Ultrasonic sensor mechanism and photovoltaic cleaning robot

Abstract

The utility model provides an ultrasonic sensor mechanism and a photovoltaic cleaning robot. The ultrasonic sensor mechanism comprises a robot body, a track module and an ultrasonic sensor assembly. The track module is arranged on one side of the shell and is used for walking on the surface of the photovoltaic panel; the ultrasonic sensor assembly and the track module are located on the same side of the shell and located in front of the track module. The ultrasonic sensor assembly comprises a mounting seat and an ultrasonic sensor; the mounting seat is arranged on one side of the shell; the ultrasonic sensor is connected to the mounting seat; ultrasonic waves output by the probe end of the ultrasonic sensor penetrate through the mounting base, at the moment, the ultrasonic sensor assembly and the crawler module are located on the same side of the shell and located in front of the crawler module, and the environment in front of the crawler module can be measured based on the ultrasonic sensor assembly; therefore, the ultrasonic sensor assembly can detect the environment in front of the track module when the photovoltaic cleaning robot walks relative to the photovoltaic panel, and the obstacle avoidance effect of the track assembly is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic cleaning robots, in particular to an ultrasonic sensor mechanism and a photovoltaic cleaning robot. Background Art

[0002] With the development of science and technology, photovoltaic panels are gradually applied to the power field. The main function of photovoltaic panels is to convert solar energy into electrical energy. At this time, photovoltaic panels are exposed to the external environment. Photovoltaic cleaning robots are used to clean the surface of photovoltaic panels. In the photovoltaic cleaning robot, the ultrasonic sensor mechanism is a part of the photovoltaic cleaning robot.

[0003] In the prior art, the existing ultrasonic sensor mechanism includes a robot body, a track module and an ultrasonic sensor. The track module and the ultrasonic sensor are both connected to the robot body. However, the ultrasonic sensor and the track module are not on the same side. The ultrasonic sensor is built into the robot body, and the track module is on the outside of the robot body. The ultrasonic sensor cannot detect the front environment of the track module, resulting in poor obstacle avoidance effect of the photovoltaic cleaning robot. Utility Model Content

[0004] The utility model aims to provide an ultrasonic sensor mechanism and a photovoltaic cleaning robot, wherein the ultrasonic sensor assembly and the track module are located on the same side of a shell and in front of the track module. The ultrasonic sensor assembly can measure the environment in front of the track module, so that the ultrasonic sensor assembly can detect the environment in front of the track module when the photovoltaic cleaning robot walks relative to the photovoltaic panel, thereby facilitating the adjustment of the track assembly under the induction of the ultrasonic sensor, thereby ensuring the walking effect of the photovoltaic cleaning robot, and timely detecting the environment in front of the track assembly, thereby ensuring the obstacle avoidance effect of the track assembly.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] An ultrasonic sensor mechanism is applied to a photovoltaic cleaning robot; the ultrasonic sensor mechanism comprises:

[0007] The robot body includes a shell;

[0008] A crawler module is arranged on one side of the housing and is used for walking on the surface of the photovoltaic panel;

[0009] The ultrasonic sensor assembly is located on the same side of the shell as the track module and in front of the track module; the ultrasonic sensor assembly includes a mounting seat and an ultrasonic sensor; the mounting seat is arranged on one side of the shell; the ultrasonic sensor is connected to the mounting seat; the ultrasonic wave output by the probe end of the ultrasonic sensor passes through the mounting seat.

[0010] Optionally, there is a height difference between the probe end of the ultrasonic sensor and the lower side of the track module;

[0011] The range detected by the probe end of the ultrasonic sensor covers the height difference.

[0012] Optionally, the mounting seat is arranged on the left side or the right side of the shell and is detachably connected to the shell.

[0013] Optionally, the ultrasonic sensor mechanism also includes a reinforcement bracket, which is located between the mounting base and the shell, with two ends of the reinforcement bracket respectively connected to the mounting base and the shell, and reinforces the ultrasonic sensor assembly; the connection between the reinforcement bracket and the shell and the connection between the mounting base and the shell are at a different position.

[0014] Optionally, the reinforcement bracket is arranged on one side of the track module;

[0015] The mounting seat is in the shape of an elongated strip, one side wall of the mounting seat is connected to the side wall of the shell, the upper side wall of the mounting seat is connected to one end of the reinforcement bracket, and the other end of the reinforcement bracket is connected to the side wall of the shell.

