Triangular crawler chassis type photovoltaic panel cleaning device

Abstract

The invention relates to the technical field of photovoltaic cleaning, in particular to a triangular track chassis type photovoltaic panel cleaning device which comprises a chassis, four triangular track components are arranged on the chassis, and each triangular track component comprises a driving wheel, an elastic wheel set, a supporting plate, a track and a displacement sensor. The driving wheel and the elastic wheel set are both connected to the supporting plate, and the caterpillar band is wound around the outer wall of the driving wheel and the outer wall of the elastic wheel set. The four triangular rubber crawler belts are adopted to form a driving system of the chassis, the ground contact area of the crawler belts is greatly increased by adopting the triangular rubber crawler belt wheels, and a horizontally arranged damper is combined, so that a vehicle body can stably run on the uneven and soft ground and other complex terrain conditions, and the swing amplitude of the chassis is reduced; the triangular rubber track is provided with the horizontally-arranged damper, the internal space of a vehicle body is hardly occupied, the vehicle body structure is greatly simplified, and damaged parts are easy to maintain and replace.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic cleaning, and in particular to a triangular crawler chassis type photovoltaic panel cleaning device. Background Art

[0002] The output power of photovoltaic power generation systems is significantly affected by environmental factors in actual use, among which dust accumulation on the surface of photovoltaic panels is a major problem. Dust and other pollutants accumulate on the surface of photovoltaic panels, blocking sunlight and reducing the transmittance of photovoltaic modules, thereby reducing the photoelectric conversion efficiency.

[0003] In photovoltaic power stations in areas with harsh environmental conditions such as deserts and Gobi, in addition to serious dust problems, the terrain is relatively uneven or soft compared to urban environments. The photovoltaic panel cleaning devices that are currently widely used are mainly cleaning vehicles based on wheeled chassis and crawler chassis, and the vehicles are equipped with cleaning modules for cleaning photovoltaic panels. Vehicles based on wheeled chassis have poor passability on soft terrain, and the chassis is very rigid. During the cleaning of photovoltaic panels, bumpy roads may compress and damage photovoltaic panels, which are not suitable for photovoltaic power stations with soft and bumpy terrain. Vehicles based on crawler chassis have strong obstacle crossing capabilities and terrain adaptability, and can travel stably on uneven, soft ground and other complex terrain conditions, but they are heavy and have large left and right swing amplitudes, which will also compress and damage photovoltaic panels.

[0004] Therefore, how to have good passability in complex desert and Gobi environments and not cause damage to photovoltaic panels while performing photovoltaic panel cleaning operations is a problem that people hope to solve. Summary of the invention

[0005] In view of the technical problems existing in the photovoltaic panel cleaning device in the prior art, the first aspect of the present invention provides a triangular crawler chassis photovoltaic panel cleaning device, comprising:

[0006] A chassis, wherein four triangular track components are arranged on the chassis, and the triangular track components include a driving wheel, an elastic wheel group, a support plate, a track and a displacement sensor, wherein the driving wheel and the elastic wheel group are both connected to the support plate, and the track is wound around the outer wall of the driving wheel and the elastic wheel group, and the elastic wheel group is arranged to be elastically connected to the support plate and can change the height between the chassis and the chassis, and the displacement sensor is used to detect the displacement change of the elastic wheel group;

[0007] A turntable rotatably connected to the upper part of the chassis;

[0008] an elastic support arm having a first end connected to the turntable;

[0009] a brush roller component connected to the second end of the elastic support arm, the brush roller component comprising a cleaning roller and four pressure wheels arranged around the cleaning roller, the cross-sections of the wheel surfaces of the four pressure wheels are in the same plane, when the pressure wheels contact the surface of the photovoltaic panel, the cleaning roller cleans the area within the outline surrounded by the four pressure wheels, wherein a pressure sensor is provided on the shaft of each pressure wheel;

[0010] A controller, electrically connected to the pressure sensor and the displacement sensor;

[0011] Wherein, the elastic support arm comprises a first connecting arm, a second connecting arm, a third connecting arm and a fourth connecting arm, the first connecting arm is hinged to the turntable, the second connecting arm is hinged to the first connecting arm, the third connecting arm is connected to the second connecting arm through a first elastic telescopic structure, the brush roller component is hinged to the end of the third connecting arm, the two ends of the fourth connecting arm are respectively connected to the third connecting arm and the brush roller component, and the fourth connecting arm is set to a second elastic telescopic structure;

[0012] The controller determines the compression state of each elastic wheel group and the tilt state of the chassis according to the displacement sensor, and determines the contact state of the brush roller component and the photovoltaic panel according to the pressure sensor. The controller controls the expansion and contraction amount of the first elastic telescopic structure and the second elastic telescopic structure so that the four pressure wheels maintain contact with the photovoltaic panel and are within a preset pressure range [Fx, Fm].

