Photovoltaic cleaning equipment

Abstract

The photovoltaic cleaning equipment comprises a chassis assembly, a cleaning posture adjusting assembly, a safety device and a cleaning assembly. A collision early warning assembly is arranged on the sweeping assembly, and the sweeping posture adjusting assembly is used for adjusting the position of the sweeping assembly so as to sweep the photovoltaic assembly; the sweeping assembly is connected with the sweeping posture adjusting assembly through the safety device, the safety device comprises a moving assembly, an elastic piece and a locking piece, the moving assembly is movably arranged on the sweeping posture adjusting assembly, and the locking piece is used for locking or unlocking the position of the moving assembly. When the collision early warning assembly sends out a collision early warning signal, it is indicated that the cleaning assembly and the photovoltaic assembly have the risk of collision, at the moment, the locking piece unlocks the moving assembly, the elastic piece is released, the moving assembly can be driven to move in the direction opposite to the cleaning assembly, and the cleaning assembly moves in the direction away from the photovoltaic assembly along with the moving assembly. And the risk that the photovoltaic cleaning equipment collides with the photovoltaic module in the cleaning process is reduced.

Description

Technical Field

[0001] The present application relates to the field of photovoltaic technology, and more specifically, to a photovoltaic cleaning device. Background Art

[0002] As the core component of photovoltaic power stations, the power generation efficiency of photovoltaic modules directly affects the economic and environmental benefits of energy utilization. However, in actual operation, pollutants such as dust, bird droppings, and fallen leaves often accumulate on the surface of photovoltaic modules. These pollutants block sunlight and increase the reflection and scattering of light on the surface, thus significantly reducing the power generation efficiency and output power of photovoltaic power stations.

[0003] At present, the mainstream cleaning method for the automatic removal of dust on the surface of photovoltaic modules is dry hanging equipment cleaning. This equipment is hung on both ends of the photovoltaic module and relies on the edge movement of the photovoltaic module to achieve high-frequency cleaning of large power stations. However, there are some problems with this equipment in on-site use: the adjacent strings need to be connected with additional tracks, resulting in huge on-site construction; in power stations with uneven photovoltaic strings, a large number of arrangements are required, and the economic benefits are poor.

[0004] In order to solve these problems, some ground self-propelled module cleaning equipment has gradually appeared on the market. These devices rely on walking on the ground as a whole, and use different mechanisms to control the posture of the roller brush to adapt to photovoltaic modules of different heights and inclinations. However, when facing undulating ground or terrain such as ditches, pits, and bumps, there is a risk of collision and damage to photovoltaic modules, which limits its usability.

[0005] Therefore, how to reduce the risk of damage to photovoltaic modules during the cleaning process has become a technical problem that needs to be urgently solved by those skilled in the art. Summary of the invention

[0006] In view of this, the purpose of the present application is to provide a photovoltaic cleaning device to reduce the risk of damage to photovoltaic components during the cleaning process.

[0007] To achieve the above objectives, this application provides the following technical solutions:

[0008] A photovoltaic cleaning device comprises a chassis component, a cleaning posture adjustment component, a safety device and a cleaning component;

[0009] The cleaning component is provided with a collision warning component;

[0010] The cleaning and posture adjustment component is used to adjust the position of the cleaning component to clean the photovoltaic component;

[0011] The cleaning component is connected to the cleaning posture adjustment component through the safety device, and the safety device includes a moving component, an elastic member and a locking member, the moving component is movably arranged on the cleaning posture adjustment component, and the locking member is used to lock or unlock the position of the moving component;

[0012] When the collision warning component sends out a collision warning signal, the locking member unlocks the moving component, the elastic member drives the moving component to move in a direction away from the cleaning component, and the cleaning component follows the moving component and moves in a direction away from the photovoltaic component.

[0013] Optionally, in the above-mentioned photovoltaic cleaning device, the cleaning posture adjustment assembly includes a large arm, a small arm and a first driving member, the large arm is arranged on the chassis assembly, and the small arm is hinged to the large arm;

[0014] The moving assembly is movably arranged on the forearm, the two ends of the first driving member are respectively hinged to the moving assembly and the large arm, the elastic member is connected to the moving assembly, and the locking member is arranged on the forearm and used to lock or unlock the moving assembly and the forearm;

[0015] When the collision warning component sends out a collision warning signal, the locking member unlocks the moving component, and the elastic member drives the moving component to move along the direction of the forearm toward the back of the cleaning component, and the first driving member follows the moving component and increases the first angle between the upper arm and the forearm.

[0016] Optionally, in the above-mentioned photovoltaic cleaning device, the cleaning posture adjustment component further includes a wrist joint and a second driving member, the wrist joint is hinged to the forearm, the cleaning component is arranged on the wrist joint, and two ends of the second driving member are respectively hinged to the wrist joint and the moving component;

[0017] When the collision warning component sends out a collision warning signal, the locking member unlocks the moving component, and the elastic member drives the moving component to move along the forearm in a direction away from the cleaning component, and the second driving member follows the moving component and increases the second angle between the wrist joint and the forearm.

