A photovoltaic cleaning robot with an adaptive roller brush assembly

Abstract

The present invention relates to a photovoltaic cleaning robot with an adaptive roller brush assembly, the photovoltaic cleaning robot comprises a vehicle body and a crawler drive assembly, and also comprises an adaptive roller brush assembly, the adaptive roller brush assembly is arranged at the front side of the vehicle body, the photovoltaic cleaning robot cleans by the adaptive roller brush assembly, the vehicle body comprises a vehicle frame, the left side and the right side of the vehicle frame are respectively provided with a crawler drive assembly, the adaptive roller brush assembly is arranged at the outer side of the front side wall of the vehicle frame, the adaptive roller brush assembly comprises a roller brush module, a mounting bracket, a connecting bracket and a lifting module, the roller brush module is arranged in the mounting bracket, the mounting bracket is arranged at the front outer side wall of the vehicle frame through the connecting bracket, the lifting module is arranged on the vehicle frame, and the photovoltaic cleaning robot lifts and drops the roller brush module by the lifting module to adapt to the working surface of the photovoltaic panel with a height difference. The present invention has the characteristics of being easy to use, strong adaptability, high cleaning efficiency, and safe and reliable.

Description

Technical Field

[0001] The invention relates to a photovoltaic cleaning robot with an adaptive roller brush assembly. Background Art

[0002] The sustainable development and environmental friendliness of solar power generation make it one of the most ideal renewable energy technologies, among which photovoltaic power generation is the main one. The photovoltaic dust accumulation effect is one of the biggest problems encountered in the large-scale application of photovoltaic power generation. Large-scale photovoltaic power stations are mostly built in areas with long sunshine hours and little rain. If they are not cleaned for a long time, the power generation will drop by 20%-30%, causing a lot of economic losses. Therefore, how to solve the dust accumulation problem economically and reasonably has become a key task in the development of the photovoltaic industry.

[0003] The frame of the photovoltaic panel is higher than that of the photovoltaic panel, and the two photovoltaic panels may be fixedly connected by a photovoltaic block, which is higher than the frame of the photovoltaic panel. In some photovoltaic power stations, due to the influence of terrain and other factors, there may be a certain height difference between the photovoltaic panels. If the cleaning device is fixedly connected to the fuselage, when the photovoltaic cleaning robot crawler drives in these places higher than the photovoltaic panel, the fuselage will tilt up, driving the roller brush to tilt up and away from the photovoltaic panel, and there will be an area that cannot be cleaned. Summary of the invention

[0004] In view of the above-mentioned problems existing in the prior art, the main purpose of the present invention is to provide a photovoltaic cleaning robot with an adaptive roller brush assembly, which has the characteristics of easy use, strong adaptability, high cleaning efficiency and safety and reliability.

[0005] The technical solution of the present invention is as follows:

[0006] A photovoltaic cleaning robot with an adaptive roller brush assembly, the photovoltaic cleaning robot comprising a body and a track drive assembly, the track drive assembly being arranged on both sides of the body, the photovoltaic cleaning robot walking under the drive of the track drive assembly, and also comprising an adaptive roller brush assembly, the adaptive roller brush assembly being arranged on the front side of the body, the photovoltaic cleaning robot cleaning through the adaptive roller brush assembly, the body comprising a frame, the left and right sides of the frame being respectively provided with a track drive assembly, the adaptive roller brush assembly being arranged on the outer side of the front side wall of the frame, the adaptive roller brush assembly comprising a roller brush module, a mounting bracket, a connecting bracket and a lifting module, the roller brush module being arranged in the mounting bracket, the mounting bracket being arranged on the front outer side wall of the frame through the connecting bracket, the lifting module being arranged on the frame, the photovoltaic cleaning robot lifting and lowering the roller brush module through the lifting module to adapt to the working surface of the photovoltaic panel with a height difference.

[0007] The mounting bracket includes a mounting plate, a first extension plate and a second extension plate. The first extension plate is fixedly arranged on the left front side of the mounting plate, and the second extension plate is fixedly arranged on the right front side of the mounting plate.

[0008] The mounting plate is rotatably connected to the outer front of the left and right side walls of the frame through the two connecting brackets, and the outer front of the left and right side walls of the frame are both provided with a fifth flange bearing, a sixth flange bearing and a limiting bolt.

[0009] The connecting bracket includes a first connecting plate and a second connecting plate, the left end of the first connecting plate is fixedly connected to the front end of the second connecting plate, and the first connecting plate is fixedly connected to the mounting plate by a fastening screw; a limiting slide, a limiting groove and a rotating slide are provided on the second connecting plate, and the second connecting plate is positioned by the matching of the limiting groove and the fifth flange bearing to achieve a movable connection with the frame, the second connecting plate is slidably connected to the sixth flange bearing by the rotating slide to achieve a rotating connection with the frame, and the second connecting plate is slidably connected to the limiting bolt by the limiting slide to achieve a rotating connection and limiting with the frame.

[0010] The orthographic projections of the limiting slideway and the rotating slideway are both arc-shaped. When the second connecting plate rotates counterclockwise by a certain angle, the limiting bolt abuts against the right side wall of the limiting slideway.