[0013] Preferably, the brush roller component also includes a roller frame, the cleaning roller and the pressure wheel are connected to the roller frame, and the four pressure wheels are distributed at the four corners of the rectangle, wherein the two pressure wheels on the left side of the forward direction of the cleaning roller are the first pressure wheel and the second pressure wheel, and the two pressure wheels on the right side of the forward direction of the cleaning roller are the third pressure wheel and the fourth pressure wheel, wherein the pressure sensors arranged at the rotating shafts of the first pressure wheel, the second pressure wheel, the third pressure wheel and the fourth pressure wheel detect pressures F1, F2, F3 and F4 respectively.

[0014] Preferably, the third connecting arm is hinged to the central position of the outer wall of the roller frame and can be tilted in the extension direction of the length of the cleaning roller, and the hinge axes of the first connecting arm, the second connecting arm and the third connecting arm are parallel to each other.

[0015] Preferably, the fourth connecting arm is arranged on a side of the third connecting arm close to the first pressure wheel or the second pressure wheel, the fourth connecting arm includes a pneumatic telescopic rod and a first spring, the first end of the pneumatic telescopic rod is hinged to the third connecting arm, the first end of the first spring is hinged to the second end of the pneumatic telescopic rod, the second end of the first spring is hinged to the roller frame, and the controller is used to control the telescopic state of the pneumatic telescopic rod. When F1 or F2 is reduced to less than Fx, the controller controls the pneumatic telescopic rod to extend, so that F1 or F2∈[Fx, Fm], and when F1 or F2 increases to greater than Fm, the controller controls the pneumatic telescopic rod to shorten, so that F1 or F2∈[Fx, Fm].

[0016] Preferably, the first elastic telescopic structure comprises a driver, a slider, a guide rod and a second spring, the second connecting arm is provided with a slide groove, the slider is slidably connected in the slide groove, the first end of the guide rod is fixed to the third connecting arm, and the second end is slidably connected to the slider, the second spring is between the slider and the retaining ring on the outer wall of the guide rod, when the third connecting arm and the second connecting arm are close to each other, the second spring is compressed, and the driver is used to control the position of the slider to change the compression amount of the second spring;

[0017] Among them, the displacement of the displacement sensors corresponding to the two elastic wheel groups close to the brush roller component is defined as Hn1 or Hn2, and the displacement of the displacement sensors corresponding to the two elastic wheel groups far from the brush roller component is defined as Hf1 or Hf2. When Hn1 or Hn2 is greater than Hf1 or Hf2, the driver controls the movement of the slider to reduce the compression of the second spring and maintain F1, F2, F3 and F4∈[Fx, Fm]. When Hn1 or Hn2 is less than Hf1 or Hf2, the driver controls the movement of the slider to increase the compression of the second spring and maintain F1, F2, F3 and F4∈[Fx, Fm].

[0018] Preferably, when the difference between Hn1 and Hn2 or the difference between Hf1 and Hf2 exceeds a preset value, the driver controls the slider to move so that the compression amount of the second spring is minimized and the pneumatic telescopic rod is shortened to the shortest.

[0019] Preferably, the first connecting arm includes a first curved arm and a first telescopic rod, the first curved arm is hinged to the turntable, the first telescopic rod is connected to the first curved arm and is used to control the angle of the first curved arm relative to the turntable, and the second connecting arm includes a second curved arm and a second telescopic rod, the second curved arm is hingedly connected to the first curved arm, and both ends of the second telescopic rod are respectively connected to the first curved arm and the second curved arm for controlling the relative angle between the two.

[0020] Preferably, the elastic wheel group includes a pair of roller structures and a damper arranged between the pair of roller structures, the roller structure includes a roller frame and a roller, the roller frame is hinged to the support plate, the roller is connected to the roller frame, and the damper is arranged between the two roller frames.

[0021] Preferably, the damper comprises a damping spring and a guide rod, the damping spring comprises a spiral spring, and the displacement sensor is arranged in the guide rod for detecting a change in the length of the guide rod.

[0022] Preferably, the pressure wheel comprises a nylon body and a rubber sleeve, and the rubber sleeve is arranged on the outer wall of the nylon body.

[0023] Compared with the prior art, the advantages of the present invention are:

[0024] The present invention adopts four triangular rubber crawlers to form the driving system of the chassis. The triangular rubber crawler wheels are used to greatly increase the crawler contact area. In combination with the horizontally arranged dampers, the vehicle body can stably travel on uneven, soft ground and other complex terrain conditions, and the swing amplitude of the chassis is reduced.

[0025] The triangular rubber crawler of the present invention is provided with a horizontally arranged damper, which hardly occupies the internal space of the vehicle body, greatly simplifies the vehicle body structure, and is easy to maintain and replace damaged parts;

[0026] The elastic support arm of the present invention adopts a two-stage elastic structure. The first elastic telescopic structure can achieve buffering along the extension direction of the mechanical arm, and the second elastic structure can buffer the rotation angle between the mechanical arm and the brush roller component. The buffering of the two-stage elastic structure can reduce the pressure on the photovoltaic panel caused by the left and right tilting of the chassis.

