Point-to-point steering device, photovoltaic cleaning robot and photovoltaic cleaning robot system

Abstract

This utility model belongs to the field of photovoltaic cleaning robot technology, and discloses a fixed-point steering device, a photovoltaic cleaning robot, and a photovoltaic cleaning robot system. The suction cup assembly of the fixed-point steering device includes a suction cup, a connecting tube, and a gas adapter. The suction cup has suction holes, one end of the connecting tube is connected to the suction cup, and the gas adapter is rotatably connected to the other end of the connecting tube. The gas adapter is used to connect a vacuum pump. The lifting drive assembly is located on the chassis frame and includes a drive component and a floating lifting component. The drive component is located on the chassis frame, and the floating lifting component is connected to the output end of the drive component. The floating lifting component is movably connected to the connecting tube and is used to drive the connecting tube to rise and fall along its own axis. The connecting tube is configured to move relative to the floating lifting component along its own axis. The above-mentioned connecting tube will not drag the drive component when adapting to the concave area of ​​the walking surface, reducing the risk of damage to the drive component, reducing air leakage from the suction cup, and improving steering stability and accuracy.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic cleaning robot technology, and in particular to a fixed-point steering device, a photovoltaic cleaning robot, and a photovoltaic cleaning robot system. Background Technology

[0002] A photovoltaic (PV) cleaning robot is an automated device specifically designed to clean dust, dirt, and other impurities from the surface of PV panels. PV cleaning robots typically employ a tracked walking mechanism. Existing tracked robots have a suction cup with vacuum adsorption function at the center of four sets of tracked wheels, and the suction cup's raising and lowering is controlled by servo motors. During robot movement, the servo motors drive the suction cup to rise; when the robot needs to turn, the suction cup descends and adheres to the PV panel. Then, the tracked wheels drive the chassis to translate and turn. After the turn is complete, the servo motors drive the suction cup to rise again. The suction cup's adsorption effect reduces slippage of the tracked wheels, improving the accuracy and angular precision of the chassis's steering.

[0003] Photovoltaic panels have a large area, and some areas may deform and slightly dent. When the suction area of ​​the suction cup is in a dent, the servo motor cannot drive the suction cup to descend sufficiently, resulting in a gap between the suction cup and the photovoltaic panel. When the vacuum pump is working, a negative pressure area is generated at the suction port of the suction cup, causing air leakage at the gap and affecting the suction stability of the suction cup. Moreover, the huge suction force in the negative pressure area causes the suction cup to tend to descend, and the suction cup exerts a pulling force on the servo motor, which can easily damage the servo motor. Utility Model Content

[0004] One objective of this utility model is to address one of the aforementioned technical problems. To achieve this objective, this utility model adopts the following technical solution:

[0005] A point-of-sight steering device is provided and mounted on a chassis frame, the chassis frame being equipped with a vacuum pump. The point-of-sight steering device further includes:

[0006] A suction cup assembly, comprising a suction cup, a connecting tube, and a gas adapter, wherein the suction cup has a suction hole, one end of the connecting tube is connected to the suction cup, and the gas adapter is rotatably connected to the other end of the connecting tube, and the gas adapter is used to connect to the vacuum pump.

[0007] A lifting drive assembly is disposed on the chassis frame. The lifting drive assembly includes a drive component and a floating lifting component. The drive component is disposed on the chassis frame. The floating lifting component is connected to the output end of the drive component and is movably connected to the connecting pipe. The floating lifting component is used to drive the connecting pipe to move up and down along its own axis. The connecting pipe is configured to move relative to the floating lifting component along its own axis.

[0008] In one embodiment, the connecting pipe is provided with a first limiting member and a second limiting member, which are spaced apart along the axial direction of the connecting pipe. The floating lifting member is slidably fitted onto the connecting pipe and is constrained between the first limiting member and the second limiting member. The floating lifting member is configured to abut against the first limiting member to push the connecting pipe down and abut against the second limiting member to push the connecting pipe up.

