Photovoltaic cleaning robot

Abstract

The utility model discloses photovoltaic cleaning robot, including chassis, cleaning device and walking device, the cleaning device with the walking device installs respectively in the chassis, still include: detection device, install in the chassis, and the detection end is towards photovoltaic surface, prevent falling device, install in the chassis, and the output end is towards photovoltaic surface, is used for fixing entire photovoltaic cleaning robot on photovoltaic surface, through detection device to the contact distance between chassis and photovoltaic and carry out detection, when detection device detects the distance between a part of chassis and photovoltaic and is too long, then explain photovoltaic cleaning robot is in the separation photovoltaic surface, and the output end of prevent falling device is rapidly stretched out and is contacted with photovoltaic surface, thereby fixes photovoltaic cleaning robot on photovoltaic surface, avoids the photovoltaic cleaning robot of strong wind and overturns, simple structure, and the stability is strong.

Description

Technical Field

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

[0002] Developing the photovoltaic industry is an important means for my country to achieve its energy transition and carbon neutrality goals, and the country has been paying increasing attention to photovoltaic power generation in recent years. During the operation of photovoltaic power plants, because photovoltaic panels are outdoors for long periods of time, they are prone to accumulating various contaminants such as dust, dirt, and bird droppings. These contaminants can block sunlight, leading to a further decrease in the light absorption rate of solar cells and affecting the power generation efficiency and stability of the entire photovoltaic power generation system.

[0003] Therefore, the benefits of regularly cleaning photovoltaic (PV) panels are mainly twofold: first, it maintains the output power of the PV power generation system, ensuring its long-term stable operation; second, it extends the lifespan of the PV panels, reducing maintenance and replacement costs. After cleaning and maintenance, not only will the output power of the PV power generation system be improved, but operating and maintenance costs will also be reduced.

[0004] Currently, the most traditional cleaning method involves manual cleaning using various mechanized cleaning tools such as mops, rags, and disc-shaped automatic cleaning brushes to clean the surface of photovoltaic panels. This method often requires a large workforce, and because the cleaning area of ​​these tools is relatively small, repeated manual movement is necessary to achieve a thorough clean, resulting in low cleaning efficiency. In addition, some cleaning methods utilize more advanced automated cleaning equipment, such as track-mounted or rail-mounted cleaning robots, waterless cleaning robots, and tracked cleaning robots. These types of cleaning robots typically use ultrasonic or infrared photoelectric switches to detect the robot's front, preventing it from falling while cleaning the edges of the photovoltaic panels. Since photovoltaic panels are usually installed in high locations, strong winds can easily tip over the entire cleaning robot, causing it to fall and be damaged.

[0005] In view of this, a new technical solution is needed to solve the above-mentioned technical problems. Summary of the Invention

[0006] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a photovoltaic cleaning robot to solve the problems mentioned in the background technology.

[0007] To achieve the above objectives, this utility model provides a photovoltaic cleaning robot, including a chassis, a cleaning device, and a walking device, wherein the cleaning device and the walking device are respectively mounted on the chassis, and further includes:

[0008] The detection device is mounted on the chassis, with the detection end facing the photovoltaic surface;

[0009] An anti-fall device is installed on the chassis, with its output end facing the photovoltaic surface, and is used to fix the entire photovoltaic cleaning robot to the photovoltaic surface.

[0010] When the detection device detects that the photovoltaic cleaning robot has partially or completely detached from the photovoltaic surface, the output end of the anti-fall device is attached to the photovoltaic surface.

[0011] In a further technical solution, the anti-fall device includes an adsorption mechanism and a vacuum mechanism, which are respectively installed in the chassis. The output end of the vacuum mechanism is connected to the input end of the adsorption mechanism. The detection device is an electromagnetic induction sensor and / or an inertial measurement unit.

