Sucker assembly and photovoltaic cleaning robot

Abstract

The utility model discloses a sucker assembly and a photovoltaic cleaning robot, comprising a sliding seat body used for being connected with a carrier device and provided with a sliding cavity; the lifting suction cup comprises a lifting sliding part and a suction cup body, the lifting sliding part is arranged in the sliding cavity in a sliding fit mode, the suction cup body is arranged on the lifting sliding part, and the lifting sliding part can rotate relative to the sliding seat body; the dustproof device is used for sealing a gap between the lifting sliding part and the sliding seat body; and the lifting driving assembly is used for driving the lifting sliding part to slide back and forth along the sliding cavity so as to drive the suction cup body to move between the lifting position and the suction position. According to the utility model, a bearing does not need to be arranged, and the scheme that the sucker body does not rotate along with the carrier device is also realized, so that the problem that dust enters a gap between the inner ring and the outer ring of the bearing is avoided, the problem of abrasion caused by dust entering is avoided, the service life is prolonged, an interference fit mode is not needed for assembly, the disassembly and assembly difficulty is reduced, and the production cost is reduced. And the cost is lower.

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] As a representative of renewable energy, photovoltaic power station becomes an important part of modern energy structure with its clean and renewable advantages. Photovoltaic panels are exposed to the outside for a long time, which can easily accumulate dust and dirt, affecting the power generation efficiency. To solve this problem, photovoltaic cleaning robots have emerged. The working principle of photovoltaic cleaning robots is simple and efficient, and they can plan the cleaning path autonomously. They use special brushes and other cleaning devices to easily remove dirt on the surface of photovoltaic panels, ensuring efficient power generation of photovoltaic panels.

[0003] There are various forms of cleaning robots in the prior art, including hanging rail type photovoltaic cleaning robots and track type photovoltaic cleaning robots. Among them, track type photovoltaic cleaning robots use track type chassis structure, usually equipped with single or double head roller brush, and use autonomous or remote control mode for photovoltaic panel cleaning. Due to its small size and flexible movement, it is more suitable for application in distributed photovoltaic power stations.

[0004] Track type photovoltaic cleaning robots need to work on photovoltaic panels with a certain inclination. Track type photovoltaic cleaning robots complete turning by controlling the opposite steering of the left and right drive motors. Due to the limited friction between the track and the photovoltaic panel, the photovoltaic cleaning robot will slide during turning, which will inevitably affect the cleaning coverage and the original path planning of the track type 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 extends and firmly adheres 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 suction cup assembly is usually connected by rotating through a bearing. However, in a dusty environment, dust can easily enter the lifting space of the suction cup assembly through the inner and outer rings of the bearing, causing the suction cup assembly to lift and jam. In addition, the inner and outer rings of the bearing need to be interference fit with other components, which is difficult to disassemble, resulting in high after-sales cost.

[0006] Therefore, how to avoid the problem of dust entering due to the bearing and difficult disassembly is a problem that needs to be solved by those skilled in the art. UTILITY MODEL CONTENT

[0007] Therefore, the utility model discloses a suction cup assembly to avoid the problem of dust entering and dismounting difficulty caused by bearing.

[0008] Another purpose of the utility model is to provide a photovoltaic cleaning robot with the suction cup assembly.

[0009] To achieve the above purpose, the utility model provides the following technical scheme.

[0010] A suction cup assembly comprises:

[0011] A sliding seat body is connected to a carrier device and has a sliding cavity.

[0012] A lifting suction cup comprises a lifting sliding part slidingly fitted in the sliding cavity and a suction cup body arranged on the lifting sliding part, and the lifting sliding part can rotate relative to the sliding seat body.

[0013] A dustproof device is used to seal the gap between the lifting sliding part and the sliding seat body.

[0014] A lifting driving assembly is used to drive the lifting sliding part to reciprocally slide along the sliding cavity, so as to drive the suction cup body to move between a lifting position and a suction position.

[0015] Optionally, in the suction cup assembly, the dustproof device comprises a telescopic connecting piece, a first end of the telescopic connecting piece is connected to the carrier device.

[0016] The lifting sliding part rotates relative to the sliding seat body through a first rotating sliding part and a second rotating sliding part, the first rotating sliding part is arranged on the lifting sliding part, the second rotating sliding part is arranged on a second end of the telescopic connecting piece, and the second rotating sliding part is slidingly fitted with the first rotating sliding part.

[0017] The first rotating sliding part and the second rotating sliding part have a limiting structure along the lifting direction of the lifting sliding part, and at least one of the first rotating sliding part and the second rotating sliding part is an annular structure coaxially arranged with the suction cup body.

[0018] Optionally, in the suction cup assembly, one of the first rotating sliding part and the second rotating sliding part is an annular track limiting groove coaxially arranged with the suction cup body, and the other has a rotating sliding part embedded in the annular track limiting groove and slidingly fitted with the annular track limiting groove.

[0019] Optionally, in the chuck assembly, the telescopic connecting member comprises an elastic bellows body, a first connecting part at a first end of the elastic bellows body, and a second connecting part at a second end of the elastic bellows body, and the elastic bellows body is sleeved outside the lifting sliding part.

[0020] The first connecting part is used for connecting to the carrier device, and the second rotating sliding part is arranged on the second connecting part.

[0021] Optionally, in the chuck assembly, the lifting sliding part comprises:

[0022] a lifting connecting seat;

[0023] a wear-resistant spacer sleeve covering outside the lifting connecting seat, and the first rotating sliding part is arranged on the wear-resistant spacer sleeve.

[0024] Optionally, in the chuck assembly, the dustproof device comprises a first sealing member and a second sealing member.

[0025] The lifting sliding part and the sliding cavity have a preset gap, the first sealing member is fixed to an end of the lifting sliding part away from the chuck body, and the first sealing member is attached to an inner wall of the sliding seat body.

[0026] The second sealing member is arranged at an end of the sliding seat body close to the carrier device, and is attached to an outer wall of the lifting sliding part.

[0027] Optionally, in the chuck assembly, the sliding seat body is provided with a guide groove, and the lifting sliding part is provided with a guide sliding block slidingly matched with the guide groove.

