A mobile photovoltaic panel flaw detection operation and maintenance robot

Abstract

This invention belongs to the field of photovoltaic panel testing technology, and specifically relates to a mobile photovoltaic panel flaw detection and maintenance robot. It includes a PLC controller and multiple interconnected channel-shaped guide rails, as well as: two movable seats, a multi-axis robotic arm, a frame, a traction unit, a light-shielding cloth cover, and an infrared temperature probe. Both movable seats are equipped with electric guide wheel assemblies, and the movable seats move along the channel-shaped guide rails via these assemblies. A channel-shaped guide rail separates the two movable seats, and each movable seat is equipped with a conduction mechanism. The multi-axis robotic arm is fixed to the top of the movable seats on the same side. The frame is located on one side of the movable end of the multi-axis robotic arm, and the multi-axis robotic arm is connected to the frame via the traction unit. This invention, through its responsive power supply and communication, is suitable for the large-scale flaw detection and maintenance needs of new energy power plants, while also reducing interference from external reflected stray light, dust, and other impurities on flaw detection accuracy.

Description

Technical Field

[0001] This invention belongs to the field of photovoltaic panel testing technology, and in particular relates to a mobile photovoltaic panel flaw detection and maintenance robot. Background Technology

[0002] New energy photovoltaic power plants operate outdoors for extended periods, making photovoltaic modules prone to hidden defects such as microcracks, hot spots, and delamination. These defects can lead to reduced power generation efficiency and even safety hazards. Regularly conducting flaw detection and maintenance on photovoltaic panels is a core measure to ensure stable operation of the power plant, improve power generation revenue, and mitigate equipment safety risks.

[0003] Currently, infrared thermography is the mainstream non-destructive testing method for screening defects in photovoltaic modules. It can effectively identify hot spots and internal abnormal faults in modules by relying on the difference in temperature field distribution. It is suitable for the large-scale inspection needs of photovoltaic power plants. At present, the industry generally uses drones equipped with infrared equipment to complete large-scale flaw detection operations throughout the entire station, which has a wide inspection coverage and high operation efficiency.

[0004] However, since tempered protective glass needs to be installed on the surface of photovoltaic panels, the surface of the panels has a strong specular reflection effect. Drone inspections are mostly conducted from high altitudes at an angle, and the reflected light can easily cause false high temperature signals in infrared thermography, which reduces the accuracy and reliability of photovoltaic flaw detection to a certain extent. Secondly, if handheld infrared thermometers are used for detection, or small crawling robots are used to crawl along the photovoltaic panel surface for detection, the range of equipment power supply and other limitations will limit the detection to a single or small area of ​​photovoltaic panel. The detection of adjacent photovoltaic panels requires frequent manual relocation and switching of detection points, resulting in low detection efficiency. Summary of the Invention

[0005] The purpose of this invention is to address the above-mentioned problems by providing a mobile photovoltaic panel flaw detection and maintenance robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a mobile photovoltaic panel flaw detection and maintenance robot, including a PLC controller and multiple interconnected grooved guide rails, and further including: two mobile seats, a multi-axis robotic arm, a frame, a traction unit, a light-shielding cloth cover and an infrared temperature measurement probe;

[0007] Both of the movable seats are equipped with electric guide wheel assemblies, and the movable seats move along the grooved guide rail via the electric guide wheel assemblies. There is a grooved guide rail between the two movable seats, and the movable seats are equipped with a conduction mechanism.

[0008] The multi-axis robotic arm is fixed to the top of the movable seat on the same side; the frame is set on one side of the movable end of the multi-axis robotic arm, the multi-axis robotic arm is connected to the frame through a traction unit, and the frame is equipped with a walking unit;

[0009] The light-blocking cloth cover is wrapped around the outside of the frame;

[0010] The infrared temperature probe is fixedly inserted into the top of the frame, and the detection end of the infrared temperature probe extends to the inside of the light-shielding cloth cover.