[0009] In one embodiment, the lifting drive assembly further includes an elastic element, which is fitted onto the connecting pipe and disposed between the floating lifting member and the first limiting member. The elastic element applies a spring force to the floating lifting member, so that the floating lifting member always has a tendency to move away from the first limiting member.

[0010] And / or, the first limiting member and the second limiting member are both washers, and the outer side of the connecting pipe is provided with a first positioning step and a second positioning step that are spaced apart along the axial direction. Both washers are sleeved on the connecting pipe, and the first limiting member abuts against and is axially constrained by the first positioning step, and the second limiting member abuts against and is axially constrained by the second positioning step.

[0011] In one embodiment, the floating lifting element includes:

[0012] A support base is provided with a mounting hole, and the connecting pipe passes through the mounting hole. The support base is constrained between the first limiting member and the second limiting member.

[0013] The cover is detachably connected to the support base and connected to the output end of the drive unit. The support base and the cover form an accommodating space. The gas adapter and part of the connecting pipe are axially movable within the accommodating space. The cover has an adapter interface, and the gas adapter passes through the adapter interface to connect to the vacuum pump.

[0014] In one embodiment, the height of the accommodating space is greater than the axial distance between the first limiting member and the second limiting member.

[0015] In one embodiment, the lifting drive assembly further includes a guide fixing member disposed at the bottom of the chassis frame, and the connecting pipe is movably inserted through the guide hole along its own axis and extends to the bottom of the chassis frame.

[0016] In one embodiment, a suction cup limiting member is provided on the guide fixing member, the suction cup limiting member is used to detect the position of the suction cup, and the suction cup limiting member is communicatively connected to the driving member;

[0017] And / or, the guide fixing component includes a fixing seat and a guide bearing, the fixing seat is disposed on the chassis frame, the guide bearing is connected to the fixing seat, the inner ring of the guide bearing forms the guide hole, and the guide bearing is sleeved on the connecting pipe.

[0018] In one embodiment, a mounting base is provided on the chassis frame, the mounting base being used to support the drive component;

[0019] And / or, the drive unit includes a servo motor and a first link and a second link, one end of the first link being connected to the output shaft of the servo motor and the other end being hinged to the second link, and the end of the second link away from the first link being hinged to the floating lifting unit.

[0020] The second objective of this utility model also addresses one of the aforementioned problems. To achieve this objective, the second aspect of this utility model adopts the following technical solution:

[0021] Provide a photovoltaic cleaning robot, the photovoltaic cleaning robot comprising:

[0022] A chassis frame, on which four sets of tracked walking components and a point-to-point steering device as described in any of the preceding embodiments are provided;

[0023] A cleaning device is mounted on the chassis frame.

[0024] The third objective of this utility model also addresses one of the aforementioned problems. To achieve this objective, the third aspect of this utility model adopts the following technical solution:

[0025] A photovoltaic cleaning robot system is provided, comprising a photovoltaic cleaning robot as described above and a drone transport device, wherein the drone transport device is used to deploy the photovoltaic cleaning robot onto a photovoltaic panel and to retrieve the photovoltaic cleaning robot from the photovoltaic panel.

[0026] The beneficial effects of this utility model are:

[0027] The fixed-point steering device provided by this utility model includes a suction cup assembly and a lifting drive assembly. The suction cup assembly includes a suction cup, a connecting tube, and a gas adapter. The suction cup has multiple suction holes. One end of the connecting tube is connected to the suction cup and is used to supply air drawn by the suction cup. The gas adapter is rotatably connected to the other end of the connecting tube. The gas adapter is used to connect a vacuum pump. The vacuum pump, through the gas adapter and the connecting tube, creates a vacuum inside the suction cup. The pressure difference between the inside and outside causes suction force at the suction holes, thereby adsorbing the travel surface. The lifting drive assembly is mounted on the chassis frame and includes a drive component and a floating lifting component. The drive component is mounted on the chassis frame, and the floating lifting component is connected to the output end of the drive component. The floating lifting component is movably connected to the connecting tube and is used to drive the connecting tube to rise and fall along its own axis. The connecting tube is configured to move relative to the floating lifting component along its own axis. When the chassis frame needs to turn, the drive component drives the connecting tube to descend along its own axis through the floating lifting component, and the connecting tube drives the suction cup to descend. For recessed areas on the running surface, the preset stroke for the drive unit to lower the suction cup is insufficient, resulting in a gap between the suction cup and the recess. When the vacuum pump starts working, the suction force generated by the suction hole causes the connecting tube to continue descending. Due to the movable connection between the connecting tube and the floating lifting component, the movement of the connecting tube along its own axis does not exert force on the floating lifting component, thus avoiding dragging of the drive unit and reducing the risk of damage to the drive unit. Moreover, the descent of the connecting tube can reduce the gap, reduce air leakage from the suction cup, and ensure the reliability and stability of the suction cup adsorption, thereby improving the accuracy of chassis frame steering and cornering precision. Furthermore, the subsequent descent height of the connecting tube is adaptive, capable of accommodating different recess depths, demonstrating strong adaptability. Since the gas adapter is connected to the vacuum pump on the chassis frame, the rotation of the chassis frame will cause the gas adapter to rotate accordingly. The relatively rotatable connection formed between the gas adapter and the connecting tube prevents the connecting tube from moving, ensuring reliable adsorption of the suction cup on the running surface.

[0028] The photovoltaic cleaning robot provided by this utility model has the above-mentioned fixed-point steering device. The suction cup will not drag the driving component when adapting to the concave part of the walking surface, reducing the risk of damage to the driving component and reducing air leakage of the suction cup, thus ensuring the accuracy of the photovoltaic cleaning robot's turning and the precision of the turning angle.

[0029] The photovoltaic cleaning robot system provided by this utility model includes the aforementioned photovoltaic cleaning robot, which facilitates stable and precise steering. Attached Figure Description

[0030] Figure 1 This is a partial structural schematic diagram of the photovoltaic cleaning robot provided in an embodiment of the present invention from one perspective;

[0031] Figure 2 This is a partial structural schematic diagram of the photovoltaic cleaning robot provided in this embodiment of the present invention from another perspective;

[0032] Figure 3 This is a schematic diagram of the vertex steering device provided in an embodiment of the present invention;

[0033] Figure 4 This is a partial structural schematic diagram of the vertex steering device provided in this embodiment of the utility model;

[0034] Figure 5 This is a schematic diagram of the connecting pipe provided in an embodiment of the present utility model;

[0035] Figure 6 This is a schematic diagram of the structure of the photovoltaic cleaning robot provided in this embodiment of the utility model;

[0036] Figure 7 This is a schematic diagram of the structure of the photovoltaic cleaning robot system provided in this embodiment of the utility model.

[0037] In the picture:

[0038] 10. Chassis frame; 11. Mounting base; 20. Vacuum pump;

[0039] 3. Suction cup assembly; 31. Suction cup; 311. Suction hole; 32. Connecting pipe; 321. First positioning step; 322. Second positioning step; 33. Gas adapter; 34. First limiting component; 35. Second limiting component; 36. Adapter nut; 37. Adapter; 4. Lifting drive assembly; 41. Drive component; 411. Servo motor; 412. First connecting rod; 413. Second connecting rod; 42. Floating lifting component; 421. Support base; 422. Cover; 4221. Adapter interface; 423. Accommodation space; 43. Elastic component; 44. Guide fixing component; 441. Guide hole; 45. Suction cup limiting component;

[0040] 100. Tracked walking assembly; 200. Cleaning device; 300. Unmanned aerial vehicle (UAV) transport equipment. Detailed Implementation

