A wheelless driving cleaning robot for photovoltaic power station

Abstract

The present invention relates to a wheelless driving cleaning robot for photovoltaic power station, comprising: a shell, a slider placed in the shell, a middle partition and a cleaning brush head, wherein the slider is located near the top of the shell and driven by a first motor to move in the X direction; the middle partition is fixed below the slider; a cleaning chamber is suspended below the middle partition by a second motor and driven by the second motor to move in the Z direction; a cleaning brush head is arranged inside the cleaning chamber and driven by a telescopic arm to move in the Y direction, and is used to clean the upper surface of a photovoltaic panel; the cleaning robot realizes movement in the X direction on the upper surface of the photovoltaic panel through the cooperation of the first and second motors, and can also move in the Y direction on the upper surface of the photovoltaic panel through the cooperation of the second motor and the telescopic arm. It can be seen that the robot realizes wheelless left and right movement and up and down cross-board movement, thereby fully and automatically cleaning the photovoltaic panel, and the driving structure has a simple structure and low cost.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic cell panel cleaning, and in particular to a wheelless driving cleaning robot for a photovoltaic power station. Background Art

[0002] After more than a decade of vigorous development, the photovoltaic industry has become an important part of my country's strategic emerging industries, playing a vital role in promoting the global energy revolution and addressing climate change. As the core component of the photovoltaic power generation system, the reliability of photovoltaic modules is directly related to the performance and life of the entire system. However, in the long-term exposure of photovoltaic systems to complex and changeable outdoor environments, various faults are difficult to avoid, among which the hot spot effect caused by dust pollution and shading is particularly prominent, which seriously affects the power generation efficiency and safety of photovoltaic modules. Therefore, dust cleaning of photovoltaic modules has become a key issue that needs to be solved urgently.

[0003] At present, the cleaning robots on the market are mainly divided into crawler cleaning robots, track cleaning robots, and drone cleaning. Among them, crawler cleaning robots can be divided into dry cleaning and wet cleaning robots. The wet cleaning crawler cleaning robot is a square car connected to a water pipe, which moves closely on the photovoltaic panel when working. It mainly relies on wheels to move on the surface of the photovoltaic panel to carry out cleaning operations, while the dry cleaning robot uses a vacuum cleaner for dust removal. However, the scope of application of crawler cleaning robots is relatively limited, and they are mainly suitable for ground or flat photovoltaic panel installation areas. For photovoltaic panels installed in complex terrain or at high altitudes, the movement and cleaning effect of crawler cleaning robots may be limited. Track cleaning robots usually need to install tracks above or around photovoltaic panels, and the robot moves and cleans along the tracks. This method has the advantages of good stability and controllability, and is suitable for photovoltaic panel cleaning in some specific scenarios. However, the installation and maintenance costs of track cleaning robots are high, and they need to occupy a certain amount of space, which may not be suitable for large or decentralized photovoltaic power stations. Drone cleaning is an emerging photovoltaic panel cleaning method. Drones can quickly fly above photovoltaic panels and use the mounted cleaning equipment to fully clean the panels. Drone cleaning has the advantages of high efficiency, rapid coverage and automated operation, and is particularly suitable for photovoltaic power stations that are large, dispersed or have complex terrain. At the same time, drone cleaning can also avoid the risks of personnel working at high altitudes and improve operational safety. However, drone cleaning also faces some challenges, such as the continuous improvement and improvement of flight stability, cleaning equipment mounting and remote control operation.

[0004] Currently, no effective solution has been proposed for the problems in the related technologies. Summary of the invention

[0005] In view of the problems in the background technology, the present invention proposes a wheelless drive cleaning robot for a photovoltaic power station to overcome the above technical problems existing in the prior art.

[0006] To this end, the specific technical solution adopted by the present invention is as follows:

[0007] A wheelless driving cleaning robot for a photovoltaic power station, characterized in that it comprises: a shell, a slider placed in the shell, a middle partition, a cleaning chamber and a cleaning brush head, wherein the shell has an opening for being placed upside down on the upper surface of a photovoltaic panel; the slider is located near the top of the shell and is driven by a first motor to move in the X direction; the middle partition is fixed below the slider; the cleaning chamber is suspended below the middle partition by a second motor and is driven by the second motor to move in the Z direction, wherein the Z direction is perpendicular to the photovoltaic panel; the cleaning brush head is arranged inside the cleaning chamber and is driven by a telescopic arm to move in the Y direction, and is used to clean the upper surface of the photovoltaic panel;

[0008] The cleaning robot moves the housing and the cleaning chamber respectively through the cooperation of the first motor and the second motor to move in the X direction on the upper surface of the photovoltaic panel, specifically including the following two steps:

[0009] Step 1: The second motor presses down the cleaning chamber to separate the outer shell from the upper surface of the photovoltaic panel, and the first motor drives the slider to move the outer shell in the X direction. When the outer shell moves into place, the second motor retracts, lowers the outer shell and places it on the upper surface of the photovoltaic panel, completing the movement of the outer shell;

[0010] Step 2: The second motor retracts upward to separate the cleaning chamber from the upper surface of the photovoltaic panel, and the first motor drives the slider to move the cleaning chamber in the X direction. When the cleaning chamber moves into place, the second motor presses down to lower the cleaning chamber and land it on the upper surface of the photovoltaic panel, completing the movement of the cleaning chamber.

[0011] Repeat the above two steps to realize the movement of the cleaning robot in the X direction.

