Detachable robot

Abstract

The utility model belongs to the technical field of photovoltaic operation and maintenance, and particularly relates to a detachable robot which comprises a robot body and at least one functional module detachably connected with the robot body, and the robot body and the functional module are connected through an installation part. A first fixing plate and a second fixing plate which are matched with the mounting piece are arranged on the robot body and the functional module correspondingly, the mounting piece and the first fixing plate are fixed through a multi-point-position double-acting structure, and a stable fixing structure is formed while quick positioning is achieved; according to the robot, the function modules are installed on the robot body, so that the function modules and the robot body are rapidly assembled and effectively fixed, meanwhile, the function modules are rapidly replaced through the installation structure convenient to disassemble, and therefore the robot with multiple purposes is provided.

Description

[0001] Priority application

[0002] This application claims priority to Chinese invention patent application [CN202410864868X] "[Modular photovoltaic robot, braking robot and braking method thereof]" filed on June 28, 2024, which is incorporated by reference in its entirety. Technical Field

[0003] The utility model belongs to the technical field of photovoltaic operation and maintenance, and specifically relates to a detachable robot. Background Art

[0004] At present, there are some cleaning robots on the market for application scenarios such as glass, window surfaces or photovoltaic panels. For example, the Chinese invention patent with publication number CN115990895A discloses a photovoltaic robot, including: a mobile chassis; a walking component arranged on the mobile chassis, used to drive the mobile chassis to move along the working surface; a cleaning component, with one group arranged at the front and rear ends of the mobile chassis, and the cleaning component includes a roller brush cleaning mechanism and a scraper located on the rear side of the roller brush cleaning mechanism, and the scraper is suitable for sticking to the working surface to scrape off surface stains.

[0005] First, during the cleaning process, components such as the roller brush of a photovoltaic cleaning robot are inevitably subject to wear and aging. Second, during transportation or handling, the photovoltaic cleaning robot is large and cannot be disassembled and carried, making it inconvenient. Furthermore, in addition to cleaning photovoltaic panels, robots are often required to perform other processing on the panels, such as applying nano-coatings and detecting defects.

[0006] To this end, Chinese invention patent publication number CN113098382A also discloses a photovoltaic cleaning robot with an adaptive roller brush assembly. The roller brush module is mounted on a mounting bracket, which is attached to the front outer wall of the frame via a connecting bracket. The connecting bracket is provided with a limiting slide, a limiting groove, and a rotating slide, enabling the roller brush module to be rotatably connected to the frame via the connecting bracket.

[0007] For example, the Chinese invention patent with publication number CN116131746A discloses a photovoltaic panel cleaning robot and a control method, in which the robot's frame and cleaning parts are connected through a connecting plate and a cleaning part mounting frame that cooperate with each other, wherein the cleaning part mounting frame is provided with an elastic quick-release head and a positioning head, and the connecting plate is provided with an arc-shaped card groove and a positioning groove at the positions corresponding to the elastic quick-release head and the positioning head.

[0008] However, the applicant has noticed that the connection components between the traditional cleaning member and the vehicle frame are often difficult to disassemble during actual use. Utility Model Content

[0009] The purpose of the present utility model is to provide a detachable robot to partially solve or alleviate the above-mentioned deficiencies in the prior art, and to form a more stable fixed structure while achieving rapid positioning.

[0010] In order to solve the technical problems mentioned above, the present invention specifically adopts the following technical solutions: a detachable robot, comprising a robot body, and at least one functional module detachably connected to the robot body, wherein the robot body and the functional module are connected via a mounting member, and the robot body and the functional module are respectively provided with a first fixing plate and a second fixing plate that cooperate with the mounting member; the first fixing plate is provided with a first positioning member and a second positioning member, and correspondingly,

[0011] The mounting member includes a first mounting plate, a first end of the first mounting plate is provided with a positioning area, the positioning area includes a side edge, and one end of the side edge extends to form a positioning opening;

[0012] When the first mounting plate is clamped to the first fixing plate, the first positioning member and the second positioning member respectively abut against the side edge and can move along the extension direction of the side edge; when the clamping is completed, the first positioning member abuts against the side edge and the second positioning member is clamped in the positioning port.

[0013] As an improvement, the second positioning member includes a first positioning post, a connecting plate, and a second positioning post, wherein the first positioning post is provided on the first fixing plate, one end of the connecting plate is connected to the first positioning post, and the other end of the connecting plate is connected to the second positioning post;

[0014] When the mounting member and the first fixing plate are fitted and fixed, the first positioning member rests on the side, the first positioning column is stuck in the positioning port, the second positioning column is fixed through the third mounting holes on the connecting plate and the mounting plate in sequence, and the line connecting the center points of the first positioning member, the first positioning column and the second positioning column forms a force distribution area.

[0015] As an improvement, the mounting member is fixedly connected to the second fixing plate.

[0016] As an improvement, the edge of the positioning opening includes a first line segment and a second line segment connected to each other, the first line segment is an arc-shaped line segment extending along the first end of the side edge, and the second line segment is parallel or approximately parallel to the side edge.

[0017] As an improvement, the mounting member also includes a second mounting plate, which includes a first sub-mounting plate that cooperates with the first mounting surface of the second fixing plate, and a second sub-mounting plate that cooperates with the second mounting surface of the second fixing plate, and the first sub-mounting plate and the second sub-mounting plate cooperate to form a mounting area for mounting the second fixing plate.

[0018] As an improvement, at least one second mounting hole is respectively provided on the first mounting surface and the second mounting surface, and at least one first mounting hole corresponding to the second mounting hole is respectively provided on the first sub-mounting board and the second sub-mounting board.

[0019] As an improvement, the functional module is connected to the robot body via at least two mounting parts.

