Photovoltaic panel cleaning machine

Abstract

A photovoltaic panel cleaning machine, comprising a body and a displacement mechanism, the body comprising a first walking wheel set for driving the cleaning machine to walk on the surface of the photovoltaic panel in a first direction, the displacement mechanism being used for displacing the cleaning machine on the surface of the photovoltaic panel in a second direction perpendicular to the first direction; the displacement mechanism comprising a support and an actuator, the support being movably connected to the body, the support comprising a first state and a second state, an end of the support close to the photovoltaic panel being connected with a second walking wheel set, in the first state, the second walking wheel set is in contact with the photovoltaic panel, in the second state, the second walking wheel set is separated from the photovoltaic panel, the support being provided with a first motor, the first motor being in transmission connection with the second walking wheel set; the actuator being installed on the body, the actuator being used for controlling the support to switch between the first state and the second state. It has the advantages of simple displacement mechanism and simple displacement action.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of photovoltaic panel cleaning machines, in particular to a photovoltaic panel cleaning machine with a displacement mechanism for displacing the cleaning machine in a second direction perpendicular to the cleaning direction on the surface of the photovoltaic panel. BACKGROUND

[0002] The BIPV (Building Integrated PV) metal roof system is suitable for a portal steel frame light house steel structure system, and is used for a new steel structure building roof and a renovated steel structure building roof. The BIPV system integrates a photovoltaic power generation system, is a high-quality roof metal maintenance system with complete structure and meeting the requirements of building design, and comprises a purlin, an inner plate, thermal insulation cotton, an outer plate, a photovoltaic power generation layer and the like complete roof building nodes.

[0003] The photovoltaic panel of the BIPV system is wide, and the photovoltaic panel cleaning machine cannot clean the entire photovoltaic panel in a single walking, and needs to change lanes for cleaning. Most of the existing photovoltaic panel cleaning machines can only walk in the cleaning direction, and need to be manually displaced for lane changing, and have the defect of low cleaning efficiency. Some photovoltaic panel cleaning machines are provided with a displacement mechanism, the lane changing is realized through the displacement mechanism, the connecting plate is fixed with the photovoltaic panel through the suction cup by using the vacuum pump first, then the machine body is pushed to displace relative to the connecting plate by using the motor to realize the lane changing, the vacuum pump is stopped after the displacement, the suction cup is separated from the photovoltaic panel, and the connecting plate is lifted. The displacement mechanism needs to be provided with a vacuum pump, a suction cup, a connecting plate, a connecting plate lifting mechanism and the like structure, the lane changing is realized by using the motor to push the machine body to displace relative to the connecting plate, the structure is relatively complex, and the displacement action is also relatively cumbersome. SUMMARY

[0004] The purpose of the present application is to provide a photovoltaic panel cleaning machine to at least simplify the displacement mechanism of the photovoltaic panel cleaning machine to some extent.

[0005] To achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0006] A photovoltaic panel cleaning machine, comprising: a body comprising a first set of traveling wheels for driving the cleaning machine to travel on a photovoltaic panel surface in a first direction; and a displacement mechanism for displacing the cleaning machine on the photovoltaic panel surface in a second direction; the second direction being perpendicular to the first direction; wherein the displacement mechanism comprises: a support movably connected to the body, the support comprising a first state and a second state, an end of the support close to the photovoltaic panel being connected with a second set of traveling wheels, the second set of traveling wheels being in contact with the photovoltaic panel in the first state, the second set of traveling wheels being out of contact with the photovoltaic panel in the second state, the support being provided with a first motor, the first motor being in transmission connection with the second set of traveling wheels; and an actuator installed on the body for controlling the support to switch between the first state and the second state; the first set of traveling wheels being out of contact with the photovoltaic panel in the first state.

[0007] In some embodiments, the body is provided with a straight guide rail extending in a third direction, the support being installed on the straight guide rail, the support being movably connected with the body through the straight guide rail, the third direction being perpendicular to the photovoltaic panel surface.

[0008] In other embodiments, the body is provided with a swing center, the support being installed on the swing center, the support being movably connected with the body through the swing center.

[0009] In an embodiment, the actuator comprises a push rod motor.