[0011] The roller brush module includes bristles, a fixed roller, a driven gear, a transmission gear, a roller brush wheel, a driving gear and a roller brush motor, wherein the bristles are arranged on the outer wall of the fixed roller, roller brush wheels are respectively arranged at both ends of the fixed roller, the driven gear is fixedly arranged on the left end of the fixed roller, the transmission gear is arranged on the first extension plate through a fixing component, and the transmission gear is meshed with the driven gear for transmission, the roller brush motor is fixedly arranged on the first extension plate, and the output shaft of the roller brush motor is connected to the driving gear, and the driving gear is meshed with the transmission gear for transmission.

[0012] The roller brush module also includes a gear dust box, the right side of the gear dust box is open and fixedly connected to the first extension plate, the driving gear, transmission gear and driven gear are all located in the gear dust box, and a roller brush fixing plate is provided at the lower opening position of the left side wall of the gear dust box, and the roller brush fixing plate is fixedly connected to the first extension plate through a plurality of fixing columns.

[0013] The fixing assembly includes a first fixing seat and a second fixing seat, the first fixing seat is fixedly arranged on the first extension plate, the second fixing seat is fixedly arranged on the roller brush fixing plate, the transmission gear is rotatably connected to the fixing shaft through a first flange bearing, and the two ends of the fixing shaft are respectively fixedly arranged on the first fixing seat and the second fixing seat.

[0014] The left and right ends of the fixed roller are respectively provided with a first roller brush bearing and a second roller brush bearing. The first roller brush bearing is installed in a first bearing fixing seat provided on the right side wall of the first extension plate, and the second roller brush bearing is installed in a second bearing fixing seat provided on the left side wall of the second extension plate.

[0015] The first bearing seat includes a first upper bearing seat and a first lower bearing seat, the first upper bearing seat is fixedly arranged on the right side wall of the first extension plate, and the first lower bearing seat is fixedly connected to the first upper bearing seat by a first fastening screw; the second bearing seat includes a second upper bearing seat and a second lower bearing seat, the second upper bearing seat is fixedly arranged on the left side wall of the second extension plate, and the second lower bearing seat is fixedly connected to the second upper bearing seat by a second fastening screw.

[0016] The lifting module includes a first lifting link, a second lifting link and a roller brush servo, a second flange bearing is provided at the front end of the first lifting link, a lifting bracket is provided on the rear side wall of the mounting plate, and the lifting bracket is movably connected to the second flange bearing through a first fastening bolt; a third flange bearing is provided at the front part of the first lifting link, a second fastening bolt is provided in the third flange bearing, the second fastening bolts are located on both sides of the first lifting link and are respectively connected to one end of the second lifting link, and the other end of the second lifting link is fixedly connected to the chassis of the frame through a lifting fixing seat.

[0017] The roller brush servo is fixedly arranged on the chassis of the frame and is located at the rear side of the lifting fixed seat. The driving shaft of the roller brush servo is fixedly connected to the steering wheel. The steering wheel is fixedly connected to one end of the servo arm, and a screw bearing is provided at the other end of the servo arm. The servo arm is abutted against the upper end face of the rear end of the first lifting link through the screw bearing. The servo arm is abutted against the upper end face of the right end of the second lifting link under the drive of the roller brush servo, so that the left end of the second lifting link rises or falls, thereby lifting or falling the roller brush assembly.

[0018] A fixing hole is provided in the lifting fixing seat, a fourth flange bearing is provided in the fixing hole, a third fastening bolt is provided in the fourth flange bearing, and the other ends of the two second lifting connecting rods are respectively sleeved on the third fastening bolts and located on both sides of the fourth flange bearing.

[0019] A buffer device is arranged between the first lifting link and the chassis of the frame, and the buffer device includes a tension spring. A connecting through hole is arranged on the front side of the first lifting link near the third flange bearing, and the upper end of the tension spring is installed in the connecting through hole. The lower end of the tension spring is fixed on the chassis of the frame. The tension spring is in a stretched state so that the roller brush assembly at the left end of the first lifting link is tightly combined with the working surface of the photovoltaic panel.

[0020] The present invention has the following advantages and beneficial effects: the photovoltaic cleaning robot with an adaptive roller brush assembly provided in the embodiment of the present invention can clean all photovoltaic panel areas even on a photovoltaic array with protrusions through the adaptive roller brush assembly set on the photovoltaic cleaning robot, thereby enhancing the cleaning effect, reducing the friction coefficient caused by dust sticking to the track and causing slipping, increasing adaptability to complex environments, improving the degree of automation, reducing labor costs, and improving cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the three-dimensional structure of a photovoltaic cleaning robot with an adaptive roller brush assembly provided in an embodiment of the present invention.

[0022] Figure 2 for Figure 1 Schematic diagram of the enlarged structure at position A in the middle.

[0023] Figure 3 A schematic diagram of the top structure of a photovoltaic cleaning robot with an adaptive roller brush assembly provided in an embodiment of the present invention.

[0024] Figure 4 A schematic diagram of the front structural view of a photovoltaic cleaning robot with an adaptive roller brush assembly provided in an embodiment of the present invention.

[0025] Figure 5 A schematic diagram of the three-dimensional structure of an adaptive roller brush assembly in one direction provided by an embodiment of the present invention.