[0018] Optionally, in the above-mentioned photovoltaic cleaning device, the moving component includes:

[0019] A sliding seat is slidably disposed on the forearm, and the first driving member and the second driving member are respectively hingedly connected to two sides of the sliding seat;

[0020] A sliding rod, wherein the first end of the sliding rod is connected to the sliding seat, and the second end is provided with a positioning boss. The elastic member is sleeved on the sliding rod, and one end abuts against the end positioning surface of the forearm, and the other end abuts against the positioning boss. A locking hole is provided on the sliding rod for the locking member to pass through and lock.

[0021] Optionally, in the above-mentioned photovoltaic cleaning device, the moving component further includes a position sensor, which is arranged on the small arm and is used to detect whether the positioning boss is in place;

[0022] When the in-position sensor detects the positioning boss, the locking member is opposite to the locking hole, and the locking member passes through the locking hole.

[0023] Optionally, in the above-mentioned photovoltaic cleaning device, a limiter is provided on the small arm, and the limiter is used to abut against the large arm to limit the position;

[0024] During the extension process of the first driving member, after the limiting member abuts against the upper arm, the sliding seat slides on the lower arm until the in-position sensor detects the positioning boss (3) and the locking member passes through the locking hole.

[0025] Optionally, in the above-mentioned photovoltaic cleaning device, a sliding guide rail is provided on the small arm, and the sliding guide rail is arranged along the extension direction of the small arm, and a roller that rolls with the sliding guide rail is provided on the sliding seat.

[0026] Optionally, in the above-mentioned photovoltaic cleaning device, the sliding rod is hingedly arranged at one end of the sliding seat away from the cleaning assembly.

[0027] Optionally, in the above-mentioned photovoltaic cleaning device, a linear bearing that slides with the sliding rod is provided on the small arm.

[0028] Optionally, in the above photovoltaic cleaning device, the cleaning component includes: A cleaning execution terminal, wherein the collision warning component is arranged on the cleaning execution terminal;

[0029] The buffer component has two ends respectively hinged to the wrist joint and the cleaning execution end.

[0030] Optionally, in the above-mentioned photovoltaic cleaning device, the buffer component includes:

[0031] A first connecting seat, one end of which is hinged to the wrist joint and the other end of which is provided with a sliding groove;

[0032] A second connecting seat, one end of which is hinged to the cleaning execution end, and the other end of which is provided with a support rod that is slidably matched with the sliding groove;

[0033] A first spring, sleeved outside the support rod;

[0034] The second spring is sleeved outside the support rod and separated from the first spring by a partition. The stiffness of the first spring is greater than that of the second spring. The first spring and the second spring are respectively in contact with the first connecting seat and the second connecting seat.

[0035] Optionally, in the above-mentioned photovoltaic cleaning equipment, the collision warning component includes at least one of an ultrasonic sensor, a travel switch and a laser ranging sensor.

[0036] The photovoltaic cleaning equipment provided in the present application includes a chassis component, a cleaning posture adjustment component, a safety device and a cleaning component. A collision warning component is provided on the cleaning component, and the collision warning component is used to provide collision warning between the cleaning component and the photovoltaic component. The cleaning posture adjustment component is used to adjust the position of the cleaning component to clean the photovoltaic component; the cleaning component is connected to the cleaning posture adjustment component through a safety device, and the safety device includes a moving component, an elastic member and a locking member, and the moving component is movably provided on the cleaning posture adjustment component, and the elastic force of the elastic member can drive the moving component to move, and the locking member is used to lock or unlock the position of the moving component. When the cleaning operation is performed normally, the locking part is locked with the moving component, and the moving component is fixed and cannot move freely. At this time, the cleaning angle of the cleaning component is controlled by the cleaning posture adjustment component; when the collision warning component sends out a collision warning signal, it means that there is a risk of collision between the cleaning component and the photovoltaic component. At this time, the locking part releases the lock on the moving component, and the elastic part is released, and can drive the moving component to move in the direction away from the cleaning component. The cleaning component follows the moving component and moves away from the photovoltaic component to avoid collision.

[0037] Compared with the prior art, when the collision warning component of the photovoltaic cleaning equipment provided by the present application detects the existence of a collision risk, the safety device can be transformed into an elastomer to achieve flexible contact between the cleaning component and the photovoltaic component, and at the same time enable the cleaning component to move in the direction of avoiding the photovoltaic component, thereby greatly reducing the risk of collision with the photovoltaic component during the cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 This is a schematic diagram of the overall structure of the photovoltaic cleaning device disclosed in the embodiment of the present application;

[0040] Figure 2 A schematic diagram of a part of the structure of the photovoltaic cleaning device disclosed in the embodiment of this application Figure 1 ;

[0041] Figure 3 A schematic diagram of a part of the structure of the photovoltaic cleaning device disclosed in the embodiment of this application Figure 2 ;