[0010] In an embodiment, the actuator further comprises: a first sensor for detecting whether the cleaning machine runs to the edge of the photovoltaic panel in cooperation with a position mark of the edge of the photovoltaic panel; a second sensor for detecting the first state of the support; a third sensor for detecting the second state of the support; and a controller in communication connection with the first sensor, the second sensor, the third sensor, the push rod motor and the first motor, for controlling the push rod motor to operate when it is detected that the cleaning machine runs to the edge of the photovoltaic panel, controlling the first motor to operate when it is detected that the support enters the first state, and controlling the push rod motor to operate to make the support enter the second state after the operation of the first motor is completed.

[0011] In an embodiment, the second sensor and the third sensor are installed on the push rod motor, and the first motor is a servo motor.

[0012] In some embodiments, the support comprises: two vertical beams; and a horizontal beam, two ends of the horizontal beam being fixedly connected with top ends of the two vertical beams, the first motor being installed on the horizontal beam, the horizontal beam being located on the upper side of the body, and the two vertical beams being located on two outer sides adjacent to the upper side of the body.

[0013] In one embodiment, the body comprises a connecting shaft connecting the two first walking wheel sets for realizing relative torsion between the two first walking wheel sets, the connecting shaft is fixed with a support plate, the support plate is provided with a linear guide rail extending along a third direction; the two vertical beams are mounted on the linear guide rail; the actuator comprises a push rod motor, the push rod motor is fixed on the support plate, and a power output portion of the push rod motor is connected with the cross beam; the third direction is perpendicular to the surface of the photovoltaic panel.

[0014] In another embodiment, the body comprises a connecting shaft connecting the two first walking wheel sets for realizing relative torsion between the two walking wheel sets, the connecting shaft is fixed with a first shaft crossing the body and intersecting with the connecting shaft; the two vertical beams are rotatably connected with two ends of the first shaft.

[0015] In some embodiments, the photovoltaic panel is a photovoltaic tile, and the photovoltaic tile comprises a protrusion; the walking wheels of the first walking wheel set are provided with grooves along the circumferences of the wheels, and the grooves are matched with the protrusion.

[0016] Compared with the prior art, the present application has at least the following beneficial effects:

[0017] The displacement mechanism of the photovoltaic panel cleaning machine comprises a support, the support is movably connected to the body, the support comprises a first state and a second state, one end of the support close to the photovoltaic panel is connected with a second walking wheel set, in the first state, the second walking wheel set is in contact with the photovoltaic panel, in the second state, the second walking wheel set is separated from the photovoltaic panel; and an actuator, the actuator is mounted on the body, and the actuator is used for controlling the support to switch between the first state and the second state; in the first state, the first walking wheel set is separated from the photovoltaic panel. So that the actuator can make the cleaning machine enter the first state that the second walking wheel set is in contact with the photovoltaic panel and the first walking wheel set is separated from the photovoltaic panel, and the first motor provided on the support and the transmission connection between the first motor and the second walking wheel set make the first motor drive the second walking wheel set to walk on the photovoltaic panel to drive the cleaning machine to displace after the cleaning machine enters the first state, and the displacement mechanism has the advantages of simple displacement mechanism and simple displacement action. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a perspective view of the first embodiment;

[0019] Figure 2 It is a side view of the first embodiment;

[0020] Figure 3 It is a top view of the first embodiment;

[0021] Figure 4 is a schematic view of the end of the first embodiment;

[0022] Figure 5 is a schematic view of the second embodiment;

[0023] Figure 6 is a schematic view of the side of the second embodiment;

[0024] Figure 7 is a schematic view of the top of the second embodiment;

[0025] Figure 8 is a schematic view of the end of the second embodiment. DETAILED DESCRIPTION

[0026] The present application will be further described below in conjunction with the accompanying drawings and embodiments.

[0027] First embodiment:

[0028] Please refer to Figures 1 to 4 , the photovoltaic panel cleaning machine comprises a body 10 and a displacement mechanism 20. In this embodiment, the first direction is the X direction in Figure 1 or the opposite direction thereof, the second direction is the Y direction in Figure 1 or the opposite direction thereof, and the third direction is the Z direction in Figure 1 or the opposite direction thereof. The first direction is the cleaning direction of the cleaning machine, the second direction is the displacement direction or lane changing direction of the cleaning machine, and the third direction is the direction perpendicular to the surface of the photovoltaic panel.