[0016] Optionally, the reinforcement bracket includes a bracket body and a connecting piece, the connecting piece is connected to the bracket body and the mounting seat, and the bracket body is connected to the shell via the track module; the connecting piece is a metal piece, and the bracket body is a carbon plate piece.

[0017] Optionally, the mounting seat is provided with a first accommodating cavity and a first through hole, the first through hole being connected to the first accommodating cavity in the up-down direction; the first through hole is used for the ultrasonic sensor to pass through;

[0018] The first accommodating cavity is used to accommodate the ultrasonic sensor; the probe end of the ultrasonic sensor is arranged relative to the first via hole and exposed to the first via hole.

[0019] Optionally, the robot body further includes a circuit board and a conductive member, and the circuit board is accommodated in the shell;

[0020] The conductive member is located between the ultrasonic sensor assembly and the robot body, one end of the conductive member is electrically connected to the circuit board, and the other end is electrically connected to the ultrasonic sensor; the conductive member passes through the shell and the mounting seat, and is sealed and connected to the shell when passing through the shell.

[0021] Optionally, the housing is provided with a second accommodating cavity and a second via hole, and the second accommodating cavity is used to accommodate the circuit board;

[0022] The second via hole is formed on the side wall of the housing and communicates with the second accommodating cavity; the second via hole is used for the conductive member to pass through;

[0023] The ultrasonic sensor mechanism further includes a sealing member, which is connected to the second via hole and seals the second via hole in a sealing manner; the conductive member passes through the sealing member and is sealed and connected to the sealing member.

[0024] A photovoltaic cleaning robot comprises the ultrasonic sensor mechanism.

[0025] Compared with the prior art, the beneficial effects of the utility model are:

[0026] The utility model provides an ultrasonic sensor mechanism and a photovoltaic cleaning robot, wherein the robot body comprises a shell; a track module is arranged at one side of the shell and is used for walking on the surface of a photovoltaic panel; an ultrasonic sensor assembly and a track module are on the same side of the shell and in front of the track module; the ultrasonic sensor assembly comprises a mounting seat and an ultrasonic sensor; the mounting seat is arranged at one side of the shell; the ultrasonic sensor is connected to the mounting seat; the ultrasonic wave output by the probe end of the ultrasonic sensor passes through the mounting seat, at which time, the ultrasonic sensor assembly and the track module are on the same side of the shell and in front of the track module, based on the fact that the ultrasonic sensor assembly can measure the environment in front of the track module, so that the ultrasonic sensor assembly can detect the environment in front of the track module when the photovoltaic cleaning robot walks relative to the photovoltaic panel, thereby facilitating the adjustment of the track assembly under the induction of the ultrasonic sensor, thereby ensuring the walking effect of the photovoltaic cleaning robot, and being able to timely detect the environment in front of the track assembly, thereby ensuring the obstacle avoidance effect of the track assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0028] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings. In the following description, the same reference numerals represent the same parts.

[0029] Figure 1 A schematic diagram of an ultrasonic sensor mechanism according to an embodiment of the present application is shown.

[0030] Figure 2 An exploded view of an ultrasonic sensor mechanism according to an embodiment of the present application is shown.

[0031] Figure 3 A schematic diagram of a robot body of an ultrasonic sensor mechanism according to an embodiment of the present application is shown.

[0032] Figure 4 A schematic diagram of an ultrasonic sensor assembly of an ultrasonic sensor mechanism according to an embodiment of the present application is shown.

[0033] Figure 5 A schematic diagram of a seal of an ultrasonic sensor mechanism according to an embodiment of the present application is shown.

[0034] Reference numerals

[0035] 100. Ultrasonic sensor mechanism;

[0036] 10. Robot body; 11. Shell; 11a. Second accommodating cavity; 11b. Second via hole; 12. Circuit board; 13. Conductive member;

[0037] 20. Track module;

[0038] 30. Ultrasonic sensor assembly; 31. Mounting seat; 31a. First accommodating cavity; 31b. First through hole; 32. Ultrasonic sensor;

[0039] 40. reinforcement bracket; 41. bracket body; 42. connecting piece;

[0040] 50. Seals. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0042] Please refer to the attached Figures 1 to 5 An embodiment of the present application provides an ultrasonic sensor mechanism 100, which is applied to a photovoltaic cleaning robot. The ultrasonic sensor mechanism 100 includes a robot body 10, a track module 20 and an ultrasonic sensor assembly 30. The track module 20 and the ultrasonic sensor assembly 30 are both arranged on the same side of the robot body 10.

