting pin enter from the inlet end of the inclined track groove. In the working posture, the roller brush assembly rotates around the first limiting pin and the second limiting pin so that the first limiting pin and the second limiting pin move to the limiting end of the inclined track groove, thereby realizing the limiting lock of the roller brush assembly relative to the main body of the mobile robot.

[0008] As an optimized solution, the water pipe support assembly includes an annular fixing frame, bearings, elastic snap-fit ​​handles, pipe cover and pipe, pneumatic quick connector and annular groove; The bottom surface of the annular fixing frame is coaxially and steppedly fixedly connected to a connecting cylinder, which passes through a pre-reserved through hole on the bottom surface of the U-shaped fixing frame. The bottom surface of the annular fixing frame abuts against the top surface of the U-shaped fixing frame; The outer ring of the bearing is coaxially fixed to the upper end of the inner wall of the annular fixing frame, and the lower end of the pipe cover is coaxially fixed to the inner ring of the bearing. The pipe is fixed to the pipe cover body by bolts; The pneumatic quick connector is inserted into the annular fixing frame, the pipe cover and the pipe end, and the lower end of the pneumatic quick connector extends out of the annular fixing frame. The pneumatic quick connector has water pipes fitted and snapped onto both ends, with the upper water pipe passing through the pipeline. The annular groove is formed on the outer wall of the connecting cylinder located below the top surface of the U-shaped fixing frame; The elastic snap-fit ​​handle is fixed to the upper end of the inner wall of the U-shaped fixing frame, and the movable part of the elastic snap-fit ​​handle is snapped into the annular slot. The upper ends of the left and right sides of the U-shaped fixing frame are provided with operation windows corresponding to the elastic snap handles.

[0009] As an optimized solution, the elastic snap-fit ​​handle includes a strip-shaped U-shaped groove, a handle plate, a semi-circular notch, a strip-shaped window, a rectangular plate, a strip groove, and a spring; The strip-shaped U-shaped groove is horizontally fixed to the upper end of the inner wall of the U-shaped fixing frame, and a reserved through hole is opened on the top surface of the strip-shaped U-shaped groove corresponding to the connecting cylinder; The handle plate is slidably inserted into one side of the inner wall of the strip-shaped U-shaped groove; The semi-circular notch is opened on the inner end of the handle plate, and the semi-circular notch is snapped into the annular groove. The strip window is located in the middle of the top surface of the handle plate, and the width of the strip window is greater than the width of the rectangular plate. The rectangular plate passes through the strip window and is fixed to the top surface of the strip-shaped U-shaped groove; The strip-shaped groove is formed on the front and rear sides of the inner end of the top surface of the handle plate, and the outer end of the strip-shaped groove is connected to the strip-shaped window; A spring is fixed to the inner end of the strip groove, and the outer end of the spring is fixedly connected to the outer wall of the rectangular plate.

[0010] As an optimized solution, the main body of the mobile robot includes a shell, a control circuit board, a connecting frame, rollers, tracks, a motor, ultrasonic obstacle avoidance components, and a battery; The control circuit board is fixed to the bottom surface of the inner cavity of the housing; The connecting frame is fixed to the left and right sides of the outer wall of the mobile robot body, and the roller rotates evenly between the inner side of the connecting frame and the outer wall of the shell on the same side. The outer walls of the rollers on the left and right sides are fitted with tracks; The motor's corresponding roller is fixed to the inner cavity of the housing, and the motor's output end passes through the outer wall of the housing and is coaxially fixed with the corresponding roller. The ultrasonic obstacle avoidance components are fixed to the front and rear ends of the housing, respectively. The control circuit board and battery are fixed in the inner cavity of the housing, and the control circuit board is electrically connected to the motor, ultrasonic obstacle avoidance device and battery respectively. The mobile robot body has reinforcing rods that are evenly and vertically fixed on both sides of its outer wall, and the outer ends of the reinforcing rods are fixedly mounted on the connecting frame on the same side.

[0011] As an optimization, the ultrasonic obstacle avoidance component includes an ultrasonic bracket, an arched protrusion, and an ultrasonic sensor. The ultrasonic support is fixed to the front and rear ends of the housing; The outer side of the ultrasonic support has an integrally formed arched protrusion in the middle. The ultrasonic sensors are symmetrically embedded and assembled on the left and right sides of the ultrasonic bracket. The ultrasonic support is electrically connected to the control circuit board.

[0012] As an optimization, the top surface of the housing is equipped with a battery cover structure, which includes a cover body, a buckle, a mounting groove, and a snap-fit ​​seat; The top surface of the housing has a battery removal window corresponding to the battery position; One end of the cover is hinged to one side of the top edge of the battery removal window; The mounting groove is formed on the outer wall of the other end of the cover; The buckle is fixed in the mounting groove; The corresponding buckle of the card holder is fixed to the top edge of the battery removal window; The buckle is engaged with the buckle seat.