[0012] Furthermore, a downwardly retractable baffle is provided on one side of the cleaning brush head in the Y direction, and the cleaning robot realizes cross-row movement in the Y direction of multiple rows of photovoltaic arrays through the cooperation of the second motor, the telescopic arm and the baffle: the telescopic arm drives the cleaning brush head to move to a suitable position, the baffle extends downward and is inserted into the gap between adjacent photovoltaic panels to limit the cleaning brush head, and the second motor presses down the cleaning chamber to separate the outer shell from the upper surface of the photovoltaic panel (the second motor presses down the cleaning chamber, and the cleaning brush head is pressed against the photovoltaic panel as the cleaning chamber is pressed down, thereby lifting the outer shell), the telescopic arm is retracted, and the outer shell is pulled to move in the Y direction. When the outer shell moves into place, the baffle is retracted, and the second motor is retracted to lower the outer shell and land it on the upper surface of the photovoltaic panel, completing the movement of the cleaning robot in the Y direction.

[0013] Furthermore, the photovoltaic power station wheelless drive cleaning robot also includes: a plurality of rotating clamping edges arranged at both ends of the outer shell in the Y direction, the rotating clamping edge has an axially rotatable sleeve, and a lever and a hook are arranged at both ends of the sleeve. The outer shell is also provided with a guide plate corresponding to the lever. When the rotating clamping edge rotates downward, the lever contacts the guide plate and is guided by the guide plate to drive the sleeve to rotate, thereby driving the hook to rotate to the bottom of the photovoltaic panel and driving the hook to resist the lower surface of the photovoltaic panel, so that the rotating clamping edge clamps the photovoltaic panel to prevent the outer shell from moving in the Y direction.

[0014] Furthermore, the resetting of the sleeve is achieved by guiding the lever to rotate in the opposite direction by the side of the photovoltaic panel: the hook head is driven to move downward and disengage from the lower surface of the photovoltaic panel, the rotating clamping edge is rotated upward, the lever disengages from the guide plate, the guide lever contacts the side of the photovoltaic panel and guides the lever to drive the sleeve to rotate in the opposite direction, so that the hook head rotates to the outside of the photovoltaic panel.

[0015] Furthermore, tracks in the Y direction are provided on both sides of the lower part of the cleaning bin, the cleaning brush head has track wheels supported on the tracks, the cleaning brush head has rubber scrapers, the rubber scrapers are surrounded to form a water storage area, and a vibrating brush head is arranged in the water storage area.

[0016] Furthermore, the telescopic arm has a first-level contact point, a second-level contact point and a telescopic arm head; the cleaning robot also has a graded pushing mechanism for pushing the telescopic arm; the graded pushing structure has a cleaning rotating gear, a cleaning moving rack, a sleeve rod in contact with the second-level contact point, and a wire-receiving motor; the wire-receiving motor is connected to the telescopic arm head by a wire;

[0017] The telescopic arm cooperates with the graded driving device to realize graded driving: the cleaning rotating gear rotates to drive the cleaning moving rack to move. When the cleaning moving rack moves, the graded driving device first contacts the first-level contact point, and then moves the telescopic arm forward by pushing the first-level contact point. After moving a certain distance, the first-level contact point is separated from the graded driving device, and then the second-level contact point contacts the graded driving device. The graded pushing device continues to push the telescopic arm forward through the second-level contact point, thereby realizing the forward pushing of the telescopic arm. When the telescopic arm contracts, the wire-retracting motor pulls the head of the telescopic arm through the wire to realize auxiliary contraction.

[0018] The innovative features of the present invention are as follows:

[0019] 1. The present invention is wheelless drive: The present invention relates to an intelligent robot that can realize omnidirectional mobile cleaning on the photovoltaic panel surface through wheelless drive, and realizes movement in the X direction on the surface of the photovoltaic panel through the cooperation of the first motor and the second motor. It can be seen that the cleaning robot of the present invention has changed the traditional wheel or track drive mode, and uses the motor to realize the lateral (X direction) movement of the robot. Its driving structure is simple, the manufacturing cost is low, and it is easy to realize.

[0020] 2. The present invention can realize up and down cross-board movement: The present invention relates to an intelligent mobile cleaning robot that can move up and down cross-board movement, which realizes movement in the Y direction on the upper surface of the photovoltaic panel through the cooperation of the second motor, the telescopic arm and the baffle, that is, cross-row movement in the multi-row array of the photovoltaic power station. Combined with the X-direction movement, the cleaning robot can move in two directions, realizing fully automated cleaning.

[0021] 3. The present invention has a self-locking structure: The present invention designs a unique rotating clamp edge located on the upper and lower sides of the cleaning robot. When working, the rotating clamp edge is used to ensure that the cleaning robot will not fall off the photovoltaic panel surface during operation, and when crossing the panel up and down, the rotating clamp edge can be automatically retracted without interference.

[0022] 4. The present invention is adaptive in size and shape: the outer shell has a telescopic function, which can automatically adapt to different sizes of photovoltaic panels by automatically telescoping when cleaning the photovoltaic panel surface.

[0023] 5. The present invention can adapt to installation process differences: when different photovoltaic panels are installed, there will inevitably be uneven areas on the top. The machine can cross the uneven areas through a unique walking structure and telescopic arm fine-tuning distance.

[0024] 6. The present invention has a graded driving device: the cleaning robot has a unique graded driving device when driving the telescopic arm at the cleaning brush head. The graded driving can greatly reduce the force required to push the telescopic arm, and a wire-retracting motor is installed at the driving device to ensure that the telescopic arm can be fully retracted when it is recovered.

[0025] 7. The present invention has a function of graded and pressurized cleaning: the cleaning brush head is rotated by the motor inside the machine to perform graded and pressurized cleaning of the photovoltaic panel surface.

