Coupling structure of robot

Abstract

The utility model relates to the field of photovoltaic panel cleaning, in particular to an integrated structure of robots, which comprises two cleaning robots which are connected through two groups of connecting mechanisms. The connecting mechanism comprises a connecting rope and a tension sensor, and the tension sensor is fixedly mounted on the connecting rope; two winches are arranged in the vehicle body of one cleaning robot, a connecting rod is fixedly arranged in the vehicle body of the other cleaning robot, and the connecting rod is connected with the winches through the connecting ropes. The working efficiency of the cleaning robot can be improved, and the working risk is reduced.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic panel cleaning, and in particular to a robot assembly structure. Background Technology

[0002] With the rapid development of photovoltaic power generation technology, the scale of photovoltaic power plants is constantly expanding, especially with the widespread application of large-scale centralized photovoltaic power plants and offshore photovoltaic power plants, which places higher demands on the cleaning and maintenance of photovoltaic panels. The cleanliness of photovoltaic panels directly affects their power generation efficiency. Dust, dirt, and other contaminants can significantly reduce the light transmittance of photovoltaic panels, thereby affecting their energy conversion efficiency. Therefore, regular cleaning of photovoltaic panels is a crucial step in ensuring the efficient operation of photovoltaic power plants.

[0003] Existing photovoltaic panel cleaning robots are typically designed to operate alone, lacking the ability to work collaboratively, and are at risk of falling and slipping.

[0004] To address the aforementioned issues, an innovative robot ensemble structure is urgently needed to resolve the problems of low cleaning efficiency caused by single-machine operation mode and insufficient stability and safety when working across photovoltaic panels or on uneven surfaces. Utility Model Content

[0005] In order to improve the operating efficiency of cleaning robots and reduce the operating risks, this utility model provides a robot assembly structure.

[0006] This utility model provides a robot assembly structure, which adopts the following technical solution:

[0007] A robot assembly structure includes two cleaning robots connected to each other via two sets of connection mechanisms.

[0008] The connecting mechanism includes a connecting rope and a tension sensor, wherein the tension sensor is fixedly installed on the connecting rope;

[0009] One of the cleaning robots has two winches installed inside its body, and the other cleaning robot has a connecting rod fixedly installed inside its body. The connecting rod is connected to the winches by the connecting rope.

[0010] Optionally, the connecting mechanism further includes a fall arrestor and a safety rope. The upper end of the fall arrestor is fixedly connected to the connecting rope. The first end of the safety rope is disposed inside the fall arrestor, and the second end of the safety rope is connected to the winch or the connecting rod inside the cleaning robot vehicle body.

[0011] Optionally, the fall arrestor includes a housing, a ratchet, a ratchet spindle, a tension spring, a double-stop key take-up reel, and a coil spring. The top end of the housing is connected to the bottom end of the connecting rope. The ratchet spindle is rotatably disposed inside the housing. The ratchet is fixedly connected to the ratchet spindle. A portion of the double-stop key is rotatably connected to the housing. One end of the double-stop key is fixedly connected to one end of the tension spring. The other end of the tension spring is fixedly connected to the inner wall of the housing. A portion of one end of the safety rope is wound into the take-up reel inside the fall arrestor, and the take-up reel is coaxially connected to the ratchet spindle. One end of the coil spring is fixedly connected to the inner wall of the housing, and the other end of the coil spring is fixedly connected to the ratchet spindle.

[0012] Optionally, the fall arrestor further includes a protective ring, which is fixedly installed at the bottom end of the housing where the safety rope is retrieved and released on the fall arrestor through the protective ring.

[0013] Optionally, the connecting mechanism further includes a buffer rod, one end of which is fixedly connected to the end of the safety rope away from the fall arrester, and the other end of which is connected to the connecting rod or the winch.

[0014] Optionally, one of the cleaning robots is provided with a suspension guide mechanism at its upper end. The suspension guide mechanism includes a suspension frame, one end of which is fixedly connected to the cleaning robot, and the other end of which is designed to be in contact with the top edge of the photovoltaic panel.

[0015] Optionally, the suspension guide mechanism further includes a suspension wheel, which is rotatably disposed at one end of the suspension frame near the photovoltaic panel, and the suspension wheel rolls on the top of the photovoltaic panel.

[0016] Optionally, the suspension guide mechanism further includes a suspension shaft and a driver. The suspension shaft is rotatably mounted on the suspension frame. One end of the driver is fixedly connected to the suspension frame, and the output end of the driver is drively connected to the suspension shaft. The driver is used to drive the suspension shaft to rotate on the suspension frame.

