A tracked robot for cleaning photovoltaic panels

Abstract

The present invention provides a crawler robot for cleaning photovoltaic panels, comprising a cleaning robot, wherein the cleaning robot comprises a chassis, a walking mechanism, a cleaning mechanism and a dust suction mechanism, wherein the walking mechanism is arranged on both sides of the chassis, the cleaning mechanisms are arranged at both ends of the chassis, and the dust suction mechanism is arranged at the center of the chassis and connected to the cleaning mechanism; in the cleaning robot with the above structure, the cleaning mechanism and the dust suction mechanism jointly perform cleaning operations, the walking mechanism drives the cleaning robot to walk, and during the walking process, the cleaning mechanism cleans and collects dust along the road through a roller brush assembly, thereby improving the automation degree of the photovoltaic cleaning robot, realizing dust collection and multi-stage dust processing, thereby making dust cleaning more efficient.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic panel cleaning, and in particular to a crawler robot for cleaning photovoltaic panels. Background Art

[0002] With the gradual depletion of traditional fossil energy and people's increasing concern about environmental pollution, solar photovoltaic power generation has been increasingly used as one of the main green energy sources, and the scale of solar power stations has reached an unprecedented level. However, in the actual operation of photovoltaic power stations, due to long-term exposure to the outdoors, tiny dust particles in the air can easily accumulate on the surface of photovoltaic panels to form dust, resulting in reduced power generation efficiency of photovoltaic modules, causing huge economic losses to photovoltaic power generation companies. Therefore, the cleaning of solar photovoltaic panels has become an important issue in the operation and maintenance of photovoltaic power stations.

[0003] Currently, most of the photovoltaic cleaning equipment on the market uses a fixed track to keep the equipment on the slope and cannot be moved. The same equipment needs to be installed on each photovoltaic array, which not only increases the cost, but also has many disadvantages. Since the photovoltaic array area is large and the distance is relatively far, the robot's own photovoltaic panels will not be cleaned in time after being covered with dust. Once the robot is transferred, its fixed track needs to be reinstalled. On the other hand, this cleaning robot does not collect dust, which can easily cause secondary pollution.

[0004] To solve the above problems, a patent document with Chinese patent application number 201921791080.1 and publication date 2020.06.12 discloses a solar photovoltaic panel cleaning robot, including a walking mechanism and a climbing mechanism; the walking mechanism includes a rectangular frame, and roller brush holders are respectively connected to the front and rear frames of the rectangular frame, and a roller brush and a roller brush driving device are provided on the roller brush holder, and a dust suction nozzle is provided on the inner side of the roller brush, and the dust suction nozzle is connected to the dust suction pump provided on the rectangular frame; transverse walking wheels are fixedly provided at the bottom of the rectangular frame, and the transverse walking wheels are connected to the transverse walking driving device; a gantry is fixedly provided on the top of the rectangular frame, and a climbing mechanism is provided below the gantry and on the inner side of the rectangular frame, and the gantry and the climbing mechanism are connected by a lifting device, and the climbing mechanism includes a longitudinal walking driving device, longitudinal walking wheels and a suction cup, and the suction cup is connected to a vacuum pump provided on the rectangular frame. The cleaning robot can automatically clean dust on the surface of photovoltaic panels. It is flexible in movement and highly efficient. It can be effectively applied to a variety of photovoltaic power generation sites. It is an intelligent photovoltaic panel cleaning device.

[0005] The structure of this document only uses a roller brush to rotate and sweep the dust, and then sucks the dust into the dust bag through the dust nozzle. It does not collect the swept dust. Therefore, the size of the dust nozzle needs to be adjusted according to the length of the roller brush in order to better suck in the swept dust. This increases the difficulty of controlling the size of the dust nozzle during processing. At the same time, the dust sucked into the dust bag is not further processed. Therefore, large and small dust particles in the dust bag are all in the same place, which can easily cause the dust bag to be full and require frequent replacement and cleaning of the dust bag, ultimately affecting the cleaning efficiency of the photovoltaic panel. Summary of the invention

[0006] The purpose of the present invention is to provide a crawler robot for cleaning photovoltaic panels, to improve the degree of automation of the photovoltaic cleaning robot, to achieve dust collection and multi-stage dust processing, thereby making dust cleaning more efficient.

[0007] To achieve the above-mentioned purpose, a tracked robot for cleaning photovoltaic panels includes a cleaning robot, which includes a chassis, a walking mechanism, a cleaning mechanism and a dust suction mechanism. The walking mechanism is arranged on both sides of the chassis, and the cleaning mechanisms are arranged at both ends of the chassis. The dust suction mechanism is arranged in the center of the chassis and connected to the cleaning mechanism.

