Photovoltaic cleaning robot

Abstract

The invention relates to the technical field of photovoltaic cleaning, in particular to a photovoltaic cleaning robot which comprises a vehicle body assembly which comprises a vehicle body part and a gravity center distribution part. The vehicle body part comprises a vehicle frame; the functional assembly comprises a supporting part, an adjusting part and an action part; the supporting part comprises side arms which are installed on the two sides of the head end of the frame and the two sides of the tail end of the frame respectively, and cleat supporting frames are arranged at the far ends of the side arms. The cleat supporting frames located on the two sides of the head end of the vehicle straightly extend in the front direction of the vehicle, and the cleat supporting frames are bent outwards by 90 degrees at the far ends of the cleat supporting frames. By changing the direction of the main shaft, the Mecanum wheels are located at the angle where the Mecanum wheels can work normally, so that the overall length of the robot is increased, the interval spanning capacity is naturally improved, the situation that manual back-and-forth carrying is needed can be avoided, time and labor are saved, and the Mecanum wheels are suitable for the large-range operation situation.

Description

Technical Field

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

[0002] As the concept of energy conservation and environmental protection has become deeply rooted in people's minds, many places have begun to invest heavily in clean energy fields such as photovoltaic power generation. In actual application, in order to increase the laying area of ​​​​photovoltaic panels while not occupying precious land area on the ground, photovoltaic panels are usually laid on the roofs of buildings such as factories, which makes the cleaning of photovoltaic panels a high-altitude operation area, which provides a considerable obstacle to the daily maintenance of photovoltaic panels.

[0003] Existing cleaning robots generally have the ability to move and clean by remote control, thus avoiding many scenarios of manual high-altitude operations. However, in actual use, large gaps are usually left between photovoltaic panels as maintenance personnel passages, which causes great trouble for the transfer of most existing robots and requires manual intervention and transportation, resulting in low cleaning efficiency. Summary of the invention

[0004] In order to solve the problem of maintenance passages between photovoltaic panels, the transfer of most existing robots has caused great troubles and requires manual intervention and transportation, resulting in low cleaning efficiency. The present invention provides a photovoltaic cleaning robot to solve the above problem.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A photovoltaic cleaning robot, comprising:

[0007] a vehicle body assembly, which includes a vehicle body portion and a center of gravity distribution portion;

[0008] The vehicle body part includes a vehicle frame, and the vehicle frame has a front end and a rear end. Guide wheels are provided on both sides of the front end of the vehicle frame, and driving wheels are provided on both sides of the rear end of the vehicle frame. The guide wheels and driving wheels on the same side are connected by tracks. The axles of the driving wheels are connected to motor 1, and the housings of the motor 1 are correspondingly installed on both sides of the rear end of the vehicle frame;

[0009] The center of gravity distribution part includes a pair of linear slide rails arranged at the bottom end of the interior of the frame, and a storage battery arranged at the top of the interior of the frame;

[0010] The linear slide rails are parallel to each other, and their length direction is consistent with the head and tail direction of the frame. The tops of the linear slide rails are slidably matched with slide tables, and the tops of the slide tables are in contact with the bottom of the battery.

[0011] The center of gravity distribution part also includes an electric cylinder 1 installed in the middle of the rear end of the frame. The telescopic end of the electric cylinder 1 extends to the inside of the frame and is used to change and maintain the position of the battery on the linear slide rail.

[0012] As a preferred solution of the present invention, the center of gravity distribution part also includes a top plate fixed to the top of the frame by a buckle;

[0013] A functional component, which includes a supporting part, an adjusting part and an action part;

[0014] The support part comprises side arms respectively installed on both sides of the front end of the frame and both sides of the rear end of the frame, and the distal ends of the side arms are provided with horn support frames;

[0015] Among them, the horn support frames located on both sides of the front end of the vehicle extend straightly toward the front of the vehicle, and the two are bent outward at 90 degrees at the far end to form a fork frame with a hollow middle, and the extension length of one of the two toward the front of the vehicle is greater than the extension length of the other;

[0016] The horn support frames located on both sides of the rear end of the vehicle extend straight toward the rear of the vehicle, and the two are bent inward by 90 degrees at the far end to form a fork frame with a hollow middle.