[0042] Figure 4 Schematic diagram of the installation structure of the safety device and the cleaning posture adjustment component disclosed in the embodiment of the present application Figure 1 ;

[0043] Figure 5 for Figure 4 A partial enlarged view of the middle A;

[0044] Figure 6 A partial structural schematic diagram of the cleaning posture adjustment component disclosed in an embodiment of the present application;

[0045] Figure 7 Schematic diagram of the installation structure of the safety device and the cleaning posture adjustment component disclosed in the embodiment of the present application Figure 2 ;

[0046] Figure 8 This is a schematic diagram of the structure of the cleaning component disclosed in the embodiment of the present application;

[0047] Fig. 9 A schematic diagram of the connection structure of the buffer assembly disclosed in the embodiment of the present application;

[0048] Fig.10 The structure of the buffer assembly disclosed in the embodiment of the present application is schematically shown in FIG. Figure 1 ;

[0049] Fig.11 The structure of the buffer assembly disclosed in the embodiment of the present application is schematically shown in FIG. Figure 2 ;

[0050] Fig.12 The schematic diagram of the avoidance of the photovoltaic cleaning equipment disclosed in the embodiment of the present application is as follows: Figure 1 ;

[0051] Fig.13 The schematic diagram of the avoidance of the photovoltaic cleaning equipment disclosed in the embodiment of the present application is as follows: Figure 2 .

[0052] Among them, 100 is a chassis component;

[0053] 200 is a cleaning posture adjustment component, 210 is a turntable, 211 is a driving motor, 220 is an upper arm, 221 is a third driving member, 230 is a lower arm, 231 is a first driving member, 240 is a wrist joint, and 241 is a second driving member;

[0054] 300 is a safety device, 301 is a sliding seat, 302 is a hinge shaft, 303 is a sliding rod, 3031 is a positioning boss, 304 is a linear bearing, 305 is a locking member, 306 is an elastic member, 307 is an in-position sensor, 308 is a limit member, 309 is a roller, and 310 is a sliding guide rail;

[0055] 400 is a cleaning assembly, 410 is a buffer assembly, 411 is a first connecting seat, 412 is a first spring, 413 is a second spring, 414 is a partition, 415 is a second connecting seat, 416 is a pin, 420 is a cleaning execution end, 421 is a side support, 422 is a frame, 423 is an upper cover plate, 424 is a roller brush assembly, and 425 is a collision warning assembly;

[0056] 500 are photovoltaic modules. DETAILED DESCRIPTION

[0057] The core of this application is to disclose a photovoltaic cleaning device to reduce the risk of damage to the photovoltaic module 500 during the cleaning process.

[0058] The following describes the embodiments with reference to the accompanying drawings. In addition, the embodiments shown below do not limit the invention contents described in the claims. In addition, the entire contents of the structures represented by the following embodiments are not limited to those necessary as solutions to the inventions described in the claims. It should be noted that, for ease of description, only the parts related to the inventions are shown in the accompanying drawings. The embodiments in this application and the features in the embodiments can be combined with each other without conflict.

[0059] Combination Figure 1-Figure 13 The photovoltaic cleaning device disclosed in the present invention includes a chassis component 100, a cleaning posture adjustment component 200, a safety device 300 and a cleaning component 400; wherein the chassis component 100 is responsible for carrying and transporting the entire device to the expected position, the cleaning component 400 is used to perform cleaning actions on the photovoltaic component 500, the cleaning posture adjustment component 200 is used to adjust the position and posture of the cleaning component 400 to fit the photovoltaic component 500, and the safety device 300 is used to prevent the cleaning component 400 from colliding with the photovoltaic component 500 during the cleaning process.

[0060] Specifically, a collision warning component 425 is provided on the cleaning component 400, and the collision warning component 425 is used to provide collision warning between the cleaning component 400 and the photovoltaic component 500. The cleaning posture adjustment component 200 is used to adjust the position of the cleaning component 400 to clean the photovoltaic component 500; the cleaning component is connected to the cleaning posture adjustment component through a safety device, and the safety device includes a moving component, an elastic member and a locking member. The moving component is movably arranged on the cleaning posture adjustment component, and the elastic force of the elastic member 306 can drive the moving component to move, and the locking member is used to lock or unlock the position of the moving component.

[0061] When the cleaning operation is performed normally, the locking member 305 is locked with the moving component, and the moving component is fixed and cannot move freely. At this time, the cleaning angle of the cleaning component 400 is controlled by the cleaning posture adjustment component 200; when the collision warning component 425 sends out a collision warning signal, it indicates that there is a risk of collision between the cleaning component 400 and the photovoltaic component 500. At this time, the locking member 305 releases the lock on the moving component, and the elastic member 306 is released, and can drive the moving component to move in the direction away from the cleaning component 400. The cleaning component 400 follows the moving component and moves away from the photovoltaic component 500 to avoid a collision.