[0028] Optionally, in the chuck assembly, further comprising a negative pressure generating device and / or a positive pressure generating device.

[0029] 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 of the negative pressure air pipe is in communication with the chuck body.

[0030] 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 of the positive pressure air pipe is in communication with the sliding cavity.

[0031] Optionally, in the chuck assembly, further comprising a rotating pipe joint arranged on the lifting sliding part, one end of the rotating pipe joint is in communication with the chuck body, and the other end of the rotating pipe joint is in communication with the negative pressure air pipe; and / or,

[0032] A dustproof net is arranged at an air inlet of the chuck body.

[0033] Optionally, in the above-mentioned suction cup assembly, the negative pressure pump and the positive pressure pump are the same air pump; and / or,

[0034] The negative pressure generating device further comprises a first on-off valve connected in series to the negative pressure air pipe; and / or,

[0035] The positive pressure generating device further comprises a second on-off valve connected in series to the positive pressure air pipe; and / or,

[0036] 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 suction force of the suction cup body meets the suction condition.

[0037] Optionally, in the above-mentioned suction cup assembly, the lifting driving assembly comprises:

[0038] a driving device;

[0039] a first transmission member in transmission connection with the output end of the driving device to drive the first transmission member to rotate;

[0040] a second transmission member, one end of the second transmission member being hingedly connected to the first transmission member and the other end being hingedly connected to a connecting assembly, the connecting assembly being rotatably arranged on the lifting sliding part.

[0041] Optionally, in the above-mentioned suction cup assembly, the first transmission member is an eccentric wheel, and the second transmission member is a connecting rod, the eccentric wheel being fixed to the output end of the driving device, one end of the connecting rod being eccentrically hingedly connected to the eccentric wheel, and the other end being hingedly connected to the connecting assembly; or,

[0042] the first transmission member is a driving arm, and the second transmission member is a driven arm, the first end of the driving arm being fixed to the output end of the driving device, the second end of the driving arm being hingedly connected to the first end of the driven arm, and the second end of the driven arm being hingedly connected to the connecting assembly.

[0043] Optionally, in the above-mentioned suction cup assembly, the second transmission member is hingedly connected to the lifting sliding part through the connecting assembly;

[0044] The connecting assembly comprises:

[0045] a connecting plate having a connecting plate body and a hinged part arranged on the connecting plate body, the connecting plate body having a fastening hole, and the second transmission member being hingedly connected to the hinged part;

[0046] A thickened plate is fixed on the plate surface of the connecting plate, the connecting plate is attached to the top of the lifting sliding part, the lifting sliding part has a top opening, the thickened plate is located at the top opening, and an annular track gap is formed between the thickened plate and the side wall of the top opening and communicates with the fastening hole;

[0047] A connecting fastener passes through the annular track gap and the fastening hole to mount the connecting plate on the top of the lifting sliding part.

[0048] Optionally, in the above-mentioned suction cup assembly, the connecting assembly further comprises a mounting spacer and a press-fit washer.

[0049] The mounting spacer is nested in the fastening hole and the annular track gap, the press-fit washer is attached to the thickened plate and the top wall of the lifting sliding part, and the connecting fastener passes through the press-fit washer and the mounting spacer and is fastened.

[0050] Optionally, in the above-mentioned suction cup assembly, the sliding seat body comprises a fixed connecting seat and an end cover, the fixed connecting seat is a cylinder structure with both ends open, one end of the fixed connecting seat is used for being fixed to the carrier device, the end cover is detachably fixed to the other end of the fixed connecting seat, and the fixed connecting seat and the end cover enclose the sliding cavity; and / or,

[0051] The sliding seat body has a seat body mounting ear, the seat body mounting ear is mounted to the carrier device by a second fastener, and the seat body mounting ear and the first end of the telescopic connecting piece are connected to the same side of the carrier device, or the seat body mounting ear and the first end of the telescopic connecting piece are respectively connected to both sides of the carrier device.

[0052] Optionally, in the above-mentioned suction cup assembly, the sliding seat body comprises a fixed connecting seat, the fixed connecting seat is a cylinder structure with both ends open, and one end of the fixed connecting seat is used for being fixed to the carrier device.

[0053] The suction cup assembly provided by the utility model can drive the suction cup body to make lifting action to realize the adsorption and lifting of the suction cup body. Moreover, the dustproof device can seal the gap between the lifting sliding part and the sliding seat body, so that dust cannot enter the gap between the lifting sliding part and the sliding seat body, thereby avoiding the wear of the lifting sliding part and the sliding seat body caused by the entry of dust into the gap. The lifting sliding part can rotate relative to the sliding seat body, the utility model does not need to set a bearing and also realizes the scheme that the suction cup body does not rotate with the carrier device, thereby avoiding the problem of dust entering the gap between the inner ring and the outer ring of the bearing and the wear problem caused by the entry of dust, improving the service life, and also not needing to assemble by means of interference fit, reducing the dismounting difficulty and being lower in cost.

[0054] A photovoltaic cleaning robot comprising a robot body and the suction cup assembly as claimed in any one of the preceding claims, the carrier device being the robot body.

[0055] The photovoltaic cleaning robot provided by the utility model has all the technical effects of the suction cup assembly, and the technical effects of the suction cup assembly will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0056] In order to more clearly illustrate the technical solutions of the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0057] Figure 1 The structural schematic diagram of the suction cup assembly disclosed by the embodiment of the utility model is shown in the figure.

[0058] Figure 2 The sectional view of the suction cup assembly disclosed by the embodiment of the utility model when the lifting suction cup is in the adsorption position is shown in the figure.

[0059] Figure 3 The sectional view of the suction cup assembly disclosed by the embodiment of the utility model is shown in the figure.

[0060] Figure 4 The partial sectional view of the suction cup assembly disclosed by the embodiment of the utility model is shown in the figure.

[0061] Figure 5 The structural schematic diagram of the suction cup assembly disclosed by another embodiment of the utility model is shown in the figure.