[0017] Optionally, the suspension frame is rotatably connected to the body of the cleaning robot, the driver is rotatably connected to the body of the cleaning robot, the output end of the driver is rotatably connected to the bottom end of the suspension frame, the suspension shaft is fixedly connected to the suspension frame, and the driver is used to drive the suspension frame to rotate.

[0018] Optionally, the suspension guide mechanism further includes a guide seat and a guide rod. The guide seat is fixedly connected to the body of the cleaning robot, one end of the guide rod is fixedly connected to the suspension frame, and the other end of the guide rod is slidably connected to the guide seat.

[0019] In summary, this utility model has at least one of the following beneficial technical effects:

[0020] 1. Two cleaning robots are connected to each other via a connecting mechanism. The cleaning robot at the upper position is designated as No. 1, and the cleaning robot at the lower position is designated as No. 2. By setting up a tension sensor, the tension reading between the two cleaning robots is monitored in real time. Once a sudden change or abnormality in the tension data is detected, the No. 2 cleaning robot, while correcting its own system, adjusts the length between the two connecting ropes by tightening or loosening the corresponding winch in either the No. 1 or No. 2 cleaning robot. This helps to adjust the body posture of the No. 2 cleaning robot and correct its travel trajectory, ensuring the continuity and accuracy of the cleaning operation.

[0021] 2. By incorporating a fall arrestor, when the safety rope is released too quickly, the connected cleaning robot #2 is detected as slipping. One end of the fall arrestor's double stop key locks onto the ratchet, activating the locking mechanism. Utilizing the difference in falling speed for self-control, it can quickly brake and lock the falling object within a limited distance, ensuring the cleaning robot's safety and preventing accidental slippage. The installation of a coil spring enables automatic rope retraction. When the cleaning robot stops falling, the tension in the safety rope decreases, and the energy stored in the coil spring is transferred to the ratchet via the ratchet's main shaft, driving the ratchet to rotate and rewind the wire rope back into the fall arrestor. Because the energy release of the coil spring is gradual, the safety rope retraction process is also smooth, avoiding sudden retraction that could impact the cleaning robot. This process not only improves operational efficiency but also reduces the power consumption of the cleaning robot for climbing slopes by using external tension, reducing the robot's workload and making the fall arrestor more environmentally friendly and intelligent.

[0022] 3. By setting up a suspension guide mechanism, it mainly serves to hook and guide and prevent falling. During cleaning, the two suspension wheels roll in cooperation with the top edge of the photovoltaic panel. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model;

[0024] Figure 2 This is a structural schematic diagram of the fall arrestor of this utility model;

[0025] Figure 3 yes Figure 2 Cross-sectional view of the interior of the fall arrestor;

[0026] Figure 4 yes Figure 3 A cross-sectional view from another perspective;

[0027] Figure 5 This is a structural diagram of the first embodiment of the suspension guide mechanism;

[0028] Figure 6 This is a structural diagram of the second implementation of the suspension guide mechanism.

[0029] Explanation of reference numerals in the attached drawings: 100, Cleaning robot; 200, Connecting mechanism; 210, Connecting rope; 230, Tension sensor; 240, Fall arrestor; 241, Housing; 242, Ratchet; 243, Ratchet spindle; 244, Tension spring; 245, Double stop key; 246, Coil spring; 247, Protective ring; 250, Buffer rod; 300, Suspension guide mechanism; 310, Suspension frame; 320, Suspension wheel; 330, Suspension shaft; 340, Driver; 350, Guide seat; 360, Guide rod; 400, Cleaning mechanism; 500, Safety rope. Detailed Implementation

[0030] The following is in conjunction with the appendix Figure 1 - Appendix Figure 6 The technical solutions in the embodiments of this utility model are clearly and completely described herein. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0031] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0032] Furthermore, in this utility model, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0033] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0034] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0035] This utility model discloses a robot assembly structure. (See attached diagram.) Figure 1 - Appendix Figure 6 A robot assembly structure mainly includes two cleaning robots 100, which are connected by two sets of connecting mechanisms 200.

[0036] The connecting mechanism 200 includes a connecting rope 210 and a tension sensor 230, with the tension sensor 230 fixedly mounted on the connecting rope 210.

[0037] One of the cleaning robots 100 has two winches (not shown) inside its body, and the other cleaning robot 100 has a connecting rod (not shown) fixedly installed inside its body. The connecting rod is connected to the two winches by a connecting rope 210. The connecting rod is a long rod, and each end of the connecting rod is connected to a connecting rope 210. For example, if the first cleaning robot 100 has two winches, then the second cleaning robot 100 has one connecting rod.