[0013] As an optimized solution, the pipe cover includes an upper pipe cover and a lower pipe cover; The upper and lower pipe covers are fixed together by bolts, and a channel is formed between them corresponding to the pipes. The pipe extends through the channel to the outside and is clamped and locked inside the channel.

[0014] Compared with the prior art, the present invention has the following improvements and advantages: 1. The device uses the inclined track groove and the cooperation of the first limit pin and the second limit pin to enable the roller brush assembly to achieve automatic limit locking by inclined insertion and rotation, and the L-shaped limit plate ensures the stability of the limit. Disassembly and assembly can be completed without tools, with fewer operation steps and high efficiency.

[0015] 2. Both the roller brush assembly and the water pipe support assembly adopt a tool-free disassembly and assembly structure, allowing operators to replace and maintain the two core components without carrying any tools.

[0016] Third, the device uses the semi-circular notch of the elastic snap handle to engage with the annular slot. Pulling the handle outwards unlocks and removes the pipe assembly. During installation, simply push it in for automatic snap-locking, achieving disassembly and assembly in seconds.

[0017] Fourth, the pipe cover is rotatably assembled into the ring-shaped fixed frame by bearings, so that the water pipe assembly can rotate freely 360°, effectively avoiding water pipe entanglement when the robot walks on complex paths. Attached Figure Description

[0018] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0019] In the attached diagram: Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the track guide limiting structure of the present invention; Figure 3 This is a partial structural diagram of the assembly of the first and second limiting pins of the present invention; Figure 4 This is a schematic diagram of the water pipe support assembly structure of the present invention; Figure 5 This is a schematic diagram of the elastic snap-fit ​​handle structure of the present invention; Figure 6 This is a schematic cross-sectional view of the water pipe support assembly structure of the present invention; Figure 7 This is a schematic diagram of the main structure of the mobile robot of the present invention; Figure 8 This is a top view of the assembly structure of the roller and motor of the present invention; Figure 9 This is a schematic diagram of the ultrasonic obstacle avoidance component of the present invention; Figure 10 This is a schematic diagram of the battery cover structure of the present invention.

[0020] Explanation of reference numerals in the attached figures: 1-Mobile robot body, 11-Shell, 12-Connecting frame, 13-Roller, 14-Track, 15-Motor, 16-Ultrasonic obstacle avoidance component, 161-Ultrasonic bracket, 162-Arched protrusion, 163-Ultrasonic sensor, 17-Reinforcing rod, 18-Battery cover structure, 181-Cover, 182-Snap-on, 183-Mounting slot, 184-Snap-on socket, 19-Battery, 2-Water pipe bracket assembly, 21-Ring-shaped fixing frame, 22-Bearing, 23-Elastic snap-on handle, 231-Strip 232-Handle plate, 233-Semi-circular notch, 234-Strip window, 235-Rectangular plate, 236-Strip groove, 237-Spring, 24-Pipe cover, 25-Pipe, 26-Pneumatic quick connector, 27-Annular slot, 3-Roller brush assembly, 4-Rail guide and limiting structure, 41-Roller brush bracket, 42-Mesh hollow groove, 43-Inclined track groove, 44-First limiting pin, 45-Second limiting pin, 5-L-shaped limiting plate, 6-U-shaped fixing frame, 61-Operating window. Detailed Implementation

[0021] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention can be implemented by various different embodiments as defined and covered by the claims.

[0022] Please see Figure 1-10 This invention provides a technical solution: an intelligent photovoltaic panel mobile cleaning robot, comprising a mobile robot body 1, a water pipe support assembly 2, a roller brush assembly 3, a track guide and limiting structure 4, an L-shaped limiting plate 5, and a U-shaped fixing frame 6. The mobile robot body 1 constitutes the load-bearing foundation of the entire robot, and its internal components include a power system, a control system, and a power supply system. The overall outline of the mobile robot body 1 is a rectangular flat plate, and its front and rear ends in the direction of movement are defined as the front end and the rear end, respectively. There are two roller brush assemblies 3, which are detachably assembled to the front and rear ends of the mobile robot body 1 through the track guide and limiting structure 4. The roller brush assemblies 3 are driven by independently set motors to rotate and sweep away dirt on the surface of the photovoltaic panels.

[0023] There are two L-shaped limiting plates 5, which are fixedly assembled on the end faces of the front and rear ends of the mobile robot body 1, respectively. Each L-shaped limiting plate 5 has an L-shaped bent plate structure, including a longitudinal part and a transverse part. The longitudinal part is fixedly connected to the end face of the mobile robot body 1 by bolts, and the transverse part extends horizontally from the upper end of the longitudinal part away from the mobile robot body 1. The lower surface of the transverse part abuts against the upper end face of the roller brush assembly 3 on the same side. The function of the L-shaped limiting plate 5 is to limit and constrain the roller brush assembly 3 from above when the roller brush assembly 3 is in the working posture, so as to prevent the roller brush assembly 3 from accidentally coming out of the track guide limiting structure 4 due to vibration or force during operation, thereby ensuring the reliability of the limiting lock.