[0026] 8. The present invention has the characteristic of saving water: by connecting the water outlet with the bristles of the cleaning brush head, the bristles are moistened by capillary action, thereby greatly reducing the consumption of water resources.

[0027] Compared with the existing three types of photovoltaic cleaning robots (track type, crawler type, and drone type), the present invention has the following beneficial effects:

[0028] 1. Traditional track cleaning robots have the effect of quickly cleaning a large number of photovoltaic panels, but traditional tracks require cleaning robots to re-lay tracks, which is a large workload, and track cleaning robots rely on their own gravity to increase the friction pressure on photovoltaic panels. For high-latitude areas, due to the increase in the installation angle of photovoltaic panels, track cleaning robots cannot adapt well. The cleaning robot of the present invention retains the advantages of track robots by setting tracks for supporting the cleaning brush head inside the cleaning chamber. At the same time, it has self-locking devices (rotating card edges) on both sides to prevent the robot from falling. In addition, the cleaning machine of the present invention can achieve horizontal and vertical cross-board movement. A robot can achieve a wide range of photovoltaic panel cleaning without the need for laying tracks on a large scale, which reduces costs; the robot uses a second motor to push the cleaning chamber up and down in the Z-axis direction to achieve different degrees of pressurization, thereby achieving pressurized cleaning, and improves the cleaning head, so that the cleaning robot of the present invention has good cleaning ability.

[0029] 2. Tracked cleaning robots use tracked mobile mechanisms, which are highly adaptable to complex terrain and uneven surfaces. They can be equipped with various cleaning tools and equipment, such as vacuum cleaners, brushes, water sprayers, etc., to achieve the combined use of multiple cleaning methods. However, tracked cleaning robots are small in size and cannot carry enough cleaning water and batteries, requiring frequent water and battery replenishment. This cleaning robot has a large enough space to carry a large-capacity water tank and a large-capacity battery, so that the robot has good endurance.

[0030] 3. The R&D, production and maintenance costs of drone-type photovoltaic panel cleaning robots are relatively high, requiring a large initial investment. This puts a certain economic pressure on photovoltaic power stations with limited budgets. Currently, drones on the market generally have problems with short endurance and hovering time, and require frequent charging or battery replacement. This limits the continuous operation capability of drones to a certain extent. Drone cleaning of photovoltaic panels requires high technical support and operating experience, and operators need professional training to master the operation and maintenance skills of drones. This cleaning robot is low-cost and easy to operate. It can move across panels and has good cleaning effects. One robot can automatically clean a large area of ​​photovoltaic panels. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 This is the overall picture of the robot;

[0033] Figure 2 Design diagram for cleaning brush head;

[0034] Figure 3 It is a self-locking device on the upper and lower sides of the cleaning robot;

[0035] Figure 4 The diagram of the adaptive telescopic box of the cleaning robot;

[0036] Figure 5 This is a front view of the three-layer structure of the cleaning robot;

[0037] Figure 6 This is a schematic diagram of a cleaning robot cleaning a board;

[0038] Figure 7 Schematic diagram of the cleaning robot's cleaning chamber lifting

[0039] Figure 8 This is a schematic diagram of the cleaning robot's cleaning chamber moving right;

[0040] Fig. 9 A schematic diagram of the cleaning robot shell lifting;

[0041] Fig.10 This is a schematic diagram of the cleaning robot housing moving rightward;

[0042] Fig.11 The first layer (upper layer) structural design of the cleaning robot and the design drawing of the left and right movement of the cleaning chamber;

[0043] Fig.12 The second layer (middle layer) structure design of the cleaning robot and the up and down movement diagram of the cleaning chamber;

[0044] Fig.13 This is the structural design diagram of the third layer (lower layer) of the cleaning robot;

[0045] Fig.14 This is a side view of the three-layer structure of the cleaning robot;

[0046] Fig.15 Fine-tune the movement map for the cleaning robot's brush head;

[0047] Fig.16 Figure 2. The cleaning robot moves up and down.

[0048] Fig.17 Reserve a place for the cleaning robot's cleaning water and batteries;

[0049] Fig.18 This is a detailed design drawing of the self-locking device on the top of the cleaning robot;

[0050] Fig.19 This is a side view of the self-locking device on the top of the cleaning robot;

[0051] Fig. 20 A schematic diagram of the rotation of the self-locking device on the top of the cleaning robot;

[0052] Fig.21 Schematic diagram of the self-locking device on the top of the cleaning robot hooking the photovoltaic panel;

[0053] Fig. 22 This is a schematic diagram of the first-level push of the telescopic arm of the cleaning robot's cleaning brush head;

[0054] Fig.23 This is a schematic diagram of the two-stage propulsion of the telescopic arm of the cleaning robot's cleaning brush head;

[0055] Among them: 1-photovoltaic panel; 2-middle pressure block; 3-cleaning robot; 4-rotating card edge; 5-front connection of telescopic frame; 6-track wheel; 7-rubber scraper; 8-vibrating brush head; 9-track; 10-housing; 11-first motor; 12-slider; 13-second motor; 14-cleaning brush head; 15-cleaning chamber; 16-telescopic arm; 17-middle partition; 18-top of cleaning chamber; 19-uneven area; 20-baffle; 21-first space; 22-second space; 23-arc rack; 24-gear; 25-sleeve; 26-guide plate; 27-push rod; 28-hook head; 29-cleaning moving rack; 30-cleaning rotating gear; 31-reeling motor; 32-first-stage contact point; 33-second-stage contact point; 34-sleeve rod; 35-telescopic arm head. DETAILED DESCRIPTION

[0056] To further illustrate each embodiment, the present invention provides drawings, which are part of the disclosure of the present invention and are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, ordinary technicians in the field should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0057] like Figure 1-Figure 23 As shown, the photovoltaic power station wheelless driving cleaning robot 3 of the embodiment of the present invention is used to clean the upper surface of the photovoltaic panel 1, and a middle pressure block 2 is arranged between adjacent photovoltaic panels 1, and the middle pressure block is used to connect adjacent photovoltaic panels in the photovoltaic array. The cleaning robot of this embodiment includes: a retractable shell 10, a slider 12 placed in the shell 10, a middle partition 1, a cleaning chamber 15 and a cleaning brush head 14.

