Self-adaptive telescopic guide rail type photovoltaic cleaning robot

Abstract

The invention relates to the technical field of photovoltaic cleaning robots, in particular to a self-adaptive telescopic guide rail type photovoltaic cleaning robot which comprises wing plates, a telescopic shell, a shell, an electric control box, a structural frame and a sliding rail. The shells are installed and fixed above the structural frame body, one end of each shell is in lap joint with a sliding rail on the upper surface of the shell, the other end of each shell is fixed to one end of the structural frame body, and the shells can slide relatively through stretching and retracting of the structural frame body. According to the guide rail type photovoltaic cleaning robot, main structures such as a shell, an outer side frame, a walking transmission shaft, a brush rotating shaft, a water spraying pipe and a brush all adopt telescopic structural design, and some necessary movable supporting and locking components such as a shell transverse support and a middle moving module are matched; the telescopic change of the robot in the longitudinal length can be conveniently achieved so as to adapt to different photovoltaic array sizes, and meanwhile the requirements for the structural strength and rigidity of a machine body during normal operation can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic cleaning robots, and more specifically, to an adaptively retractable rail-type photovoltaic cleaning robot. Background Art

[0002] The rail-type photovoltaic cleaning robot uses the upper and lower photovoltaic panel frames in the photovoltaic panel array or the rails specially erected next to the photovoltaic panel array as the load-bearing and guiding structure to achieve directional reciprocating motion. Its structural size can only be used for normal cleaning operations when it is compatible with the width of the photovoltaic array of the photovoltaic power station.

[0003] The photovoltaic panel models and specifications and photovoltaic array layout styles used in existing centralized photovoltaic power stations are not the same. The fixed-length rail-mounted photovoltaic cleaning robot is obviously unable to adapt to the actual situation of the diverse widths of photovoltaic arrays in centralized photovoltaic power stations. Even if a series of rail-mounted photovoltaic cleaning robots with different lengths are designed (mostly 2-meter and 4-meter models are currently on the market), it is difficult to cover all actual needs.

[0004] Therefore, when the rail-mounted photovoltaic cleaning robot is used for specific cleaning operations, it often needs to be customized according to the on-site conditions, which leads to an increase in application costs. Improving the adaptability of the existing rail-mounted photovoltaic cleaning robot to photovoltaic arrays of different widths is an urgent problem to be solved.

[0005] Therefore, we proposed an adaptive and retractable rail-type photovoltaic cleaning robot to solve the above problems. Summary of the invention

[0006] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a self-adaptive and retractable rail-type photovoltaic cleaning robot to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solutions: an adaptively retractable rail-type photovoltaic cleaning robot, comprising a wing plate, a retractable housing, a housing, an electric control box, a structural frame and a slide rail; The shell is fixedly mounted on the top of the structural frame, one end of the shell is overlapped on the slide rail on the upper surface of the shell, and the other end is fixed to one end of the structural frame. The shells can slide relative to each other through the extension and contraction of the structural frame, and the electric control box is fixedly mounted on the upper surface of the shell; The structural frame includes a first telescopic outer frame, a second telescopic outer frame, a first end fixing plate, a second end fixing plate, a third end fixing plate, an intermediate moving module, a first shell cross support, a second shell cross support, and an end handle; A bearing sleeve is installed on the first end fixing plate, an intermediate transmission bearing sleeve is installed on the intermediate moving module, a first through hole is provided on the intermediate transmission bearing sleeve, and a sleeve is sleeved on the intermediate transmission bearing sleeve, wherein two running wheels on the intermediate moving module are sleeved on the sleeves respectively, an intermediate transmission shaft sleeve is installed on the intermediate moving module, and a second through hole is provided on the intermediate transmission shaft sleeve; The first end fixing plate, the middle moving module and the third end fixing plate are each equipped with two running wheels and guide wheels, and the connection between the first end fixing plate, the third end fixing plate and the guide wheel is provided with an adaptive device; A brush rotation drive motor is installed in the middle of the two second end fixing plates, the output shafts of the two brush rotation drive motors are respectively fixedly connected to the first retractable brush rotation shaft and the second retractable brush rotation shaft, and a bearing seat is installed on the first end fixing plate; Water pipe components are provided on both sides of the first telescopic winding brush and the second telescopic winding brush.

[0008] In a preferred embodiment, the second telescopic outer frame is inserted into the first telescopic outer frame, one end of multiple first telescopic outer frames is respectively connected to the first end fixing plate and the second end fixing plate, and one end of multiple first telescopic outer frames is connected to the third end fixing plate, the first shell cross support and the second shell cross support are symmetrically arranged, and the intermediate movable module is located between the first shell cross support and the second shell cross support, the end handle is connected to the multiple first telescopic outer frames through multiple corner pieces, the first telescopic outer frame is installed with multiple screws, and four fixing holes are arranged at the end position where the first telescopic outer frame and the second telescopic outer frame are connected.