[0024] The U-shaped mounting bracket 6 is fixedly assembled on the top of the mobile robot body 1. The U-shaped mounting bracket 6 has a U-shaped groove structure with its opening facing downward. The lower end of the U-shaped mounting bracket 6 is fixed to the top surface of the shell 11 of the mobile robot body 1 by bolts. The upper end of the U-shaped mounting bracket 6 is detachably equipped with a water pipe support assembly 2. The water pipe support assembly 2 is used to support and fix the water supply pipe and deliver water supplied by the external water source to the working area where the roller brush assembly 3 is located, so as to realize wet cleaning operation.

[0025] like Figure 1 , Figure 2 and Figure 3 As shown, the track guide limiting structure 4 is the core mechanism for enabling tool-free quick assembly and disassembly of the roller brush assembly 3. The track guide limiting structure 4 includes a roller brush bracket 41, an inclined track groove 43, a first limiting pin 44, and a second limiting pin 45. The roller brush bracket 41 is located at both ends of the roller brush assembly 3, with one roller brush bracket 41 fixed at each end of each roller brush assembly 3. The roller brush bracket 41 has a plate-like structure, and its inner wall surface near the roller brush assembly 3 has a mesh perforated groove 42. The mesh perforated groove 42 helps to reduce the weight of the roller brush bracket 41, reduce the overall weight of the machine, and at the same time ensure... To ensure structural strength, an inclined track groove 43 is provided on the inner side of the roller brush bracket 41 near the mobile robot body 1. The inclined track groove 43 is a groove with a certain width and depth, and its overall extension direction is inclined from the lower end to the upper end of the roller brush bracket 41. The inclined track groove 43 has an inlet end and a limiting end. The inlet end is located at the lower starting position of the inclined track groove 43 so that the first limiting pin 44 and the second limiting pin 45 can slide in smoothly during installation. The limiting end is located at the upper end of the inclined track groove 43 and is used to limit the first limiting pin 44 and the second limiting pin 45 at the end.

[0026] In this embodiment, each roller brush bracket 41 has two inclined track grooves 43. The two inclined track grooves 43 have the same inclination angle and are spaced apart, corresponding to the first limiting pin 44 and the second limiting pin 45 respectively. The first limiting pin 44 and the second limiting pin 45 are fixed together on the left and right sides of the outer wall at both ends of the front and rear of the mobile robot body 1. On the left and right sides of the front outer wall of the mobile robot body 1, a set of first limiting pins 44 and the second limiting pin 45 are fixed respectively, that is, there are two limiting pins on each side. On the left and right sides of the rear outer wall of the mobile robot body 1, a set of first limiting pins 44 and the second limiting pin 45 are also fixed respectively. The first limiting pins 44 and the second limiting pin 45 are both cylindrical pins with their axes extending outward perpendicular to the side wall of the mobile robot body 1. The positions of each first limiting pin 44 and the second limiting pin 45 correspond one-to-one with the positions of each inclined track groove 43 on the corresponding roller brush bracket 41.

[0027] The roller brush assembly 3 has an installation posture and a working posture relative to the main body 1 of the mobile robot.

[0028] like Figure 2 As shown, specifically, in the installation posture, the operator holds the roller brush assembly 3, making the roller brush assembly 3 tilted at a certain angle relative to the mobile robot body 1, that is, the end of the roller brush assembly 3 closest to the mobile robot body 1 tilts upward. Then, the roller brush assembly 3 is pushed towards the mobile robot body 1 along the tilting direction, so that the tilted track groove 43 on the roller brush bracket 41 is aligned and fitted into the first limiting pin 44 and the second limiting pin 45. Since the inlet end is tilted downward, the first limiting pin 44 and the second limiting pin 45 can smoothly slide into the tilted track groove 43 from the inlet end; subsequently, the operator moves around the first limiting pin 44... The rotating pin 44 and the second limiting pin 45 rotate the roller brush assembly 3, causing the roller brush assembly 3 to switch from the installation posture to the working posture. The first limiting pin 44 and the second limiting pin 45 slide relative to each other in the inclined track groove 43, gradually moving from the inlet end to the limiting end. When both the first limiting pin 44 and the second limiting pin 45 have moved to the limiting end of the inclined track groove 43, the roller brush assembly 3 is locked in the working position. At this time, the lateral part of the L-shaped limiting plate 5 just abuts against the upper end surface of the roller brush bracket 41, further preventing the roller brush bracket 41 from moving upward and falling out. The bottom of the roller brush assembly 3 contacts the cleaning working surface.

[0029] When it is necessary to disassemble the roller brush assembly 3, lift the device and rotate the roller brush assembly 3 in the opposite direction so that the first limit pin 44 and the second limit pin 45 slide back from the limit end of the inclined track groove 43 to the inlet end. Then, pull the roller brush assembly 3 outward at an inclined angle to remove the roller brush assembly 3 from the mobile robot body 1. The entire disassembly and assembly process does not require any tools.