[0020] As an improvement, the first mounting plate is further provided with connecting holes for connecting rods to pass through, and the connecting rods respectively pass through at least two of the connecting holes.

[0021] As an improvement, the functional module includes one or more of a cleaning module, an intelligent coating module and an intelligent detection module.

[0022] As an improvement, the first positioning member is a positioning pin.

[0023] It's important to note that for large-scale centralized photovoltaic power plants, some of which can reach 2.2 GW and cover an area of 8,700 mu (approximately 1,000 acres), the need for automated cleaning of these large areas places even higher demands on the operational stability of photovoltaic cleaning robots. Furthermore, to maintain the stability of photovoltaic panels over the long term, regular maintenance measures such as cleaning, spraying, and status monitoring are required, resulting in significant maintenance costs.

[0024] The principle and beneficial effects of the present invention are:

[0025] First of all, in order to improve the working stability of photovoltaic operation and maintenance robots, especially to increase the service life of key consumables (such as mounting parts), and at the same time reduce the operation and maintenance costs of large-scale centralized photovoltaic power stations, the utility model preferably proposes a dual-action (combining the dual functions of auxiliary positioning and coordinated distribution of force) mounting part with a distributed multi-point design to flexibly and stably connect the functional module and the robot body in a detachable manner.

[0026] Among them, on the one hand, the present application cooperates with the first positioning member through the positioning area to quickly guide the user to complete the initial clamping (that is, the initial completion of the clamping between the positioning port in the positioning area and the first positioning column) through the auxiliary positioning function of the first positioning member; at the same time, after the mounting member completes the fixed connection with the robot body, the positioning area can also form a coordinated triangular force distribution area with the second positioning member (that is, the first positioning column, the connecting plate and the second positioning column). On the one hand, the force distribution area reliably fixes and limits the mounting member through the limiting action of multiple points in different directions, and at the same time, the multi-point limiting action disperses the overall limiting force to achieve balanced distribution of force at each point, thereby improving the stability of the mounting member during long-term use (improving service life).

[0027] In other words, this dual-acting mounting component can not only improve the convenience of the installation operation, but also increase the service life of the mounting component.

[0028] When this dual-action mounting component is used in scenarios such as large-scale centralized photovoltaic power stations, it can effectively reduce maintenance costs and alleviate the user's labor intensity.

[0029] For example, for different types of maintenance needs, such as cleaning, spraying, or panel inspection, the same robot body can be used to replace functional modules using only dual-action mounting parts, thereby reducing the configuration cost of the operation and maintenance robot. Furthermore, large-scale centralized photovoltaic power plants often require the simultaneous operation of batches of operation and maintenance robots. The mounting parts' combined auxiliary positioning design can reduce the labor intensity of batch replacement work, making the application model of easily removable functional modules more feasible.

[0030] In addition, since the operation and maintenance robot needs to work for a long time in an outdoor environment with strong light, and different areas of photovoltaic panels may have different undulations (for example, the specifications of the photovoltaic panels are different, or due to the accumulation of dust obstacles of different thicknesses, etc.), this will also cause the robot to frequently bump during long-term operation. The dual-action mounting parts proposed in this application can not only strengthen the installation and fixing effect with the help of the force distribution area, but also distribute the forces it bears during the working process (such as the impact of frequent shaking processes) in a more balanced manner, thereby improving the working stability and service life of the mounting parts during long-term operation. This will also further reduce the cost of consumables required for the operation and maintenance process.

[0031] Furthermore, for the cleaning mode of the operation and maintenance robot (that is, when the functional module is a cleaning module), unlike the traditional rotatable connection scheme in the prior art (such as directly rotatably connecting the cleaning module to the robot body), the utility model splits the requirements for the rotatable connection scheme, and respectively realizes the adaptive adjustment of the cleaning module and the fixed connection between the cleaning module and the robot body relatively independently through a rotatable rotating module and a double-acting mounting part.

[0032] Furthermore, this split, independent working solution can extend the service life of the robot during long-term operation in complex outdoor environments. This is in stark contrast to the traditional cleaning module's rotation method, which rotates directly relative to the robot body.

[0033] Specifically, the utility model can set the roller brush to rotate relative to each other inside the cleaning module, that is, the lighter roller brush is rotatably connected to the connecting piece, so that the supporting force required to support the rotation of the roller brush is provided by the rotating module, thereby improving the service life and rotation flexibility of the rotating module to a certain extent.

[0034] This internal rotation also reduces vibration of the cleaning module when the robot is moving over bumps, thereby minimizing the impact of vibration on the mounting components. This convenient detachable design allows the robot to be equipped with different functional modules, enabling a single device to serve multiple purposes. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the embodiments or the description of the prior art. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the various elements or parts are not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without inventive work.

[0036] Figure 1 This is a schematic structural diagram of a cleaning module in an exemplary embodiment of the present application;

[0037] Figure 2 for Figure 1 An exploded schematic diagram of the cleaning module shown;

[0038] Figure 3 for Figure 1 A partial perspective schematic diagram of the cleaning module shown;

[0039] Figure 4 for Figure 1 a side view of the cleaning module shown;

[0040] Figure 5 A side view of a cleaning module in an exemplary embodiment of the present application;

[0041] Figure 6 This is a schematic structural diagram of a rotating member in an exemplary embodiment of the present application;

[0042] Figure 7 This is a schematic structural diagram of a robot in an exemplary embodiment of the present application;

[0043] Figure 8 This is a schematic diagram of the angle design of the scraper in an exemplary embodiment of the present application;

[0044] Figure 9 This is a schematic diagram of the connection relationship between the functional modules and the robot in an exemplary embodiment of the present application;

[0045] Figure 10 This is a first structural schematic diagram of a mounting plate in an exemplary embodiment of the present application;