[0062] Compared with the prior art, in the photovoltaic cleaning equipment disclosed in the embodiment of the present invention, when the collision warning component 425 detects the existence of a collision risk, the safety device 300 can be transformed into an elastomer to achieve flexible contact between the cleaning component 400 and the photovoltaic component 500, and at the same time enable the cleaning component 400 to move in the direction of avoiding the photovoltaic component 500, thereby greatly reducing the risk of collision with the photovoltaic component 500 during the cleaning process.

[0063] Wherein, the cleaning posture adjustment component 200 includes an upper arm 220, a lower arm 230 and a first driving member 231. The upper arm 220 is arranged on the chassis component 100, and the lower arm 230 is hinged with the upper arm 220. The first driving member 231 is used to control the size of the first angle between the upper arm 220 and the lower arm 230. The moving component is movably arranged on the lower arm 230, the elastic member 306 is connected to the moving component, and the locking member 305 is arranged on the lower arm 230, which is used to lock or unlock the moving component and the lower arm 230. Since the cleaning posture adjustment component 200 drives the cleaning component 400 to approach and clean the photovoltaic component 500 from the upper oblique direction, when the first angle between the upper arm 220 and the lower arm 230 increases, the lower arm 230 drives the cleaning component 400 to move in the direction of avoiding and moving away from the photovoltaic component 500 based on the upper arm 220.

[0064] In some embodiments, the two ends of the first driving member 231 are respectively hinged to the moving assembly and the upper arm 220, and the first driving member 231 is a hydraulic cylinder or a pneumatic cylinder, so as to adjust the first angle between the upper arm 220 and the lower arm 230 by its own extension. When performing the cleaning operation normally, the locking member 305 is locked with the moving assembly, and the position of the moving assembly is fixed relative to the lower arm 230. At this time, the cleaning angle of the cleaning assembly 400 is controlled by the cleaning posture adjustment assembly 200; Fig.12 and Fig.13 When the collision warning component 425 sends a collision warning signal, the locking member 305 unlocks the moving component, and the elastic member 306 drives the moving component to move along the small arm 230 in the direction away from the cleaning component 400, and the first driving member 231 follows the moving component and increases the first angle between the large arm 220 and the small arm 230, that is, Fig.12 and Fig.13 It increases from α1 to α2.

[0065] In other embodiments, the first driving member 231 is a joint motor, which is arranged on the upper arm 220, and the power output end is in transmission connection with the forearm 230, and can drive the forearm 230 to rotate relative to the upper arm 220. When the collision warning component 425 sends a collision warning signal, the locking member 305 unlocks the moving component, and the elastic member 306 drives the moving component to move along the forearm 230 in the direction away from the cleaning component 400. At the same time, the first driving member 231 drives the forearm 230 to rotate relative to the upper arm 220 under the action of the control system, and increases the first angle between the upper arm 220 and the forearm 230. Compared with the first driving member 231 operating under the control of the control system, the solution of the first driving member 231 following the moving component relies on the action of the elastic member 306 to operate, and has higher reliability.

[0066] To further optimize the solution, the cleaning posture adjustment component 200 also includes a wrist joint 240 and a second driving member 241. The wrist joint 240 is hinged to the forearm 230. The cleaning component 400 is arranged on the wrist joint 240. The second driving member 241 is used to control the size of the second angle between the wrist joint 240 and the forearm 230. Since the cleaning posture adjustment component 200 drives the cleaning component 400 to approach and clean the photovoltaic component 500 from the upper side, when the second angle between the wrist joint 240 and the forearm 230 increases, the wrist joint 240 drives the cleaning component 400 to move in the direction of avoiding and moving away from the photovoltaic component 500 based on the forearm 230.

[0067] In some embodiments, both ends of the second driving member 241 are respectively hinged to the wrist joint 240 and the moving assembly, and the second driving member 241 is a hydraulic cylinder or a pneumatic cylinder, so as to adjust the second angle between the wrist joint 240 and the forearm 230 by its own extension and contraction. Fig.12 and Fig.13When the collision warning component 425 sends out a collision warning signal, the locking member 305 unlocks the moving component, and the elastic member 306 drives the moving component to move along the arm 230 in the direction away from the cleaning component 400, and the second driving member 241 follows the moving component and increases the second angle between the wrist joint 240 and the arm 230, that is, Fig.12 and Fig.13 It increases from β1 to β2.

[0068] Those skilled in the art will appreciate that, when the collision warning component 425 sends out a collision warning signal, the technical solution in which only one of the forearm 230 and the wrist joint 240 drives the cleaning component 400 to move in a direction to avoid and away from the photovoltaic component 500, that is, the technical solution in which only the first driving member 231 or the second driving member 241 responds when there is a risk of collision can both ensure the safety of the cleaning process to a certain extent. However, in comparison, the technical solution in which the forearm 230 and the wrist joint 240 work together to drive the cleaning component 400 to move in a direction to avoid and away from the photovoltaic component 500 has a larger avoidance action amplitude and is safer.

