A photovoltaic panel cleaning robot based on cycloidal propeller

Abstract

The present invention relates to a photovoltaic panel cleaning robot based on a cycloidal paddle, comprising a fuselage, a main control board and a battery provided on the fuselage, and a plurality of wheels provided under the fuselage, wherein each wheel is provided with a motor and a steering gear for steering the wheel, and the fuselage is further provided with a cycloidal paddle for increasing the positive pressure of the robot on the photovoltaic panel, the cycloidal paddle, the steering gear, the battery and the motor are all electrically connected to the main control board. The above structure is adopted to solve the technical problem in the existing photovoltaic panel vehicle-mounted cleaning technology that the maneuverability is insufficient due to easy slipping when turning, thereby affecting work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic panel cleaning, and in particular to a photovoltaic panel cleaning robot based on a cycloidal paddle. Background Art

[0002] Conventional energy is limited, both globally and in China. Solar energy is an inexhaustible, renewable energy source. It boasts advantages such as cleanliness, absolute safety, relative ubiquity, a long lifespan, maintenance-free operation, abundant resources, and potential economic benefits. It plays a crucial role in long-term energy strategies. Photovoltaic power generation is one of the key uses of solar energy. Photovoltaic panels, the primary structure used in photovoltaic power generation, are exposed to the environment and easily accumulate mud, sand, and dust, necessitating frequent cleaning. Existing photovoltaic panel cleaning technologies primarily include single-row cleaning, cross-panel cleaning, and adsorption cleaning. Cross-panel cleaning technologies include vehicle-mounted cleaning and shuttle-type cleaning. Due to the relatively smooth surface of photovoltaic panels, vehicle-mounted cleaning robots often slip when turning, resulting in limited maneuverability and impacting efficiency. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a photovoltaic panel cleaning robot based on a cycloidal paddle to solve the technical problem in the existing photovoltaic panel vehicle-mounted cleaning technology that is prone to slipping when turning, resulting in insufficient maneuverability and affecting work efficiency.

[0004] In order to solve the above technical problems, the present invention provides a photovoltaic panel cleaning robot based on a cycloid paddle, comprising a fuselage, a main control board and a battery are provided on the fuselage, and several wheels are provided under the fuselage, wherein each wheel is provided with a motor and a servo for steering the wheel, and the fuselage is also provided with a cycloid paddle for increasing the positive pressure of the robot on the photovoltaic panel, and the cycloid paddle, servo, battery and motor are all electrically connected to the main control board.

[0005] After adopting the above structure, the photovoltaic panel cleaning robot based on the cycloid paddle of the present invention has the following advantages: the steering is driven by the servo instead of the conventional differential steering, so that the robot is not easy to slip when turning, the cycloid paddle increases the positive pressure of the robot on the photovoltaic panel, thereby increasing the friction, making the robot less likely to slip when traveling in a straight line. At the same time, the setting of the cycloid paddle also increases the friction during turning, making the robot even less likely to slip. Each wheel is provided with a motor and a servo, so that the wheels are independently equipped with power and steering capabilities, which also makes it less likely to slip when turning, and has higher maneuverability, thereby improving the efficiency of the robot.

[0006] As an improvement, the cycloid propeller includes a first bracket, a second bracket, an eccentric shaft assembly, two fixing brackets, a plurality of blades, a plurality of limit propellers and a motor. The cycloid propeller is electrically connected to the main control board through the motor. The first bracket and the second bracket are both arranged on the fuselage. A through hole is provided on the fuselage. The through hole is located between the first bracket and the second bracket. The eccentric shaft assembly is arranged between the first bracket and the second bracket. The eccentric shaft assembly includes a first rotating shaft, a second rotating shaft and a connecting block. The first rotating shaft and the second rotating shaft are eccentrically arranged and respectively connected to both sides of the connecting block. The first rotating shaft is connected to the first bracket, and the second rotating shaft is connected to the second bracket. The two fixing brackets are rotatably arranged at both ends of the first rotating shaft, and the output end of the motor is connected to the side of the first bracket. A fixed frame, a plurality of blades can be rotatably arranged between the fixed frames, a plurality of limit paddles can be rotatably arranged on the second rotating shaft, the number of limit paddles is the same as the number of blades, and the limit paddles are connected to the blades. With this structure, the fixed frame is driven by a motor to rotate, driving the blades to rotate around the first rotating shaft, and the limit paddles rotate around the second rotating shaft. Due to the eccentric setting of the first rotating shaft and the second rotating shaft, the limit paddles cause the blades to swing. Due to the combined effect of the rotation of the blades around the first rotating shaft and the swing of the blades themselves on the fixed frame, the robot generates a positive pressure perpendicular to the photovoltaic panel, providing a higher pressure of the robot on the photovoltaic panel, thereby increasing the friction, making the robot's movement more stable, and improving efficiency and maneuverability.

