Flexible cleaning robot for photovoltaic panel

Abstract

The invention discloses a photovoltaic panel flexible cleaning robot, and relates to the technical field of photovoltaic panel cleaning. The walking mechanisms are installed at the two ends of the sweeping mechanism, and the sweeping mechanism walks and sweeps the photovoltaic panel through the walking mechanisms; and the flexible rotating mechanism is installed in the middle of the sweeping mechanism, auxiliary walking wheels are rotationally installed at the position, close to the bottom of the photovoltaic panel, of the flexible rotating mechanism, and the auxiliary walking wheels are attached to the surface of the photovoltaic panel through the flexible rotating mechanism. The walking mechanisms are assembled at the two ends of the sweeping mechanism, sweeping can be conducted while the sweeping mechanism is driven to move along the surface of the photovoltaic panel, and the sweeping robot is more integrated, more energy-saving and more efficient; and the cleaning robot can be automatically adjusted according to the height change of the surface of the photovoltaic panel, the attaching state is kept all the time, and therefore the work quality can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic panel cleaning, and in particular to a photovoltaic panel flexible cleaning robot. Background Art

[0002] Studies have shown that in new energy utilization systems, the cleanliness of the photovoltaic panel surface is directly proportional to the power generation efficiency. Ensuring the cleanliness of the photovoltaic panels is an effective way to improve power generation efficiency.

[0003] In the prior art, photovoltaic panels are generally cleaned manually or by machine. As the number of solar power stations increases and their scale increases, traditional manual cleaning can no longer meet the current cleaning needs for photovoltaic panels. Therefore, machine cleaning is mainly used to clean photovoltaic panels.

[0004] However, in order to enhance the utilization rate of solar energy, photovoltaic panels are now installed at a certain slope. Moreover, due to different application environments, the installation slope of photovoltaic panels is also inconsistent. Cleaning machines need to climb while cleaning the surface of photovoltaic panels. However, the cleaning machines used today have low adaptability and can only meet the climbing operations of some slopes, which affects the efficiency and quality of photovoltaic panel cleaning operations. Therefore, a flexible cleaning robot for photovoltaic panels is proposed. Summary of the invention

[0005] The purpose of the present invention is to provide a photovoltaic panel flexible cleaning robot to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a photovoltaic panel flexible cleaning robot, comprising:

[0007] A cleaning mechanism, the cleaning mechanism is used for rotating and cleaning stains on the surface of the photovoltaic panel;

[0008] A walking mechanism, wherein the walking mechanism is installed at both ends of the cleaning mechanism, and the cleaning mechanism walks and cleans on the photovoltaic panel through the walking mechanism;

[0009] A flexible rotating mechanism is installed in the middle of the cleaning mechanism. A secondary running wheel is rotatably installed on the flexible rotating mechanism near the bottom of the photovoltaic panel. The secondary running wheel is kept in contact with the surface of the photovoltaic panel through the flexible rotating mechanism.

[0010] Preferably, the number of the cleaning mechanisms is two and they are coaxially arranged at intervals, the flexible rotating mechanism is arranged between the two cleaning mechanisms, and the walking mechanism is installed at the end of the cleaning mechanism away from the flexible rotating mechanism.

[0011] Preferably, the cleaning mechanism comprises a cleaning shaft, the outer wall of the cleaning shaft is in the form of a ring array with a plurality of brush strips fixedly connected at intervals, and the brush strips are spirally wound along the axial direction of the outer wall of the cleaning shaft.

[0012] Preferably, the walking mechanism includes an end cover shell, a walking motor is fixedly installed on the top of one side of the end cover shell close to the cleaning mechanism, two main walking wheels are symmetrically rotated below the walking motor, a sprocket chain transmission mechanism is installed inside the end cover shell, and the walking motor drives the main walking wheels and the cleaning mechanism to rotate through the sprocket chain transmission mechanism.

[0013] Preferably, the walking mechanism also includes an auxiliary wheel, which is arranged below the two main walking wheels, and a mounting arm is rotatably connected to a side of the auxiliary wheel close to the end cover shell, and a fixing frame is rotatably connected to the top of the mounting arm, and the top of the fixing frame is fixedly connected to the bottom end of the end cover shell, and a first spring seat is fixedly connected to the bottom of the fixing frame, and a second spring seat is fixedly connected to the side of the bottom end of the end cover shell away from the auxiliary wheel, and an elastic stretching member is provided between the second spring seat and the first spring seat.