[0069] In other embodiments, the second driving member 241 is a joint motor, which is arranged on the forearm 230, and the power output end is in transmission connection with the wrist joint 240, and can drive the wrist joint 240 to rotate relative to the forearm 230. When the collision warning component 425 sends a collision warning signal, the locking member 305 unlocks the moving component, and the elastic member 306 drives the moving component to move along the forearm 230 in the direction away from the cleaning component 400, and at the same time, the second driving member 241 increases the second angle between the wrist joint 240 and the forearm 230 under the control of the control system. Compared with the second driving member 241 operating under the control of the control system, the second driving member 241 follows the moving component by relying on the force of the elastic member 306, and has higher reliability.

[0070] In a specific embodiment disclosed in the present invention, Figure 4-Figure 7The moving component includes a sliding seat 301 and a sliding rod 303. The sliding seat 301 is slidably arranged on the forearm 230. The first driving member 231 and the second driving member 241 are respectively hingedly arranged on the opposite sides of the sliding seat 301, so that when the telescopic state of the first driving member 231 and the second driving member 241 remains unchanged, the sliding of the sliding seat 301 on the forearm 230 can simultaneously drive the forearm 230 to rotate relative to the upper arm 220 to increase the first angle, and drive the wrist joint 240 to rotate relative to the forearm 230 to increase the second angle, thereby realizing the cleaning component 400 avoiding the position of the photovoltaic component 500. The first end of the sliding rod 303 is connected to the sliding seat 301, and the second end is provided with a positioning boss 3031. The elastic member 306 is sleeved on the sliding rod 303, and one end thereof abuts against the end positioning surface of the small arm 230, and the other end abuts against the positioning boss 3031. A locking hole is opened on the sliding rod 303 for the locking member 305 to pass through and lock.

[0071] Combination Figure 4 and Figure 5 In this embodiment, the elastic member 306 is a thrust spring. According to the specific arrangement of the elastic member 306, the sliding rod 303 and the small arm 230, the elastic member 306 can also be a tension spring, and the end positioning surface on the small arm 230 is also adjusted according to the specific arrangement position and type of the elastic member 306, which will not be repeated here.

[0072] Among them, the sliding seat 301 and the first end of the sliding rod 303 are hingedly connected through the hinge shaft 302, and the hinged connection between the sliding rod 303 and the sliding seat 301 can effectively reduce the processing accuracy of the parts and facilitate assembly. It is preferred to arrange the sliding rod 303 at the end of the sliding seat 301 away from the cleaning component 400. Compared with arranging the sliding rod 303 at the end of the sliding seat 301 close to the cleaning component 400, the space is larger and the layout is more convenient. A linear bearing 304 is arranged on the arm 230, and the second end of the sliding rod 303 passes through the linear bearing 304 and slides with the linear bearing 304. The linear bearing 304 realizes the motion positioning of the sliding rod 303. According to the specific arrangement position of the linear bearing 304 and the locking member 305, the locking member 305 can pass through the linear bearing 304 and lock the sliding rod 303, or be arranged in a position to avoid the locking member 305. Figure 5 A solution in which two locking members 305 are provided and inserted into the locking holes from both sides of the linear bearing 304 is shown. Compared with the solution with only one locking member 305, the locking effect is better.

[0073] In order to facilitate the sliding of the sliding seat 301 on the small arm 230, Figure 7The small arm 230 is provided with a sliding guide rail 310, which is arranged along the extension direction of the small arm 230, and the sliding seat 301 is provided with a roller 309 that cooperates with the sliding guide rail 310. The sliding guide rail 310 can be a V-shaped guide rail, and the sliding guide rail 310 is symmetrically arranged on two opposite side walls of the small arm 230. The roller 309 is rotatably connected to the sliding seat 301 through a roller shaft, and the roller 309 can be embedded in the sliding guide rail 310 and roll along the sliding guide rail 310.

[0074] In order to facilitate the control of the locking action of the locking member 305 on the moving component, Figure 5 The moving component also includes an in-position sensor 307, which is arranged on the small arm 230 and is used to detect whether the positioning boss 3031 is in place. When the in-position sensor 307 detects the positioning boss 3031, it indicates that the locking member 305 is aligned with the locking hole. At this time, the locking member 305 can pass through the locking hole to lock the moving component.

[0075] Types of the in-position sensor 307 include, but are not limited to, a micro switch, an ultrasonic in-position sensor, an inductive in-position sensor, and the like.

[0076] Furthermore, combined with Figure 3 A limit piece 308 is provided on the forearm 230, and the limit piece 308 is used to abut against the upper arm 220 for limiting the position; during the extension process of the first driving member 231, the forearm 230 rotates relative to the upper arm 220. When the limit piece 308 abuts against the upper arm 220, the forearm 230 stops rotating relative to the upper arm 220. At this time, the moving component rotates relative to the forearm 230 until the in-place sensor 307 detects that the positioning boss 3031 is in place, indicating that the locking hole moves to the position where the locking piece 305 is located. At this time, the control system of the photovoltaic cleaning equipment controls the locking piece 305 to be inserted into the locking hole to lock the moving component, thereby realizing automatic resetting of the safety device 300, and the resetting process does not require manual intervention.