[0058] Among them, Figure 1 , Figure 2 , Figure 6 As shown, the housing 10 has an opening for being placed upside down on the upper surface of the photovoltaic panel 1. Figure 5 , Figure 6 , Fig.11As shown, the slider 12 is located near the top of the housing 10 and is driven by the first motor 11 to move in the X direction (the lateral direction of the photovoltaic panel, i.e., the row direction of the multi-row photovoltaic array). Preferably, in this embodiment, the first motor 11 is a linear stepper motor, and the rotation of the motor can move the slider 12 on the screw rod left and right (X direction). Figure 5 , Figure 6 , Fig.14 As shown, the middle partition 17 is fixed below the slider 12, and the middle partition 17 moves with the slider 12. In this way, the slider 12 can be driven by the first motor 11 to drive the middle partition 17 to move in the X direction. Figure 5 , Figure 6 , Fig.12 As shown, the cleaning chamber 15 is suspended below the middle partition 17 through the second motor 13, and is driven by the second motor 13 to move in the Z direction, wherein the Z direction is perpendicular to the photovoltaic panel 1. Preferably, a plurality of second motors 13 are installed below the middle partition 17 (two motors are used in the embodiment shown in the figure, and more motors can be installed if the force in the Z-axis direction is insufficient). The second motor 13 also uses a stepper motor to achieve precise stroke control. Figure 5 , Figure 6 , Fig.13 As shown, the cleaning brush head 14 is arranged inside the cleaning chamber 15 and is driven by the telescopic arm 16 to move in the Y direction (the vertical direction of the photovoltaic panel, i.e., the column direction of the multi-row photovoltaic array) to clean the upper surface of the photovoltaic panel 1. The cleaning chamber 15 moves in the X direction as follows: the housing 10 is close to the upper surface of the photovoltaic panel 1, and then the cleaning chamber 15 is slightly lifted in the Z-axis direction by the second motor 13, and the cleaning chamber 15 is in a suspended state (see Figure 7 ), and then the first motor 11 moves the middle partition 17 and the cleaning chamber 15 from the left side to the right side of the cleaning robot, that is, moves rightward along the X direction to the rightmost side ( Figure 8 ), and then drop the cleaning chamber 15 so that the cleaning brush head 14 falls on the upper surface of the photovoltaic panel 1.

[0059] The cleaning robot of this embodiment moves the housing 10 and the cleaning chamber 15 respectively through the cooperation of the first motor 11 and the second motor 13, so as to move in the X direction on the upper surface of the photovoltaic panel 1. This embodiment is described in detail by taking the cleaning robot moving right as an example, which specifically includes two steps:

[0060] Step 1: The second motor 13 presses down the cleaning chamber 15, lifts up the housing 10 to separate it from the upper surface of the photovoltaic panel 1, and then drives the slider 12 to move in the X direction through the first motor 11 (see Fig. 9 , the slider moves to the left relative to the housing 10). Since the housing 10 is in a suspended state at this time, moving the slider 12 can move the housing 10 to the right in the X direction. When the housing 10 moves into position (such as Fig.10 After that, the second motor 13 is recovered, and the housing 10 is lowered and falls on the upper surface of the photovoltaic panel 1, completing the movement of the housing 10;

[0061] Step 2, the second motor 13 contracts upward to make the cleaning chamber 15 separate from the upper surface of the photovoltaic panel 1, and the first motor 11 drives the slider 12 to move rightward, so that the cleaning chamber 15 moves rightward in the X direction. When the cleaning chamber 15 moves into place, the second motor 13 presses down to lower the cleaning chamber 15 and place it on the upper surface of the photovoltaic panel 1, completing the movement of the cleaning chamber 15;

[0062] Repeat the above two steps to realize the movement of the cleaning robot in the X direction.

[0063] When the photovoltaic panels are cleaned from left to right, since the cleaning chamber 15 is already located at the rightmost side of the shell when the photovoltaic panels in the current position area of ​​the shell are cleaned, the movement process of the shell to the right can skip the first step and start directly from the second step.

[0064] like Fig.13 , Fig.16 As shown, the cleaning brush head 14 is provided with a baffle 20 that can be telescoped downward on one side in the Y direction. The cleaning robot realizes the cross-row movement in the Y direction of the multi-row photovoltaic array through the cooperation of the second motor 13, the telescopic arm 16 and the baffle 20. The specific process is as follows: the telescopic arm 16 drives the cleaning brush head 14 to move to a suitable position, and the baffle 20 extends downward to insert into the gap between the adjacent photovoltaic panels 1 in the Y direction. Due to the action of the baffle 20, the cleaning brush head 14 is limited. At this time, the second motor 13 presses down the cleaning chamber 15 to lift the shell 10 and detach it from the upper surface of the photovoltaic panel 1. Then the telescopic arm 16 retracts the cleaning brush head 14, that is, the cleaning brush head is pulled by the telescopic arm 10. Since the cleaning brush head 14 is limited, pulling the telescopic arm 16 can move the shell 10 in the Y direction. When the shell 10 moves into place, the second motor 13 is recovered, and the shell 10 is put down and falls on the upper surface of the photovoltaic panel 1, completing the movement of the cleaning robot in the Y direction. The baffle 20 retracts, and the cleaning brush head 14 is in a movable state at this time, and the cleaning of the next photovoltaic panel begins.