[0027] The first elastic telescopic structure of the present invention can adjust the length and elasticity, and is particularly suitable for timely compensating the length of the mechanical arm and the pressure of the brush roller component when the chassis is tilted, so that the brush roller component can maintain effective contact with the photovoltaic panel, thereby improving the cleaning effect of the brush roller component on the photovoltaic panel;

[0028] In summary, the cleaning device based on the triangular rubber track proposed in the present invention can meet the cleaning needs of photovoltaic panels in photovoltaic power stations in uneven terrain environments such as deserts and Gobi. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component shown in various figures may be represented by the same reference numeral. For clarity, not every component is labeled in every figure. Embodiments of various aspects of the present invention will now be described by way of example and with reference to the accompanying drawings, in which:

[0030] Figure 1 It is a structural schematic diagram of a triangular crawler chassis type photovoltaic panel cleaning device shown in the present invention;

[0031] Figure 2 is a schematic structural diagram of the elastic support arm shown in the present invention;

[0032] Figure 3 It is a structural schematic diagram of the triangular crawler component shown in the present invention;

[0033] Figure 4 It is a structural schematic diagram of the elastic wheel set shown in the present invention;

[0034] Figure 5 is a structural schematic diagram of a first elastic telescopic structure shown in the present invention;

[0035] Figure 6 It is a schematic diagram of the extension and contraction state of the spring when the proximal triangular crawler component shown in the present invention moves upward;

[0036] Figure 7 It is a schematic diagram of the extension and contraction state of the spring when the proximal triangular crawler component shown in the present invention moves downward;

[0037] Figure 8 It is a schematic diagram of the extension and contraction state of the spring when the distal triangular crawler component shown in the present invention moves upward;

[0038] Fig. 9 It is a schematic diagram of the expansion and contraction state of the spring when the distal triangular track component shown in the present invention moves downward. DETAILED DESCRIPTION

[0039] In order to better understand the technical content of the present invention, specific embodiments are given and described as follows in conjunction with the accompanying drawings.

[0040] Combination Figure 1 and Figure 2 As shown, the first aspect of the present invention provides a triangular crawler chassis photovoltaic panel cleaning device, comprising a chassis 100, a turntable 200, a triangular crawler component 300, an elastic support arm 400 and a brush roller component 500, wherein the triangular crawler component 300 is mounted on the chassis 100 and is responsible for controlling the movement of the chassis 100, and the turntable 200 can control the rotational orientation of the elastic support arm 400 and the brush roller component 500, for example Figure 1 As shown, the turntable 200 rotates the elastic support arm 400 and the brush roller component 500 to one side of the forward direction of the chassis 100, and the brush roller component 500 is exactly the same height as a row of photovoltaic panels 1000. The chassis 100 moves along the arrangement direction of the photovoltaic panels 1000 to clean the row of photovoltaic panels 1000.

[0041] In order to achieve good trafficability, the chassis 100 is provided with four independent triangular track components 300, combined with Figure 3 As shown, each triangular track component 300 includes a driving wheel 310, an elastic wheel set 330, a support plate 340, a track 320 and a displacement sensor.

[0042] Among them, the driving wheel 310 and the elastic wheel group 330 are both connected to the support plate 340, the track 320 is wrapped around the outer walls of the driving wheel 310 and the elastic wheel group 330, and the elastic wheel group 330 is configured to be elastically connected to the support plate 340, and can change the height between the chassis 100.

[0043] Specifically, the driving wheel 310 is driven by an independent motor. When the driving wheel 310 rotates, the track 320 rotates accordingly. Driven by the track 320, the two elastic wheel groups 330 rotate. When the ground is uneven, the two elastic wheel groups 330 can conform to the ground and produce elastic deformation, so that the height of the support plate 340 does not change in real time with the unevenness of the ground, thereby achieving a shock-absorbing effect.

[0044] In this way, when the area passed by any one of the four elastic wheel groups 330 is uneven, the elastic wheel group 330 can deform autonomously to minimize the change in the horizontal posture of the entire chassis 100. Therefore, compared with wheel drive and double track drive, the design of four independent triangular track components 300 has better passability and better stability of the chassis, especially it is not easy to cause a large height difference in the left and right or front and back directions of the chassis.

[0045] In order to better sense the height difference of the chassis 100 left and right or front and back, a displacement sensor is provided to detect the displacement change of the elastic wheel set 330 .

[0046] Specifically, when the upward deformation of the front triangular track component 300 increases, the front side of the chassis 100 tends to increase in height; when the downward deformation of the front triangular track component 300 increases, the front side of the chassis 100 tends to decrease in height; when the upward deformation of the left triangular track component 300 increases, the left side of the chassis 100 tends to increase in height; when the upward deformation of the right triangular track component 300 increases, the right side of the chassis 100 tends to increase in height. Judging these trends helps to control the contact between the brush roller component 500 and the photovoltaic panel 1000.

[0047] Specific, combined Figure 4As shown, the elastic wheel group 330 includes a pair of roller structures 331 and a damper 332 arranged between the pair of roller structures 331, the roller structure 331 includes a roller frame 331a and a roller 331b, the roller frame 331a is hinged to the support plate 340, the roller 331b is connected to the roller frame 331a, and the damper 332 is arranged between the two roller frames 331a.