[0011] Preferably, the pulling unit includes a winding box, a winding wheel, a winding motor, and two pulling ropes; the winding box is fixed to the movable end of the multi-axis robotic arm, the winding wheel is rotatably disposed inside the winding box, the winding motor is mounted on the side wall of the winding box, and the winding motor drives the winding wheel to rotate, the winding wheel has two winding slots, and both pulling ropes are wound and connected to the corresponding winding slots, and the movable ends of both pulling ropes slide to the outside of the winding box.

[0012] Preferably, the bottom of the winding box has two symmetrically arranged guide tubes, and the movable ends of the two pull ropes slide through the corresponding guide tubes and extend to the bottom of the winding box.

[0013] Preferably, the communication mechanism includes multiple power supply female connectors, multiple communication female connectors, two power supply male connectors, two communication male connectors, and two sets of electric push rods. The power supply female connectors and communication female connectors are fixed to the inner sidewalls of the corresponding slotted guide rails and are positioned on both sides of the corresponding movable seats. The power supply female connectors are electrically connected to the PLC controller, and the communication female connectors are communicatively connected to the PLC controller. The two sets of electric push rods are fixed to the sidewalls of the corresponding movable seats. The power supply male connectors and communication male connectors are fixed to the movable ends of the corresponding electric push rods. The positions of the power supply male connectors and power supply female connectors correspond, and the positions of the communication male connectors and communication female connectors correspond. A connecting cable is provided between the two movable seats, and a positioning component is provided between the movable seats and the slotted guide rails.

[0014] Preferably, the positioning component includes a positioning block and a proximity switch; the positioning block is fixedly inserted into the inner wall of the slotted guide rail, the proximity switch is fixed to the side wall of the movable seat, the proximity switch moves to the position of the positioning block, and the proximity switch feeds back an electrical signal to the PLC controller through a male and a female communication connector.

[0015] Preferably, the walking unit includes two passive walking wheels, two active walking wheels, a mounting cover, and a walking motor; the two passive walking wheels and the two active walking wheels are rotatably connected to the side wall of the frame; the mounting cover is disposed between the two active walking wheels; a connecting frame is fixed to the outer side wall of the mounting cover and is fixedly connected to the frame; a drive rod is rotatably connected to the side wall of the mounting cover; the axles of the two active walking wheels are fixedly connected to the drive rod; a driven gear is fixedly sleeved on the drive rod at a position inside the mounting cover; an active gear is rotatably connected inside the mounting cover and meshes with the driven gear; the walking motor is fixed to the side wall of the mounting cover and drives the active gear to rotate.

[0016] Preferably, a rotating rod is provided on one side of the drive rod, and a soft brush bristle sleeve is fixedly sleeved on the outer side of the rotating rod. The bottom of the soft brush bristle sleeve is flush with the bottom of the passive walking wheel and the active walking wheel.

[0017] Preferably, the rotating rod has two friction wheels fixedly sleeved on its wall, and the two friction wheels are respectively located on both sides of the soft brush bristle sleeve, with the outer wall of the friction wheel abutting against the outer wall of the active walking wheel.

[0018] Compared with existing technologies, the present invention has the following advantages:

[0019] 1. This invention, through the setting of a grooved guide rail, two movable seats, a multi-axis robotic arm, an electric guide rail wheel assembly, and a communication mechanism, can set up a grooved guide rail for the movable seats to move next to the photovoltaic panel array, so that the multi-axis robotic arm can move and inspect along the photovoltaic panel array. With the help of the communication mechanism, it can perform follow-up power supply and communication, overcome the limitations of traditional power supply and communication, improve the overall detection range, and eliminate the need for manual intervention. It is suitable for the large-scale mobile flaw detection and maintenance needs of new energy power plants.

