Sucker assembly and photovoltaic cleaning robot

Abstract

The utility model discloses a suction cup assembly and a photovoltaic cleaning robot, and the suction cup assembly comprises a sliding seat body which is provided with a sliding cavity; the lifting suction cup is in sliding fit with the sliding cavity, and at least a suction cup body of the lifting suction cup can rotate relative to the sliding seat body; the magnetic attraction assembly comprises a first magnetic attraction piece and a second magnetic attraction piece which are oppositely arranged in the sliding direction of the lifting suction cup, one of the first magnetic attraction piece and the second magnetic attraction piece is arranged on the sliding base, the other one of the first magnetic attraction piece and the second magnetic attraction piece is arranged on the lifting suction cup, and at least one of the first magnetic attraction piece and the second magnetic attraction piece is a variable-magnetic-pole electromagnet. Compared with a traditional steering engine and motor scheme, the structure of the suction cup assembly is greatly simplified, and cost is lower. The magnetic attraction assembly has the advantages of being high in response speed, easy to control, low in energy consumption and the like. And a magnetic spring is formed in the repulsion process of the first magnetic attraction piece and the second magnetic attraction piece, so that the lifting suction cup can be always in contact with the photovoltaic panel, and falling caused by vibration is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to photovoltaic cleaning robot technical field more specifically, relate to a kind of suction cup assembly and photovoltaic cleaning robot. BACKGROUND

[0002] Photovoltaic power station is the representative of renewable energy, with its clean and renewable advantages, becomes the important component of modern energy structure. Photovoltaic panel is exposed for a long time, easy to accumulate dust and dirt, affect power generation efficiency. To solve this problem, photovoltaic cleaning robot emerges as the times require. The working principle of photovoltaic cleaning robot is simple and efficient, and it can plan cleaning path autonomously. They use special brushes and other cleaning devices, which can easily remove dirt on the surface of photovoltaic panel and ensure efficient power generation of photovoltaic panel.

[0003] There are various forms of cleaning robots in the prior art, and the commonly used ones are track-mounted photovoltaic cleaning robots and tracked photovoltaic cleaning robots. Among them, the tracked photovoltaic cleaning robot adopts a tracked chassis structure, usually equipped with single or double head roller brushes, and cleans photovoltaic panels in an autonomous or remote control mode. Because of its small size and flexible movement, it is more suitable for application in distributed photovoltaic power stations.

[0004] The tracked photovoltaic cleaning robot needs to work on photovoltaic panels with a certain inclination. The tracked photovoltaic cleaning robot completes turning by controlling the left and right drive motors to output opposite steering. Because the friction between the track and the photovoltaic panel is limited, the photovoltaic cleaning robot will slide during turning, which will inevitably affect the cleaning coverage and the original path planning of the tracked photovoltaic cleaning robot.

[0005] To solve the problem of sliding during turning, the existing technology generally uses a suction cup assembly. During the turning process of the photovoltaic cleaning robot, the suction cup assembly is extended and firmly attached to the photovoltaic panel. After turning, the suction cup assembly is retracted. As can be seen, in order to complete the above work and realize the function of the suction cup assembly, the suction cup assembly not only needs to move up and down, but also needs to rotate relative to the photovoltaic cleaning robot. In the prior art, the up-and-down movement of the suction cup assembly is driven by a rudder, a motor or other driving devices. However, the introduction of rudder or motor will increase the cost of suction cup assembly and make the installation more complex.

[0006] Therefore, how to reduce the cost of suction cup assembly and simplify the installation structure is a problem to be solved by those skilled in the art. UTILITY MODEL CONTENTS

[0007] Therefore, the purpose of the utility model is to provide a suction cup assembly to reduce the cost of suction cup assembly and simplify the installation structure.

[0008] Another purpose of the utility model lies in providing a photovoltaic cleaning robot with the above-mentioned suction cup assembly.

[0009] In order to achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0010] A suction cup assembly comprises:

[0011] The sliding seat body has a sliding cavity and is used for being mounted to a carrier device;

[0012] The lifting suction cup is slidingly fitted in the sliding cavity, and at least a suction cup body of the lifting suction cup can rotate relative to the sliding seat body;

[0013] The magnetic attraction assembly is used for driving the lifting suction cup to move between the lifting position and the adsorption position, and comprises a first magnetic attraction piece and a second magnetic attraction piece which are arranged oppositely along the sliding direction of the lifting suction cup, one of the first magnetic attraction piece and the second magnetic attraction piece is arranged on the sliding seat body, and the other is arranged on the lifting suction cup, and at least one of the first magnetic attraction piece and the second magnetic attraction piece is a variable magnetic pole electromagnet.