[0026] Figure 6 A schematic diagram of the three-dimensional structure of the adaptive roller brush assembly provided by an embodiment of the present invention from another direction.

[0027] Figure 7 A schematic diagram of the exploded structure of the mounting bracket, the connecting bracket and the lifting bracket provided in an embodiment of the present invention.

[0028] Figure 8 A schematic diagram of the exploded structure of an adaptive roller brush assembly provided in an embodiment of the present invention.

[0029] Fig. 9 This is an enlarged three-dimensional structural schematic diagram of a connecting bracket provided in an embodiment of the present invention.

[0030] Fig.10 It is a schematic diagram of an enlarged three-dimensional structure of the lifting module 204 provided in an embodiment of the present invention.

[0031] Fig.11 An enlarged three-dimensional structural schematic diagram of a lifting bracket provided in an embodiment of the present invention.

[0032] Fig.12 An enlarged three-dimensional structural schematic diagram of the cooperation between the first lifting connecting rod, the second lifting connecting rod and the lifting fixing seat provided in an embodiment of the present invention.

[0033] Fig.13 This is an enlarged three-dimensional structural schematic diagram of a roller brush servo provided in an embodiment of the present invention.

[0034] Fig.14 A schematic diagram of the exploded structure of the fixed roller, bristles, a roller brush wheel, a first bearing, a first bearing fixing seat, a second bearing and a second bearing fixing seat provided in an embodiment of the present invention.

[0035] Fig.15 An enlarged structural schematic diagram of the fixing assembly provided in an embodiment of the present invention cooperating with the first extension plate and the roller brush fixing plate.

[0036] Fig.16 A schematic diagram of a three-dimensional structure of a driving gear, a transmission gear and a driven gear matched with each other provided in an embodiment of the present invention.

[0037] Fig.17 A schematic diagram of the top view of the photovoltaic cleaning robot provided in an embodiment of the present invention performing cleaning operations on a photovoltaic panel working surface.

[0038] Fig.18 A schematic diagram of the front structural view of the adaptive roller brush assembly on the photovoltaic cleaning robot provided by an embodiment of the present invention after being lifted.

[0039] Fig.19 A schematic diagram of the side view structure of the adaptive roller brush assembly on the photovoltaic cleaning robot provided by an embodiment of the present invention after being lifted.

[0040] Fig. 20 This is a schematic diagram of the front structural view of the photovoltaic cleaning robot after the buffer device is installed on the embodiment of the present invention.

[0041] Fig.21 A side structural schematic diagram of the photovoltaic cleaning robot provided in an embodiment of the present invention, when no lifting module is provided, turning and crossing obstacles between photovoltaic panels with height differences.

[0042] Fig. 22 A schematic diagram of the top view of the photovoltaic cleaning robot provided in an embodiment of the present invention performing cleaning operations between photovoltaic panels with a first height difference.

[0043] Fig.23 A schematic diagram of the front structural view of the photovoltaic cleaning robot provided in an embodiment of the present invention performing cleaning operations between photovoltaic panels with a first height difference.

[0044] Fig.24 A schematic diagram of a top view of a photovoltaic cleaning robot provided in an embodiment of the present invention performing a cleaning operation between photovoltaic panels with a second height difference

[0045] Fig.25 A schematic diagram of the front view structure of the photovoltaic cleaning robot provided in an embodiment of the present invention performing cleaning operations between photovoltaic panels with a second height difference.

[0046] Fig.26 A schematic diagram of the top view of the photovoltaic cleaning robot provided in an embodiment of the present invention when no roller brush wheel is provided and the robot performs cleaning between photovoltaic panels with height differences.

[0047] Fig. 27 A schematic diagram of the front view structure of the photovoltaic cleaning robot provided in an embodiment of the present invention when no roller brush wheel is provided and the robot performs cleaning between photovoltaic panels with height differences.

[0048] Fig.28 A schematic top view of the structure of a photovoltaic cleaning robot provided in an embodiment of the present invention using a universal ball to perform cleaning operations.

[0049] Fig.29 A schematic diagram of the front view of the photovoltaic cleaning robot provided in an embodiment of the present invention using a universal ball to perform cleaning operations. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0051] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0052] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0054] like Figures 1 to 29 As shown: a photovoltaic cleaning robot with an adaptive roller brush assembly provided by an embodiment of the present invention, the photovoltaic cleaning robot includes a body 100 and a track drive assembly 300, the track drive assembly 300 is arranged on both sides of the body 100, the photovoltaic cleaning robot walks under the drive of the track drive assembly 300, and also includes an adaptive roller brush assembly 200, the adaptive roller brush assembly 200 is arranged on the front side of the body 100, the photovoltaic cleaning robot cleans the working surface of the photovoltaic panel through the adaptive roller brush assembly, the body 100 includes a frame 101, and the left and right sides of the frame 101 are respectively provided with a track The driving component 300, the adaptive roller brush component 200 is arranged on the outer side of the front side wall of the frame 101, the adaptive roller brush component 200 includes a roller brush module 201, a mounting bracket 202, a connecting bracket 203 and a lifting module 204, the roller brush module 201 is arranged in the mounting bracket 202, the mounting bracket 202 is arranged on the front outer side wall of the frame 101 through the connecting bracket 203, the lifting module 204 is arranged on the frame 101, and the photovoltaic cleaning robot lifts and lowers the roller brush module 201 through the lifting module 204 and the roller brush wheel 244 to adapt to the working surface of the photovoltaic panel with a height difference.