[0020] 2. This invention, through its frame, light-shielding cloth cover, infrared temperature probe, and walking unit, enables the infrared temperature probe to move along the surface of the photovoltaic panel to measure temperature using the walking unit in conjunction with the frame, thereby detecting hot spot defects. Furthermore, the light-shielding cloth cover reduces interference from external stray reflected light on the infrared temperature measurement and flaw detection when inspecting the detection area, thus improving the accuracy of infrared temperature measurement and flaw detection. While ensuring the detection range, it can effectively improve the flaw detection accuracy and reduce the possibility of missing defects or false alarms.

[0021] 3. The present invention, through the setting of the traction unit, can use rope traction between the frame and the multi-axis robotic arm, without the need for rigid frame support. This facilitates the frame to move quickly along the photovoltaic panel surface and reduces the overall weight of the device, thereby reducing the moving load and making it more convenient to use.

[0022] 4. This invention, through the addition of a rotating rod and a soft brush sleeve, enables the cleaning of dust and other impurities on the surface of the photovoltaic panel during flaw detection by walking along the panel surface. This reduces the impact of dust and other impurities on the accuracy of flaw detection. At the same time, by assisting in cleaning impurities on the photovoltaic panel surface, it can reduce the impact of impurities blocking the photovoltaic panel's power generation efficiency to a certain extent. Furthermore, equipped with friction wheels, the soft brush sleeve can be driven to rotate by the active walking wheels, ensuring the cleaning effect of dust and other impurities. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural diagram of a mobile photovoltaic panel flaw detection and maintenance robot provided by the present invention;

[0024] Figure 2 This is a side view structural schematic diagram of the light-blocking cloth cover provided by the present invention;

[0025] Figure 3 This is a schematic diagram of the connection structure between the movable seat and the grooved guide rail provided by the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of the tensioning unit provided by the present invention;

[0027] Figure 5 This is a schematic diagram of the connection structure of the two movable seats provided by the present invention;

[0028] Figure 6 This is a three-dimensional structural diagram of the skeleton provided by the present invention;

[0029] Figure 7 This is a schematic diagram of the walking unit provided by the present invention;

[0030] Figure 8 This invention provides Figure 6 Enlarged view of the structure of section A;

[0031] Figure 9 This is a schematic diagram showing the connection between the PLC controller and the power supply female connector and the communication female connector provided by the present invention.

[0032] In the diagram: 1. PLC controller; 2. Grooved guide rail; 3. Moving base; 4. Multi-axis robotic arm; 5. Frame; 6. Pulling unit; 61. Rewind box; 62. Rewind wheel; 63. Rewind motor; 64. Pull rope; 65. Rewind groove; 7. Blackout cloth cover; 8. Infrared temperature probe; 9. Electric guide rail wheel assembly; 10. Conducting mechanism; 101. Power supply female connector; 102. Communication female connector; 103. Power supply male connector; 104. Communication male connector; 105. Electric push rod; 106. Connecting cable; 11. Walking unit; 111. Passive walking wheel; 112. Active walking wheel; 113. Mounting cover; 114. Walking motor; 115. Connecting frame; 116. Drive rod; 117. Driven gear; 118. Driven gear; 12. Guide tube; 13. Positioning assembly; 131. Positioning block; 132. Proximity switch; 14. Rotating rod; 15. Soft brush sleeve; 16. Friction wheel. Detailed Implementation

