Hydraulic arm and hydraulic arm system for putting photovoltaic cleaning robot

Abstract

The utility model discloses a hydraulic arm for putting a photovoltaic cleaning robot, which comprises a first arm frame, a plurality of groups of second arm frames and a third arm frame, the first arm frame, the plurality of groups of second arm frames and the third arm frame are mutually hinged, and hydraulic cylinder components for adjusting the position of a putting end are arranged on the first arm frame and the second arm frames. The first arm frame, the multiple sets of second arm frames and the third arm frame are provided with posture adjusting assemblies used for adjusting the pitching angle of the throwing end. The utility model further provides a hydraulic arm system used for putting the photovoltaic cleaning robot. According to the utility model, the throwing flexibility of the photovoltaic cleaning robot is improved by adopting a multi-boom hinging technology, and the pitching posture and position of the throwing end are separately and independently controlled by the hydraulic arm system, so that the throwing precision when a plurality of booms act synergistically is improved; and equipment or assembly damage caused by collision between the cleaning robot and the photovoltaic panel due to the precision problem is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of photovoltaic cleaning robots, and particularly relates to a hydraulic arm for robot placement. Background Art

[0002] With the country announcing the "dual carbon" goal, the photovoltaic industry in the new energy field has seen rapid development. The operation and maintenance problems of photovoltaic power stations have become increasingly serious. Problems such as untimely cleaning and poor cleaning effect of photovoltaic power stations will seriously affect the power generation efficiency of the power stations and cause waste of resources. Due to the low efficiency, high labor cost, and untimely cleaning of manual cleaning, a large number of unmanned photovoltaic cleaning methods have emerged. One of the solutions is to use an unmanned driving chassis equipped with a robotic arm, and the placement end of the robotic arm grabs and places a cleaning robot for cleaning operations. The advantages of this solution are few equipment, controllable maintenance, adaptable to various sites without the need for site transformation, and can work autonomously all day long, saving labor costs and time costs.

[0003] However, in the above solution, in order to adapt to the harsh outdoor climate in the northwest region and save costs, the robotic arm adopts a fully hydraulic drive mode, and the hydraulically driven robotic arm is called a hydraulic arm. Although the hydraulic arm has many advantages, its control accuracy and control speed are limited. During the process of placing the cleaning robot while maintaining a certain pitching attitude, especially when multiple boom arms cooperate, it is necessary to constantly control the synchronous movement of multiple joints to ensure that the pitching attitude and position of the cleaning robot at the placement end of the hydraulic robotic arm are accurate throughout the placement process. If the position or pitching attitude of the placement end is inaccurate, it may cause the cleaning robot to collide with the photovoltaic panel, resulting in damage to equipment and components. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is to overcome the above-mentioned deficiencies and defects in the background art, and provide a hydraulic arm and a hydraulic arm system for photovoltaic cleaning robot placement that are easy to operate, accurate, and have separate independent control of pitching distance adjustment and pitching attitude adjustment.

[0005] To solve the above technical problem, the technical solution proposed by the utility model is as follows:

[0006] A hydraulic arm for photovoltaic cleaning robot placement, comprising a first boom arm with an unchanged pitching angle, multiple groups of second boom arms for adjusting the position of the placement end (to make it close to the photovoltaic panel), and a third boom arm for adjusting the pitching angle of the placement end. The first boom arm, multiple groups of the second boom arms, and the third boom arm are hinged to each other. Hydraulic cylinder assemblies for adjusting the position of the placement end are provided on the first boom arm and multiple groups of the second boom arms, and pose adjustment assemblies for adjusting the pitching angle of the placement end are provided on the first boom arm, multiple groups of the second boom arms, and the third boom arm.

[0007] In the hydraulic arm of the above-mentioned photovoltaic cleaning robot, preferably, the hydraulic cylinder assembly includes a second hydraulic cylinder and a third hydraulic cylinder. The second hydraulic cylinder is arranged between the first arm and the second arm connected to the first arm, and the third hydraulic cylinder is arranged between multiple groups of the second arms. Since the third hydraulic cylinder is arranged between multiple groups of the second hydraulic arms, the number of the third hydraulic cylinders should be adjusted in real time according to the number of multiple groups of the second arms, and the number of the third hydraulic cylinders is one less than the number of multiple groups of the second arms. The present utility model uses 2 groups of the second arms and 1 third hydraulic cylinder for regulation. When adjusting the position of the placement end, the following adjustment method can be adopted: first, keep the third hydraulic cylinder stationary and adjust the telescopic movement of the second hydraulic cylinder, and link multiple groups of the second arms to move up and down synchronously with it. At this time, the included angle and relative position between the first arm and the second arm hinged thereto both change, and the included angle between multiple groups of the second arms remains unchanged while the position changes; when the second hydraulic cylinder remains stationary and the third hydraulic cylinder moves telescopically, it drives the second arm connected thereto to move up and down synchronously. At this time, the included angle and relative position between the first arm and the second arm hinged thereto do not change, while the included angle and relative position between multiple groups of the second arms both change; through the combined adjustment of the second hydraulic cylinder and the third hydraulic cylinder, the included angle and position relationship between different arms can be regulated, and further the pitching position of the placement end can be controlled. Of course, the above-mentioned second hydraulic cylinder and third hydraulic cylinder can also act synchronously.