[0014] Preferably, the flexible rotating mechanism comprises a connecting seat, a mounting seat is provided on one side of the connecting seat, a rotating seat is provided between the mounting seat and the connecting seat, and the mounting seat is rotatably connected to the connecting seat via the rotating seat.

[0015] Preferably, both ends of the top of the mounting seat are rotatably connected with axles, the auxiliary running wheels are rotatably connected to the side walls of the mounting seat through the axles, and the bottom of the auxiliary running wheels extends to a position below the mounting seat.

[0016] Preferably, a belt seat rotating shaft is fixedly connected to the bottom of the mounting seat and located between the two auxiliary traveling wheels, and both ends of the belt seat rotating shaft are respectively fixedly connected to one end of the cleaning shaft away from the traveling mechanism.

[0017] Preferably, a transmission shaft is provided between the walking mechanism and the wheel axle, both ends of the transmission shaft are fixedly connected with universal joints, and both ends of the transmission shaft are fixedly connected to the main walking wheels at corresponding positions and the end of the wheel axle away from the secondary walking wheels through universal joints.

[0018] Preferably, cross beams are symmetrically fixedly connected between the two end cover shells and the connecting seats and mounting seats at corresponding positions, a top cover is fixedly connected between two adjacent cross beams, and a battery is fixedly connected to the inner side of one of the top covers.

[0019] Compared with the prior art, the technical effects of the present invention are:

[0020] (1) The photovoltaic panel flexible cleaning robot provided by the present invention can drive the cleaning mechanism to move along the surface of the photovoltaic panel to comprehensively clean the surface of the photovoltaic panel by assembling walking mechanisms at both ends of the cleaning mechanism. At the same time, it can also synchronously drive the cleaning mechanism to rotate, so that the cleaning mechanism can rotate and clean the surface of the photovoltaic panel while moving, making the cleaning robot more integrated, more energy-saving and efficient. At the same time, a flexible rotating mechanism is added in the middle of the cleaning mechanism, so that the cleaning robot can automatically adjust according to the height changes of the photovoltaic panel surface to keep in close contact with it, which is beneficial to improve the work quality.

[0021] (2) The present invention arranges auxiliary wheels under the end cover shell in the walking mechanism, and elastically connects the auxiliary wheels to the end cover shell through a fixing frame, a mounting arm, a first spring seat, a second spring seat and an elastic stretching member, so that the auxiliary wheels can hug the lower surface of the photovoltaic panel, increase the stability of the walking mechanism on the photovoltaic panel, and thus expand the climbing angle of the walking mechanism on the photovoltaic panel, which has higher adaptability and better meets the use requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention from top view.

[0023] Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention when viewed from above.

[0024] Figure 3 It is a partial bottom-up three-dimensional structural schematic diagram of the present invention.

[0025] Figure 4 It is a front three-dimensional structural schematic diagram of the walking mechanism of the present invention.

[0026] Figure 5 It is a schematic diagram of the back three-dimensional structure of the walking mechanism of the present invention.

[0027] Figure 6 It is a front three-dimensional structural schematic diagram of the flexible rotating mechanism of the present invention.

[0028] Figure 7 It is a schematic diagram of the back three-dimensional structure of the flexible rotating mechanism of the present invention.

[0029] Figure 8 For the present invention Figure 3 Schematic diagram of the local enlarged structure at A.

[0030] In the figure: 100, walking mechanism; 101, end cover housing; 102, main walking wheel; 103, walking motor; 104, sprocket chain transmission mechanism; 105, fixing frame; 106, mounting arm; 107, auxiliary wheel; 108, first spring seat; 109, second spring seat; 110, crossbeam; 111, top cover; 112, battery;

[0031] 200, flexible rotating mechanism; 201, connecting seat; 202, mounting seat; 203, auxiliary running wheel; 204, rotating seat; 205, rotating shaft with seat; 206, wheel axle; 207, universal joint; 208, transmission shaft;

[0032] 300. Cleaning mechanism; 301. Cleaning shaft; 302. Brush bar. DETAILED DESCRIPTION

[0033] 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.