[0033] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0034] like Figures 1-3As shown, a mobile photovoltaic panel flaw detection and maintenance robot includes a PLC controller 1 and multiple interconnected channel-shaped guide rails 2. The device also includes: two movable seats 3, a multi-axis robotic arm 4, a frame 5, a traction unit 6, a light-shielding cloth cover 7, and an infrared temperature probe 8. Each of the two movable seats 3 is equipped with an electric guide rail wheel assembly 9, and the movable seats 3 move along the channel-shaped guide rails 2 via the electric guide rail wheel assembly 9. The two movable seats 3 are spaced apart by one channel-shaped guide rail 2. Each movable seat 3 is equipped with a conduction mechanism 10. The multi-axis robotic arm 4 is fixed to the top of the movable seat 3 on the same side. The frame 5 is located on one side of the movable end of the multi-axis robotic arm 4, and the multi-axis robotic arm 4 is connected to the traction unit 6. The frame 5 is connected and a walking unit 11 is installed on the frame 5; a light-shielding cloth cover 7 is wrapped around the outside of the frame 5; an infrared temperature measuring probe 8 is fixedly inserted into the top of the frame 5, and the detection end of the infrared temperature measuring probe 8 extends to the inside of the light-shielding cloth cover 7. The light-shielding cloth cover 7 is made of UV-resistant black polyester light-shielding fabric, and the infrared temperature measuring probe 8 is a long-wave infrared temperature measuring probe. The PLC controller 1 is provided with a chassis (not shown in the figure). The PLC controller 1 is placed inside the chassis, and the chassis is covered with three slotted guide rails 2, which can store the moving seat 3, multi-axis robotic arm 4, frame 5 and other devices, and prevent them from getting wet. The chassis is provided with an electric door to facilitate the removal of the devices for testing.

[0035] In actual operation, this embodiment uses the grooved guide rail 2 to provide movement guidance for the moving seat 3. The two moving seats 3 can alternately complete the workstation docking and inspection operations. The multi-axis robotic arm 4, in conjunction with the pulling unit 6, puts the frame 5 onto the photovoltaic panel surface. The walking unit 11 drives the frame 5 to move along the photovoltaic panel surface. The infrared temperature probe 8, located inside the shading cloth 7, collects the temperature field information of the panel surface and transmits it back to the PLC controller 1. The shading cloth 7 can minimize the interference of external random reflected light on the temperature measurement, thereby completing the screening of hot spot defects in the photovoltaic panel.

[0036] like Figure 4 As shown, further, in this embodiment, the pulling unit 6 includes a winding box 61, a winding wheel 62, a winding motor 63, and two pulling ropes 64; the winding box 61 is fixed to the movable end of the multi-axis robotic arm 4, the winding wheel 62 is rotatably disposed inside the winding box 61, the winding motor 63 is mounted on the side wall of the winding box 61, and the winding motor 63 drives the winding wheel 62 to rotate. The winding wheel 62 has two winding grooves 65, and the two pulling ropes 64 are wound and connected to the corresponding winding grooves 65. The movable ends of the two pulling ropes 64 slide to the outside of the winding box 61. The winding motor 63 is a servo motor with a brake.

[0037] In actual operation, this embodiment drives the winding wheel 62 to rotate through the winding motor 63, simultaneously releasing and retracting the two traction ropes 64. When the traction ropes 64 are released, the frame 5 falls to the surface of the photovoltaic panel by its own weight. When the traction ropes 64 are retracted, the frame 5 is lifted up and removed from the panel surface. The rope traction connection can reduce the load on the end of the multi-axis robotic arm 4 and can also adapt to the slight undulations of the photovoltaic panel surface to a certain extent.

[0038] like Figure 4 As shown, in this embodiment, two symmetrically arranged guide tubes 12 are fixed at the bottom of the winding box 61, and the movable ends of the two pull ropes 64 slide through the corresponding guide tubes 12 and extend to the bottom of the winding box 61.

[0039] In actual operation, this embodiment uses the guide tube 12 to constrain the movement path of the two traction ropes 64, limiting the downward output position of the traction ropes 64, minimizing the twisting of the traction ropes 64, and ensuring the stability of the frame 5.