[0046] Figure 11 This is a second structural schematic diagram of a mounting plate in an exemplary embodiment of the present application;

[0047] Figure 12 This is a third structural schematic diagram of a mounting plate in an exemplary embodiment of the present application;

[0048] Figure 13 This is a fourth structural schematic diagram of a mounting plate in an exemplary embodiment of the present application;

[0049] Figure 14 Schematic diagram of the structure of the first fixing plate in an exemplary embodiment of the present application;

[0050] Figure 15 This is a schematic structural diagram of a second fixing member in an exemplary embodiment of the present application;

[0051] Figure 16 This is a first schematic diagram of the matching relationship between the mounting plate and the positioning member in an exemplary embodiment of the present application;

[0052] Figure 17 A second schematic diagram of the matching relationship between the mounting plate and the positioning member in an exemplary embodiment of the present application

[0053] Figure 18 Schematic diagram of the robot structure.

[0054] Summary of figure markings:

[0055] 10 is the robot body; 20 is the connecting member, 21 is the second opening; 22 is the adjustment position, 23 is the limiting path, 24 is the scraper; 30 is the cleaning component; 40 is the rotating module, 41 is the rotating member, 42 is the second fixing member, 43 is the first fixing member, 44 is the mounting opening, 45 is the mounting hole, 46 is the first mounting position, 47 is the fifth fixing member, 48 is the first opening, and 49 is the fourth fixing member; 50 is the elastic member, 61 is the adjustment part, 611 is the first adjustment part, 612 is the second adjustment part, P1 is the limiting section, P2 is the first plane, and P3 is the second plane;

[0056] 100 is the mounting part, 101 is the first mounting plate, 102 is the positioning area, 1021 is the positioning port, and 1022 is the side; 103 is the second mounting plate, 1031 is the first sub-mounting plate, 1032 is the second sub-mounting plate, 104 is the connecting hole, 105 is the third mounting hole, and 106 is the connecting rod; 200 is the first fixing plate, 201 is the first positioning part, 202 is the second positioning part, 2021 is the first positioning column, 2022 is the connecting plate, and 2023 is the second positioning column; 300 is the second fixing plate, 301 is the first mounting surface, and 302 is the second mounting surface; P4 is the third plane (also known as: mounting inclined plane). DETAILED DESCRIPTION

[0057] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0058] Herein, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention and have no specific meaning. Therefore, "module", "component" or "unit" can be used interchangeably.

[0059] As used herein, terms such as "upper," "lower," "inner," "outer," "front," "back," "one end," and "the other end" indicate positions or locations based on those shown in the accompanying drawings. These terms are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0060] As used herein, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc., should be understood broadly. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection, a direct connection, an indirect connection through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model on a case-by-case basis.

[0061] As used herein, "and / or" includes any and all combinations of one or more of the associated listed items.

[0062] Herein, "plurality" means two or more than two, ie, it includes two, three, four, five, etc.

[0063] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0064] The embodiment is basically as follows Figures 1-18 As shown:

[0065] Example 1

[0066] See also Figures 1-8 As shown, an adaptive robot (the robot in this article may also be called a cleaning robot or a photovoltaic operation and maintenance robot) includes:

[0067] Robot body 10;

[0068] At least one cleaning module, the cleaning module includes: a cleaning component 30, a connecting member 20, the cleaning component 30 is rotatably connected to the connecting member 20 through a rotating module 40, and the connecting member 20 is fixedly connected to the robot body 10; wherein,

[0069] The rotating module 40 includes a rotating member 41 ; wherein a first end of the rotating member 41 is rotatably connected to the connecting member, and a second end of the rotating member 41 is fixedly connected to the cleaning member 30 ;

[0070] a first limiting mechanism, the first limiting mechanism comprising: a limiting path provided on the connecting member 20 or the rotating member 41, and a limiting member correspondingly provided on the rotating member 41 or the connecting member 20, wherein when the rotating member is mounted on the connecting member 20, the limiting member is capable of extending into the limiting path to limit the adjustable range of the included angle of the rotating member to between a first angle and a second angle; wherein the included angle refers to the angle between the axis of the rotating member (e.g., the axis direction, i.e., the direction of the first plane P2) and a vertical direction (e.g., the vertical direction is the plane direction of the second plane P3);

[0071] Herein, the first angle is also referred to as the lower limit angle. The maximum angle that the rotating member can rotate under the limitation of the second limiting mechanism is also referred to as the upper limit angle.

[0072] Furthermore, this embodiment further includes: a second limiting mechanism, which includes: an adjusting portion 61, an adjusting position 22 correspondingly provided on the connecting member 20, and the adjusting portion 61 can achieve relative movement with the adjusting position 22 through the adjusting position 22; and when the adjusting portion 61 is in different positions, the angle between the limiting section P1 of the adjusting portion 61 and the vertical direction will also change accordingly; wherein,

[0073] When the rotating member rotates to the current maximum angle, the rotating member will come into contact with at least one point on the adjusting portion 61 , and the section of the point becomes the limiting section P1 .

[0074] See also Figure 5 As shown, the first plane P2 is the side surface of the rotating member; the second plane P3 is a vertical plane (for example, a plane perpendicular or approximately perpendicular to the horizontal plane).

[0075] In this embodiment, the limiting distance of the first limiting mechanism is limited to being non-adjustable, while the limiting distance of the second limiting mechanism can be automatically adjusted by the user. This restrictive limiting and freely adjustable limiting mechanisms work together to prevent the robot from rotating too violently (such as tilting too much) when passing over a bump. At the same time, it can reserve free adjustment space for the user to flexibly fine-tune according to different cleaning needs and photovoltaic panel surfaces, thereby improving adjustment reliability.