[0043] In the embodiment of the present application, the robot body 10 serves as a supporting component of the ultrasonic sensor mechanism 100 . The robot body 10 is used to support the track module 20 and the ultrasonic sensor assembly 30 . The robot body 10 includes a shell 11 . The shell 11 serves as a part of the robot body 10 .

[0044] In an embodiment of the present application, the track module 20 is arranged on one side of the shell 11 and is used to walk on the surface of the photovoltaic panel, so that the track module 20 can move relative to the surface of the photovoltaic panel, thereby facilitating the ultrasonic sensor mechanism 100 to move relative to the surface of the photovoltaic panel through the track module 20.

[0045] In the embodiment of the present application, the ultrasonic sensor assembly 30 and the track module 20 are on the same side of the shell 11 and in front of the track module 20. Since the ultrasonic sensor assembly 30 can measure the environment in front of the track module 20, the ultrasonic sensor assembly 30 can detect the environment in front of the track module 20 when the photovoltaic cleaning robot walks relative to the photovoltaic panel, thereby facilitating the adjustment of the track assembly 20 under the induction of the ultrasonic sensor 30, thereby ensuring the walking effect of the photovoltaic cleaning robot, and timely detecting the environment in front of the track assembly 20, thereby ensuring the obstacle avoidance effect of the track assembly 20.

[0046] At this time, the ultrasonic sensor assembly 30 includes a mounting seat 31 and an ultrasonic sensor 32; the mounting seat 31 is arranged on one side of the shell 11; the ultrasonic sensor 32 is connected to the mounting seat 31, and the mounting seat 31 is connected to the shell 11, so that the ultrasonic sensor 32 can be connected to the shell 11 through the mounting seat 31; the ultrasonic wave output by the probe end of the ultrasonic sensor 32 passes through the mounting seat 31 and extends downward, so that the probe end of the ultrasonic sensor 32 is exposed to the external environment, thereby facilitating the probe end of the ultrasonic sensor 32 to detect the external environment, and then detect the front environment of the track assembly 20 based on the ultrasonic sensor 32.

[0047] In the embodiment of the present application, there is a height difference between the probe end of the ultrasonic sensor 32 and the lower side of the track module 20; the probe end of the ultrasonic sensor 32 is higher than the lower side of the track module 20, which avoids the contact between the probe end of the ultrasonic sensor 32 and the surface of the photovoltaic panel. The range detected by the probe end of the ultrasonic sensor 32 covers the height difference, so that the probe end of the ultrasonic sensor 32 can detect the surface of the photovoltaic panel from top to bottom.

[0048] In the embodiment of the present application, the mounting seat 31 is arranged on the left side or the right side of the shell 11, so that the mounting seat 31 and the track module 20 are arranged on the same side of the shell 11, and the mounting seat 31 is detachably connected to the shell 11, so that the mounting seat 31 can be connected to or detached from the shell 11, thereby facilitating the ultrasonic sensor 32 to be connected to or detached from the shell 11 along with the mounting seat 31, thereby facilitating the maintenance or replacement of the ultrasonic sensor 32.

[0049] In the embodiment of the present application, the ultrasonic sensor mechanism 100 also includes a reinforcement bracket 40, which is located between the mounting seat 31 and the shell 11. The two ends of the reinforcement bracket 40 are respectively connected to the mounting seat 31 and the shell 11, and reinforce the ultrasonic sensor assembly 30; the connection between the reinforcement bracket 40 and the shell 11 and the connection between the mounting seat 31 and the shell 11 are at different positions, thereby reinforcing the mounting seat 31, thereby reinforcing the connection between the ultrasonic sensor assembly 30 and the shell 11, and ensuring the stability of the ultrasonic sensor assembly 30 on the side.

[0050] At this time, the reinforcement bracket 40 is arranged on one side of the track module 20; the mounting seat 31 is in the shape of an elongated strip, one side wall of the mounting seat 31 is connected to the side wall of the shell 11, the upper side wall of the mounting seat 31 is connected to one end of the reinforcement bracket 40, and the other end of the reinforcement bracket 40 is connected to the side wall of the shell 11, so that the mounting seat 31 can be connected to the shell 11 through the reinforcement bracket 40, thereby reinforcing the mounting seat 31, thereby reinforcing the connection between the ultrasonic sensor assembly 30 and the robot body 10, and ensuring the stability of the ultrasonic sensor assembly 30 on the side.

