A cleaning robot for photovoltaic modules and a method of operation

Abstract

The application discloses a cleaning robot for a photovoltaic module, comprising a moving part, a first driving assembly and a walking assembly, the walking assembly comprising a track; a cleaning part fixed to one side of the moving part, comprising a second driving assembly, a brush, a steering wheel and a synchronous belt, the second driving assembly driving the brush to rotate, the steering wheel being in contact with the inner wall of the synchronous belt through a connecting rod mechanism and a rotating wheel; a controller being electrically connected with the moving part and the steering wheel, controlling the steering wheel to rotate to drive the synchronous belt to switch working positions, the synchronous belt being lifted up and being in contact with the photovoltaic module when being in the first working position, and being above the surface of the photovoltaic module when being in the second working position. The steering wheel and the synchronous belt are designed on the cleaning part, so that the synchronous belt has at least two working states through the rotation of the steering wheel, the synchronous belt can be used as a supporting part and a power driving part when being in contact with the surface of the photovoltaic module, so that the cleaning robot can realize good cross-row operation. The application also discloses a working method.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic module cleaning technology, and in particular to a cleaning robot and operating method for photovoltaic modules. Background Technology

[0002] Currently, distributed photovoltaic (PV) power stations are widely used due to their advantages of being adaptable to local conditions and being clean and efficient. However, because their PV modules are exposed to the elements for extended periods, they are susceptible to blockages from dust, mud, and sewage, which can affect their power generation efficiency. Therefore, regular cleaning of the PV module surfaces is essential. Currently, PV module cleaning is mostly done manually or with simple cleaning robots. Manual cleaning can disregard the spacing between adjacent PV modules and clean them accurately as needed. However, manual cleaning is costly, requires personnel to work at heights, and carries certain risks. Furthermore, some PV modules in power stations do not meet the load-bearing capacity of personnel. For photovoltaic (PV) modules, manual cleaning is inconvenient. While cleaning robots can clean individual PV modules comprehensively and conveniently, the characteristics of PV modules, such as high dust levels on their surface, high altitude, outdoor working environment, and weak load-bearing capacity, place high demands on the weight and performance of the cleaning robots. On the other hand, PV modules are usually arranged in multiple arrays with certain gaps between adjacent arrays. Cleaning robots cannot cross these arrays to work, requiring manual relocation and restart of the cleaning robots or the addition of connecting bridges between adjacent arrays. This affects cleaning efficiency and increases the difficulty and cost of power plant construction.

[0003] Therefore, how to improve the ease of cleaning photovoltaic modules and reduce their cleaning costs is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a cleaning robot for photovoltaic modules that is convenient to clean and has low cleaning cost.

[0005] Another object of the present invention is to provide a method for cleaning photovoltaic modules using the above-mentioned cleaning robot.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A cleaning robot for photovoltaic modules includes:

[0008] The moving part includes a first drive assembly and a walking assembly connected by a transmission, the walking assembly including a track for contacting the surface of the photovoltaic module;

[0009] A cleaning unit is fixedly installed on one side of the moving part. The cleaning unit includes a second drive assembly, a brush, a servo motor, and a timing belt. The second drive assembly is connected to the brush to drive the brush to rotate. The servo motor contacts the inner wall of the timing belt through a linkage mechanism and a wheel.

[0010] The controller is electrically connected to the first drive component, the second drive component, and the servo motor. The controller controls the servo motor to rotate so as to drive the synchronous belt to switch between a first working position and a second working position. When the synchronous belt is in the first working position, it is supported and in contact with the surface of the photovoltaic module. When the synchronous belt is in the second working position, it is positioned above the surface of the photovoltaic module.

[0011] Preferably, in the above-mentioned cleaning robot for photovoltaic modules, the cleaning unit includes:

[0012] A swing arm, one end of which is fixedly connected to the servo motor, and the other end is hinged to the middle area of ​​the first link;

[0013] The second link is hinged to each end of the first link. A synchronous wheel is provided at each hinge point of the first link and the second link, and the other end of each second link is connected to a synchronous wheel.