[0007] As an improvement, the cycloid propeller also includes a third bracket and a motor disk. The third bracket is arranged on the fuselage, the motor is installed on the third bracket, the motor disk is arranged at the output end of the motor, and the motor disk is connected to the fixing frame on the side of the first bracket by at least one bolt. This structure improves the stability of power transmission between the motor and the fixing frame.

[0008] As an improvement, the motor is a model aircraft motor. With this structure, the model aircraft motor can provide a higher speed than ordinary motors, and has a long service life and high efficiency.

[0009] As an improvement, the cycloid paddle also includes a dust cover, which is arranged on the second bracket. This structure prevents mud, sand and dust in the environment from entering the cycloid paddle during the robot cleaning process.

[0010] As an improvement, the second rotating shaft is provided with grooves having the same number as the limiting paddles, and the limiting paddles are arranged in the grooves. This structure prevents the limiting paddles from moving in the horizontal direction when rotating on the second rotating shaft.

[0011] As an improvement, the battery is a model aircraft battery, and the blades and fixing frame are made of carbon fiber material. With this structure, the model aircraft battery is light in weight and has high capacity, with a long battery life. The carbon fiber material has low density and light overall weight, which prevents damage to the photovoltaic panels.

[0012] As an improvement, the wheels are made of rubber material and have anti-slip grooves. This structure increases the friction between the wheels and the photovoltaic panels to prevent slipping.

[0013] As an improvement, a cleaning component is provided on the fuselage. The cleaning component is a latex plate that is detachably arranged on the fuselage at an angle downward. With this structure, the cleaning component is used to clean the photovoltaic panels. The detachable connection makes it convenient to disassemble the cleaning component for cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0015] Figure 2 for Figure 1 A partial enlarged view of part A in the middle.

[0016] Figure 3 for Figure 1 A partial enlarged view of part B in the middle.

[0017] Figure 4 It is a cross-sectional view of the cycloid propeller of the present invention.

[0018] Figure 5 It is a schematic diagram of the three-dimensional structure of the wheel part of the present invention.

[0019] Figure numerals: 1, fuselage; 2, cleaning assembly; 3, main control board; 4, battery; 5, wheel; 6, servo; 7, cycloid propeller; 71, first bracket; 72, second bracket; 73, eccentric shaft assembly; 731, first rotating shaft; 732, second rotating shaft; 733, connecting block; 74, fixing bracket; 75, propeller; 76, limit propeller; 77, motor; 78, third bracket; 79, motor disk; 710, dust cover; 8, motor; 12, through hole; 13, bolt; 15, groove; 16, protrusion; 17, convex groove; 18, power transfer component; 19, fixing arm; 20, connecting shaft; 21, bearing cover. DETAILED DESCRIPTION

[0020] The photovoltaic panel cleaning robot based on a cycloidal paddle of the present invention is described in detail below with reference to the accompanying drawings.

[0021] like Figures 1 to 5As shown, a photovoltaic panel cleaning robot based on a cycloidal paddle comprises a body 1, on which a cleaning assembly 2, a main control board 3, and a battery 4 are provided. A plurality of wheels 5 are provided below the body 1, each of which is provided with a motor 8 and a steering gear 6 for steering the wheel 5. The body 1 is also provided with a cycloidal paddle 7 for increasing the positive pressure of the robot on the photovoltaic panel. In this embodiment, the body 1 is generally square, with a protrusion 16 provided below each of the four sides, each of which is provided with a convex groove 17, which is arranged obliquely downward and faces the outside of the body 1. The cleaning assembly 2 is composed of four latex sheets, one end of which is shaped to fit the convex groove 17. This end is inserted into the convex groove 17, thereby fixing the latex sheet obliquely downward, and this connection is detachable. There are four wheels 5, distributed below the four corners of the body 1. Each wheel 5 consists of two single wheels and is driven by a motor 8 and steered by a steering gear 6, for a total of four motors 8 and four steering gears 6. The wheels 5 are all made of rubber material and have anti-skid patterns. The steering gear 6 is arranged on each wheel 5 and mounted on the fuselage 1 .

