Cleaning robot applied to salt-light complementary scene

Abstract

The invention discloses a cleaning robot applied to a salt-light complementary scene, and belongs to the field of cleaning robots. The invention discloses a cleaning robot applied to a salt-light complementary scene. The cleaning robot comprises a machine shell sliding on a photovoltaic panel, a cleaning roller rotationally connected into the machine shell and a shoveling mechanism installed in the machine shell. The shoveling mechanism comprises an upper screw rod, a lower screw rod and a scraping plate; an upper sliding sleeve is arranged on the outer wall of the upper screw rod; a lower sliding sleeve is arranged on the outer wall of the lower screw rod; the scraping plate is in sliding connection with the upper sliding sleeve; the scraping plate is rotationally connected with the lower sliding sleeve; a shovel surface is arranged at one end of the scraping plate; when the upper screw and the lower screw rotate synchronously, the scraper moves horizontally; and when the upper screw rod and the lower screw rod rotate relatively, the distance between the shovel surface and the surface of the photovoltaic panel is changed. According to the scheme, the cleaning roller and the scraping plate are arranged, the cleaning roller conducts preliminary cleaning on the surface of the photovoltaic panel and removes most sundries, and the scraping plate conducts deep cleaning on stubborn stains left on the surface of the photovoltaic panel and shovels the stains down.

Description

Technical Field

[0001] The present invention belongs to the field of cleaning robots, and more specifically, relates to a cleaning robot applied to salt-light complementary scenarios. Background Art

[0002] The cleanliness of photovoltaic panels, the core components of photovoltaic power stations, directly affects the power generation efficiency. If the surface is contaminated by dust, sand and dirt, if the dust and dirt on the photovoltaic panels are not removed in time, it will seriously affect the power generation efficiency. Hot spot effects will also occur around the uncleaned edges, aggravating the aging of photovoltaic panels, and in serious cases causing fires.

[0003] In existing products, it is difficult to remove stubborn stains by only using a brush to clean the surface of the photovoltaic panel. If the pressure of the brush on the photovoltaic panel is increased, the surface loss of the photovoltaic panel will increase, and the service life of the photovoltaic panel will be reduced. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a cleaning robot applied to salt-light complementary scenes, which can automatically select a cleaning method according to the stain situation.

[0005] The present invention discloses a cleaning robot applied to a salt-light complementary scene, comprising a casing sliding on a photovoltaic panel, a cleaning roller rotatably connected to the casing, and a scraping mechanism installed in the casing; the scraping mechanism comprises an upper screw, a lower screw, and a scraper; an upper sleeve is arranged on the outer wall of the upper screw; a lower sleeve is arranged on the outer wall of the lower screw; the scraper is slidably connected to the upper sleeve; the scraper is rotatably connected to the lower sleeve; a scraping surface is arranged at one end of the scraper; when the upper screw rotates synchronously with the lower screw, the scraper moves horizontally; when the upper screw rotates relatively with the lower screw, the distance between the scraping surface and the surface of the photovoltaic panel changes.

[0006] As a further improvement of the present invention, a switching seat is slidably connected in the casing; the switching seat is rotatably connected to two mutually meshing unidirectional gears and a reverse gear; when the unidirectional gears are respectively meshed with the upper screw and the lower screw, the upper screw and the lower screw rotate synchronously; when the reverse gear is meshed with the upper screw and the lower screw, the upper screw and the lower screw rotate relative to each other.

[0007] As a further improvement of the present invention, a screw motor for driving the reverse gear to rotate is fixedly connected to the switching seat; the reverse gear is connected to a co-directional gear through a screw synchronous belt transmission.

[0008] As a further improvement of the present invention, a driving motor is fixedly connected inside the casing; a motor gear is axially slidably connected to the output shaft of the driving motor; when the motor gear is in a first position, the motor gear is transmission connected to the cleaning roller; when the motor gear is in a second position, the motor gear is transmission connected to the switching seat.

[0009] As a further improvement of the present invention, a plurality of feeding mechanisms are arranged in the casing; the feeding mechanisms include two rollers and a roller motor for driving the rollers to rotate; a centrifugal assembly for driving the motor gear to move is arranged on the output shaft of the roller motor.