[0014] The timing belt is sleeved on the outer periphery of the two timing pulleys and the two timing wheels. The two timing wheels mesh with the inner wall of the timing belt, and one of the timing pulleys is connected to the second drive assembly for transmission.

[0015] Preferably, in the above-mentioned cleaning robot for photovoltaic modules, the cleaning unit further includes a frame for support, and any end of the brush extends through the frame and is fixedly connected to the center of the synchronous wheel on the corresponding side.

[0016] Preferably, in the above-mentioned cleaning robot for photovoltaic modules, the distance between the centers of the two synchronous wheels is equal to the distance between the hinge points at both ends of the first connecting rod.

[0017] Preferably, in the above-mentioned cleaning robot for photovoltaic modules, the moving part is a single-compartment structure and includes:

[0018] The housing and the top cover are fastened to the housing and form a cavity. The housing has a first sealing protrusion at the mating position with the top cover.

[0019] A battery is provided to power the first drive assembly, the second drive assembly, and the controller. The battery and the first drive assembly are both located on the housing at one end away from the cleaning part.

[0020] Preferably, in the above-mentioned cleaning robot for photovoltaic modules, two first drive components are symmetrically arranged in the direction of movement of the cleaning robot, the two first drive components are coaxially arranged and driven independently, and the area of ​​any first drive component that protrudes from the housing is sealed by a second sealing ring.

[0021] Preferably, in the above-mentioned cleaning robot for photovoltaic modules, the moving part is provided with the walking components on both sides of its direction of movement, and the walking component on each side includes:

[0022] The bearing housing is disposed on the side wall of the moving part;

[0023] The drive wheel and guide wheel are coaxially arranged with the bearing housing and are connected to the first drive assembly for transmission. The track is sleeved on the outer periphery of the drive wheel and guide wheel. The drive wheel and guide wheel are spaced apart to support the track and engage with the inner wall of the track.

[0024] Preferably, in the above-mentioned cleaning robot for photovoltaic modules, the walking component further includes support wheels, a plurality of support wheels are spaced apart between the drive wheel and the guide wheel, and any one of the support wheels is in contact with the inner wall of the lower part of the track.

[0025] A method for cleaning photovoltaic modules and performing cross-row cleaning using the cleaning robot described in any of the above embodiments, the method comprising at least the following steps:

[0026] Cleaning photovoltaic module array one: Set the cleaning path of the cleaning robot in the controller, place the cleaning robot on photovoltaic module array one and start it, the track contacts photovoltaic module array one, and the synchronous belt is in the second working position;

[0027] Cross-row preparation: After the cleaning robot completes the cleaning of the photovoltaic module array one, it moves to the cross-row point, the moving part stops moving, the second drive component stops driving, the controller adjusts the rotation of the servo motor, and the synchronous belt switches to the first working position and contacts the photovoltaic module array one;

[0028] Cross-row: The moving part continues to move, the second drive component rotates in the same direction as the moving part, the cleaning part moves toward the second photovoltaic module array, the synchronous belt first contacts the second photovoltaic module array and supports and drives the cleaning robot until the track has completely moved from the first photovoltaic module array to the second photovoltaic module array;

[0029] Cleaning photovoltaic module array two: The controller adjusts the rotation of the servo motor, the synchronous belt switches back to the second working position and leaves the photovoltaic module array two, and the cleaning robot cleans the photovoltaic module array two along a preset path.

[0030] Preferably, in the above-described operation method, during the cross-row preparation step, when the cleaning robot is located at the cross-row point, the axis of the brush is aligned with and parallel to the edge of the nearest photovoltaic module array.

