Automatic cleaning robot for solar photovoltaic array

Abstract

The invention discloses a solar photovoltaic array automatic cleaning robot which comprises a linear photovoltaic array formed by distributing a plurality of photovoltaic panels along a horizontal straight line, and any two adjacent photovoltaic panels in the linear photovoltaic array are aligned and spliced with each other; a cleaning robot is arranged on the linear photovoltaic array; the whole cleaning robot walks in the length direction of the linear photovoltaic array; the linear photovoltaic array comprises a first linear edge and a second linear edge which extend in parallel in the length direction, a first walking unit and a second walking unit are arranged at the two ends of the cleaning robot correspondingly, and the first walking unit and the second walking unit can walk in the extending direction of the first linear edge and the extending direction of the second linear edge correspondingly. According to the scheme, fine cleaning and linear offset actions are completed at the same time through one driving motor.

Description

Technical Field

[0001] The invention belongs to the field of photovoltaic cleaning robots. Background Art

[0002] The fine cleaning of the photovoltaic panel surface is achieved by performing a local cleaning action on the photovoltaic panel surface while allowing the cleaning unit to shift its position regularly, thereby achieving the purpose of fine cleaning of the entire area;

[0003] Assuming that the surface of the solar photovoltaic array is an XY plane, the motion components of the existing local fine cleaning robot on the surface of the solar photovoltaic array generally include at least the following three kinds of motion: displacement motion in the X direction, displacement motion in the Y direction, self-rotation or linear cleaning motion of the cleaning brush structure; if the displacement motion in the X direction and the displacement motion in the Y direction are to be integrated, a complex steering drive device needs to be added; therefore, the existing photovoltaic surface cleaning robot requires at least three sets of relatively independent drive devices to complete the complete fine cleaning action; which in turn causes the problem of excessive cost of the robot's power devices due to the large number of them. Summary of the invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a solar photovoltaic array automatic cleaning robot that simultaneously completes fine cleaning and linear offset actions through a drive motor.

[0005] Technical solution: To achieve the above-mentioned purpose, the present invention provides a solar photovoltaic array automatic cleaning robot, comprising a linear photovoltaic array composed of a number of photovoltaic panels distributed along a horizontal straight line, any two adjacent photovoltaic panels in the linear photovoltaic array are aligned and spliced ​​with each other; a cleaning robot is arranged on the linear photovoltaic array; the cleaning robot as a whole moves along the length direction of the linear photovoltaic array;

[0006] The linear photovoltaic array includes a first linear edge and a second linear edge extending in parallel along the length direction. The first walking unit and the second walking unit are respectively provided at both ends of the cleaning robot. The first walking unit and the second walking unit can walk along the extension direction of the first linear edge and the second linear edge respectively.

[0007] Furthermore, the cleaning robot includes a rack beam, which is perpendicular to the first straight edge and the second straight edge and parallel to the upper side of the photovoltaic panel. Both ends of the rack beam are fixedly connected to the housings of the first walking unit and the second walking unit through connecting seats.

[0008] Furthermore, the two ends of the rack beam are rotatably mounted with a first synchronous pulley and a second synchronous pulley through synchronous wheel supports; it also includes a closed-loop cleaning synchronous belt, and the inner sides of the two ends of the cleaning synchronous belt respectively cross the side where the first synchronous pulley and the second synchronous pulley are away from each other.

[0009] Furthermore, a cleaning brush array is evenly distributed on the outer ring surface of the closed-loop structure of the cleaning synchronous belt along the path direction.

[0010] Furthermore, the cleaning brush array is a nylon brush.

[0011] Furthermore, a driving pulley which can be driven by the driving device is rotatably mounted on the upper side of the middle portion of the rack beam through a driving wheel support;

[0012] Furthermore, the outer periphery of the driving pulley is a pulley groove, and a transmission tooth body is arranged in a circular array along the contour of one side of the wheel groove. A driving motor is installed on the driving wheel support, and the output end of the driving motor is driven and connected to a driving gear, which meshes with the transmission tooth body.

[0013] Furthermore, within the enclosed range of the cleaning synchronous belt, the cleaning synchronous belt on the upper side of the rack beam is recorded as the upper section of the cleaning synchronous belt, and the cleaning synchronous belt on the lower side of the rack beam is recorded as the lower section of the cleaning synchronous belt; a tooth array is arranged along the length direction on the lower side of the rack beam; a floating ring is arranged on the lower side of the rack beam, and circular flanges are arranged coaxially at both ends of the floating ring along the contour, and a coaxial outer gear ring is arranged between the two circular flanges;

[0014] The rack beam is clamped between two circular flanges at the upper end of the floating ring, and the tooth array on the lower side of the rack beam meshes with the outer tooth ring of the floating ring;

[0015] Clean the upper side of the pulley groove in the middle of the upper section of the synchronous belt that crosses the drive pulley;

[0016] The lower section of the cleaning synchronous belt crosses over the lower side of the outer gear ring of the floating ring and is clamped between the two circular ring flanges at the lower end of the floating ring.