[0076] For example, in some embodiments, see Figure 3 As shown, a limiting path 23 is provided on the connecting member 20, and a mounting hole 45 is provided on the rotating member 41; the mounting hole 45 is used to install a limiting member (such as a screw, a bolt, etc.); wherein, when the rotating member 41 rotates along the set direction, the limiting member will also move accordingly on the limiting path 23, and when it moves to the two ends of the limiting path 23, the rotation angle or trend of the rotating member will also be correspondingly limited.

[0077] For example, in some embodiments, the adjusting portion 61 includes a first adjusting portion 611 and a second adjusting portion 612 connected to each other, and the axes of the first adjusting portion 611 and the second adjusting portion 612 do not coincide; the second adjusting portion 612 is arranged toward the rotating member 41, so that when the angle rotates to the current maximum angle, the second adjusting portion 612 will come into contact with the rotating member 41, thereby limiting the rotating member 41.

[0078] In some embodiments, the second limiting mechanism is disposed above the rotating member to limit the maximum angle within the rotatable range of the rotating member.

[0079] In this embodiment, the first limiting mechanism is preferably used to achieve the lower limit, and the second limiting mechanism is used to achieve the upper limit. This can avoid over-adjustment by the user (for example, causing the lower limit angle to be too large and unable to touch the ground) while ensuring that the user has a certain degree of adjustment freedom.

[0080] In other words, this embodiment adopts a fool-proof design for the limiting scheme to prevent the user from adjusting the lower limit angle too much due to misoperation or lack of skill, which may cause the robot to easily grab the ground when crossing the bumps, affecting the cleaning efficiency.

[0081] In some embodiments, the adjusting portion 61 may be an eccentric shaft.

[0082] In some embodiments, the connecting member 20 and the robot body 10 are fixedly connected so that the connecting member and the robot body form a rigid body.

[0083] Preferably, in some embodiments, the rotation modules are disposed on both sides of the cleaning component 30 and the connecting member 20 (specifically, on the end surfaces of the cleaning component and the connecting member). In this embodiment, this arrangement of rotating modules at both ends within the cleaning module can also improve rotation flexibility to a certain extent.

[0084] In some embodiments, see Figure 3 As shown, a first opening 48 is provided at the first end of the rotating member 41, and a second opening 21 is correspondingly provided on the connecting member 20. When the first fixing member 43 (for example, a fixing pin) passes through the first opening 48 and the second opening 21, the first end of the rotating member 41 can be fixed at the second opening 21 and can rotate relatively along the axis of the second opening.

[0085] For example, in some embodiments, it also includes: a fifth fixing member 47 (for example, a pulley); wherein the first fixing member 43 extends into the first opening 48 from one end and extends from the other end of the first opening 48, and the fifth fixing member 47 is sleeved on the end extending from the first fixing member 43 to further fix the rotating member 41.

[0086] In some embodiments, the second end of the rotating member 41 is further provided with a mounting opening 44, and the mounting opening 44 is used to fix the second fixing member 42 provided on the cleaning component 30, thereby enabling the cleaning component 30 to adaptively adjust the angle relative to the rotation of the rotating member 41.

[0087] Preferably, the installation opening 44 is a non-enclosed opening, that is, the edge of the installation opening 44 is a discontinuous surface with a break, so as to facilitate the quick removal of the cleaning component 30 .

[0088] In some embodiments, the device further includes an elastic adjustment module, the elastic adjustment module including an elastic member 50; correspondingly, a first mounting position 46 is provided on the rotating member 41, and a second mounting position is correspondingly provided on the connecting member 20; a first end and a second end of the elastic member 50 are connected to the first mounting position 46 and the second mounting position, respectively;

[0089] The elastic member 50 applies a force toward a first direction to the cleaning component 30 , where the first direction refers to a direction in which the cleaning component 30 points toward the area to be cleaned.

[0090] For another example, in some embodiments, the elastic member may also be a tension spring or other spring forms.

[0091] In stark contrast to the traditional cleaning module's direct rotation relative to the robot body, in this embodiment, the roller brush (equivalent to the cleaning component) is configured to rotate relative to the inside of the cleaning module. That is, the lighter roller brush is rotationally connected to the connector, so that the rotating module provides the supporting force required to support the roller brush's rotation, thereby improving the service life and rotation flexibility of the rotating module to a certain extent. At the same time, in response to this internal relative rotation scheme of the cleaning module, this embodiment also uses a second limiting mechanism and an elastic adjustment module to coordinate the directions of fixedly limiting the rotation angle and elastically limiting the rotation speed in the upper and lower directions, respectively. This ensures rotation flexibility and retains adjustment flexibility while avoiding "over-flexibility" situations such as excessive rotation resulting in insufficient contact with the photovoltaic panel or insufficient contact pressure.

[0092] Example 2

[0093] See also Figure 1-Figure 7 As shown, a cleaning assembly includes:

[0094] The cleaning module includes: a cleaning component 30 and a connecting member 20, wherein the cleaning component 30 is rotatably connected to the connecting member 20 via a rotating module 40, and the connecting member 20 is fixedly connected to the robot body 10; the rotating module 40 includes: a rotating member 41; wherein a first end of the rotating member 41 is rotatably connected to the connecting member, and a second end of the rotating member 41 is fixedly connected to the cleaning component 30;

[0095] a first limiting mechanism, comprising: a limiting path provided on the connecting member 20 or the rotating member 41, and a limiting member correspondingly provided on the rotating member 41 or the connecting member 20, wherein when the rotating member is mounted on the connecting member 20, the limiting member can extend into the limiting path to limit the adjustable range of the included angle of the rotating member to between a first angle and a second angle; wherein the included angle refers to the angle between the axis of the rotating member and the vertical direction;

[0096] The second limiting mechanism includes: an adjusting portion 61, an adjusting position 22 corresponding to the connecting member 20, and the adjusting portion 61 can achieve relative movement with the adjusting position 22 through the adjusting position 22; and when the adjusting portion 61 is in different positions, the angle between the limiting section P1 of the adjusting portion 61 and the vertical direction will also change accordingly; wherein,

[0097] When the rotating member rotates to the current maximum angle, the rotating member will come into contact with at least one point on the adjusting portion 61 , and the section of the point becomes the limiting section P1 .