[0010] As a further improvement of the present invention, the two rollers are located on both sides of the photovoltaic panel and are connected through a roller synchronous belt transmission; the output shaft of the roller motor is connected to a roller through a reduction gearbox transmission.

[0011] As a further improvement of the present invention, the centrifugal assembly includes a rotating disk fixedly connected to the output shaft of the roller motor, a plurality of centrifugal blocks radially slidably connected to the rotating disk, and a switching frame slidably connected to the casing; the centrifugal blocks are provided with an inclined surface that abuts against the switching frame; the switching frame moves synchronously with the axial direction of the motor gear.

[0012] As a further improvement of the present invention, a switching rack distributed along the sliding direction is provided on the switching seat; a transmission gear meshing with the switching rack is rotatably connected in the casing; a coaxially arranged switching gear and a cleaning gear are rotatably connected in the casing; the switching gear and the transmission gear are connected through a switching synchronous belt transmission; the cleaning gear and the cleaning roller are connected through a cleaning roller synchronous belt transmission.

[0013] As a further improvement of the present invention, a camera for observing the location of stains on the surface of the photovoltaic panel is arranged in the housing.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: the present solution provides a cleaning roller and a scraper, wherein the cleaning roller performs preliminary cleaning on the surface of the photovoltaic panel to remove most debris, such as sand and weeds, and the scraper performs deep cleaning on the stubborn stains remaining on the surface of the photovoltaic panel to scrape off the stains, such as salt from solidified bird droppings.

[0015] The present invention sets an upper screw and a lower screw so that when the upper screw and the lower screw rotate synchronously, the scraper moves horizontally on the surface of the photovoltaic panel, so that the scraper can approach the stain or remove the stain; when the upper screw and the lower screw rotate relative to each other, the distance between the shovel surface and the surface of the photovoltaic panel changes; when the stain is not cleaned, there is a distance between the shovel surface and the photovoltaic panel, so that the movement of the scraper will not scratch the photovoltaic panel; when cleaning the stain, the shovel surface can be moved close to the stain and then against the surface of the photovoltaic panel, thereby further reducing the friction between the shovel surface and the photovoltaic panel and increasing the service life of the photovoltaic panel.

[0016] In this solution, the driving motor can drive the cleaning roller to rotate and the switching seat to move through the axial movement of the motor gear, so as to facilitate the upper screw and the lower screw to switch between synchronous rotation and relative rotation.

[0017] The roller motor in this solution can not only drive the roller to rotate so that the housing moves on the photovoltaic panel, but also drive the motor gear to move through the centrifugal block, thereby changing the matching relationship of the drive motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the present invention;

[0019] Figure 2 It is a schematic diagram of the decomposition structure of the present invention;

[0020] Figure 3 It is a structural schematic diagram of the motor gear and the switching gear of the present invention when they are meshed;

[0021] Figure 4 It is a schematic diagram of the exploded structure of the eradication mechanism of the present invention;

[0022] Figure 5 , Figure 6 It is a schematic diagram of the exploded structure of the feeding mechanism of the present invention;

[0023] Description of the numbers in the figure:

[0024] 1. Photovoltaic panel; 2. Casing; 3. Cleaning roller; 31. Brush; 32. Cleaning roller synchronous belt; 4. Shoveling mechanism; 41. Upper screw; 411. Upper gear; 42. Lower screw; 421. Lower gear; 43. Upper sleeve; 44. Lower sleeve; 45. Scraper; 451. Slide; 452. Rotating groove; 453. Shoveling surface; 5. Feed mechanism; 51. Roller; 52. Reducer; 53. Roller motor; 54. Switching frame; 55. Rotating disk; 551. Slide rail; 56. Centrifugal block; 561. Inclined surface; 57. Roller synchronous belt; 61. Drive motor; 62. Motor gear; 63. Switching gear; 64. Cleaning gear; 71. Screw motor; 72. Switching seat; 721. Switching rack; 73. Reverse gear; 74. Same direction gear; 75. Transmission gear; 76. Screw synchronous belt. DETAILED DESCRIPTION