[0030] like Figure 1 , Figure 4 , Figure 5 and Figure 6As shown, the water pipe support assembly 2 includes an annular fixing frame 21, a bearing 22, an elastic snap-fit ​​handle 23, a pipe cover 24, a pipe 25, a pneumatic quick connector 26, and an annular groove 27. The annular fixing frame 21 is a circular frame structure with a connecting cylinder coaxially and steppedly fixed to its bottom surface. The connecting cylinder extends downward from the bottom surface of the annular fixing frame 21, and its outer diameter is smaller than that of the annular fixing frame 21, thus forming a stepped surface between the bottom surface of the annular fixing frame 21 and the outer wall of the connecting cylinder. The connecting cylinder passes through a through hole reserved on the bottom surface of the U-shaped fixing frame 6, so that the bottom surface of the annular fixing frame 21 abuts against the top surface of the U-shaped fixing frame 6, thereby... The annular fixing frame 21 is axially positioned on the U-shaped fixing frame 6. The outer ring of the bearing 22 is coaxially fixed to the upper end of the inner wall of the annular fixing frame 21. The bearing 22 is preferably a deep groove ball bearing or a needle roller bearing. Its outer ring and the inner wall of the annular fixing frame 21 are interference fit to ensure the fixed connection between the outer ring of the bearing 22 and the annular fixing frame 21. The pipe cover 24 is a cylindrical structure. Its lower end is coaxially fixed to the inner ring of the bearing 22. The pipe cover 24 and the inner ring of the bearing 22 are interference fit or fixed by a snap ring. Due to the setting of the bearing 22, the pipe cover 24 can rotate freely about its own axis relative to the annular fixing frame 21.

[0031] Pipe 25 is fixed to pipe cover 24 by bolts. Pipe cover 24 has a receiving cavity inside, the inner diameter of which is slightly smaller than the outer diameter of pipe 25. The upper and lower pipe covers are connected by bolts passing through the side wall of pipe cover 24 to clamp and lock pipe 25 in the channel. When pipe cover 24 rotates with the inner ring of bearing 22, pipe 25 rotates synchronously. Pipe 25 is preferably a rigid pipe, made of stainless steel or engineering plastic, to ensure that it does not deform during water supply.

[0032] The pneumatic quick connector 26 is inserted into the end of the annular fixing frame 21, the pipe cover 24, and the pipe 25. The pneumatic quick connector 26 passes through the inner cavity of the end of the pipe 25, the inner cavity of the pipe cover 24, and the inner cavity of the annular fixing frame 21 in sequence along the axial direction. The upper end of the pneumatic quick connector 26 is located inside the pipe 25, and the lower end of the pneumatic quick connector 26 extends out of the bottom surface of the annular fixing frame 21 to connect to an external water source. Water pipes are respectively fitted and snapped onto both ends of the pneumatic quick connector 26. The upper water pipe extends through the pipe 25 to the outside to transport water to the working area where the roller brush assembly 3 is located. The lower water pipe is located below the annular fixing frame 21 and is used to connect to an external water source or water pump. The pneumatic quick connector 26 is a standard pneumatic quick connector with a one-way valve structure inside. It automatically opens when the water pipe is inserted and automatically closes when the water pipe is pulled out, thereby realizing the rapid opening and closing of the water circuit. The water pipe is made of flexible material for easy bending and retains sufficient slack to move with the device.

[0033] An annular groove 27 is formed on the outer wall of the connecting cylinder located below the top surface of the U-shaped fixing frame 6. That is, after the connecting cylinder passes through the through hole on the bottom surface of the U-shaped fixing frame 6, an annular groove is formed on the outer wall of the protruding part of the connecting cylinder. This annular groove is the annular groove 27, which is used to cooperate with the elastic locking handle 23 to achieve quick locking. The elastic locking handle 23 is fixed to the upper end of the inner wall of the U-shaped fixing frame 6, and the movable part of the elastic locking handle 23 is engaged in the annular groove 27. The elastic locking handle 23 is used to lock the connecting cylinder together with the entire water pipe support assembly 2 to the U-shaped fixing frame 6. The structure prevents the water pipe support assembly 2 from detaching from the U-shaped fixing bracket 6. Through this structure, the water pipe support assembly 2 achieves quick insertion and removal: when it needs to be disassembled, simply operate the elastic locking handle 23 to disengage its movable part from the annular locking groove 27, and the annular fixing bracket 21, along with the pipe cover 24, pipe 25, and pneumatic quick connector 26, can be removed upwards from the U-shaped fixing bracket 6. When installation is required, insert the connecting cylinder into the through hole of the U-shaped fixing bracket 6, and the movable part of the elastic locking handle 23 automatically engages in the annular locking groove 27 to achieve locking.

