Photovoltaic cleaning robot and photovoltaic system

Abstract

The application discloses a photovoltaic cleaning robot and a photovoltaic system, and belongs to the technical field of photovoltaic power generation. The photovoltaic cleaning robot comprises a robot body, a locking driving mechanism installed on the robot body, a locking pin connected with an output end of the locking driving mechanism and used for cooperating with a locking part on a photovoltaic support, a transmission mechanism with an input end connected with the output end of the locking driving mechanism, and a charging mechanism installed on an output end of the transmission mechanism. According to the photovoltaic cleaning robot, locking and charging can be simultaneously realized by adopting a set of locking driving mechanisms, the number of components and potential failure points can be reduced, the overall reliability of the photovoltaic cleaning robot is improved, component cost, installation cost, maintenance cost and installation space are saved, and the photovoltaic cleaning robot is conducive to lightweight and compact design.

Description

Technical Field

[0001] This application belongs to the field of photovoltaic power generation technology, and in particular relates to a photovoltaic cleaning robot and a photovoltaic system. Background Technology

[0002] In relevant photovoltaic systems, a locking mechanism is required to ensure the stable stationing of photovoltaic cleaning robots at their designated parking positions on the photovoltaic supports. Furthermore, the cleaning robots typically require power replenishment while stationary, necessitating the addition of a charging mechanism at the parking position. Consequently, upon arrival at the parking position, the cleaning robot must simultaneously perform locking and charging actions. These multiple actions lead to a high failure rate and a complex overall structure, impacting its operational economy and energy efficiency. Utility Model Content

[0003] This application aims to address at least one of the technical problems existing in the related art. To this end, this application proposes a photovoltaic cleaning robot and a photovoltaic system, which can use a locking drive mechanism to simultaneously achieve locking and charging, thereby improving the reliability and economy of the photovoltaic cleaning robot.

[0004] In a first aspect, this application provides a photovoltaic cleaning robot, comprising: The robot itself; A locking drive mechanism is installed on the robot body; A locking pin is connected to the output end of the locking drive mechanism and is used to cooperate with a locking component on the photovoltaic bracket. The transmission mechanism has its input end connected to the output end of the locking drive mechanism; A charging mechanism is installed at the output end of the transmission mechanism.

[0005] According to the embodiments of this application, the photovoltaic cleaning robot can achieve locking and charging simultaneously by adopting a locking drive mechanism, which can reduce the number of parts and potential failure points, improve the overall reliability of the photovoltaic cleaning robot, save part costs, installation costs, maintenance costs and installation space, and is conducive to the lightweight and compact design of the photovoltaic cleaning robot.

[0006] According to one embodiment of this application, the photovoltaic cleaning robot further includes: The first mounting base is mounted on the robot body, and the transmission mechanism is mounted on the first mounting base.

[0007] According to one embodiment of this application, the transmission mechanism includes: The first connecting rod has its first end hinged to the first mounting base and its second end slidably hinged to the charging mechanism. The second link has a first end that is slidably hinged to the first mounting base, and a second end that is hinged to the charging mechanism. The first link is hinged to the second link at a position between the first end and the second end, and the output end of the locking drive mechanism is connected to the first end of the second link.

[0008] According to one embodiment of this application, the transmission mechanism includes a pair of relatively spaced-apart components, and the photovoltaic cleaning robot further includes: The first sliding part is slidably connected to the first mounting base, and the first ends of the second connecting rods of the pair of transmission mechanisms are both hinged to the first sliding part. The first sliding part is connected to the output end of the locking drive mechanism.

[0009] According to one embodiment of this application, the photovoltaic cleaning robot further includes: The connecting part is connected to the locking pin, and the first sliding part is connected to the output end of the locking drive mechanism through the connecting part.

[0010] According to one embodiment of this application, the output end of the locking drive mechanism includes a push rod, and the push rod and the locking pin are slidably supported on opposite side walls of the first mounting base.

[0011] According to one embodiment of this application, the photovoltaic cleaning robot further includes: The support base, installed on the robot body, includes a first support plate and a second support plate spaced apart. When the photovoltaic cleaning robot is in the stopping position of the photovoltaic bracket, the first support plate and the second support plate are respectively located on both sides of the locking member, and the locking pin is slidably supported on the first support plate and adapted to pass through the locking member and then be supported on the second support plate.

[0012] According to one embodiment of this application, the transmission mechanism is used to drive the charging mechanism to move along a first direction, the charging mechanism comprising: The second mounting base is installed at the output end of the transmission mechanism.

[0013] The contact is floatingly mounted on the second mounting base along a second direction via a first elastic element, the second direction intersecting the first direction.