[0009] In a preferred embodiment, the two rows of walking wheels on the first end fixed plate, the middle moving module and the third end fixed plate are synchronously driven to walk through the first double-slot telescopic hollow transmission shaft and the second double-slot telescopic hollow transmission shaft, and two driving motors are installed on the second end fixed plate, and one end of each of the first double-slot telescopic hollow transmission shaft and the second double-slot telescopic hollow transmission shaft is respectively connected to the output shafts of the two driving motors, and two symmetrically positioned limiting guide grooves are provided on both sides of the first double-slot telescopic hollow transmission shaft and the second double-slot telescopic hollow transmission shaft.

[0010] In a preferred embodiment, one end of the first double-slot telescopic hollow transmission shaft and the second double-slot telescopic hollow transmission shaft passes through the bearing sleeve at the third end fixing plate and is connected to the output shaft of the travel drive motor installed at the second end fixing plate, and the other end is connected to the bearing sleeve at the first end fixing plate, and the middle part passes through the intermediate transmission bearing sleeve at the intermediate moving module.

[0011] In a preferred embodiment, a first retractable winding brush is fixedly connected to the first retractable brush rotating shaft, and one end of the first retractable winding brush is close to the third end fixing plate, and the other end of the first retractable winding brush is fixed to the intermediate transmission shaft sleeve on the intermediate moving module through a second fixed clamp, and one end of the first retractable brush rotating shaft is connected to the output shaft of the brush rotation drive motor installed at the second end fixing plate.

[0012] In a preferred embodiment, a second retractable winding brush is fixedly connected to the second retractable brush rotating shaft, and one end of the second retractable winding brush is close to the first end fixing plate, and the other end of the second retractable winding brush is fixed to the other side of the intermediate transmission shaft sleeve on the intermediate moving module by a first fixing clamp, the first retractable winding brush and the second retractable winding brush are telescopically adjusted by adjusting the position of the moving intermediate moving module, and the other end of the second retractable brush rotating shaft is connected to the bearing seat at the first end fixing plate.

[0013] In a preferred embodiment, the water pipe assembly consists of multiple first water pipes, multiple second water pipes and water pipe sealing fasteners, the multiple second water pipes are respectively plugged into the multiple first water pipes, and water pipe sealing fasteners are provided at the connections between the second water pipes and the first water pipes, electromagnetic water valves are installed on the multiple first water pipes, the sealed ends of the multiple second water pipes are fixed to the first end fixing plate through fixing clamps, the water inlet ends of the first water pipes are respectively connected to the second end fixing plate and the third end fixing plate through fixing clamps, a water pipe fixing clamp for fixing the first water pipe is installed on the mobile module, a row of evenly spaced water spray holes are axially arranged on the surfaces of the multiple first water pipes and the multiple second water pipes, the multiple first water pipes are connected through a tee, and are connected to an external water supply pipe through the tee.

[0014] In a preferred embodiment, the first shell cross support includes a first bent bracket, both ends of the first bent bracket are equipped with a first rectangular sleeve, the first rectangular sleeve is equipped with a second outer limit strip, the first rectangular sleeve is equipped with a first protrusion, the first rectangular sleeve is provided with a plurality of second locking screw holes, and the second outer limit strip is provided with a plurality of fourth locking screw holes.

[0015] In a preferred embodiment, the second shell cross support includes a second bending bracket, both ends of the second bending bracket are equipped with a second rectangular sleeve, a second inner limit strip is installed on the second rectangular sleeve, a middle dividing strip is installed on the second rectangular sleeve, a plurality of third locking screw holes are provided on the second rectangular sleeve, a second protrusion is installed on the second rectangular sleeve, a plurality of fifth locking screw holes are provided on the middle dividing strip, which can be fixed to the shell by screws, and a groove between the middle dividing strip and the limit strip is a shell limit guide groove; a groove between the middle dividing strip and the second protrusion is a limit guide groove on the telescopic shell.

[0016] In a preferred embodiment, two third rectangular sleeves are installed on the intermediate moving module, and a plurality of first locking screw holes are provided on the third rectangular sleeves. A first outer limit strip is installed on the third rectangular sleeve, and a first inner limit strip is installed on the sleeve. The middle groove between the first inner limit strip and the first outer limit strip provides support, sliding guidance and limiting functions for the outer shell.

