Cleaning devices and robots

Abstract

The present application provides a cleaning device and a robot, the cleaning device is used to clean the surface of an object to be cleaned, and includes a shell, a roller brush, a dust collecting bin, a guide plate, a baffle and an opening and closing device, the shell being a cylindrical object; the roller brush is rotatably connected to the shell; the dust collecting bin is connected to the shell; the dust collecting bin includes an opening and at least two first exhaust holes, the opening facing the roller brush, and the first exhaust holes are connected to the outside of the dust collecting bin; the guide plate is connected to the lower end of the opening and extends toward the bottom of the roller brush; the baffle is connected to the upper end of the opening and is arranged opposite to the guide plate; a channel connecting the shell and the dust collecting bin is formed between the baffle and the guide plate; the opening and closing device is the bottom of the dust collecting bin; when the dust collecting bin is located above the surface of the object to be cleaned, the opening and closing device is closed; when the dust collecting bin is located outside the surface of the object to be cleaned, the opening and closing device can be opened, so as to solve the technical problem that the robot is prone to slipping due to excessive load on an inclined photovoltaic plane.

Description

Technical Field

[0001] The present application relates to the field of photovoltaic panel cleaning technology, and in particular to a cleaning device and a robot. Background Art

[0002] Photovoltaic panels are mostly made of silicon, which uses the voltaic effect of semiconductor materials under sunlight to convert solar energy directly into electricity. Photovoltaic panels are installed outdoors, so dust and other debris easily accumulate on their surfaces, reducing their power generation efficiency. The surfaces of photovoltaic panels typically require regular cleaning. To reduce manual cleaning costs and improve cleaning efficiency, photovoltaic power plants often use cleaning robots to clean the panel surfaces.

[0003] To ensure power generation efficiency, photovoltaic panels are often tilted at an angle relative to the horizontal. Existing robots are primarily designed for horizontal surfaces, so applying them to tilted photovoltaic surfaces presents numerous challenges. When robots clean dust, sand, and other debris from tilted, smooth photovoltaic panels, the heavy weight of these debris can cause the robot to slip, compromising stability and safety. Summary of the Invention

[0004] The present application provides a cleaning device and a robot to solve the technical problem that the robot is prone to slipping on an inclined photovoltaic plane due to excessive load.

[0005] The present application provides a cleaning device for cleaning the surface of an object to be cleaned, the cleaning device comprising an outer shell, a roller brush, a dust collecting bin, a guide plate, a baffle and an opening and closing device, the outer shell being a cylindrical object; the roller brush being rotatably connected to the inner shell; the dust collecting bin being connected to the outer shell; the dust collecting bin comprising an opening and at least two first exhaust holes, the opening facing the roller brush, the first exhaust holes being connected to the outside of the dust collecting bin; the guide plate being connected to the lower end of the opening and extending toward the bottom of the roller brush; the baffle being connected to the upper end of the opening and arranged opposite to the guide plate; a channel connecting the outer shell and the dust collecting bin is formed between the baffle and the guide plate; the opening and closing device is the bottom of the dust collecting bin; wherein, when the dust collecting bin is located above the surface of the object to be cleaned, the opening and closing device is closed; and when the dust collecting bin is located outside the surface of the object to be cleaned, the opening and closing device can be opened.

[0006] Optionally, the opening and closing device also includes a supporting plate and a driving member, wherein the supporting plate is the bottom of the dust collecting bin and can be movably attached to the side wall of the dust collecting bin; the driving member is installed on the dust collecting bin and connected to the supporting plate to drive the supporting plate to move or rotate; when the supporting plate is driven, a discharge port is formed at the bottom of the dust collecting bin.

[0007] Optionally, the supporting plate includes a supporting base plate and a supporting side plate, the supporting base plate is a flat plate, a bent plate or an arc-shaped plate; the top end of the supporting side plate is connected to the driving member, and the bottom end thereof is connected to the supporting base plate; wherein, when the driving member rotates, the supporting side plate can drive the supporting base plate to rotate; when the driving member is stationary, one end of the supporting base plate is attached to the side wall of the dust collecting bin, or forms the discharge port with the side wall of the dust collecting bin.

[0008] Optionally, the shell includes a first shell and a connecting plate, the first shell cover is arranged above the roller brush; the connecting plate is detachably connected to the edge of the first shell; the dust collecting bin includes a supporting plate, a first plate body and a second plate body, the supporting plate includes a supporting bottom plate and a supporting side plate, the bottom end of the supporting side plate is connected to the supporting bottom plate; the second plate body is arranged opposite to the supporting bottom plate and connected to the connecting plate; the first plate body is arranged opposite to the supporting side plate, and is connected to the second plate body; the opening is formed between the supporting side plate and the second plate body; when the supporting plate is driven, a discharge port is formed between the supporting plate and the first plate body, and when the supporting bottom plate is in contact with the first plate body, the discharge port is closed.

[0009] Optionally, the shell also includes a third shell, and the removable cover of the third shell is arranged above the dust collecting bin and the connecting plate, and the third shell, the top surface of the dust collecting bin and the connecting plate form a closed exhaust cavity; wherein, at least two of the first exhaust holes are provided on the second plate body, and at least two second exhaust holes are provided on the third shell. When the roller brush is rotated, the air in the shell flows into the dust collecting bin through the channel, and flows through the first exhaust hole and the second exhaust hole in turn to the outside of the third shell.

[0010] Correspondingly, the present application also provides a robot comprising a vehicle body and a cleaning device, wherein the vehicle body is capable of moving on the surface of the object to be cleaned; the cleaning device is connected to the vehicle body, and the cleaning device is any one of the cleaning devices described above.