[0017] As a preferred solution of the present invention, the adjustment part includes swing arms respectively arranged between the side arms and the horn support frame, and bidirectional synchronous electric cylinders respectively arranged at both sides of the frame;

[0018] The upper inner side of the swing arm is respectively connected to the distal end of the side arm, the outer side of the swing arm is respectively connected to the inner side of one end of the horn support frame, and the two ends of the bidirectional synchronous electric cylinder are respectively connected to the lower side of the swing arm;

[0019] The action part includes shaft seats which are rotatably connected to the hollow fork frame of the horn support frame, and the top end of the rotating shaft of the shaft seat passes through the horn support frame. The interior of the shaft seat is horizontally rotatably connected to the main shaft, and the outside of the main shaft is provided with a roller brush. The roller brush includes a roller base installed on the outside of the main shaft, and bristles densely distributed around the outside of the roller base.

[0020] As a preferred solution of the present invention, one end of the main shaft is connected to the second motor, and the other end of the main shaft is connected to a Mecanum wheel, and the diameter of the Mecanum wheel is between the diameter of the roller base and the diameter of the roller brush;

[0021] The action part also includes brackets respectively installed at the top of the far end of the horn support frame and located above the shaft seat rotating shaft, and the inside of each bracket is equipped with a steering gear, and the driving end of the steering gear is respectively connected to the shaft seat rotating shaft; and,

[0022] An auxiliary assembly, comprising a first riser connected to the top of the bracket and a second riser installed in the middle of the top of the top plate;

[0023] Among them, the axis center of the vertical pipe one is on the same straight line as the rotating shaft of the shaft seat, and the side surfaces of the vertical pipe one are installed and connected with support pipes in a direction parallel to the main shaft, and a plurality of holes are evenly opened at the bottom of the support pipe, and a support rod is installed at the bottom of one end of the support pipe, and the bottom ends of the support rods are respectively rotatably connected to the outside of the main shaft and are located between the roller brush and the Mecanum wheel, and the top end of the vertical pipe one is connected to the swing pipe one through a rotating interface, and one end of the swing pipe one is connected to a hose, and one end of the hose is respectively connected to the vertical pipe two, and the top end of the vertical pipe two is connected to the swing pipe two through a rotating interface.

[0024] As a preferred solution of the present invention, a plurality of load-bearing wheels are provided on both sides of the frame, and the bottom wheel surfaces of the load-bearing wheels are in contact with the inner ring surface of the track;

[0025] A pin is arranged in the middle of the top of the slide, and column grooves cooperating with the pin are arranged on both sides of the bottom of the battery.

[0026] As a preferred solution of the present invention, both sides of the top of the battery are provided with slide grooves, the interior of the slide grooves are matched with slide bars, and the tops of the slide bars are respectively installed on the bottom of the top plate.

[0027] As a preferred solution of the present invention, a block is installed at the telescopic end of the electric cylinder, and a groove matching the block is provided in the middle of one side of the battery close to the rear end of the vehicle, and when the block and the groove move relative to each other in the up and down directions, the connection between the block and the groove is released.

[0028] As a preferred solution of the present invention, the side arm is located between the guide wheel and the driving wheel on the same side;

[0029] The axial length of the roller brush is smaller than the spacing between the horn support frames located on both sides of the front end of the vehicle;

[0030] The casings of the second motor are respectively connected to the shaft seats.

[0031] As a preferred solution of the present invention, it also includes a scraping assembly, which includes a support rod installed in the middle of the rear end of the roof vehicle, and profiles arranged on both sides of the support rod;

[0032] Among them, the two profiles are respectively parallel to the main axes located on both sides of the rear end of the vehicle, the bottom of the profile is equipped with a rubber scraper, T-shaped arms are installed on both sides of the top of the profile, the side arms of the T-shaped arms are rotatably connected with clamps, the clamps are detachably connected to the support tubes respectively, the T-shaped arms are provided with limit blocks below their side arms, one end of the limit blocks is respectively in contact with the clamps, the T-shaped arms are connected with tension springs below the limit blocks, one end of the tension springs is respectively connected to the bottom of the clamps.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. The present invention changes the main axis to a state where the axial direction is consistent with the direction of the front and rear connecting line of the frame. At this time, the Mecanum wheel will be at an angle where it can work normally. Since the overall length is lengthened, when passing through the interval, the robot can stably climb onto the photovoltaic panel next door, thus avoiding the need for manual back and forth transportation, saving time and effort, and being suitable for a wider range of operations.