[0040] like Figure 3 , Figure 5 and Figure 9 As shown, in this embodiment, the communication mechanism 10 includes multiple power supply female connectors 101, multiple communication female connectors 102, two power supply male connectors 103, two communication male connectors 104, and two sets of electric push rods 105. The power supply female connectors 101 and communication female connectors 102 are fixed to the inner sidewalls of the corresponding slotted guide rails 2 and are arranged on both sides of the corresponding movable seats 3. The power supply female connectors 101 are electrically connected to the PLC controller 1, and the communication female connectors 102 are communicatively connected to the PLC controller 1. The two sets of electric push rods 105 are fixed to the sidewalls of the corresponding movable seats 3. The power supply male connectors 103 and 104 are fixed to the movable ends of the corresponding electric push rods 105. The positions of the power supply male connectors 103 and 101 correspond to those of the power supply female connectors 101, and the positions of the communication male connectors 104 and 102 correspond to those of the communication female connectors 102. A connecting cable 106 is provided between the two movable seats 3, and a positioning component 13 is provided between the movable seats 3 and the slotted guide rails 2.

[0041] In actual operation, this embodiment uses the extension and retraction of the electric push rod 105 to drive the power supply male connector 103 and the communication male connector 104 to complete the insertion or separation with the power supply female connector 101 and the communication female connector 102. This provides the mobile base 3 with working power and signal transmission channels. The female connectors arranged at intervals along the grooved guide rail 2 can adapt to the docking requirements of different stopping positions of the mobile base 3, minimize the equipment's dependence on its own battery, and facilitate long-distance inspection operations.

[0042] like Figure 5As shown, further, in this embodiment, the positioning component 13 includes a positioning block 131 and a proximity switch 132; the positioning block 131 is fixedly inserted into the inner side wall of the slotted guide rail 2, and the proximity switch 132 is fixed to the side wall of the movable seat 3. When the proximity switch 132 moves to the position of the positioning block 131, the proximity switch 132 feeds back an electrical signal to the PLC controller 1 through the male communication connector 104 and the female communication connector 102. The proximity switch 132 is an NPN type inductive proximity switch.

[0043] In actual operation, in this embodiment, the movable seat 3 follows the electric guide wheel assembly 9 along the grooved guide rail 2. When the proximity switch 132 senses the positioning block 131, it sends a positioning signal to the PLC controller 1. The PLC controller 1 then controls the electric guide wheel assembly 9 to stop moving, so that the movable seat 3 stops at a position that facilitates connector docking. This makes it easier for the power supply male connector 103 and the communication male connector 104 to be aligned and plugged into the corresponding female connector, reducing the probability of misalignment.

[0044] like Figure 3 , Figure 6 and Figure 7 As shown, further in this embodiment, the walking unit 11 includes two passive walking wheels 111, two active walking wheels 112, a mounting cover 113, and a walking motor 114; the two passive walking wheels 111 and the two active walking wheels 112 are rotatably connected to the side wall of the frame 5; the mounting cover 113 is disposed between the two active walking wheels 112; a connecting frame 115 is fixed to the outer side wall of the mounting cover 113, and the connecting frame 115 is fixedly connected to the frame 5; a drive rod 116 is rotatably connected to the side wall of the mounting cover 113, and the axles of the two active walking wheels 112 are both connected to the drive rod 116. The drive rod 116 is fixedly sleeved with a driven gear 117 inside the mounting cover 113. The drive gear 118 is rotatably connected inside the mounting cover 113, and the drive gear 118 meshes with the driven gear 117. The walking motor 114 is fixed to the side wall of the mounting cover 113 and drives the drive gear 118 to rotate. The drive wheel 112 and the driven wheel 111 are made of soft wear-resistant rubber wheels. The walking motor 114 is a reversible geared motor. The walking speed of the control frame 5 on the photovoltaic panel surface is set to 0.1-0.3 m / s.

[0045] In actual operation, in this embodiment, the walking motor 114 drives the active gear 118 to rotate, which in turn drives the driven gear 117 and the drive rod 116 to rotate through gear meshing. The drive rod 116 drives the active walking wheels 112 on both sides to rotate. The frame 5 moves along the panel surface by relying on the friction between the walking wheels and the photovoltaic glass. The passive walking wheel 111 plays an auxiliary support role. The two cooperate with each other to maintain the stability of the frame 5's walking posture on the inclined photovoltaic panel surface.