[0062] Figure 6 The structural schematic diagram of the suction cup assembly disclosed by another embodiment of the utility model is shown in the figure.

[0063] Figure 7 The sectional view of the suction cup assembly disclosed by another embodiment of the utility model is shown in the figure.

[0064] The meanings of various reference signs in the figure are as follows:

[0065] 100- carrier device;

[0066] 200- suction cup assembly;

[0067] 210- lifting drive assembly; 211- drive device; 212- eccentric wheel; 213- connecting rod;

[0068] 220 - sliding seat; 221 - end cover; 222 - fixed connecting seat; 2221 - seat mounting lug; 2222 - sliding cavity; 2223 - guide groove; 2224 - avoiding sliding groove; 223 - second fastener;

[0069] 230 - lifting suction cup; 231 - suction cup body; 232 - lifting connecting seat; 2321 - threaded pipe column; 2322 - guide sliding block; 233 - wear-resistant spacer sleeve; 2331 - first rotary sliding part; 234 - rotary pipe joint; 235 - first fastener; 236 - dustproof net; 237 - first sealing element; 238 - second sealing element;

[0070] 240 - positive pressure generating device; 241 - second on-off valve; 242 - positive pressure air pipe; 243 - positive pressure pump;

[0071] 250 - negative pressure generating device; 251 - first on-off valve; 252 - negative pressure air pipe; 253 - tee joint; 254 - air pressure sensor; 255 - negative pressure pump;

[0072] 260 - telescopic connecting piece; 261 - elastic bellows body; 262 - first connecting part; 263 - second connecting part;

[0073] 270 - connecting assembly; 271 - connecting plate; 2711 - connecting plate body; 2712 - hinged part; 272 - connecting fastener; 273 - mounting spacer sleeve; 274 - thickening plate; 275 - crimping gasket; 276 - annular track gap;

[0074] 280 - second rotary sliding part. DETAILED DESCRIPTION

[0075] The core of the utility model lies in providing a suction cup assembly to avoid the problems of dust entering and difficult disassembly caused by bearings;

[0076] Another core of the utility model lies in providing a photovoltaic cleaning robot with the above-mentioned suction cup assembly.

[0077] 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.

[0078] As Figure 1 and Figure 2 as well as the figures Figure 7As shown, the suction cup assembly 200 disclosed in the embodiment of the utility model comprises a sliding seat body 220, a lifting suction cup 230, a dustproof device and a lifting driving assembly 210.

[0079] The sliding seat body 220 is used to be connected to the carrier device 100, and it is to be noted that the carrier device 100 is a device for carrying the suction cup assembly, for example, a photovoltaic cleaning robot, that is, the sliding seat body 220 can be fixed on the corresponding position (for example, the bottom plate) of the photovoltaic cleaning robot. The sliding seat body 220 has a sliding cavity 2222.

[0080] The lifting suction cup 230 comprises a lifting sliding part slidingly fitted in the sliding cavity 2222 and a suction cup body 231 arranged on the lifting sliding part, wherein the lifting sliding part is used to be driven by the lifting driving assembly to make lifting action, and the suction cup body 231 is arranged on the lifting sliding part, so as to drive the suction cup body 231 to make lifting action. When the suction cup body 231 is lowered, it can be adsorbed on the corresponding position (for example, when the lifting suction cup is applied to the photovoltaic cleaning robot, the corresponding position should be the photovoltaic panel), and when the suction cup body 231 is raised, it can be separated from the adsorption. The lifting sliding part can rotate relative to the sliding seat body 220, for example, the lifting sliding part and the sliding seat body 220 can be gap-fitted to realize the relative rotation of the two.

[0081] The lifting sliding part is slidingly fitted in the sliding cavity 2222 to move between the lifting position and the adsorption position. 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, the photovoltaic panel), that is, it is separated from the adsorbed body. 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 on the adsorbed body.

[0082] The embodiment further increases the dustproof device, which is used to seal the gap between the lifting sliding part and the sliding seat body 220, so that even if there is a gap between the two due to the relative rotation, the dustproof device can be used to seal the gap to prevent dust from entering the gap and causing serious wear of the two.

[0083] The lifting driving assembly 210 is used to drive the lifting sliding part to reciprocatingly slide along the sliding cavity 2222 to drive the suction cup body 231 to move between the lifting position and the adsorption position. The specific structure of the lifting driving assembly 210 is not limited in the embodiment, as long as it can drive the lifting suction cup 230 to make lifting action.

[0084] The suction cup assembly 200 disclosed in the embodiment of the utility model, the lifting sliding part can move up and down in the sliding cavity 2222, thereby driving the suction cup body 231 to make lifting action, so as to realize the adsorption and lifting of the suction cup body 231. Moreover, the dustproof device can seal the gap between the lifting sliding part sliding seat body 220, so that dust cannot enter the gap between the lifting sliding part sliding seat body 220, thereby avoiding the wear of the lifting sliding part sliding seat body 220 due to the entry of dust in the gap. The lifting sliding part can rotate relative to the sliding seat body, and the utility model does not need to set a bearing, and also realizes the scheme that the suction cup body 231 does not rotate with the carrier device, so that the problem of dust entering the gap between the inner and outer rings of the bearing is avoided, the wear problem caused by dust entering is avoided, the service life is improved, and the assembly does not need to adopt interference fit, the disassembly and assembly difficulty is reduced, and the cost is lower.

[0085] As shown in Figure 2 The dustproof device includes a telescopic connecting piece 260 in the embodiment, and the first end of the telescopic connecting piece 260 is used for being connected to the carrier device 100. The lifting sliding part rotates relative to the sliding seat body 220 through the first rotating sliding part 2331 and the second rotating sliding part 280, and the first rotating sliding part 2331 is arranged on the lifting sliding part.

[0086] The second rotating sliding part 280 is arranged at the second end of the telescopic connecting piece 260, and the second rotating sliding part 280 is in sliding fit with the first rotating sliding part 2331, so that the second rotating sliding part 280 and the first rotating sliding part 2331 can slide relative to each other under the action of external force. The first rotating sliding part 2331 and the second rotating sliding part 280 have a limiting structure along the lifting direction of the lifting sliding part, that is, the first rotating sliding part 2331 and the second rotating sliding part 280 form a limit to each other along the lifting direction, so as to prevent the first rotating sliding part 2331 and the second rotating sliding part 280 from being separated from each other when the lifting suction cup makes lifting action.