[0012] When the detection device detects that the photovoltaic cleaning robot has partially or completely detached from the photovoltaic surface, the output end of the adsorption mechanism adsorbs onto the photovoltaic surface, and the vacuuming mechanism removes the air between the output end of the adsorption mechanism and the photovoltaic surface.

[0013] In a further technical solution, the vacuuming mechanism includes a vacuum generator and / or a vacuum bottle.

[0014] The input end of the vacuum bottle is connected to the output end of the adsorption mechanism, and the output end of the vacuum bottle is connected to the vacuum generator;

[0015] or;

[0016] The input end of the vacuum bottle or the vacuum generator is connected to the output end of the adsorption mechanism.

[0017] In a further technical solution, the adsorption mechanism includes a first driving component and a first adsorption component. The first driving component is mounted on the chassis, and the first adsorption component is mounted on the output end of the first driving component. The first driving component is used to drive the first adsorption component to move up and down to enter and exit the chassis. The vacuuming mechanism is connected to the pipe of the first adsorption component and is used to draw air from the first adsorption component.

[0018] In a further technical solution, the first adsorption component includes a first suction cup, a connector, and a tube disk. The first end of the connector is connected to the output end of the first driving component, the second end of the connector is connected to the first suction cup, the first end of the tube disk is connected to the vacuum mechanism, and the second end of the tube disk is connected to the first suction cup or the connector.

[0019] In a further technical solution, the adsorption mechanism includes a mounting frame, a second adsorption component, a limiting component, and an elastic element. The mounting frame is mounted on the chassis. The second adsorption component extends through the mounting frame from top to bottom. The limiting component is mounted on the mounting frame and is used to restrict the downward movement of the second adsorption component. The first end of the elastic element is connected to the top of the second adsorption component, and the second end of the elastic element is connected to the bottom of the mounting frame, which is used to drive the second adsorption component to move downward on the mounting frame and quickly extend out of the chassis to adhere to the photovoltaic surface.

[0020] In a further technical solution, the second adsorption component includes a second suction cup and a connecting rod, the connecting rod passing through the mounting frame, the bottom of the connecting rod being connected to the second suction cup, the first end of the elastic element being connected to the top of the connecting rod, and the vacuuming mechanism being connected to the second suction cup or the connecting rod.

[0021] In a further technical solution, the limiting component includes a limiting frame, a limiting rod, a limiting member, and a limiting block. The limiting frame is rotatably mounted on the mounting frame, the limiting rod is mounted on the bottom of the limiting frame, the limiting member is fitted onto the limiting rod, the limiting block is mounted on the connecting rod, and the limiting block abuts against the limiting member.

[0022] In a further technical solution, the limiting component further includes a second driving member, which is mounted on the limiting frame. The output end of the second driving member is connected to the limiting rod and is used to drive the limiting rod to rotate. The upper end of the mounting frame protrudes outward to form a slope. When the output end of the second driving member drives the limiting member to gradually move from the lower end to the upper end of the slope, the limiting member gradually moves away from the limiting block.

[0023] In a further technical solution, the limiting component also includes a third driving member. An adjustment groove is opened on one side of the limiting frame. An adjustment block is installed at the output end of the third driving member. The adjustment block is installed in the adjustment groove. A compression spring is installed on the other side of the limiting frame. The first end of the compression spring is connected to the mounting frame, and the second end of the compression spring is connected to the limiting frame.

[0024] Compared with the prior art, this utility model brings the following technical effects:

[0025] This utility model provides a photovoltaic cleaning robot. The detection device detects the contact distance between the chassis and the photovoltaic. When the detection device detects that the distance between a part of the chassis and the photovoltaic is too long, it indicates that the photovoltaic cleaning robot is detaching from the photovoltaic surface. The output end of the anti-fall device quickly extends and contacts the photovoltaic surface, thereby fixing the photovoltaic cleaning robot to the photovoltaic surface and preventing strong winds from overturning the photovoltaic cleaning robot. The structure is simple and the stability is strong. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a structural schematic diagram of the photovoltaic cleaning robot of this utility model.