[0008] In the hydraulic arm of the above-mentioned photovoltaic cleaning robot, preferably, the posture adjustment assembly includes a first hydraulic cylinder, a connecting rod assembly and a transfer plate assembly. The cylinder body of the first hydraulic cylinder is fixedly arranged on the first arm, the piston rod of the first hydraulic cylinder is hinged to the transfer plate assembly, and the transfer plate assembly is arranged at the hinge joint between the first arm and the second arm or at the hinge joints between multiple groups of the second arms, and the connecting rod assembly is hinged between adjacent transfer plate assemblies or between the transfer plate assembly and the third arm. The first hydraulic cylinder, the transfer plate assembly, the connecting rod assembly and the third arm are sequentially connected into an integral structure. When the piston rod of the first hydraulic cylinder expands and contracts, the angle between the linkage transfer assembly and the first hydraulic cylinder changes, driving the connected transfer plate assembly, connecting rod assembly and third arm to move, and further controlling the placement end to adjust the pitching posture.

[0009] In the hydraulic arm for the above-mentioned photovoltaic cleaning robot, preferably, multiple groups of the second boom include boom one and boom two. Boom one is hinged to the first boom, boom two is hinged to boom one, and boom two is hinged to the third boom. The booms are hinged to each other in sequence, which can provide support force for the cleaning robot; and the booms can be adjusted up and down along the hinge points to drive the cleaning robot to move. In particular, the hinged structure of multiple groups of booms improves the reliability and flexibility of the delivery end, the delivery distance can be farther, and it can better adapt to external environments such as complex terrains. Especially when the first boom is rotatably arranged behind the carrier vehicle, the delivery will be more flexible.

[0010] In the hydraulic arm for the above-mentioned photovoltaic cleaning robot, preferably, the connecting rod assembly includes a first connecting rod and a second connecting rod. The first connecting rod is hinged between adjacent transfer plate assemblies, and the second connecting rod is hinged between the transfer plate assembly and the third boom. The connecting rod assembly can connect the transfer plate assembly and the third boom together to ensure that the force can be effectively transmitted during the telescopic process of the first hydraulic cylinder, thereby controlling the movement of the delivery end and adjusting the pitching angle.

[0011] In the hydraulic arm for the above-mentioned photovoltaic cleaning robot, preferably, the transfer plate assembly is in a triangular-like structure. The transfer plate assembly includes a first transfer plate and a second transfer plate. The first corner point of the first transfer plate is fixedly arranged at the hinge point of the first boom and boom one, the second corner point of the first transfer plate is hinged to the piston rod of the first hydraulic cylinder, and the third corner point of the first transfer plate is hinged to one end of the first connecting rod. The first corner point of the second transfer plate is fixedly arranged at the hinge point of boom one and boom two, the second corner point of the second transfer plate is hinged to the other end of the first connecting rod, and the third corner point of the second transfer plate is hinged to one end of the second connecting rod. The first corner point of the first transfer plate and the first corner point of the second transfer plate are both fixedly arranged at the hinge points of the booms, which are used to support the structures connected to the transfer plate. The second corner point of the first transfer plate is connected to the first hydraulic cylinder, the third corner point is connected to one end of the first connecting rod, the first corner point of the second transfer plate is hinged to the other end of the first connecting rod, and the second corner point is hinged to one end of the second connecting rod. This connection method improves the reliability of the overall structure of the attitude adjustment assembly, ensuring that the force can be transmitted sequentially along the first transfer plate, the first connecting rod, the second transfer plate, and the second connecting rod when the first hydraulic cylinder expands and contracts, thereby driving the first transfer plate, the first connecting rod, the second transfer plate, and the second connecting rod to rotate or move to adjust the pitching attitude of the delivery end.