[0011] Optionally, the cleaning robot also includes a data processing device and a distance sensor, the distance sensor is electrically connected to the data processing device, and the distance sensor is installed to the front end of the vehicle body to collect the real-time distance between the distance sensor and the surface of the object to be cleaned; the forward direction of the vehicle body is defined as the front; wherein the opening and closing device includes a driving member, and the driving member is electrically connected to the data processing device; the data processing device determines whether the dust collection bin is located on the surface of the object to be cleaned based on the real-time distance, and if not, the data processing device controls the driving member to open the opening and closing device.

[0012] The present application provides a cleaning device and a robot. When the roller brush rotates in the outer shell, it can drive the dust, sand and other attachments attached to the surface of the cleaned object to move toward the opening of the dust collecting bin. The relatively arranged guide plates and baffles can limit the movement area of ​​the attachments, so that most of the attachments are collected into the dust collecting bin by centrifugal force and the negative pressure force at the opening.

[0013] When the dust bin moves beyond the surface of the object being cleaned, the opening and closing device is opened, thereby discharging dust, sand, and other attachments in the dust bin. During the cleaning process, the weight of the dust bin and the internal attachments can be reduced by periodically using the opening and closing device, thereby reducing the driving force required for the movement of the cleaning device and extending the use time and service life of the cleaning device. At the same time, the design size of the dust bin can also be reduced to achieve the lightweight design requirements of the cleaning device. Therefore, by using a lightweight dust bin to periodically dump the attachments in the dust bin, the side slip caused by the excessive weight of the cleaning device can be reduced, thereby improving the safety and stability of the robot during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0015] Figure 1 It is a structural diagram of the robot provided by this application;

[0016] Figure 2 It is a structural schematic diagram of the fixed plate in the robot provided by this application;

[0017] Figure 3 It is a structural schematic diagram of the cleaning device provided by this application;

[0018] Figure 4 is a cross-sectional view of the cleaning device provided by the present application;

[0019] Figure 5 is a side view of the cleaning device provided by the present application;

[0020] Figure 6 It is a partial schematic diagram of the cleaning device provided by this application;

[0021] Figure 7 This is a schematic diagram of the connection between the second shell, the guide plate and the baffle in the cleaning device provided by this application;

[0022] Figure 8It is a structural schematic diagram of the second shell of the cleaning device provided by this application;

[0023] Figure 9 It is an exploded schematic diagram of the first side plate and the second side plate of the cleaning device provided by the present application;

[0024] Figure 10 It is a cross-sectional view of the first side plate and the second side plate in the cleaning device provided by this application.

[0025] Description of reference numerals:

[0026] 100, vehicle body; 110, first fixing rod; 120, second fixing rod; 200, housing; 210, first housing; 220, connecting plate; 230, first side plate; 231, first locking block; 232, limiting groove; 233, second locking block; 234, elastic member; 300, dust collecting bin; 310, first plate; 320, second plate; 321, first exhaust hole; 330, second side plate; 331, first clamping block; 332, second clamping groove; 340, supporting plate; 341, supporting bottom plate; 342, supporting side plate ; 350, servo; 351, transmission pair; 360, inspection door; 400, third shell; 410, exhaust chamber; 420, second exhaust hole; 500, guide plate; 510, arc section; 520, plane section; 610, baffle; 611, scraper; 620, reinforcement; 630, buffer; 700, mounting frame; 710, fixed frame; 720, dual-axis motor; 730, handle; 800, roller brush; 900, fixed plate; 910, sliding groove; 911, first end; 912, second end; 920, groove. Implementation Method

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In the present application, unless otherwise specified, the directional words used, such as "up", "down", "left", and "right", generally refer to the up, down, left, and right of the device in actual use or working state, specifically the drawing direction in the accompanying drawings.

[0028] The present application provides a cleaning device and a robot, which are described in detail below. It should be noted that the order of description of the following embodiments does not limit the preferred order of the embodiments of the present application. In the following embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a particular embodiment, please refer to the relevant description of other embodiments.

[0029] See also Figure 1 The present application provides a robot that can move over the surface of an object to be cleaned and remove dust, sand, and other attachments on the surface of the object to be cleaned; the object to be cleaned can be a photovoltaic panel or a panel array composed of photovoltaic panels, or a flat surface made of glass or other materials. In this embodiment, the object to be cleaned is described using a photovoltaic panel as an example.

[0030] See also Figure 1 The robot includes a vehicle body 100 and a cleaning device, which is detachably connected to the front of the vehicle body 100, wherein the forward direction of the vehicle body 100 is defined as the front. The vehicle body 100 can move on the photovoltaic panel to drive the cleaning device to clean the attached objects on the photovoltaic panel.

[0031] See also Figure 1 The robot also includes two groups of connecting components, which are respectively arranged on both sides of the vehicle body 100 and are symmetrically distributed about the central axis of the vehicle body 100 to increase the reliability of the connection between the vehicle body 100 and the cleaning device.

[0032] See also Figure 1 and Figure 2 Each connecting assembly includes a fixing plate 900 and a first fixing rod 110. One end of the fixing plate 900 is connected to the housing of the cleaning device via a fastening screw. The fixing plate 900 defines a sliding groove 910 along its height. The sliding groove 910 includes a first end 911 and a second end 912 that are opposite to each other, with the first end 911 being located below the second end 912.

[0033] A boss is provided at one end of the first fixing rod 110, and the orthographic projection of the boss along the axial direction of the first fixing rod 110 completely covers the rod body of the first fixing rod 110, that is, the diameter of the boss is larger than the diameter of the first fixing rod 110. In this embodiment, the width of the first end 911 is slightly larger than the width of the second end 912, so that the boss is adapted to the width of the first end 911, and the rod body of the first fixing rod 110 is adapted to the second end 912.

[0034] The rod body of the first fixing rod 110 is fixedly connected to the front end of the vehicle body 100, and the first end 911 of the sliding groove 910 is aligned with the boss, so that the boss passes through the first end 911. Due to the gravity of the cleaning device itself, the fixing plate 900 moves downward, causing the rod body of the first fixing rod 110 to move from the first end 911 to the second end 912, completing the assembly of the cleaning device and the vehicle body 100.