[0028] Figure 2 yes Figure 1 A schematic diagram of the structure behind the hidden part of the chassis.

[0029] Figure 3 yes Figure 2 A structural diagram from another perspective.

[0030] Figure 4 This is a schematic diagram of the adsorption mechanism in Example 1.

[0031] Figure 5 This is another structural diagram of the photovoltaic cleaning robot after the chassis is hidden.

[0032] Figure 6 This is a schematic diagram of the adsorption mechanism in Example 2.

[0033] Figure 7 yes Figure 6 A structural diagram from another perspective.

[0034] Figure 8 yes Figure 7 A structural diagram from another perspective.

[0035] Figure 9 yes Figure 8 A structural diagram from another perspective.

[0036] Figure 10 yes Figure 8 A structural diagram showing the hidden components.

[0037] Explanation of key component symbols:

[0038] 1. Chassis;

[0039] 2. Cleaning equipment;

[0040] 3. Walking device;

[0041] 4. Detection device;

[0042] 5. Anti-fall device; 51. Adsorption mechanism; 511. First driving component; 5111. Detection switch; 512a. First adsorption assembly; 512a1. First suction cup; 512a2. Connecting component; 512a3. Tube coil; 513. Mounting bracket; 5131. Ramp; 512b. Second adsorption assembly; 512b1. Second suction cup; 512b2. Connecting rod; 514. Limiting assembly; 5141. Limiting frame; 51411. Adjusting groove; 5142. Limiting rod; 5143. Limiting component; 51431. Connecting part; 51432. Limiting part; 5144. Limiting block; 5145. Second driving component; 5146. Third driving component; 51461. Adjusting block; 5147. Compression spring; 515. Elastic component; 52. Vacuum mechanism; 521. Vacuum generator; 522. Vacuum bottle;

[0043] 6. Photovoltaics. Detailed Implementation

[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] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0046] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0047] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0048] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0049] Example 1

[0050] See Figure 1-4 As shown, the photovoltaic cleaning robot includes a chassis 1, a cleaning device 2, and a walking device 3. The cleaning device 2 and the walking device 3 are respectively mounted on the chassis 1. It also includes:

[0051] The detection device 4 is installed on the chassis 1, with the detection end facing the surface of the photovoltaic 6;

[0052] The anti-fall device 5 is installed on the chassis 1, with its output end facing the surface of the photovoltaic 6, and is used to fix the entire photovoltaic cleaning robot to the surface of the photovoltaic 6.

[0053] The contact distance between the chassis 1 and the photovoltaic 6 is detected by the detection device 4. When the detection device 4 detects that the distance between a part of the chassis 1 and the photovoltaic 6 is too long, it indicates that the photovoltaic cleaning robot is detaching from the surface of the photovoltaic 6. The output end of the anti-fall device 5 quickly extends and contacts the surface of the photovoltaic 6, thereby fixing the photovoltaic cleaning robot to the surface of the photovoltaic 6 and preventing the photovoltaic cleaning robot from being overturned by strong winds. The structure is simple and the stability is strong.

[0054] In a further specific embodiment, the anti-fall device 5 includes an adsorption mechanism 51 and a vacuum mechanism 52, which are respectively installed in the chassis 1. The output end of the vacuum mechanism 52 is connected to the input end of the adsorption mechanism 51. The detection device 4 is an electromagnetic induction sensor and / or an inertial measurement unit. It should be noted that the detection device 4 in this embodiment is an electromagnetic induction sensor, i.e., an inductive proximity switch. The number of electromagnetic induction sensors is six, and the six electromagnetic induction sensors are evenly distributed on the bottom of the chassis 1. In other specific embodiments, an inertial measurement unit, i.e., an IMU, can also be used, or both can be used.