[0025] Specific embodiment 1: Please refer to Figure 1-Figure 6A cleaning robot applied to salt-light complementary scenarios, comprising a housing 2 sliding on a photovoltaic panel 1, a cleaning roller 3 rotatably connected to the housing 2, and a scraping mechanism 4 installed in the housing 2; the scraping mechanism 4 comprises an upper screw 41, a lower screw 42, and a scraper 45; an upper sleeve 43 is provided on the outer wall of the upper screw 41; a lower sleeve 44 is provided on the outer wall of the lower screw 42; the scraper 45 is slidably connected to the upper sleeve 43; the scraper 45 is rotatably connected to the lower sleeve 44; a scraping surface 453 is provided at one end of the scraper 45; when the upper screw 41 and the lower screw 42 rotate synchronously, the scraper 45 moves horizontally; when the upper screw 41 and the lower screw 42 rotate relative to each other, the distance between the shovel surface 453 and the surface of the photovoltaic panel 1 changes.

[0026] The rotating axis of the upper screw 41 is parallel to the rotating axis of the lower screw 42; the upper screw 41 is located directly above the lower screw 42; the scraper 45 is provided with a sliding groove 451 rotatably connected to the side wall of the lower sleeve 44; the axis of the sliding groove 451 is perpendicular to the rotating axis of the lower screw 41; the scraper 45 is provided with radially distributed rotating grooves 452; the side wall of the upper sleeve 43 is provided with an upper sliding column slidably connected to the rotating groove 452.

[0027] The surface of the cleaning roller 3 is provided with a brush 31 for cleaning the photovoltaic panel 1; the upper screw 41 and the lower screw 42 have the same rotation direction and pitch; the inner wall of the upper sleeve 43 is provided with an upper thread that cooperates with the upper screw 41; the inner wall of the lower sleeve 44 is provided with a lower thread that cooperates with the lower screw 42.

[0028] A switching seat 72 is slidably connected inside the casing 2; two mutually meshing same-direction gears 74 and a reverse gear 73 are rotatably connected to the switching seat 72; when the same-direction gears 74 are respectively meshed with the upper screw 41 and the lower screw 42, the upper screw 41 and the lower screw 42 rotate in the same direction and at the same speed, and the upper screw 41 and the lower screw 42 rotate synchronously; when the reverse gear 73 is meshed with the upper screw 41 and the lower screw 42, the upper screw 41 and the lower screw 42 rotate in opposite directions, and the upper screw 41 and the lower screw 42 rotate relative to each other.

[0029] The switching seat 72 is fixedly connected with a screw motor 71 for driving a reverse gear 73 to rotate; the reverse gear 73 is connected to a same direction gear 74 through a screw synchronous belt 76 .

[0030] The upper screw rod 41 is coaxially provided with an upper gear 411 ; the lower screw rod 42 is coaxially provided with a lower gear 42 .

[0031] A driving motor 61 is fixedly connected inside the casing 2; a motor gear 62 is axially slidably connected to the output shaft of the driving motor 61; when the motor gear 62 is located at the first position, the motor gear 62 is transmission connected to the cleaning roller 3; when the motor gear 62 is located at the second position, the motor gear 62 is transmission connected to the switching seat 72.

[0032] The housing 2 is provided with a plurality of feeding mechanisms 5 ; the feeding mechanisms 5 include two rollers 51 and a roller motor 53 for driving the rollers 51 to rotate; a centrifugal assembly for driving the motor gear 62 to move is provided on the output shaft of the roller motor 53 .

[0033] The two rollers 51 are located on both sides of the photovoltaic panel 1 and are connected to each other through a roller synchronous belt 57 ; the output shaft of the roller motor 53 is connected to one roller 51 through a reduction gearbox 52 .

[0034] The centrifugal assembly includes a rotating disk 55 fixedly connected to the output shaft of the roller motor 53, a plurality of centrifugal blocks 56 radially slidably connected to the rotating disk 55, and a switching frame 54 slidably connected to the casing 2; the centrifugal blocks 56 are provided with an inclined surface 561 that abuts against the switching frame 54; the switching frame 54 and the motor gear 62 move axially synchronously and rotate circumferentially relative to each other.

[0035] A tension spring is arranged between the rotating disk 55 and the centrifugal block 56 to drive the centrifugal block 56 to move toward the center of the rotating disk 55; the sliding direction of the switching frame 54 is parallel to the axial direction of the rotating disk 55; the rotating disk 55 is provided with a radially distributed slide rail 551 that is slidably connected to the centrifugal block 56; a spring is arranged between the switching frame 54 and the casing 2 to drive the switching frame 54 to return to its original position.