[0035] 2. The present invention connects the cleaning liquid pumping mechanism with the swing pipe 2, thereby spraying the cleaning liquid onto the roller brush through the holes on the support pipe. At the same time, the support pipe can also serve as an auxiliary supporting structure of the main shaft, reducing the probability of deformation of the main shaft structure. Similarly, it also provides a guarantee for the structural stability of the main shaft when crossing the photovoltaic panel interval as described in the article.

[0036] 3. The present invention changes and maintains the position of the battery on the linear slide rail through an electric cylinder, thereby controlling the gravity distribution part to redistribute the center of gravity of the robot. That is, when initially passing through the interval, the gravity distribution part is first controlled to move the battery toward the rear end of the vehicle. When the track is about to touch the photovoltaic panel next door, the center of gravity is moved toward the front end of the vehicle. Combined with the power of the frame itself, the robot can quickly climb onto the photovoltaic panel next door with the cooperation of the Mecanum wheels at the rear end of the vehicle.

[0037] 4. The present invention brings the main shaft of the rear end of the vehicle together so that the T-shaped arm gradually approaches the support rod from both sides. As a result, under the continuous closing action, relying on the limiting and supporting effect of the support rod, the profile and the rubber scraper are deflected with the contact point between the side arm of the T-shaped arm and the clamp as the fulcrum, thereby lifting the photovoltaic panel away and preventing the rubber scraper from still touching the surface of the photovoltaic panel, thereby increasing the friction between the robot and the photovoltaic panel and affecting the normal movement of the robot driven by the Mecanum wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0039] Figure 2 It is a schematic diagram of the structure of the vehicle body assembly of the present invention;

[0040] Figure 3 for Figure 2 Another perspective diagram of the structure;

[0041] Figure 4 for Figure 2 Schematic diagram of the structure in the figure;

[0042] Figure 5 for Figure 4 Another perspective diagram of the structure;

[0043] Figure 6 It is a schematic diagram of the functional component structure of the present invention;

[0044] Figure 7 It is a structural schematic diagram of the supporting part and the adjusting part in embodiment 1 of the present invention;

[0045] Figure 8 for Figure 6 Another perspective diagram of the structure;

[0046] Fig. 9 This is a schematic diagram of the structure of the action part in Example 1 of the present invention;

[0047] Fig.10 for Fig. 9 Schematic diagram of the structure in the figure;

[0048] Fig.11 This is a schematic diagram of the Mecanum wheel in Example 1 of the present invention in an angular state where it can work normally;

[0049] Fig.12 It is a schematic diagram of the structure of the scraping and sweeping assembly of the present invention;

[0050] Fig.13 It is a schematic diagram of the assembly of a part of the scraping and sweeping assembly structure of the present invention;

[0051] Fig.14 This is a schematic diagram of the main shafts being brought together in Example 3 of the present invention.

[0052] Among them, 1. body assembly; 101. frame; 102. guide wheel; 103. drive wheel; 104. motor 1; 105. track; 106. load-bearing wheel; 107. linear slide; 108. slide; 109. pin; 110. battery; 111. electric cylinder 1; 112. insert; 113. insert groove; 114. top plate; 115. slide groove; 116. slide bar; 2. functional assembly; 201. side arm; 202. swing arm; 203. horn support frame; 204. two-way synchronous electric cylinder; 20 5. Shaft seat; 206. Main shaft; 207. Roller brush; 208. Motor 2; 209. Mecanum wheel; 210. Bracket; 211. Servo; 3. Auxiliary components; 301. Vertical pipe 1; 302. Support pipe; 303. Support rod; 304. Oscillating pipe 1; 305. Hose; 306. Vertical pipe 2; 307. Oscillating pipe 2; 4. Sweeping assembly; 401. Support rod; 402. Profile; 403. Rubber scraper; 404. T-arm; 405. Clamp; 406. Limit block; 407. Tension spring. DETAILED DESCRIPTION

[0053] 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.

[0054] Embodiment 1:

[0055] like Figure 1-11 As shown, an embodiment of the present invention provides a photovoltaic cleaning robot, including a body assembly 1, and the body assembly 1 includes a body part.