[0031] As can be seen from the above technical solution, the cleaning robot provided by the present invention includes a moving part, a cleaning part, and a controller. The moving part, as the main area of ​​the cleaning robot, includes a first drive assembly and a walking assembly connected by transmission. The walking assembly includes a track. The cleaning robot moves by contacting the surface of the photovoltaic module via the track. The track movement provides a larger contact area with the photovoltaic module, enabling a more uniform load distribution on the photovoltaic module surface, reducing damage to the photovoltaic module, and improving movement stability. The cleaning part is fixedly installed on one side of the moving part, preferably at the front side in the forward direction of the moving part. Specifically, the cleaning part includes a second drive assembly, a brush, a servo motor, and a synchronous belt. The second drive assembly is connected to the brush by transmission to drive the brush to perform cleaning actions through rotation. The servo motor contacts the inner wall of the synchronous belt through a linkage mechanism and a rotating wheel. That is, the servo motor is connected to the rotating wheel through a linkage mechanism, and the rotating wheel supports the outer structure of the synchronous belt. The robot rotates to change the shape of the linkage mechanism, thereby altering the shape of the synchronous belt. The controller is electrically connected to the moving part and the servo motor. This electrical connection specifically refers to a signal connection, meaning the controller can adjust the start / stop of the moving part and the preset running path. The servo motor is regulated by the controller and moves independently. The controller controls the rotation of the servo motor to allow the synchronous belt to switch between at least the first and second working positions. Specifically, when the synchronous belt is in the first working position, it is supported by the rotating wheel and contacts the surface of the photovoltaic module, meaning the contact height between the synchronous belt and the bottom of the track is the same. At this time, the cleaning part is in direct contact with the surface of the photovoltaic module, allowing the cleaning part to serve as a support point for the moving part. This increases the extension length of the cleaning robot in the running direction, enabling it to cross wider module gaps. When the synchronous belt is in the second working position, the gap is above the surface of the photovoltaic module. At this time, the synchronous belt is not in contact with the photovoltaic module, the driving pressure of the moving part decreases, and the brush rotates normally to perform cleaning actions on individual photovoltaic modules.The cleaning robot provided by this invention uses a moving part to drive the cleaning part to move on the surface of photovoltaic modules. The cleaning part uses rotating brushes to clean the photovoltaic modules. A servo motor and a timing belt are installed on the cleaning part. The servo motor supports the timing belt from its inner wall via a linkage mechanism and a rotating wheel. The servo motor is regulated by a controller, allowing the timing belt to switch between at least a first working position and a second working position. When the timing belt is in the second working position, it is separated from the surface of the photovoltaic modules, thus not causing resistance to the cleaning process. When the timing belt is in the first working position, it contacts the surface of the photovoltaic modules, increasing the contact length between the cleaning robot and the photovoltaic module surface in the direction of movement. During cross-row cleaning, the cleaning part, acting as a support point for the moving part, first contacts adjacent photovoltaic modules before the moving part crosses the gap between them. This eliminates the need for support devices between adjacent photovoltaic modules for the cleaning robot to pass through, reducing the construction difficulty of the power plant and the cleaning cost of the photovoltaic modules. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the cleaning robot structure provided in an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of the cleaning unit structure provided in an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the moving part structure provided in an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the walking component structure provided in an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the sweeping robot's cross-row position provided in an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the cleaning robot's cross-row process provided in an embodiment of the present invention;

[0039] Wherein, 1-moving part; 11-first drive assembly; 12-walking assembly; 121-track; 122-bearing seat; 123-drive wheel; 124-guide wheel; 125-support wheel; 13-housing shell; 131-first sealing protrusion; 14-top cover; 15-battery; 16-second sealing ring; 2-cleaning part; 21-second drive assembly; 22-brush; 23-servo motor; 24-synchronous belt; 25-swing arm; 26-first link; 27-second link; 28-synchronous wheel; 29-synchronous wheel; 3-controller; 4-frame;

[0040] 5-Photovoltaic module array one; 51-Cross-row point; 6-Photovoltaic module array two; 7-Cleaning robot. Detailed Implementation

[0041] The core of this invention is to disclose a cleaning robot for photovoltaic modules that is convenient and has low cleaning costs.