[0034] like Figure 4 , Figure 5As shown, the elastic snap-fit ​​handle 23 includes a strip-shaped U-shaped groove 231, a handle plate 232, a semi-circular notch 233, a strip-shaped window 234, a rectangular plate 235, a strip-shaped groove 236, and a spring 237. The strip-shaped U-shaped groove 231 is horizontally fixed to the upper end of the inner wall of the U-shaped fixing frame 6, and its length extends along the left and right directions of the U-shaped fixing frame 6. The cross-section of the strip-shaped U-shaped groove 231 is U-shaped, and its opening direction is upward. The top surface of the strip-shaped U-shaped groove 231 has a reserved through hole corresponding to the connecting cylinder for the connecting cylinder to pass through. The handle plate 232 is slidably inserted into one side of the inner wall of the strip-shaped U-shaped groove 231. 32 is a long strip-shaped plate, the width of which matches the inner cavity width of the strip-shaped U-shaped groove 231. The handle plate 232 can slide back and forth along the length of the strip-shaped U-shaped groove 231. The outer end of the handle plate 232 extends into the operating window 61 on the U-shaped fixing frame 6 for the operator to grip and pull. The inner end of the handle plate 232 is located inside the strip-shaped U-shaped groove 231. A semi-circular notch 233 is opened at the inner end of the handle plate 232. The semi-circular notch 233 is a semi-circular notch, the diameter of which matches the outer diameter of the annular groove 27. When the handle plate 232 is in the locked position, the semi-circular notch 233 engages with the sleeve. The connecting cylinder is locked within the annular groove 27. The semi-circular notch 233 is designed to form a surface contact with the cylindrical annular groove 27, resulting in a large contact area and uniform force distribution during locking, making it less prone to slippage. A strip-shaped window 234 is located in the center of the top surface of the handle plate 232. The strip-shaped window 234 is a long through hole, the width of which is greater than the thickness of the rectangular plate 235, allowing the rectangular plate 235 to pass through and providing space for inward and outward movement. The rectangular plate 235 passes through the strip-shaped window 234 and is fixed to the top surface of the strip-shaped U-shaped groove 231, preventing it from sliding with the handle plate 232. A strip-shaped groove 236 is located at the inner end of the top surface of the handle plate 232. The front and rear sides, and the outer end of the strip groove 236 is connected to the strip window 234. The strip groove 236 is a groove extending along the length of the handle plate 232. It is used to accommodate the spring 237. The spring 237 is set in the strip groove 236. One end of the spring 237 is fixed to the inner end wall of the strip groove 236, and the other end of the spring 237 is fixedly connected to the outer wall of the rectangular plate 235. The spring 237 is initially in a compressed state and applies an elastic force to the handle plate 232 inward, that is, in the direction close to the connecting cylinder, so that the semi-circular notch 233 at the inner end of the handle plate 232 is kept engaged in the annular groove 27.

[0035] When it is necessary to disassemble the water pipe support assembly 2, the operator holds the outer end of the handle plate 232 through the operating window 61 and pulls the handle plate 232 outward. Handle plate 232 slides outward against the elastic force of spring 237, further compressing spring 237. The semi-circular notch 233 disengages from the annular groove 27 as handle plate 232 moves outward. At this point, the connecting cylinder is no longer locked, and the operator can remove the entire water pipe support assembly 2 from the U-shaped fixing frame 6. When the water pipe support assembly 2 needs to be installed, the operator aligns the connecting cylinder with the through hole of the U-shaped fixing frame 6 and inserts it downward. During insertion, the outer wall of the connecting cylinder first contacts the arc-shaped edge of the semi-circular notch 233. Guided by the arc-shaped edge, handle plate 232 is pushed outward. After the connecting cylinder is inserted into place, the annular groove 27 is aligned with the semi-circular notch 233. Handle plate 232 automatically slides inward to reset under the elastic restoring force of spring 237, and the semi-circular notch 233 is once again engaged in the annular groove 27, achieving automatic locking. Through the above structure, the water pipe support assembly 2 achieves rapid assembly and disassembly in seconds, without any tools.