[0087] At least one of the first rotating sliding part 2331 and the second rotating sliding part 280 is an annular structure arranged coaxially with the suction cup body 231, so that the range of mutual rotation of the first rotating sliding part 2331 and the second rotating sliding part 280 can meet the turning process of the photovoltaic cleaning robot.

[0088] It should be noted that the first end of the telescopic connecting piece 260 can be directly connected to the carrier device 100, or can be connected to the sliding seat body 220 and connected to the carrier device 100 through the sliding seat body 220.

[0089] For example, the suction cup assembly 200 is applied to a photovoltaic cleaning robot. When the suction cup body 231 is adsorbed to the adsorbed body, the photovoltaic cleaning robot turns, and the suction cup body 231 can rotate relative to the sliding seat body 220 and the telescopic connecting piece 260, while the sliding seat body 220 and the telescopic connecting piece 260 are fixed on the photovoltaic cleaning robot, that is, when the photovoltaic cleaning robot rotates the sliding seat body 220 and the telescopic connecting piece 260, the suction cup body 231 can rotate relative to the sliding seat body 220 and the telescopic connecting piece 260, and relative to the photovoltaic panel, thereby maintaining the continuous adsorption with the photovoltaic panel and being unaffected 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 (i.e., the rotation center when the photovoltaic cleaning robot turns).

[0090] In this embodiment, the telescopic connecting piece 260 realizes the connection of the lifting and sliding part and the suction cup body 231 on the carrier device 100 while sealing, and the telescopic connecting piece 260 performs the telescopic action when the lifting and sliding part and the suction cup body 231 perform the lifting action. When the suction cup body 231 is adsorbed to the corresponding device and the carrier device 100 rotates, the suction cup body 231 does not rotate, and the telescopic connecting piece 260 needs to rotate synchronously with the carrier device 100 as a component connecting the suction cup body 231 and the carrier device 100. This requires the telescopic connecting piece 260 to rotate relative to the suction cup body 231. The second end of the telescopic connecting piece 260 of the utility model is connected with the lifting and sliding part through the rotation and sliding cooperation of the first rotation and sliding part 2331 and the second rotation and sliding part 280, so that when the telescopic connecting piece 260 rotates with the carrier device 100, the first rotation and sliding part 2331 and the second rotation and sliding part 280 rotate relatively, realizing the relative rotation of the telescopic connecting piece 260 and the lifting and sliding part, thereby ensuring that the suction cup body 231 can not rotate with the carrier device 100.

[0091] In this embodiment, one of the first rotation and sliding part 2331 and the second rotation and sliding part 280 can be a ring-shaped track limiting groove coaxially arranged with the suction cup body 231, and the other has a rotation and sliding part embedded in the ring-shaped track limiting groove and slidingly matched with the ring-shaped track limiting groove.

[0092] For ease of understanding, in this embodiment, the first rotation and sliding part 2331 is a ring-shaped track limiting groove coaxially arranged with the suction cup body 231, and one end of the second rotation and sliding part 280 has a rotation and sliding part embedded in the ring-shaped track limiting groove and slidingly matched with the ring-shaped track limiting groove. Those skilled in the art can understand that the second rotation and sliding part 280 is a ring-shaped track limiting groove, and the first rotation and sliding part 2331 also has a rotation and sliding part slidingly matched with the ring-shaped track limiting groove.

[0093] The opening above the annular track limiting groove has a width smaller than the width of the main body part, thereby achieving the limiting effect in the lifting direction. One end of the second rotating sliding part 280 has a rotating sliding part that is in sliding fit with the annular track limiting groove, and the other end is fixedly connected with the second end of the telescopic connecting piece 260. The rotating sliding part that is in fit with the main body part of the first rotating sliding part 2331 cannot be pulled out through the opening of the first rotating sliding part 2331. The second rotating sliding part 280 can have a threaded rod part, the second end of the telescopic connecting piece 260 has a fastening hole, the threaded rod part is respectively pulled out through the opening of the first rotating sliding part 2331 and the fastening hole of the second end of the telescopic connecting piece 260, and the second rotating sliding part 280 and the second end of the telescopic connecting piece 260 are fixedly connected through the fit of the fastening nut and the threaded rod part. It should be noted that the fastening nut cannot be completely locked, and the rotating sliding part and the annular track limiting groove should be able to slide.

[0094] In order to ensure that the rotating sliding part can enter the main body part of the annular track limiting groove, a larger gap can be formed on the annular track limiting groove, and the rotating sliding part is embedded in the annular track limiting groove through the gap; or the rotating sliding part can be designed as an arc structure, and when the arc of the rotating sliding part corresponds to the arc of the opening of the first rotating sliding part 2331, the rotating sliding part is placed in the annular track limiting groove, and then the second rotating sliding part 280 is rotated, so that the rotating sliding part cannot be pulled out from the opening of the first rotating sliding part 2331.

[0095] Further, the telescopic connecting piece 260 can include an elastic bellows body 261, a first connecting part 262 at the first end of the elastic bellows body 261, and a second connecting part 263 at the second end of the elastic bellows body 261, and the elastic bellows body 261 is sleeved outside the lifting sliding part. The first connecting part 262 and the second connecting part 263 can both be plate structures to facilitate connection with the carrier device 100 and the second rotating sliding part 280.

[0096] The first connecting part 262 is connected to the carrier device 100, and the connection can be achieved by fasteners. The second rotating sliding part 280 is arranged on the second connecting part 263.

[0097] The elastic bellows body 261 has a certain elasticity and can be stretched and compressed by external force, so that the elastic bellows body 261 is in a stretched state and a compressed state when the lifting suction cup is adsorbed and separated from the photovoltaic panel. In particular, when the lifting suction cup is adsorbed to the photovoltaic panel, the elastic bellows body 261 has a downward elastic force acting on the suction cup body 231, which ensures that the suction cup body 231 will not easily leak due to vibration. The elastic bellows body 261 can always be in contact with the robot body of the photovoltaic cleaning robot and the suction cup body 231, which can effectively prevent dust from entering the interior of the robot body.