[0035] See also Figure 1 and Figure 2 The connecting assembly further includes a second fixing rod 120 connected to the front end of the vehicle body 100. A corresponding recess 920 is formed in the front end of the fixing plate 900. When the first fixing rod 110 is inserted into the second end 912, the second fixing rod 120 is correspondingly inserted into the interior of the recess 920.

[0036] The fixed position of the second fixed rod 120 is located behind the fixed position of the first fixed rod 110. In order to avoid interference between the fixed plate 900 and the second fixed rod 120 during the movement of the first fixed rod 110 along the sliding groove 910, in this embodiment, the sliding groove 910 is an arc shape, and the concave surface is set toward the second fixed rod 120.

[0037] When the first fixing rod 110 is embedded in the second end portion 912, it can restrict the vertical and horizontal degrees of freedom of the cleaning device relative to the vehicle body 100. When the second fixing rod 120 is embedded in the groove 920, it can restrict the rotational degrees of freedom of the cleaning device relative to the vehicle body 100. Therefore, based on the cooperation between the first fixing rod 110 and the sliding groove 910, and the cooperation between the second fixing rod 120 and the groove 920, it is possible to achieve multiple degrees of freedom restrictions at the connection between the cleaning device and the vehicle body 100, thereby enhancing the stability of the connection.

[0038] See also Figure 4 and Figure 5 The cleaning device includes a housing 200, a dust collecting bin 300, and a roller brush 800. The housing 200 is a cylindrical object and is connected to the dust collecting bin 300. The roller brush 800 is rotatably connected to the interior of the housing 200. Specifically, the two end surfaces of the roller brush 800 are connected to the side walls of the housing 200 through rotating bearings.

[0039] See also Figure 4 and Figure 5 The dust collection bin 300 includes an opening that faces the roller brush 800 in the housing 200, allowing the dust collection bin 300 to communicate with the interior of the housing 200 through the opening. When the vehicle 100 travels over the photovoltaic panels, the roller brush 800 rotates within the housing 200, thereby cleaning debris attached to the photovoltaic panel surface into the dust collection bin 300 through the opening.

[0040] The cleaning device further includes a deflector 500 and a baffle 610. One end of the deflector 500 is connected to the lower end of the opening, and the other end thereof extends toward the lower end of the roller brush 800, so that the end thereof is as close as possible to the roller brush 800. One end of the baffle 610 is connected to the upper end of the opening, and the other end thereof extends in a direction away from the dust collection bin 300. The baffle 610 corresponds to the deflector 500, so that a passage connecting the housing 200 and the dust collection bin 300 is formed between the baffle 610 and the deflector 500, thereby limiting the air inlet area at the opening.

[0041] When the roller brush 800 rotates in the outer shell 200, the bristles of the roller brush 800 can drive dust, sand and other attachments away from the surface of the photovoltaic panel along the rotation direction of the roller brush 800. At the same time, since the opening of the dust collecting bin 300 is set toward the outer shell 200, the attachments are separated from the bristles under the action of the centrifugal force exerted by the roller brush 800 and gathered into the interior of the dust collecting bin 300 through the opening.

[0042] At the same time, when the roller brush 800 rotates near the opening of the dust collecting bin 300, the air flow speed at the opening of the dust collecting bin 300 is slightly higher, so that the opening of the dust collecting bin 300 is in a negative pressure state, so that attachments are more easily adsorbed into the dust collecting bin 300 through the opening.

[0043] See also Figure 3-Figure 5 The dust collecting bin 300 further includes at least two first exhaust holes 321 , which can be provided on the side wall and / or top wall of the dust collecting bin 300 so that the interior of the dust collecting bin 300 is connected to the outside thereof through the first exhaust holes 321 .

[0044] When the vehicle body 100 moves on the photovoltaic panel, the roller brush 800 drives the air and the attachments mixed in the air to gather inside the dust collecting bin 300. The dust and sand in the air gather to the bottom of the dust collecting bin 300 under the action of their own gravity. At the same time, the air inside the dust collecting bin 300 can flow to the outside of the dust collecting bin 300 through the first exhaust hole 321, thereby using the combination of the dust collecting bin 300 and the roller brush 800 to clean the surface of the photovoltaic panel.

[0045] See also Figure 3-Figure 5 The dust collecting bin 300 also includes an opening and closing device, which is at the bottom of the dust collecting bin 300. When the dust collecting bin 300 is located above the photovoltaic panel, the opening and closing device is closed; when the dust collecting bin 300 is located outside the photovoltaic panel, the opening and closing device can be opened so that the dust, sand and other attachments inside the dust collecting bin 300 can be discharged to the outside through the opened opening and closing device.

[0046] To ensure power generation efficiency, photovoltaic panels are often designed at an angle relative to the mounting surface. Furthermore, the surface of the photovoltaic panels is smooth, so when the vehicle body 100 drives the cleaning device, it must overcome the sliding caused by the robot's own gravity. When the dust bin 300 moves outside the photovoltaic panel, the opening and closing mechanism of the dust bin 300 opens, allowing attached materials to be discharged outside the dust bin 300. This reduces the weight of the cleaning device during movement, minimizing the robot's sideways slippage while also saving energy and extending its service life.

[0047] When the opening and closing device of the dust collecting bin 300 is opened, the dust and sand in the dust collecting bin 300 are discharged, which can reduce the design volume of the dust collecting bin 300, further reduce the weight of the cleaning device, and also reduce costs.