[0014] Optionally, in the above-mentioned suction cup assembly, a negative pressure generating device and / or a positive pressure generating device are further included;

[0015] The negative pressure generating device comprises a negative pressure pump and a negative pressure air pipe, a first end of the negative pressure air pipe is in communication with a negative pressure output port of the negative pressure pump, and a second end is in communication with the suction cup body;

[0016] The positive pressure generating device comprises a positive pressure pump and a positive pressure air pipe, a first end of the positive pressure air pipe is in communication with a positive pressure output port of the positive pressure pump, and a second end is in communication with the sliding cavity.

[0017] Optionally, in the above-mentioned suction cup assembly, the lifting suction cup comprises:

[0018] The lifting connecting seat is slidingly fitted in the sliding cavity;

[0019] The suction cup body is arranged on the lifting connecting seat;

[0020] The rotary pipe joint is arranged on the lifting connecting seat, one end thereof is in communication with the suction cup body, and the other end is in communication with the negative pressure air pipe.

[0021] Optionally, in the above-mentioned suction cup assembly, the second end of the negative pressure air pipe is inserted into a pipe cavity of the rotary pipe joint, and is slidingly fitted with the rotary pipe joint; or,

[0022] The negative pressure air pipe is a corrugated pipe and is fixedly connected to the rotary pipe joint, and the rotary pipe joint is rotationally fitted on the lifting connecting seat.

[0023] Optionally, in the chuck assembly, the lifting connector has a threaded pipe column, one end of the rotary pipe joint is threadedly fitted to the threaded pipe column, and the rotary pipe joint is in communication with the chuck body through the threaded pipe column; and / or,

[0024] At least a portion of the lifting connector corresponding to the side wall of the sliding cavity is covered with a wear-resistant spacer sleeve.

[0025] Optionally, in the chuck assembly, the lifting connector is rotationally fitted to the sliding cavity; and / or,

[0026] The chuck body is rotationally fitted to the lifting connector; and / or,

[0027] The chuck body is fixed to the lifting connector by a first fastener.

[0028] Optionally, in the chuck assembly, the negative pressure pump and the positive pressure pump are the same air pump; and / or,

[0029] The negative pressure generating device further comprises a first on-off valve connected in series to the negative pressure air pipe; and / or,

[0030] The positive pressure generating device further comprises a second on-off valve connected in series to the positive pressure air pipe; and / or,

[0031] The negative pressure generating device further comprises an air pressure sensor for detecting the air pressure value of the negative pressure air pipe, and when the air pressure value reaches a preset air pressure value, the adsorption force of the chuck body meets the adsorption condition.

[0032] Optionally, in the chuck assembly, a controller is further included, the first magnetic attraction member is a variable magnetic pole electromagnet arranged on the sliding seat body, and the second magnetic attraction member is a permanent magnet arranged on the lifting chuck;

[0033] The controller is used to control the current size and current direction of the first magnetic attraction member.

[0034] Optionally, in the chuck assembly, the sliding seat body includes a fixed connector and an end cover, the fixed connector has a barrel structure with open ends, one end of the fixed connector is used to be fixed to the carrier device, the end cover is detachably fixed to the other end of the fixed connector, the fixed connector and the end cover enclose the sliding cavity, one of the first magnetic attraction member and the second magnetic attraction member is fixed to the end cover and located in the sliding cavity, and the other is fixed to one end of the lifting chuck facing the end cover; and / or,

[0035] At least one of the first magnetic attraction member and the second magnetic attraction member is provided with a buffer facing the other; and / or,

[0036] The sliding seat body has a seat body mounting lug which is mounted to the carrier device by a second fastener.

[0037] The lifting suction cup can slide in the sliding cavity of the sliding seat body, one of the lifting suction cup and the sliding seat body is provided with a first magnetic attraction piece, the other is provided with a second magnetic attraction piece, and the first magnetic attraction piece and the second magnetic attraction piece are arranged along the sliding direction of the lifting suction cup. At least one of the first magnetic attraction piece and the second magnetic attraction piece is a variable magnetic pole electromagnet, the variable magnetic pole electromagnet can change the magnetic pole direction by changing the current direction, so the first magnetic attraction piece and the second magnetic attraction piece can be controlled to attract each other or repel each other according to requirements.

[0038] When the suction cup assembly is applied to a photovoltaic cleaning robot, before the photovoltaic cleaning robot turns, the magnetic pole direction of the variable magnetic pole electromagnet is controlled, so that the first magnetic attraction piece and the second magnetic attraction piece repel each other, and under the action of the repulsive force, the first magnetic attraction piece and the second magnetic attraction piece move away from each other, so that the lifting suction cup moves to the adsorbing position and is adsorbed on the photovoltaic panel. Since at least the suction cup body of the lifting suction cup can rotate relative to the sliding seat body, when the photovoltaic cleaning robot turns, the lifting suction cup can rotate relatively, and the adsorbing connection with the photovoltaic panel can be maintained at all times. After the photovoltaic cleaning robot completes the turning, the magnetic pole direction of the variable magnetic pole electromagnet is controlled, so that the first magnetic attraction piece and the second magnetic attraction piece attract each other, and under the action of the magnetic attraction, the first magnetic attraction piece and the second magnetic attraction piece move close to each other, so that the lifting suction cup moves to the lifting position and is separated from the photovoltaic panel, so that the photovoltaic cleaning robot can freely walk.