[0042] Another object of the present invention is to disclose a method for cleaning photovoltaic modules using the above-mentioned cleaning robot.

[0043] To enable those skilled in the art to better understand the present invention, embodiments of the present invention will be described below with reference to the accompanying drawings. Furthermore, the embodiments shown below do not limit the scope of the invention as described in the claims. Additionally, the complete contents of the configurations shown in the embodiments below are not limited to those necessary for the solution of the invention described in the claims.

[0044] like Figure 1 As shown, the cleaning robot for photovoltaic modules provided in this embodiment of the invention includes a moving part 1, a cleaning part 2, and a controller 3. The moving part 1, as the main body area of ​​the cleaning robot, includes a first drive component 11 and a walking component 12 connected by transmission. The walking component 12 includes a track 121. The cleaning robot contacts the surface of the photovoltaic module and moves by means of the track 121. The movement of the track 121 has a larger contact area with the photovoltaic module, which can make the load distribution of the cleaning robot on the surface of the photovoltaic module more uniform, reduce the damage of the cleaning robot to the photovoltaic module, and improve the movement stability.

[0045] like Figure 1 and Figure 2As shown, the cleaning unit 2 is fixedly installed on one side of the moving part 1, preferably located at the front side of the moving part 1 in the forward direction. Specifically, the cleaning unit 2 includes a second drive assembly 21, a brush 22, a servo motor 23, and a synchronous belt 24. The second drive assembly 21 is connected to the brush 22 to drive the brush 22 to perform the cleaning action by rotating. The servo motor 23 contacts the inner wall of the synchronous belt 24 through a linkage mechanism and a rotating wheel. That is, the servo motor 23 is connected to the rotating wheel through the linkage mechanism, and the rotating wheel supports the outer structure of the synchronous belt 24. The servo motor 23 drives the linkage mechanism to change shape by rotating, thereby changing the shape of the synchronous belt 24.

[0046] The controller 3 is electrically connected to the first drive assembly 11, the second drive assembly 21, and the servo motor 23. This electrical connection specifically refers to the signal connection. That is, the controller 3 can adjust the start and stop of the moving part 1 and the preset running path, and can also adjust the start and stop of the brush 22. The servo motor 23 is adjusted by the controller 3 and moves independently. The controller 3 controls the rotation of the servo motor 23 to drive the synchronous belt 24 to switch between at least the first working position and the second working position. Specifically, when the synchronous belt 24 is in the first working position, it is supported by the wheel and contacts the surface of the photovoltaic module. That is, the synchronous belt 24 and the bottom of the track 121 are at the same contact height. At this time, the cleaning part 2 is in direct contact with the surface of the photovoltaic module, so that the cleaning part 2 can serve as a support point for the moving part 1. The increased extension length of the cleaning robot in the running direction allows it to cross a wider module gap. When the synchronous belt 24 is in the second working position, the gap is located above the surface of the photovoltaic module. At this time, the synchronous belt 24 does not contact the photovoltaic module, the driving pressure of the moving part 1 decreases, and the brush 22 rotates normally and performs cleaning action on a single photovoltaic module.

[0047] The cleaning robot provided in this embodiment of the invention drives the cleaning unit 2 to move on the surface of photovoltaic modules via the moving unit 1. The cleaning unit 2 cleans the photovoltaic modules by rotating the brush 22 on the cleaning unit 2. A servo motor 23 and a synchronous belt 24 are provided on the cleaning unit 2. The servo motor 23 supports the synchronous belt 24 from the inner wall of the synchronous belt 24 through a linkage mechanism and a rotating wheel. The servo motor 23 is regulated by the controller 3 so that the synchronous belt 24 can switch between at least a first working position and a second working position through its rotation. When the synchronous belt 24 is in the second working position, it is separated from the surface of the photovoltaic modules and does not cause resistance to the cleaning process. When the synchronous belt 24 is in the first working position, it contacts the surface of the photovoltaic modules, thereby increasing the contact length between the cleaning robot and the photovoltaic module surface in the direction of movement. When performing cross-row cleaning operations, the cleaning unit 2, as the support point of the moving unit 1, first contacts the adjacent photovoltaic modules, and then the moving unit 1 crosses the gap between the adjacent photovoltaic modules. Therefore, it is unnecessary to set up a support device between adjacent photovoltaic modules for the cleaning robot to pass through, reducing the construction difficulty of the power plant and the cleaning cost of the photovoltaic modules.