[0036] When the roller motor 53 drives the roller 51 to rotate, the housing 2 moves on the photovoltaic panel 1, and the centrifugal block 56 is located at the extreme position away from the center of the rotating disk 55 under the action of centrifugal force. The inclined surface 561 pushes the switching frame 54 to move, and then the switching frame 54 enables the motor gear 62 to transmit to the cleaning roller 3; when the roller motor 53 is not working, the centrifugal block 56 is located at the extreme position close to the center of the rotating disk 55, and the switching frame 54 enables the motor gear 62 to be connected to the switching seat 72.

[0037] The switching seat 72 is provided with a switching rack 721 distributed along the sliding direction; a transmission gear 75 meshing with the switching rack 721 is rotatably connected in the housing 2; a coaxially arranged switching gear 63 and a cleaning gear 64 are rotatably connected in the housing 2; the switching gear 63 and the transmission gear 75 are connected through a switching synchronous belt transmission; the cleaning gear 64 and the cleaning roller 3 are connected through a cleaning roller synchronous belt 32.

[0038] The housing 2 is provided with a camera for observing the location of stains on the surface of the photovoltaic panel 1 .

[0039] In the initial state, there is a certain distance between the scraped surface 453 and the surface of the photovoltaic panel 1 .

[0040] When working, the roller motor 53 works, the roller 51 rotates, and the housing 2 moves along the photovoltaic panel 1. At the same time, the roller motor 53 drives the rotating disk 55 to rotate, and the centrifugal block 56 moves away from the center of the rotating disk 55 under the action of centrifugal force, and the inclined surface 561 pushes the switching frame 54 to move, and the switching frame 54 drives the motor gear 62 to move synchronously, so that the motor gear 62 moves to mesh with the cleaning gear 64.

[0041] Then the driving motor 61 starts working, and the driving motor 61 drives the cleaning roller 3 to rotate through the motor gear 62 and the cleaning gear 64. The brush 31 on the cleaning roller 3 rubs and cleans the surface of the photovoltaic panel 1.

[0042] At the same time, the camera synchronously observes the cleanliness of the surface of the photovoltaic panel 1. When the camera observes that there are stains on the surface of the photovoltaic panel 1 that cannot be cleaned by the brush 31, the camera records the location of the stain.

[0043] Then, when the housing 2 moves to the point where the dirt is within the cleaning range of the scraper 45, the roller motor 53 stops working and the housing 2 stays at the current position. At the same time, the centrifugal block 56 moves toward the center of the rotating disk 55, and the switching frame 54 drives the motor gear 62 to reset, so that the motor gear 62 is meshed with the switching gear 63.

[0044] Then the driving motor 61 works, the motor gear 62 drives the switching gear 63 to rotate, and then drives the switching seat 72 to move through the transmission gear 75 and the switching rack 721, so that the two co-directional gears 74 are respectively meshed with the upper gear 411 and the lower gear 421. Then the screw motor 71 works, so that the upper screw 41 and the lower screw 42 rotate synchronously, the upper sliding sleeve 43 and the lower sliding sleeve 44 move axially synchronously, and then the scraper 45 moves horizontally, and the scraper 45 gradually approaches the stain.

[0045] When the shovel surface 453 on the scraper 45 is located above one side of the stain, the screw motor 71 stops working. Then the drive motor 61 works to move the switch seat 72, and then the reverse gear 73 meshes with the upper gear 411 and the lower gear 421. Then the screw motor 71 works, the upper screw 41 and the lower screw 42 rotate in opposite directions, and then the upper sliding sleeve 43 and the lower sliding sleeve 44 slide closer to each other, forcing the shovel surface 453 to move toward the surface of the photovoltaic panel 1, and finally the shovel surface 453 and the surface of the photovoltaic panel 1 are against each other. The screw motor 71 stops working.

[0046] Then the driving motor 61 works, so that the switching seat 72 moves until the two co-directional gears 74 mesh with the upper gear 411 and the lower gear 421. Then the screw motor 71 works, the scraper 45 translates, and the shovel surface 453 exerts force on the stains, and the stains are scraped off the surface of the photovoltaic panel 1.