[0039] The utility model discloses utilize the suction cup assembly to assist turning, can avoid producing the sliding deviation in the turning process. The up-down movement of the lifting suction cup is driven by the magnetic attraction assembly, compared with the traditional rudder and motor scheme, the structure of the suction cup assembly is greatly simplified, and the cost is also lower. Moreover, the magnetic attraction assembly has the advantages of fast response speed, easy control and low energy consumption, and by changing the current, the magnetic property strength and direction of the magnetic attraction piece can be quickly changed. The magnetic force spring is formed in the repelling process of the first magnetic attraction piece and the second magnetic attraction piece, the lifting suction cup can always keep contacting with the photovoltaic panel, and falling off due to vibration is avoided.

[0040] A photovoltaic cleaning robot comprises a robot body and the suction cup assembly as claimed in any one of the preceding claims, and the carrier device is the robot body.

[0041] The photovoltaic cleaning robot provided by the utility model has the suction cup assembly, and therefore has all the technical effects of the suction cup assembly, which will not be described herein again. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0043] Figure 1 The structural schematic diagram of the suction cup assembly disclosed in the embodiments of the present application is shown in the figure.

[0044] Figure 2 The sectional view of the lifting suction cup of the suction cup assembly disclosed in the embodiments of the present application when in the adsorbing position is shown in the figure.

[0045] Figure 3 The sectional view of the lifting suction cup of the suction cup assembly disclosed in the embodiments of the present application when in the lifting position is shown in the figure.

[0046] The meanings of the various reference signs in the figure are as follows:

[0047] 100 - carrier device;

[0048] 200 - suction cup assembly;

[0049] 210 - controller;

[0050] 220 - sliding seat body; 221 - end cover; 222 - fixed connection seat; 2221 - seat body mounting lug; 2222 - sliding cavity; 223 - second fastener;

[0051] 230 - lifting suction cup; 231 - suction cup body; 232 - lifting connection seat; 2321 - threaded pipe column; 233 - wear-resistant spacer sleeve; 234 - rotary pipe joint; 235 - first fastener;

[0052] 240 - positive pressure generating device; 241 - second on-off valve; 242 - positive pressure air pipe;

[0053] 250 - negative pressure generating device; 251 - first on-off valve; 252 - negative pressure air pipe; 253 - three-way joint; 254 - air pressure sensor;

[0054] 260 - magnetic attraction assembly; 261 - first magnetic attraction member; 2611 - avoidance hole; 262 - second magnetic attraction member; 263 - buffer member. DETAILED DESCRIPTION

[0055] The core of the present application is to provide a suction cup assembly to reduce the cost of the suction cup assembly and simplify the installation structure.

[0056] Another core of the utility model lies in providing a photovoltaic cleaning robot with the above-mentioned suction cup assembly.

[0057] Hereinafter, the embodiments will be described with reference to the drawings. In addition, the embodiments shown below do not have any limiting effect on the utility model content recited in the claims. In addition, the entire content of the configuration represented in the following embodiments is not limited to being necessary as a solution to the utility model recited in the claims. It should be noted that, for the convenience of description, only the parts related to the utility model are shown in the drawings. In the case of no conflict, the embodiments in the utility model and the features in the embodiments can be combined with each other.

[0058] As Figure 1 shown, the suction cup assembly 200 disclosed in the utility model embodiment comprises a sliding seat body 220, a lifting suction cup 230 and a magnetic suction assembly 260. Among them, the sliding seat body 220 has a sliding cavity 2222, and is used to be installed to the carrier device 100, and the suction cup assembly 200 can be applied to the scene needing to use the suction cup, that is, the carrier device 100 is not limited to the photovoltaic cleaning robot.

[0059] As Figure 2 and Figure 3 shown, the lifting suction cup 230 is slidably fitted in the sliding cavity 2222, so as to move between the lifting position (as shown in Figure 3 and the adsorption position (as shown in Figure 2 ), when the lifting suction cup 230 is in the lifting position, the suction cup body 231 of the lifting suction cup 230 has a preset gap with the adsorbed body (for example, a photovoltaic panel), that is, the adsorbed body is separated; when the lifting suction cup 230 is in the adsorption position, the suction cup body 231 of the lifting suction cup 230 can be adsorbed to the adsorbed body.

[0060] At least the suction cup body 231 of the lifting suction cup 230 can rotate relative to the sliding seat body 220, for example, when the suction cup assembly 200 is applied to the photovoltaic cleaning robot. When the photovoltaic cleaning robot turns, the suction cup body 231 can rotate relative to the sliding seat body 220 when the suction cup body 231 is adsorbed to the adsorbed body, and the sliding seat body 220 is fixed on the photovoltaic cleaning robot, that is, when the photovoltaic cleaning robot drives the sliding seat body 220 to rotate, the suction cup body 231 can rotate relative to the sliding seat body 220, and relative to the photovoltaic panel, thereby maintaining the continuous adsorption with the photovoltaic panel, and not affected by the turning of the photovoltaic cleaning robot. It should be noted that the suction cup assembly 200 should be installed at the center of the photovoltaic cleaning robot (that is, the rotation center when the photovoltaic cleaning robot turns).