[0055] When the detection device 4 detects that the photovoltaic cleaning robot has partially or completely detached from the photovoltaic 6 surface, the output end of the adsorption mechanism 51 adsorbs onto the photovoltaic 6 surface, and the vacuuming mechanism 52 removes the air between the output end of the adsorption mechanism 51 and the photovoltaic 6 surface.

[0056] In existing technologies, due to the harsh cleaning environment, ultrasonic and infrared photoelectric switches are easily contaminated with dust, causing them to fail to detect and fall, or they may stop cleaning altogether upon detecting dust. Electromagnetic induction sensors or inertial measurement units can detect the distance between the chassis 1 and the photovoltaic 6. When the distance is too far, it indicates that part or all of the chassis 1 is suspended in the air, at risk of being blown away by the wind, or that the photovoltaic cleaning robot is about to fall because it has exceeded the edge of the photovoltaic 6. At this time, the adsorption mechanism 51 quickly extends and comes into contact with the photovoltaic 6, and the vacuum mechanism 52 removes the air between the output end of the adsorption mechanism 51 and the surface of the photovoltaic 6, fixing the adsorption mechanism 51 to the surface of the photovoltaic 6, thus completing the fixation of the photovoltaic cleaning robot. The structure is simple and the fixation effect is good.

[0057] See Figure 2 As shown in a further specific embodiment, the vacuuming mechanism 52 includes a vacuum generator 521 and a vacuum bottle 522. The input end of the vacuum bottle 522 is connected to the output end of the adsorption mechanism 51, and the output end of the vacuum bottle 522 is connected to the vacuum generator 521.

[0058] When a vacuum is evacuated between the output end of the adsorption mechanism 51 and the surface of the photovoltaic 6, the vacuum bottle 522 rapidly draws in air from the first suction cup 512a1, and the vacuum generator 521 evacuates the vacuum bottle 522. The combined effect of these two processes accelerates the evacuation process. It should be noted that the vacuum generator 521 is equipped with a barometer, which is used to detect the vacuum level or negative pressure value. When the set value is reached, the vacuum generator 521 stops evacuating. The input end of the vacuum bottle 522 is equipped with a solenoid valve, which controls the connection between the adsorption mechanism 51 and the vacuum bottle 522 or the vacuum generator 521.

[0059] A one-way valve is provided at the output end of the vacuum bottle 522. The gas tube on the adsorption mechanism 51 is connected to the solenoid valve of the vacuum bottle 522. When vacuuming is required, the solenoid valve is opened, and the vacuum bottle 522 quickly assists in vacuuming, increasing the vacuum level. It is understood that in other specific embodiments, only the vacuum generator 521 or the vacuum bottle 522 may be used. When using only the vacuum generator 521 or the vacuum bottle 522 for vacuuming, the vacuuming speed will be slightly reduced.

[0060] In a preferred embodiment, the number of vacuum bottles 522 in this embodiment is two. The two vacuum bottles 522 are respectively connected to the output end of the adsorption mechanism 51 through pipes or through a three-way pipe. The output ends of the two vacuum bottles 522 are respectively connected to the vacuum generator 521 or through a three-way pipe.

[0061] If one of the vacuum bottles 522 is damaged, the other vacuum bottle 522 can still play a role in assisting in vacuuming.

[0062] See Figure 4 As shown in a further specific embodiment, the adsorption mechanism 51 includes a first driving member 511 and a first adsorption component 512a. The first driving member 511 is mounted on the chassis 1, and the first adsorption component 512a is mounted on the output end of the first driving member 511. The first driving member 511 is used to drive the first adsorption component 512a to move up and down so as to enter and exit the chassis 1. The vacuum mechanism 52 is connected to the first adsorption component 512a through a pipe and is used to draw air from the first adsorption component 512a.

[0063] The first driving component 511 drives the first adsorption component 512a to quickly extend and contact the photovoltaic 6. It should be noted that the first driving component 511 in this embodiment is a cylinder, and the side of the cylinder is provided with two position detection switches 5111, which are used to detect the limit positions of the cylinder extension and retraction.