[0034] The present invention provides Figure 1-8 The flexible cleaning robot for photovoltaic panels shown in the figure comprises a cleaning mechanism 300, a walking mechanism 100 and a flexible rotating mechanism 200. The cleaning mechanism 300 is used for rotating and cleaning stains on the surface of the photovoltaic panel. The walking mechanism 100 is installed at both ends of the cleaning mechanism 300. The cleaning mechanism 300 walks and cleans the photovoltaic panel through the walking mechanism 100. The flexible rotating mechanism 200 is installed at the middle position of the cleaning mechanism 300. The flexible rotating mechanism 200 is rotatably installed with a secondary walking wheel 203 near the bottom of the photovoltaic panel. The secondary walking wheel 203 is rotated by the flexible rotating mechanism 200. The rotating mechanism 200 keeps in contact with the surface of the photovoltaic panel. Through the action of the walking mechanism, it can drive the cleaning mechanism 300 to move on the photovoltaic panel and also drive the cleaning mechanism 300 to rotate to clean the surface of the photovoltaic panel. The flexible rotating mechanism 200 is installed in the middle position of the cleaning mechanism 300. The setting of the flexible rotating mechanism 200 can automatically rotate according to the height changes of the photovoltaic panel through the flexible rotating mechanism 200, so that the auxiliary walking wheel 203 can always be in close contact with the surface of the photovoltaic panel, so as to help improve the cleaning quality of the photovoltaic panel by the cleaning mechanism 300.

[0035] It should be noted that the cleaning mechanism 300 includes a cleaning shaft 301, and the outer wall of the cleaning shaft 301 is in the form of a ring-shaped array with a plurality of brush strips 302 fixedly connected at intervals, and the brush strips 302 are spirally wound along the axial direction of the outer wall of the cleaning shaft 301. The brush strips 302 are spirally wound on the outer wall of the cleaning shaft 301, so that the cleaning mechanism 300 can adapt to various complex working environments, and the brush strips 302 are arranged in a spiral shape, which can effectively increase the contact area between the brush strips 302 and the surface to be cleaned, thereby improving the cleaning efficiency; at the same time, the brush strips 302 arranged in a spiral shape can also better adapt to objects of different shapes and curved surfaces, making cleaning more efficient. The cleaning mechanism 300 is more comprehensive and thorough, thereby improving the cleaning quality of the photovoltaic panel surface; and, the cleaning mechanism 300 is two and is arranged at intervals on the same axis, the flexible rotating mechanism 200 is arranged between the two cleaning mechanisms 300, and the walking mechanism 100 is installed at the end of the cleaning mechanism 300 away from the flexible rotating mechanism 200. The cleaning mechanism 300 is arranged in two, which can better cooperate with the flexible rotating mechanism 200, so that the cleaning mechanism 300 can automatically adjust the auxiliary walking wheel 203 to be close to the photovoltaic panel according to the height changes on the photovoltaic panel through the flexible rotating mechanism 200, so that the cleaning mechanism 300 can maintain the cleaning state, thereby improving the adaptability and cleaning quality of the photovoltaic panel cleaning process;

[0036] Among them, Figure 4 and Figure 5 As shown, the walking mechanism 100 includes an end cover shell 101, and a walking motor 103 is fixedly installed on the top of one side of the end cover shell 101 close to the cleaning mechanism 300. Two main walking wheels 102 are symmetrically rotated below the walking motor 103. A sprocket chain transmission mechanism 104 is installed inside the end cover shell 101. The walking motor 103 drives the main walking wheels 102 and the cleaning mechanism 300 to rotate through the sprocket chain transmission mechanism 104. In the prior art, the sprocket chain transmission mechanism 104 is mainly composed of a sprocket and a chain. The sprocket is rotatably connected to the end cover shell 101 through a shaft, and is connected to an external structure that needs to be transmitted through the shaft (for example, the two main walking wheels 102 and the cleaning shaft 301 in the cleaning mechanism 300 are respectively connected to the shafts on the corresponding sprockets). In this way, the walking motor 103 can drive the main walking wheels 102 to rotate, and can also drive the cleaning shaft 301 to rotate, thereby realizing the driving of the cleaning mechanism 300 to move and the driving of rotary cleaning;