[0008] The dust suction mechanism comprises a settling chamber, a fan, a first dust suction port and a second dust suction port; the first dust suction port is located at one end of the settling chamber, the second dust suction port is located at the other end of the settling chamber, and a fan is provided in the center of the settling chamber.

[0009] The sedimentation chamber includes a first sedimentation box, a second sedimentation box and a total sedimentation box. The first sedimentation box is located at one end of the sedimentation chamber and is connected to the first dust suction port. The second sedimentation box is located at the other end of the sedimentation chamber and is connected to the second dust suction port. The total sedimentation box is located between the first sedimentation box and the second sedimentation box. The fan is located above the total sedimentation box. A first airflow channel is formed between the first dust suction port and the fan, and a second airflow channel is formed between the second dust suction port and the fan. The first airflow channel is arranged to be inclined inwardly and upwardly from the first dust suction port to the total sedimentation box, and the second airflow channel is arranged to be inclined inwardly and upwardly from the second dust suction port to the total sedimentation box. An air outlet is provided on one side of the fan.

[0010] A primary sedimentation tank is provided below the first sedimentation tank and the second sedimentation tank, and a secondary sedimentation tank is provided below the main sedimentation tank; a first blocking block is provided in the first sedimentation tank and the second sedimentation tank above the primary sedimentation tank.

[0011] The cleaning mechanism comprises a roller brush assembly for collecting dust into a first dust suction port and a second dust suction port.

[0012] The cleaning robot of the above structure, the cleaning mechanism and the dust suction mechanism jointly perform cleaning operations, the walking mechanism drives the cleaning robot to walk, and during the walking process, the cleaning mechanism cleans and collects dust along the way through the roller brush assembly, thereby improving the degree of cleaning automation, and the dust suction mechanism draws out the air in the settling chamber through the fan to generate air negative pressure in the settling chamber, so that the dust collected by the roller brush assembly is sucked into the dust reduction chamber through the first dust suction port and the second dust suction port, and when the dust flows in the dust reduction chamber, the larger particles of dust will be blocked by the first blocking block due to gravity, thereby breaking away from the suction and falling into the primary settling tank, thereby collecting the large particles of dust, while the small particles of dust have less gravity and will continue to flow to the total settling box, and finally fall into the secondary settling tank, thereby allowing the dust to be collected and stored in multiple stages, and through the setting of the first blocking block, the flow distance of the dust can be extended, the flow rate of the dust can be reduced, and the dust can be ensured to fall into the settling tank better.

[0013] Furthermore, the first blocking block includes a first main body, a first diverter and a second diverter, wherein the first diverter is arranged at one end of the first main body and extends downward and outward along one end of the first main body; the second diverter is arranged at one end of the first main body and extends upward and outward along one end of the first main body, and the vertical projection of the end of the first diverter is located in the primary sedimentation tank. Thus, the dust flow direction is changed into two paths, and the dust with larger particles will directly fall into the primary sedimentation tank under the downward and outward diversion of the first diverter, while the smaller dust will continue to flow to the secondary sedimentation tank above the sedimentation chamber under the upward and outward diversion of the second diverter, and because the dust with larger particles is heavier, it is easier and more reliable to enter the primary sedimentation tank under the diversion of the first diverter, thereby realizing multi-stage collection of dust.

[0014] Furthermore, a second blocking block is provided at the connection between the first settling box and the total settling box and at the connection between the second settling box and the total settling box; the second blocking block is provided at the upper and lower ends of the settling chamber, and a dust channel is formed between the second blocking blocks at the upper and lower ends of the settling chamber, and the width of the two ends of the dust channel is smaller than the width of the projection of the first blocking block in the direction of the dust channel. Thus, the flow direction of the dust is further changed by the second blocking block, so that the flow velocity of the dust is further reduced, ensuring that the dust can fall into the settling tank better, and by setting the width of the dust channel, the dust backflow into the fan is prevented.

[0015] Furthermore, a dust drop slope extending downwardly and obliquely in the direction of the primary settling tank is provided at the bottom of the first settling tank and the second settling tank. In this way, if dust falls on the bottom of the first settling tank or the second settling tank but does not fall directly into the primary settling tank, the dust can be driven by the inclined setting of the dust drop slope and the air flow in the settling chamber and fall into the primary settling tank along the slope, thereby ensuring that the dust can accurately fall into the primary settling tank.