[0064] See Figure 4 As shown in a further specific embodiment, the first adsorption component 512a includes a first suction cup 512a1, a connector 512a2, and a tube disk 512a3. The first end of the connector 512a2 is connected to the output end of the first driving component 511, and the second end of the connector 512a2 is connected to the first suction cup 512a1. The first end of the tube disk 512a3 is connected to the vacuum mechanism 52, and the second end of the tube disk 512a3 is connected to the first suction cup 512a1 or the connector 512a2.

[0065] In a preferred embodiment, the second end of the tube coil 512a3 is connected to the connector 512a2. It is understood that in this case, the output end of the first suction cup 512a1 is also connected to the connector 512a2. Therefore, when a vacuum is drawn between the first suction cup 512a1 and the photovoltaic 6, air passes through the first suction cup 512a1, the connector 512a2, and the vacuum bottle 522 before entering the vacuum generator 521 and being discharged. In other specific embodiments, the first suction cup 512a1 can also be directly connected to the tube coil 512a3.

[0066] It should be noted that the tube coil 512a3 surrounds the connector 512a2. This arrangement ensures that when the first drive member 511 moves the first suction cup 512a1 via the connector 512a2, the shape of the tube coil 512a3 allows it to contact the connector 512a2 or the first suction cup 512a1 only through the interface, preventing other parts of the tube coil 512a3 from contacting the connector 512a2 or the first drive member 511, thus avoiding wear and air leakage. Additionally, this embodiment also includes a gas storage cylinder for supplying air to the cylinder.

[0067] Example 2

[0068] See Figure 1 , Figure 3 , Figure 5-10 As shown, the difference between this embodiment and Embodiment 1 is that the adsorption mechanism 51 includes a mounting frame 513, a second suction cup 512b1, a limiting component 514, and an elastic element 515. The mounting frame 513 is mounted on the chassis 1. The second suction cup 512b1 extends through the mounting frame 513 from top to bottom. The limiting component 514 is mounted on the mounting frame 513 and is used to restrict the downward movement of the second suction cup 512b1. The first end of the elastic element 515 is connected to the top of the second suction cup 512b1, and the second end of the elastic element 515 is connected to the bottom of the mounting frame 513, which is used to drive the second suction cup 512b1 to move downward on the mounting frame 513 and quickly extend out of the chassis 1 to adhere to the surface of the photovoltaic 6.

[0069] In this embodiment, the elastic element 515 continuously provides a downward pulling force to the second suction cup 512b1. When the detection device 4 detects that the second suction cup 512b1 needs to press down to contact the photovoltaic 6, the limiting component 514 releases the limit, and the elastic element 515 pulls the second suction cup 512b1 to quickly extend from the chassis 1 and contact the photovoltaic 6. The vacuuming mechanism 52 removes the air between the second suction cup 512b1 and the surface of the photovoltaic 6, thereby fixing the photovoltaic cleaning robot to the photovoltaic 6. It should be noted that the elastic element 515 in this embodiment is a spring; in other specific embodiments, the elastic element 515 can also be made of rubber.

[0070] See Figure 6-9 As shown, in a further specific embodiment, the second suction cup 512b1 includes a suction cup 512b1 and a connecting rod 512b2. The connecting rod 512b2 passes through the mounting bracket 513. The bottom of the connecting rod 512b2 is connected to the suction cup 512b1. The first end of the elastic member 515 is connected to the top of the connecting rod 512b2. The vacuuming mechanism 52 is in communication with the suction cup 512b1 or the connecting rod 512b2.

[0071] The connecting rod 512b2 elongates the elastic element 515, giving it a certain restoring force. When the limiting component 514 releases its limit, the elastic element 515 can drive the suction cup 512b1 to quickly descend and contact the photovoltaic 6 surface via the connecting rod 512b2. The structure is simple and highly stable.