[0055] The mounting bracket 202 includes a mounting plate 210, a first extension plate 221, and a second extension plate 222. The first extension plate 221 is fixedly arranged at the front side of the left end of the mounting plate 210, and the second extension plate 222 is fixedly arranged at the front side of the right end of the mounting plate 210. At the same time, the second extension plate 222 and the mounting plate 210 are integrally formed, so the firmness of the second extension plate 222 and the mounting plate 210 can be improved; in addition, the upper end 210 of the mounting plate is extended forwardly to be provided with a third extension plate 210, and the right end of the third extension plate 211 extends to the upper end of the second extension plate 222, and the mounting plate 210, the third extension plate 211 and the second extension plate are all integrally formed, so as to further improve the firmness of the second extension plate 222 and the mounting plate 210, and the safety and reliability are further improved, thereby achieving the purpose of extending the service life of the mounting bracket 202.

[0056] The mounting plate 210 is rotatably connected to the front outer portions of the left and right side walls of the frame 101 through the two connecting brackets 203, and the front outer portions of the left and right side walls of the frame 101 are both provided with a fifth flange bearing 103, a sixth flange bearing 105, and a limiting bolt 104. Since the mounting plate 210 is rotatably connected to the front outer portions of the left and right side walls of the frame 101 through the two connecting brackets 203, the stability and firmness of the mounting bracket 202 in cooperation with the frame 101 are improved.

[0057] The connecting bracket 203 includes a first connecting plate 231 and a second connecting plate 232. The left end of the first connecting plate 231 is fixedly connected to the front end of the second connecting plate 232. The first connecting plate 231 is fixedly connected to the mounting plate 210 by fastening screws (not shown in the figure), thereby facilitating the early assembly and later disassembly of the first connecting plate 231 and the mounting plate 210, and at the same time improving the firmness of the combination of the first connecting plate 231 and the mounting plate 210. A limited position slideway 232 is provided on the second connecting plate 232. 05, a limiting groove 206 and a rotating slide 208, the second connecting plate 232 is positioned by the matching of the limiting groove 206 and the fifth flange bearing 103 to achieve a movable connection with the frame 101, the second connecting plate 232 is slidably connected to the sixth flange bearing 105 through the rotating slide 208 to achieve a rotating connection with the frame 101, and the second connecting plate 232 is slidably connected to the limiting bolt 104 through the limiting slide 205 to achieve a rotating connection and limiting with the frame 101.

[0058] The orthographic projections of the limiting slide 205 and the rotating slide 208 are both arc-shaped, the limiting bolt 104 slides in the limiting slide 205 to limit the rotation angle of the roller brush module 201 relative to the frame 101, and the sixth flange bearing 105 slides in the rotating slide position 208 to achieve lateral limitation. When the second connecting plate 232, that is, the connecting bracket 203, rotates counterclockwise by a certain angle (that is, the maximum angle), the limiting bolt 104 abuts against the right side wall of the limiting slide 205 to prevent the connecting bracket 203 from continuing to rotate, thereby improving safety and reliability. When the second connecting plate 232, that is, the connecting bracket 203, rotates clockwise by a certain angle (that is, the maximum angle), the limiting bolt 104 abuts against the left side wall of the limiting slide 205 to prevent the connecting bracket 203 from continuing to rotate. After the limiting bolt 104 is removed, the second connecting plate 232 , ie, the connecting bracket 203 , can continue to rotate clockwise by a certain angle so that the sixth flange bearing 105 is separated from the rotating slide position 208 to remove the roller brush module.

[0059] The roller brush module 201 includes bristles 240, a fixed roller 241, a driven gear 242, a transmission gear 243, a roller brush wheel 244, a driving gear 245 and a roller brush motor 246, wherein the bristles 240 are arranged on the outer wall of the fixed roller 241, and roller brush wheels 244 are respectively arranged at both ends of the fixed roller 241. The driven gear 242 is fixedly arranged at the left end of the fixed roller 241, and the transmission gear 243 is arranged on the first extension plate 221 through a fixing component, and the transmission gear 243 is meshed with the driven gear 242 for transmission, and the roller brush motor 246 is fixedly arranged on the first extension plate 221, and the output shaft 247 of the roller brush motor 246 is connected to the driving gear 245, and the driving gear 245 is meshed with the transmission gear 243 for transmission. That is, the driving gear 245 drives the transmission gear 243 to rotate under the drive of the roller brush motor 246, thereby driving the driven gear 242 to rotate through the transmission gear 243, and then driving the fixed roller 241 meshing with the driven gear 242 to rotate synchronously, and then driving the bristles 240 to rotate to achieve the purpose of cleaning the working surface of the photovoltaic panel. In addition, a motor dust cover 212 is provided outside the roller brush motor 246, and the motor dust cover 212 is sleeved on the roller brush motor 246 through an opening provided at its left end, and the left end of the motor dust cover 212 is fixedly provided on the first extension plate 221 by a fastening screw, which is convenient for assembly and later disassembly, and improves safety and reliability.