[0017] Furthermore, the upper side of the rack beam includes two tensioning wheels, which are symmetrical to the two sides of the driving pulley. Under the action of the elastic component, the two tensioning wheels press downward and bend the upper section of the cleaning synchronous belt, so that the cleaning synchronous belt is tensioned as a whole, so that the tensioned lower section of the cleaning synchronous belt forms an upward force on the floating ring, so that the tooth array on the lower side of the rack beam and the outer gear ring of the floating ring are always stably meshed, and the linear motion of the cleaning synchronous belt along its own extension path drives the floating ring to rotate under the driving force of friction;

[0018] The lower section of the cleaning synchronous belt forms the lowest point of the lower section of the cleaning synchronous belt at the crossing point on the lower side of the outer gear ring of the floating ring, and the cleaning brush array at the lower end of the lowest point of the lower section of the cleaning synchronous belt just contacts and frictionally fits the surface of the photovoltaic panel.

[0019] Further, a working method of a solar photovoltaic array automatic cleaning robot:

[0020] By continuously rotating the driving pulley back and forth, the lowest part of the lower section of the cleaning synchronous belt is linearly offset and finely cleaned back and forth along the length direction of the rack beam until the parallel strip-shaped straight line area below the rack beam is completely cleaned;

[0021] When the photovoltaic panel surface in the parallel strip straight line area below the rack beam is completely cleaned, the first walking unit and the second walking unit are controlled to make the cleaning robot walk along the length direction of the straight photovoltaic array by a distance of the cleaning synchronous belt width, and then repeat the previous process to achieve fine cleaning of a new strip straight line area on the photovoltaic panel surface;

[0022] The above process is repeated continuously until the surface of the entire linear photovoltaic array is cleaned at least once.

[0023] Beneficial effect: Compared with the existing three relatively independent drive structures, this scheme only needs two drive structures; the drive motor of the present invention enables the cleaning brush array at the lower end of the lowest point of the lower section of the cleaning synchronous belt to perform local friction cleaning on the local position of the surface of the photovoltaic panel, while the lowest point of the lower section of the cleaning synchronous belt will also be linearly offset along the length direction of the rack beam. By continuously reversing the drive pulley back and forth, the lowest point of the lower section of the cleaning synchronous belt is linearly offset and finely cleaned back and forth along the length direction of the rack beam. One drive motor simultaneously completes the fine cleaning and linear offset actions, thereby reducing one set of power systems compared with the existing drive form, making the structure of this scheme more concise and at the same time having better cost advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is the overall schematic diagram of this scheme;

[0025] Figure 2 for Figure 1 A local enlarged schematic diagram of the mark 6;

[0026] Figure 3 This is a disassembly diagram of the automatic cleaning robot;

[0027] Figure 4 for Figure 2 A-direction view. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings.

[0029] As attached Figures 1 to 4 A solar photovoltaic array automatic cleaning robot as shown in Figure 1, including a linear photovoltaic array 4.1 composed of a number of photovoltaic panels 4 distributed along a horizontal straight line, any two adjacent photovoltaic panels 4 in the linear photovoltaic array 4.1 are aligned and spliced ​​with each other; the linear photovoltaic array 4.1 includes a first linear edge 4a and a second linear edge 4b ​​extending in parallel along the length direction.

[0030] A cleaning robot 11 is arranged on the linear photovoltaic array 4.1; a first walking unit 2 and a second walking unit 3 are arranged at both ends of the cleaning robot 11, and the first walking unit 2 and the second walking unit 3 can walk along the extension direction of the first linear edge 4a and the second linear edge 4b ​​respectively, so that the cleaning robot 11 as a whole can walk along the length direction of the linear photovoltaic array 4.1; in this case, one of the first walking unit 2 and the second walking unit 3 can be active walking, the other can be passive walking, or both can be active walking; since the first walking unit 2 and the second walking unit 3 can walk along the extension direction of the first linear edge 4a and the second linear edge 4b The first walking unit 2 and the second walking unit 3 walking in the extension direction are mature existing technologies, such as "CN202410415242.0 A photovoltaic cleaning robot with adaptive obstacle crossing and deviation correction" and other disclosed technologies, so its specific internal structure is not repeated in this case; the first walking unit 2 and the second walking unit 3 realize the "displacement movement in the Y direction" in the background technology; in this case, in addition to the first walking unit 2 and the second walking unit 3 that are necessary to realize the "displacement movement in the Y direction", only an additional drive motor 23 is required to complete the entire process of fine cleaning, and the specific scheme is as follows:

[0031] The cleaning robot 11 includes a rack beam 10, and a tooth array is arranged on the lower side of the rack beam 10 along the length direction. The rack beam 10 is perpendicular to the first straight edge 4a and the second straight edge 4b, and parallel to the upper side of the photovoltaic panel 4. The two ends of the rack beam 10 are respectively fixedly connected to the housings of the first walking unit 2 and the second walking unit 3 through a connecting seat 7; the two ends of the rack beam 10 are also rotatably installed with the first synchronous pulley 9a and the second synchronous pulley 9b through a synchronous wheel support 8; the middle upper side of the rack beam 10 is rotatably installed with a driving pulley 19 that can be driven by a driving device through a driving wheel support 22.

[0032] The outer periphery of the driving pulley 19 is a pulley groove 20, and a transmission tooth body 21 is arranged in a circular array along the contour of one side of the wheel groove 20. A driving motor 23 is installed on the driving wheel support 22. The output end of the driving motor 23 is connected to a driving gear 24, and the driving gear 24 is meshed with the transmission tooth body 21.

[0033] It also includes a closed-loop cleaning synchronous belt 1, the inner sides of the two ends of the cleaning synchronous belt 1 respectively cross the side where the first synchronous pulley 9a and the second synchronous pulley 9b are away from each other; the rack beam 10 is within the enclosed range of the cleaning synchronous belt 1, and the cleaning synchronous belt 1 on the upper side of the rack beam 10 is recorded as the cleaning synchronous belt upper section 1a, and the cleaning synchronous belt 1 on the lower side of the rack beam 10 is recorded as the cleaning synchronous belt lower section 1b.

[0034] A floating ring 26 is provided on the lower side of the rack beam 10, and circular flanges 25 are coaxially provided at both ends of the floating ring 26 along the contour, and a coaxial outer gear ring 27 is provided between the two circular flanges 25; the rack beam 10 is clamped between the two circular flanges 25 at the upper end of the floating ring 26, and the tooth array on the lower side of the rack beam 10 is meshed with the outer gear ring 27 of the floating ring 26; the middle part of the upper section 1a of the cleaning synchronous belt crosses the upper side of the pulley groove 20 of the driving pulley 19.

[0035] In the present case, the pulley groove 20 is a toothed pulley groove or a toothless pulley groove; the lower section 1b of the cleaning synchronous belt crosses the lower side of the outer gear ring 27 of the floating ring 26 and is clamped between the two annular flanges 25 at the lower end of the floating ring 26; the upper side of the rack beam 10 includes two tensioning wheels 12, and the two tensioning wheels 12 are symmetrical on both sides of the driving pulley 19. The two tensioning wheels 12 press downward and bend the upper section 1a of the cleaning synchronous belt under the action of the elastic component, so that the cleaning synchronous belt 1 is tensioned as a whole, so that the tensioned lower section 1b of the cleaning synchronous belt forms an upward force on the floating ring 26, so that the tooth array on the lower side of the rack beam 10 is always stably meshed with the outer gear ring 27 of the floating ring 26, and the linear movement of the cleaning synchronous belt 1 along its own extension path drives the floating ring 26 to rotate under the drive of friction; Figure 4 As shown, a cleaning brush array 1a is evenly distributed in an array along the path direction on the outer ring surface of the closed-loop structure of the cleaning synchronous belt 1, and specifically can be a relatively hard nylon brush.

[0036] The lower section 1b of the cleaning synchronous belt forms the lowest point 1c of the cleaning synchronous belt at the crossing point on the lower side of the outer gear ring 27 of the floating ring 26. The cleaning brush array 1a at the lower end of the lowest point 1c of the cleaning synchronous belt lower section 1b just contacts and frictionally fits the surface of the photovoltaic panel 4.