[0048] like Figure 4 As shown, the intersection of the roller frame 331a and the support plate 340, the hinge point of the roller frame 331a and the roller 331b, and the hinge point of the roller frame 331a and the damper 332 form a triangle. When the roller 331b floats up and down, the damper 332 is in a telescopic state. Therefore, when the roller 331b moves upward due to the convexity of the ground, the damper 332 is compressed. When the roller 331b moves downward due to the concaveness of the ground, the damper 332 extends. The telescopic movement of the damper 332 can form a buffer for the up and down floating of the roller 331b.

[0049] In an optional embodiment, the damper 332 includes a damping spring 332a and a guide rod 332b, the damping spring 332a includes a spiral spring, and a displacement sensor is disposed in the guide rod 332b to detect a length change of the guide rod 332b.

[0050] Among them, the spiral spring can store a large amount of elastic potential energy in a small space through its unique winding structure. When subjected to external force, the spiral spring can quickly generate a large restoring force to achieve efficient energy conversion.

[0051] Specifically, the guide rod 332b includes an inner guide rod and a sleeve rod. When the damping spring 332a is extended or contracted, the length of the guide rod 332b also changes. The displacement sensor is arranged in the guide rod 332b to determine the extension or contraction of the damping spring 332a.

[0052] Furthermore, the turntable 200 is rotatably connected to the top of the chassis 100, the first end of the elastic support arm 400 is connected to the turntable 200, and the brush roller component 500 is connected to the second end of the elastic support arm 400. The turntable 200 can achieve 360° rotation through the gear ring drive system, so that the elastic support arm 400 and the brush roller component 500 are rotated to the required angle, and the brush roller component 500 and the turntable 200 are connected through the elastic support arm 400, so that the brush roller component 500 can reach the target angle and fit with the photovoltaic panel 1000. At the same time, the elastic support arm 400 provides a buffer for the brush roller component 500 and the chassis 100 to prevent the shaking of the chassis 100 from directly causing changes in the pressure of the brush roller component 500 on the surface of the photovoltaic panel 1000.

[0053] Combination Figure 5As shown, the brush roller component 500 includes a cleaning roller 520 and four pressure wheels arranged around the cleaning roller 520, and the cross-sections of the wheel surfaces of the four pressure wheels are in the same plane. When the pressure wheels contact the surface of the photovoltaic panel 1000, the cleaning roller 520 cleans the area within the outline surrounded by the four pressure wheels, and a pressure sensor is provided on the axis of each pressure wheel.

[0054] In a specific embodiment, the positions of the four pressure wheels should correspond to the frame of the photovoltaic panel 1000. The pressure wheels press on the frame and move forward, and the cleaning roller 520 cleans the surface of the photovoltaic panel within the frame. Since the wheel surfaces of the four pressure wheels are in the same plane, when the pressure on the axes of the four pressure wheels is the same, it means that the pressure of the cleaning roller 520 on the surface of the photovoltaic panel is uniform.

[0055] In an optional embodiment, the brush roller component 500 also includes a roller frame 510, and the cleaning roller 520 and the pressure wheel are connected to the roller frame 510, and the four pressure wheels are distributed at the four corners of the rectangle, wherein the two pressure wheels on the left side of the forward direction of the cleaning roller 520 are the first pressure wheel 531 and the second pressure wheel 532, and the two pressure wheels on the right side of the forward direction of the cleaning roller 520 are the third pressure wheel 533 and the fourth pressure wheel 534, wherein the pressure sensors arranged at the rotating shafts of the first pressure wheel 531, the second pressure wheel 532, the third pressure wheel 533 and the fourth pressure wheel 534 detect pressures F1, F2, F3 and F4 respectively.

[0056] Optionally, the pressure wheel includes a nylon body and a rubber sleeve, and the rubber sleeve is arranged on the outer wall of the nylon body. The nylon material can provide better deformation ability and reduce the pressure of the pressure wheel on the surface of the photovoltaic panel 1000.

[0057] Furthermore, the controller is electrically connected to the pressure sensor and the displacement sensor, and the controller determines the compression state of each elastic wheel group 330 and the tilt state of the chassis 100 according to the displacement sensor.

[0058] It should be understood that when F1 and F2 are greater than the preset values, it means that the pressure of the first pressing wheel 531 and the second pressing wheel 532 is large, that is, the pressure on the top of the roller frame 510 is large, and the outer side of the chassis 100 may tilt toward the side of the photovoltaic panel 1000, that is, the height of the outer side of the chassis 100 becomes higher due to the terrain; when F1 and F2 are less than the preset values, it means that the pressure of the first pressing wheel 531 and the second pressing wheel 532 is small, and the outer side of the chassis 100 may tilt toward the side away from the photovoltaic panel 1000, that is, the height of the outer side of the chassis 100 becomes lower due to the terrain;

[0059] When F3 and F4 are greater than the preset values, it means that the pressure of the third pressure wheel 533 and the fourth pressure wheel 534 is large, that is, the inner side of the chassis may tilt toward the side of the photovoltaic panel 1000, that is, the inner side height of the chassis 100 is reduced due to the terrain. When F3 and F4 are less than the preset values, it means that the pressure of the third pressure wheel 533 and the fourth pressure wheel 534 is small, and the inner side of the chassis 100 may tilt toward the side away from the photovoltaic panel 1000, that is, the inner side height of the chassis 100 becomes higher due to the terrain.