[0072] See Figure 6-10 As shown, in a further specific embodiment, the limiting component 514 includes a limiting frame 5141, a limiting rod 5142, a limiting member 5143, and a limiting block 5144. The limiting frame 5141 is rotatably mounted on the mounting frame 513. The limiting rod 5142 is mounted on the bottom of the limiting frame 5141. The limiting member 5143 is sleeved on the limiting rod 5142. The limiting block 5144 is mounted on the connecting rod 512b2 and abuts against the limiting member 5143.

[0073] The limiting frame 5141 allows the limiting rod 5142 to rotate from the contact point between the limiting frame 5141 and the mounting frame 513. It should be noted that the limiting frame 5141 and the mounting frame 513 are connected by a pivot. The limiting block 5144 and the limiting member 5143 mechanically block the connecting rod 512b2, preventing it from moving downwards under the tension of the elastic member 515. When the detection device 4 detects that the photovoltaic cleaning robot has partially or completely detached from the photovoltaic 6 surface, the second driving member 5145 or the third driving member 5146 drives the limiting frame 5141 to rotate, causing the limiting block 5144 and the limiting member 5143 to disengage. The elastic member 515 then drives the suction cup 512b1 downwards via the connecting rod 512b2 to contact the photovoltaic 6 surface.

[0074] In a further specific embodiment, the limiting component 514 further includes a second driving member 5145, which is mounted on the limiting frame 5141. The output end of the second driving member 5145 is connected to the limiting rod 5142 and is used to drive the limiting rod 5142 to rotate. The upper end of the mounting frame 513 protrudes outward to form a ramp 5131, and the width of the ramp 5131 gradually decreases from top to bottom. When the output end of the second driving member 5145 drives the limiting member 5143 to gradually move from the lower end of the ramp 5131 to the upper end, the limiting member 5143 gradually moves away from the limiting block 5144.

[0075] See Figure 6-9 As shown, in this embodiment, the second driving component 5145 is a motor. The rotation of the second driving component 5145 drives the limiting rod 5142 to rotate. The inner wall of the limiting component 5143 is provided with threads. Therefore, when the limiting rod 5142 rotates, the limiting component 5143 moves up and down along the limiting rod 5142. When the limiting component 5143 moves on the slope 5131, the limiting component 5143 gradually moves away from or closer to the limiting block 5144. When the limiting component 5143 moves to the top position on the slope 5131, the limiting component 5143 will completely leave the limiting block 5144, thereby releasing the mechanical obstruction to the connecting rod 512b2, so that the second suction cup 512b1 can move down smoothly to touch the surface of the photovoltaic 6.

[0076] In addition, it should be noted that the limiting frame 5141 has a guide groove for guiding and limiting the limiting member 5143 and the limiting block 5144. When the limiting block 5144 and the limiting member 5143 move on the limiting frame 5141, they always remain in the limiting groove.

[0077] In a further specific embodiment, the limiting member 5143 includes a connecting part 51431 and a limiting part 51432. The connecting part 51431 is sleeved on the limiting rod 5142. One side of the limiting part 51432 is connected to the connecting part 51431, and the other side of the limiting part 51432 cooperates with the limiting block 5144. The included angle between the limiting part 51432 and the connecting part 51431 is 10-45°.

[0078] When the electromagnetic induction sensor or inertial measurement unit detects a reduction in the shaking of the photovoltaic robot 6 and that the wind speed has balanced, the solenoid valve is turned off. Simultaneously, the suction cup 512b1 is connected to the outside air, and air gradually enters between the suction cup 512b1 and the photovoltaic robot 6. At this time, the second drive component 5145 drives the limiting rod 5142 to rotate, causing the limiting component 5143 to gradually move downwards until it contacts the limiting block 5144. Because there is a certain angle between the limiting part 51432 and the connecting part 51431, the inclined limiting part 51432 contacts the limiting block 5144. Under downward pressure, the limiting block 5144 pushes the limiting rod 5142 away from the limiting block 5144 through the limiting part 51432 until the limiting part 51432 disengages from the limiting block 5144. At this time, the limiting part 51432 of the limiting member 5143 is located below the limiting block 5144. The second driving member 5145 then rotates in the opposite direction, driving the limiting block 5144 to move upward back to the origin through the limiting rod 5142. The connecting rod 512b2 is brought back to the origin by the limiting member 5143 through the limiting block 5144, waiting for the next anti-fall operation.

