A photovoltaic cleaning robot adjustable hanging point back shell structure

Abstract

The utility model provides a kind of photovoltaic cleaning robot adjustable lifting point back nail structure, belong to photovoltaic cleaning robot technical field, this adjustable lifting point back nail structure includes sliding groove guide rail and lifting point sliding block, sliding groove guide rail is arranged along the length direction of top of machine body and coincides with the centroid of photovoltaic cleaning robot, the length direction of sliding groove guide rail is equipped with several limit slots, lifting point sliding block is installed on sliding groove guide rail and can slide along the length direction of sliding groove guide rail, lifting point sliding block is equipped with the positioning block matched with limit slot, control unit drives positioning block to slide into corresponding limit slot along sliding groove guide rail, and is clamped in limit slot, complete the positioning of lifting point sliding block on sliding groove guide rail, realize lifting point position real-time adjustment, ensure that the gravity center of photovoltaic cleaning robot when crane of unmanned aerial vehicle is always located in lifting point directly below, avoid overturning due to gravity center shift in flight, without manual intervention, adapt to different operation stages.

Description

Technical Field

[0001] This utility model belongs to the field of photovoltaic cleaning robot technology, specifically relating to an adjustable suspension point back armor structure for a photovoltaic cleaning robot. Background Technology

[0002] In existing technologies for photovoltaic cleaning robots, fixed lifting points are typically used for hoisting. However, the water level in the robot's tank decreases continuously during use, causing a dynamic change in the robot's center of gravity. During hoisting, this shift in the center of gravity increases the complexity of the operation and may cause the robot to sway or even collide with photovoltaic panels or other equipment, resulting in damage. Traditional fixed-point hoisting methods cannot dynamically adjust to changes in the center of gravity, limiting the robot's flexibility during hoisting, increasing the risk of tipping over, and severely impacting the efficiency and safety of photovoltaic cleaning robots.

[0003] Therefore, there is an urgent need for an adjustable lifting point back armor structure for photovoltaic cleaning robots to solve the above-mentioned technical problems. Utility Model Content

[0004] The purpose of this invention is to provide an adjustable suspension point back armor structure for a photovoltaic cleaning robot, aiming to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: An adjustable lifting point back armor structure for a photovoltaic cleaning robot is located on the top of the robot's body. It includes a sliding guide rail and a lifting point slider. The sliding guide rail is arranged along the length of the top of the robot body and coincides with the center of gravity of the photovoltaic cleaning robot. Several limiting grooves are provided along the length of the sliding guide rail. The lifting point slider is mounted on the sliding guide rail and can slide along its length. A positioning block that mates with the limiting groove is provided on the lifting point slider. A lifting interface is provided on the top of the lifting point slider for connecting to a lifting device of a drone. A control unit inside the photovoltaic cleaning robot drives the positioning block to slide along the sliding guide rail into the corresponding limiting groove and engages within it, thus completing the positioning of the lifting point slider on the sliding guide rail.

[0006] Furthermore, the limiting groove is T-shaped, and the positioning block is T-shaped, matching the shape of the limiting groove.

[0007] Furthermore, the photovoltaic cleaning robot has cleaning units at both ends of its body, and the body moves through the walking unit. The side of the body facing the working surface of the photovoltaic panel has several adsorption units controlled by the control unit. The adsorption units provide negative pressure and adsorb onto the working surface of the photovoltaic panel.

[0008] Furthermore, the machine body is equipped with a slope sensor for real-time detection of the tilt angle of the photovoltaic panel.

[0009] Furthermore, a pressure sensor is provided in the limiting groove to detect whether the positioning block has been correctly connected and has been subjected to sufficient preload.

[0010] Furthermore, the slide rail is a detachable modular design and is fixed to the top of the machine body via a quick-release interface.

[0011] Furthermore, the hoisting interface is one of the following: quick-release interface, electromagnet chuck interface, or mechanical claw interface.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows: the chute guide rail covers the center of mass area along the length of the photovoltaic cleaning robot, the lifting point slider moves on the chute guide rail, and the control unit drives the lifting point slider according to the calculation instructions. When the positioning block is aligned with the target limiting groove, the mechanical locking mechanism embeds the positioning block into the limiting groove to achieve hard locking, realizing real-time selection and gear-type adjustment of the lifting point position. After the system calculates the current center of mass of the photovoltaic cleaning robot, it can automatically adjust the lifting point slider to the optimal balance position to obtain an accurate lifting point, ensuring that the center of gravity of the photovoltaic cleaning robot is always directly below the lifting point when the drone is lifting, avoiding overturning due to center of gravity shift during flight. No manual intervention is required, and it adapts to different operation stages, such as changes in the center of mass caused by the water tank being full or empty during cleaning, improving the robot's adaptability, especially when facing photovoltaic panels with different tilt angles. Attached Figure Description