[0029] The body 10 comprises a first walking wheel set 11, which is used to drive the cleaning machine to walk along the first direction on the surface of the photovoltaic panel. Specifically, in this embodiment, the body 10 comprises two first walking devices 12, which are connected through a connecting shaft 15. Each first walking device 12 comprises a front wheel 13 and a rear wheel 14, which constitute the walking wheel set of the first walking device 12, referred to as the first walking wheel set 11. As other embodiments, when it is necessary to constitute a photovoltaic panel cleaning machine with a longer length, three or more first walking devices 12 can be provided, and all the first walking devices 12 are connected through a connecting shaft 15. It should be noted that the first walking devices 12 are connected through the connecting shaft 15 so that the adjacent first walking devices 12 can be relatively twisted about the connecting shaft 15. The present application does not make specific limitations on the specific number of first walking devices 12 and whether the first walking devices 12 are connected through the connecting shaft 15.

[0030] The displacement mechanism 20 is used to displace the cleaning machine along the second direction on the surface of the photovoltaic panel, and the second direction is perpendicular to the first direction. The displacement mechanism 20 comprises a bracket 21 and an actuator 22.

[0031] The bracket 21 is movably connected to the body 10. In the embodiment, the body 10 is provided with linear guides 26 extending in a third direction perpendicular to the surface of the photovoltaic panel, and the bracket 21 is mounted on the linear guides 26, and the bracket 21 is movably connected to the body 10 through the linear guides 26. More specifically, a support plate 25 is fixed on the connecting shaft 15, and the support plate 25 is provided with linear guides 26 extending in the third direction at both ends thereof. The bracket 21 comprises two vertical beams 23 and a horizontal beam 24, the two ends of the horizontal beam 24 are fixedly connected to the top ends of the two vertical beams 23, the horizontal beam 24 is located on the upper side of the body 10, and the two vertical beams 23 are located on the two outer sides adjacent to the upper side of the body 10, and the two vertical beams 23 are mounted on the linear guides 26, so that the bracket 21 can move in the third direction.

[0032] The bracket 21 is provided with a first motor 28, which is drivingly connected to the second walking wheel set 27, for driving the second walking wheel set 27 to rotate, so as to drive the cleaning machine to walk on the surface of the photovoltaic panel in the second direction. In the embodiment, the first motor 28 is mounted on the horizontal beam of the bracket 21, and a transmission mechanism is arranged on the vertical beam 23 of the bracket 23, and the transmission mechanism is connected to the shaft of the second walking wheel set 27 and the power shaft of the first motor 28. The transmission mechanism can be a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism, etc., and the present application does not make specific limitation to the transmission mechanism. As other embodiments, the first motor can also be mounted on the vertical beam, and the present application does not make specific limitation to the mounting position of the first motor. The first motor is preferably a servo motor or a stepping motor.

[0033] The bracket 21 comprises a first state and a second state, and the end of the bracket 21 close to the photovoltaic panel is connected with the second walking wheel set 27, in the first state, the second walking wheel set 27 is in contact with the photovoltaic panel, and the first walking wheel set 11 is separated from the photovoltaic panel, in the second state, the second walking wheel set 27 is separated from the photovoltaic panel, and the first walking wheel set 11 is in contact with the photovoltaic panel.

[0034] The actuator 22 is mounted on the body 10 of the cleaning machine, and is used to control the switching of the bracket 21 between the first state and the second state. In the embodiment, the actuator 22 comprises a push rod motor fixed to the support plate 25, and a power output part of the push rod motor is connected with the cross beam 24. When the power output part of the push rod motor is in an extended state, the bracket 21 is lifted by the power output part, the second walking wheel set 27 is separated from the photovoltaic panel, the first walking wheel set 11 is in contact with the photovoltaic panel, i.e. the bracket 21 is in the second state; when the power output part of the push rod motor is changed from the extended state to a retracted state, the bracket 21 moves downward along the linear guide rail 26, so that the second walking wheel set 27 is in contact with the photovoltaic panel, the first walking wheel set 11 is separated from the photovoltaic panel, and the bracket 21 enters the first state.