[0041] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0042] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Moreover, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0043] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0044] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0045] Existing tracked robots feature suction cups with vacuum adsorption capabilities at the center of four sets of tracked wheels, with servo motors controlling the lifting and lowering of the suction cups. During robot movement, the servo motors drive the suction cups to rise; when the robot needs to turn, the suction cups descend and adhere to a photovoltaic panel. The tracked wheels then drive the chassis to translate and turn. After the turn is complete, the servo motors drive the suction cups to rise again. The suction cups' adsorption effect reduces slippage on the tracked wheels, improving the accuracy and cornering precision of the chassis. However, photovoltaic panels are large, and some areas may deform and slightly dent. When the suction area is concave, the servo motors cannot lower the suction cups sufficiently, resulting in gaps between the suction cups and the photovoltaic panels. Furthermore, when the vacuum pump is operating, a negative pressure area is created at the suction holes of the suction cups, causing air leakage at these gaps and affecting the stability of the suction cups' adsorption. Moreover, the strong suction in the negative pressure area causes the suction cups to tend to descend, putting tension on the servo motors and potentially damaging them. To address the aforementioned issues, this embodiment first provides a fixed-point steering device, which is applied to a running surface, including but not limited to photovoltaic panels.

[0046] like Figure 1 and Figure 2 As shown, the fixed-point steering device is mounted on the chassis frame 10, and a vacuum pump 20 is installed on the chassis frame 10. The fixed-point steering device also includes a suction cup assembly 3 and a lifting drive assembly 4. The suction cup assembly 3 includes a suction cup 31, a connecting pipe 32, and a gas adapter 33. The suction cup 31 has a suction hole 311, and one end of the connecting pipe 32 is connected to the suction cup 31, which is used to transport the air drawn by the suction cup 31. The gas adapter 33 is rotatably connected to the other end of the connecting pipe 32, and is used to connect the vacuum pump 20. The vacuum pump 20 creates a vacuum inside the suction cup 31 through the gas adapter 33 and the connecting pipe 32. The pressure difference between the inside and outside causes an adsorption force at the suction hole 311, thereby adsorbing the running surface. The lifting drive assembly 4 is mounted on the chassis frame 10. The lifting drive assembly 4 includes a drive component 41 and a floating lifting component 42. The drive component 41 is mounted on the chassis frame 10. The floating lifting component 42 is connected to the output end of the drive component 41. The floating lifting component 42 is movably connected to the connecting pipe 32. The floating lifting component 42 is used to drive the connecting pipe 32 to rise and fall along its own axis. The connecting pipe 32 is configured to be able to move relative to the floating lifting component 42 along its own axis.

[0047] In this embodiment, the fixed-point steering device, when the chassis frame 10 needs to turn, drives the connecting pipe 32 to descend along its own axis via the floating lifting component 42, which in turn drives the suction cup 31 to descend. For recessed areas on the running surface, the preset stroke for the driving component 41 to drive the suction cup 31 to descend is insufficient, resulting in a gap between the suction cup 31 and the recessed area. When the vacuum pump 20 starts working, the suction force generated by the suction hole 311 causes the connecting pipe 32 to continue descending. Due to the movable connection between the connecting pipe 32 and the floating lifting component 42, the movement of the connecting pipe 32 along its own axis does not exert force on the floating lifting component 42, thus avoiding dragging the driving component 41 and reducing the risk of damage to the driving component 41. Moreover, the adaptive descent of the connecting pipe 32 can reduce the gap, decrease air leakage from the suction cup 31, ensure the reliability and stability of the suction cup 31's adsorption, and thus improve the steering accuracy and cornering precision of the chassis frame 10. Furthermore, the subsequent descent height of the connecting pipe 32 is adaptive, capable of accommodating different recess depths, demonstrating strong adaptability. Since the gas adapter 33 is connected to the vacuum pump 20 on the chassis frame 10, the rotation of the chassis frame 10 will cause the gas adapter 33 to rotate accordingly. The relatively rotatable connection formed between the gas adapter 33 and the connecting pipe 32 ensures that the connecting pipe 32 will not move, thus ensuring that the suction cup 31 is reliably adsorbed on the running surface. After the chassis frame 10 completes its turning, the vacuum pump 20 stops working, the suction cup 31 releases its adsorption on the running surface, and the drive unit 41 drives the connecting pipe 32 to rise along its own axis through the floating lifting unit 42, completing one workflow cycle.