[0022] The cycloid paddle 7 includes a first bracket 71, a second bracket 72, a third bracket 78, an eccentric shaft assembly 73, two fixing brackets 74, a plurality of blades 75, a plurality of limiting paddles 76, a motor 77, a motor disk 79, and a dust cover 710. In this embodiment, there are four limiting paddles 76 and four blades 75. The eccentric shaft assembly 73 is arranged between the first bracket 71 and the second bracket 72. The eccentric shaft assembly 73 includes a first rotating shaft 731, a second rotating shaft 732, and a connecting block 733. The first rotating shaft 731 and the second rotating shaft 732 are eccentrically arranged and respectively connected to the two sides of the connecting block 733. The connecting block 733 is provided with an upper and lower hole. The upper hole is connected to the first rotating shaft 731, and the lower hole is connected to the second rotating shaft 732. The first bracket 71 is provided with an annular power transfer member 18, which is connected to the first bracket 71 via a bearing. The first rotating shaft 731 is connected to the power transfer member 18 via a bearing provided in the inner hole of the power transfer member 18, thereby being fixed to the first bracket 71. The second rotating shaft 732 is connected to the second bracket 72. A fixing bracket 74 is provided at each end of the first rotating shaft 731, and the fixing bracket 74 and the first rotating shaft 731 are connected to each other via a bearing to achieve rotational connection. The output end of the motor 77 is connected to the motor disk 79 via a nut, and the other end is fixed to the third bracket 78. The motor disk 79 is connected to the fixing bracket 74 on the side of the first bracket 71 by at least one bolt 13. In this embodiment, there are four bolts 13. Each of the four bolts 13 passes through the power transfer member 18 from the fixing bracket 74 on the side of the first bracket 71 and is connected to the motor disk 79. Four fixed arms 19 extend outward from the fixing frame 74, which are evenly distributed circumferentially on the fixing frame 74. Four connecting shafts 20 are connected between the fixed arms 19 of the two fixing frames 74. Each connecting shaft 20 is connected to a bearing cap 21 at each end via a bearing. A propeller 75 is inserted between the two bearing caps 21 on the same connecting shaft 20. Four grooves 15 are provided on the second rotating shaft 732, and four limiting paddles 76 are rotatably mounted on the four grooves 15. Each limiting paddle 76 is L-shaped, with one end connected to the groove 15 via a bearing and the other end fixed to the propeller 75. A dust cover 710 is provided on the second bracket 72, covering the second rotating shaft 732 and all the limiting paddles 76. A through hole 12 is provided on the fuselage 1, located between the first bracket 71 and the second bracket 72. There are two sets of cycloidal propellers 7, each with two corresponding through holes 12.

[0023] Motor 77 is a model aircraft motor with a higher speed and longer lifespan than conventional motors. Battery 4 is a model aircraft battery with a lighter weight and higher capacity than conventional batteries. Propeller blades 75 and mounting bracket 74 are both made of carbon fiber, making the overall structure even lighter. Motor 77, steering gear 6, battery 4, and motor 8 are all electrically connected to the main control board 3.

[0024] During use, the robot is placed on a photovoltaic panel and controlled by the main control board 3. The battery 4 powers each servo 6, each motor 77, and each motor 8. The motor 77 drives the fixed frame 74 to rotate, thereby rotating the four blades 75 about the first rotating shaft 731. Simultaneously, the limiting paddle 76 rotates on the second rotating shaft 732. Due to the eccentric arrangement between the first rotating shaft 731 and the second rotating shaft 732, the limiting paddle 76 causes the blades 75 to swing about the connecting shaft 20 while rotating about the first rotating shaft 731, causing their angle of attack to change over time. Compared to other propellers, the combined effect of the orbital motion and the changing angle of attack creates a positive pressure perpendicular to the photovoltaic panel, generating greater friction and significantly improving the maneuverability and efficiency of the cleaning robot. The four motors 8 drive their respective wheels 5 to rotate, causing the cleaning robot to move forward. When the cleaning robot needs to turn, the servo 6 controls the four wheels 5 to change their direction simultaneously. Compared to conventional designs that achieve turning by differentially controlling the wheels on both sides, the steering gear 6 controls turning, making the cleaning robot less likely to slip. Furthermore, each wheel 5 is provided with a power source and a steering gear 6, making the wheels 5 less likely to slip. The latex sheet has a certain degree of elasticity. The latex sheet on the front side of the cleaning robot's forward direction can scrape off dust accumulated on the photovoltaic panels. The latex sheet on the rear side of the forward direction creates friction with the photovoltaic panel surface, wiping off dust on the panels. After cleaning, the latex sheet can be removed from the convex groove 17 for cleaning and then reinserted into the convex groove 17.