[0017] Technical effects and advantages of the present invention: The significance of this invention lies in the fact that, taking the operating width range of single-row to double-row photovoltaic panel arrays (2m-4.5m) as an example, a retractable and adaptive frame structure of a rail-type photovoltaic cleaning robot is designed to adapt to different photovoltaic panel array widths, thereby achieving full coverage of multiple application scenarios of centralized photovoltaic power stations with one model, reducing customization costs, and improving the economy and adaptability of the rail-type photovoltaic cleaning robot product. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the device in the shortest contraction state of the present invention; Figure 2 It is a schematic diagram of the structure of the device in the longest extension state of the present invention; Figure 3 It is a schematic diagram of the robot main structure frame structure in the shortest contraction state of the device of the present invention; Figure 4 It is a schematic diagram of the robot main structure frame structure in the longest extension state of the device of the present invention; Figure 5 It is a schematic diagram of the partial connection structure of the intermediate mobile module in the present invention; Figure 6 It is a schematic diagram of the partial connection structure of the first shell cross support in the present invention; Figure 7 It is a schematic diagram of the partial connection structure of the second shell cross support in the present invention; Figure 8 This is a structural diagram of the connection between the middle moving module and the winding brushes on both sides in the present invention; Fig. 9It is a schematic diagram of the partial connection structure of the telescopic outer frame, the transmission shaft, the brush rotating shaft and the water spray pipe structure in the present invention; Fig.10 This is a schematic diagram of the structure of one end of the robot in the present invention; Fig.11 This is a schematic diagram of the structure of the other end of the robot in the present invention.

[0019] The accompanying drawings are marked as: 1 wing plate, 2 retractable shell, 3 shell, 4 electric control box, 5 structural frame, 6 slide rail, 7 intermediate moving module, 8 first shell cross support, 9 second shell cross support, 10 first end fixing plate, 11 second end fixing plate, 12 drive motor, 13 end handle, 14 first retractable outer frame, 15 first water pipe, 16 first double-slot retractable hollow transmission shaft, 17 first retractable winding brush, 18 second retractable winding brush, 19 second retractable outer frame, 20 second water pipe, 21 second double-slot retractable hollow transmission shaft, 22 walking wheel, 23 sleeve, 24 first through hole, 25 second through hole, 26 intermediate transmission shaft sleeve, 27 intermediate transmission bearing sleeve, 28 first locking screw hole, 29 first outer limit stop bar, 30 first inner limit stop bar, 31 third rectangular sleeve, 32 water pipe fixing clamp, 33 bearing seat, 34 first bending bracket, 341 second bending bracket, 35 first rectangular sleeve, 36 second outer limiting baffle, 37 first protrusion, 38 second locking screw hole, 39 fourth locking screw hole, 40 first fixing clamp, 41 second fixing clamp, 42 screw, 43 first retractable brush rotating shaft, 44 second retractable brush rotating shaft, 45 water pipe sealing fastener, 46 limiting guide groove, 47 fixing hole, 48 third end fixing plate, 49 brush rotation drive motor, 50 water spraying hole, 51 electromagnetic water valve, 52 tee, 53 guide wheel, 54 adaptive device, 55 corner piece, 56 bearing sleeve, 57 second rectangular sleeve, 58 second inner limiting baffle, 59 middle dividing strip, 60 third locking screw hole, 61 second protrusion, 62 fifth locking screw hole. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Reference Figure 1-11, an adaptively retractable rail-type photovoltaic cleaning robot, including a wing panel 1, a retractable shell 2, a shell 3, an electric control box 4 and a structural frame 5. It is particularly noteworthy that the structural frame 5 is a long and retractable type, and it is particularly noteworthy that a slide rail 6 is installed on the shell 3, and the wing panel 1 is installed below the shell 2.

[0022] The outer shell 3 is installed and fixed on the top of the structural frame 5, one end of the outer shell 2 is overlapped on the slide rail 6 on the upper surface of the outer shell 3, and the other end is fixed to one end of the structural frame 5. The outer shell 2 and the outer shell 3 can achieve relative sliding through the extension and contraction of the structural frame 5, and the electric control box 4 is installed and fixed on the upper surface of the outer shell 3.

[0023] The structural frame 5 includes a first retractable outer frame 14, a second retractable outer frame 19, a first end fixing plate 10, a second end fixing plate 11, a third end fixing plate 48, an intermediate movable module 7, a first outer shell cross support 8, a second outer shell cross support 9, and an end handle 13.

[0024] The second telescopic outer frame 19 is inserted into the first telescopic outer frame 14, one end of multiple first telescopic outer frames 14 are respectively connected to the first end fixing plate 10 and the second end fixing plate 11, and one end of multiple first telescopic outer frames 14 are connected to the third end fixing plate 48, the first outer shell cross support 8 and the second outer shell cross support 9 are symmetrically arranged, and the intermediate movable module 7 is located between the first outer shell cross support 8 and the second outer shell cross support 9, the end handle 13 is connected to the multiple first telescopic outer frames 14 through multiple angle pieces 55, and the first telescopic outer frame 14 is installed with multiple screws 42.