[0038] Two cleaning robots 100 are connected to each other via a connecting mechanism 200. The cleaning robot 100 at the upper displacement is designated as No. 1, and the cleaning robot 100 at the lower displacement is designated as No. 2. A tension sensor 230 is installed to monitor the tension reading between the two cleaning robots 100 in real time. Once a sudden change or abnormality in the tension data is detected, it is transmitted to the control system via RS485 communication. The control system of cleaning robot No. 2 will correct its trajectory. At the same time, cleaning robot No. 1 will adjust the rotation of its winch according to the instructions issued by the control system. By tightening or loosening the corresponding winch in cleaning robot No. 1 or cleaning robot No. 2, the length between the two connecting ropes 210 is adjusted to assist in adjusting the body posture of cleaning robot No. 2 and correcting its travel trajectory to ensure the continuity and accuracy of the cleaning operation.

[0039] In some embodiments, the connecting mechanism 200 further includes a fall arrester 240 and a safety rope 500. The upper end of the fall arrester 240 is fixedly connected to the connecting rope 210. The first end of the safety rope 500 is disposed inside the fall arrester 240, and the second end of the safety rope 500 is connected to a winch or connecting rod inside the cleaning robot 100. For example, if cleaning robot 100 has two winches, and cleaning robot 200 has one connecting rod, then the bottom end of the safety rope 500 is connected to the connecting rod. The fall arrester 240 and the safety rope 500 are used to suspend cleaning robot 200. If robot 200 accidentally falls, the release speed of the safety rope 500 will be abnormal. The fall arrester 240 will lock the safety rope 500, thereby holding cleaning robot 200 in place and improving safety.

[0040] In some embodiments, the fall arrester 240 includes a housing 241, a ratchet 242, a ratchet spindle 243, a tension spring 244, a double-stop key 245, a take-up reel, and a coil spring 246. The top end of the housing 241 is connected to the bottom end of the connecting rope 210. The ratchet spindle 243 is rotatably disposed inside the housing 241. The ratchet 242 is fixedly connected to the ratchet spindle 243. A portion of the double-stop key 245 is rotatably connected to the housing 241. One end of the double-stop key 245 is fixedly connected to one end of the tension spring 244. The other end of the tension spring 244 is fixedly connected to the inner wall of the housing 241. One end of a portion of the safety rope 500 is wound into the take-up reel inside the fall arrester 240, and the take-up reel is coaxially connected to the ratchet spindle 243. One end of the coil spring 246 is fixedly connected to the inner wall of the housing 241, and the other end of the coil spring 246 is fixedly connected to the ratchet spindle 243.

[0041] When the release speed of the safety rope 500 is too fast, it is determined that the connected cleaning robot 100 2 has slipped. One end of the double stop key 245 of the fall arrestor 240 locks onto the ratchet 242, and the locking structure takes effect. Utilizing the difference in the falling speed of objects for self-control, it can quickly brake and lock the falling object within a limited distance to ensure the safety of the cleaning robot 100 and prevent accidental slippage. By installing a coil spring 246, an automatic rope winding function can be realized. When the cleaning robot 100 stops falling, the tension of the safety rope 500 decreases, and the energy stored in the coil spring 246 is transmitted to the ratchet 242 through the ratchet spindle 243, driving the ratchet 242 to rotate, thereby winding the wire rope back into the fall arrestor 240.

[0042] This process not only improves operational efficiency, but also reduces the power consumption of the cleaning robot 100 for climbing hills with the help of external pulling force, thus reducing the workload of the cleaning robot 100 and making the fall arrestor 240 more environmentally friendly and intelligent.

[0043] In some embodiments, the fall arrester 240 further includes a protective ring 247, which is fixedly installed at the bottom end of the housing 241 at the cable outlet. The safety rope 500 is wound up and unwound on the fall arrester 240 through the protective ring 247. The protective ring 247 can protect the safety rope 500 during the winding and unwinding process, reducing wear on the safety rope 500 and improving its mobility.

[0044] In some embodiments, the connecting mechanism 200 further includes a buffer rod 250. One end of the buffer rod 250 is fixedly connected to the end of the safety rope 500 away from the fall arrester 240, and the other end of the buffer rod 250 is fixedly connected to a connecting rod or winch. The buffer rod 250 can be made of rubber or other flexible materials. The buffer rod 250 can absorb part of the impact force when the safety rope 500 is impacted or the cleaning robot 100 falls unexpectedly, thereby improving the impact resistance of the connecting mechanism 200.