[0061] The magnetic attraction assembly 260 comprises a first magnetic attraction piece 261 and a second magnetic attraction piece 262 arranged oppositely along the sliding direction of the lifting suction disc 230, one of the first magnetic attraction piece 261 and the second magnetic attraction piece 262 is arranged on the sliding seat body 220, and the other is arranged on the lifting suction disc 230, and at least one of the first magnetic attraction piece 261 and the second magnetic attraction piece 262 is a variable magnetic pole electromagnet.

[0062] For example, the first magnetic attraction piece 261 arranged on the sliding seat body 220 is designed as a variable magnetic pole electromagnet, because the sliding seat body 220 is stationary relative to the robot body of the photovoltaic cleaning robot, and then it is more beneficial to arrange a wire harness to control the current size and direction of the first magnetic attraction piece 261.

[0063] Since one of the first magnetic attraction piece 261 and the second magnetic attraction piece 262 is an electromagnet, the second magnetic attraction piece 262 arranged on the lifting suction disc 230 can be designed as a permanent magnet. It should be noted that the first magnetic attraction piece 261 and the second magnetic attraction piece 262 can also be designed as electromagnets.

[0064] In order to facilitate the adjustment of the magnetic strength and direction of the variable magnetic pole electromagnet, the controller 210 can be additionally arranged in the embodiment, the current size and direction of the first magnetic attraction piece 261 are controlled through the controller 210, and the controller 210 can control the current size and direction of the first magnetic attraction piece 261 according to a pre-set adjustment scheme. When the photovoltaic cleaning robot sends a turning signal, the controller 210 controls the current direction of the first magnetic attraction piece 261, so that the first magnetic attraction piece 261 and the second magnetic attraction piece 262 generate magnetic attraction force; during the normal straight cleaning process of the photovoltaic cleaning robot, the controller 210 controls the current direction of the first magnetic attraction piece 261, so that the first magnetic attraction piece 261 and the second magnetic attraction piece 262 generate repulsion, and the controller 210 can be matched with the driving state (straight driving and turning) of the photovoltaic cleaning robot, and the current direction of the first magnetic attraction piece 261 is automatically changed.

[0065] The lifting suction disc 230 of the suction disc assembly 200 can slide in the sliding cavity 2222 of the sliding seat body 220, one of the lifting suction disc 230 and the sliding seat body 220 is provided with the first magnetic attraction piece 261, and the other is provided with the second magnetic attraction piece 262, and the first magnetic attraction piece 261 and the second magnetic attraction piece 262 are arranged along the sliding direction of the lifting suction disc 230. At least one of the first magnetic attraction piece 261 and the second magnetic attraction piece 262 is a variable magnetic pole electromagnet, the variable magnetic pole electromagnet can change the magnetic pole direction by changing the current direction, so the first magnetic attraction piece 261 and the second magnetic attraction piece 262 can be controlled to attract or repel each other according to the requirement.

[0066] When the suction cup assembly 200 is applied to the photovoltaic cleaning robot, before the photovoltaic cleaning robot turns, the magnetic pole direction of the variable magnetic pole electromagnet is controlled so that the first magnetic suction piece 261 and the second magnetic suction piece 262 repel each other, under the action of the repulsive force, the first magnetic suction piece 261 and the second magnetic suction piece 262 move away from each other, so that the lifting suction cup 230 moves to the suction position and is adsorbed on the photovoltaic panel. Since at least the suction cup body of the lifting suction cup 230 can rotate relative to the sliding seat body 220, when the photovoltaic cleaning robot turns, the lifting suction cup 230 can rotate relatively, and can always maintain the adsorption connection with the photovoltaic panel. After the photovoltaic cleaning robot completes the turning, the magnetic pole direction of the variable magnetic pole electromagnet is controlled so that the first magnetic suction piece 261 and the second magnetic suction piece 262 attract each other, under the action of the magnetic attraction, the first magnetic suction piece 261 and the second magnetic suction piece 262 move close to each other, so that the lifting suction cup 230 moves to the lifting position and is separated from the photovoltaic panel, so that the photovoltaic cleaning robot can freely walk.

[0067] The utility model discloses utilize the suction cup assembly 200 to assist turning, can avoid producing the sliding deviation in the turning process. The up and down movement of the lifting suction cup 230 is driven through the magnetic suction assembly 260, compared with the traditional rudder and motor scheme, the structure of the suction cup assembly 200 is greatly simplified. Moreover, the magnetic suction assembly 260 has the advantages of fast response speed, easy control and low energy consumption. By changing the current, the magnetic strength and direction of the magnetic suction piece can be quickly changed. The first magnetic suction piece 261 and the second magnetic suction piece 262 repel each other to form a magnetic force spring, which can keep the lifting suction cup 230 in contact with the photovoltaic panel at all times and prevent it from falling off due to vibration.