[0098] Since the lifting and sliding part needs to perform reciprocating sliding motion, in order to reduce wear on the lifting and sliding part, in a specific embodiment of this utility model, the lifting and sliding part may include a lifting connecting seat 232 and a wear-resistant spacer 233. The wear-resistant spacer 233 covers the outside of the lifting connecting seat 232, and the first rotating sliding part 2331 is disposed on the 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 improve service life.

[0099] like Figures 4-7 As shown, in this embodiment, the dustproof device may include a first seal 237 and a second seal 238. A preset gap exists between the lifting sliding part (i.e., the lifting connecting seat 232) and the sliding cavity 2222 to avoid friction between the lifting sliding part and the sliding cavity 2222. This preset gap can be designed by those skilled in the art according to requirements. Because of this preset gap, the possibility of friction between the lifting sliding part and the sliding cavity 2222 is reduced, and the lifting sliding part does not need to be provided with a wear-resistant spacer 233; that is, only the lifting connecting seat 232 is required.

[0100] The first seal 237 is fixed to the end of the lifting sliding part away from the suction cup body 231, and the first seal 237 is in contact with the inner wall of the sliding seat 220. The first seal 237 can be axially limited by the shoulder on the lifting sliding part, so that when the lifting sliding part moves up and down, the first seal 237 will move up and down with the lifting sliding part. Since the first seal 237 is in contact with the inner wall of the sliding seat 220, the first seal 237 can always seal the top of the lifting sliding part and the sliding seat 220 when the lifting sliding part moves up and down, preventing dust from entering the gap between the two through the top of the lifting sliding part. Furthermore, since the first seal 237 and the inner wall of the sliding seat 220 are in contact, a certain gap is maintained between the outer wall of the lifting sliding part (i.e. the lifting connecting seat 232) and the inner wall of the sliding seat 220. This avoids damage to the metal surface coating caused by hard friction between the inner wall of the sliding seat 220 and the outer wall of the lifting sliding part (both are usually made of hard materials, such as metal), and also avoids movement jamming caused by hard friction between parts.

[0101] The second seal 238 is disposed at one end of the sliding seat 220 near the carrier device 100 and is in contact with the outer wall of the lifting sliding part. That is, the second seal 238 is fixed to the sliding seat 220. When the lifting sliding part is in a lifting action, the second seal 238 is always in contact with the lifting sliding part, which can prevent dust from entering the gap between the two through the bottom opening of the sliding seat 220.

[0102] Furthermore, the sliding seat 220 is provided with a guide groove 2223, and the lifting sliding part is provided with a guide slider 2322 that slides in cooperation with the guide groove 2223. In this embodiment, since there is a preset gap between the lifting sliding part and the sliding cavity 2222, in order to avoid the lifting sliding part from shaking, the sliding cooperation between the guide groove 2223 and the guide slider 2322 is added in this embodiment, thereby improving the stability of the lifting sliding part during the lifting process and avoiding shaking.

[0103] To further improve the reliability of the suction cup 231's adsorption, in a specific embodiment of this utility model, the suction cup assembly 200 may also include a negative pressure generating device 250. When the lifting suction cup 230 is in the adsorption position, the negative pressure generating device 250 can ensure the negative pressure state inside the suction cup 231, improve the adsorption capacity of the suction cup 231, and further reduce the risk of the suction cup 231 detaching from the photovoltaic panel due to the vibration generated by the photovoltaic cleaning robot.

[0104] The negative pressure generating device 250 includes a negative pressure pump 255 and a negative pressure air pipe 252. The negative pressure pump 255 generates negative pressure. The first end of the negative pressure air pipe 252 is connected to the negative pressure output port of the negative pressure pump 255, and the second end is connected to the suction cup body 231. Before the photovoltaic cleaning robot turns, the lifting drive assembly 210 drives the lifting suction cup 230 to the suction position and attaches it to the photovoltaic panel. The negative pressure pump 255 operates, creating negative pressure between the suction cup body 231 and the photovoltaic panel through the negative pressure air pipe 252, ensuring that the photovoltaic cleaning robot does not slip or deviate during turning.

[0105] Negative pressure air tube 252 can be used Figure 2 The illustrated solution involves the top of the sliding seat 220 extending into the sliding cavity 2222 and communicating with the suction cup 231; alternatively, the following method can be used. Figure 5 The illustrated scheme involves the sliding seat 220 extending into the sliding cavity 2222 from its side and communicating with the suction cup 231. It should be noted that, since the negative pressure air tube 252 needs to move up and down with the suction cup 231, a clearance groove 2224 needs to be provided on the side wall of the sliding seat 220, allowing the negative pressure air tube 252 to slide along the clearance groove 2224 when it moves up and down with the suction cup 231.

[0106] After the photovoltaic cleaning robot completes the turn, it shuts off the negative pressure pump 255 to remove the negative pressure environment between the suction cup body 231 and the photovoltaic panel, allowing the lifting suction cup 230 to be easily lifted. The lifting drive assembly 210 drives the lifting suction cup 230 to move to the lifted position.

[0107] Specifically, the lifting suction cup 230 can further include a rotary pipe joint 234. The suction cup body 231 is arranged on the lifting sliding part, and the suction cup body 231 can be fixed to the lifting sliding part through a first fastener 235 or connected to the lifting connecting seat 232 through other fixing modes such as buckle connection.

[0108] In order to ensure that the negative pressure air pipe 252 can communicate with the suction cup body 231, the lifting suction cup 230 further has the rotary pipe joint 234 arranged on the lifting sliding part, specifically arranged on the lifting connecting seat 232, and one end of the rotary pipe joint 234 communicates with the suction cup body 231, and the other end communicates with the negative pressure air pipe 252. Specifically, the lifting connecting seat 232 can be provided with a threaded pipe column 2321, one end of the rotary pipe joint 234 is screwed into 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 are kept 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 realized.