[0098] In some embodiments, the connector 20 is further provided with a scraper 24. The contact surface of the scraper 24 for cleaning the area to be cleaned (such as a photovoltaic panel) has an angle β with the vertical direction, and the angle β can be in the range of 19.45°-20°.

[0099] The angle setting of the scraper can be found in Figure 8 shown.

[0100] In some embodiments, the second limiting mechanism is disposed above the rotating member to limit the maximum angle within the rotatable range of the rotating member. For example, the adjusting portion 61 further limits the adjustable range to between the first angle and a third angle, where the third angle is less than or equal to the second angle.

[0101] In some embodiments, the device further includes an elastic adjustment module, the elastic adjustment module including an elastic member 50; correspondingly, a first mounting position 46 is provided on the rotating member 41, and a second mounting position is correspondingly provided on the connecting member 20; a first end and a second end of the elastic member 50 are connected to the first mounting position 46 and the second mounting position, respectively;

[0102] The elastic member 50 applies a force toward a first direction to the cleaning component 30 , where the first direction refers to a direction in which the cleaning component 30 points toward the area to be cleaned.

[0103] In this embodiment, the provision of the elastic member can further restrict the rotation tendency of the rotating member to a certain extent, so as to ensure that a certain magnitude of relative force is maintained between the cleaning member and the area to be cleaned, thereby improving the cleaning force.

[0104] The provision of the elastic member can also, to a certain extent, prevent the angle α from being adjusted too quickly or too large, resulting in inadequate cleaning when crossing a ridge.

[0105] The principles and beneficial technical effects of the present invention are:

[0106] Photovoltaic panels are affected by the actual terrain conditions during installation, and there will be unevenness. At the same time, because photovoltaic panels are subject to environmental erosion during use, further unevenness will occur. The cleaning components in the prior art can only rotate within a fixed angle adjustment range, and cannot adapt well to photovoltaic panels of different batches and different undulations. The present application proposes a dual-limit solution that can adaptively adjust photovoltaic panels in different scenarios (for example, when cleaning photovoltaic panels, first conduct trial cleaning on a small number of photovoltaic panels in the same area to determine the approximate undulation of the photovoltaic panels, and then adjust the angle adjustment range of the cleaning module according to the cleaning effect), so that the cleaning component can more accurately fit the surface of the photovoltaic panel for cleaning.

[0107] Specifically, on the one hand, the present application proposes a double limiting mechanism with different limiting functions (that is, the limiting angle is adjustable), which can avoid excessive adjustment by the user (for example, the upper limit angle is adjusted too large, resulting in the cleaning mechanism being unable to touch the ground) while ensuring that the user has a certain degree of adjustment freedom.

[0108] On the other hand, this solution adopts a fool-proof design for the limit solution to prevent users from adjusting the lower limit angle too much due to misoperation or lack of expertise, which may cause the robot to easily grab the ground when crossing obstacles, affecting cleaning efficiency.

[0109] In other words, this solution provides a wider rotation range for the cleaning mechanism by designing a double-limit solution with optional rotation angles, thereby adapting to photovoltaic panels with different degrees of undulation, making the adjustment more flexible and effectively improving the overall cleaning effect.

[0110] Furthermore, this solution also forms a three-limit solution by setting an elastic part in conjunction with two limit mechanisms, so that the cleaning component has more adjustment angle ranges, while also avoiding the problem of excessive rotation of the cleaning component (for example, the cleaning component rotates too fast or the adjustment range is too large, resulting in inadequate cleaning when passing over bumps) to a certain extent.

[0111] Example 3

[0112] See also Figure 1-Figure 7 As shown, a robot with easily detachable cleaning parts comprises:

[0113] Robot body 10;

[0114] At least one cleaning module, the cleaning module comprising: a cleaning component 30, a connecting member 20, the cleaning component 30 being rotatably connected to the connecting member 20 via a rotating module 40 (in some embodiments, the connecting member 20 is fixedly connected to the robot body 10); wherein,

[0115] The rotating module 40 includes a rotating member 41 ; wherein a first end of the rotating member 41 is rotatably connected to the connecting member, and a second end of the rotating member 41 is fixedly connected to the cleaning member 30 ;

[0116] Preferably, the second end of the rotating member 41 is detachably connected to the cleaning member 30 via a second fixing member 42;

[0117] See also Figure 3 As shown, the second end of the rotating member 41 is provided with a mounting opening 44, and the cleaning component 30 is provided with a second fixing member 42 corresponding to the mounting opening; the second fixing member 42 is provided with at least one first fixing position 421, and the mounting opening 44 is correspondingly provided with at least one second fixing position 441. When the third fixing member (not shown in the figure) passes through the first fixing position 421 and the second fixing position 441 respectively, the second fixing member 42 is clamped by the mounting opening 44, thereby enabling the cleaning component 30 to perform adaptive adjustment of the angle relative to the rotation of the rotating member 41.

[0118] In some embodiments, the first fixing portion 421 is a mounting slot disposed outside the second fixing member 42, and the second fixing portion 441 is a through-hole disposed corresponding to the first fixing portion. The second fixing member 42 may be a hexagonal nut. The third fixing member can penetrate the second fixing portion 441 and extend into the first fixing portion 42 to secure the hexagonal nut. When the hexagonal nut is removed, the cleaning component (e.g., roller brush) can be removed.