[0045] In some embodiments, a suspension guide mechanism 300 is provided at the upper end of one of the cleaning robots 100. The suspension guide mechanism 300 includes a suspension frame 310, one end of which is fixedly connected to the cleaning robot 100, and the other end of which is designed to be contactably connected to the top edge of a photovoltaic panel. In the event of an accidental fall of the cleaning robot 100, the suspension frame 310 can engage with the top of the photovoltaic panel, reducing the possibility of the cleaning robot 100 falling off the photovoltaic panel and improving safety.

[0046] In some embodiments, the suspension guide mechanism 300 further includes a suspension wheel 320, which is rotatably mounted on the end of the suspension frame 310 near the photovoltaic panel. The suspension wheel 320 rolls on the top edge of the photovoltaic panel. The two suspension wheels 320 respectively roll in cooperation with the top edge of the photovoltaic panel. During the movement of the cleaning robot 100, the suspension wheels 320 can roll on the top of the photovoltaic panel, reducing the risk of falling and guiding the walking trajectory of the cleaning robot 100.

[0047] In some embodiments, the suspension guide mechanism 300 further includes a suspension shaft 330 and a driver 340. The suspension shaft 330 is rotatably mounted on the suspension frame 310. One end of the driver 340 is fixedly connected to the suspension frame 310, and the output end of the driver 340 is drively connected to the suspension shaft 330. The driver 340 is used to drive the suspension shaft 330 to rotate on the suspension frame 310. The driver 340 can be a drive motor or a telescopic cylinder. When it is necessary to retract the suspension wheel 320, the driver 340 drives the suspension shaft 330 to rotate, thereby lifting the suspension wheel 320 and increasing the working area and flexibility of the No. 1 cleaning robot 100.

[0048] In some embodiments, the suspension frame 310 is rotatably connected to the body of the cleaning robot 100, the driver 340 is rotatably connected to the body of the cleaning robot 100, the output end of the driver 340 is rotatably connected to the bottom end of the suspension frame 310, the suspension shaft 330 is fixedly connected to the suspension frame 310, and the driver 340 is used to drive the suspension frame 310 to rotate. The driver 340 can drive the suspension frame 310 to rotate, thereby realizing the function of lifting the suspension wheel 320.

[0049] In some embodiments, the suspension guide mechanism 300 further includes a guide seat 350 and a guide rod 360. The guide seat 350 is fixedly connected to the body of the cleaning robot 100, one end of the guide rod 360 is fixedly connected to the suspension frame 310, and the other end of the guide rod 360 is slidably connected to the guide seat 350. The guide rod 360 slides within the guide seat 350, enabling the cleaning robot 100 to adjust the vertical cleaning area according to cleaning needs, while also providing a certain degree of suspension guidance.

[0050] The cleaning robot 100 is equipped with a cleaning mechanism 400 for cleaning photovoltaic panels.

[0051] In some embodiments, once cleaning robot 100 completes its predetermined cleaning task, the control system will promptly detect this and automatically issue a command to pause the operation of the cleaning device on the upper robot. At this time, cleaning robot 100 no longer performs cleaning actions but instead assumes a supporting role, focusing on coordinating and adjusting the trajectory of cleaning robot 100. This switch is based on energy efficiency considerations, avoiding unnecessary energy consumption by cleaning robot 100 after the cleaning task is completed.

[0052] The implementation principle of the robot aggregation structure in this embodiment of the utility model is as follows:

[0053] Two cleaning robots 100 are connected by a connecting mechanism 200, with robot 1 at the upper end and robot 2 at the lower end. A tension sensor 230 monitors the tension between the two robots in real time. If an anomaly is detected, robot 2 first corrects itself, and simultaneously adjusts the length of the connecting rope 210 by adjusting the two winches in either robot 1 or robot 2 to help adjust the direction of robot 2, thus assisting in correcting its path and ensuring the continuity and accuracy of the cleaning operation. A fall arrestor 240 locks the ratchet 242 with double stop keys 245 when robot 2 slips, quickly braking and preventing a fall. Simultaneously, a coil spring 246 smoothly retracts the safety rope 500, reducing impact on robot 100. A suspension guide mechanism 300 uses a suspension wheel 320 to roll in conjunction with the edge of the photovoltaic panel, providing hook guidance and fall prevention, improving work efficiency and safety, while reducing the energy consumption of the cleaning robot 100 when climbing slopes, achieving green and intelligent operation.