[0025] The above describes the embodiments of the present invention in detail with reference to the accompanying drawings, but the present invention is not limited to the above-mentioned embodiment. All other embodiments obtained by those skilled in the art without making any creative work shall fall within the scope of protection of the present invention.

Claims

1. A photovoltaic panel cleaning robot based on a cycloidal propeller, comprising a body (1), a main control board (3) and a battery (4) being provided on the body (1), and a plurality of wheels (5) being provided under the body (1), characterized in that: Each wheel (5) is provided with a motor (8) and a steering gear (6) for steering the wheel (5); the body (1) is further provided with a cycloid propeller (7) for increasing the positive pressure of the robot on the photovoltaic panel; the cycloid propeller (7), the steering gear (6), the battery (4) and the motor (8) are all electrically connected to the main control board (3); The cycloid propeller (7) comprises a first bracket (71), a second bracket (72), an eccentric shaft assembly (73), two fixing brackets (74), a plurality of blades (75), a plurality of limiting blades (76) and a motor (77). The cycloid propeller (7) is electrically connected to the main control board (3) via the motor (77). The first bracket (71) and the second bracket (72) are both arranged on the fuselage (1). The fuselage (1) is provided with a through hole (12). The through hole (12) is located between the first bracket (71) and the second bracket (72). The eccentric shaft assembly (73) is arranged between the first bracket (71) and the second bracket (72). The eccentric shaft assembly (73) comprises a first rotating shaft (731), a second rotating shaft (732) and a connecting block (73). 3), the first rotating shaft (731) and the second rotating shaft (732) are eccentrically arranged and respectively connected to both sides of the connecting block (733), the first rotating shaft (731) is connected to the first bracket (71), the second rotating shaft (732) is connected to the second bracket (72), the two fixing frames (74) are rotatably arranged at both ends of the first rotating shaft (731), the output end of the motor (77) is connected to the fixing frame (74) on the side of the first bracket (71), the plurality of blades (75) are rotatably arranged between the fixing frames (74), the plurality of limiting paddles (76) are rotatably arranged on the second rotating shaft (732), the number of the limiting paddles (76) is the same as the number of the blades (75), and the limiting paddles (76) are connected to the blades (75); The wheel (5) is made of rubber material and is provided with anti-skid patterns.

2. A photovoltaic panel cleaning robot based on a cycloidal paddle according to claim 1, characterized in that: The cycloid propeller (7) further includes a third bracket (78) and a motor disk (79), wherein the third bracket (78) is provided on the fuselage (1), the motor (77) is mounted on the third bracket (78), the motor disk (79) is provided at the output end of the motor (77), and the motor disk (79) is connected to the fixing frame (74) on the side of the first bracket (71) by at least one bolt (13).

3. A photovoltaic panel cleaning robot based on a cycloidal paddle according to claim 1 or 2, characterized in that: The motor (77) is a model aircraft motor.

4. The photovoltaic panel cleaning robot based on a cycloidal paddle according to claim 1, characterized in that: The cycloid propeller (7) further includes a dust cover (710), and the dust cover (710) is arranged on the second bracket (72).

5. The photovoltaic panel cleaning robot based on a cycloidal propeller according to claim 1, characterized in that: The second rotating shaft (732) is provided with grooves (15) having the same number as the limiting paddles (76), and the limiting paddles (76) are arranged in the grooves (15).

6. The photovoltaic panel cleaning robot based on a cycloidal propeller according to claim 1, characterized in that: The battery (4) is a model aircraft battery, and the propeller (75) and the fixing frame (74) are both made of carbon fiber material.

7. The photovoltaic panel cleaning robot based on a cycloidal propeller according to claim 1, characterized in that: A cleaning component (2) is provided on the body (1), and the cleaning component (2) is a latex plate that is obliquely downward and detachably provided on the body (1).

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