[0060] Therefore, when the chassis 100 tilts left or right, it is particularly important to control the contact state between the brush roller component 500 and the photovoltaic panel 1000 to prevent the brush roller component 500 from causing destructive pressure on the surface of the photovoltaic panel 1000.

[0061] Further, combined with Figure 2 and Figure 5 As shown, the elastic support arm 400 includes a first connecting arm 410, a second connecting arm 420, a third connecting arm 430 and a fourth connecting arm 440. The first connecting arm 410 is hinged to the turntable 200, the second connecting arm 420 is hinged to the first connecting arm 420, the third connecting arm 430 is connected to the second connecting arm 420 through a first elastic telescopic structure, the brush roller component 500 is hinged to the end of the third connecting arm 430, and both ends of the fourth connecting arm 440 are respectively connected to the third connecting arm 430 and the brush roller component 500, and the fourth connecting arm 440 is configured as a second elastic telescopic structure.

[0062] It can be seen that the brush roller component 500 and the second connecting arm 420 are connected by two elastic telescopic structures, wherein the first elastic telescopic structure mainly buffers the force in the direction parallel to the third connecting arm 430, and the second elastic telescopic structure mainly buffers the force generated when the brush roller component 500 and the third connecting arm 430 rotate relative to each other. Through these two composite elastic telescopic structures, the chassis 100 can avoid sudden changes in the surface pressure of the photovoltaic panel when it is slightly tilted.

[0063] In an optional embodiment, the third connecting arm 430 is hinged to the central position of the outer wall of the roller frame 510 and can be tilted in the extension direction of the length of the cleaning roller 520, and the hinge axes of the first connecting arm 410, the second connecting arm 420 and the third connecting arm 430 are parallel to each other.

[0064] In this way, when the chassis 100 tilts to the left or right, buffering can be achieved through the first elastic telescopic structure and the second elastic telescopic structure.

[0065] Specifically, the controller determines the contact state between the brush roller component 500 and the photovoltaic panel based on the pressure sensor, and controls the expansion and contraction amount of the first elastic telescopic structure and the second elastic telescopic structure so that the four pressure wheels maintain contact with the photovoltaic panel and are within a preset pressure range [Fx, Fm].

[0066] Combination Figure 5 As shown, the first connecting arm 410 includes a first curved arm 411 and a first telescopic rod 412, the first curved arm 411 is hinged to the turntable 200, the first telescopic rod 412 is connected to the first curved arm 411, and is used to control the angle of the first curved arm 411 relative to the turntable 200, the second connecting arm 420 includes a second curved arm and a second telescopic rod 413, the second curved arm is hinged to the first curved arm 411, and both ends of the second telescopic rod 413 are respectively connected to the first curved arm 411 and the second curved arm, so as to control the relative angle between the two.

[0067] In this way, when the first telescopic rod 412 is extended, the angle of the first curved arm 411 becomes larger, otherwise it becomes smaller. When the second telescopic rod 413 is extended, the second curved arm tilts downward, otherwise it tilts upward. The angle of the end of the second curved arm can be controlled by the first telescopic rod 412 and the second telescopic rod 413, and the third connecting arm 430 is in the extension direction of the second curved arm, so the angle of the end of the third connecting arm 430 can be controlled. When the third connecting arm 430 and the brush roller component 500 are perpendicular, the brush roller component 500 exerts the most uniform force on the entire photovoltaic panel, and the cleaning effect is good.

[0068] Combination Figure 5 As shown, the first elastic telescopic structure includes a driver 421, a slider 422, a guide rod 423 and a second spring 424. A slide groove is provided on the second connecting arm 420, and the slider 422 is slidably connected in the slide groove. The first end of the guide rod 423 is fixed to the third connecting arm 430, and the second end is slidably connected to the slider 422. The second spring 424 is between the slider 422 and the retaining ring on the outer wall of the guide rod 423. When the third connecting arm 430 and the second connecting arm 420 approach each other, the second spring 424 is compressed. The driver 421 is used to control the position of the slider 422 to change the compression amount of the second spring 424.

[0069] Among them, the driver 421 can be optionally an electric telescopic rod, whose front end is connected to the slider 422, and the slider 422 can be controlled to move to different positions in the slide groove of the second connecting arm 420. When the driver 421 is extended and the slider 422 is closer to the third connecting arm 430, the second spring 424 is compressed to a large extent, and the rigidity between the third connecting arm 430 and the second curved arm is stronger. At the same time, the third connecting arm 430 is also closer to the photovoltaic panel 1000. Therefore, when the outer side of the chassis 100 moves downward or the inner side moves upward, the driver 421 can be controlled to extend for compensation; when the slider 422 is closer to the second curved arm, the second spring 424 is compressed to a small extent, and the elasticity between the third connecting arm 430 and the second curved arm is better. At the same time, the third connecting arm 430 is also farther away from the photovoltaic panel 1000. Therefore, when the outer side of the chassis 100 moves upward or the inner side moves downward, the driver 421 can be controlled to shorten for compensation.