[0119] In some embodiments, the third fixing member may be a tensioning shaft.

[0120] Preferably, see Figure 6 As shown, the mounting opening 44 is a non-enclosed opening, that is, the edge of the mounting opening is a discontinuous surface, so that disassembly openings 442 are formed at both end edges of the mounting opening 44, and the disassembly openings 442 are used for portable disassembly of the hexagonal nut.

[0121] In some embodiments, a first positioning rod 31 is provided on the cleaning component 30. When the second fixing member 42 is installed on the first positioning rod 31 close to the first end of the cleaning component, the inner surface of the mounting opening 44 contacts the outer surface of the second fixing member 42, and the second end of the first positioning rod 31 is also provided with a fourth fixing member 49 (such as a pulley).

[0122] Specifically, the first positioning rod 31 extends from one end into the inner side of the second fixing member 42 and extends from the other side of the second fixing member 42 , and the fourth fixing member 49 is sleeved on the extended portion to fix the second fixing member 42 .

[0123] In some embodiments, the adjusting portion 61 includes a first adjusting portion 611 and a second adjusting portion 612 connected to each other, and the axes of the first adjusting portion 611 and the second adjusting portion 612 do not coincide; the second adjusting portion 612 is arranged toward the rotating member 41, so that when the angle rotates to the current maximum angle, the second adjusting portion 612 will come into contact with the rotating member 41, thereby limiting the rotating member 41.

[0124] In this embodiment, a detachable design is integrated on the rotating module, so that the cleaning components (such as roller brushes, bristle brushes, etc.) can be partially disassembled by using the rotating module, and the installation method is convenient.

[0125] Moreover, this functionally integrated design can effectively simplify the overall mechanical structure, thereby further reducing the difficulty of processing while facilitating manual operation by users.

[0126] For example, this embodiment preferably supports the quick installation of a brush with a length specification of 13mm-15mm.

[0127] It is understandable that the robot in this embodiment may also include the same or similar components as in any other embodiment, which will not be described in detail here.

[0128] Example 4

[0129] An easily removable cleaning assembly, see Figures 1-6 ,include:

[0130] At least one cleaning module, the cleaning module includes: a cleaning component 30, a connecting member 20, the cleaning component 30 is rotatably connected to the connecting member 20 via a rotating module 40, and the connecting member 20 is fixedly connected to the robot body 10; the rotating module 40 includes: a rotating member 41; wherein the first end of the rotating member 41 is rotatably connected to the connecting member, and the second end of the rotating member 41 is fixedly connected to the cleaning component 30; wherein,

[0131] The second end of the rotating member 41 is provided with a mounting opening 44, and the cleaning component is provided with a second fixing member 42 corresponding to the mounting opening; the second fixing member 42 is provided with at least one first fixing position 421, and the mounting opening 44 is correspondingly provided with at least one second fixing position 441. When the third fixing member passes through the first fixing position 421 and the second fixing position 441 respectively, the second fixing member 42 is clamped by the mounting opening 44; the mounting opening is used to fix the second fixing member 42 set on the cleaning component 30, so that the cleaning component 30 can adaptively adjust the angle relative to the rotation of the rotating member 41.

[0132] In some embodiments, the connecting member 20 and the robot body 10 can be fixedly connected in a detachable manner.

[0133] In some embodiments, a first positioning rod 31 is provided on the cleaning component 30. When the second fixing member 42 is installed on the first positioning rod 31 close to the first end of the cleaning component, the inner surface of the mounting opening 44 contacts the outer surface of the second fixing member 42, and the second end of the first positioning rod 31 is also provided with a fourth fixing member 49.

[0134] Example 5

[0135] This utility model provides a modular photovoltaic operation and maintenance robot. Figure 7-18 The modular photovoltaic robot includes: a robot body 10, and at least one functional module connected to the robot body 10 in a detachable manner.

[0136] In some embodiments, the functional module includes one or more of the following: a cleaning module, an intelligent coating module, and an intelligent detection module.

[0137] Among them, the intelligent coating module is capable of applying nano-coating to the photovoltaic panel; specifically, the intelligent coating module includes: a storage mechanism for storing spraying materials, and a plurality of spraying mechanisms connected to the storage mechanism through pipelines, and the spraying mechanisms are used to spray the spraying materials onto the photovoltaic panel.

[0138] Among them, the intelligent detection module uses the photoluminescence principle to complete real-time monitoring of photovoltaic components.

[0139] In some embodiments, the smart detection module is capable of autonomously detecting defects on the photovoltaic panels.

[0140] In some embodiments, the functional modules are detachably connected to the robot body 10 via a mounting member 100. The robot body 10 is provided with a first fixing plate 200 that cooperates with the mounting member 100. The first fixing plate 200 is provided with a first positioning member 201 and a second positioning member 202 that cooperate with the mounting member 100. At least one functional module is also provided with a second fixing plate 300 that cooperates with the mounting member 100. For example, the second fixing plate 300 is provided on the connector 20.

[0141] Herein, the mounting member and the first fixing plate are also collectively referred to as a connecting device of the robot.

[0142] Correspondingly, in some embodiments, see Figure 11 As shown, the mounting member 100 includes:

[0143] A first mounting plate 101, a positioning area 102 is provided at the first end of the first mounting plate 101; the positioning area is used to cooperate with the first positioning member and the second positioning member to complete the initial clamping; wherein, the positioning area 102 includes: a side 1022, the side 1022 forms a limiting path for the first positioning member to slide on its surface, and one end of the side also extends to form a positioning port 1021, wherein when the positioning area and the first fixing plate 200 complete the initial clamping, the second positioning member is clamped into the positioning port, and the side abuts against the first positioning member 201.