[0016] Furthermore, a first limiting column is provided between the first settling box and the total settling box, and the top surface of the first limiting column is close to the end of the total settling box and extends downwardly toward the end of the first settling box; a second limiting column is provided between the second settling box and the total settling box, and the top surface of the second limiting column is close to the end of the total settling box and extends downwardly toward the end of the second settling box; a second blocking block located at the lower end of the settling chamber is provided on the top surfaces of the first limiting column and the second limiting column. Thus, by means of the inclined limiting column, it is ensured that the dust falling on the limiting column can fall into the primary settling tank.

[0017] Furthermore, the walking mechanism includes a walking mounting plate, a walking shell, a walking motor, a walking driving wheel, a walking driven wheel and a walking track. The walking mounting plate is fixed on the chassis. The walking driven wheel is installed on one end of the walking mounting plate by rotating the walking driven wheel shaft. The walking driving wheel is located at the other end of the walking mounting plate. The walking motor is arranged on the chassis. The driving shaft of the walking motor passes through the walking mounting plate and is connected to the walking driving wheel. The walking track is wound between the walking driving wheel and the walking driven wheel. The walking shell is arranged on the walking mounting plate and covers the walking track. With this arrangement, when it is necessary to clean the photovoltaic panel, the walking driving wheel is driven to rotate by the walking motor and the walking driven wheel is driven to rotate, thereby driving the walking track to move. When turning is required, only one of the walking motors on both sides of the chassis needs to stop rotating, and the turning can be achieved by rotating the other walking motor. It is simple and effective.

[0018] Furthermore, the cleaning mechanism further includes a roller brush driving assembly, which includes a roller brush driving motor, a roller brush driving wheel, a roller brush driving driven wheel and a roller brush driving belt; the roller brush driving motor is installed on the sedimentation chamber through a roller brush mounting frame, and a roller brush driving wheel is provided on the driving shaft of the roller brush driving motor; the roller brush assembly is arranged at the top of the sedimentation chamber and below the roller brush driving assembly, the roller brush driving driven wheel is arranged on the roller brush assembly, and a roller brush driving belt is provided between the roller brush driving driven wheel and the roller brush driving wheel. Thus, the roller brush driving motor drives the roller brush assembly to work to collect dust.

[0019] Furthermore, the roller brush assembly includes a first roller brush mounting frame, a second roller brush mounting frame, a roller brush driving shaft, a roller brush lifting servo, a first lifting arm, a second lifting arm, a first roller brush and a second roller brush; the roller brush lifting servo is arranged on one side of the top of the sedimentation chamber, a first lifting arm is provided on the driving shaft of the roller brush lifting servo, and a first roller brush mounting frame is provided on the first lifting arm; the second lifting arm is rotated through the second lifting arm connecting shaft and is arranged on the other side of the top of the sedimentation chamber, a second roller brush mounting frame is provided on the second lifting arm, and the roller brush driving shaft is arranged on the first roller brush mounting frame and the second roller brush mounting frame, one end of the roller brush driving shaft passes through one end of the first roller brush mounting frame and is connected to the other end of the first roller brush mounting frame through the first roller brush bearing, and a first roller brush is arranged on the roller brush driving shaft on the first roller brush mounting frame; the other end of the roller brush driving shaft passes through one end of the second roller brush mounting frame and is connected to the other end of the second roller brush mounting frame through the first roller brush bearing, and a second roller brush is arranged on the roller brush driving shaft on the second roller brush mounting frame; the roller brush driving driven wheel is arranged on the roller brush driving shaft between the first roller brush mounting frame and the second roller brush mounting frame. Thus, when the photovoltaic panel is to be cleaned, the roller brush driving motor starts to drive the roller brush driving wheel to rotate, and then drives the roller brush driving driven wheel to rotate, and then drives the roller brush driving shaft to rotate, thereby driving the first roller brush and the second roller brush to rotate, and when the first roller brush and the second roller brush need to be lifted and lowered, the roller brush lifting servo rotates to drive the first lifting arm and the second lifting arm to swing up and down to realize the lifting action, thereby, the photovoltaic panel can be cleaned when the cleaning robot moves.

[0020] Furthermore, the cleaning mechanisms at both ends of the chassis are placed in a centrally symmetrical manner; the first roller brush is a right-handed thread structure, and the second roller brush is a left-handed thread structure; the first dust suction port and the second dust suction port are located between the first roller brush and the second roller brush. Thus, through the right-handed thread of the first roller brush and the left-handed thread structure of the second roller brush, when the first roller brush and the second roller brush rotate, the thread structure of the first roller brush will be guided to move to the right, so that the dust on the left side of the chassis can be collected to the position of the first dust suction port or the second dust suction port; the thread structure of the second roller brush will be guided to move to the left, so that the dust on the right side of the chassis can be collected to the position of the first dust suction port or the second dust suction port, thereby facilitating the first dust suction port or the second dust suction port to suck dust.