[0014] According to one embodiment of this application, the transmission mechanism is used to drive the charging mechanism to move up and down, and the contact is used to rub against the electrodes of the charging base on the photovoltaic bracket when the charging mechanism moves up and down.

[0015] Secondly, this application provides a photovoltaic system, comprising: Photovoltaic cleaning robots as described above; A photovoltaic bracket, wherein the locking pin of the photovoltaic cleaning robot is adapted to cooperate with the locking member on the photovoltaic bracket, and the contact of the photovoltaic cleaning robot is adapted to be electrically connected to the electrode of the charging base on the photovoltaic bracket.

[0016] According to the photovoltaic system provided in the embodiments of this application, by adopting the above-mentioned photovoltaic cleaning robot, locking and charging can be realized simultaneously, which can reduce the number of parts and potential failure points, improve the overall reliability of the photovoltaic cleaning robot, save component costs, installation costs, maintenance costs and installation space, and is conducive to the lightweight and compact design of the photovoltaic cleaning robot.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of the photovoltaic system provided in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of the photovoltaic cleaning robot provided in the embodiments of this application; Figure 3 yes Figure 2 A magnified view of a section at point A in the middle; Figure 4 This is a partial structural schematic diagram of the photovoltaic cleaning robot provided in the embodiments of this application; Figure 5 This is a schematic diagram of the charging mechanism provided in the embodiments of this application; Figure 6 This is a schematic diagram of the structure of the charging dock provided in the embodiment of this application.

[0019] Figure label: Photovoltaic system 10, photovoltaic cleaning robot 100, robot body 110, locking pin 130, first sliding part 140, connecting part 150; Locking drive mechanism 120, locking drive source 121, push rod 122; Transmission mechanism 160, first link 161, second link 162; Charging mechanism 170, contact 171, second mounting base 172, first elastic element 173; First mounting base 180, side wall 181; Support base 190, first support plate 191, second support plate 192; Support sleeve 1100; Photovoltaic bracket 200, locking component 210, charging base 220, electrode 221, second elastic component 222, stopping position 230, column 240. Detailed Implementation

[0020] The embodiments of this application 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 application, and should not be construed as limiting this application.

[0021] The following is for reference. Figures 1-6 This application describes a photovoltaic system 10 and a photovoltaic cleaning robot 100 according to embodiments thereof.

[0022] Photovoltaic system 10 is a physical system that directly converts solar radiation energy into direct current electrical energy based on the photovoltaic effect.

[0023] like Figure 1 As shown, the photovoltaic system 10 includes a photovoltaic cleaning robot 100 and a photovoltaic support 200.

[0024] The photovoltaic cleaning robot 100 is a robot that can perform tasks such as removing dust, dirt and other obstructions from the surface of photovoltaic panels.

[0025] The photovoltaic bracket 200 is a supporting structure system for photovoltaic laminates.

[0026] like Figure 1 As shown, the photovoltaic bracket 200 includes a column 240, a stop position 230, a locking component 210, and a charging base 220.

[0027] The column 240 provides support for the parking position 230.

[0028] Parking position 230 is the location where the photovoltaic cleaning robot 100 is charging.

[0029] The locking component 210 is installed at the stop position 230. The relevant structure of the locking component 210 and its cooperation with the photovoltaic cleaning robot 100 will be described in detail below.

[0030] The charging dock 220 is installed at the parking position 230. For example... Figure 6 As shown, the charging base 220 is provided with electrodes 221 and a second elastic element 222. The relevant structure of the charging base 220 and its cooperation with the photovoltaic cleaning robot 100 will be described in detail below.

[0031] This application also provides a photovoltaic cleaning robot 100.

[0032] like Figure 2 and Figure 3 As shown, the photovoltaic cleaning robot 100 includes a robot body 110, a locking drive mechanism 120, a locking pin 130, a transmission mechanism 160, and a charging mechanism 170.

[0033] The robot body 110 is the main structure of the photovoltaic cleaning robot 100. The robot body 110 may include a main unit, a cleaning unit, and a walking mechanism.

[0034] The locking drive mechanism 120 is a mechanism that provides the necessary mechanical power for locking and charging actions. The locking drive mechanism 120 may include a locking drive source 121 and a locking output component. The locking drive mechanism 120 may be an electric actuator or a servo motor, etc.

[0035] like Figure 3 As shown, the locking drive mechanism 120 is mounted on the robot body 110.

[0036] The locking drive mechanism 120 can be directly fixed to the robot body 110 by means of screws or clips.