[0060] The roller brush module 201 also includes a gear dust box 248, the right side of the gear dust box 248 is open and fixedly connected to the first extension plate 221, the driving gear 245, the transmission gear 243 and the driven gear 242 are all located in the gear dust box 248, and a roller brush fixing plate 249 is provided at the lower opening position of the left side wall of the gear dust box 248. The roller brush fixing plate 249 is fixedly connected to the first extension plate 221 through a plurality of fixing columns 253, and the second fixing seat 252 is connected to the roller brush fixing plate 249 through the plurality of third mounting holes 258, thereby improving the firmness of the combination of the second fixing seat 252 and the roller brush fixing plate 249. Specifically, the lower end of the gear dust box 248 is designed to be open and is closed by the dust box bottom cover 213, that is, by setting an opening at the lower end of the gear dust box 248, and the opening size is consistent with the roller brush fixing plate 249, the left end of the fixing column 253 is fixedly set on the right side wall of the roller brush fixing plate 249, and the right end of the fixing column 253 is fixedly set on the left side wall of the first extension plate 221; after the roller brush fixing plate 249 and the dust box bottom cover 213 are connected to the gear dust box 248, The driving gear 245, the transmission gear 243 and the driven gear 242 are enclosed in the gear dust cover 248. By arranging a gear dust box 248 on the left side outside the first extension plate 221 and a dust box bottom cover 213 located at the lower end of the gear dust box 248, the driving gear 245, the transmission gear 243 and the driven gear 242 can be protected to prevent external dust or debris from entering the gap between the driving gear 245, the transmission gear 243 and the driven gear 242, thereby improving safety and reliability.

[0061] The fixing assembly includes a first fixing seat 251 and a second fixing seat 253. The first fixing seat 251 is fixedly arranged on the first extension plate 221, and the second fixing seat 253 is fixedly arranged on the roller brush fixing plate 249. The transmission gear 243 is rotatably connected to the fixing shaft 255 through the first flange bearing 254, and the two ends of the fixing shaft 255 are respectively fixedly arranged on the first fixing seat 251 and the second fixing seat 252. Specifically, the first fixing seat 251 is provided with a plurality of first mounting holes 256, and the first fixing seat 251 is fixedly arranged on the left side wall of the first extension plate 221 through the first mounting holes 256, thereby improving the firmness of the combination of the first fixing seat 251 and the first extension plate 221; the first fixing seat 251 is also provided with two mounting holes 257, and the right end of the fixing shaft 255 is installed in the second mounting hole 257; the second fixing seat 252 is provided with a plurality of third mounting holes 258, and the second fixing seat 252 is fixedly arranged through the third mounting holes 258 On the right side wall of the roller brush fixing plate 249, the firmness of the second fixing seat 252 combined with the roller brush fixing plate 249 is improved; in addition, a fourth mounting hole 259 is also provided on the second fixing seat 252, and the left end of the fixed shaft 255 is installed in the fourth mounting hole 259, thereby improving the firmness of the fixing shaft 255 combined with the first fixing seat 251 and the second fixing seat 252, and at the same time, it can also improve the firmness of the first fixing seat 251 and the first extension plate 221 as well as the second fixing seat 252 and the roller brush fixing plate 249, thereby further improving the safety and reliability.

[0062] The left and right ends of the fixed roller 241 are respectively provided with a first roller brush bearing 261 and a second roller brush bearing 262. The first roller brush bearing 261 is installed in a first bearing fixing seat 271 provided on the right side wall of the first extension plate 221, and the second roller brush bearing 262 is installed in a second bearing fixing seat 272 provided on the left side wall of the second extension plate 222. Through the above design, that is, the first roller brush bearing 261 and the second roller brush bearing 262 are respectively sleeved on the left and right ends of the fixed roller 241, the roller brush module 201 can run smoothly; at the same time, the first bearing fixing seat 271 is fixedly provided on the first extension plate 221, and the second bearing fixing seat 272 is fixedly provided on the second extension plate 222, thereby improving the firmness of the combination of the fixed roller 241 and the mounting bracket 202, improving safety and reliability, and facilitating early assembly and later maintenance.

[0063] The first bearing seat 271 includes a first upper bearing seat 273 and a first lower bearing seat 274, the first upper bearing seat 273 is fixedly arranged on the right side wall of the first extension plate 221, and the first lower bearing seat 274 is fixedly connected to the first upper bearing seat 273 by a first fastening screw (not shown in the figure); the second bearing seat 272 includes a second upper bearing seat 275 and a second lower bearing seat 276, the second upper bearing seat 275 is fixedly arranged on the left side wall of the second extension plate 222, and the second lower bearing seat 276 is fixedly connected to the second upper bearing seat 275 by a second fastening screw (not shown in the figure).