[0012] In the above-mentioned hydraulic arm deployed by the photovoltaic cleaning robot, preferably, the first adapter plate, the first arm, the first connecting rod, and the second adapter plate are hinged to form a movable parallelogram mechanism, and the second adapter plate, the second arm, the second connecting rod, and the third arm are hinged to form a movable parallelogram mechanism. When the first hydraulic cylinder is telescopically adjusted, the first arm and the second arm are fixed, and the four-point hinge of the parallelogram easily drives the first adapter plate connected thereto to rotate, thereby driving the first connecting rod, the second adapter plate, the second connecting rod, and the third arm to move synchronously, thereby changing the angle between them and controlling the pitch angle and posture of the deployment.

[0013] As a general technical concept, the present invention also provides a hydraulic arm system for deploying a photovoltaic cleaning robot, comprising a carrier vehicle, an end bracket, a cleaning robot, and the aforementioned hydraulic arm. The hydraulic arm is rotatably mounted on the carrier vehicle via the first arm bracket, the delivery end of the hydraulic arm is connected to the end bracket, and the cleaning robot is mounted on the end bracket. The hydraulic arm of the present invention can independently control the pitch angle and pitch position of the delivery end, reducing the difficulty of operation and improving the accuracy and reliability of the photovoltaic cleaning robot's delivery mechanism. At the same time, the rotatable setting of the hydraulic arm can improve the flexibility of delivery.

[0014] In the present invention, the first boom, multiple sets of second booms, the third boom, the adapter plate assembly, the connecting rod assembly, the hydraulic cylinder assembly, etc. can all adopt existing conventional equipment.

[0015] Compared with the prior art, the advantages of the present invention are:

[0016] The hydraulic arm of the utility model for deploying a photovoltaic cleaning robot adopts a first arm with a constant pitch angle, multiple groups of second arms for adjusting the position of the deployment end, and a third arm for adjusting the pitch angle of the deployment end. The synergistic effect of the multiple groups of arms improves the flexibility and reliability of the deployment of the photovoltaic cleaning robot.

[0017] The hydraulic arm and hydraulic arm system used for deploying a photovoltaic cleaning robot include a hydraulic cylinder assembly for adjusting the position of the deployment end, located between the first arm and multiple sets of second arms. The first arm, multiple sets of second arms, and third arms are equipped with posture adjustment assemblies for adjusting the pitch angle of the deployment end. The hydraulic arm system of the present invention transforms the original synchronous control of the pitch attitude and position of the deployment end into separate and independent control, reducing the operational difficulty of regulating the hydraulic arm's deployment end and improving the deployment accuracy of the coordinated action of multiple arms. This prevents collisions between the cleaning robot and photovoltaic panels due to accuracy issues, which could result in damage to the equipment or components, and improves the reliability of the photovoltaic cleaning robot's deployment structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a three-dimensional structural schematic diagram of the hydraulic arm and the hydraulic arm system for the photovoltaic cleaning robot in the present invention.

[0020] Figure 2 For Figure 1 the planar structural schematic diagram.

[0021] Legend Explanation

[0022] 1. Carrier vehicle; 2. First boom; 3. Second boom; 31. Boom one; 32. Boom two; 4. Third boom; 5. First hydraulic cylinder; 6. Second hydraulic cylinder; 7. Third hydraulic cylinder; 8. First connecting rod; 9. Second connecting rod; 10. First adapter plate; 11. Second adapter plate; 12. End bracket; 13. Cleaning robot. Detailed Embodiment

[0023] To facilitate the understanding of the present invention, the following will describe the present invention more comprehensively and meticulously in combination with the accompanying drawings of the specification and the preferred embodiments. However, the protection scope of the present invention is not limited to the following specific embodiments.

[0024] It should be particularly noted that when an element is described as "fixed to, fixedly connected to, connected to, or communicated with" another element, it can be directly fixed, fixedly connected, connected, or communicated to the other element, or indirectly fixed, fixedly connected, connected, or communicated to the other element through other intermediate connecting members.

[0025] Unless otherwise defined, all the technical terms used hereinafter have the same meaning as commonly understood by those skilled in the art. The technical terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the protection scope of the present invention.

[0026] Unless otherwise specifically stated, various raw materials, reagents, instruments, and equipment used in the present invention can be obtained through the market or can be prepared by existing methods.