[0065] Since the photovoltaic panel 1 has a certain inclination, in order to prevent the robot from falling, Figure 1 , Figure 3 , Fig.18 , Fig.19 , Fig. 20 , Fig.21As shown, the robot of the present invention further includes a plurality of rotating clamping edges 4 disposed at both ends of the housing 10 in the Y direction. The rotating clamping edge 4 has an axially rotatable sleeve 25, and a lever 27 and a hook 28 are disposed at both ends of the sleeve 25. The housing 10 is further provided with a guide plate 26 corresponding to the lever 27. When the rotating clamping edge 4 rotates downward, the lever 27 contacts the guide plate 26 and is guided by the guide plate 26 to drive the sleeve 25 to rotate, thereby driving the hook 28 to rotate to the bottom of the photovoltaic panel 1, and driving the hook 28 to abut against the lower surface of the photovoltaic panel 1, so that the rotating clamping edge 4 clamps the photovoltaic panel 1, preventing the housing 10 from moving in the Y direction. The sleeve 25 is reset by guiding the lever 27 on the side of the photovoltaic panel 1 to rotate in the reverse direction: the hook 28 is driven to move downward and disengage from the lower surface of the photovoltaic panel 1, the rotating clamping edge 4 is rotated upward, the lever 27 is disengaged from the guide plate 26, the guide lever 27 contacts the side of the photovoltaic panel and guides the lever 27 to drive the sleeve 25 to rotate in the reverse direction, so that the hook 28 rotates to the outside of the photovoltaic panel 1 to complete the unlocking. The hook 28 rotates to the bottom of the photovoltaic panel 1 and hooks the lower surface of the photovoltaic panel 1, realizing the limit self-locking of the robot on both sides (both sides of the Y direction). Before the cleaning robot moves in the Y direction, the hook 28 needs to be moved downward and rotated to the outside of the photovoltaic panel 1.

[0066] As a feasible solution, Figures 18 to 21 In the embodiment shown, the rotating clamp 4 has an arc-shaped rack 23 and a gear 24 fixed to the housing 10, and the arc-shaped rack 23 meshes with the gear 24. The motor drives the gear 24 to rotate and drive the arc-shaped rack 23 to rotate, thereby driving the sleeve 25 to rotate downward. When the gear 24 is rotated to a vertical angle, the rotating clamp 4 moves upward as a whole, so that the hook 28 is pressed against the lower surface of the photovoltaic panel 1. Figures 18 to 21 As shown, the lever 27 and the hook 28 are both arranged perpendicular to the sleeve 25 and are located on the left and right sides of the sleeve 25. When the lever 27 is rotated to be perpendicular to the surface of the shell 10, the hook 28 is rotated to the lower surface of the photovoltaic panel 1, and then the gear 24 continues to be rotated, so that the rotating clamping edge 4 can be moved upward as a whole, so that the hook 28 is against the lower surface of the photovoltaic panel 1 to prevent the robot from falling off the photovoltaic panel 1.

[0067] like Figure 3 , Figure 5 , Figure 6 As shown, the cleaning robot of this embodiment has tracks in the Y direction on both sides of the lower part of the cleaning chamber 15, and the cleaning brush head 14 has track wheels 6 supported on the tracks, and the cleaning brush head 14 has a rubber scraper 7, which surrounds a water storage area, and a vibrating brush head 8 is arranged in the water storage area. The rubber scraper 7, the water storage area and the vibrating brush head are combined for efficient cleaning, and the inner side of the rubber scraper is equipped with cleaning bristles to further increase the cleaning effect.

[0068] In order to increase the battery life, a larger water tank and battery are required. Fig.14 , Fig.17 As shown, a first space 21 for placing a water tank is formed between the top 18 of the cleaning chamber and the partition 17, and a second space 22 for placing a battery is formed between the partition 17 and the top wall of the housing 10. Both the first space 21 and the second space 22 are relatively large and can accommodate a water tank and a battery of relatively large capacity.

[0069] The cleaning robot can move in the X and Y directions, achieving full coverage cleaning of photovoltaic panels. In order to adapt to solar panels of different lengths (in the Y direction), such as Fig.10 As shown, the housing 10 of the cleaning robot of this embodiment is a retractable housing, and correspondingly, the cleaning chamber 15 and the track in the cleaning chamber 15 are also configured to be retractable. Specifically, the lengths of the housing 10, the cleaning chamber 15 and the track in the cleaning chamber 15 in the Y direction are adjustable to adapt to the different lengths of the solar panels in the Y direction. This design makes the cleaning robot versatile and can adapt to the cleaning of photovoltaic panels of different sizes.

[0070] like Fig. 22 , Fig.23 As shown, the cleaning robot of the present invention also has a graded pushing mechanism for pushing the telescopic arm, the telescopic arm 16 has a first-level contact point 32, a second-level contact point 33 and a telescopic arm head 35, and the graded pushing structure has a cleaning rotating gear 30, a cleaning moving rack 29, a sleeve rod 34 in contact with the contact point 33, and a wire-receiving motor 31; the telescopic arm and the graded driving device cooperate with each other to realize the graded driving of the telescopic arm 16: the cleaning rotating gear 30 rotates to drive the cleaning moving rack 29 to move, when the cleaning moving rack 29 moves, the graded driving device first contacts with the first-level contact point 32, and then moves the telescopic arm 16 forward by pushing the first-level contact point 32, after moving a distance, the first-level contact point 32 is separated from the graded driving device, and then the second-level contact point 33 contacts with the graded driving device, and the graded pushing device continues to push the telescopic arm 16 forward through the second-level contact point 33, thereby realizing the forward pushing of the telescopic arm; the wire-receiving motor 31 is connected to the telescopic arm head 35 by a line, and assists in the contraction when the telescopic arm contracts.