[0144] Preferably, the line connecting the center points of the first positioning member 201 and the second positioning member 202 is inclined, that is, the line intersects with the vertical plane (angle is γ); wherein the vertical plane refers to a plane perpendicular or approximately perpendicular to the horizontal plane where the robot body is located.

[0145] In some embodiments, the mounting member and the second fixing plate are fixedly connected.

[0146] In this article, a fixed connection refers to a connection in which parts or components are fixed without any relative movement. Fixed connections include detachable connections and non-detachable connections.

[0147] For example, the fixed connection between the mounting member and the second fixing plate means that there is no relative rotation between them after the connection.

[0148] For example, in some embodiments, in order to further reduce the labor intensity of replacing the functional module, the mounting member may also be integrally fixedly connected to the functional module.

[0149] Further, see Figures 9-11 The mounting member 100 further includes: a second mounting plate 103 extending along the second end of the first mounting plate 101; wherein the second mounting plate 103 includes:

[0150] A first sub-mounting plate 1031; the first sub-mounting plate 1031 is used to cooperate with the first mounting surface 301 of the second fixing plate 300; wherein, at least one first mounting hole is provided on the first sub-mounting plate 1031, and the first mounting surface 301 is also provided with a second mounting hole corresponding thereto, when at least one positioning component (such as a screw, a positioning pin, etc.) passes through the first mounting hole and is inserted into the second mounting hole, the first sub-mounting plate 1031 and the first mounting surface 301 are tightly connected to each other.

[0151] Furthermore, the second mounting plate 103 may further include:

[0152] The second sub-mounting plate 1032 is used to cooperate with the second mounting surface 302 of the second fixed plate 300; wherein, the second sub-mounting plate 1032 is provided with at least one first mounting hole, and the second mounting surface 302 is also provided with a second mounting hole corresponding thereto, and the first mounting plate and the second mounting plate cooperate to form a mounting area for mounting the second fixed plate, and when at least one positioning component (such as a screw, a positioning pin, etc.) passes through the first mounting hole and is inserted into the second mounting hole, the second sub-mounting plate 1032 and the second mounting surface 302 are tightly connected to each other.

[0153] In some embodiments, the second mounting hole may be a through hole or a blind hole.

[0154] In some embodiments, the first positioning member 201 may be a positioning pin.

[0155] In some embodiments, see Figure 9 As shown, the second positioning member 202 may include:

[0156] A first positioning post 2021 (e.g., a bolt, a positioning pin, etc.) is provided on the first fixing plate 200. A connecting plate 2022 is provided, the first end of which is sleeved and mounted on the first positioning post 2021. A second positioning post 2023 is provided on the second end of the connecting plate. Correspondingly, a third mounting hole 105 is provided on the first mounting plate 101 corresponding to the second positioning post.

[0157] See also Figure 12 As shown, a first connecting line is formed between the first contact point formed by the first positioning member 201 and the side, and the second contact point formed by the first positioning column and the side (for example, it can refer to the point where the straight line where the side is located is tangent to the first positioning column), and the first connecting line is intersected with the vertical plane (the angle between them is γ), and the vertical plane is a plane perpendicular or approximately perpendicular to the horizontal plane where the robot body is located.

[0158] Specifically, in the horizontal plane direction, the distance between the first contact point and the functional module is smaller than the distance between the second contact point and the functional module.

[0159] Correspondingly, the side is also set as an inclined side; therefore, when the user initially operates to make the mounting member 100 and the first fixing plate 200 engage with each other, it can be moved in a direction parallel or approximately parallel to the mounting inclined surface P4 (such as Figure 13 The second positioning member 202 and the first positioning member 201 each form at least two contact points with the side edge, and the plurality of contact points form a third plane P4 (also known as an installation slope).

[0160] It is understandable that the first positioning member 201 can assist in positioning the second positioning member 202 during the engagement process. For example, the lower end of the inclined surface can be brought into contact with the first positioning member 201, and then slid downward along the first positioning member 201 until the second positioning member 202 is found and initially secured using the positioning opening 1021.

[0161] Subsequently, the second positioning column 2023 is passed through the third mounting hole 105 to achieve a tight connection between the second positioning member 202 and the mounting plate 100; at least one positioning member can be abutted against the side by point contact, line contact or surface contact.

[0162] Preferably, the edge of the positioning port 1021 includes: a first line segment and a second line segment connected in sequence, the first line segment is formed by bending and extending along the first end of the inclined surface (preferably an arc-shaped line segment that matches the outer periphery of the first positioning column), and the second line segment is parallel or approximately parallel to the inclined surface, so that the user can smoothly insert the first positioning column 2021 along the direction of the installation inclined surface P4.

[0163] See also Figure 12 As shown, in this embodiment, the first positioning member 201, the second positioning member 202 and the third mounting hole (not shown) on the mounting member 100 cooperate to form a triangular force distribution area 500. The force distribution area 500 is formed by connecting at least three points, namely, the center point O1 of the first positioning member 201, the center point O2 of the first positioning column 2021 in the second positioning member 202, and the center point O3 of the second positioning column 2022. The force distribution area 500 can, on the one hand, utilize the multi-point limiting effect to reliably fix the mounting member 100, and at the same time, through the decentralized multi-point design, it can also disperse the overall limiting force to reduce the force at a single point, thereby enhancing the working stability of the mounting member 100 and extending the service life of the mounting member 100, the positioning member and other connecting components.

[0164] Preferably, in some embodiments, the functional module is connected to the robot body via at least two mounting members 100 .

[0165] In some embodiments, the mounting member can be fixedly connected to the functional module.