[0047] When the camera observes that the stain is removed, the driving motor 61 works, so that the reverse gear 73 meshes with the upper gear 411 and the lower gear 421, and then the screw motor 71 works, the upper sliding sleeve 43 and the lower sliding sleeve 4 move away from each other, and then the shovel surface 453 moves away from the surface of the photovoltaic panel 1, so that the shovel surface 453 has a certain distance from the surface of the photovoltaic panel 1. Return to the initial state.

[0048] The above process is repeated, the cleaning roller 3 performs preliminary cleaning on the surface of the photovoltaic panel, and the scraper 45 performs deep cleaning on the stubborn stains on the photovoltaic panel.

Claims

1. A cleaning robot applied to salt-light complementary scenes, characterized in that: It includes a casing that slides on the photovoltaic panel, a cleaning roller that is rotatably connected to the casing, and a scraping mechanism installed in the casing; the scraping mechanism includes an upper screw, a lower screw, and a scraper; the outer wall of the upper screw is provided with an upper sliding sleeve; the outer wall of the lower screw is provided with a lower sliding sleeve; the scraper is slidably connected to the upper sliding sleeve; the scraper is rotatably connected to the lower sliding sleeve; a scraping surface is provided at one end of the scraper; when the upper screw rotates synchronously with the lower screw, the scraper moves horizontally; when the upper screw and the lower screw rotate relative to each other, the distance between the scraping surface and the surface of the photovoltaic panel changes.

2. A cleaning robot applied to salt-light complementary scenes according to claim 1, characterized in that: A switching seat is slidably connected in the casing; two mutually meshing same-direction gears and a reverse gear are rotatably connected to the switching seat; when the same-direction gears are respectively meshed with the upper screw and the lower screw, the upper screw and the lower screw rotate synchronously; when the reverse gear is meshed with the upper screw and the lower screw, the upper screw and the lower screw rotate relatively.

3. A cleaning robot applied to salt-light complementary scenes according to claim 2, characterized in that: The switching seat is fixedly connected with a screw motor for driving the reverse gear to rotate; the reverse gear is connected to a same-direction gear through a screw synchronous belt transmission.

4. A cleaning robot applied to salt-light complementary scenes according to claim 2, characterized in that: A driving motor is fixedly connected inside the casing; a motor gear is axially slidably connected to the output shaft of the driving motor; when the motor gear is located at a first position, the motor gear is transmission-connected to the cleaning roller; when the motor gear is located at a second position, the motor gear is transmission-connected to the switching seat.

5. A cleaning robot applied to salt-light complementary scenes according to claim 4, characterized in that: A plurality of feeding mechanisms are arranged in the casing; the feeding mechanisms include two rollers and a roller motor for driving the rollers to rotate; a centrifugal assembly for driving the motor gear to move is arranged on the output shaft of the roller motor.

6. A cleaning robot applied to salt-light complementary scenes according to claim 5, characterized in that: The two rollers are located on both sides of the photovoltaic panel and are connected through a roller synchronous belt transmission; the output shaft of the roller motor is connected to a roller through a reduction box transmission.

7. A cleaning robot applied to salt-light complementary scenes according to claim 5, characterized in that: The centrifugal assembly includes a rotating disk fixedly connected to the output shaft of the roller motor, a plurality of centrifugal blocks radially slidably connected to the rotating disk, and a switching frame slidably connected to the casing; the centrifugal blocks are provided with an inclined surface that abuts against the switching frame; the switching frame moves synchronously with the motor gear axial direction.

8. The cleaning robot used in the salt-light complementary scene according to claim 4, characterized in that: The switching seat is provided with a switching rack distributed along the sliding direction; a transmission gear meshing with the switching rack is rotatably connected in the casing; a coaxially arranged switching gear and a cleaning gear are rotatably connected in the casing; the switching gear and the transmission gear are connected through a switching synchronous belt transmission; the cleaning gear and the cleaning roller are connected through a cleaning roller synchronous belt transmission.

9. The cleaning robot used in the salt-light complementary scene according to claim 1, characterized in that: A camera for observing the location of stains on the surface of the photovoltaic panel is arranged in the casing.

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