[0037] Locking pin 130 is a component that locks the photovoltaic cleaning robot 100 into the parking position 230. Locking pin 130 can be a rod-shaped structure. Locking pin 130 can have a certain degree of rigidity to withstand the shearing force and impact brought by wind.

[0038] like Figure 4 As shown, the locking pin 130 is connected to the output end of the locking drive mechanism 120, and the locking pin 130 is used to cooperate with the locking member 210 on the photovoltaic bracket 200.

[0039] Under the drive of the locking drive mechanism 120, the locking pin 130 can engage or disengage with the locking member 210. After the locking pin 130 engages with the locking member 210, the locking member 210 can constrain the movement of the locking pin 130, thereby constraining the movement of the photovoltaic cleaning robot 100.

[0040] In this way, the locking pin 130 and the locking part 210 can cooperate to position the photovoltaic cleaning robot 100 at the parking position 230, so that the photovoltaic cleaning robot 100 can be reliably charged at the parking position 230, reducing the risk of accidental charging interruption. At the same time, it can reduce the photovoltaic cleaning robot 100 from sliding or overturning under the action of wind or other external forces, protecting the charging stability and safety of the photovoltaic cleaning robot 100.

[0041] The transmission mechanism 160 is a mechanical device that receives and converts the motion and force from the locking drive mechanism 120 and outputs it to the charging mechanism 170.

[0042] like Figure 4 As shown, the input end of the transmission mechanism 160 is connected to the output end of the locking drive mechanism 120.

[0043] The charging mechanism 170 is a mechanical device for charging the photovoltaic cleaning robot 100.

[0044] like Figure 3 As shown, the charging mechanism 170 is installed at the output end of the transmission mechanism 160.

[0045] Thus, under the drive of the locking drive mechanism 120, the transmission mechanism 160 can transmit the charging mechanism 170, so that the charging mechanism 170 is electrically connected to the electrode 221 on the charging base 220, or so that the charging mechanism 170 is electrically disconnected from the electrode 221 on the charging base 220.

[0046] In related technologies, the locking mechanism and charging mechanism are driven by multiple drive mechanisms, which involves many components, has many potential failure points, and results in high component costs, installation costs, and maintenance costs. It also occupies a large installation space and has a large overall weight.

[0047] The locking drive mechanism 120 provided in this application embodiment can realize the cooperation between the locking pin 130 and the locking member 210, and can also realize the electrical connection between the charging mechanism 170 and the electrode 221 on the charging base 220.

[0048] The output end of the locking drive mechanism 120 is connected to the locking pin 130 and the input end of the transmission mechanism 160. When the locking drive mechanism 120 outputs power, it can drive the locking pin 130 to engage with the locking member 210, and simultaneously drive the transmission mechanism 160, so that the charging mechanism 170 is electrically connected to the electrode 221 on the charging base 220, thereby simultaneously realizing the locking and charging of the photovoltaic cleaning robot 100. When the photovoltaic cleaning robot 100 finishes charging, under the drive of the locking drive mechanism 120, the locking pin 130 can be disengaged from the locking member 210, and the transmission mechanism 160 can be driven to de-energize the charging mechanism 170 from the electrode 221 on the charging base 220.

[0049] The design that synchronizes the locking and charging actions through the same locking drive mechanism 120 reduces the number of components and potential failure points, improving the overall reliability of the photovoltaic cleaning robot 100. At the same time, this design saves component costs, reduces the complexity of on-site installation and subsequent maintenance costs, and occupies less installation space, allowing the photovoltaic cleaning robot 100 to be designed to be smaller and more compact, which helps to reduce the weight of the photovoltaic cleaning robot 100, reduce running resistance and energy consumption.

[0050] According to the embodiments of this application, the photovoltaic cleaning robot 100 can simultaneously achieve locking and charging by adopting a locking drive mechanism 120, which can reduce the number of parts and potential failure points, improve the overall reliability of the photovoltaic cleaning robot 100, save part costs, installation costs, maintenance costs and installation space, and is conducive to the lightweight and compact design of the photovoltaic cleaning robot 100.

[0051] Correspondingly, according to the photovoltaic system 10 provided in the embodiments of this application, by adopting the photovoltaic cleaning robot 100 described above, locking and charging can be realized simultaneously, which can reduce the number of parts and potential failure points, improve the overall reliability of the photovoltaic cleaning robot 100, save part costs, installation costs, maintenance costs and installation space, and is conducive to the lightweight and compact design of the photovoltaic cleaning robot 100.

[0052] In some embodiments, such as Figure 3 As shown, the transmission mechanism 160 is used to drive the charging mechanism 170 to move along the first direction X.

[0053] That is, the transmission mechanism 160 can convert the power output by the locking drive mechanism 120 into the movement of the charging mechanism 170 along the first direction X.