[0166] Alternatively, in other embodiments, the mounting member can also be rotatably connected to the functional module.

[0167] Furthermore, in some embodiments, the first mounting plate 101 is further provided with a connection hole 104, and the robot further includes a connection rod 106, wherein the connection rod passes through the connection holes 104 on at least two first mounting plates 101. The user can conveniently operate the integral disassembly process of the functional module by grabbing the connection rod.

[0168] Furthermore, the present invention provides a cleaning robot comprising a cleaning module. The cleaning module is detachably connected to the robot body via a mounting member 100. A rotation module is also provided within the cleaning module to adaptively adjust the roller brush angle. The connection structure formed by the mounting member and the rotation module provides both adjustable flexibility and operational stability.

[0169] When assembling the functional module and the robot body, they need to be quickly positioned to improve installation efficiency. At the same time, in order to maintain their working stability, the connection between the two needs to be more stable.

[0170] In view of this, the present application fixes the mounting member and the first fixed plate through a multi-point double-action structure, thereby achieving rapid positioning while forming a stable fixing structure; specifically, the present solution forms a positioning path by setting a side edge on the mounting plate, and at the same time sets a positioning port at one end of the positioning path, and uses the first positioning member as an auxiliary positioning member, which can play an auxiliary positioning role in the clamping process of the first positioning column. At the same time, the first positioning member can also cooperate with the first positioning column and the second positioning column to form a force distribution area. On the one hand, the force distribution area can utilize the multi-point limiting effect to reliably fix the mounting member and the first fixed plate. At the same time, the overall limiting force can be dispersed through the decentralized multi-point design to achieve balanced distribution of force at each point, so as to enhance the working stability of the mounting member and extend the service life of connecting components such as the mounting member and the positioning member.

[0171] Especially for large-scale photovoltaic panel cleaning scenarios, since different photovoltaic panel areas may have different undulations (for example, different specifications of photovoltaic panels, or due to the accumulation of dust obstacles of different thicknesses, etc.), the robot may frequently bump during long-term movement. The setting of the mounting parts can effectively improve the installation stability between the robot and the cleaning module. At the same time, the choice of setting a rotation module inside the cleaning module can further reduce the impact of angle adjustment on the structural stability of the robot.

[0172] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0173] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which are all within the protection of the present invention.

Claims

1. A detachable robot, characterized in that: The robot comprises a robot body and at least one functional module detachably connected to the robot body, wherein the robot body and the functional module are connected via a mounting member (100), and a first fixing plate (200) and a second fixing plate (300) that cooperate with the mounting member (100) are respectively provided on the robot body and the functional module; The first fixing plate (200) is provided with a first positioning member (201) and a second positioning member (202); correspondingly, the mounting member (100) includes a first mounting plate (101); a first end of the first mounting plate (101) is provided with a positioning area (102); the positioning area (102) includes a side edge (1022); one end of the side edge (1022) extends to form a positioning opening (1021); When the first mounting plate (101) is clamped to the first fixing plate (200), the first positioning member (201) and the second positioning member (202) respectively abut against the side edge (1022) and are capable of moving along the extension direction of the side edge (1022); when the clamping is completed, the first positioning member (201) abuts against the side edge (1022) and the second positioning member (202) is clamped in the positioning opening (1021).

2. The detachable robot according to claim 1, characterized in that: The second positioning member (202) comprises a first positioning column (2021), a connecting plate (2022) and a second positioning column (2023); the first positioning column (2021) is arranged on the first fixing plate (200); one end of the connecting plate (2022) is connected to the first positioning column (2021); and the other end of the connecting plate (2022) is connected to the second positioning column (2023); When the mounting member (100) and the first fixing plate (200) are fixed together, the first positioning member (201) abuts against the side edge (1022), the first positioning column (2021) is stuck in the positioning opening (1021), and the second positioning column (2023) is fixed by passing through the connecting plate and the third mounting hole (105) provided on the mounting plate in sequence, and the line connecting the center points of the first positioning member (201), the first positioning column (2021) and the second positioning column (2023) forms a force distribution area.

3. The detachable robot according to claim 1, characterized in that: The mounting member is fixedly connected to the second fixing plate.

4. The detachable robot according to claim 1, characterized in that: The edge of the positioning opening (1021) comprises a first line segment and a second line segment connected to each other, the first line segment being an arc-shaped line segment extending along the first end of the side edge (1022), and the second line segment being parallel or approximately parallel to the side edge (1022).

5. The detachable robot according to claim 1, characterized in that: The mounting member (100) further includes a second mounting plate (103), the second mounting plate (103) including a first sub-mounting plate (1031) cooperating with the first mounting surface (301) of the second fixing plate (300), and a second sub-mounting plate (1032) cooperating with the second mounting surface (302) of the second fixing plate (300), the first sub-mounting plate (1031) and the second sub-mounting plate (1032) cooperating to form a mounting area for mounting the second fixing plate (300).

6. The detachable robot according to claim 5, characterized in that: At least one second mounting hole is respectively provided on the first mounting surface (301) and the second mounting surface (302), and at least one first mounting hole corresponding to the second mounting hole is respectively provided on the first sub-mounting plate (1031) and the second sub-mounting plate (1032).

7. The detachable robot according to claim 1, characterized in that: The functional module is connected to the robot body via at least two mounting members (100).

8. The detachable robot according to claim 7, characterized in that: The first mounting plate (101) is further provided with connection holes (104) for connection rods (106) to pass through, and the connection rods (106) respectively pass through at least two of the connection holes (104).

9. The detachable robot according to claim 1, characterized in that: The functional modules include one or more of a cleaning module, an intelligent coating module and an intelligent detection module.

10. The detachable robot according to claim 1, characterized in that: The first positioning member (201) is a positioning pin.

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