[0109] A dust screen 236 is arranged at the air inlet of the suction cup body 231, which can clean the air in the negative pressure air pipe 252, effectively improving the service life of the negative pressure pump 255.

[0110] It should be noted that the rotary pipe joint 234 and the lifting connecting seat 232 can also be designed as an integrated structure, one end of the rotary pipe joint 234 directly communicates with the suction cup body 231. The rotary pipe joint 234 can also 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 mode of the rotary pipe joint 234 and the lifting connecting seat 232 is not limited in the embodiment, as long as the communication between the negative pressure air pipe 252 and the suction cup body 231 can be realized.

[0111] The lifting sliding part 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 communicate with the negative pressure air pipe 252 during the movement of the lifting sliding part and the suction cup body 231, and after moving to different positions. In the embodiment, the second end of the negative pressure air pipe 252 is inserted into the lumen of the rotary pipe joint 234, and is in sliding fit with the rotary pipe joint 234.

[0112] When the lifting and sliding part drives the suction disc body 231 to slide upward along the sliding cavity 2222 (it should be noted that the suction disc body 231 is always located outside the sliding cavity 2222), the rotary pipe joint 234 moves upward, the second end of the negative pressure air pipe 252 is inserted into the lumen of the rotary pipe joint 234, and is in sliding fit with the rotary pipe joint 234, so that the rotary pipe joint 234 and the negative pressure air pipe 252 slide relatively, and the negative pressure air pipe 252 will not be bent and collapsed due to movement. Even if the lifting suction disc 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 and connecting seat 232 drives the suction disc body 231 to slide downward along the sliding cavity 2222, the rotary pipe joint 234 and the negative pressure air pipe 252 slide relatively, and the connection between the rotary pipe joint 234 and the negative pressure air pipe 252 will not be pulled off due to movement. Even if the lifting suction disc 230 moves to the adsorption position (the lowest limit position), the negative pressure air pipe 252 can always keep in communication with the rotary pipe joint 234.

[0113] The sliding cavity 2222 is usually in communication with the outside atmosphere, so there is a possibility that dust enters 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 and sliding part. Once the sliding process is stuck, it will affect the stability of the photovoltaic cleaning robot when turning.

[0114] Therefore, 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.

[0115] Specifically, the positive pressure generating device 240 can include a positive pressure pump 243 and a positive pressure air pipe 242. The positive pressure pump 243 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 243, and the second end is in communication with the sliding cavity 2222. It should be noted that the negative pressure pump 255 and the positive pressure pump 243 can use the same air pump, 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.

[0116] 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.

[0117] 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.

[0118] 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 suction cup assembly is applied to a photovoltaic cleaning robot, when the air pressure value reaches the preset air pressure value, a signal can be sent to the control board of the photovoltaic cleaning robot, and at this time the photovoltaic cleaning robot can execute a turning command.

[0119] 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 three-way joint 253 can be added. One interface of the three-way 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.

[0120] 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 for fixing to the carrier device 100, and 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.

[0121] In the embodiment, the sliding seat body 220 is divided into a detachable fixed connecting seat 222 and an end cover 221, so that the internal components can be conveniently installed. The sliding seat body 220 has a seat body mounting lug 2221 which is mounted to the carrier device 100 by a second fastener 223. It should be noted that the fixed connecting seat 222 and the end cover 221 can also be fixed by the cooperation of the mounting lug and the fastener. In addition, the seat body mounting lug 2221 and the first end of the telescopic connecting piece 260 can be connected to the same side of the carrier device 100. For example, the seat body mounting lug 2221 and the first connecting part 262 of the telescopic connecting piece 260 are both located on the lower side of the carrier device 100 (i.e., both are located on the lower side of the mounting position of the carrier device 100), or can be both located on the upper side of the carrier device 100. Of course, the seat body mounting lug 2221 and the first end (the first connecting part 262) of the telescopic connecting piece 260 can also be connected to the two sides of the carrier device 100, respectively.

[0122] In a specific embodiment of the utility model, the lifting driving assembly 210 can include a driving device 211, a first transmission member and a second transmission member. Among them, the driving device 211 can be a rudder machine, the first transmission member is in transmission with the output end of the driving device 211, to drive the first transmission member to rotate, the driving device 211 can only output rotation, to drive the first transmission member to rotate, and is not limited to a specific driving device of rudder machine.

[0123] One end of the second transmission member is eccentrically hinged to the first transmission member, and the other end is hinged to the lifting sliding part. When the first transmission member rotates, it will drive the second transmission member to make spatial motion, and in the movement process, the second transmission member will drive the lifting sliding part to make lifting action, and then drive the suction disc body 231 to move between the lifting position and the adsorption position.

[0124] As shown in Figure 3 In the embodiment, the first transmission member can be an eccentric wheel 212, and the second transmission member can be a connecting rod 213, the eccentric wheel 212 is fixed to the output end of the driving device 211, one end of the connecting rod 213 is eccentrically hinged to the eccentric wheel 212, and the other end is hinged to the connecting assembly 270.

[0125] In addition, as shown in Figure 6 The first transmission member can also be a driving arm 214, and the second transmission member can also be a driven arm 215, the first end of the driving arm 214 is fixed to the output end of the driving device 211, the second end of the driving arm 214 is hinged to the first end of the driven arm 215, and the second end of the driven arm 215 is hinged to the connecting assembly 270.

[0126] The above two schemes can realize the function of driving the lifting sliding part to make lifting action. It should be noted that other mechanisms can also realize the function of driving the lifting sliding part to make lifting action, and are not limited to the above two schemes.

[0127] As shown in Figure 3 and Figure 4 The second transmission member can be hinged to the lifting slide by the connecting assembly 270. Since the lifting drive assembly 210 rotates synchronously with the carrier device 100, the second transmission member will drive the connecting assembly 270 to rotate, while the lifting slide cannot rotate, which requires the connecting assembly 270 and the lifting slide to be relatively rotatable to overcome the interference problem.