[0068] In order to further improve the reliability of the suction cup body 231 adsorption, in a specific embodiment of the utility model, the suction cup assembly 200 can also include a negative pressure generating device 250, which can ensure the negative pressure state in the suction cup body 231 when the lifting suction cup 230 is in the adsorption position, improve the adsorption capacity of the suction cup body 231, and further reduce the risk of the suction cup body 231 and the photovoltaic panel being separated due to vibration of the photovoltaic cleaning robot.

[0069] The negative pressure generating device 250 includes a negative pressure pump and a negative pressure air pipe 252. The negative pressure pump is used to generate negative pressure, and the first end of the negative pressure air pipe 252 is in communication with the negative pressure output port of the negative pressure pump, and the second end is in communication with the suction cup body 231. Before the photovoltaic cleaning robot turns, the magnetic pole direction of the variable magnetic pole electromagnet is controlled so that the first magnetic suction piece 261 and the second magnetic suction piece 262 repel each other, under the action of the repulsive force, the first magnetic suction piece 261 and the second magnetic suction piece 262 move away from each other, so that the lifting suction cup 230 moves to the suction position and is adsorbed on the photovoltaic panel. The negative pressure pump works, and through the negative pressure air pipe 252, a negative pressure is formed between the suction cup body 231 and the photovoltaic panel, so that the photovoltaic cleaning robot does not produce sliding deviation during turning.

[0070] After the photovoltaic cleaning robot completes the turning, the negative pressure pump is turned off to unload the negative pressure environment between the suction cup body 231 and the photovoltaic panel, so that the lifting suction cup 230 can be easily lifted. The pole direction of the variable magnetic pole electromagnet is controlled so that the first magnetic suction piece 261 and the second magnetic suction piece 262 are attracted to each other, and under the magnetic attraction, the first magnetic suction piece 261 and the second magnetic suction piece 262 are close to each other, so that the lifting suction cup 230 moves to the lifting position.

[0071] Specifically, the lifting suction cup 230 can include a lifting connecting seat 232, a suction cup body 231, and a rotary pipe joint 234. The lifting connecting seat 232 is slidingly fitted in the sliding cavity 2222, and the lifting connecting seat 232 is equivalent to a sliding block reciprocating in the sliding cavity 2222, while driving the suction cup body 231 to move along the sliding cavity 2222.

[0072] The suction cup body 231 is arranged on the lifting connecting seat 232, and the suction cup body 231 can be fixed to the lifting connecting seat 232 by the first fastener 235, or can be connected to the lifting connecting seat 232 by other fixing methods, such as buckle connection.

[0073] In order to ensure that the negative pressure air pipe 252 can communicate with the suction cup body 231, the lifting suction cup 230 also has a rotary pipe joint 234, which is arranged on the lifting connecting seat 232 and communicates with the suction cup body 231 at one end and with the negative pressure air pipe 252 at the other end. Specifically, the lifting connecting seat 232 can be provided with a threaded pipe column 2321, and one end of the rotary pipe joint 234 is threadedly fitted in the threaded pipe column 2321, and the rotary pipe joint 234 communicates with the suction cup body 231 through the threaded pipe column 2321. That is, the threaded pipe column 2321 and the suction cup body 231 remain in communication, and after the rotary pipe joint 234 is installed to the threaded pipe column 2321, the communication between the rotary pipe joint 234 and the suction cup body 231 is achieved.

[0074] It should be noted that the rotary pipe joint 234 and the lifting connecting seat 232 can also be designed as an integral structure, and one end of the rotary pipe joint 234 directly communicates with the suction cup body 231. The rotary pipe joint 234 can be fixed on the lifting connecting seat 232, so that one end of the rotary pipe joint 234 extends into the negative pressure communication hole of the suction cup body 231, and the other end extends out of the lifting connecting seat 232 and communicates with the negative pressure air pipe 252. The specific connection method of the rotary pipe joint 234 and the lifting connecting seat 232 is not limited in this embodiment, as long as the communication between the negative pressure air pipe 252 and the suction cup body 231 can be achieved.

[0075] The lifting connector 232 and the suction cup body 231 need to slide along the sliding cavity 2222 according to the working condition. In order to ensure that the suction cup body 231 can be in communication with the negative pressure air pipe 252 during the movement of the lifting connector 232 and the suction cup body 231, and after the movement to different positions, the second end of the negative pressure air pipe 252 can be inserted into the lumen of the rotary pipe joint 234 and in sliding fit with the rotary pipe joint 234.