[0036] like Figure 7As shown, the mobile robot body 1 includes a shell 11, a control circuit board, a connecting frame 12, rollers 13, tracks 14, a motor 15, an ultrasonic obstacle avoidance component 16, and a battery 19. The shell 11 is the outer shell of the mobile robot body 1. It has a rectangular box structure and is made of metal sheet or engineering plastic. The shell 11 has an internal cavity for accommodating electronic components such as the control circuit board and the battery 19. The control circuit board is fixed to the bottom surface of the inner cavity of the shell 11. The control circuit board integrates a microprocessor, motor drive circuit, sensor signal processing circuit, and communication module, all of which are direct applications of existing technology and will not be described in detail here. The control circuit board is electrically connected to the motor 15, ultrasonic obstacle avoidance component 16, and battery 19 via wires, and is used to receive sensor signals and control the operation of the motor 15. The connecting frames 12 are fixed to the left and right sides of the outer wall of the mobile robot body 1. Each connecting frame 12 is a long strip plate structure that extends along the front and rear direction of the mobile robot body 1. Multiple rollers 13 are provided on the left and right sides of the shell 11, with five rollers 13 on each side. Two rollers 13 are distributed vertically at the front and rear, and one roller 13 is located at the bottom in the middle. One end of the axle of the roller 13 is rotatably connected to the connecting frame 12, and the other end is rotatably connected to the outer wall of the shell 11, so that the roller 13 can rotate freely around its own axis. Tracks 14 are fitted on the outer wall of the rollers 13 on the same side. The tracks 14 are annular rubber tracks, and their inner walls are provided with Transmission teeth that mesh with the outer wall of roller 13 ensure reliable transmission between roller 13 and track 14. Motor 15 is fixed to the inner cavity of housing 11 corresponding to roller 13. Motor 15 is preferably a DC brushless motor or stepper motor, which features small size, light weight, and high control precision. The output end of motor 15 passes through the outer wall of housing 11 and is coaxially fixedly connected to the corresponding roller 13. There are two motors 15, which are respectively set at the left and right ends of the inner cavity of housing 11 and are used to drive the tracks 14 on the left and right sides respectively. By controlling the speed difference between the left and right motors 15, the robot can move forward, backward, and turn left and right. Ultrasonic obstacle avoidance components 16 are fixed at the front and rear ends of housing 11 respectively to detect obstacles in the robot's forward direction and realize anti-fall and obstacle avoidance functions. Battery 19 is fixed to the inner cavity of housing 11 to provide power to control circuit board, motor 15 and ultrasonic obstacle avoidance components 16. Battery 19 is preferably a rechargeable lithium battery.

[0037] The working process of the mobile robot body 1 is as follows: the battery 19 supplies power to the control circuit board and the motor 15. The control circuit board controls the speed and direction of the left and right motors 15 according to the preset program or remote control command. When the left and right motors 15 rotate in the same direction and at the same speed, the left and right tracks 14 move synchronously, and the robot moves forward or backward in a straight line. When there is a speed difference between the left and right motors 15, the left and right tracks 14 generate a speed difference, and the robot turns to the side with the slower speed.

[0038] like Figure 9As shown, the ultrasonic obstacle avoidance component 16 includes an ultrasonic bracket 161, an arched protrusion 162, and an ultrasonic sensor 163. The ultrasonic bracket 161 is fixed to the front and rear ends of the housing 11. The ultrasonic bracket 161 is a plate-shaped bracket, which is fixed to the end face of the housing 11 by bolts and is used to support the ultrasonic sensor 163. An arched protrusion 162 is integrally formed in the middle of the outer side of the ultrasonic bracket 161. The arched protrusion 162 arches outward from the outer surface of the ultrasonic bracket 161 to form an arched structure. The function of the arched protrusion 162 is that when the robot walks on the photovoltaic panel, even if the front end of the ultrasonic bracket 161 has a slight collision with an obstacle, the arched protrusion 162 can contact the obstacle first and undergo elastic deformation, which plays a buffering and protective role and reduces the impact on the ultrasonic sensor 163. Ultrasonic sensors 163 are symmetrically embedded on the left and right sides of ultrasonic brackets 161. Each ultrasonic bracket 161 is equipped with two ultrasonic sensors 163. The ultrasonic sensor 163 is an integrated ultrasonic transmitter and receiver sensor. Its transmitting surface faces the front or rear of the robot's walking direction. It is used to emit ultrasonic waves and receive echoes. The ultrasonic sensor 163 is electrically connected to the control circuit board. The ultrasonic sensor 163 sends the detected echo signal to the control circuit board. The control circuit board calculates the obstacle distance based on the time difference between transmission and reception. When the detected obstacle distance is less than a preset safety threshold, the control circuit board determines that there is an obstacle or the edge of the photovoltaic panel in front and immediately controls the motor 15 to stop running, so that the robot actively stops moving forward, thereby preventing the robot from falling off the edge of the photovoltaic panel or colliding with the obstacle.

[0039] like Figure 10As shown, the top surface of the housing 11 is fitted with a battery cover structure 18, which includes a cover 181, a buckle 182, a mounting groove 183, and a locking seat 184. A battery removal window is provided on the top surface of the housing 11 corresponding to the position of the battery 19, facilitating battery replacement by the operator. The cover 181 is rotatably connected to the top surface of the housing 11 via a hinge or latch, allowing the cover 181 to be opened by flipping upwards or closed by flipping downwards around the hinge axis. The mounting groove 183 is located on the outer wall of the end of the cover 181 away from the hinge end. The mounting groove 183 is a rectangular groove. The buckle 182 is fixed within the mounting groove 183. The buckle 182 is an elastic buckle, including an elastic arm and a hook portion. One end of the elastic arm is fixed to the bottom wall of the mounting groove 183, and the hook portion is located at the free end of the elastic arm, extending outwards from the mounting groove 183. The locking seat 184 is fixed to the top surface of the battery removal window corresponding to the buckle 182. On the side of the edge away from the hinge end, the latching seat 184 has a latching hole or slot that mates with the latch hook of the buckle 182. When the cover 181 is closed, the latch hook of the buckle 182 engages in the latching hole of the latching seat 184, locking the cover 181. When the cover 181 needs to be opened, the operator presses the elastic arm of the buckle 182 to disengage the latch hook from the latching hole of the latching seat 184, and then flips the cover 181 upward to open it. When the cover 181 needs to be closed, the operator presses the cover 181 downward. The latch hook of the buckle 182 is squeezed and elastically deformed when it contacts the latching seat 184. When the cover 181 is completely closed, the latch hook automatically springs into the latching hole of the latching seat 184, achieving automatic locking. Through the above structure, the battery cover structure 18 achieves quick opening and closing, allowing the battery cover to be opened and closed without any tools, making it convenient for operators to replace batteries.