[0064] The lifting module 204 includes a first lifting link 281, a second lifting link 282 and a roller brush servo 283, a second flange bearing 284 is provided at the front end of the first lifting link 281, a lifting bracket 220 is provided on the rear side wall of the mounting plate 210, and the lifting bracket 220 is movably connected to the second flange bearing 284 through a first fastening bolt 285; a third flange bearing 286 is provided at the front part of the first lifting link 281, a second fastening bolt 287 is provided in the third flange bearing 286, the second fastening bolt 287 is located on both sides of the first lifting link 281 and is respectively connected to one end of the second lifting link 282, and the other end of the second lifting link 282 is fixedly connected to the chassis 102 of the frame 101 through a lifting fixing seat 288. Specifically, the lifting bracket 220 includes a lifting plate 214 and a first fixing protrusion 215 and a second fixing protrusion 216 arranged on the rear side wall of the lifting plate 214, and one or more first connecting holes 217 are arranged on the lifting plate 214. The lifting plate 214 is fixedly connected to the mounting plate 210 through the above-mentioned first connecting holes 217, which is convenient for assembly and subsequent disassembly; a second connecting hole 218 is arranged in the first fixing protrusion 215, and a third connecting hole 219 is arranged in the second fixing protrusion 216. The front end of the first lifting connecting rod 281 is located in the first fixing protrusion 215 and the second fixing protrusion 216, and the first fastening bolt 285 in the second flange bearing 284 located at the front end of the first lifting connecting rod 281 is arranged in the second connecting hole 218 and the third connecting hole 219, and is locked by a nut, so that the first lifting connecting rod 281 can be movably connected to the fixing plate 210 through the cooperation of the first fastening bolt 285, the second flange bearing 284 and the lifting bracket 220. At the same time, a third flange bearing 286 is provided at the front of the first lifting link 281, and a second fastening bolt 287 is installed in the third flange bearing 286. The second fastening bolt 287 is located on both sides of the third flange bearing 286 (that is, located on both sides of the first lifting link 281) and is respectively connected to one end of a second lifting link 282, and the other end of the second lifting link 282 is fixedly connected to the chassis 102 of the frame 101 through a lifting fixing seat 288. Therefore, the first lifting link 281 is connected to the chassis 102 of the frame 101 through the third flange bearing 286 and the second fastening bolt 287. Bolt 287, two second lifting links 282 and lifting fixing seat 288 are connected with the chassis of vehicle frame 101, and have the characteristics of easy installation and high safety and reliability. Meanwhile, the first lifting link 281 is rotatably connected with the upper end of the second lifting link 282 through the cooperation of the third flange bearing 286 and the second fastening bolt 287, so that the left end of the first lifting link 281 can be raised and lowered. When the left end of the first lifting link 281 rises, its right end descends, and when the left end of the first lifting link 281 descends, its right end rises.

[0065] The roller brush servo 283 is fixedly arranged on the chassis 102 of the frame 101 and is located at the rear side of the lifting fixed seat 288. The driving shaft (not shown in the figure) of the roller brush servo 283 is fixedly connected to the steering wheel 289. The steering wheel 289 is fixedly connected to one end of the servo arm 290, and the other end of the servo arm 290 is provided with a screw bearing 291. The servo arm 290 is abutted against the upper end face of the rear end of the first lifting link 281 through the screw bearing 291. The servo arm 290 is driven by the roller brush servo 283 to abut against the upper end face of the right end of the second lifting link 282, so that the left end of the second lifting link 282 rises or falls, thereby lifting or falling the roller brush assembly 200. Through the above design, that is, by installing the roller brush servo 283 on the chassis 102 of the frame 101, the rotation of the drive shaft of the roller brush servo 283 can drive the servo arm 290 connected to the drive shaft to rotate, and at the same time, a screw bearing 291 is provided at the end of the servo arm 290 away from the roller brush servo 283, and the screw bearing 291 abuts against the upper side of the rear end of the first lifting link 281. Therefore, the rear end of the first lifting link 281 automatically realizes a descending or ascending action under the rotation of the servo arm 290, and then the front end of the first lifting link 281 can realize an ascending or descending action, thereby driving the roller brush assembly 200 to lift or fall, so that the photovoltaic cleaning robot will not be stuck when turning between photovoltaic panels with height differences, that is, the adaptability of the photovoltaic cleaning robot is improved.

[0066] The lifting fixing seat 288 is provided with a fixing hole (not shown in the figure), and a fourth flange bearing 292 is provided in the fixing hole. The fourth flange bearing 292 is provided with a third fastening bolt 293, and the other ends of the two second lifting connecting rods 282 are respectively sleeved on the third fastening bolts 293 and located on both sides of the fourth flange bearing 292.

[0067] A buffer device is arranged between the first lifting link 281 and the chassis 102 of the frame 101, and the buffer device includes a tension spring 294. A connecting hole 295 is arranged on the front side of the first lifting link 281 near the third flange bearing 286. The upper end of the tension spring 294 is installed in the connecting hole 295, and the lower end of the tension spring 294 is fixedly arranged on the chassis 102 of the frame 101.