[0048] In one embodiment, the gas adapter 33 is an L-shaped tube, and an adapter nut 36 is provided between the L-shaped tube and the connecting tube 32. The adapter nut 36 has external threads, and the L-shaped tube and the adapter nut 36 are able to rotate relative to each other in a sealed insert connection to avoid gas leakage. The adapter nut 36 and the connecting tube 32 form a threaded connection.

[0049] Specifically, the connecting pipe 32 is provided with a first limiting member 34 and a second limiting member 35, which are spaced apart along the axial direction of the connecting pipe 32, such as... Figure 4As shown. The floating lifting member 42 is slidably mounted on the connecting tube 32, and is constrained between the first limiting member 34 and the second limiting member 35. The floating lifting member 42 is configured to abut against the first limiting member 34 to push the connecting tube 32 down, and to abut against the second limiting member 35 to push the connecting tube 32 up. The driving member 41 drives the floating lifting member 42 down to abut against the first limiting member 34, and the floating lifting member 42 pushes the connecting tube 32 down through the first limiting member 34, causing the suction cup 31 to descend; conversely, the driving member 41 drives the floating lifting member 42 up to abut against the second limiting member 35, and the floating lifting member 42 pushes the connecting tube 32 up through the second limiting member 35, causing the suction cup 31 to rise. The floating lifting member 42 can slide between the first limiting member 34 and the second limiting member 35. Therefore, after the floating lifting member 42 pushes the connecting pipe 32 down a preset stroke, the connecting pipe 32 can continue to descend without affecting the floating lifting member 42 between the first limiting member 34 and the second limiting member 35.

[0050] The lifting drive assembly 4 also includes an elastic element 43, which is fitted onto the connecting pipe 32 and positioned between the floating lifting component 42 and the first limiting component 34. Figure 3 As shown. The elastic element 43 applies a spring force to the floating lifting element 42, causing the floating lifting element 42 to always tend to move away from the first limiting element 34. In one embodiment, the elastic element 43 is a compression spring. During the descent of the connecting pipe 32 driven by the driving element 41 through the floating lifting element 42, the floating lifting element 42 transmits thrust to the first limiting element 34 through the elastic element 43. In some cases, the preset stroke of the floating lifting element 42 may be greater than the descent height of the suction cup 31. At this time, the suction cup 31 has already adhered to the traveling surface. If the floating lifting element 42 continues to descend, the elastic element 43 is compressed, preventing the floating lifting element 42 from continuing to press down on the first limiting element 34 and causing damage to the suction cup 31.

[0051] Both the first limiting member 34 and the second limiting member 35 are washers. The outer side of the connecting pipe 32 has a first positioning step 321 and a second positioning step 322 spaced apart along the axial direction. Figure 5 As shown, both washers are fitted onto the connecting pipe 32, with the first limiting member 34 abutting against and axially constraining the first positioning step 321, and the second limiting member 35 abutting against and axially constraining the second positioning step 322. The first limiting member 34 abuts against the upper surface of the first positioning step 321; the second limiting member 35 is constrained between the second positioning step 322 and the adapter nut 36 to ensure the axial positional stability of the first limiting member 34 and the second limiting member 35.