[0046] like Figure 6 and Figure 8 As shown, in this embodiment, a rotating rod 14 is provided on one side of the drive rod 116, and a soft brush bristle sleeve 15 is fixedly sleeved on the outside of the rotating rod 14. The bottom of the soft brush bristle sleeve 15 is flush with the bottom of the passive walking wheel 111 and the active walking wheel 112. The soft brush bristle sleeve 15 is made of PBT soft brush bristles.

[0047] In actual operation, this embodiment uses the rotating rod 14 to drive the soft brush sleeve 15 to rotate synchronously. The soft brush sleeve 15 contacts the glass surface of the photovoltaic panel and cleans the surface dust of the photovoltaic panel during the movement of the frame 5, reducing the adverse effects of dust accumulation on subsequent infrared flaw detection.

[0048] like Figure 8 As shown, in this embodiment, the rotating rod 14 is fixedly sleeved with two friction wheels 16, and the two friction wheels 16 are respectively located on both sides of the soft brush sleeve 15. The outer side wall of the friction wheel 16 abuts against the outer side wall of the active walking wheel 112.

[0049] In actual operation, this embodiment uses the friction force of the rotating active walking wheel 112 to drive the rotating rod 14 and the soft brush sleeve 15 to rotate synchronously through the friction wheel 16 in the contact state. There is no need to configure an independent drive motor for the cleaning mechanism, which simplifies the arrangement of the power components on the frame 5 and helps to control the overall weight of the frame 5.

[0050] The operation process of this invention is as follows: On the photovoltaic panel array, and on one side of the high point of the inclined photovoltaic panel, a grooved guide rail 2 is installed, and two movable seats 3 are moved into the grooved guide rail 2, so that there is a grooved guide rail 2 between the two movable seats 3. After the wiring is completed, the electric push rods 105 on the side walls of the two movable seats 3 are connected to a temporary power supply in advance, and the electric push rods 105 are controlled to work, so that the power supply male connector 103 is inserted into the power supply female connector 101 and the communication male connector 104 is inserted into the communication female connector 102. The PLC controller 1 is started, and the flaw detection and inspection of the photovoltaic panel can begin.

[0051] Initially, PLC controller 1 controls the power supply male connector 103 and power supply female connector 101 at the movable base 3 on which the multi-axis robotic arm 4 is mounted to be powered on, and controls the communication male connector 104 and communication female connector 102 to start communication. At the same time, it controls the other movable base 3 to stop power supply and communication. Subsequently, PLC controller 1 sends instructions to the multi-axis robotic arm 4 through the communication male connector 104 and communication female connector 102. The multi-axis robotic arm 4 drives the frame 5 to move above the photovoltaic panel under test.

[0052] Subsequently, PLC controller 1 controls the winding motor 63 to drive the winding wheel 62 to rotate, causing the pull rope 64 to be released. Under the action of gravity, the active walking wheel 112 and passive walking wheel 111 at the bottom of the frame 5 land on the surface of the photovoltaic panel. Then, the walking motor 114 works, driving the drive rod 116 to rotate through the active gear 118 and the driven gear 117, thereby causing the two active walking wheels 112 to rotate and begin to move along the surface of the photovoltaic panel. During this process, the winding motor 63 continuously releases the pull rope 64 and simultaneously controls the infrared temperature probe 8 to work. The infrared temperature probe 8 can... Infrared temperature measurement is performed on the photovoltaic panel, and the temperature measurement information is fed back to the PLC controller 1. If there are defects such as hot spots on the photovoltaic panel, the temperature at the hot spot location is significantly higher than that of other areas. By comparing the temperature field image of the same photovoltaic panel surface, the local temperature abnormal area can be identified, and it can be determined whether there are hot spot defects on the photovoltaic panel. In addition, during the flaw detection process, since the light-shielding cloth 7 is wrapped around the outside of the frame 5, the light-shielding cloth 7 can block the external messy reflected light, so that the temperature signal collected by the infrared temperature measurement probe 8 is not interfered with by the heat source reflected by the glass mirror, thus improving the accuracy of the temperature detection results.