[0054] like Figure 5 As shown, the charging mechanism 170 includes a second mounting base 172 and a contact 171.

[0055] The second mounting base 172 is a mechanical structural component that provides support and positioning.

[0056] The second mounting base 172 is installed at the output end of the transmission mechanism 160.

[0057] That is, the movement at the output end of the transmission mechanism 160 can be directly converted into the movement of the second mounting base 172 along the first direction X. The movement of the second mounting base 172 along the first direction X can drive the charging mechanism 170 to move along the first direction X.

[0058] Contact 171 is a conductive element that is in direct contact with electrode 221 on charging base 220.

[0059] The first elastic element 173 is a mechanical part that undergoes recoverable deformation, i.e., elastic deformation, under the action of external force, thereby storing and releasing energy. The first elastic element 173 can be a spring or an elastic pad, etc.

[0060] like Figure 5 As shown, the contact 171 is floatingly mounted on the second mounting base 172 along the second direction Y via the first elastic member 173, and the second direction Y intersects with the first direction X.

[0061] That is, the contact 171 is not fixedly mounted to the second mounting base 172, but can be floated on the second mounting base 172 by means of the first elastic element 173. The contact 171 can have displacement along the second direction Y, and can move relative to the second mounting base 172 along the second direction Y within a certain range.

[0062] like Figure 6 As shown, electrode 221 is floatingly mounted on charging base 220 along the second direction Y via second elastic member 222.

[0063] That is, the motor is not fixedly mounted on the charging base 220, but can be floatingly mounted on the charging base 220 via the second elastic element 222. The electrode 221 can have displacement along the second direction Y, and can move relative to the charging base 220 along the second direction Y within a certain range.

[0064] When the contact 171 contacts the electrode 221, slight misalignment may occur due to minor manufacturing tolerances, assembly errors, or thermal expansion and contraction. If the contact 171 is rigidly connected to the second mounting base 172, and the electrode 221 is rigidly connected to the charging base 220, this misalignment may lead to poor contact, wear, or even jamming. Since the contact 171 and electrode 221 are floatingly mounted, the first elastic element 173 and the second elastic element 222 can provide elastic force to the contact 171 and electrode 221. At the moment of contact, the contact 171 and electrode 221 will automatically fine-tune their positions along the second direction Y under the action of the contact force, so that the contact 171 and electrode 221 achieve a relatively stable contact state. This ensures that the contact 171 and electrode 221 maintain a continuous, stable, and uniformly pressured close contact, effectively reducing the risk of poor contact or arcing, and improving the charging efficiency and safety of the photovoltaic cleaning robot 100.

[0065] In some embodiments, the transmission mechanism 160 is used to drive the charging mechanism 170 to move up and down.

[0066] The movement of the charging mechanism 170 along the first direction X can be a lifting motion. The transmission mechanism 160 can receive power from the locking drive mechanism 120 and convert it into the lifting motion of the charging mechanism 170. The lifting motion of the charging mechanism 170 drives the contact 171 to move up and down.

[0067] The contact 171 may be designed with a first contact surface that contacts the electrode 221 to achieve charging.

[0068] Electrode 221 may be designed with an inclined guide surface and a second contact surface that contacts contact 171 to achieve charging.

[0069] The contact 171 is used to rub against the electrode 221 of the charging base 220 on the photovoltaic bracket 200 when the charging mechanism 170 is raised and lowered.

[0070] When the contact 171 moves up and down, it can first contact the guide surface of the electrode 221. With the contact 171 in contact with the guide surface, the contact 171 and the electrode 221 can float along the second direction Y to adjust the contact pressure. The contact 171 moves up and down along the guide surface until the first contact surface of the contact 171 aligns and engages with the second contact surface of the electrode 221, thus achieving charging.

[0071] When the contact 171 and the electrode 221 are carbon brushes, the contact 171 and the electrode 221 can use lifting and lowering motion, especially the lowering process, to achieve friction between the contact 171 and the electrode 221 at the end of charging. The friction automatically scrapes away the carbon deposits on the surface of the carbon brush and carries the carbon deposits away from the contact surface or into the designed collection area, reducing powder accumulation, achieving automatic cleaning, and reducing the need for manual maintenance.

[0072] In some embodiments, such as Figure 3 As shown, the photovoltaic cleaning robot 100 includes a first mounting base 180.

[0073] The first mounting base 180 is a mechanical structural component that provides support and positioning.

[0074] like Figure 3 As shown, the first mounting base 180 is mounted on the robot body 110, and the transmission mechanism 160 is mounted on the first mounting base 180.