[0052] The first positioning step 321 and the second positioning step 322 extend a portion of the circumferential angle upwards in the circumferential direction of the outer wall of the connecting pipe 32, so that the first positioning step 321 and the second positioning step 322 are staggered in the entire circumferential direction of the outer wall of the connecting pipe 32, so as to avoid excessive impact on the radial dimension of the connecting pipe 32.

[0053] In one embodiment, the floating lifting member 42 includes a support base 421 and a cover 422. The support base 421 has a mounting hole, through which a connecting pipe 32 passes. The support base 421 is constrained between a first limiting member 34 and a second limiting member 35. The cover 422 is detachably connected to the support base 421 and is connected to the output end of the drive member 41. The support base 421 and the cover 422 enclose a receiving space 423, within which the gas adapter 33 and part of the connecting pipe 32 are axially movable. The cover 422 has a transition interface 4221 through which the gas adapter 33 passes to connect to the vacuum pump 20. The floating lifting member 42 provides protection for the gas adapter 33. Furthermore, during the rotation of the chassis frame 10, the cover 422 can drive the gas adapter 33 to rotate, preventing the pipe between the vacuum pump 20 and the gas adapter 33 from detaching due to pulling.

[0054] The height of the accommodating space 423 is greater than the axial distance between the first limiting member 34 and the second limiting member 35, so that when the support base 421 moves between the first limiting member 34 and the second limiting member 35 ( Figure 4 The middle arrow indicates the direction of movement of the support 421, and there will be no interference or collision between the cover 422 and the gas adapter 33.

[0055] The lifting drive assembly 4 also includes a guide fixing member 44, which is fixedly disposed at the bottom of the chassis frame 10. The guide fixing member 44 has a through guide hole 441, through which the connecting pipe 32 can be movably inserted along its own axis and extends to the bottom of the chassis frame 10. The guide fixing member 44 provides guidance for the connecting pipe 32, ensuring that the connecting pipe 32 will not deviate during the lifting process and improving the positional accuracy of the suction cup 31.

[0056] In one embodiment, a suction cup limiting member 45 is provided on the guide fixing member 44. The suction cup limiting member 45 is used to detect the position of the suction cup 31 and is communicatively connected to the drive member 41. Under certain operating conditions, when the suction cup 31 is rising, if the suction cup limiting member 45 detects that the distance between the suction cup 31 and the guide fixing member 44 is too small, the drive member 41 stops moving, preventing the suction cup 31 from continuing to rise, thus ensuring the safety of the fixed-point steering device. The specific structure and detection principle of the suction cup limiting member 45 can be set with reference to existing technology, and this embodiment does not impose any limitations.

[0057] There is not only relative rotation between the guide fixing component 44 and the connecting pipe 32, but also relative lifting. In order to reduce the friction of movement, the guide fixing component 44 includes a fixing seat and a guide bearing. The fixing seat is set on the chassis frame 10, the guide bearing is connected to the fixing seat, the inner ring of the guide bearing forms a guide hole 441, and the guide bearing is sleeved on the connecting pipe 32.

[0058] In one embodiment, a mounting base 11 is provided on the chassis frame 10 to support the drive member 41. The suction cup assembly 3 also includes an adapter 37 with plugs of different diameters for connecting the vacuum pump 20 and the gas adapter 33. The adapter 37 is mounted on the mounting base 11 and rotates synchronously with the chassis frame 10.

[0059] In one embodiment, the drive unit 41 includes a servo motor 411, a first link 412, and a second link 413. One end of the first link 412 is connected to the output shaft of the servo motor 411, and the other end is hinged to the second link 413. The end of the second link 413 away from the first link 412 is hinged to the floating lifting member 42. The first link 412 and the second link 413 convert the rotation output by the servo motor 411 into the lifting action of the floating lifting member 42.