[0027] Embodiment:

[0028] Such as Figure 1 and Figure 2As shown in the figure, the hydraulic arm for the placement of a photovoltaic cleaning robot in this embodiment includes a first boom 2 with a constant pitching angle (which can rotate in the vertical direction with a constant pitching angle), multiple groups of second booms 3 for adjusting the position of the placement end, and a third boom 4 for adjusting the pitching angle of the placement end. The first boom 2, multiple groups of second booms 3, and the third boom 4 are hinged to each other. Hydraulic cylinder assemblies for adjusting the position of the placement end are provided on the first boom 2 and multiple groups of second booms 3, and posture adjustment assemblies for adjusting the pitching angle of the placement end are provided on the first boom 2, multiple groups of second booms 3, and the third boom 4.

[0029] In this embodiment, the hydraulic cylinder assembly includes a second hydraulic cylinder 6 and a third hydraulic cylinder 7. The second hydraulic cylinder 6 is provided between the first boom 2 and the second boom 3 (i.e., boom one 31) connected to the first boom 2, and the third hydraulic cylinder 7 is provided between multiple groups of second booms 3 (i.e., between boom one 31 and boom two 32).

[0030] In this embodiment, the posture adjustment assembly includes a first hydraulic cylinder 5, a link assembly, and a transfer plate assembly. The cylinder block of the first hydraulic cylinder 5 is fixedly provided on the first boom 2, the piston rod of the first hydraulic cylinder 5 is hinged to the transfer plate assembly, and the transfer plate assembly is arranged at the hinge joint between the first boom 2 and the second boom 3 or at the hinge joints between multiple groups of second booms 3. The link assembly is hinged between adjacent transfer plate assemblies or between the transfer plate assembly and the third boom 4.

[0031] In this embodiment, multiple groups of second booms 3 include boom one 31 and boom two 32. Boom one 31 is hinged to the first boom 2, boom two 32 is hinged to boom one 31, and boom two 32 is hinged to the third boom 4. In other embodiments, more second booms 3 can also be provided. At this time, the number of third hydraulic cylinders 7 can be increased accordingly.

[0032] In this embodiment, the link assembly includes a first link 8 and a second link 9. The first link 8 is hinged between adjacent transfer plate assemblies (i.e., between the first transfer plate 10 and the second transfer plate 11), and the second link 9 is hinged between the transfer plate assembly and the third boom 4 (i.e., between the second transfer plate 11 and the third boom 4).

[0033] In this embodiment, the transfer plate assembly has a triangular-like structure. The transfer plate assembly includes a first transfer plate 10 and a second transfer plate 11. The first corner point of the first transfer plate 10 is fixedly provided at the hinge point between the first boom 2 and boom one 31, the second corner point of the first transfer plate 10 is hinged to the piston rod of the first hydraulic cylinder 5, the third corner point of the first transfer plate 10 is hinged to one end of the first link 8, the first corner point of the second transfer plate 11 is fixedly provided at the hinge point between boom one 31 and boom two 32, the second corner point of the second transfer plate 11 is hinged to the other end of the first link 8, and the third corner point of the second transfer plate 11 is hinged to one end of the second link 9.

[0034] In this embodiment, the first adapter plate 10, arm 1 31, first connecting rod 8 and second adapter plate 11 are hinged to form a parallelogram mechanism, and the second adapter plate 11, arm 2 32, second connecting rod 9 and third arm 4 are hinged to form a parallelogram mechanism.

[0035] The hydraulic arm system for deploying a photovoltaic cleaning robot in this embodiment includes a carrier vehicle 1, an end bracket 12, a cleaning robot 13 and the above-mentioned hydraulic arm. The hydraulic arm is rotatably arranged on the carrier vehicle 1 through a first arm bracket 2. The deployment end of the hydraulic arm is connected to the end bracket 12, and the cleaning robot 13 is arranged on the end bracket 12.

[0036] The hydraulic arm system of this embodiment can adopt the following delivery method: when adjusting the posture, keep the second hydraulic cylinder 6 and the third hydraulic cylinder 7 stationary, and adjust the first hydraulic cylinder 5 to move, so as to drive the first adapter plate 10, the first connecting rod 8, the second adapter plate 11, the second connecting rod 9 and the third arm 4 to move, so that the angle between them changes, and then control the pitch angle and posture of the delivery end, the end bracket 12 and the cleaning robot 13. When the preset angle between the first hydraulic cylinder 5 and the first adapter plate 10 is reached, stop adjusting the first hydraulic cylinder 5. At this time, the posture of the delivery end, the end bracket 12 and the cleaning robot 13 reaches the preset angle. ; When performing position control, keep the first hydraulic cylinder 5 and the third hydraulic cylinder 7 stationary, adjust the second hydraulic cylinder 6, and drive multiple groups of second arms 3 to adjust up and down. When the angle between the first arm 2 and arm 1 31 reaches the preset value, keep the first hydraulic cylinder 5 and the second hydraulic cylinder 6 stationary, adjust the third hydraulic cylinder 7, and drive arm 2 32 to adjust up and down. When the angle between arm 1 31 and arm 2 32 reaches the preset value, stop adjusting. At this time, the delivery end, the end bracket 12 and the cleaning robot 13 arrive at the preset position, the carrier 1 starts to move, driving the cleaning robot 13 to move and complete the cleaning operation.