[0068] The photovoltaic cleaning robot with an adaptive roller brush assembly provided by the embodiment of the present invention, when the photovoltaic cleaning robot is traveling in a straight line, the servo arm 290 is in a higher position, does not restrict the movement of the roller brush module 201, and the tension spring 294 acts as a buffer for the swing of the roller brush module 201, reducing the impact of the shaking caused by the floating roller brush module 201 on the travel of the photovoltaic cleaning robot. When the roller brush module 201 encounters a photovoltaic panel with a height difference upward or downward, the bristles 240 can contact the working surface of the photovoltaic panel, and can clean all areas. At the same time, the roller brush wheel 244 ensures that it will not be unable to cross when encountering a higher obstacle due to too much resistance. When about to turn, the servo 283 works to lift the roller brush module 201 to a certain height, and then turns after the lifting is completed. After the turn is completed, the servo arm 290 returns to the position where the movement of the roller brush module 201 is not restricted, and the photovoltaic cleaning robot continues to move in a straight line.

[0069] like Figure 23 to Figure 26 As shown, when there is a height difference between photovoltaic panels or there are protrusions such as photovoltaic blocks, in order to ensure that the bristles 240 in the roller brush module 201 can clean all areas, the roller brush module 201 needs to have a larger floating range in height relative to the vehicle body 100, so that the bristles 240 always fit the working surface of the photovoltaic panel. Fig. 27 and Fig.28 As shown, the rotation direction of the bristles 240 is to sweep the dust outwards, and the rotation direction is opposite to the direction of the driving gear 245 when the photovoltaic cleaning robot moves forward. There will be a resistance to the forward movement. The overall weight of the roller brush module 201 is large, and the bristles 240 are soft. The bristles 240 will be pressed to bend and deform until they reach the limit position. At this time, the contact length between the bristles 240 and the working surface of the photovoltaic panel is long, and the resistance is large, which will have a great impact on the drive of the crawler drive assembly 300 and the forward movement of the photovoltaic cleaning robot, and the torque requirement for the roller brush motor 246 is large. When the position of the next photovoltaic panel is higher than the current photovoltaic panel, the resistance is more obvious, and it may even get stuck and unable to step onto the steps. When a roller brush wheel 244 whose outer diameter is not greater than that of the bristles 240 is added to the roller brush module 201, the contact length between the bristles 240 and the working surface of the photovoltaic panel will not be greater than the difference between the maximum radius of the roller brush wheel 244 and the maximum radius of the bristles 240 in various working states such as crossing steps and driving on a flat surface. The resistance is significantly reduced, and the contact length between the bristles 240 and the working surface of the photovoltaic panel can be adjusted by adjusting the outer diameter difference between the bristles 240 and the roller brush wheel 244, thereby adjusting the cleaning force.

[0070] In addition, a universal ball 106 may also be used; specifically, the outer walls of the first extension plate 221 and the roller brush fixing plate 249 are fixedly provided with a fixing bracket 107, and the bottom of the fixing bracket 107 is movably connected with a universal ball 106. Compared with the roller brush wheel 244, the universal wheel 106 can not only move forward and cross the front step (i.e., the end of the photovoltaic panel), but also move in other directions to cross the steps. Fig.29 As shown, when the spherical curvature of the universal ball 106 is large, the tangent of the contact point between the spherical surface and the step is relatively flat, which can easily convert the lateral squeezing force into vertical force, so that the roller brush module can be lifted more easily to adapt to photovoltaic panels with different height differences.

[0071] Finally, it should be noted that the above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A photovoltaic cleaning robot with an adaptive roller brush assembly, the photovoltaic cleaning robot comprising a body and a track drive assembly, the track drive assembly being arranged on both sides of the body, the photovoltaic cleaning robot walking under the drive of the track drive assembly, characterized in that: It also includes an adaptive roller brush assembly, which is arranged on the front side of the vehicle body, and the photovoltaic cleaning robot cleans by means of the adaptive roller brush assembly. The vehicle body includes a frame, and a crawler drive assembly is respectively arranged on the left and right sides of the frame. The adaptive roller brush assembly is arranged on the outer side of the front side wall of the frame. The adaptive roller brush assembly includes a roller brush module, a mounting bracket, a connecting bracket and a lifting module. The roller brush module is arranged in the mounting bracket, and the mounting bracket is arranged on the front outer side wall of the frame through the connecting bracket. The lifting module is arranged on the frame, and the photovoltaic cleaning robot lifts and drops the roller brush module by means of the lifting module to adapt to the working surface of the photovoltaic panel with a height difference. The mounting bracket includes a mounting plate, a first extension plate and a second extension plate, wherein the first extension plate is fixedly arranged on the left front side of the mounting plate, and the second extension plate is fixedly arranged on the right front side of the mounting plate; The mounting plate is rotatably connected to the outer front of the left side wall and the right side wall of the frame through the two connecting brackets, and the outer front of the left side wall and the right side wall of the frame are both provided with a fifth flange bearing, a sixth flange bearing and a limit bolt; The connecting bracket includes a first connecting plate and a second connecting plate, the left end of the first connecting plate is fixedly connected to the front end of the second connecting plate, and the first connecting plate is fixedly connected to the mounting plate by a fastening screw; a limiting slideway, a limiting groove and a rotating slideway are arranged on the second connecting plate, the second connecting plate is positioned by the matching of the limiting groove and the fifth flange bearing to realize a movable connection with the frame, the second connecting plate is slidably connected to the sixth flange bearing by the rotating slideway to realize a rotating connection with the frame, and the second connecting plate is slidably connected to the limiting bolt by the limiting slideway to realize a rotating connection and limiting with the frame; The lifting module includes a first lifting link, a second lifting link and a roller brush servo, the front end of the first lifting link is provided with a second flange bearing, the rear side wall of the mounting plate is provided with a lifting bracket, and the lifting bracket is movably connected to the second flange bearing through a first fastening bolt; A third flange bearing is provided at the front part of the first lifting link, and a second fastening bolt is provided in the third flange bearing. The second fastening bolts are located on both sides of the first lifting link and are respectively connected to one end of the second lifting link, and the other end of the second lifting link is fixedly connected to the chassis of the frame through a lifting fixing seat.