[0048] See also Figure 3-Figure 5 The housing 200 includes a first shell 210 and a connecting plate 220, wherein the first shell 210 and the connecting plate 220 are detachably connected by fastening screws and are jointly mounted above the roller brush 800. The dust collecting bin 300 includes a first plate 310, a second plate 320, and a supporting plate 340. The first plate 310, the second plate 320, and the connecting plate 220 are connected in a stepped manner. The end of the connecting plate 220 can be connected to the edge of the first shell 210 by fastening screws or rivets, so that the dust collecting bin 300 is connected to the housing 200. The supporting plate 340 is the bottom of the dust collecting bin 300, which includes a supporting bottom plate 341 and a supporting side plate 342. One side of the supporting bottom plate 341 is connected to the bottom of the supporting side plate 342, and the other side thereof can be attached to the edge of the first plate 310.

[0049] The first plate 310 is the side wall in front of the dust collecting bin 300 , the second plate 320 is the top wall of the dust collecting bin 300 and is arranged opposite to the supporting bottom plate 341 , and the supporting side plate 342 is the side wall in the rear of the dust collecting bin 300 and is arranged opposite to the aforementioned first plate 310 .

[0050] Since there is a distance between the supporting side plate 342 and the second plate body 320 , the aforementioned opening is formed, so that attached objects can be collected into the dust collecting bin 300 through the opening.

[0051] The opening and closing device includes a supporting plate 340 and a connected driving member. The supporting plate 340 includes a connected supporting bottom plate 341 and a supporting side plate 342. The driving member is connected to the supporting side plate 342 and can drive the supporting side plate 342 to rotate. The supporting side plate 342 can drive the supporting bottom plate 341 to move, so that the supporting bottom plate 341 can be attached to or separated from the lower edge of the first plate body 310, thereby forming an openable and closable discharge port.

[0052] In another embodiment, the opening and closing device includes a supporting plate 340 and a driving member. The supporting plate 340 is the bottom of the dust collecting bin 300, and the driving member is connected to the supporting plate 340, thereby driving the supporting plate 340 to move in a straight line, so that the supporting plate 340 can be movably attached to the side wall of the dust collecting bin 300. When the dust collecting bin 300 is located above the photovoltaic panel, the supporting plate 340 is in an initial state, and it is attached to the lower edge of the first plate body 310; when the dust collecting bin 300 is located outside the photovoltaic panel, the driving member drives the supporting plate 340 to move, so that the supporting plate 340 is separated from the lower edge of the first plate body, thereby forming the above-mentioned openable and closable discharge port. Specifically, the supporting plate 340 can be set at an angle or horizontally; the driving member can be a linear motion mechanism such as a cylinder, a linear motor, or a gear rack.

[0053] See also Figure 5-Figure 8 The first shell 210 is a sheet metal part, which is bent from a whole plate to form an arched structure. The first plate body 310, the second plate body 320 and the connecting plate 220 are bent from a whole plate to form a stepped structure, and the above-mentioned whole plate is defined as the second shell. The supporting plate 340 is bent from a whole plate to form a supporting bottom plate 341 and a supporting side plate 342. The first shell 210, the second shell and the supporting plate 340 are prepared by a bending process, which can not only simplify the preparation process, improve processing and assembly efficiency, and reduce preparation costs, but also ensure the strength of the first shell 210, the second shell and the supporting plate 340, thereby extending the service life of the cleaning device.

[0054] See also Figure 5 When the cleaning device is driven by the vehicle 100, a gap exists between the support plate 341 and the photovoltaic panel, positioning the support plate 341 above the panel. Because the photovoltaic panel is surrounded by a frame that is slightly higher than the panel, a gap exists between the lowest position of the support plate 341 and the panel. This prevents collision between the support plate 340 and the frame when the cleaning device crosses over adjacent photovoltaic panels, thus protecting both the robot and the photovoltaic panel.

[0055] See also Figure 3 and Figure 4 The housing 200 further includes a first side plate 230, which is connected to the end of the first shell 210 via fastening screws. The dust collection bin 300 further includes a second side plate 330, which is connected to the end of the second shell via fastening screws. That is, the first plate 310, the second plate 320, and the ends of the connecting plate 220 are all connected to the second side plate 330.

[0056] The first side panel 230, the first housing 210, and the connecting plate 220 form the aforementioned housing 200. The end of the roller brush 800 is rotatably connected to the first side panel 230 via a rotating bearing to facilitate assembly of the roller brush 800 with the housing 200. The second side panel 330, the first plate 310, the second plate 320, and the supporting plate 340 constitute the aforementioned dust collection bin 300. The end of the supporting side panel 342 is rotatably connected to the second side panel 330 to facilitate assembly of the supporting plate 340.

[0057] See also Figure 5 and Figure 9 The driving member is mounted on the second side plate 330 of the dust collecting bin 300. The driving member includes a steering gear 350 and a transmission pair. The steering gear 350 is mounted on the inner side of the second side plate 330 and can be connected to the top of the supporting side plate 342 through the transmission pair 351. The steering gear 350 drives the supporting side plate 342 to rotate a certain angle through the transmission pair 351. At the same time, the supporting side plate 342 can drive the supporting bottom plate 341 connected thereto to rotate synchronously, so that the edge of the supporting bottom plate 341 is separated from the first plate body 310. At this time, the discharge port is opened, and dust, sand and other attachments in the dust collecting bin 300 can be discharged through the discharge port. After the attachments in the dust collecting bin 300 are discharged, the steering gear 350 drives the supporting side plate 342 to rotate in the opposite direction, so that the supporting bottom plate 341 is reset and attached to the edge of the first plate body 310 through the supporting side plate 342, so that the discharge port is closed.

[0058] In this embodiment, the drive element can also be a high-precision servo motor, and the transmission pair 351 includes a high-precision synchronous toothed belt and a toothed transmission wheel. Utilizing the high-precision servo 350 and transmission pair 351 can improve the motion accuracy of the support plate 340, thereby precisely controlling the opening and closing of the discharge port.