[0071] The main design features of the cleaning robot of the present invention are as follows:

[0072] Brush head design: Figure 2 As shown, the bottom of the brush head is surrounded by a circle of rubber scrapers 7, and cleaning bristles are installed on the inner side of the rubber scrapers 7, which increases the cleaning effect and forms a simple water storage area (the water storage area is surrounded by the rubber scrapers). A vibrating brush head 8 is installed in the water storage area. When the cleaning brush head 14 passes through the photovoltaic panel surface, the rubber scrapers 7, bristles and vibrating brush head 8 cooperate with each other to clean the photovoltaic panel surface. Figure 2 In the figure, reference numeral 5 is the front connection of the telescopic frame, which is used to connect the telescopic arm head 35.

[0073] Upper and lower sides limit self-locking: Figure 3 As shown, there are 4 rotating clamps on the upper and lower sides of the cleaning robot. The main purpose of the rotating clamps is to prevent the cleaning robot from sliding off the photovoltaic panel surface when it is running on the photovoltaic panel surface. It can also hook the next photovoltaic panel when crossing different photovoltaic panels. In this way, even if there is a large slope between the two photovoltaic panels, the cleaning machine can cross different photovoltaic panels.

[0074] Size-adaptive structure: The main body of the machine adopts a diamond-shaped telescopic arm structure, which can be extended and retracted to adapt to different photovoltaic panel sizes. The diamond-shaped telescopic arm takes up little space when retracted and will not cause space waste like other structures such as push rods.

[0075] Cleaning machine structure design: Figure 5 As shown in the figure, the cleaning robot structure is mainly divided into three layers from top to bottom. The first layer is equipped with a linear stepper motor, and the rotation of the motor can make the slider on the screw rod move left and right. The lower surface of the slider is connected to the partition, and two stepper motors are installed on the lower side of the partition, two of which are located on the second layer. The third layer is the cleaning chamber, and the cleaning brush head and telescopic arm are installed inside the cleaning chamber.

[0076] Cleaning machine movement design: When the motor of the second layer rotates forward, the cleaning chamber connected to the motor will be lifted up. At this time, the linear motor of the first layer can be rotated to realize the left and right movement of the cleaning chamber. When it rotates in the opposite direction, the cleaning chamber will be squeezed downward. When it continues to rotate in the opposite direction, the cleaning chamber of the third layer will be tightly attached to the surface of the photovoltaic panel, and the outer shell of the first layer will be lifted up due to the reverse force of the cleaning chamber. At this time, the machine shell can be moved left and right by the linear motor, thereby realizing the movement of the cleaning robot.

[0077] Gradual driving structure design: This cleaning robot has a unique graded driving device when driving the telescopic arm at the cleaning brush head. The graded driving can greatly reduce the force required to push the telescopic arm, and a wire-retracting motor is installed at the driving device to ensure that the telescopic arm can be fully retracted when it is recovered.

[0078] Moving up and down across the board: the cleaning brush head needs to be moved to the bottom, and the up and down moving baffle at the front of the cleaning brush head extends downward and is stuck in the gap between the upper and lower photovoltaic panels. The upper and lower limit self-locking devices on the cleaning robot are all released, and then the telescopic arm is retracted. Since the bottom of the telescopic arm is tightly stuck in the gap at the bottom edge of the photovoltaic panel, the telescopic arm can only move downward, thereby driving the entire cleaning machine to move downward, realizing the up and down movement of the cleaning robot.

[0079] The method of using the cleaning robot of the present invention is as follows:

[0080] 1. Initially, the cleaning brush head is located on the top of the photovoltaic panel. When the cleaning brush head moves, it moves up and down along the track at the bottom of the cleaning chamber (Y direction). The cleaning brush head is connected to the diamond-shaped telescopic arm, such as Fig.13 As shown, the telescopic arm moves up and down to drive the cleaning brush head to rub and clean up and down.

[0081] 2. If Figure 5 The schematic diagram of the multi-layer structure of the cleaning warehouse shown in the figure shows that the cleaning robot structure is mainly divided into three layers from top to bottom. The first layer is equipped with a linear stepper motor (first motor 11), and the rotation of the motor can make the slider 12 on the screw rod move left and right in the X direction. The lower surface of the slider is connected to the partition, and several stepper motors (second motor 13) are installed on the lower side of the partition, among which the second motor 13 is located on the second layer. The third layer is the cleaning warehouse, and the cleaning brush head 14 and the telescopic arm 16 are installed inside the cleaning warehouse.

[0082] 3. If Figure 6 The figure shows a cleaning schematic diagram of the cleaning robot. When the cleaning robot is ready to clean, the machine shell is close to the panel surface, the motor at the middle partition rotates, and the cleaning chamber is squeezed downward. At this time, the bristles of the cleaning brush head 14 will be in close contact with the panel surface due to the pressure, and the vibrating brush head in the middle water tank of the cleaning brush head vibrates for cleaning, which can effectively remove the deposited dust on the photovoltaic panel surface.

[0083] 4. When the cleaning brush head moves to the bottom of the photovoltaic panel, the wastewater generated during cleaning flows out along the bottom of the photovoltaic panel.