[0076] When the lifting connector 232 drives the suction cup body 231 to slide upward along the sliding cavity 2222 (it is necessary to point out that the suction cup body 231 is always located outside the sliding cavity 2222), the rotary pipe joint 234 moves upward, and the second end of the negative pressure air pipe 252 is inserted into the lumen of the rotary pipe joint 234 and in sliding fit with the rotary pipe joint 234. Therefore, the rotary pipe joint 234 and the negative pressure air pipe 252 produce relative sliding, and the negative pressure air pipe 252 will not be bent and collapsed due to movement. Even if the lifting suction cup 230 moves to the lifting position (the highest limit position), the negative pressure air pipe 252 can always keep in communication with the rotary pipe joint 234. Similarly, when the lifting connector 232 drives the suction cup body 231 to slide downward along the sliding cavity 2222, the rotary pipe joint 234 and the negative pressure air pipe 252 produce relative sliding, and the connection between the negative pressure air pipe 252 and the rotary pipe joint 234 will not be pulled off. Even if the lifting suction cup 230 moves to the suction position (the lowest limit position), the negative pressure air pipe 252 can always keep in communication with the rotary pipe joint 234.

[0077] In addition, the negative pressure air pipe 252 can also be designed as a bellows and fixedly connected to the rotary pipe joint 234, and the rotary pipe joint 234 is in rotary fit with the lifting connector 232. In this embodiment, the negative pressure air pipe 252 is designed as a bellows. By using the principle that the length of the bellows can be lengthened or shortened by external force, when the lifting connector 232 drives the suction cup body 231 to slide upward along the sliding cavity 2222, the negative pressure air pipe 252 is contracted to keep in communication with the rotary pipe joint 234; when the lifting connector 232 drives the suction cup body 231 to slide downward along the sliding cavity 2222, the negative pressure air pipe 252 is lengthened to keep in communication with the rotary pipe joint 234.

[0078] When the photovoltaic cleaning robot turns, since the rotary pipe joint 234 is in rotary fit with the lifting connector 232, the rotary pipe joint 234 can rotate with the lifting connector 232 and the negative pressure generating device 250, so that the risk of disconnection of the connection between the negative pressure air pipe 252 and the rotary pipe joint 234 due to the relative rotation therebetween can be avoided.

[0079] In order to ensure that the suction disc body 231 can rotate relative to the sliding seat body 220, the lifting connecting seat 232 can be rotationally connected with the sliding cavity 2222, that is, the lifting connecting seat 232 and the suction disc body 231 fixed on the lifting connecting seat 232 can rotate relative to the sliding seat body 220; or the suction disc body 231 can be rotationally connected with the lifting connecting seat 232, that is, the suction disc body 231 can rotate relative to the lifting connecting seat 232, so that even if the lifting connecting seat 232 cannot rotate relative to the sliding seat body 220, the suction disc body 231 can still rotate relative to the sliding seat body 220. The specific mode of how the suction disc body 231 rotates relative to the sliding seat body 220 is not limited in the embodiment, as long as the suction disc body 231 can be adsorbed on the photovoltaic panel when the photovoltaic cleaning robot turns, and the sliding seat body 220 can rotate with the photovoltaic cleaning robot without rotating the suction disc body 231.

[0080] Since the lifting connecting seat 232 needs to reciprocate along the sliding cavity 2222, in order to reduce the wear between the two, at least the part of the lifting connecting seat 232 corresponding to the side wall of the sliding cavity 2222 is covered with a wear-resistant spacer 233. The wear-resistant spacer 233 can be made of any commonly used wear-resistant material in the prior art to reduce wear and increase service life.

[0081] The sliding cavity 2222 is usually in communication with the external atmosphere, so there is a possibility that dust will enter the sliding cavity 2222. As more and more dust deposits in the sliding cavity 2222, it will inevitably affect the smoothness of the lifting process of the lifting connecting seat 232. Once the sliding process is stuck, it will affect the stability of the photovoltaic cleaning robot when it turns.

[0082] Based on this, the suction disc assembly disclosed in the embodiment can further include a positive pressure generating device 240 for maintaining a positive pressure in the sliding cavity 2222 to prevent dust from depositing in the sliding cavity 2222.

[0083] Specifically, the positive pressure generating device 240 can include a positive pressure pump and a positive pressure air pipe 242. The positive pressure pump is used to provide a positive pressure, and the first end of the positive pressure air pipe 242 is in communication with the positive pressure output port of the positive pressure pump, and the second end is in communication with the sliding cavity 2222. It should be noted that the negative pressure pump and the positive pressure pump can use the same air pump (not shown in the figure), which has a positive pressure output port and a negative pressure output port to communicate with the positive pressure air pipe 242 and the negative pressure air pipe 252, respectively.

[0084] Since the working time of the negative pressure generating device 250 and the positive pressure generating device 240 is not completely the same, when they use the same air pump, if the working mode is adjusted by opening and closing the air pump, the working state of the other will be inevitably affected. For example, by closing the air pump to cut off the negative pressure, the positive pressure will also be cut off.