[0035] With reference to Figure 1 and Figure 2 In the embodiment, two displacement mechanisms 20 are included, and the two displacement mechanisms 20 are respectively close to two ends of the body 10. The two displacement mechanisms 20 comprise four second walking wheel sets 27, and the four second walking wheel sets 27 are distributed in a rectangular shape, so as to reliably support the cleaning machine. It should be noted that the number of the displacement mechanisms 20 can also be three or more, and the number of the displacement mechanisms 20 is not limited in the present application.

[0036] The working process of the photovoltaic panel cleaning machine is as follows:

[0037] After starting to work, the bracket 21 is in the second state, the first walking wheel set 11 of the cleaning machine is in contact with the photovoltaic panel, the second walking wheel set 27 is separated from the photovoltaic panel, the first walking wheel set 11 rotates under the driving of the driving motor, and drives the cleaning machine to walk in the first direction. The roller brush on the body 10 cleans the surface of the photovoltaic panel. When the cleaning machine walks to the edge of the photovoltaic panel, the actuator 22 controls the bracket 21 to enter the first state, the second walking wheel set 27 is in contact with the photovoltaic panel, the first walking wheel set 11 is separated from the photovoltaic panel, the first motor 28 drives the second walking wheel set 27 to rotate, and the second walking wheel set 27 drives the cleaning machine to walk in the second direction, so as to displace the cleaning machine in the second direction. After displacement, the lane changing of the cleaning machine is completed, the actuator 22 controls the bracket 21 to return to the second state, the first walking wheel set 11 rotates under the driving of the driving motor, and drives the cleaning machine to walk in the first direction, so as to clean the surface of the photovoltaic panel. The above process is repeated until the entire photovoltaic panel is completely cleaned.

[0038] In the embodiment, the sweeper can be moved to the first state by the actuator 22, in which the second walking wheel set 27 is in contact with the photovoltaic panel and the first walking wheel set 11 is separated from the photovoltaic panel. In combination with the first motor 28 arranged on the support 21 and the transmission connection between the first motor and the second walking wheel set, the sweeper can be moved to the first state, and the first motor 28 drives the second walking wheel set 27 to walk on the photovoltaic panel to move the sweeper. The moving mechanism has the advantages of simple structure and simple moving action.

[0039] Further, the actuator 22 further comprises a first sensor for detecting whether the sweeper runs to the edge of the photovoltaic panel in cooperation with the position mark arranged on the edge of the photovoltaic panel, a second sensor for detecting the first state of the support, a third sensor for detecting the second state of the support, and a controller in communication connection with the first sensor, the second sensor, the third sensor, the push rod motor and the first motor, for controlling the push rod motor to run when detecting that the sweeper runs to the edge of the photovoltaic panel, controlling the first motor to run when detecting that the support enters the first state, and controlling the push rod motor to run to make the support enter the second state after the first motor runs.

[0040] The first sensor that can be used includes but is not limited to a photoelectric switch, a micro switch, a magnetic sensor and the like. The first sensor is fixed to the body 10 of the sweeper. When the sweeper runs to the edge of the photovoltaic panel, the position mark arranged on the edge of the photovoltaic panel in cooperation with the first sensor makes the output of the first sensor change, and the first sensor outputs the change to the controller.

[0041] The second sensor and the third sensor that can be used include but are not limited to a photoelectric switch, a micro switch, a magnetic sensor and the like. In some embodiments, the second sensor and the third sensor are installed on the push rod motor to detect the extension state and the retraction state of the push rod. In some embodiments, the extension state of the push rod corresponds to the second state of the support, and the retraction state of the push rod corresponds to the first state of the support. As other embodiments, the second sensor and the third sensor can also be installed on the body 10 of the sweeper, and corresponding detection marks are arranged on the vertical beam of the support 21. The second sensor and the third sensor cooperate with the corresponding detection marks to detect whether the support is in the first state or in the second state. Alternatively, the second sensor and the third sensor can be installed on the vertical beam of the support 21, and corresponding detection marks are arranged on the body 10 of the sweeper. The second sensor and the third sensor cooperate with the corresponding detection marks to detect whether the support is in the first state or in the second state.