[0037] The tensioning wheel 12 is rotatably mounted on the tensioning wheel support 13, and a pair of horizontal guide hole seats 17 are fixed at the lower end of the tensioning wheel support 13. A guide column 16 movably passes through the vertical guide hole on the guide hole seat 17. The lower ends of the pair of guide columns 16 are fixedly connected to the fixed seat 14, and the fixed seat 14 is fixed on the upper side of the rack beam 10. A pulling spring 15 is arranged outside each guide column 16. The pulling spring 15 forms a downward elastic pulling force on the guide hole seat 17, so that the tensioning wheel 12 presses downward and bends the upper section 1a of the cleaning synchronous belt, so that the cleaning synchronous belt 1 is tensioned as a whole.

[0038] Working principle:

[0039] A cleaning cycle process:

[0040] The driving motor 23 drives the driving pulley 19 to rotate forward or reversely through the driving gear 24, so that the cleaning synchronous belt 1 makes a linear motion along its own contour path under the drive of the driving pulley 19, and the cleaning brush array 1a of the outer ring of the cleaning synchronous belt 1 also makes continuous linear motion. Therefore, the linear motion makes the cleaning brush array 1a at the lower end of the cleaning synchronous belt lower section 1b at the lowest point 1c of the cleaning synchronous belt lower section perform local fine friction cleaning on the local position of the surface of the photovoltaic panel 4. The local small area friction cleaning method can effectively remove the dirt such as mud and dust adhering to the local position of the surface of the photovoltaic panel 4; at the same time, the linear motion of the cleaning synchronous belt 1 along its own extension path will also drive the floating ring 26 to rotate under the drive of friction force, and because the tooth array on the lower side of the rack beam 10 and the outer tooth array of the floating ring 26 The ring 27 is always stably meshed, so the floating ring 26 will also mesh with the tooth array on the lower side of the rack beam 10 during its rotation, so that the floating ring 26 rolls along the length direction of the rack beam 10, and then the cleaning brush array 1a at the lower end of the cleaning synchronous belt lower section 1b at the lowest point 1c of the cleaning synchronous belt lower section performs local friction cleaning on the local position of the photovoltaic panel 4 surface. At the same time, the lowest point 1c of the cleaning synchronous belt lower section will also be linearly offset along the length direction of the rack beam 10. By continuously rotating the driving pulley 19 back and forth, the lowest point 1c of the cleaning synchronous belt lower section is linearly offset and finely cleaned back and forth along the length direction of the rack beam 10 until the parallel strip straight line area below the rack beam 10 is completely cleaned. In the above process, the length of the pulling spring 15 changes adaptively, so that the cleaning synchronous belt 1 is always in a taut state.

[0041] After the surface of the photovoltaic panel 4 in the parallel strip straight area below the rack beam 10 is thoroughly cleaned, the first walking unit 2 and the second walking unit 3 are controlled to make the cleaning robot 11 walk as a whole along the length direction of the linear photovoltaic array 4.1 a distance the width of the cleaning synchronous belt 1, and then repeat the previous process to achieve fine cleaning of a new strip straight area on the surface of the photovoltaic panel 4.

[0042] The above process is repeated continuously until the surface of the entire linear photovoltaic array 4.1 is cleaned at least once.

[0043] The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A solar photovoltaic array automatic cleaning robot, characterized in that: It comprises a linear photovoltaic array (4.1) composed of a plurality of photovoltaic panels (4) distributed along a horizontal straight line, wherein any two adjacent photovoltaic panels (4) in the linear photovoltaic array (4.1) are aligned and spliced ​​with each other; a cleaning robot (11) is arranged on the linear photovoltaic array (4.1); the cleaning robot (11) moves as a whole along the length direction of the linear photovoltaic array (4.1); The linear photovoltaic array (4.1) comprises a first linear side (4a) and a second linear side (4b) extending in parallel along a length direction; a first walking unit (2) and a second walking unit (3) are respectively provided at two ends of the cleaning robot (11); the first walking unit (2) and the second walking unit (3) can respectively walk along the extension direction of the first linear side (4a) and the second linear side (4b).

2. A solar photovoltaic array automatic cleaning robot according to claim 1, characterized in that: The cleaning robot (11) comprises a rack beam (10), wherein the rack beam (10) is perpendicular to the first straight edge (4a) and the second straight edge (4b), and parallel to the upper side of the photovoltaic panel (4), and the two ends of the rack beam (10) are respectively fixedly connected to the casings of the first walking unit (2) and the second walking unit (3) via a connecting seat (7).

3. A solar photovoltaic array automatic cleaning robot according to claim 2, characterized in that: The two ends of the rack beam (10) are also rotatably mounted with a first synchronous pulley (9a) and a second synchronous pulley (9b) via a synchronous wheel support (8); and the rack beam (10) also includes a cleaning synchronous belt (1) in a closed loop, wherein the inner sides of the two ends of the cleaning synchronous belt (1) respectively cross the side of the first synchronous pulley (9a) and the second synchronous pulley (9b) that are away from each other.