[0056] In this embodiment, reference Figure 2-3 The vehicle body includes a vehicle frame 101, and the vehicle frame 101 has a front end and a rear end. Guide wheels 102 are provided on both sides of the front end of the vehicle frame 101, and driving wheels 103 are provided on both sides of the rear end of the vehicle frame 101. The guide wheels 102 and the driving wheels 103 on the same side are connected by tracks 105. The axis of the driving wheels 103 is connected to a motor 104, and the housings of the motor 104 are correspondingly installed on both sides of the rear end of the vehicle frame 101.

[0057] A plurality of load-bearing wheels 106 are disposed on both sides of the vehicle frame 101 , and the bottom wheel surfaces of the load-bearing wheels 106 abut against the inner circumference surfaces of the crawler tracks 105 .

[0058] In this embodiment, the robot can be turned by the differential of the motor 104, and the robot can be moved forward and backward by the synchronous rotation of the motor 104.

[0059] In this embodiment, reference Figure 6 , functional component 2, which includes a supporting part, an adjusting part and an action part.

[0060] In this embodiment, reference Figure 7 The supporting part includes side arms 201 respectively installed on both sides of the front end and the rear end of the frame 101, and a horn support frame 203 is provided at the far end of each side arm 201.

[0061] Among them, the horn support frames 203 located on both sides of the front end of the vehicle extend straight toward the front of the vehicle, and the two are bent outward by 90 degrees at the far end to form a fork frame with a hollow middle, and one of the two has a greater extension length toward the front of the vehicle than the other.

[0062] The horn support frames 203 located on both sides of the rear end of the vehicle extend straightly toward the rear of the vehicle, and the two are bent inward by 90 degrees at the far end to form a fork frame with a hollow middle.

[0063] Furthermore, the side arm 201 is located between the guide wheel 102 and the driving wheel 103 on the same side.

[0064] In this embodiment, reference Figure 8-9 The adjusting part includes a swing arm 202 respectively arranged between the side arm 201 and the horn support frame 203, and a bidirectional synchronous electric cylinder 204 respectively arranged at both sides of the frame 101.

[0065] Among them, the inner upper side of the swing arm 202 is correspondingly connected to the far end of the side arm 201, the outer side of the swing arm 202 is correspondingly connected to the inner side of one end of the horn support frame 203, and the two ends of the bidirectional synchronous electric cylinder 204 are correspondingly connected to the bottom of the swing arm 202.

[0066] In this embodiment, reference Figure 9-10 The action part includes shaft seats 205 which are rotatably connected to the hollow fork frame of the horn support frame 203, and the top end of the rotating shaft of the shaft seat 205 passes through the horn support frame 203. The interior of the shaft seat 205 is horizontally rotatably connected to the main shaft 206. The outside of the main shaft 206 is provided with a roller brush 207. The roller brush 207 includes a roller base installed on the outside of the main shaft 206, and bristles densely distributed around the outside of the roller base.

[0067] Furthermore, the axial length of the roller brush 207 is smaller than the spacing between the horn support frames 203 located on both sides of the front end of the vehicle.

[0068] In this embodiment, again refer to Figure 9-10One end of the main shaft 206 is connected to the second motor 208, and the housing of the second motor 208 is respectively connected to the shaft seat 205, and the other end of the main shaft 206 is connected to the Mecanum wheel 209, and the diameter of the Mecanum wheel 209 is between the diameter of the roller base and the diameter of the roller brush 207.

[0069] In actual use, there is usually a large gap between photovoltaic panels as a maintenance personnel channel, which causes great trouble for the transfer of the robot and reduces the cleaning efficiency. When this robot encounters the above situation, please refer to Fig.11 , the main shaft 206 is completely changed to a state where the axial direction is consistent with the direction of the head-to-tail connection line of the frame 101. At this time, the Mecanum wheel 209 will be at an angle where it can work normally, thereby lengthening the overall length, and naturally improving the ability to cross the interval. This can avoid the need for manual back and forth transportation, saving time and effort, and is suitable for a wider range of operations.

[0070] In this embodiment, the Mecanum wheel 209 is a mature special tire technology, which is widely used in forklifts, remote control cars and other places that require extremely high mobility. Its technical principle will not be repeated here.

[0071] The action part also includes brackets 210 respectively installed at the top of the far end of the horn support frame 203 and located above the rotating shaft of the shaft seat 205. The brackets 210 are each equipped with a servo 211, and the driving ends of the servo 211 are respectively connected to the rotating shaft of the shaft seat 205.