[0021] Furthermore, the end surface of the first diverter portion close to the primary sedimentation trough is inclined upward, the end surface of the first diverter portion away from the primary sedimentation trough is inclined downward, the end surface of the second diverter portion close to the fan side is inclined upward and outward, and the end surface of the second diverter portion away from the fan side is inclined upward and inward.

[0022] The above arrangement, since the lower end surface of the first diverter portion is inclined upward, can enable other dust that enters the primary sedimentation tank to enter the dust channel under the guidance of the first diverter portion, and the upper end surface of the first diverter portion is inclined downward, so that some of the larger particles that pass through the second diverter portion can enter the primary sedimentation tank under the guidance of the upper end surface of the first diverter portion. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic structural diagram of the cleaning robot of the present invention.

[0024] Figure 2 It is a schematic diagram of the internal structure of the sedimentation chamber of the present invention.

[0025] Figure 3 The figure is a flow direction diagram of dust during vacuuming of the present invention.

[0026] Figure 4 It is an exploded schematic diagram of the walking mechanism of the present invention.

[0027] Figure 5 It is a schematic diagram of the explosion of the cleaning mechanism of the present invention.

[0028] Figure 6 for Figure 5 Enlarged view of point A in the middle.

[0029] Figure 7 It is a top view of the cleaning robot of the present invention.

[0030] Figure 8 It is a working flow chart of the cleaning robot of the present invention. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] like Figures 1 to 8 As shown, a tracked robot for cleaning photovoltaic panels includes a cleaning robot, which includes a chassis 1, a walking mechanism 2, a cleaning mechanism 3 and a dust suction mechanism 4, wherein the walking mechanism 2 is arranged on both sides of the chassis 1, and the cleaning mechanisms 3 are arranged at both ends of the chassis 1, and the dust suction mechanism 4 is arranged in the center of the chassis 1 and connected to the cleaning mechanism 3.

[0033] The dust suction mechanism 4 includes a sedimentation chamber 5, a fan 42, a first dust suction port 43 and a second dust suction port 44; the first dust suction port 43 is located at one end of the sedimentation chamber 5, the second dust suction port 44 is located at the other end of the sedimentation chamber 5, and a fan 42 is provided in the center of the sedimentation chamber 5.

[0034] The sedimentation chamber 5 includes a first sedimentation box 51, a second sedimentation box 52 and a total sedimentation box 53. The first sedimentation box 51 is located at one end of the sedimentation chamber 5 and is connected to the first dust suction port 43. The second sedimentation box 52 is located at the other end of the sedimentation chamber 5 and is connected to the second dust suction port 44. The total sedimentation box 53 is located between the first sedimentation box 51 and the second sedimentation box 52. The fan 42 is located above the total sedimentation box 53. A first wind flow channel 431 is formed between the first dust suction port 43 and the fan 42. A second wind flow channel 441 is formed between the second dust suction port 44 and the fan 42. The first wind flow channel 431 is inclined inwardly and upwardly from the first dust suction port 43 to the total sedimentation box 53. The second wind flow channel 441 is inclined inwardly and upwardly from the second dust suction port 44 to the total sedimentation box 53. An air outlet is provided on one side of the fan (not shown in the figure).

[0035] A primary sedimentation tank 55 is provided below the first sedimentation tank 51 and the second sedimentation tank 52 , and a secondary sedimentation tank 56 is provided below the main sedimentation tank 53 ; a first blocking block 54 is provided in the first sedimentation tank 51 and the second sedimentation tank 52 above the primary sedimentation tank 55 .

[0036] The cleaning mechanism 3 includes a roller brush assembly 6 for collecting dust into a first dust suction port 43 and a second dust suction port 44 .

[0037] In the cleaning robot of the above structure, the cleaning mechanism 3 and the dust collection mechanism 4 perform cleaning operations together, and the walking mechanism 2 drives the cleaning robot to walk. During the walking process, the cleaning mechanism 3 cleans and collects the dust along the way through the roller brush assembly 6, thereby improving the degree of cleaning automation. The dust collection mechanism 4 extracts the air in the dust reduction chamber through the fan 42 to generate air negative pressure in the dust reduction chamber, so that the dust collected by the roller brush assembly 6 is sucked into the settling chamber 5 through the first dust collection port 43 and the second dust collection port 44. When the dust flows in the settling chamber (the flow direction of the dust in the settling chamber is as shown in FIG. 2 ), the dust is sucked into the settling chamber 5 by the first dust collection port 43 and the second dust collection port 44. Figure 3 As shown by the middle arrow, larger dust particles will be blocked by the first blocking block 54 due to gravity, thereby breaking away from the suction and falling into the primary sedimentation tank 55, thereby collecting the large dust particles, while the small dust particles have a smaller gravity and will continue to flow to the main sedimentation tank 53, and finally fall into the secondary sedimentation tank 56, thereby allowing the dust to be collected and stored in multiple stages. The setting of the first blocking block 54 can extend the flow distance of the dust, reduce the flow rate of the dust, and ensure that the dust falls into the sedimentation tank better.