[0048] It should be noted that controller 3 is a commonly used central processing unit or microcontroller.

[0049] Furthermore, in a specific embodiment of the present invention, as... Figure 2 As shown, the servo motor 23 adjusts the shape of the synchronous belt 24 through the following connecting rod mechanism and rotating wheel. The cleaning unit 2 specifically includes a swing arm 25, a first connecting rod 26, a second connecting rod 27, and a synchronous belt 24. One end of the swing arm 25 is fixedly connected to the servo motor 23. When the servo motor 23 rotates, it drives the swing arm 25 to swing. The other end of the swing arm 25 is hinged to the middle area of ​​the first connecting rod 26. The middle area specifically refers to the non-end position on the first connecting rod 26, so that the swing arm 25 can drive the first connecting rod 26 to move when it swings. A second connecting rod 27 is hinged to each end of the first connecting rod 26. A synchronous rotating wheel 28 is provided at each hinge point of the first connecting rod 26 and the second connecting rod 27. The central axis of the synchronous rotating wheel 28 is collinear with the axis of the corresponding hinge point. At the same time, the other end of each second connecting rod 27 is hinged to a connecting rod 27. A synchronous pulley 29 is connected. Similarly, the central axis of the synchronous pulley 29 is collinear with the axis of the hinge point at the end of the second connecting rod 27. Based on the above structure, the synchronous belt 24 is sleeved on the outer periphery of the two synchronous rotating wheels 28 and the two synchronous pulleys 29, so as to be supported by the synchronous rotating wheels 28 and the synchronous pulleys 29 and maintain a stable shape. At the same time, the two synchronous rotating wheels 28 are smooth wheels, which are used to contact the inner wall of the synchronous belt 24 and provide support, while the two synchronous pulleys 29 are wheels with teeth on the outer wall to mesh with the inner wall of the synchronous belt 24. At least one synchronous pulley 29 is connected to the second drive assembly 21 for transmission, so as to rotate as the driving wheel and drive the synchronous belt 24 to rotate. Thus, while the synchronous belt 24 is in contact with the photovoltaic module and serves as a support point for the cleaning robot, it can move to cooperate with the track 121 to drive the cleaning robot.

[0050] Based on the above structure, when the servo motor 23 rotates, it will drive the swing arm 25 to swing toward the surface of the photovoltaic module, and then drive the two synchronous rollers 28 to move toward the photovoltaic module and support the synchronous belt 24 through the first link 26 until the synchronous belt 24 contacts the surface of the photovoltaic module, so that the synchronous belt 24 switches to the first working position.

[0051] It should be noted that the transmission structure of the servo motor 23 to the synchronous belt 24 is symmetrically arranged on both sides of the cleaning part 2, while the second drive assembly 21 only needs to be set on one side to drive the brush 22, and the other side rotates synchronously as the driven side.

[0052] Based on the above embodiments, the cleaning unit 2 preferably also includes a frame 4 for supporting the parts. The two ends of the brush 22 are rotatably mounted on the frame 4 through a bearing structure and extend into the center of a corresponding synchronous wheel 29 and are fixedly connected to the corresponding synchronous wheel 29. At the same time, a bearing is fitted at the position where the brush 22 passes through the frame 4 so that the brush 22 can rotate smoothly.