[0013] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a three-dimensional top view of the photovoltaic cleaning robot of this utility model; Figure 2 This is a three-dimensional bottom view of the photovoltaic cleaning robot of this utility model; Figure 3 This is a front view of the photovoltaic cleaning robot of this utility model; Figure 4 This is a schematic diagram of the adjustable lifting point back armor structure of the photovoltaic cleaning robot of this utility model; In the diagram: 1-body, 2-cleaning unit, 3-walking unit, 4-adsorption unit, 5-adjustable lifting point back armor structure, 51-slide rail, 52-lifting point slider, 53-limiting groove. Detailed Implementation

[0014] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0015] like Figures 1 to 4 As shown, an adjustable lifting point back armor structure 5 for a photovoltaic cleaning robot is located on the top of the robot's body 1. It includes a sliding guide rail 51 and a lifting point slider 52. The sliding guide rail 51 is arranged along the length of the top of the robot body 1 and coincides with the center of mass of the photovoltaic cleaning robot. Several limiting grooves 53 are provided along the length of the sliding guide rail 51. The lifting point slider 52 is mounted on the sliding guide rail 51 and can slide along the length of the sliding guide rail 51. A positioning block that cooperates with the limiting groove 53 is provided on the lifting point slider 52. A lifting interface is provided on the top of the lifting point slider 52 for connecting to the lifting device of a drone. The control unit inside the photovoltaic cleaning robot drives the positioning block to slide along the sliding guide rail 51 into the corresponding limiting groove 53 and engages within the limiting groove 53, thus completing the positioning of the lifting point slider 52 on the sliding guide rail 51.

[0016] Working principle: The chute guide rail 51 covers the center of gravity area along the length of the photovoltaic cleaning robot. The lifting point slider 52 moves on the chute guide rail 51. The control unit drives the lifting point slider 52 according to the calculation instructions. When the positioning block is aligned with the target limiting groove 53, the mechanical locking mechanism embeds the positioning block into the limiting groove 53 to achieve hard locking, realizing real-time selection and gear-type adjustment of the lifting point position. By automatically adjusting the lifting point slider 52 to the optimal balance position, it ensures that the center of gravity of the photovoltaic cleaning robot is always directly below the lifting point when the drone is hoisting, avoiding overturning due to the shift of the center of gravity during flight. No manual intervention is required. It adapts to different operation stages, such as the change of the center of gravity due to the full or empty water tank during cleaning, which improves the adaptability of the robot, especially when facing photovoltaic panels with different tilt angles.

[0017] Since the slide rail 51 is arranged along the length of the top of the body 1 and coincides with the center of mass of the photovoltaic cleaning robot, before the lifting point is positioned, the length of the top of the body 1 is aligned with the tilt direction of the photovoltaic panel. That is, the angle between the extension line of the length of the top of the body 1 and the horizontal line is the tilt angle α of the photovoltaic panel, ensuring that the center of mass of the photovoltaic cleaning robot is always on the vertical projection line of the slide rail 51.

[0018] Furthermore, the limiting groove 53 is T-shaped, and the positioning block is T-shaped, matching the shape of the limiting groove 53.

[0019] After the T-shaped positioning block is embedded in the T-shaped limiting groove 53 of the slide rail 51, a three-dimensional mechanical interlock is formed. The horizontal direction is limited by the groove wall, and the vertical direction is prevented from falling out by the T-shaped head buckle, which enhances the stability and safety of the structure. The T-shaped structure effectively resists the swaying torque during the take-off and landing of the drone. Even if the positioning block unlocking mechanism fails, the T-shaped head can still prevent the slider from falling off the guide rail, ensuring that the position of the lifting point of the robot will not shift during the operation, avoiding unnecessary tilting or imbalance.

[0020] Furthermore, the photovoltaic cleaning robot has cleaning units 2 at both ends of its body 1. The body 1 moves and operates through the walking unit 3. The side of the body 1 facing the working surface of the photovoltaic panel has several adsorption units 4 controlled by the control unit. The adsorption units 4 provide negative pressure and adsorb onto the working surface of the photovoltaic panel.