[0040] like Figure 1 and Figure 7 As shown, reinforcing rods 17 are uniformly and vertically fixed on the left and right sides of the outer wall of the mobile robot body 1, and the outer ends of the reinforcing rods 17 are fixedly mounted on the connecting frame 12 on the same side. On the left and right outer walls of the housing 11, multiple reinforcing rods 17 are evenly spaced along the front and back direction. One end of each reinforcing rod 17 is vertically fixed to the outer wall of the housing 11, and the other end is fixedly connected to the inner side of the connecting frame 12. The setting of the reinforcing rods 17 enhances the rigidity and torsional resistance of the connecting frame 12. When the robot walks on the photovoltaic panel surface, even if it is subjected to lateral force or uneven load, the connecting frame 12 will not be twisted or deformed, ensuring the smooth operation of the track 14. Especially after long-term use, the reinforcing rods 17 can effectively prevent the connecting frame 12 from permanent deformation due to metal fatigue, improving the service life and operational stability of the whole machine.

[0041] The control circuit board controls the operation of motor 15, which drives roller 13 to rotate. Roller 13 drives track 14 to move, and the robot walks on the photovoltaic panel. At the same time, water supplied by an external water source enters the pneumatic quick connector 26 through the external water supply pipe, flows through the upper water pipe and is sprayed onto the working area where the roller brush assembly 3 is located. The roller brush assembly 3 rotates on the surface of the photovoltaic panel, and the water helps to achieve cleaning.

Claims

1. An intelligent mobile cleaning robot for photovoltaic panels, characterized in that, Includes the main body of the mobile robot, the water pipe support assembly, the roller brush assembly, the track guide and limit structure, the L-shaped limit plate and the U-shaped fixing frame; The front and rear ends of the mobile robot body in the direction of movement are respectively detachably assembled with roller brushes through the track guide limiting structure. The longitudinal part of the L-shaped limiting plate is fixed to the front and rear ends of the mobile robot body in the direction of movement, and the transverse part of the L-shaped limiting plate abuts against the upper end of the roller brush assembly on the same side. The upper end of the mobile robot body is equipped with a U-shaped fixing frame, and a water pipe support assembly is detachably assembled on its upper end. The water pipe support assembly supplies water to the working area where the roller brush assembly is located. The track guide limiting structure includes a roller brush bracket, an inclined track groove, a first limiting pin, and a second limiting pin. The first limiting pin and the second limiting pin are fixed together on the left and right sides of the outer walls at the front and rear ends of the mobile robot body. The inclined track groove is opened on the roller brush bracket corresponding to the first limiting pin and the second limiting pin. The inclined track groove has an inlet end and a limiting end, and the inlet end is inclined downward. The roller brush assembly has an installation posture and a working posture relative to the main body of the mobile robot. The roller brush assembly switches between the installation posture and the working posture and achieves limit locking through the cooperation of the inclined track groove with the first limit pin and the second limit pin.

2. The intelligent photovoltaic panel mobile cleaning robot according to claim 1, characterized in that, In the installation posture, the roller brush assembly drives the roller brush bracket to be inserted at an inclined angle so that the first limiting pin and the second limiting pin enter from the inlet end of the inclined track groove. In the working posture, the roller brush assembly rotates around the first limiting pin and the second limiting pin so that the first limiting pin and the second limiting pin move to the limiting end of the inclined track groove, thereby realizing the limiting lock of the roller brush assembly relative to the main body of the mobile robot.