[0054] The above are all preferred embodiments of this utility model, and are not intended to limit the scope of protection of this utility model. Therefore, all equivalent changes made to the structure, shape and principle of this utility model should be covered within the scope of protection of this utility model.

Claims

1. A robot assembly structure comprising two cleaning robots (100) connected to each other by two sets of connecting mechanisms (200); The connecting mechanism (200) includes a connecting rope (210) and a tension sensor (230), wherein the tension sensor (230) is fixedly installed on the connecting rope (210); One of the cleaning robots (100) has two winches inside its body, and the other cleaning robot (100) has a connecting rod fixedly installed inside its body. The connecting rod is connected to the winches by the connecting rope (210).

2. The robot assembly structure according to claim 1, characterized in that: The connecting mechanism (200) further includes a fall arrestor (240) and a safety rope (500). The upper end of the fall arrestor (240) is fixedly connected to the connecting rope (210). The first end of the safety rope (500) is disposed inside the fall arrestor (240), and the second end of the safety rope (500) is connected to the winch or the connecting rod inside the cleaning robot (100).

3. The robot assembly structure according to claim 2, characterized in that: The fall arrestor (240) includes a housing (241), a ratchet (242), a ratchet spindle (243), a tension spring (244), a double stop key (245), a take-up reel, and a coil spring (246). The top end of the housing (241) is connected to the bottom end of the connecting rope (210). The ratchet spindle (243) is rotatably disposed inside the housing (241). The ratchet (242) is fixedly connected to the ratchet spindle (243). A portion of the double stop key (245) is rotatably connected to the housing (241). One end of the stop key (245) is fixedly connected to one end of the tension spring (244), and the other end of the tension spring (244) is fixedly connected to the inner wall of the outer shell (241). One end of a portion of the safety rope (500) is wound into a take-up reel inside the fall arrestor (240), and the take-up reel is coaxially connected to the ratchet spindle (243). One end of the coil spring (246) is fixedly connected to the inner wall of the outer shell (241), and the other end of the coil spring (246) is fixedly connected to the ratchet spindle (243).

4. The robot assembly structure according to claim 3, characterized in that: The fall arrestor (240) also includes a protective ring (247), which is fixedly installed at the bottom end of the outer casing (241) at the cable outlet. The safety rope (500) is wound up and released on the fall arrestor (240) through the protective ring (247).

5. The robot assembly structure according to claim 2, characterized in that: The connecting mechanism (200) further includes a buffer rod (250), one end of which is fixedly connected to the end of the safety rope (500) away from the fall arrester (240), and the other end of which is connected to the connecting rod or the winch.

6. A robot assembly structure according to any one of claims 1-5, characterized in that: One of the cleaning robots (100) is provided with a suspension guide mechanism (300) at its upper end. The suspension guide mechanism (300) includes a suspension frame (310). One end of the suspension frame (310) is fixedly connected to the cleaning robot (100), and the other end of the suspension frame (310) is used to make contact with the top edge of the photovoltaic panel.

7. The robot assembly structure according to claim 6, characterized in that: The suspension guide mechanism (300) also includes a suspension wheel (320), which is rotatably disposed at one end of the suspension frame (310) near the photovoltaic panel and rolls on the top of the photovoltaic panel.

8. The robot assembly structure according to claim 7, characterized in that: The suspension guide mechanism (300) further includes a suspension shaft (330) and a driver (340). The suspension shaft (330) is rotatably mounted on the suspension frame (310). One end of the driver (340) is fixedly connected to the suspension frame (310), and the output end of the driver (340) is drively connected to the suspension shaft (330). The driver (340) is used to drive the suspension shaft (330) to rotate on the suspension frame (310).

9. The robot assembly structure according to claim 8, characterized in that: The suspension frame (310) is rotatably connected to the body of the cleaning robot (100), the driver (340) is rotatably connected to the body of the cleaning robot (100), the output end of the driver (340) is rotatably connected to the bottom end of the suspension frame (310), the suspension shaft (330) is fixedly connected to the suspension frame (310), and the driver (340) is used to drive the suspension frame (310) to rotate.

10. The robot assembly structure according to claim 8, characterized in that: The suspension guide mechanism (300) further includes a guide seat (350) and a guide rod (360). The guide seat (350) is fixedly connected to the body of the cleaning robot (100). One end of the guide rod (360) is fixedly connected to the suspension frame (310), and the other end of the guide rod (360) is slidably connected to the guide seat (350).

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