[0077] Specifically, after the safety device 300 is activated, that is, after the locking member 305 releases the lock on the movable component, the photovoltaic cleaning equipment first moves to an open position, and then controls the first driving member 231 to extend. After the limiting member 308 contacts the cleaning posture adjustment component 200, the first driving member 231 is further controlled to extend, and the safety device 300 can be restored to its initial position.

[0078] Combination Figure 3 and Figure 8The cleaning component 400 includes a cleaning execution terminal 420, and a collision warning component 425 is arranged on the cleaning execution terminal 420; the cleaning execution terminal 420 includes a side support 421, a frame 422, an upper cover plate 423 and a roller brush assembly 424, the side support 421 and the frame 422 support the roller brush assembly 424, the roller brush assembly 424 is equipped with a power source, and the collision warning component 425 is arranged on the frame 422.

[0079] The collision warning component 425 includes but is not limited to an ultrasonic sensor, a travel switch and a laser distance sensor, wherein the ultrasonic sensor, the laser distance sensor and other distance sensors are used to detect the distance between the cleaning component 400 and the photovoltaic component 500, and when the distance between the two is less than a preset value, a collision warning signal is issued. The travel switch is arranged at a position where it can contact the photovoltaic component 500 before the cleaning component 400, and when the travel switch is triggered, it sends a collision warning signal. When the distance sensor and the travel switch are arranged together, the warning distance of the distance sensor is set to be greater than the warning distance of the travel switch, so as to reduce the risk of contact and collision between the travel switch and the photovoltaic component 500.

[0080] In order to make the roller brush assembly 424 fit more closely with the photovoltaic assembly 500 and to enable small angle adjustments, the cleaning assembly 400 further includes a buffer assembly 410. Fig. 9 The buffer component 410 is divided into two groups, and one end of the buffer component 410 is hinged to the wrist joint 240, and the other end is hinged to the cleaning execution end 420. The elastic buffer component 410 can compress the roller brush bristles of the roller brush combination 424 and the photovoltaic component 500, and enable the cleaning execution end 420 to perform adaptive adjustment at a certain angle.

[0081] Specifically, in one embodiment, in combination Fig.10 and Fig.11 , Fig.11The partition 414, the first spring 412 and the second spring 413 are not shown. The buffer assembly 410 includes a first connecting seat 411, a second connecting seat 415, a first spring 412 and a second spring 413. One end of the first connecting seat 411 is hinged to the wrist joint 240, and the other end is provided with a slide groove; one end of the second connecting seat 415 is hinged to the cleaning execution end 420, and the other end is provided with a support rod that slides with the slide groove, and the support rod is limited in the slide groove by a pin 416 or other limiting structure, and will not fall out of the slide groove. The first spring 412 and the second spring 413 are both sleeved outside the support rod, and the first spring 412 and the second spring 413 are separated by a partition 414. The stiffness of the first spring 412 is greater than the stiffness of the second spring 413, and the first spring 412 and the second spring 413 are respectively in contact with the first connecting seat 411 and the second connecting seat 415. The two types of springs with different stiffness can function in different working stages: when the buffer component 410 is subjected to a smaller impact or load, the low-rigidity spring functions first, and its buffering effect is relatively gentle, which can effectively reduce the impact; when the impact or load is larger, the high-rigidity spring starts to work, which can provide a greater force to prevent the buffer component 410 from being over-compressed. The combination of the two types of springs with different stiffness can better adapt to load changes, ensuring that the buffer component 410 can perform a good buffering effect under various conditions.

[0082] When the safety device 300 is in a locked state, the safety protection function of the photovoltaic cleaning equipment is realized by the buffer component 410, which can ensure the fit between the cleaning execution terminal 420 and the photovoltaic component 500 to a certain extent and achieve a small degree of collision avoidance. When the photovoltaic cleaning equipment is in situations such as overcoming obstacles and falling into ditches, the instantaneous state changes greatly, the buffer component 410 and the cleaning posture adjustment component 200 cannot meet its instantaneous adjustment needs. At this time, the collision warning component 425 senses the collision risk and triggers a safety action. The safety device 300 is unlocked and the cleaning execution terminal 420 is forced to evade to avoid a collision.

[0083] Combination Fig.12 and Fig.13 , the solid line portion in the figure corresponds to the schematic diagram of the positions of the cleaning component 400 and the photovoltaic component 500 before the safety device 300 is not activated, and the dotted line portion corresponds to the schematic diagram of the positions of the cleaning component 400 and the photovoltaic component 500 after the safety device 300 is activated. By comparison, it can be seen that the wrist joint 240 can be connected to the middle part or the edge part of the cleaning component 400. The connection position is different, the movement trajectory of the cleaning component 400 during the avoidance process is different, and the probability of collision risk with the photovoltaic component 500 is also different. The connection position of the wrist joint 240 and the cleaning component 400 can be adjusted according to actual conditions.