[0053] Secondly, during the rotation of the active walking wheel 112, the friction wheel 16 comes into contact with the wheel wall of the active walking wheel 112. Under the action of friction, the friction wheel 16 will rotate synchronously in the opposite direction and drive the soft brush sleeve 15 to rotate synchronously through the rotating rod 14. The soft brush sleeve 15 makes low-speed friction contact with the surface of the photovoltaic panel, which can clean the dust and other impurities on the surface of the photovoltaic panel and reduce the adverse effects of floating dust on the infrared flaw detection results.

[0054] After the flaw detection of a single photovoltaic panel is completed, the PLC controller 1 controls the walking motor 114 to rotate in the reverse direction, causing the frame 5 to move back to its initial position on the photovoltaic panel. Then, it controls the winding motor 63 to retract the pull rope 64, causing the frame 5 to rise and reset. Finally, it controls the multi-axis robotic arm 4 to drive the frame 5 to its final reset. Subsequently, the PLC controller 1 controls the power supply male connector 103 and power supply female connector 101 at another moving base 3 to be energized, and controls the communication male connector 104 and communication female connector 102 to communicate. Then, it controls the electric push rod 105 at the moving base 3, where the multi-axis robotic arm 4 is mounted, to drive the power supply male connector 103 and communication male connector 104 to reset, and controls the electric guide wheel assembly 9 to start working. When the movable seat 3 moves to the next slotted guide rail 2, the proximity switch 132 at the movable seat 3 detects the positioning block 131, the electric guide rail wheel assembly 9 stops working, and controls the electric push rod 105 at that location to re-control the power supply male connector 103 and the communication male connector 104 to insert into the corresponding power supply female connector 101 and the communication female connector 102, and start a new round of photovoltaic panel flaw detection work. At the same time, the electric push rod 105 at another movable seat 3 drives the power supply male connector 103 and the communication male connector 104 to reset, and the electric guide rail wheel assembly 9 drives the movable seat 3 to move to the next slotted guide rail 2 to complete the power supply and communication connection. Repeating the above steps, long-distance and large-area inspection work can be carried out.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A mobile photovoltaic panel flaw detection and maintenance robot, comprising a PLC controller (1) and multiple interconnected grooved guide rails (2), characterized in that, Also includes: Two movable seats (3), a multi-axis robotic arm (4), a skeleton (5), a traction unit (6), a light-shielding cloth cover (7), and an infrared temperature measuring probe (8); Both of the movable seats (3) are equipped with electric guide wheel assemblies (9), and the movable seats (3) move along the grooved guide rail (2) via the electric guide wheel assemblies (9). There is a grooved guide rail (2) between the two movable seats (3), and the movable seats (3) are equipped with a conduction mechanism (10). The multi-axis robotic arm (4) is fixed on the top of the same-side movable seat (3); the frame (5) is set on one side of the movable end of the multi-axis robotic arm (4), the multi-axis robotic arm (4) is connected to the frame (5) through the traction unit (6), and the frame (5) is equipped with a walking unit (11). The light-blocking cloth cover (7) is wrapped around the outside of the frame (5); The infrared temperature probe (8) is fixedly inserted into the top of the frame (5), and the detection end of the infrared temperature probe (8) extends to the inside of the light-shielding cloth cover (7).

2. The mobile photovoltaic panel flaw detection and maintenance robot according to claim 1, characterized in that, The pulling unit (6) includes a take-up box (61), a take-up wheel (62), a take-up motor (63), and two pull ropes (64). The take-up box (61) is fixed to the movable end of the multi-axis robotic arm (4). The take-up wheel (62) is rotatably disposed inside the take-up box (61). The take-up motor (63) is installed on the side wall of the take-up box (61) and drives the take-up wheel (62) to rotate. The take-up wheel (62) has two take-up grooves (65), and both pull ropes (64) are wound and connected to the corresponding take-up grooves (65). The movable ends of both pull ropes (64) slide to the outside of the take-up box (61).