[0053] It should be noted that, based on the above embodiments, mounting plates can be provided on both sides of the frame 4 for the installation of connecting rods and wheels. At the same time, the split configuration of the frame 4 makes it easier to assemble the various components.

[0054] Furthermore, in a preferred embodiment of the present invention, the distance between the centers of the two synchronous pulleys 29 is equal to the distance between the hinge points at both ends of the first connecting rod 26, so that the line connecting the centers of the two synchronous pulleys 28 and the two synchronous pulleys 29 forms a parallelogram, thereby improving the synchronicity of the two synchronous pulleys 28 during swinging motion and enhancing the support and stability of the synchronous belt 24.

[0055] Furthermore, in the cleaning robot provided in the embodiments of the present invention, such as Figure 3 As shown, the moving part 1 has a single-compartment structure to provide more assembly space and reduce sealing difficulty. The moving part 1 includes a housing 13, a top cover 14, and a battery 15. The top cover 14 is fastened to the housing 13 and forms a cavity for holding and placing parts. The housing 13 has a ring-shaped first sealing protrusion 131 at the docking position with the top cover 14 to prevent dust, water, and other impurities from entering the housing 13 through the top cover 14. The battery 15 supplies power to the first drive assembly 11, the second drive assembly 21, and the controller 3. Since the battery 15 and the first drive assembly 11 are relatively heavy, they are both located on the housing 13 at the end away from the cleaning part 2 to balance the torque of the cleaning robot and adjust the center of gravity of the entire cleaning robot. It should be noted that the controller 3 is preferably located inside the housing for protection.

[0056] Based on the above embodiments, two first drive components 11 are symmetrically arranged in the direction of movement of the cleaning robot, and the two first drive components 11 are coaxially arranged and driven independently to independently drive the walking devices on both sides in the direction of movement of the cleaning robot, so that the cleaning robot can perform turning and other actions. At the same time, the area where any first drive component 11 protrudes from the housing 13 is sealed by the second sealing ring 16.

[0057] Furthermore, in a specific embodiment of the present invention, the moving part 1 is provided with walking components 12 on both sides of its movement direction, such as... Figure 4As shown, the walking component 12 on either side includes a bearing seat 122, a drive wheel 123, and a guide wheel 124. Specifically, the bearing seat 122 is disposed on the side wall of the moving part 1 to smoothly transmit the torque of the first drive component 11 out of the moving part 1. The drive wheel 123 is coaxially disposed with the bearing seat 122 and is connected to the first drive component 11 for transmission. At the same time, the track 121 is sleeved on the outer periphery of the drive wheel 123 and the guide wheel 124. The drive wheel 123 and the guide wheel 124 are spaced apart to support the track 121 and mesh with the inner wall of the track 121. When the drive wheel 123 is driven to rotate by the first drive component 11, it will drive the track 121 to rotate synchronously. The track 121 will not fall off under the support of the guide wheel 124 and achieve stable movement on the surface of the photovoltaic module.

[0058] Based on the above embodiments, the walking component 12 also includes a support wheel 125. The support wheel 125 is rotatably mounted on the side wall of the moving part 1 via a bracket. Several support wheels 125 are spaced apart between the drive wheel 123 and the guide wheel 124, and any support wheel 125 contacts the inner wall of the lower part of the track 121. Part of the weight load of the cleaning robot is transferred to the track 121 through the support wheel 125, so that the weight of the cleaning robot is more evenly distributed. At the same time, the support wheel 125 can reduce the risk of deformation of the track 121, thereby improving the obstacle crossing performance of the cleaning robot to pass through the surface of the photovoltaic module with a certain angle. In addition, the support wheel 125 is usually a wheel system made of plastic, which has a smaller coefficient of friction with the track 121, which can reduce wear and increase service life.