[0038] In this embodiment, a filter is also provided on the fan. When the fan draws out the air in the sedimentation chamber, the air in the sedimentation chamber is filtered and drawn out through the filter. The fan is an exhaust fan, that is, the technology of drawing out air to generate negative air pressure in the sedimentation chamber is the working principle of a vacuum cleaner in the prior art. The specific prior art is available and will not be described again here.

[0039] like Figure 2 As shown, the first blocking block 54 includes a first main body 541, a first diverter 542 and a second diverter 543, wherein the first diverter 542 is arranged at one end of the first main body 541 and extends downward and outward along one end of the first main body 541; the second diverter 543 is arranged at one end of the first main body 541 and extends upward and outward along one end of the first main body 541, and the width α at both ends of the dust passage is smaller than the width β of the projection of the first blocking block in the direction of the dust passage. Thus, the flow direction of the dust is changed into two paths, and the dust with larger particles will directly fall into the primary sedimentation tank 55 under the downward and outward diversion of the first diverter, while the smaller dust will continue to flow to the secondary sedimentation tank 56 above the sedimentation chamber 5 under the upward and outward diversion of the second diverter, and because the dust with larger particles is heavier, it is easier and more reliable to enter the primary sedimentation tank under the diversion of the first diverter, thereby realizing multi-stage collection of dust.

[0040] like Figure 2 As shown, a second blocking block 57 is provided at the connection between the first settling box 51 and the total settling box 53 and at the connection between the second settling box 52 and the total settling box 53; the second blocking block 57 is provided at the upper and lower ends of the settling chamber 5, and a dust passage 571 is formed between the second blocking blocks 57 at the upper and lower ends of the settling chamber 5, and the width of the two ends of the dust passage is smaller than the width of the projection of the first blocking block in the direction of the dust passage. Thus, the flow direction of the dust is further changed by the second blocking block 57, so that the flow velocity of the dust is further reduced, ensuring that the dust can fall into the settling tank better, and by setting the width of the dust passage, the dust backflow into the fan is prevented.

[0041] like Figure 2 As shown, a dust drop slope 58 is provided at the bottom of the first settling box 51 and the second settling box 52, which is inclined and extends downward in the direction of the primary settling tank 55. In this way, if dust falls on the bottom of the first settling box 51 or the second settling box 52 but does not fall directly into the primary settling tank 55, due to the inclined setting of the dust drop slope 58, the dust can be driven by the air flow in the settling chamber 5 and fall into the primary settling tank 55 along the slope, thereby ensuring that the dust can accurately fall into the primary settling tank.

[0042] like Figure 2As shown, a first limiting column 501 is provided between the first settling box 51 and the total settling box 53, and the top surface of the first limiting column 501 is close to the end of the total settling box 53 and extends downwardly toward the end of the first settling box 51; a second limiting column 502 is provided between the second settling box 52 and the total settling box 53, and the top surface of the second limiting column 502 is close to the end of the total settling box 53 and extends downwardly toward the end of the second settling box 52; the second blocking block located at the lower end of the settling chamber is provided on the top surfaces of the first limiting column and the second limiting column. Thus, by means of the inclined limiting column, it is ensured that the dust falling on the limiting column can fall into the primary settling tank.

[0043] like Figure 4 As shown, the walking mechanism 2 includes a walking mounting plate 21, a walking shell 22, a walking motor 23, a walking driving wheel 24, a walking driven wheel 25 and a walking track 26. The walking mounting plate 21 is fixed on the chassis 1, and the walking driven wheel 25 is rotatably mounted on one end of the walking mounting plate 21 through a walking driven wheel shaft (not shown in the figure). The walking driving wheel 24 is located at the other end of the walking mounting plate 21. The walking motor 23 is arranged on the chassis 1, and the driving shaft of the walking motor 23 passes through the walking mounting plate 21 and is connected to the walking driving wheel 24. The walking track 26 is wound between the walking driving wheel 24 and the walking driven wheel 25; the walking shell 22 is arranged on the walking mounting plate 21 and covers the top of the walking track 26. According to this arrangement, when the photovoltaic panel needs to be cleaned, the travel motor 23 drives the travel driving wheel 24 to rotate and drives the travel driven wheel 25 to rotate, thereby driving the travel track 26 to move. When turning is required, only one of the travel motors located on both sides of the chassis 1 needs to stop rotating, and the other travel motor can be used to rotate to achieve turning. This is simple and effective. In this embodiment, the steering method of the walking mechanism is a common steering method of a crawler-type walking device, which is specifically a prior art and will not be described here.