[0070] Combination Figure 5 As shown, the fourth connecting arm 440 is arranged on a side of the third connecting arm 430 close to the first pressure wheel 531 or the second pressure wheel 532, and the fourth connecting arm 440 includes a pneumatic telescopic rod 441 and a first spring 442. The first end of the pneumatic telescopic rod 441 is hinged to the third connecting arm 430, the first end of the first spring 442 is hinged to the second end of the pneumatic telescopic rod 441, and the second end of the first spring 442 is hinged to the roller frame 510.

[0071] In this way, the angle change between the roller frame 510 and the third connecting arm 430 can be buffered and compensated by the fourth connecting arm 440 (the second elastic telescopic structure). In particular, when the third connecting arm 430 changes due to the change of the chassis angle, the angle between the third connecting arm 430 and the roller frame 510 also changes accordingly. This change may cause a sudden change in the contact pressure between the pressure wheel and the photovoltaic panel.

[0072] Furthermore, the controller is used to control the telescopic state of the pneumatic telescopic rod 441. When F1 or F2 is reduced to less than Fx, the controller controls the pneumatic telescopic rod 441 to extend so that F1 or F2∈[Fx, Fm]. When F1 or F2 increases to greater than Fm, the controller controls the pneumatic telescopic rod 441 to shorten so that F1 or F2∈[Fx, Fm].

[0073] In this way, by controlling the length of the pneumatic telescopic rod 441 , the four pressure wheels can be kept in contact with the surface of the photovoltaic panel, and the contact has a suitable contact pressure.

[0074] In an optional embodiment, the pneumatic telescopic rod is a bidirectional cylinder, which can realize the extension and retraction of the telescopic rod. At the same time, the telescopic rod has a certain floating amount when it is compressed in the cylinder body, which can improve the buffering effect of the fourth connecting arm 440.

[0075] Specifically, the displacement of the displacement sensors corresponding to the two elastic wheel groups 330 close to the brush roller component 500 is defined as Hn1 or Hn2, and the displacement of the displacement sensors corresponding to the two elastic wheel groups 330 far from the brush roller component 500 is defined as Hf1 or Hf2.

[0076] It should be understood that the initial height of the elastic wheel group 330 is H0. When the ground is concave, the height of the elastic wheel group 330 decreases and moves downward to H1. At this time, H1 is smaller than H0. When the ground is convex, the height of the elastic wheel group 330 increases and moves upward to H2. At this time, H2 is greater than H0. Therefore, the upward displacement is regarded as a positive value, and the downward displacement is regarded as a negative value.

[0077] Thus, when Hn1 or Hn2 is greater than Hf1 or Hf2, it means that any one of the two elastic wheel groups 330 close to the brush roller component 500 is higher than the two elastic wheel groups 330 on the side away from the brush roller component 500. Figure 6 As shown, the right side of the chassis 100 rises. At this time, the brush roller component 500 tends to separate from the photovoltaic panel. Therefore, the driver 421 controls the movement of the slider 422 to reduce the compression of the second spring 424, that is, the driver 421 extends, and the third connecting arm 430 moves toward the photovoltaic panel in compensation. The rigidity between the third connecting arm 430 and the second bent arm increases, and according to the pressure of each pressure wheel, F1, F2, F3 and F4∈[Fx, Fm] are maintained. When any pressure is greater than the preset range, the extension of the driver 421 is stopped. If all pressures are less than the preset range, the extension of the driver 421 continues to be controlled.

[0078] During this process, if the pressure difference between F1 or F2 and F3 or F4 is greater than a preset value, that is, the pressure difference between the upper and lower parts is too large, the pneumatic telescopic rod 441 is controlled to extend for angle compensation.

[0079] Combination Figure 7 As shown, when the right side is lowered, at this time, the brush roller component 500 tends to press the photovoltaic panel. Therefore, the driver 421 controls the movement of the slider 422 to increase the compression of the second spring 424, that is, the driver 421 is shortened, and the third connecting arm 430 compensatory moves away from the photovoltaic panel, so that the elasticity between the third connecting arm 430 and the second bent arm is increased. At the same time, according to the pressure of each pressure wheel, F1, F2, F3 and F4∈[Fx, Fm] are maintained. When any one of the pressures is greater than the preset range, when any one of the pressures is less than the preset value, the driver 421 is stopped from continuing to shorten. If all the pressures are greater than the preset range, the driver 421 continues to be controlled to shorten.

[0080] During this process, if the pressure difference between F1 or F2 and F3 or F4 is greater than a preset value, that is, the pressure difference between the upper and lower parts is too large, the pneumatic telescopic rod 441 is controlled to shorten for angle compensation.