[0042] Since the displacement length of the cleaning machine along the second direction is fixed when the cleaning machine changes lanes, the length is equal to the length of the roller brush of the cleaning machine, and thus the number of rotations of the first motor 28 is controlled, so that the cleaning machine can realize displacement of the fixed length along the second direction. When the first motor is a servo motor or a stepping motor, the first motor and the controller can form a closed-loop control, so that the control of the displacement length is more accurate.

[0043] With reference to Figure 3 In some embodiments, the walking wheels of the first walking wheel set are provided with grooves 141 along the wheel circumference, which are matched with the protrusions on the photovoltaic tiles. When the cleaning machine performs cleaning work on the photovoltaic tiles, the grooves 141 are fitted with the protrusions on the photovoltaic tiles, so that the cleaning machine is cleaned along the protrusions on the photovoltaic tiles as the walking track, which can ensure the walking track of the cleaning machine.

[0044] In the first embodiment, the displacement mechanism 20 adopts a vertical motion mode.

[0045] Second embodiment:

[0046] With reference to Figures 5 to 8 The photovoltaic panel cleaning machine includes a body 10 and a displacement mechanism 20. In this embodiment, the first direction is the X direction in the figure or the opposite direction thereof, and the second direction is the Y direction in the figure or the opposite direction thereof. The first direction is the cleaning direction of the cleaning machine, and the second direction is the displacement lane-changing direction of the cleaning machine. Figure 5 Figure 5 The body 10 of the cleaning machine is the same as that in the first embodiment, and thus will not be described here.

[0047] The body 10 of the cleaning machine is the same as that in the first embodiment, and thus will not be described here.

[0048] The displacement mechanism 20 is used to displace the cleaning machine along the second direction on the surface of the photovoltaic panel, and the second direction is perpendicular to the first direction. The displacement mechanism 20 includes a bracket 21 and an actuator 22, and adopts a swing motion mode.

[0049] Specifically, the body 10 is provided with a swing center 16, the bracket 21 is mounted to the swing center 16, and the bracket 21 is movably connected to the body 10 through the swing center 16.

[0050] The bracket 21 can swing around the swing center 16, and the bracket 21 includes a first state and a second state. An end of the bracket 21 close to the photovoltaic panel is connected with a second walking wheel set 27. In the first state, the second walking wheel set 27 is in contact with the photovoltaic panel, and in the second state, the second walking wheel set 27 is separated from the photovoltaic panel. The bracket 21 is provided with a first motor 28, and the first motor 28 is in transmission connection with the second walking wheel set 27.

[0051] ​In the embodiment, the swing center 16 is a first shaft which is transverse to the body 10 of the sweeper and is fixed to the connecting shaft 15 by a clamp and is perpendicular to the connecting shaft 15. The two vertical beams of the bracket 21 are connected to the two ends of the first shaft by bearings. The actuator 22 comprises a push rod motor which is fixed to the connecting shaft 15 and the push rod of the push rod motor is hinged to the cross beam of the bracket 21.

[0052] When the push rod of the push rod motor is in the retracted state, the bracket 21 is in the Figure 5 second state as shown. When the push rod of the push rod motor is extended, the bracket 21 on the right side of the middle is swung clockwise around the swing center 16 so that the bracket 21 enters the first state. The bracket 21 can be switched between the first state and the second state by retracting or extending the push rod of the push rod motor. Figure 5

[0053] As described above, in the second embodiment, the shifting mechanism 20 adopts a swing motion mode to switch the bracket 21 between the first state and the second state. When the bracket 21 enters the first state, the first motor 28 drives the second set of walking wheels 27 to rotate, and the second set of walking wheels 27 drives the body 10 of the sweeper to shift in the second direction to realize lane changing. The shifting mechanism 20 has the characteristics of simple structure and simple lane changing mode.

[0054] The parts not described in the second embodiment are the same as the implementation of the first embodiment.