[0075] The first mounting base 180 can be fixedly installed on the robot body 110 by means of threaded connection or snap-fit ​​connection. The first mounting base 180 can provide support and positioning for the transmission mechanism 160.

[0076] In some embodiments, such as Figure 4 As shown, the transmission mechanism 160 includes a first connecting rod 161 and a second connecting rod 162. The transmission mechanism 160 can be an X-shaped connecting rod.

[0077] The first link 161 can have a certain degree of rigidity.

[0078] The first mounting base 180 may be provided with a groove or a track. The second mounting base 172 of the charging mechanism 170 may be provided with a groove or a track.

[0079] like Figure 4 As shown, the first end of the first link 161 is hinged to the first mounting base 180, and the second end of the first link 161 is slidably hinged to the charging mechanism 170.

[0080] The first end of the first link 161 can be connected to the first mounting base 180 via a pin or hinge, and the first end of the first link 161 can rotate around the hinge. The second end of the first link 161 can be connected to the groove or track of the second mounting base 172 of the charging mechanism 170, and the second end of the first link 161 can slide in the groove or track of the second mounting base 172, and the second end of the first link 161 can rotate around the hinge.

[0081] like Figure 4 As shown, the first end of the second link 162 is slidably hinged to the first mounting base 180, and the second end of the second link 162 is hinged to the charging mechanism 170.

[0082] The second end of the second link 162 can be connected to the second mounting base 172 of the charging mechanism 170 via a pin or hinge, and the second end of the second link 162 can rotate around the hinge. The first end of the second link 162 can be connected to the groove or track of the first mounting base 180, and the first end of the second link 162 can slide in the groove or track of the first mounting base 180, and the first end of the second link 162 can rotate around the hinge.

[0083] like Figure 4 As shown, the first link 161 is hinged to the second link 162 at a position between the first end and the second end.

[0084] That is, the first link 161 and the second link 162 are hinged. The hinge point of the first link 161 is located between the first end and the second end of the first link 161, and the hinge point of the second link 162 is located between the first end and the second end of the second link 162. The first link 161 and the second link 162 can rotate relative to each other around the hinge point.

[0085] like Figure 4 As shown, the output end of the locking drive mechanism 120 is connected to the first end of the second link 162.

[0086] That is, the locking drive mechanism 120 can drive the first end of the second link 162 to move through its output end.

[0087] In some embodiments, such as Figure 4 As shown, the transmission mechanism 160 includes a pair of relatively spaced-apart components.

[0088] The photovoltaic cleaning robot 100 includes two transmission mechanisms 160, which are spaced apart and connected to opposite ends of the first mounting base 180 and the second mounting base 172 of the charging mechanism 170, respectively. This spaced arrangement of the transmission mechanisms 160 effectively balances the lateral forces generated during driving, reducing the risk of jamming or additional wear. Simultaneously, it allows the transmission mechanisms 160 to more stably support and drive the charging mechanism 170, reducing the likelihood of tilting or jamming during movement and enabling smoother lifting and lowering of the charging mechanism 170.

[0089] like Figure 4 As shown, the photovoltaic cleaning robot 100 includes a first sliding part 140.

[0090] The first sliding part 140 is a component that enables the transmission mechanism 160 to be slidably mounted on the first mounting base 180.

[0091] like Figure 4 As shown, the first sliding part 140 is slidably connected to the first mounting base 180, the first ends of the second connecting rods 162 of the pair of transmission mechanisms 160 are both hinged to the first sliding part 140, and the first sliding part 140 is connected to the output end of the locking drive mechanism 120.

[0092] That is, the first ends of the second connecting rods 162 of the pair of transmission mechanisms 160 do not slide independently, but are hinged together on the same first sliding part 140. When the first sliding part 140 slides in the groove or track of the first mounting base 180, it synchronously drives the first ends of the second connecting rods 162 of the pair of transmission mechanisms 160 to slide.

[0093] In this way, the output end of the locking drive mechanism 120 can drive the first sliding part 140. The sliding movement of the first sliding part 140 can simultaneously, in the same direction and in equal amount drive the first ends of the two second connecting rods 162 that are hinged to it, so that the two transmission mechanisms 160 are synchronously driven by the first sliding part 140.

[0094] Of course, the photovoltaic cleaning robot 100 may include a second sliding part. The second sliding part is slidably connected to the charging mechanism 170, and the second ends of the first connecting rods 161 of the pair of transmission mechanisms 160 are both hinged to the second sliding part.