[0059] See also Figure 5 and Figure 9 The robot also includes a data processing device and at least one distance sensor (not shown in the figure). The servo 350 and the distance sensor are electrically connected to the data processing device. The distance sensor is installed on the front end of the vehicle body 100 to collect the real-time distance between the distance sensor and the photovoltaic panel, and transmit the collected signal to the data processing device; the data processing device determines whether the dust collection bin 300 is located on the surface of the photovoltaic panel based on the real-time distance signal of the distance sensor. If so, the vehicle body 100 continues to move; if not, the data processing device controls the servo 350 to drive the supporting side plate 342 to rotate, and uses the supporting side plate 342 to drive the supporting bottom plate 341 to rotate a certain angle, so that the supporting bottom plate 341 is separated from the first plate body 310, forming the aforementioned discharge port.

[0060] See also Figure 5 and Figure 9Because the photovoltaic panel consists of a panel and a frame surrounding the panel, the frame is slightly higher than the panel surface. When the distance sensor is mounted on the bottom of the vehicle body 100 and positioned near the front end of the vehicle body 100, the distance sensor can detect a changing signal when the vehicle body 100 moves to the frame. Since the dust bin 300 is located at the front end of the vehicle body 100, the data processing device determines that the dust bin 300 is located outside the photovoltaic panel based on the change in the distance sensor signal.

[0061] See also Figure 3 and Figure 9 The dust collection bin 300 further includes an inspection door 360 that is detachably connected to the outside of the second side panel 330. Since the end of the rotating shaft of the servo 350 extends outside the second side panel 330, the belt drive pair 351 that cooperates with it is mounted outside the second side panel 330. Therefore, the detachable inspection door 360 facilitates assembly and inspection of the servo 350 and the drive pair 351.

[0062] See also Figure 3-Figure 5 The dust collection bin 300 further includes a third housing 400, which is detachably connected to the outside of the second housing via screws. Because the first plate 310 and the second plate 320 are connected in a stepped manner, when the third housing 400 is positioned over the outside of the first plate 310 and the second plate 320, a closed exhaust chamber 410 is formed between the third housing 400 and the second housing.

[0063] The first plate 310 and / or the second plate 320 are provided with a plurality of first exhaust holes 321. The exhaust cavity 410 is connected to the dust collecting bin 300 through the first exhaust holes 321, so that the air in the dust collecting bin 300 can flow into the exhaust cavity 410. The third housing 400 is provided with at least two second exhaust holes 420. The exhaust cavity 410 is connected to the outside through the second exhaust holes 420, so that the air in the exhaust cavity 410 can flow to the outside of the cleaning device through the second exhaust holes 420.

[0064] The third housing 400 covers the exterior of the first plate 310 and the second plate 320, preventing particles such as sand and gravel from falling into the first exhaust hole 321 and thereby clogging the air passage of the first exhaust hole 321. Air flows through the first exhaust hole 321 into the exhaust chamber 410, and then through the second exhaust hole 420 to the exterior of the cleaning device. Thus, the air is filtered through both the first exhaust hole 321 and the second exhaust hole 420, allowing more dust and other impurities suspended in the air to be deposited in the dust collection bin 300 and the exhaust chamber 410, thereby improving the cleaning efficiency of the cleaning robot.

[0065] See also Figure 4-Figure 6In this embodiment, the first exhaust holes 321 are formed on the second plate 320 and are located on a side of the second plate 320 away from the third housing 400. Accordingly, the second exhaust holes 420 are positioned above the second plate 320, slightly higher than the first exhaust holes 321.

[0066] Because the second plate 320 forms the top wall of the dust bin 300 and the first exhaust hole 321 is formed on the second plate 320, when air mixed with particulate matter flows upward to the first exhaust hole 321, the particulate matter is more likely to fall to the bottom of the dust bin 300 due to its own gravity. Therefore, when the air in the dust bin 300 flows through the first exhaust hole 321 into the exhaust cavity 410, more dust, sand, and other particulate matter contained in the air can be filtered by the first exhaust hole 321, allowing more particulate matter to be deposited within the dust bin 300. The second exhaust hole 420 is positioned slightly higher than the second plate 320 and is formed in a vertical portion of the third housing 400. This not only facilitates the flow of air from the exhaust cavity 410 to the exterior of the third housing 400, but also prevents sand and stone particles from falling into the second exhaust hole 420 and causing air blockage.

[0067] The first exhaust hole 321 is distributed on the side of the second plate 320 away from the third shell 400, so the air discharged through the dust collecting bin 300 gathers at the first exhaust hole 321; when the air in the exhaust cavity 410 flows to the second exhaust hole 420, the air flow path increases, so that small particles such as dust suspended in the air can be deposited on the side of the second plate 320 close to the third shell 400, thereby further improving the cleaning effect of the robot.

[0068] See also Figure 4 and Figure 5 The guide plate 500 is connected to the lower end of the opening. Since the opening of the dust collecting bin 300 is in a negative pressure state, when the guide plate 500 is used to limit the air inlet area at the lower end of the opening, the air and the attachments suspended therein can flow along the guide plate 500 to the interior of the dust collecting bin 300, thereby preventing particulate matter from falling between the dust collecting bin 300 and the roller brush 800, thereby improving the cleaning efficiency and effect.

[0069] Because the baffle 610 is connected to the upper end of the opening, when the roller brush 800 rotates to the baffle 610, the baffle 610 can restrict particles attached to the bristles, allowing the particles to separate from the roller brush 800 and be attracted to the opening. At the same time, the baffle 610 can also block some particles driven upward by centrifugal force, allowing the particles to be collected inside the dust collection bin 300.

[0070] See also Figure 4 and Figure 7At least two scraping teeth 611 are provided at the end of the baffle 610 near the bristles. When the bristles of the roller brush 800 pass through the scraping teeth 611, the baffle 610 can not only block the particles attached to the bristles, but also use the scraping teeth 611 to clean the hair, feathers, ropes and other debris entangled on the bristles, thereby improving the cleaning effect of the roller brush 800.