[0081] When Hn1 or Hn2 is less than Hf1 or Hf2, it means that any one of the two elastic wheel groups 330 close to the brush roller component 500 is lower than the height of the two elastic wheel groups 330 away from the brush roller component 500. Figure 8As shown, the left side of the chassis 100 rises. At this time, the brush roller component 500 tends to press the photovoltaic panel. Therefore, the driver 421 controls the movement of the slider 422 to increase the compression of the second spring 424, that is, the driver 421 is shortened, and the third connecting arm 430 moves away from the photovoltaic panel. The elasticity between the third connecting arm 430 and the second bent arm increases, and according to the pressure of each pressure wheel, F1, F2, F3 and F4∈[Fx, Fm] are maintained. When all the pressures are less than the preset range, the driver 421 is stopped from continuing to shorten. If one of the pressures is greater than the preset range, the driver 421 continues to be controlled to shorten.

[0082] During this process, if the pressure difference between F1 or F2 and F3 or F4 is greater than a preset value, that is, the pressure difference between the upper and lower parts is too large, the pneumatic telescopic rod 441 is controlled to shorten for angle compensation.

[0083] Combination Fig. 9 As shown, when the left side of the chassis 100 descends, the brush roller component 500 tends to separate from the photovoltaic panel. Therefore, the driver 421 controls the movement of the slider 422 to reduce the compression of the second spring 424, that is, the driver 421 extends, and the third connecting arm 430 moves toward the photovoltaic panel in compensation. The rigidity between the third connecting arm 430 and the second bent arm increases, and according to the pressure of each pressure wheel, F1, F2, F3 and F4∈[Fx, Fm] are maintained. When any pressure is greater than the preset range, the extension of the driver 421 is stopped. If all pressures are less than the preset range, the extension of the driver 421 continues to be controlled.

[0084] During this process, if the pressure difference between F1 or F2 and F3 or F4 is greater than a preset value, that is, the pressure difference between the upper and lower parts is too large, the pneumatic telescopic rod 441 is controlled to shorten for angle compensation.

[0085] In an optional embodiment, when the difference between Hn1 and Hn2 or the difference between Hf1 and Hf2 exceeds a preset value, it indicates that the height difference between the front and rear of the chassis 100 is large. At this time, the driver 421 controls the movement of the slider 422 to minimize the compression of the second spring 424 and shorten the pneumatic telescopic rod 441 to the shortest.

[0086] In this way, the elasticity between the third connecting arm 430 and the second bent arm is the greatest, and the brush roller component 500 has the best elasticity when changing its angle, which can avoid large pressure changes between the brush roller component 500 and the surface of the photovoltaic panel 1000 caused by the front and rear tilting of the chassis 100.

[0087] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. A person with ordinary knowledge in the technical field to which the present invention belongs may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be determined by the definition of the claims.

Claims

1. A triangular crawler chassis photovoltaic panel cleaning device, characterized in that: include: A chassis (100), wherein four triangular track components (300) are provided on the chassis (100), wherein the triangular track components (300) comprise a driving wheel (310), an elastic wheel group (330), a support plate (340), a track (320) and a displacement sensor, wherein the driving wheel (310) and the elastic wheel group (330) are both connected to the support plate (340), the track (320) is wound around the outer walls of the driving wheel (310) and the elastic wheel group (330), the elastic wheel group (330) is arranged to be elastically connected to the support plate (340) and can change the height between the chassis (100), and the displacement sensor is used to detect the displacement change of the elastic wheel group (330); A turntable (200) rotatably connected to the upper part of the chassis (100); An elastic support arm (400), a first end of which is connected to the turntable (200); a brush roller component (500) connected to the second end of the elastic support arm (400), the brush roller component (500) comprising a cleaning roller (520) and four pressure wheels arranged around the cleaning roller (520), the cross-sections of the wheel surfaces of the four pressure wheels being in the same plane, and when the pressure wheels are in contact with the surface of the photovoltaic panel (1000), the cleaning roller (520) cleans the area within the outline formed by the four pressure wheels, wherein a pressure sensor is provided on the shaft of each pressure wheel; A controller, electrically connected to the pressure sensor and the displacement sensor; Wherein, the elastic support arm (400) comprises a first connecting arm (410), a second connecting arm (420), a third connecting arm (430) and a fourth connecting arm (440); the first connecting arm (410) is hinged to the turntable (200); the second connecting arm (420) is hinged to the first connecting arm (420); the third connecting arm (430) is connected to the second connecting arm (420) via a first elastic telescopic structure; the brush roller component (500) is hinged to the end of the third connecting arm (430); the two ends of the fourth connecting arm (440) are respectively connected to the third connecting arm (430) and the brush roller component (500); and the fourth connecting arm (440) is configured as a second elastic telescopic structure; The controller determines the compression state of each elastic wheel group (330) and the tilt state of the chassis (100) based on the displacement sensor, and determines the contact state between the brush roller component (500) and the photovoltaic panel based on the pressure sensor. The controller controls the expansion and contraction amount of the first elastic telescopic structure and the second elastic telescopic structure so that the four pressure wheels maintain contact with the photovoltaic panel and are within a preset pressure range [Fx, Fm].