[0072] In this embodiment, again refer to Figure 1 , the auxiliary component 3 includes a riser 1 301 which is rotatably connected to the top of the bracket 210 and a riser 2 306 which is installed in the middle of the top of the top plate 114.

[0073] The axis of the vertical tube 301 is in the same straight line as the rotating axis of the shaft seat 205. The side of the vertical tube 301 is parallel to the direction of the main shaft 206 and is connected with a support tube 302. A plurality of holes are evenly opened at the bottom of the support tube 302. A support rod 303 is installed at the bottom of one end of the support tube 302. The bottom ends of the support rods 303 are respectively connected to the outside of the main shaft 206 and are located between the roller brush 207 and the Mecanum wheel 209. The top end of the vertical tube 301 is connected to the swing tube 304 through a rotating interface. One end of the swing pipe 1 304 is connected to a hose 305, and one end of the hose 305 is connected to the vertical pipe 2 306 respectively. The top port of the vertical pipe 206 is connected to the swing pipe 2 307 through a rotating interface. The swing pipe 2 307 is used to connect to the cleaning liquid pumping mechanism, and then the cleaning liquid can be sprayed onto the roller brush 207. At the same time, the support pipe 302 can also serve as an auxiliary supporting structure of the main shaft 206, reducing the probability of structural deformation of the main shaft 206. Similarly, it also provides a guarantee for the structural stability of the main shaft 206 when crossing the photovoltaic panel interval in the article.

[0074] Embodiment 2:

[0075] The difference between this embodiment and embodiment 1 is that based on the structure of embodiment 1, the body assembly 1 further includes a center of gravity distribution part added inside the frame 101, so that the robot can move more stably when crossing the interval between photovoltaic panels.

[0076] In this embodiment, again refer to Figure 2-3 , and refer to Figure 4-5 The center of gravity distribution part includes a pair of linear slide rails 107 arranged at the bottom end of the frame 101, and a battery 110 arranged at the top of the frame 101.

[0077] The linear slide rails 107 are parallel to each other, and their length direction is consistent with the head-to-tail direction of the frame 101 . The tops of the linear slide rails 107 are slidably matched with slide tables 108 , and the tops of the slide tables 108 abut against the bottoms of the batteries 110 .

[0078] The center of gravity distribution part also includes an electric cylinder 111 installed in the middle of the rear end of the frame 101. The telescopic end of the electric cylinder 111 extends to the inside of the frame 101 and is used to change and maintain the position of the battery 110 on the linear slide rail 107.

[0079] The center of gravity distribution part also includes a top plate 114 fixed to the top of the frame 101 by buckles.

[0080] In combination with actual technical applications in this field, it is found that in a remote-controlled cleaning robot, the battery mass often accounts for the largest proportion. Therefore, this embodiment is designed to use the battery 110 as a center of gravity balancer. By changing the front and rear positions of the battery 110 inside the frame 101, the center of gravity position of the robot when crossing the interval is changed, thereby improving the stability of passing.

[0081] Furthermore, a pin 109 is provided in the middle of the top of the slide 108, and column grooves cooperating with the pin 109 are provided on both sides of the bottom of the battery 110, so as to facilitate the rapid docking between the battery 110 and the slide 108. Since the robot is used at a small tilt angle during actual use, the battery 110 can be fixed by simply cooperating with the column and the groove, thereby improving the convenience of use.

[0082] Furthermore, both sides of the top of the battery 110 are provided with slide grooves 115, and the interior of the slide grooves 115 is matched with slide bars 116, and the tops of the slide bars 116 are respectively installed on the bottoms of the top plates 114. Through the above design, the battery 110 can be prevented from accidentally falling out of the frame 101.

[0083] Furthermore, a block 112 is installed at the telescopic end of the electric cylinder 111, and a groove 113 cooperating with the block 112 is provided in the middle of one side of the battery 110 close to the rear end of the vehicle, and when the block 112 and the groove 113 move relative to each other in the up and down directions, the connection between the block 112 and the groove 113 is released. In this embodiment, while taking into account the effect of redistribution of the center of gravity, the above-mentioned three-step layered design can also realize the rapid removal of the battery 110, thereby improving the convenience of use.