[0021] The cleaning unit 2, in conjunction with the adsorption unit 4, can effectively clean the working surface of the photovoltaic panel. The adsorption unit 4 can maintain the stability of the photovoltaic cleaning robot and prevent it from sliding or tilting. The negative pressure adsorption mechanism of the adsorption unit 4 allows the photovoltaic cleaning robot to fit tightly against the photovoltaic panel without relying on external support, greatly reducing manual intervention. The cleaning unit 2 and the adsorption unit 4 work together. When the photovoltaic cleaning robot moves, the adsorption unit 4 provides negative pressure to adsorb the photovoltaic cleaning robot onto the photovoltaic panel, ensuring that the photovoltaic cleaning robot does not fall off and remains stable. Meanwhile, the cleaning unit 2 is responsible for cleaning the surface of the photovoltaic panel, ensuring that every part is effectively cleaned.

[0022] Furthermore, the body 1 is equipped with a slope sensor to detect the tilt angle of the photovoltaic panel in real time.

[0023] The slope sensor collects the photovoltaic panel angle α in real time. The control unit receives the tilt angle information of the photovoltaic panel detected by the slope sensor, and automatically calculates the optimal lifting point position according to the preset tilt angle-centroid offset model. It then drives the lifting point slider 52 to slide along the slide rail 51 to adjust to the optimal position, thereby maintaining the balance of the photovoltaic cleaning robot.

[0024] Furthermore, a pressure sensor is provided in the limiting groove 53 to detect whether the positioning block has been correctly connected and sufficient preload has been applied.

[0025] After the lifting point slider 52 is connected to the limiting groove 53, the pressure sensor will detect whether the positioning block is correctly connected and confirm whether sufficient preload has been applied. If the force is insufficient, the system can trigger an alarm or automatically adjust to ensure the stability of the lifting point. This avoids problems such as detachment or displacement caused by loose connection or insufficient preload during the lifting point adjustment process. Through the feedback information from the sensor, the control unit can determine whether the lifting point has stabilized, further improving the safety and reliability of the photovoltaic cleaning robot.

[0026] Furthermore, the slide rail 51 is a detachable modular design and is fixed to the top of the body 1 via a quick-release interface.

[0027] The modular design allows the slide rail 51 to be easily disassembled and replaced, facilitating maintenance and repair, reducing downtime. The quick-installation interface design allows different modules to be quickly installed or replaced, improving the robot's flexibility and adaptability.

[0028] Furthermore, the hoisting interface is one of the following: quick-release interface, electromagnet chuck interface, or mechanical claw interface.

[0029] Different types of lifting interfaces can be selected as needed, such as quick-release interfaces, electromagnet chuck interfaces, or mechanical claw interfaces. These interfaces connect to the lifting device of the drone, thereby enabling lifting or transportation operations between the robot and the drone.

[0030] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An adjustable lifting point back armor structure for a photovoltaic cleaning robot, characterized in that: The photovoltaic cleaning robot has a sliding guide rail and a lifting point slider installed on its top. The sliding guide rail is arranged along the length of the top of the robot body and coincides with the center of gravity of the photovoltaic cleaning robot. The sliding guide rail has several limiting grooves along its length. The lifting point slider is installed on the sliding guide rail and can slide along the length of the sliding guide rail. The lifting point slider has a positioning block that cooperates with the limiting groove. The top of the lifting point slider has a lifting interface for connecting to the lifting device of a drone. The control unit inside the photovoltaic cleaning robot drives the positioning block to slide along the sliding guide rail into the corresponding limiting groove and engage in the limiting groove, thus completing the positioning of the lifting point slider on the sliding guide rail.

2. The adjustable lifting point back armor structure of the photovoltaic cleaning robot according to claim 1, characterized in that: The limiting groove is T-shaped, and the positioning block is T-shaped, matching the shape of the limiting groove.

3. The adjustable lifting point back armor structure of the photovoltaic cleaning robot according to claim 1, characterized in that: The photovoltaic cleaning robot has cleaning units at both ends of its body. The body moves and operates through a walking unit. Several adsorption units controlled by the control unit are located on the side of the body facing the working surface of the photovoltaic panel. The adsorption units provide negative pressure and adsorb onto the working surface of the photovoltaic panel.

4. The adjustable lifting point back armor structure of the photovoltaic cleaning robot according to claim 1, characterized in that: The machine body is equipped with a slope sensor for real-time detection of the tilt angle of the photovoltaic panels.

5. The adjustable lifting point back armor structure of the photovoltaic cleaning robot according to claim 1, characterized in that: A pressure sensor is installed in the limiting groove to detect whether the positioning block has been correctly connected and has been subjected to sufficient preload.

6. The adjustable lifting point back armor structure of the photovoltaic cleaning robot according to claim 1, characterized in that: The slide rail has a detachable modular design and is fixed to the top of the machine body via a quick-install interface.

7. The adjustable lifting point back armor structure of the photovoltaic cleaning robot according to claim 1, characterized in that: The hoisting interface is one of the following: quick-release interface, electromagnet chuck interface, or mechanical claw interface.

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