[0060] This utility model embodiment further provides a photovoltaic cleaning robot. The photovoltaic cleaning robot includes a fixed-point steering device as described in any of the above embodiments. The photovoltaic cleaning robot also includes a chassis frame 10 and a cleaning device 200. The chassis frame 10 is equipped with four sets of tracked walking components 100 and the fixed-point steering device as described in any of the above embodiments. The cleaning device 200 is disposed on the chassis frame 10. Figure 6 As shown. When the chassis frame 10 needs to turn, the drive component 41 of the fixed-point steering device drives the connecting pipe 32 to descend along its own axis via the floating lifting component 42, and the connecting pipe 32 drives the suction cup 31 to descend. For the recessed area of ​​the running surface, the drive component 41 drives the suction cup 31 to descend insufficiently, and there is a gap between the suction cup 31 and the recessed area; when the vacuum pump 20 starts to work, the suction force generated by the suction hole 311 causes the connecting pipe 32 to continue to descend. Due to the movable connection between the connecting pipe 32 and the floating lifting component 42, the movement of the connecting pipe 32 along its own axis will not exert a force on the floating lifting component 42, thereby avoiding dragging of the drive component 41 and reducing the risk of damage to the drive component 41; moreover, the descent of the connecting pipe 32 can reduce the gap, reduce air leakage of the suction cup 31, ensure the reliability and stability of the suction cup 31's adsorption, and thus improve the steering accuracy and cornering precision of the chassis frame 10. Since the gas adapter 33 is connected to the vacuum pump 20 on the chassis frame 10, the rotation of the chassis frame 10 will cause the gas adapter 33 to rotate accordingly. The relatively rotatable connection formed between the gas adapter 33 and the connecting pipe 32 ensures that the connecting pipe 32 will not move, thus ensuring that the suction cup 31 can reliably adhere to the walking surface and improving the turning reliability of the photovoltaic cleaning robot.

[0061] Specifically, the suction cup 31 is positioned at the center of the four tracked walking components 100. The cleaning device 200 is a roller brush structure, which cleans the dirt on the photovoltaic panel during the movement of the chassis frame 10. When the photovoltaic cleaning robot needs to turn, the suction cup 31 descends and adheres to the photovoltaic panel, and the chassis frame 10 drives the tracked walking components 100 and the cleaning device 200 to turn.

[0062] This utility model embodiment also provides a photovoltaic cleaning robot system, which includes the photovoltaic cleaning robot in the above embodiment and an unmanned aerial vehicle (UAV) transport device 300, such as... Figure 7 As shown, the drone transport equipment 300 is used to deploy photovoltaic cleaning robots onto photovoltaic panels and to retrieve photovoltaic cleaning robots from the photovoltaic panels.

[0063] The photovoltaic cleaning robot has a fixed-point steering device that can adaptively adjust the suction cup 31 to fit into depressions of different depths on the walking surface, enabling the photovoltaic cleaning robot system to turn stably and accurately.

[0064] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A spotter turn device mounted to a chassis frame (10) provided with a vacuum pump (20), characterized in that, The fixed-point steering device also includes: The suction cup assembly (3) includes a suction cup (31), a connecting tube (32), and a gas adapter (33). The suction cup (31) has a suction hole (311). One end of the connecting tube (32) is connected to the suction cup (31). The gas adapter (33) is rotatably connected to the other end of the connecting tube (32). The gas adapter (33) is used to connect to the vacuum pump (20). A lifting drive assembly (4) is disposed on the chassis frame (10). The lifting drive assembly (4) includes a drive member (41) and a floating lifting member (42). The drive member (41) is disposed on the chassis frame (10). The floating lifting member (42) is connected to the output end of the drive member (41). The floating lifting member (42) is movably connected to the connecting pipe (32). The floating lifting member (42) is used to drive the connecting pipe (32) to move up and down along its own axis. The connecting pipe (32) is configured to move relative to the floating lifting member (42) along its own axis.