[0084] Embodiment 3:

[0085] refer to Figure 12-14 This embodiment, based on the combination of Embodiment 1 and Embodiment 2, further includes a scraping assembly 4, which includes a support rod 401 installed in the middle of the rear end of the top plate 114, and profiles 402 arranged on both sides of the support rod 401.

[0086] Among them, the two profiles 402 are respectively parallel to the main shaft 206 located on both sides of the rear end of the vehicle, the bottom of the profile 402 is equipped with a rubber scraper 403, and T-shaped arms 404 are installed on both sides of the top of the profile 402. The side arms of the T-shaped arms 404 are rotatably connected to the clamps 405, and the clamps 405 are detachably connected to the support tubes 302 respectively. The T-shaped arms 404 are located below their side arms and are provided with limit blocks 406, one end of the limit blocks 406 is respectively in contact with the clamps 405, and the T-shaped arms 404 are located below the limit blocks 406. A tension spring 407 is connected, and one end of the tension spring 407 is respectively connected to the bottom of the clamp 405.

[0087] In actual use, since most cleaning modes use cleaning liquid for cleaning, the cleaning liquid cannot dry quickly, which will cause part of the cleaning liquid to remain on the photosensitive components on the surface of the photovoltaic panel, forming light spots under sunlight. In this case, it will have a large negative impact on the power generation efficiency. The above-mentioned components can achieve a scraping effect on the residual cleaning liquid while washing with water, thereby avoiding the formation of light spots and helping to maintain the service life of the photovoltaic panel. Of course, the use of the above-mentioned structure also provides another way for cleaning work, as a supplement to the water washing method, making the robot more convenient to use and more applicable.

[0088] When the present solution is working, the cleaning liquid pumping mechanism is connected to the swing pipe 307, so that the cleaning liquid can be sprayed onto the roller brush 207. At the same time, the support pipe 302 can also serve as an auxiliary support structure of the main shaft 206, reducing the probability of structural deformation of the main shaft 206. Similarly, it also provides a guarantee for the structural stability of the main shaft 206 when crossing the photovoltaic panel interval below. Then, the steering of the robot is realized by the differential of the motor 104, and the advance and retreat of the robot can be realized by the synchronous rotation of the motor 104. During normal operation, the two roller brushes 207 at the front end of the vehicle are cleaned in a posture parallel to the front end of the vehicle frame 101, while the two roller brushes 207 at the rear end of the vehicle are moved outward on both sides. The side opening will greatly expand the area that the robot can clean at one time when driving, reduce the walking distance of the robot, and improve work efficiency. Through the extension and retraction of the bidirectional synchronous electric cylinder 204, the height of the roller brush 207 can be changed under the effect of leverage to ensure a good ground contact state. In order to ensure normal cleaning work, the ground contact standard is that the bristles touch the ground while the Mecanum wheel 209 does not touch the ground. At the same time, under the tension of the tension spring 407 and the support of the limit block 406, the profile 402 together with the rubber scraper 403 are stabilized on the surface of the photovoltaic panel through the leverage effect, thereby achieving the purpose of scraping the photovoltaic panel.

[0089] Furthermore, in actual use, there is usually a large gap between photovoltaic panels as a maintenance personnel passage, which causes great trouble for the transfer of the robot, resulting in low cleaning efficiency. When the robot encounters the above situation, first, the position of the main shaft 206 is changed by the steering gear 211, thereby changing the position of the Mecanum wheel 209. For details, refer to Fig.11At this time, the main shaft 206 is completely changed to a state where the axial direction is consistent with the direction of the front and rear connecting line of the frame 101. At this time, the Mecanum wheel 209 will be at an angle that can work normally. When passing through the interval, the center of gravity distribution part is first controlled to move the battery 110 toward the rear end of the vehicle, and then the frame 101 continues to move forward until the Mecanum wheel 209 at the front end of the vehicle is lifted and sent to the photovoltaic panel next door. The frame 101 continues to move until the body component 1 falls into the photovoltaic panel interval. At this time, the four Mecanum wheels 209 will play a role in moving, driving the whole to continue moving forward. Then, because the side arm 201 is located between the guide wheel 102 and the drive wheel 103 on the same side, the crawler 105 will first touch the photovoltaic panel next door. At this time, combined with the power of the frame 101 itself, after the center of gravity is moved to the front end of the vehicle, the robot can be prompted to board the photovoltaic panel next door with the cooperation of the Mecanum wheel 209 at the rear end of the vehicle. This can avoid the need for manual back and forth transportation, saving time and effort, and is suitable for a larger range of operations.