[0037] Furthermore, the walking mechanism 100 also includes an auxiliary wheel 107, which is arranged below the two main walking wheels 102. The auxiliary wheel 107 is rotatably connected to a mounting arm 106 on one side close to the end cover shell 101, and the top of the mounting arm 106 is rotatably connected to a fixing frame 105. The top of the fixing frame 105 is fixedly connected to the bottom end of the end cover shell 101, and the bottom of the fixing frame 105 is fixedly connected to a first spring seat 108. The side of the bottom end of the end cover shell 101 away from the auxiliary wheel 107 is fixedly connected to a second spring seat 109. An elastic stretching member (not shown in the figure) is provided between the second spring seat 109 and the first spring seat 108. In the prior art, the elastic stretching member can be an elastic tension spring or Any existing known elastic structure with the same function as the elastic tension spring can be used. Since the mounting arm 106 carries the auxiliary wheel 107 and its top can rotate on the fixed frame 105, an elastic tension spring is installed between its bottom through the first spring seat 108 and the second spring seat 109 at the bottom of the end cover shell 101. The auxiliary wheel 107 can be made to cling to the lower surface of the photovoltaic panel according to the thickness of the photovoltaic panel, and cooperate with the main walking wheel 102 to hold the photovoltaic panel tightly, and the cleaning robot can be clinging to the photovoltaic panel, which can help increase the climbing angle of the cleaning robot and enable the cleaning robot to adapt to the cleaning work on the surface of the photovoltaic panel with a larger installation slope. It has higher adaptability and better meets the use requirements.

[0038] Among them, Figure 6 , Figure 7 and Figure 8As shown, the flexible rotating mechanism 200 includes a connecting seat 201, a mounting seat 202 is provided on one side of the connecting seat 201, and a rotating seat 204 is provided between the mounting seat 202 and the connecting seat 201, the mounting seat 202 is rotatably connected to the connecting seat 201 through the rotating seat 204, and the rotating seat 204 is used for the rotational connection between the connecting seat 201 and the mounting seat 202, so that when the position of the connecting seat 201 is fixed, the mounting seat 202 can be deflected to adjust the auxiliary walking wheel 203 so that it is close to the photovoltaic panel. In the prior art, the rotating seat 204 can be composed of a matching shaft sleeve and a shaft rod, and a torsion spring can be added between the shaft sleeve and the shaft rod so that the two can automatically rotate and reset, and then the shaft sleeve and the shaft rod are respectively connected and fixed to the mounting seat 202 and the connecting seat 201, so as to realize the connection seat 20 1 and a rotational connection between the mounting seat 202; both ends of the top of the mounting seat 202 are rotatably connected with a wheel axle 206, and the auxiliary walking wheel 203 is rotatably connected to the side wall of the mounting seat 202 through the wheel axle 206, and the bottom of the auxiliary walking wheel 203 extends to the position below the mounting seat 202, and a seat rotating shaft 205 is fixedly connected at the bottom of the mounting seat 202 and between the two auxiliary walking wheels 203. The two ends of the seat rotating shaft 205 are respectively fixedly connected to one end of the cleaning shaft 301 away from the walking mechanism 100, and a transmission shaft 208 is provided between the walking mechanism 100 and the wheel axle 206. Both ends of the transmission shaft 208 are fixedly connected with a universal joint 207, and both ends of the transmission shaft 208 are fixedly connected to the main walking wheel 102 at the corresponding position and one end of the wheel axle 206 away from the auxiliary walking wheel 203 through the universal joint 207.

[0039] In a preferred embodiment, cross beams 110 are symmetrically fixedly connected between the two end cover shells 101 and the connecting seats 201 and mounting seats 202 at corresponding positions, and a top cover 111 is fixedly connected between two adjacent cross beams 110, wherein a battery 112 is fixedly connected to the inner side of one of the top covers 111, and the end cover shells 101 can play a shielding and protective as well as a load-bearing role, the cross beams 110 are used to support the end cover shells 101, and the battery 112 can be a rechargeable lithium battery, which is used to power the electrical appliances on the cleaning robot (for example, the walking motor 103 can be electrically connected to the battery 112 through a wire, thereby providing power support for the use of the walking motor 103).

[0040] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. 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 photovoltaic panel flexible cleaning robot, characterized in that: include: A cleaning mechanism (300), the cleaning mechanism (300) being used for rotating and cleaning stains on the surface of a photovoltaic panel; A walking mechanism (100), wherein the walking mechanism (100) is installed at both ends of the cleaning mechanism (300), and the cleaning mechanism (300) walks and cleans on the photovoltaic panel via the walking mechanism (100); A flexible rotating mechanism (200) is installed at the middle position of the cleaning mechanism (300), and the flexible rotating mechanism (200) is rotatably installed with auxiliary running wheels (203) near the bottom of the photovoltaic panel, and the auxiliary running wheels (203) are kept in contact with the surface of the photovoltaic panel through the flexible rotating mechanism (200).