[0055] The above detailed description of the present application through specific embodiments is only limited to helping the skilled in the art to understand the content of the present application and cannot be understood as the limitation of the protection scope of the present application. The various decorations, equivalent transformations and the like of the above-mentioned solutions by the skilled in the art under the concept of the present application shall be included in the protection scope of the present application.​

Claims

1. A photovoltaic panel cleaning machine, comprising: The main body (10) includes a first set of walking wheels (11), which is used to drive the sweeper to walk along a first direction on the surface of the photovoltaic panel; as well as The displacement mechanism (20) is used to displace the cleaning machine on the surface of the photovoltaic panel along a second direction; The second direction is perpendicular to the first direction; The shifting mechanism is characterized by comprising: A bracket (21) is movably connected to the main body. The bracket includes two vertical beams (23) and a horizontal beam (24). The two ends of the horizontal beam are fixedly connected to the top ends of the two vertical beams. The horizontal beam is located on the upper side of the main body, and the two vertical beams are located on the two outer sides of the main body adjacent to the upper side. The bracket includes a first state and a second state. A second set of wheels (27) is connected to one end of the bracket near the photovoltaic panel. In the first state, the second set of wheels is in contact with the photovoltaic panel. In the second state, the second set of wheels is detached from the photovoltaic panel. The bracket is equipped with a first motor (28), which is drivenly connected to the second set of wheels. An actuator (22) is mounted on the body for controlling the bracket to switch between the first state and the second state; In the first state, the first set of walking wheels is detached from the photovoltaic panel.

2. The photovoltaic panel cleaning machine according to claim 1, characterized in that, The main body is provided with a linear guide rail (26) extending along a third direction. The bracket is installed on the linear guide rail and is movably connected to the main body through the linear guide rail. The third direction is perpendicular to the surface of the photovoltaic panel.

3. The photovoltaic panel cleaning machine according to claim 1, characterized in that, The main body is provided with a swing center (16), the bracket is installed at the swing center, and the bracket is movably connected to the main body through the swing center.

4. The photovoltaic panel cleaning machine according to claim 1, characterized in that, The actuator includes a push rod motor.

5. The photovoltaic panel cleaning machine according to claim 4, characterized in that, The actuator further includes: The first sensor is used in conjunction with the position markers on the edge of the photovoltaic panel to detect whether the sweeper has moved to the edge of the photovoltaic panel; The second sensor is used to detect the first state of the bracket; A third sensor is used to detect the second state of the support; and The controller, which is communicatively connected to the first sensor, the second sensor, the third sensor, the push rod motor, and the first motor, is used to: control the push rod motor to run when the sweeper is detected to be running to the edge of the photovoltaic panel; control the first motor to run when the bracket is detected to be entering the first state; and control the push rod motor to run after the first motor has finished running so that the bracket enters the second state.

6. The photovoltaic panel cleaning machine according to claim 5, characterized in that, The second and third sensors are mounted on the push rod motor, and the first motor is a servo motor.

7. The photovoltaic panel cleaning machine according to claim 1, characterized in that, The first motor is mounted on the crossbeam.

8. The photovoltaic panel cleaning machine according to claim 7, characterized in that, The main body includes a connecting shaft (15) that connects two first walking wheel sets and is used to realize relative torsion between the two first walking wheel sets. The connecting shaft is fixed with a support plate (25), and the support plate is provided with a linear guide rail extending in a third direction. The two vertical beams are mounted on the linear guide rail; The actuator (22) includes a push rod motor, which is fixed to the support plate (25), and the power output part of the push rod motor is connected to the crossbeam; The third direction is perpendicular to the surface of the photovoltaic panel.

9. The photovoltaic panel cleaning machine according to claim 7, characterized in that, The body includes a connecting shaft (15) that connects two first walking wheel sets and is used to realize relative torsion between the two walking wheel sets. The connecting shaft is fixed with a first shaft that crosses the body and intersects the connecting shaft. The two vertical beams are rotatably connected to the two ends of the first shaft.

10. The photovoltaic panel cleaning machine according to claim 1, characterized in that, The photovoltaic panel is a photovoltaic tile, and the photovoltaic tile includes protrusions; The first set of wheels has a groove (141) around its circumference, and the groove is adapted to the protrusion.

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