[0044] like Figure 5 and Figure 6 As shown, the cleaning mechanism 3 further includes a roller brush driving assembly 31, which includes a roller brush driving motor 311, a roller brush driving wheel 312, a roller brush driving driven wheel 313 and a roller brush driving belt 314; the roller brush driving motor 311 is installed on the sedimentation chamber 5 through a roller brush mounting frame 315, and a roller brush driving wheel 312 is provided on the driving shaft of the roller brush driving motor 311; the roller brush assembly 6 is arranged at the top of the sedimentation chamber 5 and below the roller brush driving assembly 31, the roller brush driving driven wheel 313 is arranged on the roller brush assembly 6, and a roller brush driving belt 314 is provided between the roller brush driving driven wheel 313 and the roller brush driving wheel 312. Thus, the roller brush driving motor drives the roller brush assembly to work to collect dust.

[0045] like Figures 5 to 7 As shown, the roller brush assembly 6 includes a first roller brush mounting frame 61, a second roller brush mounting frame 62, a roller brush driving shaft 63, a roller brush lifting servo 64, a first lifting arm 65, a second lifting arm 66, a first roller brush 67 and a second roller brush 68; the roller brush lifting servo 64 is arranged on one side of the top of the sedimentation chamber 5, and a first lifting arm 65 is arranged on the driving shaft of the roller brush lifting servo 64, and the first roller brush mounting frame 61 is arranged on the first lifting arm 65; the second lifting arm 66 is rotated by a second lifting arm connecting shaft (not shown in the figure) and is arranged on the other side of the top of the sedimentation chamber 5, and a second roller brush mounting frame 62 is arranged on the second lifting arm 66, and the roller brush driving shaft 63 is arranged between the first roller brush mounting frame 61 and the second roller brush Between the two roller brush mounting frames 62, one end of the roller brush driving shaft 63 passes through one end of the first roller brush mounting frame 61 and is connected to the other end of the first roller brush mounting frame 61 through a first roller brush bearing (not shown in the figure), and a first roller brush 67 is provided on the roller brush driving shaft 63 on the first roller brush mounting frame 61; the other end of the roller brush driving shaft 63 passes through one end of the second roller brush mounting frame 62 and is connected to the other end of the second roller brush mounting frame 62 through a first roller brush bearing (not shown in the figure), and a second roller brush 68 is provided on the roller brush driving shaft 63 on the second roller brush mounting frame 62; the roller brush driving driven wheel 313 is arranged on the roller brush driving shaft 63 between the first roller brush mounting frame 61 and the second roller brush mounting frame 62. According to this arrangement, when the photovoltaic panel is to be cleaned, the roller brush drive motor 311 is started to drive the roller brush drive wheel 312 to rotate, which in turn drives the roller brush drive driven wheel 313 to rotate, and then drives the roller brush drive shaft 63 to rotate, thereby driving the first roller brush 67 and the second roller brush 68 to rotate. When the first roller brush 67 and the second roller brush 68 need to be lifted or lowered, the roller brush lifting servo 64 rotates to drive the first lifting arm 65 and the second lifting arm 66 to swing up and down to achieve the lifting action. Thus, the photovoltaic panel can be cleaned when the cleaning robot moves.

[0046] like Figure 7 As shown, the cleaning mechanisms 3 at both ends of the chassis 1 are placed in a centrally symmetrical manner; the first roller brush 67 is a right-handed thread structure, and the second roller brush 68 is a left-handed thread structure; the first dust suction port 43 and the second dust suction port 44 are located between the first roller brush 67 and the second roller brush 68. Thus, through the right-handed thread of the first roller brush 67 and the left-handed thread structure of the second roller brush 68, when the first roller brush 67 and the second roller brush 68 rotate, the thread structure of the first roller brush 67 will be guided to move to the right, so that the dust located on the left side of the chassis 1 can be collected to the position of the first dust suction port 43 or the second dust suction port 44; the thread structure of the second roller brush 68 will be guided to move to the left, so that the dust located on the right side of the chassis can be collected to the position of the first dust suction port 43 or the second dust suction port 44, so that the first dust suction port 43 or the second dust suction port 44 can be convenient for dust suction.