2. A photovoltaic panel flexible cleaning robot according to claim 1, characterized in that: The cleaning mechanisms (300) are two and are arranged coaxially and at intervals, the flexible rotating mechanism (200) is arranged between the two cleaning mechanisms (300), and the walking mechanism (100) is installed at the end of the cleaning mechanism (300) away from the flexible rotating mechanism (200).

3. A photovoltaic panel flexible cleaning robot according to claim 2, characterized in that: The cleaning mechanism (300) comprises a cleaning shaft (301), the outer wall of the cleaning shaft (301) being in the form of a ring-shaped array with a plurality of brush strips (302) fixedly connected at intervals, the brush strips (302) being wound in a spiral shape along the axial direction of the outer wall of the cleaning shaft (301).

4. A photovoltaic panel flexible cleaning robot according to claim 3, characterized in that: The walking mechanism (100) comprises an end cover shell (101), a walking motor (103) is fixedly mounted on the top of one side of the end cover shell (101) close to the cleaning mechanism (300), two main walking wheels (102) are symmetrically arranged below the walking motor (103) for rotation, a sprocket chain transmission mechanism (104) is mounted inside the end cover shell (101), and the walking motor (103) drives the main walking wheels (102) and the cleaning mechanism (300) to rotate via the sprocket chain transmission mechanism (104).

5. A photovoltaic panel flexible cleaning robot according to claim 4, characterized in that: The walking mechanism (100) further comprises an auxiliary wheel (107), wherein the auxiliary wheel (107) is arranged below the two main walking wheels (102); a side of the auxiliary wheel (107) close to the end cover shell (101) is rotatably connected to a mounting arm (106); a top of the mounting arm (106) is rotatably connected to a fixing frame (105); a top of the fixing frame (105) is fixedly connected to a bottom end of the end cover shell (101); a bottom of the fixing frame (105) is fixedly connected to a first spring seat (108); a side of the bottom end of the end cover shell (101) away from the auxiliary wheel (107) is fixedly connected to a second spring seat (109); an elastic stretching member is provided between the second spring seat (109) and the first spring seat (108).

6. A photovoltaic panel flexible cleaning robot according to claim 5, characterized in that: The flexible rotating mechanism (200) comprises a connecting seat (201), a mounting seat (202) is provided on one side of the connecting seat (201), a rotating seat (204) is provided between the mounting seat (202) and the connecting seat (201), and the mounting seat (202) is rotatably connected to the connecting seat (201) via the rotating seat (204).

7. A photovoltaic panel flexible cleaning robot according to claim 6, characterized in that: Both ends of the top of the mounting seat (202) are rotatably connected to axles (206), the auxiliary running wheels (203) are rotatably connected to the side walls of the mounting seat (202) via the axles (206), and the bottom of the auxiliary running wheels (203) extends to a position below the mounting seat (202).

8. The photovoltaic panel flexible cleaning robot according to claim 7, characterized in that: A seat rotating shaft (205) is fixedly connected to the bottom of the mounting seat (202) and located between the two auxiliary traveling wheels (203), and both ends of the seat rotating shaft (205) are respectively fixedly connected to one end of the cleaning shaft (301) away from the traveling mechanism (100).

9. The photovoltaic panel flexible cleaning robot according to claim 8, characterized in that: A transmission shaft (208) is provided between the walking mechanism (100) and the wheel axle (206), and both ends of the transmission shaft (208) are fixedly connected to universal joints (207), and both ends of the transmission shaft (208) are fixedly connected to the main walking wheel (102) at the corresponding position and one end of the wheel axle (206) away from the auxiliary walking wheel (203) through the universal joints (207).

10. The photovoltaic panel flexible cleaning robot according to claim 9, characterized in that: A crossbeam (110) is symmetrically fixedly connected between the two end cover shells (101) and the connecting seat (201) and the mounting seat (202) at corresponding positions, a top cover (111) is fixedly connected between two adjacent crossbeams (110), and a battery (112) is fixedly connected to the inner side of one of the top covers (111).

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