[0071] See also Figure 4 and Figure 5 Because the second plate 320 and the connecting plate 220 are formed by bending the second shell, the baffle 610 is fixed to the bend between the second plate 320 and the connecting plate 220 and extends axially along the roller brush 800. To facilitate installation of the baffle 610 and strengthen the bend between the second plate 320 and the connecting plate 220, a reinforcement member 620 is connected above or below the baffle 610. In this embodiment, the reinforcement member 620 is fixed above the baffle 610 and extends axially along the roller brush 800.

[0072] See also Figure 4 and Figure 5 To prevent vibration at the connection between the rigid baffle 610 and the rigid reinforcement 620, a buffer 630 is provided between the baffle 610 and the reinforcement 620. In this embodiment, the buffer 630 is preferably made of rubber or silicone. When the bristles of the roller brush 800 pass through the scraping teeth 611 of the baffle 610, the buffer 630 can buffer the force between the baffle 610 and the reinforcement 620, thereby reducing vibration.

[0073] See also Figure 4 、 Figure 5 and Figure 7 The deflector 500 includes a connected arcuate segment 510 and a flat segment 520. The arcuate segment 510 is located at the opening of the dust collection bin 300 and on top of the supporting side plate 342. One end of the flat segment 520 is connected to the end of the arcuate segment 510, and the other end is tilted toward the lower end of the roller brush 800, so that the flat segment 520 is located below the opening.

[0074] The downwardly inclined flat section 520 brings its end closer to the bottom of the roller brush 800. When the roller brush 800 applies a force to the attached objects on the photovoltaic panel, the attached objects move toward the opening of the dust collection bin 300 under the action of centrifugal force, so that some of the dust, sand and other attached objects picked up by the roller brush 800 are blown into the interior of the dust collection bin 300 by the airflow, while some of them fall onto the flat section 520 due to gravity and are driven into the interior of the dust collection bin 300 along the surface of the flat section 520. In this application, the inclination angle of the flat section 520 can be specifically designed according to the inclination angle of the photovoltaic panel and the size of the roller brush 800, and is not specifically limited here.

[0075] The opening of the dust collection bin 300 is under negative pressure, making it easier for attached objects to collect inside the dust collection bin 300 using the curved section 510 located at the top of the supporting side panel 342. In this embodiment, the top of the supporting side panel 342 is a cylindrical structure, and the curved section 510 fits in contact with the top of the supporting side panel 342, thereby preventing interference between the curved section 510 and the supporting side panel 342 during rotation by the servo 350. The supporting side panel 342 also applies a supporting force to the deflector 500, thereby enhancing the connection strength and stability of the deflector 500.

[0076] See also Figure 4 When the cleaning device is driven by vehicle 100 along the surface of the photovoltaic panel, a gap exists between the lowest point of planar segment 520 and the photovoltaic panel, positioning deflector 500 above the panel. Because the photovoltaic panel is surrounded by a frame that is slightly higher than the panel surface, this gap limits the gap between the lowest point of deflector 500 and the panel. This prevents collision between deflector 500 and the frame when the deflector 500 crosses over adjacent photovoltaic panels, thus protecting both the robot and the photovoltaic panel.

[0077] See also Figure 5 and Figure 6 The cleaning device also includes a dual-axis motor 720, a mounting frame 700, and a fixed frame 710. The dual-axis motor 720 includes two opposing extension shafts, each of which is connected to a roller brush 800. Thus, the dual-axis motor 720 allows two sets of roller brushes 800 to simultaneously clean the surface of the photovoltaic panel, thereby improving cleaning efficiency. The dual-axis motor 720 is fixed to the mounting frame 700, with the two extension shafts extending to either side of the mounting frame 700. The fixed frame 710 is connected to a side wall of the mounting frame 700 via fastening screws to ensure relative fixation between the fixed frame 710 and the mounting frame 700.

[0078] See also Figure 5-Figure 7 Each roller brush 800 is covered by a housing 200 and a dust collection bin 300. When the housing is fixedly connected to the mounting frame 700 and the fixed frame 710, the two housings 200 are respectively connected to the two side walls of the mounting frame 700 by fastening screws, and the two dust collection bins 300 are respectively connected to the two side walls of the fixed frame 710 by fastening screws. Because the first plate 310 and the second plate 320 of the dust collection bin 300 are connected to the side of the fixed frame 710, the two opposite sides of the fixed frame 710 become the side walls of the dust collection bin 300.

[0079] The two extended shafts of the dual-axis motor 720 are respectively connected to two roller brushes 800, resulting in a longer length of the two shells that cover the exterior of the roller brushes 800. Because the shell is a sheet metal structure, the mounting frame 700 and the fixed frame 710 are used to respectively fix the outer shell 200 and the dust collection bin 300, which can apply a supporting force to the shell, thereby reducing the shell's bending deformation and improving the shell's strength and stability. In addition, using two sets of shells for splicing can facilitate the processing and preparation of the shell, reduce the difficulty of preparation, and increase processing efficiency, while increasing the cleaning area and improving cleaning efficiency.

[0080] See also Figure 3 and Figure 6 A handle 730 is attached to the exterior of the mounting frame 700 to facilitate assembly of the cleaning device onto the vehicle body 100. Because the mounting frame 700 is located centrally between the two housings, the symmetrically distributed two sets of connecting components facilitate assembly of the cleaning device onto the vehicle body 100 using the handle 730. Furthermore, the mounting frame 700 possesses significant strength and rigidity, so when the cleaning device is assembled using the handle 730, the housing remains unchanged, thus preventing deformation and damage to the cleaning device during assembly.

[0081] See also Figure 3 、 Figure 4 and Figure 9 The sidewalls of the housing include a first side panel 230 and a second side panel 330, which are located on the same plane. After the first side panel 230 is pre-secured to the end of the first housing 210 using screws, the second side panel 330 is connected to the first side panel 230 via a stopper assembly and then secured to the end of the second housing using screws. This stopper assembly limits the relative position of the first and second side panels 230, 330, improving assembly accuracy.