[0090] Furthermore, when the robot is transferred, especially when the vehicle body assembly 1 is in the gap between adjacent photovoltaic panels, the four Mecanum wheels 209 are in a stressed state. At this time, if the profile 402 and the rubber scraper 403 still touch the surface of the photovoltaic panel, the friction between the robot and the photovoltaic panel will inevitably increase, affecting the normal movement of the robot driven by the Mecanum wheel 209. Therefore, in order to prevent the scraper assembly 4 from affecting the normal rotation of the Mecanum wheel 209, it is necessary to lift the profile 402 and the rubber scraper 403 after the Mecanum wheel 209 moves to the working position. For details, refer to Figure 13-14 When the main shafts 206 at the rear end of the vehicle are brought together, the T-shaped arms 404 gradually approach the support rods 401 from both sides. As the main shafts 206 at the rear end of the vehicle are brought together, the T-shaped arms 404 gradually approach the support rods 401 from both sides. As the main shafts 206 are brought together, the profile 402 and the rubber scraper strip 403 are deflected with the contact point between the side arm of the T-shaped arm 404 and the clamp 405 as the fulcrum, thereby lifting the photovoltaic panel away from the photovoltaic panel to avoid affecting the normal operation of the Mecanum wheel 209.

[0091] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A photovoltaic cleaning robot, characterized in that: include, A vehicle body assembly (1), comprising a vehicle body portion and a center of gravity distribution portion; The vehicle body portion comprises a vehicle frame (101), wherein the vehicle frame (101) has a front end and a rear end, guide wheels (102) are provided on both sides of the front end of the vehicle frame (101), and driving wheels (103) are provided on both sides of the rear end of the vehicle frame (101), and the guide wheels (102) and driving wheels (103) on the same side are connected via tracks (105), and the axis of the driving wheels (103) is connected to a motor 1 (104), and the housing of the motor 1 (104) is correspondingly mounted on both sides of the rear end of the vehicle frame (101); The center of gravity distribution part includes a pair of linear slide rails (107) arranged at the bottom end of the frame (101), and a storage battery (110) arranged at the top of the frame (101); The linear slide rails (107) are parallel to each other, and their length direction is consistent with the head-to-tail direction of the vehicle frame (101). The tops of the linear slide rails (107) are slidably matched with slide tables (108), and the tops of the slide tables (108) are in contact with the bottoms of the storage batteries (110); The center of gravity distribution part also includes an electric cylinder (111) installed in the middle of the rear end of the frame (101), and the telescopic end of the electric cylinder (111) extends into the interior of the frame (101) to change and maintain the position of the battery (110) on the linear slide rail (107).

2. A photovoltaic cleaning robot according to claim 1, characterized in that: The center of gravity distribution part also includes a top plate (114) fixed to the top of the frame (101) by a buckle; A functional component (2), which includes a supporting part, an adjusting part and an action part; The support part comprises side arms (201) respectively mounted on both sides of the front end of the vehicle frame (101) and both sides of the rear end of the vehicle frame (101), and the distal ends of the side arms (201) are each provided with a horn support frame (203); The horn support frames (203) located on both sides of the front end of the vehicle extend straightly in the direction of the front of the vehicle, and the two are bent outwards by 90 degrees at the far ends to form a fork frame with a hollow middle, and the extension length of one of the two in the direction of the front of the vehicle is greater than the extension length of the other; The horn support frames (203) located on both sides of the rear end of the vehicle extend straightly toward the rear of the vehicle, and the two are bent inwards by 90 degrees at the far ends to form a fork frame with a hollow middle.

3. The photovoltaic cleaning robot according to claim 2, characterized in that: The adjustment part comprises a swing arm (202) respectively arranged between the side arm (201) and the horn support frame (203), and a bidirectional synchronous electric cylinder (204) respectively arranged at both sides of the frame (101); The upper inner side of the swing arm (202) is respectively and correspondingly connected to the distal end of the side arm (201), the outer side of the swing arm (202) is respectively and correspondingly connected to the inner side of one end of the horn support frame (203), and the two ends of the bidirectional synchronous electric cylinder (204) are respectively and correspondingly connected to the lower side of the swing arm (202); The action part comprises shaft seats (205) which are respectively rotatably connected in the hollow fork frame of the horn support frame (203), and the top end of the rotating shaft of the shaft seat (205) passes through the horn support frame (203). The interior of the shaft seat (205) is horizontally rotatably connected with a main shaft (206), and the outside of the main shaft (206) is provided with a roller brush (207), and the roller brush (207) comprises a roller base installed on the outside of the main shaft (206), and bristles densely distributed around the outside of the roller base.