2. The fixed-point steering device according to claim 1, characterized in that, The connecting pipe (32) is provided with a first limiting member (34) and a second limiting member (35). The first limiting member (34) and the second limiting member (35) are spaced apart along the axial direction of the connecting pipe (32). The floating lifting member (42) is slidably fitted onto the connecting pipe (32) and is constrained between the first limiting member (34) and the second limiting member (35). The floating lifting member (42) is configured to abut against the first limiting member (34) to push the connecting pipe (32) down, and abut against the second limiting member (35) to push the connecting pipe (32) up.

3. The fixed-point steering device according to claim 2, characterized in that, The lifting drive assembly (4) further includes an elastic element (43), which is fitted onto the connecting pipe (32) and disposed between the floating lifting member (42) and the first limiting member (34). The elastic element (43) applies elastic force to the floating lifting member (42), so that the floating lifting member (42) always has a tendency to move away from the first limiting member (34). And / or, the first limiting member (34) and the second limiting member (35) are both washers. The outer side of the connecting pipe (32) is provided with a first positioning step (321) and a second positioning step (322) spaced apart along the axial direction. Both washers are sleeved on the connecting pipe (32), and the first limiting member (34) abuts against and is axially constrained by the first positioning step (321), and the second limiting member (35) abuts against and is axially constrained by the second positioning step (322).

4. The fixed-point steering device according to claim 2, characterized in that, The floating lifting component (42) includes: A support base (421) is provided with an installation hole, and the connecting pipe (32) passes through the installation hole. The support base (421) is constrained between the first limiting member (34) and the second limiting member (35). A housing (422) is detachably connected to the support base (421) and connected to the output end of the drive unit (41). The support base (421) and the housing (422) enclose a receiving space (423). The gas adapter (33) and part of the connecting pipe (32) are axially movable within the receiving space (423). The housing (422) has an adapter (4221) through which the gas adapter (33) passes to connect to the vacuum pump (20).

5. The fixed-point steering device according to claim 4, characterized in that, The height of the accommodating space (423) is greater than the axial distance between the first limiting member (34) and the second limiting member (35).

6. The fixed-point steering device according to claim 1, characterized in that, The lifting drive assembly (4) further includes a guide fixing member (44), which is disposed at the bottom of the chassis frame (10). The guide fixing member (44) has a through guide hole (441), and the connecting pipe (32) is movable along its own axis through the guide hole (441) and extends to the bottom of the chassis frame (10).

7. The fixed-point steering device according to claim 6, characterized in that, The guide fixing member (44) is provided with a suction cup limiting member (45), which is used to detect the position of the suction cup (31) and is communicatively connected to the driving member (41). And / or, the guide fixing member (44) includes a fixing seat and a guide bearing, the fixing seat is disposed on the chassis frame (10), the guide bearing is connected to the fixing seat, the inner ring of the guide bearing forms the guide hole (441), and the guide bearing is sleeved on the connecting pipe (32).

8. The fixed-point steering device according to any one of claims 1-7, characterized in that, The chassis frame (10) is provided with a mounting base (11), which is used to support the drive component (41); And / or, the drive unit (41) includes a servo motor (411), a first link (412), and a second link (413), one end of the first link (412) being connected to the output shaft of the servo motor (411), and the other end being hinged to the second link (413), and the end of the second link (413) away from the first link (412) being hinged to the floating lifting unit (42).

9. A photovoltaic cleaning robot, characterized in that, The photovoltaic cleaning robot includes: A chassis frame (10) is provided with four sets of tracked walking assemblies (100) and a fixed-point steering device as described in any one of claims 1 to 8; A cleaning device (200) is mounted on the chassis frame (10).

10. A photovoltaic cleaning robot system, characterized in that, Includes the photovoltaic cleaning robot as described in claim 9 and the drone transport equipment (300), wherein the drone transport equipment (300) is used to deploy the photovoltaic cleaning robot onto the photovoltaic panel and to retrieve the photovoltaic cleaning robot from the photovoltaic panel.

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