[0082] See also Figure 9 and Figure 10 The limiting assembly includes a first locking block 231 and a first clamping block 331 adapted therewith. The first locking block 231 is fixed to the side wall of the first side plate 230, and the first clamping block 331 is fixed to the opposite side wall of the second side plate 330. The first locking block 231 can be locked with the first clamping block 331 along a first direction. In this embodiment, the first direction is preferably the Z-axis direction.

[0083] In this embodiment, the first engaging block 331 is docked with the first locking block 231 along the Z-axis to restrict the degrees of freedom of the first side panel 230 and the second side panel 330 along the X-axis and the Y-axis. The adaptation of the first engaging block 331 and the first locking block 231 allows the first side panel 230 and the second side panel 330 to be pre-fixed, thereby improving the assembly accuracy of the first side panel 230 and the second side panel 330.

[0084] See also Figure 9 and Figure 10 The limiting assembly also includes a second locking block 233 and a second engaging groove 332 adapted therewith. The first side plate 230 has a limiting groove 232 defined inwardly from its sidewall. The locking block can be embedded in the limiting groove 232 and slide along the opening direction, allowing a portion of the second locking block 233 to extend from the limiting groove 232. In this embodiment, the second locking block 233 includes a lock body and a lock head, wherein the lock head is connected to the lock body and has smaller dimensions than the lock body. The limiting groove 232 includes a first groove body and a second groove body that are connected to each other. The opening dimensions of the first groove body are adapted to the lock head, and the opening dimensions of the second groove body are adapted to the lock body.

[0085] An elastic member 234 is disposed between the second locking block 233 and the limiting groove 232. In this embodiment, the elastic member 234 is preferably a coil spring. One end of the elastic member 234 is connected to the lock body of the second locking block 233, and the other end abuts against the inner wall of the second groove. The elastic member 234 pushes the locking head of the second locking block 233 out of the first groove and into the second engaging groove 332.

[0086] The second side panel 330 has a recessed second engaging groove 332 defined in its sidewall. The second locking block 233 can engage within the second engaging groove 332 along a second direction. In this embodiment, the second direction is preferably the X-axis. When the second locking block 233 engages the second engaging groove 332 along the X-axis, the degrees of freedom of the first and second side panels 230 and 330 along the Z and Y-axis directions are restricted, thereby improving the assembly precision of the first and second side panels 230 and 330 and enhancing the stability of the connection.

[0087] The above-mentioned limiting component can select the combination of the first locking block 231 and the first clamping block 331 alone, or the combination of the second locking block 233 and the second clamping groove 332 alone, or the combination of the first locking block 231 and the first clamping block 331, and the second locking block 233 and the second clamping groove 332 can be selected at the same time.

[0088] See also Figure 9 and Figure 10In this embodiment, after the first side plate 230 is fixed to the end of the first shell 210, the second side plate 330 is installed along the Z-axis direction, and the first locking block 231 is matched with the first clamping block 331 along the Z-axis direction. During the movement of the second side plate 330 along the Z-axis, the second side plate 330 is attached to the side wall of the first side plate 230. At this time, the second side plate 330 will apply a thrust to the second locking block 233, so that the second locking block 233 is completely embedded in the limiting groove 232, and the elastic member 234 is in a compressed state. When the second clamping groove 332 of the second side plate 330 moves to the position opposite to the second locking block 233, the elastic member 234 can convert its own elastic force into a thrust that drives the second locking block 233 to move, so that the lock head of the second locking block 233 is embedded in the second clamping groove. At this point, the first locking block 231 is fitted with the first engaging block 331, and the second locking block 233 is in contact with the second engaging groove 332, thereby pre-fixing the first side panel 230 and the second side panel 330 and ensuring the accuracy of the relative position of the first side panel 230 and the second side panel 330. The second side panel 330 is then fixed to the end of the second housing by tightening the screws, thereby completing the assembly of the first side panel 230 and the second side panel 330.

[0089] See also Figure 1 Since the vehicle body can drive the cleaning device to move along the surface of the photovoltaic panel, the structure of the vehicle body can refer to the following existing technology to ensure the stability of the robot during cleaning.

[0090] Based on a suction cup track drive mechanism and a photovoltaic panel cleaning robot with publication number CN112657991A, the vehicle body 100 includes a suction cup track drive mechanism.

[0091] Based on a track tensioning device and a track-type traveling device with publication number CN111942489A, a track tensioning device is fixedly installed on both side walls of the vehicle body 100 .

[0092] Based on the crawler track and crawler-type traveling device with the announcement number CN114104131A, two or more wheels are respectively provided on the left and right sides of the vehicle body 100, and each of the crawlers is mounted on the multiple wheels on one side of the vehicle body.