[0084] 5. If Figure 7 The schematic diagram of the cleaning chamber movement is shown. When the cleaning chamber needs to be moved from the left half to the right half of the cleaning machine, the motor at the middle partition rotates forward, the cleaning chamber is lifted, and the cleaning chamber 15 and the cleaning brush head 14 inside it are lifted off the photovoltaic panel surface. The bottom of the cleaning machine shell 10 fits the photovoltaic panel surface, and the cleaning chamber can be suspended under the partition. The linear stepper motor on the upper surface of the partition rotates, and the slider connected to the cleaning chamber moves to the right, so that the cleaning chamber moves from the left half to the right half, and then the telescopic arm is retracted, and the cleaning brush head moves to the top of the photovoltaic panel. After the movement, Figure 8 As shown, Fig.11 To move the top view left and right.

[0085] 6. If Fig. 9As shown in the schematic diagram of the movement of the cleaning shell, after the photovoltaic panel surface covered by the cleaning robot is cleaned, the cleaning robot needs to continue to move to the right. The second motor 13 located at the lower part of the middle partition rotates, and the cleaning chamber is pressed downward to fit tightly to the surface of the photovoltaic panel. The motor rotates and continues to press downward, and the machine shell will be lifted up. The linear stepper motor (first motor 11) of the first layer rotates to make the slider connected to the machine shell move to the right, driving the machine shell to move to the right, thereby realizing the overall movement of the cleaning robot to the right. After the movement, Fig.10 As shown, Fig.12 Move the top view up and down to clean the housing.

[0086] 7. If Fig.15 As shown, when the cleaning robot passes by two photovoltaic panels, due to the poor workmanship during the installation of the photovoltaic panels, there will be uneven spots 19 on the top of different photovoltaic panels when they are installed. The present cleaning machine can adjust the telescopic arm when moving. It only needs to fine-tune the diamond-shaped telescopic frame forward or backward to achieve the problem of crossing between different photovoltaic panels. By adjusting the telescopic arm, the cleaning robot can overcome the poor workmanship during the installation of the photovoltaic panels. When crossing different panels, the two pairs of rotating clamps on the left half of the cleaning robot are fixed, and the two pairs of rotating clamps on the right half are loosened. When the cleaning brush head on the right half just overlaps with the top of the photovoltaic panel, the cleaning robot can aim at the right photovoltaic panel. At this time, the two pairs of rotating clamps on the left half of the cleaning robot are loosened, and the two pairs of rotating clamps on the right half are fixed.

[0087] 8. If Fig.16 As shown, when the cleaning robot moves up and down, the cleaning brush head needs to be moved to the bottom, and the baffle 20 at the front of the cleaning brush head extends downward, inserted into and stuck in the gap between the upper and lower photovoltaic panels, and the upper and lower limit self-locking devices of the cleaning robot are all released, and then the telescopic arm is retracted. Since the bottom of the telescopic arm (cleaning brush head) is tightly stuck in the gap at the bottom edge of the photovoltaic panel, the telescopic arm can only move downward, thereby driving the entire cleaning machine to move downward, thereby realizing the up and down movement of the cleaning robot.

[0088] 9. If Fig.17 As shown, the cleaning robot can carry cleaning water and batteries to work. The upper part of the cleaning compartment in the figure is used as a reserved place for cleaning water, and the upper part of the partition is used as a reserved place for batteries.

[0089] 10. Fig.18 The figure shows the specific design of the self-locking devices on the upper and lower sides of the cleaning robot. Fig.19 This is a side view of the self-locking device. The self-locking device can rotate freely. A gear and a rack are installed on the top, and there is a triangular baffle (guide plate 26) on the side. The triangular baffle has an inclined surface. When the gear 24 rotates, the rotating clamp edge 4 changes from a horizontal state to a horizontal state. Fig. 20In the state shown, the upper side of the rotating card edge touches the triangular baffle (guide plate 26) and rotates along the inclined surface of the triangular baffle (guide plate 26), so that the hook head 28 at the lower side of the rotating card edge also rotates clockwise, and the gear 24 is continuously rotated to lift the rotating card edge, and the hook head 28 abuts against the lower surface of the photovoltaic panel 1, thereby hooking the photovoltaic panel surface, and hooking the photovoltaic panel 1. Fig.21 When unlocking, the process is the opposite, and the rotating clamp edge 4 needs to be moved downward first to make the hook 28 separate from the photovoltaic panel 1, and then the rotating clamp edge 4 is rotated to move the hook 28 to the side of the photovoltaic panel.

[0090] 11. A unique hierarchical push structure is designed for the extension and retraction of the cleaning brush head of the cleaning robot to greatly reduce the force required to push the telescopic arm. Fig. 22 As shown, when the gear rotates and pushes the rack forward, the first-level contact point 32 will first contact the pushing structure. After being pushed for a certain distance, the first-level contact point will separate from the pushing structure, as shown in FIG. Fig.23 As shown, at this time, the second-level contact point will contact the bottom of the sleeve rod, and the second-level push point is pushed by the pushing structure to realize the graded push of the telescopic frame. A wire-receiving motor 31 is installed at the head of the graded driving device, and the wire-receiving motor is connected to the head 35 of the telescopic arm. When the telescopic arm is retracted, the wire-receiving motor and the pushing structure cooperate to realize the recovery of the telescopic arm.