[0128] Based on this, in the embodiment, the connecting assembly 270 disclosed can include a connecting plate 271, a thickening plate 274, and a connecting fastener 272. The connecting plate 271 has a connecting plate body 2711 and a hinge part 2712 provided on the connecting plate body 2711, and the connecting plate body 2711 has a fastening hole. The second transmission member is hinged to the hinge part 2712. The hinge part 2712 can be an ear plate protruding from the connecting plate body 2711, and a hinge hole is provided on the ear plate to facilitate the hinge connection with the second transmission member.

[0129] The thickening plate 274 is fixed to the surface of the connecting plate 271, and the connecting plate 271 and the thickening plate 274 can be fixed by welding to form a whole. The thickening plate 274 can also be detachably fixed to the connecting plate 271 by a fastener or the like. It should be noted that the connecting plate 271 and the thickening plate 274 need to be provided with a through hole for the rotary pipe joint 234 to extend out.

[0130] The connecting plate 271 is attached to the top of the lifting slide, and the lifting slide has a top opening. The top opening of the lifting slide is large to facilitate the installation of internal components (such as the installation of the rotary pipe joint 234). When the connecting plate 271 is attached to the top of the lifting slide, the thickening plate 274 is located at the top opening and can fill part of the top opening of the lifting slide

[0131] The thickening plate 274 and the side wall of the top opening of the lifting slide have an annular track gap 276 in communication with the fastening hole, and the connecting fastener 272 passes through the annular track gap 276 and the fastening hole to fix the connecting plate 271 to the top of the lifting slide. One of the nut and the screw cap of the connecting fastener 272 is pressed against the upper surface of the connecting plate 271, and the other is pressed against the lower surface of the connecting plate 271 and the lower surface of the thickening plate 274, so as to realize the installation of the connecting assembly 270 on the top of the lifting slide. The connecting fastener 272 can be uniformly arranged in multiple to improve the reliability of the fixation.

[0132] When the lifting driving assembly 210 rotates synchronously with the carrier device 100, the second transmission member drives the connecting assembly 270 to rotate, and at this time, the connecting plate 271, the thickened plate 274 and the connecting fastener 272 all rotate along the annular track gap 276. It should be noted that the connecting fastener 272 is not locked so that the connecting assembly 270 can rotate. In addition, the connecting assembly 270 can also not adopt the above structure, as long as the connecting assembly 270 can be rotatably arranged on the lifting sliding part, and then the second transmission member is hinged to the connecting assembly 270.

[0133] Further, the connecting assembly 270 can further include a mounting spacer 273 and a crimping gasket 275. The mounting spacer 273 is sleeved in the fastening hole and the annular track gap 276, the crimping gasket 275 is attached to the top wall of the lifting sliding part and the thickened plate 274, and the connecting fastener 272 passes through the crimping gasket 275 and the mounting spacer 273 and is fastened. The mounting spacer 273 can be a flange sleeve structure, the flange body of which is crimped on the upper surface of the connecting plate body 2711, the sleeve length of the mounting spacer 273 is greater than the thickness of the top wall of the lifting sliding part and the thickened plate 274 (the thickness of the top wall of the lifting sliding part and the thickened plate 274 can be designed to be the same), so that even if the nut of the connecting fastener 272 is locked, the distance between the connecting plate body 2711 and the crimping gasket 275 (i.e. the sleeve length of the mounting spacer 273) can be ensured to be greater than the thickness of the top wall of the lifting sliding part and the thickened plate 274, that is, the requirement of free rotation of the connecting assembly 270 can be met.

[0134] The utility model embodiment further discloses a photovoltaic cleaning robot, including robot body and the suction cup subassembly 200 of like above embodiment discloses, the suction cup subassembly 200 sets up on robot body. Because have above-mentioned suction cup subassembly 200, therefore have all the technical effects of above-mentioned suction cup subassembly 200, this text does not repeat here.

[0135] 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 one" does not exclude the presence of another identical element in the process, method, product or device comprising the element.

[0136] In the description of the present application, unless otherwise explicitly limited, the words such as arrangement, installation, connection, etc. should be understood broadly, and those 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 solution.

[0137] The various embodiments are described in the specification by way of progression, each building on the last to facilitate ease of understanding. The same reference numerals are used throughout the drawings and like structure are denoted with like reference numerals.

[0138] The principles and implementation modes of the present application are described by using specific examples in the specification. The above description of the embodiments is only used to help understand the method of the present application and its core idea. It should be pointed out that, for those skilled in the art, without departing from the principles of the present application, the present application can be improved and modified in many ways. These improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A suction cup assembly, characterized in that, The application relates to a dustproof device for a carrier device (100), which comprises the following components: a sliding seat (220) for being connected to the carrier device (100) and having a sliding cavity (2222); a lifting suction disc (230) comprising a lifting sliding part slidingly matched in the sliding cavity (2222) and a suction disc body (231) arranged on the lifting sliding part, the lifting sliding part being capable of rotating relative to the sliding seat (220); a dustproof device for sealing the gap between the lifting sliding part and the sliding seat (220); a lifting driving assembly (210) for driving the lifting sliding part to reciprocally slide along the sliding cavity (2222) so as to drive the suction disc body (231) to move between a lifting position and a suction position.

2. The suction cup assembly of claim 1, wherein, The dustproof device comprises a telescopic connecting piece (260), a first end of the telescopic connecting piece (260) being used for being connected to the carrier device (100); the lifting sliding part rotates relative to the sliding seat (220) through a first rotating sliding part (2331) arranged on the lifting sliding part and a second rotating sliding part (280) arranged on a second end of the telescopic connecting piece (260) and slidingly matched with the first rotating sliding part (2331); at least one of the first rotating sliding part (2331) and the second rotating sliding part (280) is an annular structure coaxially arranged with the suction disc body (231).

3. The suction cup assembly of claim 2, wherein, One of the first rotating sliding part (2331) and the second rotating sliding part (280) is an annular track limiting groove coaxially arranged with the suction disc body (231), and the other has a rotating sliding part embedded in the annular track limiting groove and slidingly matched with the annular track limiting groove.