[0095] That is, the second ends of the first connecting rods 161 of the pair of transmission mechanisms 160 do not slide independently, but are hinged together on the same second sliding part. When the second sliding part slides in the groove or track of the second mounting seat 172 of the charging mechanism 170, it synchronously drives the second ends of the first connecting rods 161 of the pair of transmission mechanisms 160 to slide. The setting of the second sliding part can improve the synchronization of the two transmission mechanisms 160.

[0096] In some embodiments, such as Figure 4 As shown, the photovoltaic cleaning robot 100 includes a connecting part 150.

[0097] The connecting part 150 may be a mechanical part that serves a connecting function.

[0098] like Figure 4 As shown, the locking pin 130 is connected to the connecting part 150.

[0099] The locking pin 130 and the connecting part 150 can be connected by means of threaded connection or interference fit.

[0100] like Figure 4 As shown, the first sliding part 140 is connected to the output end of the locking drive mechanism 120 via the connecting part 150.

[0101] The connecting part 150 can be a sleeve. The connecting part 150 can be partially sleeved on the output end of the locking drive mechanism 120, and the first sliding part 140 can pass through the pre-set holes on the connecting part 150 and the output end of the locking drive mechanism 120 to realize the connection between the first sliding part 140, the output end of the locking drive mechanism 120 and the connecting part 150.

[0102] Of course, the connecting part 150 can also be a connecting block, a connecting plate, or a fork-shaped head, etc.

[0103] In some embodiments, such as Figure 4 As shown, the output end of the locking drive mechanism 120 includes a push rod 122.

[0104] The locking output component of the locking drive mechanism 120 can be a push rod 122, which has a telescopic function.

[0105] The first mounting base 180 has two opposing side walls 181, and the side walls 181 can be machined with sliding holes, on which a support sleeve 1100 can be provided.

[0106] The support sleeve 1100 can be made of wear-resistant materials, such as copper-based alloys, engineering plastics POM, or graphite. The support sleeve 1100 can have self-lubricating or low coefficient of friction properties, and the support sleeve 1100 can be designed with oil reservoir grooves to fill with grease to reduce friction.

[0107] like Figure 4 As shown, push rod 122 and locking pin 130 are slidably supported on opposite side walls 181 of the first mounting base 180.

[0108] One sidewall 181 of the first mounting base 180 can provide guidance and support for the push rod 122, which can slide on the support sleeve 1100 in the sliding hole of the sidewall 181. The other sidewall 181 of the first mounting base 180 can provide guidance and support for the locking pin 130, which can slide on the support sleeve 1100 in the sliding hole of the sidewall 181. The support sleeves 1100 on both sides of the first mounting base 180 can form a high-precision dynamic fit with the push rod 122 and the locking pin 130 respectively, while reducing the wear of the push rod 122 and the locking pin 130 on the first mounting base 180.

[0109] In some embodiments, such as Figure 4 As shown, the photovoltaic cleaning robot 100 includes a support base 190.

[0110] Support base 190 is a component that provides support for locking pin 130.

[0111] like Figure 3 As shown, the support base 190 is mounted on the robot body 110.

[0112] The support base 190 can be fixedly connected to the robot body 110 by means of threaded connection or snap-fit.

[0113] like Figure 4 As shown, the support base 190 includes a first support plate 191 and a second support plate 192 that are spaced apart.

[0114] The first support plate 191 and the second support plate 192 may be provided with sliding holes that match the locking pin 130, and a support sleeve 1100 may be provided on the sliding holes.

[0115] The support sleeve 1100 can be made of wear-resistant materials, such as copper-based alloys, engineering plastics POM, or graphite. The support sleeve 1100 can have self-lubricating or low coefficient of friction properties, and the support sleeve 1100 can be designed with oil reservoir grooves to fill with grease to reduce friction.

[0116] When the photovoltaic cleaning robot 100 is located at the stopping position 230 of the photovoltaic bracket 200, the first support plate 191 and the second support plate 192 are respectively located on both sides of the locking member 210, and the locking pin 130 is slidably supported on the first support plate 191 and is adapted to pass through the locking member 210 and then be supported on the second support plate 192.

[0117] When the photovoltaic cleaning robot 100 is positioned at the stop position 230 of the photovoltaic bracket 200, the locking pin 130 can sequentially pass through the support sleeve 1100 on the sliding hole of the first support plate 191, the hole of the locking member 210, and the support sleeve 1100 on the sliding hole of the second support plate 192. The support sleeves 1100 on the sliding holes of the first support plate 191 and the second support plate 192 can provide support and guidance for the locking pin 130. The support sleeves 1100 can form a high-precision dynamic fit with the locking pin 130, while reducing the wear of the locking pin 130 on the first support plate 191 and the second support plate 192.