3. The intelligent photovoltaic panel mobile cleaning robot according to claim 1, characterized in that, The water pipe support assembly includes an annular fixing frame, bearings, elastic snap-fit ​​handles, pipe cover and pipe, pneumatic quick connector and annular groove. The bottom surface of the annular fixing frame is coaxially and steppedly fixedly connected to a connecting cylinder, which passes through a pre-reserved through hole on the bottom surface of the U-shaped fixing frame. The bottom surface of the annular fixing frame abuts against the top surface of the U-shaped fixing frame; The outer ring of the bearing is coaxially fixed to the upper end of the inner wall of the annular fixing frame, and the lower end of the pipe cover is coaxially fixed to the inner ring of the bearing. The pipe is fixed to the pipe cover body by bolts; The pneumatic quick connector is inserted into the annular fixing frame, the pipe cover and the pipe end, and the lower end of the pneumatic quick connector extends out of the annular fixing frame. The pneumatic quick connector has water pipes fitted and snapped onto both ends, with the upper water pipe passing through the pipeline. The annular groove is formed on the outer wall of the connecting cylinder located below the top surface of the U-shaped fixing frame; The elastic snap-fit ​​handle is fixed to the upper end of the inner wall of the U-shaped fixing frame, and the movable part of the elastic snap-fit ​​handle is snapped into the annular slot. The upper ends of the left and right sides of the U-shaped fixing frame are provided with operation windows corresponding to the elastic snap handles.

4. The intelligent photovoltaic panel mobile cleaning robot according to claim 3, characterized in that, The elastic snap-fit ​​handle includes a strip-shaped U-shaped groove, a handle plate, a semi-circular notch, a strip window, a rectangular plate, a strip groove, and a spring; The strip-shaped U-shaped groove is horizontally fixed to the upper end of the inner wall of the U-shaped fixing frame, and a reserved through hole is opened on the top surface of the strip-shaped U-shaped groove corresponding to the connecting cylinder; The handle plate is slidably inserted into one side of the inner wall of the strip-shaped U-shaped groove; The semi-circular notch is opened on the inner end of the handle plate, and the semi-circular notch is snapped into the annular groove. The strip window is located in the middle of the top surface of the handle plate, and the width of the strip window is greater than the width of the rectangular plate; The rectangular plate passes through the strip window and is fixed to the top surface of the strip-shaped U-shaped groove; The strip-shaped groove is formed on the front and rear sides of the inner end of the top surface of the handle plate, and the outer end of the strip-shaped groove is connected to the strip-shaped window; A spring is fixed to the inner end of the strip groove, and the outer end of the spring is fixedly connected to the outer wall of the rectangular plate.

5. The intelligent photovoltaic panel mobile cleaning robot according to claim 1, characterized in that, The main body of the mobile robot includes a shell, a control circuit board, a connecting frame, rollers, tracks, a motor, ultrasonic obstacle avoidance components, and a battery; The control circuit board is fixed to the bottom surface of the inner cavity of the housing; The connecting frame is fixed to the left and right sides of the outer wall of the mobile robot body, and the roller rotates evenly between the inner side of the connecting frame and the outer wall of the shell on the same side. Tracks are fitted onto the outer walls of the rollers on the left and right sides; The motor's corresponding roller is fixed to the inner cavity of the housing, and the motor's output end passes through the outer wall of the housing and is coaxially fixed with the corresponding roller. The ultrasonic obstacle avoidance components are fixed to the front and rear ends of the housing, respectively. The control circuit board and battery are fixed inside the housing, and the control circuit board is electrically connected to the motor, ultrasonic obstacle avoidance device and battery respectively.

6. The intelligent photovoltaic panel mobile cleaning robot according to claim 5, characterized in that, The ultrasonic obstacle avoidance component includes an ultrasonic bracket, an arched protrusion, and an ultrasonic sensor. The ultrasonic support is fixed to the front and rear ends of the housing; The outer side of the ultrasonic support has an integrally formed arched protrusion in the middle. The ultrasonic sensors are symmetrically embedded and assembled on the left and right sides of the ultrasonic bracket. The ultrasonic support is electrically connected to the control circuit board.

7. The intelligent photovoltaic panel mobile cleaning robot according to claim 5, characterized in that, The top surface of the housing is fitted with a battery cover structure, which includes a cover body, a buckle, a mounting groove, and a snap-fit ​​seat; The top surface of the housing has a battery removal window corresponding to the battery position; One end of the cover is hinged to one side of the top edge of the battery removal window; The mounting groove is formed on the outer wall of the other end of the cover; The buckle is fixed in the mounting groove; The corresponding buckle of the card holder is fixed to the top edge of the battery removal window; The buckle is engaged with the buckle seat.

8. The intelligent photovoltaic panel mobile cleaning robot according to claim 5, characterized in that, The mobile robot body has reinforcing rods that are evenly and vertically fixed on both sides of its outer wall, and the outer ends of the reinforcing rods are fixedly mounted on the connecting frame on the same side.

9. The intelligent photovoltaic panel mobile cleaning robot according to claim 3, characterized in that, The pipe cover includes an upper pipe cover and a lower pipe cover; The upper and lower pipe covers are fixed together by bolts, and a channel is formed between them corresponding to the pipes. The pipe extends through the channel to the outside and is clamped and locked inside the channel.

10. The intelligent photovoltaic panel mobile cleaning robot according to claim 1, characterized in that, A mesh slot is provided on the inner side of the roller brush bracket near the side where the roller brush assembly is located.

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