2. The triangular crawler chassis photovoltaic panel cleaning device according to claim 1, characterized in that: The brush roller component (500) further comprises a roller frame (510), the cleaning roller (520) and the pressure wheel are connected to the roller frame (510), and the four pressure wheels are distributed at the four corners of a rectangle, wherein the two pressure wheels on the left side of the forward direction of the cleaning roller (520) are the first pressure wheel (531) and the second pressure wheel (532), and the two pressure wheels on the right side of the forward direction of the cleaning roller (520) are the third pressure wheel (533) and the fourth pressure wheel (534), wherein the pressures detected by the pressure sensors arranged at the rotating shafts of the first pressure wheel (531), the second pressure wheel (532), the third pressure wheel (533) and the fourth pressure wheel (534) are F1, F2, F3 and F4 respectively.

3. The triangular crawler chassis photovoltaic panel cleaning device according to claim 2, characterized in that: The third connecting arm (430) is hinged to the central position of the outer wall of the roller frame (510) and can be tilted in the extension direction of the length of the cleaning roller (520), and the hinge axes of the first connecting arm (410), the second connecting arm (420) and the third connecting arm (430) are parallel to each other.

4. The triangular crawler chassis photovoltaic panel cleaning device according to claim 2, characterized in that: The fourth connecting arm (440) is arranged on a side of the third connecting arm (430) close to the first pressure wheel (531) or the second pressure wheel (532). The fourth connecting arm (440) includes a pneumatic telescopic rod (441) and a first spring (442). The first end of the pneumatic telescopic rod (441) is hinged to the third connecting arm (430), the first end of the first spring (442) is hinged to the second end of the pneumatic telescopic rod (441), and the second end of the first spring (442) is hinged to the roller frame (510). The controller is used to control the telescopic state of the pneumatic telescopic rod (441). When F1 or F2 decreases to less than Fx, the controller controls the pneumatic telescopic rod (441) to extend so that F1 or F2∈[Fx, Fm]. When F1 or F2 increases to greater than Fm, the controller controls the pneumatic telescopic rod (441) to shorten so that F1 or F2∈[Fx, Fm].

5. The triangular crawler chassis photovoltaic panel cleaning device according to claim 4, characterized in that: The first elastic telescopic structure comprises a driver (421), a slider (422), a guide rod (423) and a second spring (424); a slide groove is provided on the second connecting arm (420); the slider (422) is slidably connected in the slide groove; a first end of the guide rod (423) is fixed to the third connecting arm (430); a second end is slidably connected to the slider (422); the second spring (424) is between the slider (422) and a retaining ring on the outer wall of the guide rod (423); when the third connecting arm (430) and the second connecting arm (420) are close to each other, the second spring (424) is compressed; the driver (421) is used to control the position of the slider (422) so that the compression amount of the second spring (424) changes; The displacement of the displacement sensors corresponding to the two elastic wheel groups (330) close to the brush roller component (500) is defined as Hn1 or Hn2, and the displacement of the displacement sensors corresponding to the two elastic wheel groups (330) far from the brush roller component (500) is defined as Hf1 or Hf2. When Hn1 or Hn2 is greater than Hf1 or Hf2, the driver (421) controls the movement of the slider (422) to reduce the compression of the second spring (424) and maintain F1, F2, F3 and F4∈[Fx, Fm]. When Hn1 or Hn2 is less than Hf1 or Hf2, the driver (421) controls the movement of the slider (422) to increase the compression of the second spring (424) and maintain F1, F2, F3 and F4∈[Fx, Fm].

6. The triangular crawler chassis photovoltaic panel cleaning device according to claim 5, characterized in that: When the difference between Hn1 and Hn2 or the difference between Hf1 and Hf2 exceeds a preset value, the driver (421) controls the slider (422) to move, so that the compression amount of the second spring (424) is minimized and the pneumatic telescopic rod (441) is shortened to the shortest.

7. The triangular crawler chassis photovoltaic panel cleaning device according to claim 1, characterized in that: The first connecting arm (410) includes a first curved arm (411) and a first telescopic rod (412), the first curved arm (411) is hinged to the turntable (200), the first telescopic rod (412) is connected to the first curved arm (411), and is used to control the angle of the first curved arm (411) relative to the turntable (200), the second connecting arm (420) includes a second curved arm and a second telescopic rod (413), the second curved arm is hinged to the first curved arm (411), and two ends of the second telescopic rod (413) are respectively connected to the first curved arm (411) and the second curved arm, and are used to control the relative angle between the two.

8. The triangular crawler chassis photovoltaic panel cleaning device according to claim 1, characterized in that: The elastic wheel group (330) comprises a pair of roller structures (331) and a damper (332) arranged between the pair of roller structures (331); the roller structure (331) comprises a roller frame (331a) and a roller (331b); the roller frame (331a) is hinged to the support plate (340); the roller (331b) is connected to the roller frame (331a); and the damper (332) is arranged between the two roller frames (331a).

9. The triangular crawler chassis photovoltaic panel cleaning device according to claim 8, characterized in that: The damper (332) comprises a damping spring (332a) and a guide rod (332b), wherein the damping spring (332a) comprises a spiral spring, and the displacement sensor is arranged in the guide rod (332b) for detecting a change in the length of the guide rod (332b).

10. The triangular crawler chassis photovoltaic panel cleaning device according to claim 1, characterized in that: The pressure wheel comprises a nylon body and a rubber sleeve, and the rubber sleeve is arranged on the outer wall of the nylon body.

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