[0025] Two running wheels 22 and guide wheels 53 are respectively installed on the first end fixing plate 10, the middle moving module 7 and the third end fixing plate 48. The two rows of running wheels 22 on the first end fixing plate 10, the middle moving module 7 and the third end fixing plate 48 are respectively driven to run synchronously through the first double-groove retractable hollow transmission shaft 16 and the second double-groove retractable hollow transmission shaft 21; Two drive motors 12 are installed on the second end fixing plate 11 , and one end of each of the first double-slot telescopic hollow transmission shaft 16 and the second double-slot telescopic hollow transmission shaft 21 is connected to the output shafts of the two drive motors 12 , respectively.

[0026] The two travel wheels 22 drive shafts at the bottom of the structural frame 5 both adopt a double-groove retractable structure, and each drive shaft is composed of a first double-groove retractable hollow drive shaft 16 and a second double-groove retractable hollow drive shaft 21 that can slide longitudinally in its inner cavity, and the two are matched with a small gap.

[0027] Two symmetrically positioned limiting guide grooves 46 are provided on both sides of the first double-grooved telescopic hollow transmission shaft 16 and the second double-grooved telescopic hollow transmission shaft 21, which can ensure that the second double-grooved telescopic hollow transmission shaft 21 can move freely longitudinally in the inner cavity of the first double-grooved telescopic hollow transmission shaft 16, and can also rotate synchronously with it to realize the transmission function.

[0028] When the robot structure frame 5 is in the maximum tension state, a portion of the second double-groove telescopic hollow transmission shaft 21 can still be maintained to extend into the inner cavity of the first double-groove telescopic hollow transmission shaft 16, so as to ensure the overall rigidity of the telescopic transmission shaft and the reliability of transmission.

[0029] A bearing sleeve 56 is installed on the first end fixing plate 10, and an intermediate transmission bearing sleeve 27 is installed on the intermediate moving module 7. The intermediate transmission bearing sleeve 27 is provided with a first through hole 24, and a sleeve 23 is sleeved on the intermediate transmission bearing sleeve 27, wherein the two walking wheels 22 on the intermediate moving module 7 are respectively sleeved on the sleeve 23, and an intermediate transmission shaft sleeve 26 is installed on the intermediate moving module 7, and a second through hole 25 is provided on the intermediate transmission shaft sleeve 26.

[0030] One end of the first double-slot telescopic hollow transmission shaft 16 and the second double-slot telescopic hollow transmission shaft 21 passes through the bearing sleeve at the third end fixing plate 48 and is connected to the output shaft of the travel drive motor 12 installed at the second end fixing plate 11, and the other end is connected to the bearing sleeve 56 at the first end fixing plate 10, and the middle part passes through the intermediate transmission bearing sleeve 27 at the intermediate moving module 7.

[0031] The connections between the first end fixing plate 10, the third end fixing plate 48 and the guide wheel 53 are all provided with an adaptive device 54, which can enable the guide wheel to adapt to the height difference of the photovoltaic panel within a certain range on the side.

[0032] A brush rotation drive motor 49 is installed in the middle position of the two second end fixing plates 11. The output shafts of the two brush rotation drive motors are fixedly connected to the first retractable brush rotation shaft 43 and the second retractable brush rotation shaft 44 respectively. A bearing seat 33 is installed on the first end fixing plate 10.

[0033] The first retractable winding brush 17 is fixedly connected to the first retractable brush rotating shaft 43, and one end of the first retractable winding brush 17 is close to the third end fixing plate 48, and the other end of the first retractable winding brush 17 is fixed to the intermediate transmission shaft sleeve 26 on the intermediate moving module 7 through the second fixing clamp 41.

[0034] A second retractable winding brush 18 is fixedly connected to the second retractable brush rotating shaft 44, and one end of the second retractable winding brush 18 is close to the first end fixing plate 10, and the other end of the second retractable winding brush 18 is fixed to the other side of the intermediate transmission shaft sleeve 26 on the intermediate movable module 7 through the first fixed clamp 40. The first retractable winding brush 17 and the second retractable winding brush 18 are retracted and adjusted by adjusting the position of the intermediate movable module 7.

[0035] The retractable brush transmission shaft arranged at the longitudinal center of the structural frame 5 is composed of a first retractable brush rotating shaft 43 and a second retractable brush rotating shaft 44 which can slide longitudinally in its inner cavity, and the two are matched with a small gap.