2. The photovoltaic cleaning robot with an adaptive roller brush assembly according to claim 1, characterized in that: The orthographic projections of the limiting slideway and the rotating slideway are both arc-shaped. When the second connecting plate rotates counterclockwise by a certain angle, the limiting bolt abuts against the right side wall of the limiting slideway.

3. The photovoltaic cleaning robot with an adaptive roller brush assembly according to claim 1, characterized in that: The roller brush module includes bristles, a fixed roller, a driven gear, a transmission gear, a roller brush wheel, a driving gear and a roller brush motor, wherein the bristles are arranged on the outer wall of the fixed roller, roller brush wheels are respectively arranged at both ends of the fixed roller, the driven gear is fixedly arranged on the left end of the fixed roller, the transmission gear is arranged on the first extension plate through a fixing component, and the transmission gear is meshed with the driven gear for transmission, the roller brush motor is fixedly arranged on the first extension plate, and the output shaft of the roller brush motor is connected to the driving gear, and the driving gear is meshed with the transmission gear for transmission.

4. The photovoltaic cleaning robot with an adaptive roller brush assembly according to claim 3, characterized in that: The roller brush module also includes a gear dust box, the right side of the gear dust box is open and fixedly connected to the first extension plate, the driving gear, transmission gear and driven gear are all located in the gear dust box, and a roller brush fixing plate is provided at the lower opening position of the left side wall of the gear dust box, and the roller brush fixing plate is fixedly connected to the first extension plate through a plurality of fixing columns.

5. The photovoltaic cleaning robot with an adaptive roller brush assembly according to claim 4, characterized in that: The fixing assembly includes a first fixing seat and a second fixing seat, the first fixing seat is fixedly arranged on the first extension plate, the second fixing seat is fixedly arranged on the roller brush fixing plate, the transmission gear is rotatably connected to the fixing shaft through a first flange bearing, and the two ends of the fixing shaft are respectively fixedly arranged on the first fixing seat and the second fixing seat.

6. The photovoltaic cleaning robot with an adaptive roller brush assembly according to claim 3, characterized in that: The left and right ends of the fixed roller are respectively provided with a first roller brush bearing and a second roller brush bearing. The first roller brush bearing is installed in a first bearing fixing seat provided on the right side wall of the first extension plate, and the second roller brush bearing is installed in a second bearing fixing seat provided on the left side wall of the second extension plate.

7. The photovoltaic cleaning robot with an adaptive roller brush assembly according to claim 6, characterized in that: The first bearing seat includes a first upper bearing seat and a first lower bearing seat, the first upper bearing seat is fixedly disposed on the right side wall of the first extension plate, and the first lower bearing seat is fixedly connected to the first upper bearing seat by a first fastening screw.

8. The photovoltaic cleaning robot with an adaptive roller brush assembly according to claim 7, characterized in that: The second bearing seat includes a second upper bearing seat and a second lower bearing seat, the second upper bearing seat is fixedly disposed on the left side wall of the second extension plate, and the second lower bearing seat is fixedly connected to the second upper bearing seat by a second fastening screw.

9. The photovoltaic cleaning robot with an adaptive roller brush assembly according to claim 1, characterized in that: The roller brush servo is fixedly arranged on the chassis of the frame and is located at the rear side of the lifting fixed seat. The driving shaft of the roller brush servo is fixedly connected to the steering wheel. The steering wheel is fixedly connected to one end of the servo arm, and a screw bearing is provided at the other end of the servo arm. The servo arm is abutted against the upper end face of the rear end of the first lifting link through the screw bearing. The servo arm is abutted against the upper end face of the right end of the second lifting link under the drive of the roller brush servo, so that the left end of the second lifting link rises or falls, thereby lifting or falling the roller brush assembly.

10. The photovoltaic cleaning robot with an adaptive roller brush assembly according to claim 9, characterized in that: A fixing hole is provided in the lifting fixing seat, a fourth flange bearing is provided in the fixing hole, a third fastening bolt is provided in the fourth flange bearing, and the other ends of the two second lifting connecting rods are respectively sleeved on the third fastening bolts and located on both sides of the fourth flange bearing.

11. The photovoltaic cleaning robot with an adaptive roller brush assembly according to claim 1, characterized in that: A buffer device is arranged between the first lifting link and the chassis of the frame, and the buffer device includes a tension spring. A connecting through hole is arranged on the front side of the first lifting link near the third flange bearing, and the upper end of the tension spring is installed in the connecting through hole. The lower end of the tension spring is fixed on the chassis of the frame. The tension spring is in a stretched state so that the roller brush assembly at the left end of the first lifting link is tightly combined with the working surface of the photovoltaic panel.

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