[0047] like Figure 2 As shown, the end surface of the first diverter portion 542 close to the primary sedimentation trough 55 is inclined upward, the end surface of the first diverter portion 542 away from the primary sedimentation trough 55 is inclined downward, the end surface of the second diverter portion 543 close to the end surface of the fan 42 is inclined upward and outward, and the end surface of the second diverter portion 543 away from the end surface of the fan 42 is inclined upward and inward.

[0048] The above arrangement, since the lower end surface of the first diverter portion is inclined upward, can enable other dust that enters the primary sedimentation tank to enter the dust channel under the guidance of the first diverter portion, and the upper end surface of the first diverter portion is inclined downward, so that some of the larger particles that pass through the second diverter portion can enter the primary sedimentation tank under the guidance of the upper end surface of the first diverter portion.

[0049] like Figure 8 As shown, the working method of the cleaning robot described above specifically comprises the following steps:

[0050] (1) The walking mechanism drives the cleaning robot to move on the photovoltaic panels.

[0051] (2) The cleaning mechanism and the dust collection mechanism are started to clean the dust along the way.

[0052] (3) The roller brush assembly collects dust into the first dust suction port and the second dust suction port.

[0053] (3.1) The first roller brush rotates to move the dust on the left side of the chassis to the right.

[0054] (3.2) The second roller brush rotates to move the dust on the right side of the chassis to the left.

[0055] (3.3) The dust driven by the first roller brush and the second roller brush is concentrated at the positions of the first dust suction port and the second dust suction port.

[0056] (4) The fan draws air to suck the dust from the first dust suction port and the second dust suction port into the settling chamber.

[0057] (5) Dust flows in the settling chamber.

[0058] (6) Large dust particles are blocked by the first blocking block and fall into the primary sedimentation tank by gravity under the flow guide arranged in a downward and outward tilt of the first diversion part.

[0059] (7) Small dust particles flow into the main sedimentation tank under the upward and outward guidance of the second diversion part, and finally fall into the secondary sedimentation tank.

[0060] With the above structure, when the photovoltaic panel needs to be cleaned, the walking motor drives the walking track to move. During the movement, the roller brush driving motor drives the first roller brush and the second roller brush to rotate, so as to clean and collect dust along the way of the cleaning robot. When the dust is concentrated on the first dust suction port or the second dust suction port, the fan sucks the dust into the sedimentation chamber for dust collection. Since cleaning mechanisms for collecting dust are provided at the front and rear ends of the chassis, when the cleaning robot is walking, the front end is cleaned once and the rear end can be cleaned again, thereby avoiding the problem of dust left over when cleaning the front end and improving the overall cleanliness.

Claims

1. A crawler robot for cleaning photovoltaic panels, comprising a cleaning robot, characterized in that: The cleaning robot comprises a chassis, a walking mechanism, a cleaning mechanism and a dust collecting mechanism, wherein the walking mechanism is arranged on both sides of the chassis, the cleaning mechanisms are arranged at both ends of the chassis, and the dust collecting mechanism is arranged at the center of the chassis and connected to the cleaning mechanism; The dust suction mechanism comprises a settling chamber, a fan, a first dust suction port and a second dust suction port; the first dust suction port is located at one end of the settling chamber, the second dust suction port is located at the other end of the settling chamber, and a fan is provided in the center of the settling chamber; The settling chamber comprises a first settling box, a second settling box and a total settling box, the first settling box is located at one end of the settling chamber and connected to the first dust suction port, the second settling box is located at the other end of the settling chamber and connected to the second dust suction port, the total settling box is located between the first settling box and the second settling box, and the fan is located above the total settling box; a first airflow channel is formed between the first dust suction port and the fan, a second airflow channel is formed between the second dust suction port and the fan, the first airflow channel is arranged to be inclined inwardly and upwardly from the first dust suction port to the total settling box, and the second airflow channel is arranged to be inclined inwardly and upwardly from the second dust suction port to the total settling box; an air outlet is arranged on one side of the fan; A primary sedimentation tank is provided below the first sedimentation tank and the second sedimentation tank, and a secondary sedimentation tank is provided below the main sedimentation tank; a first blocking block is provided in the first sedimentation tank and the second sedimentation tank above the primary sedimentation tank; The cleaning mechanism includes a roller brush assembly for collecting dust into a first dust suction port and a second dust suction port; The first blocking block includes a first main body, a first diverter and a second diverter, wherein the first diverter is arranged at one end of the first main body and extends downward and outward along one end of the first main body; the second diverter is arranged at one end of the first main body and extends upward and outward along one end of the first main body, and a vertical projection of the end of the first diverter is located in the primary sedimentation tank; A second blocking block is provided at the connection between the first sedimentation box and the total sedimentation box and at the connection between the second sedimentation box and the total sedimentation box; the second blocking block is arranged at the upper and lower ends of the sedimentation chamber, and a dust channel is formed between the second blocking blocks at the upper and lower ends of the sedimentation chamber, and the width at both ends of the dust channel is smaller than the width of the projection of the first blocking block in the direction of the dust channel.