[0051] In an embodiment of the present application, the reinforcement bracket 40 includes a bracket body 41 and a connecting piece 42, the connecting piece 42 is connected to the bracket body 41 and the mounting seat 31, the bracket body 41 is connected to the shell 11 via the track module 20, so that the mounting seat 31 can be connected to the shell 11 through the bracket body 41 and the connecting piece 42, and the side surface of the bracket body 41 is arranged perpendicular to the lower side surface of the connecting piece 42; optionally, the connecting piece 42 is a metal piece and the bracket body 41 is a carbon plate piece.

[0052] In the embodiment of the present application, the mounting base 31 is provided with a first accommodating cavity 31a and a first through hole 31b, and the first through hole 31b is connected to the first accommodating cavity 31a in the up and down directions; the first through hole 31b is used for the ultrasonic sensor 32 to pass through; the first accommodating cavity 31a is used to accommodate the ultrasonic sensor 32, so that the ultrasonic sensor 32 can be accommodated and accommodated in the inner side of the mounting base 31 through the first accommodating cavity 31a, thereby realizing that the ultrasonic sensor 32 is fixed to the inner side of the mounting base 31; the probe end of the ultrasonic sensor 32 is arranged relative to the first through hole 31b and exposed to the first through hole 31b, so that the probe end of the ultrasonic sensor 32 is exposed to the mounting base 31, thereby facilitating the probe end of the ultrasonic sensor 32 to detect the external environment.

[0053] In the embodiment of the present application, the robot body 10 also includes a circuit board 12 and a conductive member 13, the circuit board 12 is accommodated in the shell 11; the conductive member 13 is between the ultrasonic sensor assembly 30 and the robot body 10, one end of the conductive member 13 is electrically connected to the circuit board 12, and the other end is electrically connected to the ultrasonic sensor 32; the conductive member 13 passes through the shell 11 and the mounting seat 31, and is sealed and connected to the shell 11 when passing through the shell 11, and the penetration point between the conductive member 13 and the shell 11 is sealed to avoid water ingress at the penetration point between the conductive member 13 and the shell 11, thereby achieving waterproofing, improving the waterproofing effect of the ultrasonic sensor mechanism 100, and further ensuring the independence of the internal space of the shell 11 and the internal space of the mounting seat 31, and does not affect the electrical connection between the circuit board 12 and the ultrasonic sensor 32.

[0054] At this time, the shell 11 is provided with a second accommodating cavity 11a and a second via hole 11b. The second accommodating cavity 11a is used to accommodate the circuit board 12. The second accommodating cavity 11a serves as the internal space of the shell 11, so that the circuit board 12 can be accommodated in the inner side of the shell 11 through the second accommodating cavity 11a, thereby facilitating the circuit board 12 to be fixed to the inner side of the shell 11; the second via hole 11b is opened on the side wall of the shell 11 and connected to the second accommodating cavity 11a; the second via hole 11b is used for the conductive member 13 to pass through, so that the conductive member 13 can enter the second accommodating cavity 11a through the second via hole 11b.

[0055] In the embodiment of the present application, the ultrasonic sensor mechanism 100 also includes a sealing member 50, which is connected to the second via hole 11b and seals the second via hole 11b; the conductive member 13 passes through the sealing member 50 and is sealed with the sealing member 50, so that the conductive member 13 can be sealed with the second via hole 11b through the sealing member 50, thereby avoiding water from entering the penetration point between the conductive member 13 and the shell 11, thereby achieving waterproofing, improving the waterproofing effect of the ultrasonic sensor mechanism 100, and further ensuring the independence of the internal space of the shell 11 and the internal space of the mounting base 31, and does not affect the electrical connection between the circuit board 12 and the ultrasonic sensor 32.

[0056] In another embodiment, a photovoltaic cleaning robot includes an ultrasonic sensor mechanism 100 , and the ultrasonic sensor mechanism 100 serves as a photovoltaic cleaning robot, and the photovoltaic cleaning robot is used to clean the surface of a photovoltaic panel.