[0036] One end of the first retractable brush rotating shaft 43 in the retractable brush transmission shaft is connected to the output shaft of the brush rotating drive motor 49 installed at the second end fixing plate 11, and the other end of the second retractable brush rotating shaft 44 is connected to the bearing seat 33 at the first end fixing plate 10; The middle part of the retractable brush transmission shaft passes through the intermediate transmission bearing sleeve 26 at the intermediate moving module 7. The brush transmission shaft is connected to the bearing sleeve 26, the bearing seat 33, etc. through a jackscrew or a latch to achieve integral rotation. One end of the retractable winding brush 17 close to the end fixing plate 48 is fixed to the brush rotating shaft 43, and the other end is fixed to the intermediate transmission shaft sleeve 26 of the intermediate moving module 7 through a fixing snap ring 41; One end of the retractable winding brush 18 close to the end fixing plate 10 is fixed on the brush rotating shaft 44, and the other end is fixed to the other side of the intermediate transmission bearing sleeve 26 of the intermediate moving module 7 through a fixing snap ring 40. The above structure can ensure that the winding brush and the retractable brush transmission shaft rotate synchronously. When the retractable brush transmission shaft is adjusted in telescopic length, the telescopic state of the winding brushes 17 and 18 can be further adjusted by moving and adjusting the position of the intermediate moving module 7 to achieve uniform distribution of the density of the bristles of the two in the axial direction.

[0037] Water pipe assemblies are provided on both sides of the first retractable winding brush 17 and the second retractable winding brush 18. The water pipe assemblies are composed of multiple first water pipes 15, multiple second water pipes 20 and water pipe sealing fasteners 45. It is particularly noteworthy that the multiple second water pipes 20 are respectively plugged into the multiple first water pipes 15, and water pipe sealing fasteners 45 are provided at the connection between the second water pipes 20 and the first water pipes 15.

[0038] An electromagnetic water valve 51 is installed on the multiple first water pipes 15, the sealed ends of the multiple second water pipes 20 are fixed to the first end fixing plate 10 through a fixing clamp, the water inlet end of the first water pipe 15 is respectively connected to the second end fixing plate 11 and the third end fixing plate 48 through a fixing clamp, and a water pipe fixing clamp 32 for fixing the first water pipe 15 is installed on the mobile module 7. A row of evenly spaced water spray holes 50 are axially arranged on the surfaces of the multiple first water pipes 15 and the multiple second water pipes 20. The multiple first water pipes 15 are connected through a tee 52 and are connected to an external water supply pipe through the tee 52.

[0039] The first shell cross support 8 includes a first bending bracket 34, both ends of the first bending bracket 34 are installed with a first rectangular sleeve 35, the first rectangular sleeve 35 is installed with a second outer limit strip 36, the first rectangular sleeve 35 is installed with a first protrusion 37, the first rectangular sleeve 35 is provided with a plurality of second locking screw holes 38, and the second outer limit strip 36 is provided with a plurality of fourth locking screw holes 39.

[0040] The second shell cross support 9 includes a second bending bracket 341, and the second rectangular sleeve 57 is installed at both ends of the second bending bracket 341, and the second inner limit strip 58 is installed on the second rectangular sleeve 57, and the middle dividing strip 59 is installed on the second rectangular sleeve 57. The second rectangular sleeve 57 is provided with a plurality of third locking screw holes 60, and the second rectangular sleeve 57 is provided with a second protrusion 61. The middle dividing strip 59 is provided with a plurality of fifth locking screw holes 62, which can be fixed to the shell 3 by screws, and the groove between the middle dividing strip 59 and the limit strip 58 is the limit guide groove of the shell 3; the groove between the middle dividing strip 59 and the second protrusion 61 is the limit guide groove on the telescopic shell 2.

[0041] Two third rectangular sleeves 31 are installed on the middle moving module 7, and a plurality of first locking screw holes 28 are provided on the third rectangular sleeve 31. A first outer limit strip 29 is installed on the third rectangular sleeve 31, and a first inner limit strip 30 is installed on the sleeve 31. The middle groove between the first inner limit strip 30 and the first outer limit strip 29 provides support, sliding guidance and limiting functions for the outer shell.

[0042] The first telescopic outer frame 14 and the second telescopic outer frame 19 are matched with each other with a small gap, so as to ensure that the structural frame has good rigidity in the stretched state.

[0043] Four fixing holes 47 are provided at the end positions where the first telescopic outer frame 14 and the second telescopic outer frame 19 are connected. It is particularly noted that when the second telescopic outer frame 19 is at a suitable position, the four second locking screw holes 38 on the first shell cross support 8 are aligned with the four fixing holes 47 on the first telescopic outer frame 14, and then four locking screws are screwed in, so that the first telescopic outer frame 14 and the second telescopic outer frame 19 are firmly locked at the connection to form a non-retractable rigid side frame.