[0085] Based on this, in the embodiment, the negative pressure generating device 250 can further include a first on-off valve 251 connected in series with the negative pressure air pipe 252, and the positive pressure generating device 240 can further include a second on-off valve 241 connected in series with the positive pressure air pipe 242. The working state of the negative pressure generating device 250 and the positive pressure generating device 240 can be controlled through the first on-off valve 251 and the second on-off valve 241; the first on-off valve 251 and the second on-off valve 241 can both be solenoid valves, so as to facilitate automatic control.

[0086] The negative pressure generating device 250 can further include an air pressure sensor 254, which is used to detect the air pressure value of the negative pressure air pipe 252, and when the air pressure value reaches a preset air pressure value, the adsorption force of the suction cup body 231 meets the adsorption condition. When the air pressure value reaches the preset air pressure value, a signal can be sent to the control panel of the photovoltaic cleaning robot when the suction cup assembly is applied to the photovoltaic cleaning robot, and at this time the photovoltaic cleaning robot can execute a turning command.

[0087] When the negative pressure generating device 250 simultaneously has the air pressure sensor 254 and the first on-off valve 251, in order to ensure that the air pressure sensor 254 and the first on-off valve 251 can simultaneously communicate with the negative pressure air pipe 252, a tee joint 253 can be added. One interface of the tee joint 253 communicates with the first on-off valve 251, the second interface communicates with the negative pressure air pipe 252, and the third interface communicates with the air pressure sensor 254. The first on-off valve 251 communicates with the air pump through a pipeline, so that the air pressure sensor 254 and the first on-off valve 251 can both communicate with the negative pressure air pipe 252.

[0088] In an embodiment of the utility model, the sliding seat body 220 can include a fixed connecting seat 222 and an end cover 221. The fixed connecting seat 222 is a cylinder structure with two open ends. One end of the fixed connecting seat 222 is used to be fixed to the carrier device 100. The end cover 221 is detachably fixed to the other end of the fixed connecting seat 222. The fixed connecting seat 222 and the end cover 221 enclose a sliding cavity 2222.

[0089] In the embodiment, the sliding seat body 220 is divided into the detachable fixed connecting seat 222 and the end cover 221, which can facilitate the installation of the first magnetic attraction member 261 and the second magnetic attraction member 262. One of the first magnetic attraction member 261 and the second magnetic attraction member 262 is fixed to the end cover 221 and located in the sliding cavity 2222, and the other is fixed to one end of the lifting suction cup 230 facing the end cover 221. Taking the example that the first magnetic attraction member 261 is arranged on the end cover 221 and the second magnetic attraction member 262 is fixed to the lifting suction cup 230, an avoiding hole 2611 should be arranged on the first magnetic attraction member 261 to avoid the interference of the first magnetic attraction member 261 with the upward movement of the rotating pipe joint 234.

[0090] At least one of the first magnetic attraction member 261 and the second magnetic attraction member 262 is provided with a buffer member 263 facing the other, that is, the buffer member 263 can be arranged on the side of the first magnetic attraction member 261 facing the second magnetic attraction member 262, or on the side of the second magnetic attraction member 262 facing the first magnetic attraction member 261, so that when the first magnetic attraction member 261 and the second magnetic attraction member 262 are close to each other and adhere to each other, hard collision does not occur, and damage caused by hard collision of the two is avoided by the buffering effect of the buffer member 263.

[0091] The sliding seat body 220 has a seat body mounting lug 2221 mounted to the carrier device 100 by a second fastener 223. It should be noted that the fixed connection seat 222 and the end cover 221 can also be fixed by the cooperation of the mounting lug and the fastener.

[0092] The utility model discloses an embodiment further discloses a photovoltaic cleaning robot, including robot body and the suction cup subassembly 200 of like above embodiment discloses, and the suction cup subassembly 200 sets up on robot body. Because have above-mentioned suction cup subassembly 200, therefore, all technical effects of above-mentioned suction cup subassembly 200 are combined, and this text does not repeat here.

[0093] As shown in the present application and claims, unless the context clearly indicates otherwise, "one", "a", "an" and / or "the" do not refer to the singular, but can also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements explicitly identified, and these steps and elements do not constitute an exclusive list, and the method or device can also include other steps or elements. The element defined by the statement "comprises a" does not exclude the presence of another identical element in the process, method, product or device comprising the element.

[0094] In the description of the present application, unless otherwise explicitly limited, the words such as arrangement, installation, connection, etc. should be understood broadly, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical scheme.

[0095] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0096] The principle and implementation mode of the present application are described by using specific examples in the present application, and the above examples are only used for helping to understand the method and core idea of the present application. It should be pointed out that, for ordinary skilled persons in the technical field, some improvements and modifications can be made to the present application without departing from the principle of the present application, and these improvements and modifications also fall within the protection scope of the present application.