[0057] Compared with the prior art, the beneficial effects of the utility model are:

[0058] The utility model provides an ultrasonic sensor mechanism 100 and a photovoltaic cleaning robot, wherein the robot body 10 comprises a shell 11; a crawler module 20 is arranged at one side of the shell 11 and is used for walking on the surface of a photovoltaic panel; an ultrasonic sensor assembly 30 and the crawler module 20 are located at the same side of the shell 11 and in front of the crawler module 20; the ultrasonic sensor assembly 30 comprises a mounting seat 31 and an ultrasonic sensor 32; the mounting seat 31 is arranged at one side of the shell 11; the ultrasonic sensor 32 is connected to the mounting seat 31; the ultrasonic wave output by the probe end of the ultrasonic sensor 32 passes through the mounting seat 31, at this time, based on the ability of the ultrasonic sensor assembly 30 to measure the environment in front of the crawler module 20, the ultrasonic sensor assembly 30 can detect the environment in front of the crawler module 20 when the photovoltaic cleaning robot walks relative to the photovoltaic panel, so as to facilitate the adjustment of the crawler assembly 20 to be triggered under the induction of the ultrasonic sensor 30, thereby ensuring the walking effect of the photovoltaic cleaning robot, and being able to timely detect the environment in front of the crawler assembly 20, thereby ensuring the obstacle avoidance effect of the crawler assembly 20.

[0059] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0060] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more features.

[0061] Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An ultrasonic sensor mechanism, characterized in that: Applied to a photovoltaic cleaning robot; the ultrasonic sensor mechanism comprises: The robot body includes a shell; A crawler module is arranged on one side of the housing and is used for walking on the surface of the photovoltaic panel; The ultrasonic sensor assembly is located on the same side of the shell as the track module and in front of the track module; the ultrasonic sensor assembly includes a mounting seat and an ultrasonic sensor; the mounting seat is arranged on one side of the shell; the ultrasonic sensor is connected to the mounting seat; the ultrasonic wave output by the probe end of the ultrasonic sensor passes through the mounting seat.

2. The ultrasonic sensor mechanism according to claim 1, characterized in that: There is a height difference between the probe end of the ultrasonic sensor and the lower side of the track module; The range detected by the probe end of the ultrasonic sensor covers the height difference.

3. The ultrasonic sensor mechanism according to claim 2, characterized in that: The mounting seat is arranged on the left side or the right side of the shell and is detachably connected to the shell.

4. The ultrasonic sensor mechanism according to claim 3, characterized in that: The ultrasonic sensor mechanism also includes a reinforcement bracket, which is located between the mounting base and the shell, and the two ends of the reinforcement bracket are respectively connected to the mounting base and the shell, and reinforces the ultrasonic sensor assembly; the connection between the reinforcement bracket and the shell and the connection between the mounting base and the shell are at different positions.

5. The ultrasonic sensor mechanism according to claim 4, characterized in that: The reinforcement bracket is arranged on one side of the track module; The mounting seat is in the shape of an elongated strip, one side wall of the mounting seat is connected to the side wall of the shell, the upper side wall of the mounting seat is connected to one end of the reinforcement bracket, and the other end of the reinforcement bracket is connected to the side wall of the shell.

6. The ultrasonic sensor mechanism according to claim 4, characterized in that: The reinforcement bracket includes a bracket body and a connecting piece, the connecting piece is connected to the bracket body and the mounting seat, and the bracket body is connected to the shell through the track module; the connecting piece is a metal piece, and the bracket body is a carbon plate piece.

7. The ultrasonic sensor mechanism according to claim 1, characterized in that: The mounting seat is provided with a first accommodating cavity and a first through hole, wherein the first through hole is connected to the first accommodating cavity in the up-down direction; the first through hole is used for the ultrasonic sensor to pass through; The first accommodating cavity is used to accommodate the ultrasonic sensor; the probe end of the ultrasonic sensor is arranged relative to the first via hole and exposed to the first via hole.

8. The ultrasonic sensor mechanism according to claim 1, characterized in that: The robot body further comprises a circuit board and a conductive member, wherein the circuit board is accommodated in the housing; The conductive member is located between the ultrasonic sensor assembly and the robot body, one end of the conductive member is electrically connected to the circuit board, and the other end is electrically connected to the ultrasonic sensor; the conductive member passes through the shell and the mounting seat, and is sealed and connected to the shell when passing through the shell.

9. The ultrasonic sensor mechanism according to claim 8, characterized in that: The housing is provided with a second accommodating cavity and a second through hole, and the second accommodating cavity is used to accommodate the circuit board; The second via hole is formed on the side wall of the housing and communicates with the second accommodating cavity; the second via hole is used for the conductive member to pass through; The ultrasonic sensor mechanism further includes a sealing member, which is connected to the second via hole and seals the second via hole in a sealing manner; the conductive member passes through the sealing member and is sealed and connected to the sealing member.

10. A photovoltaic cleaning robot, characterized in that: Comprising the ultrasonic sensor mechanism as claimed in any one of claims 1 to 9.

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