[0079] See Figure 6-9 As shown in a further specific embodiment, the limiting component 514 further includes a third driving member 5146. An adjustment groove 51411 is opened on one side of the limiting frame 5141. An adjustment block 51461 is installed at the output end of the third driving member 5146. The adjustment block 51461 is installed in the adjustment groove 51411. A compression spring 5147 is installed on the other side of the limiting frame 5141. The first end of the compression spring 5147 is connected to the mounting frame 513, and the second end of the compression spring 5147 is connected to the limiting frame 5141.

[0080] The third driving component 5146 can push the adjusting block 51461 to move. With the cooperation of the adjusting block 51461 and the adjusting groove 51411, the limiting frame 5141 is driven to rotate. When it rotates to a certain angle, the limiting component 5143 will completely leave the limiting block 5144, thereby releasing the mechanical obstruction on the connecting rod 5122 and realizing the downward movement of the suction cup 5121 and the connecting rod 5122.

[0081] During the reset operation, the compression spring 5147 provides a force for the limit frame 5141 to rotate back when the limiting part 51432 of the limiting member 5143 is below the limiting block 5144, so that a part of the limiting part 51432 overlaps with the limiting block 5144, which facilitates the reset operation.

[0082] The terms "specific example" or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0083] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments, as long as they meet the purpose of the present invention, and all such changes should be within the scope of protection claimed by the present invention. For example, different combinations of specific embodiments and different combinations of distinguishing technical features.

Claims

1. A photovoltaic cleaning robot, comprising a chassis (1), a cleaning device (2), and a walking device (3), wherein the cleaning device (2) and the walking device (3) are respectively mounted on the chassis (1), characterized in that: Also includes: The detection device (4) is installed on the chassis (1), with the detection end facing the photovoltaic (6) surface; An anti-fall device (5) is installed on the chassis (1), with its output end facing the photovoltaic (6) surface, and is used to fix the entire photovoltaic cleaning robot on the photovoltaic (6) surface; When the detection device (4) detects that the photovoltaic cleaning robot has partially or completely detached from the photovoltaic (6) surface, the output end of the anti-fall device (5) is adsorbed onto the photovoltaic (6) surface.

2. The photovoltaic cleaning robot according to claim 1, characterized in that: The anti-fall device (5) includes an adsorption mechanism (51) and a vacuum mechanism (52). The adsorption mechanism (51) and the vacuum mechanism (52) are respectively installed in the chassis (1). The output end of the vacuum mechanism (52) is connected to the input end of the adsorption mechanism (51). The detection device (4) is selected from electromagnetic induction sensors and / or inertial measurement units. When the detection device (4) detects that the photovoltaic cleaning robot has partially or completely detached from the photovoltaic (6) surface, the output end of the adsorption mechanism (51) adsorbs onto the photovoltaic (6) surface, and the vacuuming mechanism (52) removes the air between the output end of the adsorption mechanism (51) and the photovoltaic (6) surface.

3. The photovoltaic cleaning robot according to claim 2, characterized in that: The vacuuming mechanism (52) includes a vacuum generator (521) and / or a vacuum bottle (522). The input end of the vacuum bottle (522) is connected to the output end of the adsorption mechanism (51), and the output end of the vacuum bottle (522) is connected to the vacuum generator (521). or; The input end of the vacuum bottle (522) or the vacuum generator (521) is connected to the output end of the adsorption mechanism (51).