[0084] In addition, combined Figure 2The cleaning posture adjustment component 200 also includes a turntable 210 and a third driving member 221. The turntable 210 is driven by a driving motor 211 and a reducer and is arranged on the chassis component 100. The upper arm 220 is hingedly arranged on the turntable 210. The two ends of the third driving member 221 are respectively hinged with the upper arm 220 and the turntable 210. The upper arm 220 can rotate with the turntable 210 and adjust the angle relative to the turntable 210. The third driving member 221 can be a hydraulic cylinder or a cylinder. Through the three-axis combination of the upper arm 220, the lower arm 230 and the wrist joint 240, the cleaning component 400 can be driven to adjust any posture in the accessible space.

[0085] The following is a specific working process of the present invention:

[0086] Posture adjustment: The chassis assembly 100 drives the cleaning posture adjustment assembly 200 to move to the vicinity of the photovoltaic assembly 500. Thereafter, according to the posture data of the photovoltaic assembly 500 fed back by the system, the turntable 210 in the cleaning posture adjustment assembly 200 is adjusted so that the cleaning posture adjustment assembly 200 is located in the appropriate direction and angle, and then the upper arm 220 and the lower arm 230 are controlled to adjust the position, and the wrist joint 240 is adjusted to achieve posture alignment. During the movement, the above-mentioned posture adjustment action needs to be continued due to the ups and downs of the ground and the photovoltaic assembly 500 itself. In addition, when facing smaller ups and downs, the buffer assembly 410 can adaptively eliminate certain ups and downs to ensure that the cleaning execution end 420 fits the photovoltaic assembly 500. At this time, the safety device 300 and the lower arm 230 are in a rigid connection state.

[0087] The safety device 300 is triggered: when the cleaning execution end 420 is about to collide with the surface of the photovoltaic module 500, the collision warning component 425 is triggered and sends a collision warning signal, causing the locking member 305 to retract and release the connection between the sliding rod 303 and the forearm 230. At this time, the safety device 300 and the forearm 230 are in a flexible connection state, and under the action of the elastic member 306, the sliding rod 303 can drive the sliding seat 301 to quickly pop out along the forearm 230 in the direction away from the cleaning execution end 420. At the same time, under the retraction action of the sliding seat 301, with the first driving member 231 as a lever, the forearm 230 will rotate around the upper arm 220, and at the same time, the wrist joint 240 rotates around the forearm 230, driving the entire cleaning component 400 to move upward and disengage from the photovoltaic module 500 more quickly.

[0088] Recycling of the safety device 300: When the photovoltaic cleaning equipment returns to the appropriate position, the recycling action can be performed. At this time, the first driving member 231 is controlled to extend. When the limit member 308 is not in contact with the upper arm 220, under the action of the first driving member 231, the small arm 230 will rotate along the upper arm 220 until the limit member 308 abuts against the upper arm 220 to play a limiting role. Thereafter, the first driving member 231 is controlled to continue to extend, which will drive the sliding seat 301 and the sliding rod 303 hingedly connected to the sliding seat 301 to slide along the small arm 230. When the in-place sensor 307 senses the sliding rod 303 and is triggered, it means that the sliding seat 301 is in place. At this time, the locking member 305 can be controlled to extend and lock with the sliding rod 303 again.

[0089] When there is a risk of collision, the photovoltaic cleaning equipment disclosed in the present invention can realize the automatic retraction of the cleaning component 400 and drive the small arm 230 to quickly tilt up to minimize the risk of collision, and at the same time realize the automatic recovery and reset of the safety device 300. In addition, the buffer component 410 can make the cleaning component 400 and the photovoltaic component 500 fit more closely, and its own elasticity also avoids the risk of failure caused by the safety device 300 being frequently triggered and popped out.

[0090] The above description of the disclosed embodiments enables professionals and technicians in the field to implement or use the present application. Various modifications to these embodiments will be apparent to professionals and technicians in the field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. The specific technical means in some embodiments can be combined in part or in whole into another embodiment, provided that they are not explicitly excluded by another embodiment. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features disclosed herein.

Claims

1. A photovoltaic cleaning device, characterized in that: It comprises a chassis component (100), a cleaning posture adjustment component (200), a safety device (300) and a cleaning component (400); The cleaning component (400) is provided with a collision warning component (425); The cleaning and posture adjustment component (200) is used to adjust the position of the cleaning component (400) to clean the photovoltaic component (500); The cleaning component (400) is connected to the cleaning posture adjustment component (200) via the safety device (300); the safety device (300) comprises a moving component, an elastic component (306) and a locking component (305); the moving component is movably arranged on the cleaning posture adjustment component (200); and the locking component (305) is used to lock or unlock the position of the moving component; When the collision warning component (425) sends a collision warning signal, the locking member (305) unlocks the movable component, the elastic member (306) drives the movable component to move in a direction away from the cleaning component (400), and the cleaning component (400) follows the movable component and moves in a direction away from the photovoltaic component (500).