[0037] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A hydraulic arm for the deployment of a photovoltaic cleaning robot, characterized in that, It includes a first boom (2) with a constant pitching angle, multiple groups of second booms (3) for adjusting the position of the delivery end, and a third boom (4) for adjusting the pitching angle of the delivery end. The first boom (2), the multiple groups of second booms (3), and the third boom (4) are hinged to each other. Hydraulic cylinder assemblies for adjusting the position of the delivery end are provided on the first boom (2) and the multiple groups of second booms (3), and posture adjustment assemblies for adjusting the pitching angle of the delivery end are provided on the first boom (2), the multiple groups of second booms (3), and the third boom (4).

2. The hydraulic arm for the placement of a photovoltaic cleaning robot according to claim 1, wherein, The hydraulic cylinder assembly includes a second hydraulic cylinder (6) and a third hydraulic cylinder (7). The second hydraulic cylinder (6) is provided between the first boom (2) and the second boom (3) connected to the first boom (2), and the third hydraulic cylinder (7) is provided between the multiple groups of second booms (3).

3. The hydraulic arm for the placement of a photovoltaic cleaning robot according to claim 1, characterized in that, The posture adjustment assembly includes a first hydraulic cylinder (5), a connecting rod assembly, and a transfer plate assembly. The cylinder body of the first hydraulic cylinder (5) is fixedly provided on the first boom (2), the piston rod of the first hydraulic cylinder (5) is hinged to the transfer plate assembly, and the transfer plate assembly is arranged at the hinge joint between the first boom (2) and the second boom (3) or at the hinge joints between the multiple groups of second booms (3). The connecting rod assembly is hinged between adjacent transfer plate assemblies or between the transfer plate assembly and the third boom (4).

4. The hydraulic arm for the placement of a photovoltaic cleaning robot according to claim 3, characterized in that, The multiple groups of second booms (3) include a first boom section (31) and a second boom section (32). The first boom section (31) is hinged to the first boom (2), the second boom section (32) is hinged to the first boom section (31), and the second boom section (32) is hinged to the third boom (4).

5. The hydraulic arm for the placement of a photovoltaic cleaning robot according to claim 4, characterized in that, The connecting rod assembly includes a first connecting rod (8) and a second connecting rod (9). The first connecting rod (8) is hinged between adjacent transfer plate assemblies, and the second connecting rod (9) is hinged between the transfer plate assembly and the third boom (4).

6. The hydraulic arm for the placement of a photovoltaic cleaning robot according to claim 5, characterized in that, The transfer plate assembly has a triangular-like structure. The transfer plate assembly includes a first transfer plate (10) and a second transfer plate (11). The first corner point of the first transfer plate (10) is fixedly provided at the hinge point between the first boom (2) and the first boom section (31), the second corner point of the first transfer plate (10) is hinged to the piston rod of the first hydraulic cylinder (5), the third corner point of the first transfer plate (10) is hinged to one end of the first connecting rod (8). The first corner point of the second transfer plate (11) is fixedly provided at the hinge point between the first boom section (31) and the second boom section (32), the second corner point of the second transfer plate (11) is hinged to the other end of the first connecting rod (8), and the third corner point of the second transfer plate (11) is hinged to one end of the second connecting rod (9).

7. The hydraulic arm for the placement of a photovoltaic cleaning robot according to claim 6, characterized in that, The first adapter plate (10), the first boom (31), the first connecting rod (8) and the second adapter plate (11) are hinged to form a parallelogram mechanism, and the second adapter plate (11), the second boom (32), the second connecting rod (9) and the third boom (4) are hinged to form a parallelogram mechanism.

8. A hydraulic arm system for the deployment of a photovoltaic cleaning robot, characterized in that, It includes a carrier vehicle (1), a terminal bracket (12), a cleaning robot (13) and the hydraulic arm according to any one of claims 1-7. The hydraulic arm is rotatably arranged on the carrier vehicle (1) through the first boom (2). The placement end of the hydraulic arm is connected to the terminal bracket (12), and the cleaning robot (13) is arranged on the terminal bracket (12).

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