[0059] This invention also provides a cleaning method that uses the cleaning robot 7 provided in any of the above embodiments to clean photovoltaic modules and can perform cross-row cleaning of photovoltaic module arrays. The following description uses cleaning two photovoltaic module arrays as an example. This cleaning method includes at least the following steps:

[0060] S01: Cleaning photovoltaic module array one: Set the cleaning path of the cleaning robot 7 in the controller 3, place the cleaning robot 7 on the photovoltaic module array one 5 and start it, the track 121 contacts the photovoltaic module array one 5, and the synchronous belt 24 is in the second working position.

[0061] S02: Cross-row preparation: After cleaning the photovoltaic module array 5, the cleaning robot 7 moves to the cross-row point 51, the moving part 1 stops moving, the controller 3 adjusts the servo motor 23 to rotate, and the synchronous belt 24 switches to the first working position and contacts the photovoltaic module array 5.

[0062] S03: Crossing: The moving part 1 continues to move, the second drive component 21 rotates in the same direction as the moving part 1, the cleaning part 2 moves toward the photovoltaic module array 6, the synchronous belt 24 first contacts the photovoltaic module array 6 and supports and drives the cleaning robot 7 until the track 121 has completely moved from the photovoltaic module array 5 to the photovoltaic module array 6.

[0063] S04: Cleaning photovoltaic module array 2: Controller 3 adjusts the rotation of servo motor 23, synchronous belt 24 switches back to the second working position and leaves photovoltaic module array 2 6, and cleaning robot 7 cleans photovoltaic module array 2 6 along the preset path.

[0064] It should be noted that during the cleaning process, the second drive assembly 21 rotates in the opposite direction to the forward rotation of the moving part 1, so that the brush 22 cleans the impurities away from the moving part 1. In step S03, the second drive assembly 21 rotates in the same direction as the moving part 1, so that the synchronous belt 24 can temporarily provide a certain driving force to assist the smooth progress of the cross-row action.

[0065] It needs to be further explained that, such as Figure 5 and Figure 6 As shown, the cross-row point 51 is located on the edge area of ​​the photovoltaic module array 1 5 near the photovoltaic module array 2 6. When the cleaning robot 7 is at the cross-row point 51, the axis of the brush 22 is aligned with and parallel to the edge of the nearest photovoltaic module array 1 5, so that the cleaning robot 7 can cross the row by moving in a straight line.

[0066] The terms "first," "second," "left side," and "right side," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units may include steps or units not listed, but rather steps or units not listed.

[0067] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A cleaning robot for photovoltaic modules, characterized in that, include: The moving part (1) includes a first drive assembly (11) and a walking assembly (12) connected by a transmission, the walking assembly (12) including a track (121) for contacting the surface of the photovoltaic module. The cleaning part (2) is fixedly installed on one side of the moving part (1). The cleaning part (2) includes a second drive assembly (21), a brush (22), a servo motor (23) and a timing belt (24). The second drive assembly (21) is connected to the brush (22) to drive the brush (22) to rotate. The servo motor (23) contacts the inner wall of the timing belt (24) through a linkage mechanism and a rotating wheel. The controller (3) is electrically connected to the first drive assembly (11), the second drive assembly (21) and the servo motor (23). The controller (3) controls the servo motor (23) to rotate so as to drive the synchronous belt (24) to switch between a first working position and a second working position. When the synchronous belt (24) is in the first working position, it is supported and in contact with the surface of the photovoltaic module. When the synchronous belt (24) is in the second working position, it is positioned above the surface of the photovoltaic module. The cleaning unit (2) includes: A swing arm (25), one end of which is fixedly connected to the servo motor (23), and the other end is hinged to the middle area of ​​the first link (26); The second link (27) is hinged to both ends of the first link (26). A synchronous wheel (28) is provided at each hinge point of the first link (26) and the second link (27), and a synchronous wheel (29) is connected to the other end of any second link (27). The timing belt (24) is sleeved on the outer periphery of the two timing pulleys (28) and the two timing wheels (29). The two timing wheels (29) mesh with the inner wall of the timing belt (24), and one of the timing wheels (29) is connected to the second drive assembly (21) for transmission.