[0044] When the structural frame 5 is in the maximum extension state, a portion of the first telescopic outer frame 14 still extends into the second telescopic outer frame 19 to ensure that the connection between the two has sufficient connection rigidity. At this time, the four first locking screw holes 28 on the intermediate moving module 7 are aligned with the four fixing holes 47 on the first telescopic outer frame 14, and then screwed and fixed.

[0045] The intermediate moving module 7, the first shell cross support 8, and the second shell cross support 9 can all be moved and adjusted along the telescopic outer frame on the structural frame 5. All three have a rectangular sleeve as shown by the third rectangular sleeve 31, the first rectangular sleeve 35, and the second rectangular sleeve 57, which can slide along the outer surface of the outer frame and be locked and fixed with the outer frame through locking screw holes as shown by the first locking screw hole 28, the second locking screw hole 38, and the third locking screw hole 60.

[0046] One end of the housing 3 near the first end fixing plate 10 is sealed and fixed to the corner piece 55 together with the nearby end handle 13; One end of the housing 3 extending into the interior of the retractable housing 2 is not sealed and is fixed to the second housing cross support 9 by means of locking screws; The bottom edges of the two longitudinal sides of the housing 3 fall into the guide limit grooves above the rectangular sleeves on both sides of the first housing cross support 8, the middle moving module 7, and the second housing cross support 9 respectively; The inner side of the upper panel of the shell 3 falls on the first end fixing plate 10, the first shell transverse support 8, the middle moving module 7, and the second shell transverse support 9 respectively.

[0047] The retractable housing 2 covers the housing 3, and the inner side of the upper panel of the retractable housing 2 falls on the protruding slide rail 6 on the outer side of the upper panel of the housing 3; One end of the telescopic shell 2 near the first end fixing plate 11 is sealed and fixed on the corner piece 55 together with the nearby end handle 13, and the other end is not sealed; the bottom edges on both sides of the telescopic shell 2 fall into the guide limit grooves above the rectangular sleeves on both sides of the first shell cross support 8, the middle movable module 7, and the second shell cross support 9, respectively, and are located on the outside of the bottom edges on both sides of the shell 3.

[0048] As mentioned above, the rail-type photovoltaic cleaning robot adopts a retractable structural design from the main structures such as the outer shell, outer frame, walking transmission shaft, brush rotating shaft, water spray pipe and brush, combined with some necessary movable support and locking components, such as the outer shell cross support, the middle moving module, etc., the robot can be easily telescopically changed in longitudinal length to adapt to different photovoltaic array sizes, while also meeting the body structure strength and rigidity requirements during normal operation.

[0049] The telescopic realization process is that the telescopic rail-type photovoltaic cleaning robot can operate from a single row of photovoltaic panels array (such as Figure 1 ) is extended to the operating length of a double-row photovoltaic panel array (such as Figure 2 ) as an example to illustrate as follows: The first step is to loosen the locking screws of the middle moving module 7 and the outer frame to make the two in a slidable state; loosen the screws fixing the first housing cross support 8 and the retractable housing 2 to release the fixed state of the two (such as Figure 1 In the shortest contracted state, the first shell cross support 8 is locked with the outer frame and fixed with the telescopic shell 2; the second shell cross support 9 is locked with the outer frame but is loose with the shell 3); The second step is to loosen the water pipe sealing fasteners 45 at two locations at the bottom of the rail-type robot. At this point, the main longitudinal components such as the outer frame, the travel transmission shaft, the brush rotation transmission shaft, and the water spray pipe are all in an extendable state; The third step is to stretch the structural frame 5 longitudinally outward for a distance by using the end handle 13 near the first end fixing plate 10, so that the fixing screw hole near the end of the shell 3 extending into the telescopic shell 2 is aligned with the fifth locking screw hole 62 on the second shell cross support 9, and then use screws to fix the shell 3 and the second shell cross support 9 as a whole, and at the same time loosen the screws locking the second shell cross support 9 and the outer frame, so that the second shell cross support 9 can move together with the shell 3.

[0050] Step 4: Loosen the top screws on the travel transmission bearing sleeve 27 and the brush rotation transmission bearing sleeve 26 on the intermediate moving module 7 from the bottom of the rail robot, so that the three transmission shafts and the corresponding bearing sleeves are in a state of relative sliding; loosen the screws of the two water pipe fixing clamps 32 on the intermediate moving module 7, so that the clamps 32 and the corresponding water pipes are in a state of relative sliding. At this time, the intermediate moving module 7 can slide freely along the outer frame to adjust the brush telescopic length and density distribution.

[0051] The fifth step is to continue to stretch the structural frame 5 outward through the handle near the outside of the first end fixing plate 10. At the same time, the position of the intermediate movable module 7 is moved in the same direction until the structural frame 5 is stretched to the operating length of the double-row photovoltaic panel array. At this time, the intermediate movable module 7 should be moved to the end of the first retractable outer frame 14 and aligned with the four fixing holes 47.