[0093] The above is a detailed introduction to a cleaning device and a robot provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A cleaning device for cleaning a surface of an object to be cleaned, wherein: include: a shell, which is a cylindrical object; a roller brush rotatably connected to the housing; The housing comprises: A first housing, which covers the top of the roller brush; and a connecting plate detachably connected to an edge of the first shell; A dust collecting bin connected to the housing; the dust collecting bin comprises an opening and at least two first exhaust holes, the opening facing the roller brush, and the first exhaust holes communicating with the outside of the dust collecting bin; The dust collecting bin comprises: A supporting plate, which is the bottom of the dust collecting bin and can be movably attached to the side wall of the dust collecting bin, the supporting plate includes a supporting bottom plate and a supporting side plate, the bottom end of the supporting side plate is connected to the supporting bottom plate, the supporting bottom plate is a flat plate or a bent plate or an arc-shaped plate, the top end of the supporting side plate is connected to a driving member, and the bottom end thereof is connected to the supporting bottom plate; a second plate body, which is arranged opposite to the supporting base plate and connected to the connecting plate; a first plate body, which is arranged opposite to the supporting side plate and connected to the second plate body; as well as a driving member, which is mounted on the dust collecting bin and connected to the supporting plate, and is used to drive the supporting plate to move or rotate; The supporting plate and the driving member form an opening and closing device at the bottom of the dust collecting bin; The opening is formed between the supporting side plate and the second plate body; When the supporting plate is driven, a discharge port is formed between the supporting plate and the first plate body, and when the supporting bottom plate is in contact with the first plate body, the discharge port is closed; a guide plate connected to a lower end portion of the opening and extending toward a bottom portion of the roller brush; a baffle connected to the upper end of the opening and arranged opposite to the guide plate; a passage connecting the housing and the dust collecting bin is formed between the baffle and the guide plate; Wherein, when the driving member rotates, the supporting side plate can drive the supporting bottom plate to rotate; when the driving member is stationary, one end of the supporting bottom plate is attached to the side wall of the dust collecting bin, or forms the discharge port with the side wall of the dust collecting bin; Wherein, when the dust collecting bin is located above the surface of the object to be cleaned, the opening and closing device is closed; when the dust collecting bin is located outside the surface of the object to be cleaned, the opening and closing device can be opened.

2. The cleaning device according to claim 1, wherein The driving member includes: a steering gear electrically connected to a data processing device, wherein the steering gear is installed in the dust collecting bin; and a transmission pair, wherein the steering gear is connected to the supporting plate via the transmission pair, so as to drive the supporting plate to move; Wherein, the transmission pair is a gear transmission pair or a belt transmission pair.

3. The cleaning device according to claim 1, wherein The guide plate comprises: an arcuate segment connected to the lower end of the opening; and The planar segment has one end connected to the arc segment and the other end extending toward the bottom of the roller brush.

4. The cleaning device according to claim 1, wherein When the dust collecting bin is located above the surface of the object to be cleaned, there is a distance between the opening and closing device and the guide plate and the surface of the object to be cleaned.

5. The cleaning device according to claim 1, wherein The housing further comprises: a first side plate, the roller brush being rotatably connected to the first side plate; The dust collection bin further comprises: The second side plate is located on the same plane as the first side plate, and the guide plate is connected to the second side plate.

6. The cleaning device according to claim 1, wherein Also includes: A limiting assembly, wherein the dust collecting bin is detachably connected to the housing via the limiting assembly.

7. The cleaning device according to claim 6, wherein: The housing includes a first side panel; The dust collecting bin includes a second side panel, and the second side panel and the first side panel are located on the same plane; The limiting component includes: a first locking block connected to the first side panel; and a first clamping block connected to the second side plate, wherein the first locking block is capable of locking the first clamping block; and / or A concave limiting groove is provided on the side wall of the first side plate facing the second side plate; The side wall of the second side plate facing the first side plate is provided with a second recessed snap-fitting groove; The limiting component also includes: a second locking block, which is slidably installed in the limiting groove and abuts against the second engaging groove; and an elastic member, one end of which is connected to the second locking block, and the other end of which abuts against the inner wall of the limiting groove; Wherein, a first direction in which the first locking block is locked to the first clamping block is perpendicular to a second direction in which the second locking block abuts against the second clamping slot.

8. The cleaning device according to claim 1, wherein: Also includes: A third housing, a detachable cover of which is provided above the dust collecting bin and the connecting plate, wherein the third housing, the top surface of the dust collecting bin and the connecting plate form a closed exhaust cavity; In which, at least two of the first exhaust holes are provided on the second plate body, and at least two of the second exhaust holes are provided on the third shell body. When the roller brush is rotated, the air in the shell flows into the dust collecting bin through the channel, and flows through the first exhaust holes and the second exhaust holes in sequence to the outside of the third shell body.

9. The cleaning device according to claim 1, wherein: The cleaning device also includes: a reinforcement member disposed above the baffle and opposite to the baffle; and A buffer member is attached between the baffle and the reinforcement member.

10. The cleaning device according to claim 1, wherein The edge of the baffle facing the roller brush is provided with evenly distributed scraping teeth; when the roller brush is rotated, the bristles of the roller brush can be scraped by the scraping teeth.

11. A robot, wherein: include: A vehicle body capable of traveling on the surface of the object to be cleaned; as well as The cleaning device according to any one of claims 1 to 10, wherein the cleaning device is connected to the vehicle body.

12. The robot according to claim 11, wherein: Also includes: A dual-shaft motor includes two extending shafts, each of which is connected to a roller brush of a cleaning device.

13. The robot according to claim 11, wherein: Also includes: data processing equipment; as well as A distance sensor electrically connected to the data processing device, the distance sensor being mounted on the front end of the vehicle body to collect the real-time distance between the distance sensor and the surface of the object to be cleaned; the forward direction of the vehicle body is defined as the front; Wherein, the opening and closing device includes a driving member, which is electrically connected to the data processing device; the data processing device determines whether the dust collection bin is located on the surface of the object to be cleaned based on the real-time distance, and if not, the data processing device controls the driving member to open the opening and closing device.

14. The robot according to claim 11, wherein: The vehicle further comprises two sets of connecting assemblies, the two connecting assemblies being symmetrically distributed about the central axis of the vehicle body; each connecting assembly comprising: a fixing plate connected to the housing, the fixing plate being provided with a sliding slot; and a first fixing rod, one end of which is provided with a boss and the other end of which is connected to the vehicle body; The sliding groove includes a first end and a second end, the first end is located below the second end; the boss is adapted to the first end, and the first fixing rod can be engaged with the second end.

15. The robot according to claim 14, wherein: The connection component further includes: a second fixing rod connected to the vehicle body; and A groove is formed in a concave manner at the end of the fixing plate; When the first fixing rod is engaged with the second end portion, the second fixing rod is engaged with the groove.

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