4. The solar photovoltaic array automatic cleaning robot according to claim 2, characterized in that: On the outer ring surface of the closed-loop structure of the cleaning synchronous belt (1), a cleaning brush array (1a) is evenly distributed in an array along the path direction.

5. The solar photovoltaic array automatic cleaning robot according to claim 4, characterized in that: The cleaning brush array (1a) is a nylon brush.

6. The solar photovoltaic array automatic cleaning robot according to claim 4, characterized in that: A driving pulley (19) which can be driven by a driving device is rotatably mounted on the upper side of the middle portion of the rack beam (10) via a driving wheel support (22).

7. A solar photovoltaic array automatic cleaning robot according to claim 6, characterized in that: The outer periphery of the driving pulley (19) is a pulley groove (20), and a transmission tooth body (21) is arranged in a circumferential array along the contour of one side of the wheel groove (20). A driving motor (23) is installed on the driving wheel support (22), and the output end of the driving motor (23) is drivingly connected to a driving gear (24), and the driving gear (24) is meshed with the transmission tooth body (21).

8. The solar photovoltaic array automatic cleaning robot according to claim 7, characterized in that: The rack beam (10) is within the enclosed range of the cleaning synchronous belt (1), the cleaning synchronous belt (1) on the upper side of the rack beam (10) is recorded as the cleaning synchronous belt upper section (1a), and the cleaning synchronous belt (1) on the lower side of the rack beam (10) is recorded as the cleaning synchronous belt lower section (1b); a tooth array is arranged on the lower side of the rack beam (10) along the length direction; a floating ring (26) is arranged on the lower side of the rack beam (10), and circular flanges (25) are arranged coaxially at both ends of the floating ring (26) along the contour, and a coaxial outer gear ring (27) is arranged between the two circular flanges (25); The rack beam (10) is sandwiched between two annular flanges (25) at the upper end of the floating ring (26), and the tooth array on the lower side of the rack beam (10) is meshed with the outer tooth ring (27) of the floating ring (26); The middle portion of the upper section (1a) of the cleaning synchronous belt crosses over the upper side of the pulley groove (20) of the driving pulley (19); The lower section (1b) of the cleaning synchronous belt crosses over the lower side of the outer gear ring (27) of the floating ring (26) and is clamped between two annular flanges (25) at the lower end of the floating ring (26).

9. The solar photovoltaic array automatic cleaning robot according to claim 8, characterized in that: The upper side of the rack beam (10) includes two tensioning wheels (12), and the two tensioning wheels (12) are symmetrical to the two sides of the driving pulley (19). Under the action of the elastic component, the two tensioning wheels (12) press downward and bend the upper section (1a) of the cleaning synchronous belt, so that the cleaning synchronous belt (1) is tensioned as a whole, so that the tensioned lower section (1b) of the cleaning synchronous belt forms an upward force on the floating ring (26), so that the tooth array on the lower side of the rack beam (10) and the outer tooth ring (27) of the floating ring (26) are always stably meshed, and the linear movement of the cleaning synchronous belt (1) along its own extension path drives the floating ring (26) to rotate under the drive of friction; The lower section (1b) of the cleaning synchronous belt forms the lowest point (1c) of the cleaning synchronous belt at the crossing point on the lower side of the outer gear ring (27) of the floating ring (26), and the cleaning brush array (1a) at the lower end of the lowest point (1c) of the cleaning synchronous belt of the lower section (1b) of the cleaning synchronous belt just contacts and frictionally fits the surface of the photovoltaic panel (4).

10. The working method of a solar photovoltaic array automatic cleaning robot according to claim 9, characterized in that: By continuously rotating the driving pulley (19) back and forth, the lowest part (1c) of the lower section of the cleaning synchronous belt is linearly offset and finely cleaned back and forth along the length direction of the rack beam (10) until the parallel strip-shaped straight line area below the rack beam (10) is completely cleaned; When the surface of the photovoltaic panel (4) in the parallel strip-shaped straight line area below the rack beam (10) is completely cleaned, the first walking unit (2) and the second walking unit (3) are controlled to make the cleaning robot (11) walk along the length direction of the straight photovoltaic array (4.1) by a distance of the width of the cleaning synchronous belt (1), and then repeat the previous process to achieve fine cleaning of a new strip-shaped straight line area on the surface of the photovoltaic panel (4); The above process is repeated continuously until the surface of the entire linear photovoltaic array (4.1) is cleaned at least once.

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