[0118] When the locking pin 130 sways due to wind, it may experience significant shear force and bending moment. The first support plate 191 and the second support plate 192 can share and transfer the shear force and bending moment to the robot body 110, thereby improving the reliability of locking. At the same time, the first support plate 191 and the second support plate 192 can effectively suppress vibration, reducing the risk of loosening, wear, and abnormal noise caused by continuous impact between the locking pin 130 and the locking member 210.

[0119] The following is combined with Figures 1-6 This application describes a photovoltaic cleaning robot 100 according to an embodiment of the present application.

[0120] The photovoltaic cleaning robot 100 includes a robot body 110, a locking drive mechanism 120, a locking pin 130, a first sliding part 140, a connecting part 150, a transmission mechanism 160, a charging mechanism 170, a first mounting base 180, and a support base 190.

[0121] The first mounting base 180 is mounted on the robot body 110.

[0122] The support base 190 is installed on the robot body 110 and includes a first support plate 191 and a second support plate 192 spaced apart. When the photovoltaic cleaning robot 100 is in the stopping position 230 of the photovoltaic bracket 200, the first support plate 191 and the second support plate 192 are respectively located on both sides of the locking member 210.

[0123] The locking drive mechanism 120 is mounted on the robot body 110. The locking drive mechanism 120 includes a locking drive source 121 and a push rod 122. The push rod 122 is slidably supported on a side wall 181 of the first mounting base 180.

[0124] The locking pin 130 is connected to the push rod 122 of the locking drive mechanism 120 via the connecting part 150, and is used to cooperate with the locking member 210 on the photovoltaic bracket 200. The locking pin 130 is slidably supported on the other side wall 181 of the first mounting base 180 and the first support plate 191, and is adapted to pass through the locking member 210 and be supported on the second support plate 192.

[0125] The charging mechanism 170 includes a second mounting base 172 and a contact 171. The contact 171 is floatingly mounted on the second mounting base 172 along the second direction Y via a first elastic member 173. The contact 171 is used to rub against the electrode 221 of the charging seat 220 on the photovoltaic bracket 200 when the charging mechanism 170 is raised and lowered.

[0126] The first sliding part 140 is slidably connected to the first mounting base 180, and the first sliding part 140 connects the push rod 122 and the connecting part 150.

[0127] A transmission mechanism 160 drives the charging mechanism 170 to move vertically. The transmission mechanism 160 includes a pair of relatively spaced-apart links. Each transmission mechanism 160 may include a first link 161 and a second link 162. The first end of the first link 161 is hinged to a first mounting base 180, and the second end of the first link 161 is slidably hinged to the charging mechanism 170. The first end of the second link 162 is slidably hinged to the first mounting base 180, and the second end of the second link 162 is hinged to the charging mechanism 170. The first link 161 is hinged to the second link 162 at a position between its first and second ends. The first ends of the second links 162 of both transmission mechanisms 160 are hinged to a first sliding portion 140, and the first ends of the second links 162 are connected to a push rod 122 via the first sliding portion 140.

[0128] The assembly process of the photovoltaic cleaning robot 100 in this embodiment is as follows: The first mounting base 180 and the support base 190 are respectively mounted on the robot body 110; the locking drive mechanism 120 is mounted on the robot body 110, and the push rod 122 is supported on one side wall 181 of the first mounting base 180; the locking pin 130 is connected to the push rod 122 through the connecting part 150, and the locking pin 130 is supported on the other side wall 181 of the first mounting base 180; the first sliding part 140 connects the push rod 122 and the connecting part 150, and the first sliding part 140 is connected to a pair of transmission mechanisms. The first end of the second link 162 of the structure 160 is hinged, and the sliding first sliding part 140 is supported on the first mounting base 180; the first end of the first link 161 is hinged to the first mounting base 180, the second end of the first link 161 is slidably hinged to the second mounting base 172, the first end of the second link 162 is slidably hinged to the first mounting base 180, and the second end of the second link 162 is hinged to the second mounting base 172; the contact 171 is floatingly connected to the second mounting base 172 through the first elastic member 173.

[0129] The locking and charging process of the photovoltaic cleaning robot 100 in this embodiment is as follows: When the photovoltaic cleaning robot 100 reaches the stopping position 230, the locking drive source 121 is activated, pushing the push rod 122 to move. The push rod 122 drives the first sliding part 140 to slide, and the first sliding part 140 drives the locking pin 130 to move through the connecting part 150, so that it passes through the first support plate 191, passes through the locking member 210 on the photovoltaic bracket 200, and inserts into the second support plate 192, completing a highly reliable locking. At the same time that the push rod 122 drives the first sliding part 140 to slide, the movement of the first sliding part 140 synchronously pulls the first ends of the two second connecting rods 162 that are hinged to it, so that the transmission mechanism 160 pushes the charging mechanism 170 to move up and down towards the charging base 220. Under the action of the first elastic member 173, the contact 171 of the charging mechanism 170 is electrically connected to the electrode 221 of the charging base 220, realizing the charging of the photovoltaic cleaning robot 100. During the lifting and lowering process, the contact 171 on the charging mechanism 170 rubs against the electrode 221 of the charging base 220, and the contact 171 can be automatically cleaned.