4. The suction cup assembly of claim 2, wherein, The telescopic connecting piece (260) comprises an elastic bellows body (261), a first connecting part (262) located at a first end of the elastic bellows body (261) and a second connecting part (263) located at a second end of the elastic bellows body (261), and the elastic bellows body (261) is sleeved outside the lifting sliding part; the first connecting part (262) is used for being connected to the carrier device (100), and the second rotating sliding part (280) is arranged on the second connecting part (263).

5. The suction cup assembly of claim 2, wherein, The lifting sliding part comprises: a lifting connecting seat (232); a wear-resistant spacer sleeve (233) covering outside the lifting connecting seat (232), and the first rotating sliding part (2331) being arranged on the wear-resistant spacer sleeve (233).

6. The suction cup assembly of claim 1, wherein, The dustproof device comprises a first sealing piece (237) and a second sealing piece (238). The first seal (237) is fixed to one end of the lifting sliding part away from the suction disc body (231), and the first seal (237) is attached to the inner wall of the sliding seat body (220); The second seal (238) is arranged at one end of the sliding seat body (220) close to the carrier device (100), and is attached to the outer wall of the lifting sliding part.

7. The suction cup assembly of claim 1, wherein, The sliding seat body (220) is provided with a guide groove (2223), and the lifting sliding part is provided with a guide sliding block (2322) which is in sliding cooperation with the guide groove (2223).

8. A suction cup assembly according to any one of claims 1-7, characterized in that 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 (255) and a negative pressure air pipe (252), the first end of the negative pressure air pipe (252) is in communication with the negative pressure outlet of the negative pressure pump (255), and the second end is in communication with the suction disc body (231); The positive pressure generating device (240) comprises a positive pressure pump (243) and a positive pressure air pipe (242), the first end of the positive pressure air pipe (242) is in communication with the positive pressure outlet of the positive pressure pump (243), and the second end is in communication with the sliding cavity (2222).

9. The suction cup assembly of claim 8, wherein, Further comprising a rotary pipe joint (234) arranged on the lifting sliding part, one end of the rotary pipe joint (234) is in communication with the suction disc body (231), and the other end is in communication with the negative pressure air pipe (252); and / or, A dustproof net (236) is arranged at the air inlet of the suction disc body (231).

10. The suction cup assembly of claim 8, wherein, The negative pressure pump (255) and the positive pressure pump (243) are the same air pump; and / or, The negative pressure generating device (250) further comprises a first on-off valve (251) connected in series on the negative pressure air pipe (252); and / or, The positive pressure generating device (240) further comprises a second on-off valve (241) connected in series on the positive pressure air pipe (242); and / or, The negative pressure generating device (250) further comprises an air pressure sensor (254), the air pressure sensor (254) is used for detecting the air pressure value of the negative pressure air pipe (252), when the air pressure value reaches a preset air pressure value, the adsorption force of the suction disc body (231) meets the adsorption condition.

11. The suction cup assembly of any one of claims 1-7, wherein, The lifting driving assembly (210) comprises: A driving device (211); A first transmission member is in transmission connection with the output end of the driving device (211) to drive the first transmission member to rotate; A second transmission member, one end of the second transmission member is hinged to the first transmission member, and the other end is hinged to a connecting assembly (270), and the connecting assembly (270) is rotatably arranged on the lifting sliding part.

12. The suction cup assembly of claim 11, wherein, The first transmission member is an eccentric wheel (212), and the second transmission member is a connecting rod (213), the eccentric wheel (212) is fixed to the output end of the driving device (211), one end of the connecting rod (213) is eccentrically hinged to the eccentric wheel (212), and the other end is hinged to the connecting assembly (270); or, The first transmission member is a driving arm (214), and the second transmission member is a driven arm (215). The first end of the driving arm (214) is fixed to the output end of the driving device (211). The second end of the driving arm (214) is hingedly connected to the first end of the driven arm (215). The second end of the driven arm (215) is hingedly connected to the connecting assembly (270).

13. The suction cup assembly of claim 11, wherein, The second transmission member is hingedly connected to the lifting sliding part through the connecting assembly (270); The connecting assembly (270) comprises: a connecting plate (271) having a connecting plate body (2711) and a hinge part (2712) provided on the connecting plate body (2711). The connecting plate body (2711) has a fastening hole. The second transmission member is hingedly connected to the hinge part (2712); a thickened plate (274) fixed to the plate surface of the connecting plate (271). The connecting plate (271) is attached to the top of the lifting sliding part. The lifting sliding part has a top opening. The thickened plate (274) is located at the top opening. There is an annular track gap (276) between the thickened plate (274) and the side wall of the top opening, which communicates with the fastening hole; a connecting fastener (272) passing through the annular track gap (276) and the fastening hole, and mounting the connecting plate (271) on the top of the lifting sliding part.

14. The suction cup assembly of claim 13, wherein, The connecting assembly (270) further comprises a mounting spacer (273) and a crimping gasket (275); The mounting spacer (273) is nested in the fastening hole and the annular track gap (276). The crimping gasket (275) is attached to the thickened plate (274) and the top wall of the lifting sliding part. The connecting fastener (272) passes through the crimping gasket (275) and the mounting spacer (273) and is fastened.

15. A suction cup assembly as claimed in any one of claims 2-5, characterized in that 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 fixing 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); and / or The sliding seat body (220) has a seat body mounting ear (2221). The seat body mounting ear (2221) is mounted to the carrier device (100) by a second fastener (223). The seat body mounting ear (2221) and the first end of the telescopic connecting piece (260) are connected to the same side of the carrier device (100), or the seat body mounting ear (2221) and the first end of the telescopic connecting piece (260) are respectively connected to the two sides of the carrier device (100).

16. The suction cup assembly of claim 6 or 7, wherein, The sliding seat body (220) comprises a fixed connecting seat (222), which is a cylinder structure with both ends open, one end of the fixed connecting seat (222) being used for being fixed to the carrier device (100).

17. A photovoltaic cleaning robot, characterized in that The carrier device (100) is a robot body comprising a suction cup assembly (200) as claimed in any one of claims 1-16.

Images