3. The mobile photovoltaic panel flaw detection and maintenance robot according to claim 2, characterized in that, The bottom of the winding box (61) is fixed with two symmetrically arranged guide tubes (12). The movable ends of the two pull ropes (64) slide through the corresponding guide tubes (12) and extend to the bottom of the winding box (61).

4. The mobile photovoltaic panel flaw detection and maintenance robot according to claim 1, characterized in that, The communication mechanism (10) includes multiple power supply female connectors (101), multiple communication female connectors (102), two power supply male connectors (103), two communication male connectors (104), and two sets of electric push rods (105); the power supply female connectors (101) and the communication female connectors (102) are fixed on the inner sidewalls of the corresponding slotted guide rails (2) and are set on both sides of the corresponding movable seats (3). The power supply female connectors (101) are electrically connected to the PLC controller (1), and the communication female connectors (102) are communicatively connected to the PLC controller (1). Both sets of electric push rods (105) are fixed to the side wall of the corresponding movable seat (3). The power supply male connector (103) and the communication male connector (104) are fixed to the movable end of the corresponding electric push rod (105). The position of the power supply male connector (103) corresponds to that of the power supply female connector (101), and the position of the communication male connector (104) corresponds to that of the communication female connector (102). A connecting cable (106) is provided between the two movable seats (3), and a positioning component (13) is provided between the movable seat (3) and the grooved guide rail (2).

5. A mobile photovoltaic panel flaw detection and maintenance robot according to claim 4, characterized in that, The positioning component (13) includes a positioning block (131) and a proximity switch (132); the positioning block (131) is fixedly inserted into the inner wall of the slotted guide rail (2), and the proximity switch (132) is fixed to the side wall of the moving seat (3). The proximity switch (132) moves to the position of the positioning block (131), and the proximity switch (132) feeds back electrical signals to the PLC controller (1) through the male communication connector (104) and the female communication connector (102).

6. A mobile photovoltaic panel flaw detection and maintenance robot according to claim 1, characterized in that, The walking unit (11) includes two passive walking wheels (111), two active walking wheels (112), a mounting cover (113), and a walking motor (114). The two passive walking wheels (111) and the two active walking wheels (112) are rotatably connected to the side wall of the frame (5). The mounting cover (113) is positioned between the two active walking wheels (112). A connecting frame (115) is fixed to the outer side wall of the mounting cover (113), and the connecting frame (115) is fixedly connected to the frame (5). The side wall of the mounting cover (113)... A drive rod (116) is rotatably connected, and the axles of the two active walking wheels (112) are fixedly connected to the drive rod (116). The drive rod (116) is fixedly sleeved with a driven gear (117) at the position inside the mounting cover (113). The inside of the mounting cover (113) is rotatably connected to an active gear (118), and the active gear (118) meshes with the driven gear (117). The walking motor (114) is fixed to the side wall of the mounting cover (113), and the walking motor (114) drives the active gear (118) to rotate.

7. A mobile photovoltaic panel flaw detection and maintenance robot according to claim 6, characterized in that, A rotating rod (14) is provided on one side of the drive rod (116), and a soft brush bristle sleeve (15) is fixedly sleeved on the outside of the rotating rod (14). The bottom of the soft brush bristle sleeve (15) is flush with the bottom of the passive walking wheel (111) and the active walking wheel (112).

8. A mobile photovoltaic panel flaw detection and maintenance robot according to claim 7, characterized in that, The rotating rod (14) has two friction wheels (16) fixedly sleeved on its wall, and the two friction wheels (16) are respectively located on both sides of the soft brush sleeve (15). The outer wall of the friction wheel (16) abuts against the outer wall of the active walking wheel (112).

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