2. The photovoltaic cleaning device according to claim 1, characterized in that: The cleaning posture adjustment component (200) comprises a large arm (220), a small arm (230) and a first driving member (231); the large arm (220) is arranged on the chassis component (100); and the small arm (230) is hinged to the large arm (220); The moving component is movably arranged on the small arm (230), two ends of the first driving member (231) are respectively hinged to the moving component and the large arm (220), the elastic member (306) is connected to the moving component, and the locking member (305) is arranged on the small arm (230) and is used to lock or unlock the moving component and the small arm (230); When the collision warning component (425) sends out a collision warning signal, the locking member (305) unlocks the moving component, and the elastic member (306) drives the moving component to move along the small arm (230) in a direction away from the cleaning component (400), and the first driving member (231) follows the moving component and increases the first angle between the large arm (220) and the small arm (230).

3. The photovoltaic cleaning device according to claim 2, characterized in that: The cleaning posture adjustment component (200) further comprises a wrist joint (240) and a second driving member (241), the wrist joint (240) being hinged to the forearm (230), the cleaning component (400) being arranged on the wrist joint (240), and two ends of the second driving member (241) being hinged to the wrist joint (240) and the moving component respectively; When the collision warning component (425) sends out a collision warning signal, the locking member (305) unlocks the moving component, and the elastic member (306) drives the moving component to move along the forearm (230) in a direction away from the cleaning component (400), and the second driving member (241) follows the moving component and increases the second angle between the wrist joint (240) and the forearm (230).

4. The photovoltaic cleaning device according to claim 3, characterized in that: The mobile assembly comprises: A sliding seat (301) is slidably disposed on the small arm (230), and the first driving member (231) and the second driving member (241) are respectively hingedly connected to two sides of the sliding seat (301); A sliding rod (303), wherein a first end of the sliding rod (303) is connected to the sliding seat (301), and a positioning boss (3031) is provided at the second end; the elastic member (306) is sleeved on the sliding rod (303), and one end of the elastic member abuts against the end positioning surface of the small arm (230), and the other end abuts against the positioning boss (3031); and a locking hole is provided on the sliding rod (303) for the locking member (305) to pass through and lock.

5. The photovoltaic cleaning device according to claim 4, characterized in that: The moving assembly further comprises an in-place sensor (307), wherein the in-place sensor (307) is arranged on the small arm (230) and is used to detect whether the positioning boss (3031) is in place; When the in-position sensor (307) detects the positioning boss (3031), the locking member (305) is opposite to the locking hole, and the locking member (305) passes through the locking hole.

6. The photovoltaic cleaning device according to claim 5, characterized in that: A limiting member (308) is provided on the small arm (230), and the limiting member (308) is used to abut against the large arm (220) to limit the position; During the extension of the first driving member (231), after the limiting member (308) abuts against the upper arm (220), the sliding seat (301) slides on the lower arm (230) until the in-position sensor (307) detects the positioning boss (3031) and the locking member (305) passes through the locking hole.

7. The photovoltaic cleaning device according to claim 4, characterized in that: The small arm (230) is provided with a sliding guide rail (310), the sliding guide rail (310) is arranged along the extension direction of the small arm (230), and the sliding seat (301) is provided with a roller (309) that rolls with the sliding guide rail (310).

8. The photovoltaic cleaning device according to claim 4, characterized in that: The sliding rod (303) is hingedly arranged at one end of the sliding seat (301) away from the cleaning assembly (400); and / or, The small arm (230) is provided with a linear bearing (304) that is slidably matched with the sliding rod (303).

9. The photovoltaic cleaning device according to claim 3, characterized in that: The cleaning component (400) comprises: A cleaning execution terminal (420), wherein the collision warning component (425) is arranged on the cleaning execution terminal (420); The buffer component (410) has two ends respectively hinged to the wrist joint (240) and the cleaning execution end (420).

10. The photovoltaic cleaning device according to claim 9, characterized in that: The buffer component (410) comprises: A first connecting seat (411), one end of which is hinged to the wrist joint (240) and the other end of which is provided with a sliding groove; A second connecting seat (415), one end of which is hinged to the cleaning execution end (420), and the other end of which is provided with a support rod that slidably cooperates with the sliding groove; A first spring (412) is sleeved outside the support rod; The second spring (413) is sleeved outside the support rod and is separated from the first spring (412) by a partition (414); the stiffness of the first spring (412) is greater than the stiffness of the second spring (413); and the first spring (412) and the second spring (413) are respectively in contact with the first connecting seat (411) and the second connecting seat (415).

11. The photovoltaic cleaning device according to claim 1, characterized in that: The collision warning component (425) comprises at least one of an ultrasonic sensor, a travel switch and a laser distance measuring sensor.

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