2. The cleaning robot for photovoltaic modules as described in claim 1, characterized in that, The cleaning unit (2) also includes a frame (4) for support, and one end of the brush (22) is rotatably mounted on the frame (4) and fixedly connected to the center of the synchronous wheel (29) on the corresponding side.

3. The cleaning robot for photovoltaic modules as described in claim 1, characterized in that, The distance between the centers of the two synchronous pulleys (29) is equal to the distance between the hinge points at both ends of the first connecting rod (26).

4. The cleaning robot for photovoltaic modules as described in claim 1, characterized in that, The moving part (1) is a single-compartment structure and includes: The housing (13) and the top cover (14) are fastened to the housing (13) to form a cavity. The housing (13) has a first sealing protrusion (131) at the docking position with the top cover (14). A battery (15) is used to power the first drive assembly (11), the second drive assembly (21) and the controller (3). The battery (15) and the first drive assembly (11) are both located on the housing (13) at one end away from the cleaning part (2).

5. The cleaning robot for photovoltaic modules as described in claim 4, characterized in that, Two first drive components (11) are symmetrically arranged in the direction of movement of the cleaning robot. The two first drive components (11) are coaxially arranged and driven independently. The area of ​​any first drive component (11) that protrudes from the housing (13) is sealed by the second sealing ring (16).

6. The cleaning robot for photovoltaic modules as described in claim 1, characterized in that, The moving part (1) has walking components (12) on both sides in its direction of movement, and the walking component (12) on either side includes: A bearing housing (122) is disposed on the side wall of the movable part (1); The drive wheel (123) and guide wheel (124) are coaxially arranged with the bearing seat (122) and are connected to the first drive assembly (11) for transmission. The track (121) is sleeved on the outer periphery of the drive wheel (123) and the guide wheel (124). The drive wheel (123) and the guide wheel (124) are spaced apart to support the track (121) and mesh with the inner wall of the track (121).

7. The cleaning robot for photovoltaic modules as described in claim 6, characterized in that, The walking assembly (12) also includes support wheels (125), a plurality of support wheels (125) being spaced apart between the drive wheel (123) and the guide wheel (124), and any one of the support wheels (125) is in contact with the inner wall of the lower part of the track (121).

8. A working method, characterized in that, The cleaning robot (7) according to any one of claims 1-7 is used to clean and cross-row photovoltaic modules, and the operation method includes at least the following steps: Cleaning photovoltaic module array one: Set the cleaning path of the cleaning robot (7) in the controller (3), place the cleaning robot (7) on the photovoltaic module array one (5) and start it, the track (121) contacts the photovoltaic module array one (5), and the synchronous belt (24) is in the second working position; Cross-row preparation: After the cleaning robot (7) completes the cleaning of the photovoltaic module array one (5), it moves to the cross-row point (51), the moving part (1) stops moving, the second drive component (21) stops driving, the controller (3) adjusts the servo motor (23) to rotate, and the synchronous belt (24) switches to the first working position and contacts the photovoltaic module array one (5); Cross-row: The moving part (1) continues to move, the second drive component (21) rotates in the same direction as the moving part (1), the cleaning part (2) moves toward the photovoltaic module array two (6), the synchronous belt (24) first contacts the photovoltaic module array two (6) and supports and drives the cleaning robot (7) until the track (121) moves completely from the photovoltaic module array one (5) to the photovoltaic module array two (6); Cleaning photovoltaic module array two: The controller (3) adjusts the servo motor (23) to rotate, the synchronous belt (24) switches back to the second working position and leaves the photovoltaic module array two (6), and the cleaning robot (7) cleans the photovoltaic module array two (6) along the preset path.

9. The operating method as described in claim 8, characterized in that, During the cross-row preparation step, when the cleaning robot (7) is located at the cross-row point (51), the axis of the brush (22) is aligned with and parallel to the edge of the nearest photovoltaic module array (5).

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