[0091] 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 principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A wheelless driving cleaning robot for photovoltaic power station, characterized in that: include: - a housing having an opening for being placed upside down on the upper surface of the photovoltaic panel; - a slider, located in the housing near the top and driven by the first motor to move in the X direction; - Middle partition, fixed under the slider; - a cleaning chamber, which is suspended below the middle partition by a second motor and driven by the second motor to move in a Z direction, wherein the Z direction is perpendicular to the photovoltaic panel; - A cleaning brush head, which is arranged inside the cleaning chamber and driven by the telescopic arm to move in the Y direction, and is used to clean the upper surface of the photovoltaic panel; The cleaning robot moves the housing and the cleaning chamber respectively through the cooperation of the first motor and the second motor to move in the X direction on the upper surface of the photovoltaic panel, specifically including the following two steps: Step 1: The second motor presses down the cleaning chamber to separate the outer shell from the upper surface of the photovoltaic panel, and the first motor drives the slider to move the outer shell in the X direction. When the outer shell moves into place, the second motor retracts, lowers the outer shell and places it on the upper surface of the photovoltaic panel, completing the movement of the outer shell; Step 2: The second motor retracts upward to separate the cleaning chamber from the upper surface of the photovoltaic panel, and the first motor drives the slider to move the cleaning chamber in the X direction. When the cleaning chamber moves into place, the second motor presses down to lower the cleaning chamber and land it on the upper surface of the photovoltaic panel, completing the movement of the cleaning chamber. Repeat the above two steps to realize the movement of the cleaning robot in the X direction; The cleaning brush head is provided with a downwardly retractable baffle on one side in the Y direction, and the cleaning robot realizes the cross-row movement in the Y direction of the multi-row photovoltaic array through the cooperation of the second motor, the telescopic arm and the baffle: the telescopic arm drives the cleaning brush head to move to a suitable position, the baffle extends downward and inserts into the gap between adjacent photovoltaic panels to limit the cleaning brush head, the second motor presses down the cleaning chamber to make the shell detach from the upper surface of the photovoltaic panel, the telescopic arm is retracted, and the shell is pulled to move in the Y direction. When the shell moves into place, the baffle is retracted, the second motor is retracted, and the shell is lowered and falls on the upper surface of the photovoltaic panel, completing the movement of the cleaning robot in the Y direction; The photovoltaic power station wheelless drive cleaning robot further comprises: a plurality of rotating clamping edges respectively arranged at two ends of the shell in the Y direction, the rotating clamping edge having an axially rotatable sleeve, a lever and a hook head respectively arranged at two ends of the sleeve, and the shell further comprising a guide plate corresponding to the lever, when the rotating clamping edge rotates downward, the lever contacts the guide plate and is guided by the guide plate to drive the sleeve to rotate, thereby driving the hook head to rotate to the bottom of the photovoltaic panel, and driving the hook head to abut against the lower surface of the photovoltaic panel, thereby realizing that the rotating clamping edge clamps the photovoltaic panel to prevent the shell from moving in the Y direction; The telescopic arm has a first-level contact point, a second-level contact point and a telescopic arm head; the cleaning robot also has a graded pushing mechanism for pushing the telescopic arm; the graded pushing mechanism has a cleaning rotating gear, a cleaning moving rack, a sleeve rod in contact with the second-level contact point, and a wire-receiving motor; the wire-receiving motor is connected to the telescopic arm head through a wire; The telescopic arm cooperates with the graded pushing mechanism to realize graded driving: the cleaning rotating gear rotates to drive the cleaning moving rack to move. When the cleaning moving rack moves, the graded pushing mechanism first contacts the first-level contact point, and then pushes the first-level contact point to move the telescopic arm forward. After moving a certain distance, the first-level contact point is separated from the graded pushing mechanism, and then the second-level contact point contacts the graded pushing mechanism. The graded pushing mechanism continues to push the telescopic arm forward through the second-level contact point, thereby realizing the forward push of the telescopic arm. When the telescopic arm retracts, the wire-retracting motor pulls the head of the telescopic arm through the wire to realize auxiliary retraction.

2. The photovoltaic power station wheelless drive cleaning robot according to claim 1, characterized in that: The resetting of the sleeve is achieved by guiding the lever on the side of the photovoltaic panel to rotate in the reverse direction: the hook head is driven to move downward and disengage from the lower surface of the photovoltaic panel, the rotating clamping edge rotates upward, the lever disengages from the guide plate, the guide lever contacts the side of the photovoltaic panel and guides the lever to drive the sleeve to rotate in the reverse direction, so that the hook head rotates to the outside of the photovoltaic panel.

3. The photovoltaic power station wheelless driving cleaning robot according to claim 1, characterized in that: Before the cleaning robot moves in the Y direction, the hook head needs to be rotated to the outside of the photovoltaic panel.

4. The photovoltaic power station wheelless driving cleaning robot according to claim 1, characterized in that: Tracks in the Y direction are arranged on both sides of the lower part of the cleaning bin, the cleaning brush head has track wheels supported on the tracks, the cleaning brush head has rubber scrapers, the rubber scrapers surround and form a water storage area, and a vibrating brush head is arranged in the water storage area.

5. The photovoltaic power station wheelless driving cleaning robot according to claim 1, characterized in that: A first space for placing a water tank is formed between the top of the cleaning chamber and the partition, and a second space for placing a battery is formed between the partition and the top wall of the shell.

6. The photovoltaic power station wheelless driving cleaning robot according to claim 1, characterized in that: The rotating clamp edge has an arc-shaped rack and a gear fixed to the housing, and the arc-shaped rack is meshed with the gear.

7. The photovoltaic power station wheelless driving cleaning robot according to claim 4, characterized in that: The lengths of the housing, the cleaning chamber and the track in the cleaning chamber in the Y direction are adjustable to accommodate different lengths of the solar panels in the Y direction.

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