[0052] Step 6. Tighten the middle moving module 7 and the outer frame with screws; fix the travel transmission bearing sleeve 27, the brush rotation transmission bearing sleeve 26, and the water pipe fixing clamp 32 on the middle moving module 7 to the corresponding travel transmission shaft, the brush rotation shaft, and the water spray pipe from the bottom of the rail robot; and tighten the water pipe sealing fastener 45.

[0053] At this point, the retractable rail-type photovoltaic robot is in the operating length of the double-row photovoltaic panel array (maximum extension state) and can perform cleaning operations normally.

[0054] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, which may refer to mechanical connection or electrical connection, or internal communication between two components, or direct connection. "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change; Secondly: In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other; Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A self-adaptive and retractable rail-type photovoltaic cleaning robot, characterized in that; It comprises a wing plate (1), a retractable housing (2), a housing (3), an electric control box (4), a structural frame (5) and a slide rail (6); The shell (3) is mounted and fixed on the top of the structural frame (5); one end of the shell (2) is overlapped on the slide rail (6) on the upper surface of the shell (3), and the other end is fixed to one end of the structural frame (5); the shell (2) and the shell (3) can slide relative to each other through the extension and contraction of the structural frame (5); and the electric control box (4) is mounted and fixed on the upper surface of the shell (3); The structural frame (5) comprises a first telescopic outer frame (14), a second telescopic outer frame (19), a first end fixing plate (10), a second end fixing plate (11), a third end fixing plate (48), an intermediate movable module (7), a first outer shell cross support (8), a second outer shell cross support (9), and an end handle (13); A bearing sleeve (56) is mounted on the first end fixing plate (10), an intermediate transmission bearing sleeve (27) is mounted on the intermediate moving module (7), a first through hole (24) is provided on the intermediate transmission bearing sleeve (27), and a sleeve (23) is sleeved on the intermediate transmission bearing sleeve (27), wherein two running wheels (22) on the intermediate moving module (7) are sleeved on the sleeve (23), respectively, an intermediate transmission shaft sleeve (26) is mounted on the intermediate moving module (7), and a second through hole (25) is provided on the intermediate transmission shaft sleeve (26); The first end fixing plate (10), the intermediate moving module (7) and the third end fixing plate (48) are each equipped with two running wheels (22) and a guide wheel (53), and the connection between the first end fixing plate (10), the third end fixing plate (48) and the guide wheel (53) is provided with an adaptive device (54); A brush rotation drive motor (49) is installed at the middle position of the two second end fixing plates (11); the output shafts of the two brush rotation drive motors are respectively fixedly connected to a first retractable brush rotation shaft (43) and a second retractable brush rotation shaft (44); and a bearing seat (33) is installed on the first end fixing plate (10); Water pipe components are provided on both sides of the first telescopic winding brush (17) and the second telescopic winding brush (18).

2. The adaptively retractable rail-type photovoltaic cleaning robot according to claim 1, characterized in that: The second telescopic outer frame (19) is inserted into the first telescopic outer frame (14), one end of a plurality of first telescopic outer frames (14) is respectively connected to the first end fixing plate (10) and the second end fixing plate (11), and one end of a plurality of first telescopic outer frames (14) is connected to the third end fixing plate (48), the first shell cross support (8) and the second shell cross support (9) are symmetrically arranged, and the intermediate movable module (7) is located between the first shell cross support (8) and the second shell cross support (9), the end handle (13) is connected to the plurality of first telescopic outer frames (14) through a plurality of angle pieces (55), the first telescopic outer frame (14) is installed with a plurality of screws (42), and four fixing holes (47) are arranged at the end position where the first telescopic outer frame (14) and the second telescopic outer frame (19) are connected.

3. The adaptively retractable rail-type photovoltaic cleaning robot according to claim 1, characterized in that: The two rows of running wheels (22) on the first end fixing plate (10), the middle moving module (7) and the third end fixing plate (48) are driven to run synchronously through a first double-groove telescopic hollow transmission shaft (16) and a second double-groove telescopic hollow transmission shaft (21); two driving motors (12) are installed on the second end fixing plate (11); one end of each of the first double-groove telescopic hollow transmission shaft (16) and the second double-groove telescopic hollow transmission shaft (21) is respectively connected to the output shafts of the two driving motors (12); and two symmetrically positioned limiting guide grooves (46) are provided on both sides of the first double-groove telescopic hollow transmission shaft (16) and the second double-groove telescopic hollow transmission shaft (21).