4. The photovoltaic cleaning robot according to claim 3, characterized in that: One end of the main shaft (206) is connected to a second motor (208), and the other end of the main shaft (206) is connected to a Mecanum wheel (209), wherein the diameter of the Mecanum wheel (209) is between the diameter of the roller base and the diameter of the roller brush (207); The action part also includes brackets (210) respectively installed at the top of the distal end of the horn support frame (203) and located above the shaft of the shaft seat (205), and the brackets (210) are each installed with a steering gear (211) inside, and the driving ends of the steering gear (211) are respectively connected to the shaft of the shaft seat (205); and, An auxiliary component (3), comprising a riser pipe 1 (301) respectively rotatably connected to the top of the bracket (210), and a riser pipe 2 (306) installed in the middle of the top of the top plate (114); The axis of the vertical pipe (301) and the rotating shaft of the shaft seat (205) are on the same straight line, and the side of the vertical pipe (301) is parallel to the direction of the main shaft (206) and is connected to a support pipe (302). The bottom of the support pipe (302) is evenly provided with a plurality of holes. A support rod (303) is installed at the bottom of one end of the support pipe (302). The bottom ends of the support rods (303) are respectively connected to the outside of the main shaft (206) and are located between the roller brush (207) and the Mecanum wheel (209). The top end of the vertical pipe (301) is connected to the swing pipe (304) through a rotating interface, and one end of the swing pipe (304) is connected to a hose (305). One end of the hose (305) is respectively connected to the vertical pipe (306), and the top end of the vertical pipe (306) is connected to the swing pipe (307) through a rotating interface.

5. The photovoltaic cleaning robot according to claim 4, characterized in that: A plurality of load-bearing wheels (106) are provided on both sides of the vehicle frame (101), and the bottom wheel surfaces of the load-bearing wheels (106) are in contact with the inner ring surface of the crawler track (105); A pin column (109) is provided in the middle of the top of the slide (108), and column grooves matching with the pin column (109) are provided on both sides of the bottom of the storage battery (110).

6. The photovoltaic cleaning robot according to claim 5, characterized in that: Both sides of the top of the storage battery (110) are provided with slide grooves (115), the interior of the slide grooves (115) is matched with slide bars (116), and the tops of the slide bars (116) are respectively mounted on the bottoms of the top plates (114).

7. The photovoltaic cleaning robot according to claim 4, characterized in that: The telescopic end of the electric cylinder (111) is provided with an insert (112), and a groove (113) matching with the insert (112) is provided in the middle of one side of the battery (110) close to the rear end of the vehicle, and when the insert (112) and the groove (113) move relative to each other in the up-and-down direction, the connection between the insert (112) and the groove (113) is released.

8. The photovoltaic cleaning robot according to claim 4, characterized in that: The side arm (201) is located between the guide wheel (102) and the driving wheel (103) on the same side; The axial length of the roller brush (207) is smaller than the distance between the horn support frames (203) located on both sides of the front end of the vehicle; The casing of the second motor (208) is respectively connected to the shaft seat (205).

9. The photovoltaic cleaning robot according to claim 1, characterized in that: It also includes a scraping assembly (4), which includes a support rod (401) installed in the middle of the rear end of the top plate (114), and profiles (402) arranged on both sides of the support rod (401); The two profiles (402) are respectively parallel to the main shaft (206) located on both sides of the rear end of the vehicle, the bottom of the profile (402) is equipped with a rubber scraper (403), T-shaped arms (404) are installed on both sides of the top of the profile (402), the side arms of the T-shaped arms (404) are rotatably connected to the clamps (405), the clamps (405) are detachably connected to the support tube (302) respectively, the T-shaped arms (404) are provided with limit blocks (406) below their side arms, one end of the limit blocks (406) is respectively in contact with the clamps (405), the T-shaped arms (404) are connected with tension springs (407) below the limit blocks (406), one end of the tension springs (407) is respectively connected to the bottom of the clamps (405).

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