Claims

1. A suction cup assembly, characterized in that, The application relates to a lifting and sucking device, comprising: a sliding seat (220) having a sliding cavity (2222) and used for being mounted to a carrier device (100); a lifting and sucking disc (230) slidingly matched to the sliding cavity (2222), at least a disc body (231) of the lifting and sucking disc (230) being capable of rotating relative to the sliding seat (220); a magnetic attraction assembly (260) used for driving the lifting and sucking disc (230) to move between a lifting position and a sucking position, comprising a first magnetic attraction element (261) and a second magnetic attraction element (262) oppositely arranged along a sliding direction of the lifting and sucking disc (230), one of the first magnetic attraction element (261) and the second magnetic attraction element (262) being arranged on the sliding seat (220) and the other being arranged on the lifting and sucking disc (230), at least one of the first magnetic attraction element (261) and the second magnetic attraction element (262) being a variable magnetic pole electromagnet.

2. The suction cup assembly of claim 1, wherein, further comprising a negative pressure generating device (250) and / or a positive pressure generating device (240); the negative pressure generating device (250) comprises a negative pressure pump and a negative pressure air pipe (252), a first end of the negative pressure air pipe (252) being in communication with a negative pressure output port of the negative pressure pump, and a second end being in communication with the disc body (231); the positive pressure generating device (240) comprises a positive pressure pump and a positive pressure air pipe (242), a first end of the positive pressure air pipe (242) being in communication with a positive pressure output port of the positive pressure pump, and a second end being in communication with the sliding cavity (2222).

3. The suction cup assembly of claim 2, wherein, the lifting and sucking disc (230) comprises: a lifting and connecting seat (232) slidingly matched to the sliding cavity (2222); the disc body (231) arranged on the lifting and connecting seat (232); a rotating pipe joint (234) arranged on the lifting and connecting seat (232) and in communication with the disc body (231) at one end and with the negative pressure air pipe (252) at the other end.

4. The suction cup assembly of claim 3, wherein, the second end of the negative pressure air pipe (252) is inserted into a pipe cavity of the rotating pipe joint (234) and is slidingly matched with the rotating pipe joint (234); or the negative pressure air pipe (252) is a bellows pipe and is fixedly connected to the rotating pipe joint (234), and the rotating pipe joint (234) is rotationally matched to the lifting and connecting seat (232).

5. The suction cup assembly of claim 3, wherein, the lifting and connecting seat (232) has a threaded pipe column (2321), one end of the rotating pipe joint (234) is threadedly matched to the threaded pipe column (2321), and the rotating pipe joint (234) is in communication with the disc body (231) through the threaded pipe column (2321); and / or at least a part of the lifting and connecting seat (232) corresponding to a side wall of the sliding cavity (2222) is covered with a wear-resistant spacer sleeve (233).

6. The suction cup assembly of claim 3, wherein, the lifting and connecting seat (232) is rotationally matched to the sliding cavity (2222); and / or the disc body (231) is rotationally matched to the lifting and connecting seat (232); and / or The suction disc body (231) is fixed to the lifting connecting seat (232) by a first fastener (235).

7. The suction cup assembly of claim 2, wherein, The negative pressure pump and the positive pressure pump are a same air pump; and / or, The negative pressure generating device (250) further comprises a first switch valve (251) connected in series to the negative pressure air pipe (252); and / or, The positive pressure generating device (240) further comprises a second switch valve (241) connected in series to the positive pressure air pipe (242); and / or, The negative pressure generating device (250) further comprises an air pressure sensor (254) for detecting an air pressure value of the negative pressure air pipe (252), and when the air pressure value reaches a preset air pressure value, the suction force of the suction disc body (231) satisfies a suction condition.

8. A suction cup assembly according to any one of claims 1-7, characterized in that The controller (210) is used for controlling the current size and current direction of the first magnetic attraction member (261). The sliding seat body (220) comprises a fixed connecting seat (222) and an end cover (221), the fixed connecting seat (222) is a cylinder structure with two open ends, one end of the fixed connecting seat (222) is used for being fixed to the carrier device (100), the end cover (221) is detachably fixed to the other end of the fixed connecting seat (222), the fixed connecting seat (222) and the end cover (221) enclose the sliding cavity (2222), one of the first magnetic attraction member (261) and the second magnetic attraction member (262) is fixed to the end cover (221) and located in the sliding cavity (2222), and the other is fixed to one end of the lifting suction disc (230) facing the end cover (221); and / or, 9. A suction cup assembly as claimed in any one of claims 1-7, characterized in that At least one of the first magnetic attraction member (261) and the second magnetic attraction member (262) is provided with a buffer member (263) facing the other; and / or, The sliding seat body (220) has a seat body mounting lug (2221), and the seat body mounting lug (2221) is mounted to the carrier device (100) by a second fastener (223). The robot body and the suction disc assembly (200) as claimed in any one of claims 1-9, and the carrier device (100) is the robot body.

10. A photovoltaic cleaning robot, characterized in that The robot body and the suction disc assembly (200) as claimed in any one of claims 1-9, and the carrier device (100) is the robot body.

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