4. The adaptively retractable rail-type photovoltaic cleaning robot according to claim 3, characterized in that: One end of the first double-groove telescopic hollow transmission shaft (16) and the second double-groove telescopic hollow transmission shaft (21) passes through a bearing sleeve at the third end fixing plate (48) and is connected to an output shaft of a travel drive motor (12) installed at the second end fixing plate (11); the other end is connected to a bearing sleeve (56) at the first end fixing plate (10); and the middle portion passes through an intermediate transmission bearing sleeve (27) at the intermediate moving module (7).

5. The adaptively retractable rail-type photovoltaic cleaning robot according to claim 1, characterized in that: A first retractable winding brush (17) is fixedly connected to the first retractable brush rotating shaft (43), and one end of the first retractable winding brush (17) is close to the third end fixing plate (48), and the other end of the first retractable winding brush (17) is fixed to the intermediate transmission shaft sleeve (26) on the intermediate moving module (7) through a second fixing clamp (41), and one end of the first retractable brush rotating shaft (43) is connected to the output shaft of the brush rotation drive motor (49) installed at the second end fixing plate (11).

6. The adaptively retractable rail-type photovoltaic cleaning robot according to claim 1, characterized in that: A second retractable winding brush (18) is fixedly connected to the second retractable brush rotating shaft (44), and one end of the second retractable winding brush (18) is close to the first end fixing plate (10), and the other end of the second retractable winding brush (18) is fixed to the other side of the intermediate transmission shaft sleeve (26) on the intermediate movable module (7) through a first fixing clamp (40), and the first retractable winding brush (17) and the second retractable winding brush (18) are retracted and adjusted by adjusting the position of the intermediate movable module (7), and the other end of the second retractable brush rotating shaft (44) is connected to the bearing seat (33) at the first end fixing plate (10).

7. The adaptively retractable rail-type photovoltaic cleaning robot according to claim 1, characterized in that: The water pipe assembly comprises a plurality of first water pipes (15), a plurality of second water pipes (20) and a water pipe sealing fastener (45); the plurality of second water pipes (20) are respectively plugged into the plurality of first water pipes (15); a water pipe sealing fastener (45) is provided at the connection between the second water pipes (20) and the first water pipes (15); an electromagnetic water valve (51) is installed on the plurality of first water pipes (15); the sealed ends of the plurality of second water pipes (20) are fixed to the first end fixing plate (10) by means of a fixing clamp; The water inlet end of the pipe (15) is connected to the second end fixing plate (11) and the third end fixing plate (48) respectively through fixing clamps; a water pipe fixing clamp (32) for fixing the first water pipe (15) is installed on the mobile module (7); a row of evenly spaced water spray holes (50) are arranged on the surface of the plurality of first water pipes (15) and the plurality of second water pipes (20) along the axial direction; the plurality of first water pipes (15) are connected through a tee (52) and are connected to an external water supply pipe through the tee (52).

8. The adaptively retractable rail-type photovoltaic cleaning robot according to claim 1, characterized in that: The first housing cross support (8) comprises a first bending bracket (34), first rectangular sleeves (35) are mounted on both ends of the first bending bracket (34), second outer limiting strips (36) are mounted on the first rectangular sleeves (35), first protrusions (37) are mounted on the first rectangular sleeves (35), a plurality of second locking screw holes (38) are provided on the first rectangular sleeves (35), and a plurality of fourth locking screw holes (39) are provided on the second outer limiting strips (36).

9. The adaptively retractable rail-type photovoltaic cleaning robot according to claim 8, characterized in that: The second housing transverse support (9) comprises a second bending bracket (341), both ends of the second bending bracket (341) are provided with a second rectangular sleeve (57), a second inner limit stop bar (58) is provided on the second rectangular sleeve (57), a middle dividing bar (59) is provided on the second rectangular sleeve (57), a plurality of third locking screw holes (60) are provided on the second rectangular sleeve (57), a second protrusion (61) is provided on the second rectangular sleeve (57), a plurality of fifth locking screw holes (62) are provided on the middle dividing bar (59), and the middle dividing bar (59) can be fixed to the housing (3) by screws, and a groove between the middle dividing bar (59) and the limit stop bar (58) is a limit guide groove of the housing (3); and a groove between the middle dividing bar (59) and the second protrusion (61) is a limit guide groove on the telescopic housing (2).

10. The adaptively retractable rail-type photovoltaic cleaning robot according to claim 1, characterized in that: Two third rectangular sleeves (31) are installed on the intermediate moving module (7), and a plurality of first locking screw holes (28) are provided on the third rectangular sleeve (31). A first outer limiting strip (29) is installed on the third rectangular sleeve (31), and a first inner limiting strip (30) is installed on the sleeve (31). The intermediate channel between the first inner limiting strip (30) and the first outer limiting strip (29) provides support, sliding guidance and limiting functions for the outer shell.

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