[0130] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0131] In the description of this application, it should be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and 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 application.

[0132] In the description of this application, "first feature" and "second feature" may include one or more of the features.

[0133] In the description of this application, "multiple" means two or more.

[0134] In the description of this application, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them.

[0135] In the description of this application, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0136] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. 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.

[0137] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A photovoltaic cleaning robot (100), characterized in that, include: Robot body (110); A locking drive mechanism (120) is installed on the robot body (110). A locking pin (130) is connected to the output end of the locking drive mechanism (120) and is used to cooperate with the locking element (210) on the photovoltaic bracket (200); The input end of the transmission mechanism (160) is connected to the output end of the locking drive mechanism (120); A charging mechanism (170) is installed at the output end of the transmission mechanism (160).

2. The photovoltaic cleaning robot (100) according to claim 1, characterized in that, Also includes: The first mounting base (180) is mounted on the robot body (110), and the transmission mechanism (160) is mounted on the first mounting base (180).

3. The photovoltaic cleaning robot (100) according to claim 2, characterized in that, The transmission mechanism (160) includes: The first link (161) has its first end hinged to the first mounting base (180) and its second end slidably hinged to the charging mechanism (170); The second link (162) has a first end that is slidably hinged to the first mounting base (180) and a second end that is hinged to the charging mechanism (170). The first link (161) is hinged to the second link (162) at a position between the first end and the second end. The output end of the locking drive mechanism (120) is connected to the first end of the second link (162).

4. The photovoltaic cleaning robot (100) according to claim 3, characterized in that, The transmission mechanism (160) includes a pair of relatively spaced-apart components, and the photovoltaic cleaning robot (100) further includes: The first sliding part (140) is slidably connected to the first mounting base (180), and the first ends of the second connecting rods (162) of the pair of transmission mechanisms (160) are hinged to the first sliding part (140). The first sliding part (140) is connected to the output end of the locking drive mechanism (120).

5. The photovoltaic cleaning robot (100) according to claim 4, characterized in that, Also includes: The connecting part (150) is connected to the locking pin (130), and the first sliding part (140) is connected to the output end of the locking drive mechanism (120) through the connecting part (150).

6. The photovoltaic cleaning robot (100) according to claim 2, characterized in that, The output end of the locking drive mechanism (120) includes a push rod (122), and the push rod (122) and the locking pin (130) are slidably supported on the opposite side walls (181) of the first mounting base (180).

7. The photovoltaic cleaning robot (100) according to claim 6, characterized in that, Also includes: The support base (190) is installed on the robot body (110) and includes a first support plate (191) and a second support plate (192) spaced apart. When the photovoltaic cleaning robot (100) is in the stopping position (230) of the photovoltaic bracket (200), the first support plate (191) and the second support plate (192) are respectively located on both sides of the locking member (210), and the locking pin (130) is slidably supported on the first support plate (191) and is adapted to pass through the locking member (210) and be supported on the second support plate (192).

8. The photovoltaic cleaning robot (100) according to any one of claims 1-7, characterized in that, The transmission mechanism (160) is used to drive the charging mechanism (170) to move along a first direction, and the charging mechanism (170) includes: The second mounting base (172) is installed at the output end of the transmission mechanism (160); The contact (171) is floatingly mounted on the second mounting base (172) along a second direction via a first elastic element (173), the second direction intersecting the first direction.

9. The photovoltaic cleaning robot (100) according to claim 8, characterized in that, The transmission mechanism (160) is used to drive the charging mechanism (170) to move up and down, and the contact (171) is used to rub against the electrode (221) of the charging base (220) on the photovoltaic bracket (200) when the charging mechanism (170) moves up and down.

10. A photovoltaic system (10), characterized in that, include: Photovoltaic cleaning robot (100) as described in any one of claims 1-9; A photovoltaic bracket (200) is provided, wherein the locking pin (130) of the photovoltaic cleaning robot (100) is adapted to cooperate with the locking member (210) on the photovoltaic bracket (200), and the contact (171) of the photovoltaic cleaning robot (100) is adapted to be electrically connected to the electrode (221) of the charging base (220) on the photovoltaic bracket (200).

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