4. The photovoltaic cleaning robot according to claim 2, characterized in that: The adsorption mechanism (51) includes a first driving member (511) and a first adsorption component (512a). The first driving member (511) is mounted on the chassis (1), and the first adsorption component (512a) is mounted on the output end of the first driving member (511). The first driving member (511) is used to drive the first adsorption component (512a) to move up and down so as to enter and exit the chassis (1). The vacuum mechanism (52) is connected to the pipe of the first adsorption component (512a) and is used to draw air from the first adsorption component (512a).

5. The photovoltaic cleaning robot according to claim 4, characterized in that: The first adsorption component (512a) includes a first suction cup (512a1), a connector (512a2), and a tube disk (512a3). The first end of the connector (512a2) is connected to the output end of the first drive component (511), and the second end of the connector (512a2) is connected to the first suction cup (512a1). The first end of the tube disk (512a3) is connected to the vacuum mechanism (52), and the second end of the tube disk (512a3) is connected to the first suction cup (512a1) or the connector (512a2).

6. The photovoltaic cleaning robot according to claim 2, characterized in that: The adsorption mechanism (51) includes a mounting frame (513), a second adsorption component (512b), a limiting component (514), and an elastic element (515). The mounting frame (513) is mounted on the chassis (1). The second adsorption component (512b) extends through the mounting frame (513) from top to bottom. The limiting component (514) is mounted on the mounting frame (513) and is used to restrict the second adsorption component (512b) from moving downward. The first end of the elastic element (515) is connected to the top of the second adsorption component (512b), and the second end of the elastic element (515) is connected to the bottom of the mounting frame (513). The elastic element (515) is used to drive the second adsorption component (512b) to move downward on the mounting frame (513) and quickly extend out of the chassis (1) to adhere to the surface of the photovoltaic (6).

7. The photovoltaic cleaning robot according to claim 6, characterized in that: The second adsorption assembly (512b) includes a second suction cup (512b1) and a connecting rod (512b2). The connecting rod (512b2) passes through the mounting bracket (513). The bottom of the connecting rod (512b2) is connected to the second suction cup (512b1). The first end of the elastic element (515) is connected to the top of the connecting rod (512b2). The vacuum mechanism (52) is in communication with the second suction cup (512b1) or the connecting rod (512b2).

8. The photovoltaic cleaning robot according to claim 7, characterized in that: The limiting assembly (514) includes a limiting frame (5141), a limiting rod (5142), a limiting member (5143), and a limiting block (5144). The limiting frame (5141) is rotatably mounted on the mounting frame (513). The limiting rod (5142) is mounted on the bottom of the limiting frame (5141). The limiting member (5143) is fitted onto the limiting rod (5142). The limiting block (5144) is mounted on the connecting rod (512b2). The limiting block (5144) abuts against the limiting member (5143).

9. The photovoltaic cleaning robot according to claim 8, characterized in that: The limiting component (514) further includes a second driving member (5145), which is mounted on the limiting frame (5141). The output end of the second driving member (5145) is connected to the limiting rod (5142) and is used to drive the limiting rod (5142) to rotate. The upper end of the mounting frame (513) protrudes outward to form a ramp (5131). When the output end of the second driving member (5145) drives the limiting member (5143) to gradually move from the lower end to the upper end of the ramp (5131), the limiting member (5143) gradually moves away from the limiting block (5144).

10. The photovoltaic cleaning robot according to claim 8 or 9, characterized in that: The limiting component (514) further includes a third driving member (5146). An adjustment groove (51411) is opened on one side of the limiting frame (5141). An adjustment block (51461) is installed at the output end of the third driving member (5146). The adjustment block (51461) is installed in the adjustment groove (51411). A compression spring (5147) is installed on the other side of the limiting frame (5141). The first end of the compression spring (5147) is connected to the mounting frame (513), and the second end of the compression spring (5147) is connected to the limiting frame (5141).

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