2. A crawler robot for cleaning photovoltaic panels according to claim 1, characterized in that: A dust dropping slope is provided at the bottom of the first sedimentation box and the second sedimentation box and is inclined and extends downward toward the primary sedimentation tank.

3. A crawler robot for cleaning photovoltaic panels according to claim 1, characterized in that: A first limiting column is provided between the first settling box and the total settling box, and the top surface of the first limiting column is close to one end of the total settling box and extends downwardly and obliquely toward one end of the first settling box; a second limiting column is provided between the second settling box and the total settling box, and the top surface of the second limiting column is close to one end of the total settling box and extends downwardly and obliquely toward one end of the second settling box; a second blocking block located at the lower end of the settling chamber is provided on the top surfaces of the first limiting column and the second limiting column.

4. A crawler robot for cleaning photovoltaic panels according to claim 1, characterized in that: The walking mechanism includes a walking mounting plate, a walking shell, a walking motor, a walking driving wheel, a walking driven wheel and a walking track. The walking mounting plate is fixed to the chassis, the walking driven wheel is rotatably mounted on one end of the walking mounting plate through the walking driven wheel shaft, the walking driving wheel is located at the other end of the walking mounting plate, the walking motor is arranged on the chassis, the driving shaft of the walking motor passes through the walking mounting plate and is connected to the walking driving wheel, and the walking track is wound between the walking driving wheel and the walking driven wheel; the walking shell is arranged on the walking mounting plate and covers the top of the walking track.

5. A crawler robot for cleaning photovoltaic panels according to claim 1, characterized in that: The cleaning mechanism also includes a roller brush driving assembly, which includes a roller brush driving motor, a roller brush driving wheel, a roller brush driving driven wheel and a roller brush driving belt; the roller brush driving motor is installed on the sedimentation chamber through a roller brush mounting frame, and a roller brush driving wheel is provided on the driving shaft of the roller brush driving motor; the roller brush assembly is arranged at the top of the sedimentation chamber and below the roller brush driving assembly, the roller brush driving driven wheel is arranged on the roller brush assembly, and a roller brush driving belt is provided between the roller brush driving driven wheel and the roller brush driving wheel.

6. A crawler robot for cleaning photovoltaic panels according to claim 5, characterized in that: The roller brush assembly includes a first roller brush mounting frame, a second roller brush mounting frame, a roller brush driving shaft, a roller brush lifting servo, a first lifting arm, a second lifting arm, a first roller brush and a second roller brush; the roller brush lifting servo is arranged on one side of the top of the sedimentation chamber, and a first lifting arm is arranged on the driving shaft of the roller brush lifting servo, and a first roller brush mounting frame is arranged on the first lifting arm; the second lifting arm is rotated by the second lifting arm connecting shaft and arranged on the other side of the top of the sedimentation chamber, and a second roller brush mounting frame is arranged on the second lifting arm, the roller brush driving shaft is arranged between the first roller brush mounting frame and the second roller brush mounting frame, one end of the roller brush driving shaft passes through one end of the first roller brush mounting frame and is connected to the other end of the first roller brush mounting frame through a first roller brush bearing, and a first roller brush is arranged on the roller brush driving shaft on the first roller brush mounting frame; the other end of the roller brush driving shaft passes through one end of the second roller brush mounting frame and is connected to the other end of the second roller brush mounting frame through a first roller brush bearing, and a second roller brush is arranged on the roller brush driving shaft on the second roller brush mounting frame; the roller brush driving driven wheel is arranged on the roller brush driving shaft between the first roller brush mounting frame and the second roller brush mounting frame.

7. A crawler robot for cleaning photovoltaic panels according to claim 6, characterized in that: The cleaning mechanisms at both ends of the chassis are placed in a centrally symmetrical manner; the first roller brush is a right-handed thread structure, and the second roller brush is a left-handed thread structure; the first dust suction port and the second dust suction port are located between the first roller brush and the second roller brush.

8. A crawler robot for cleaning photovoltaic panels according to claim 1, characterized in that: The end surface of the first diverter portion close to the primary sedimentation trough is tilted upward, the end surface of the first diverter portion away from the primary sedimentation trough is tilted downward, the end surface of the second diverter portion close to the fan side is tilted upward and outward, and the end surface of the second diverter portion away from the fan side is tilted upward and inward.

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