Steel wire rope traction type photovoltaic cleaning robot and control method

Abstract

The embodiment of the invention provides a steel wire rope traction type photovoltaic cleaning robot and a control method, and relates to the field of photovoltaic panel cleaning. The problems that a photovoltaic cleaning robot is large in coordination and cooperation difficulty and prone to being stuck are solved. The device comprises a mounting bracket, a brush roller, a walking wheel set, a steel wire rope and a driving mechanism, the brush roller is rotationally mounted on the mounting bracket; the walking wheel group is mounted on the mounting bracket; the walking wheel set is in transmission connection with the brush roller. The steel wire rope is fixed with the mounting bracket; the driving mechanism is connected with the steel wire rope and used for driving the steel wire rope to reciprocate in the length direction of the photovoltaic panel. The control method is used for controlling the robot, the steel wire rope is driven to move through one driving mechanism in the whole process, the brush roller is cleaned in the length direction of the photovoltaic panel, the structure is simple, operation and control are easy, the photovoltaic panel is not prone to being damaged in the walking process, and the working efficiency is improved. The problems that in the prior art, rails need to be laid, and the robot is stuck in the walking process are solved.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaic panel cleaning, and more particularly, to a wire rope traction type photovoltaic cleaning robot and a control method thereof. Background Art

[0002] Solar photovoltaic technology, as an environmentally friendly, clean and renewable energy source, has attracted much attention. With the increasing emphasis on renewable energy and the growing prominence of environmental issues, solar photovoltaic technology has gradually been applied to some specific scenarios on the ground. Since the 2000s, China has made great progress in solar photovoltaic technology, mainly reflected in the improvement of the conversion efficiency of solar cells, the innovation of material technology and the development of system integration technology, etc. However, in a photovoltaic power generation system, dirt on the surface of photovoltaic panels will reduce the power generation efficiency of the photovoltaic panels. Therefore, regularly cleaning the surface of photovoltaic panels is an important step to ensure the efficient operation of the system. The traditional cleaning method is to clean manually with tools such as water guns and brushes. For higher photovoltaic panels, on the one hand, the cleaning difficulty is large and there are safety hazards, and on the other hand, the cleaning effect is not good, which does not meet the existing requirements.

[0003] The prior art discloses a cleaning robot with a frame structure that moves using guide rails. This robot needs to lay special tracks at both ends of the photovoltaic module array for the cleaning robot to run, and transverse movement mechanisms need to be set up at both ends. This requires a high level of movement coordination between the two transverse movement mechanisms. When the coordination is not coordinated, it is easy to cause the transverse movement to jam and the driving mechanism to be damaged. Summary of the Invention

[0004] The following presents a brief overview of one or more aspects to provide a basic understanding of these aspects. This overview is not an exhaustive survey of all contemplated aspects, and is neither intended to identify key or decisive elements of all aspects nor to attempt to define the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to a more detailed description to follow.

[0005] An object of the present invention includes, for example, providing a wire rope traction type photovoltaic cleaning robot, which can improve the problems of large coordination and cooperation difficulty and easy jamming of the photovoltaic cleaning robot.

[0006] Another object of the present invention includes providing a wire rope traction type photovoltaic cleaning control method, which can improve the problems of large coordination and cooperation difficulty and easy jamming of the photovoltaic cleaning robot.

[0007] Embodiments of the present invention can be implemented as follows:

[0008] An embodiment of the present invention provides a wire rope traction type photovoltaic cleaning robot for being assembled on a photovoltaic panel. The wire rope traction type photovoltaic cleaning robot includes a mounting bracket, a brush roller, a walking wheel set, a wire rope, and a driving mechanism; the brush roller is rotatably mounted on the mounting bracket, and the brush roller is arranged along the width direction of the photovoltaic panel, and the brush roller is used for contacting the surface of the photovoltaic panel; the walking wheel set is mounted on the mounting bracket, and the walking wheel set is used for rolling cooperation with the surface of the photovoltaic panel along the length direction of the photovoltaic panel; the walking wheel set is in transmission connection with the brush roller, and the walking wheel set is used for driving the brush roller to rotate during the rolling process; the wire rope is fixed to the mounting bracket, and the wire rope is arranged to move along the length direction of the photovoltaic panel, and the wire rope is used for driving the mounting bracket to move during the moving process; the driving mechanism is connected to the wire rope, and the driving mechanism is used for driving the wire rope to reciprocate along the length direction of the photovoltaic panel.

[0009] In addition, the wire rope traction type photovoltaic cleaning robot provided by the embodiment of the present invention may further have the following additional technical features:

[0010] Optionally, the number of the walking wheel sets is two groups. The two groups of walking wheel sets are respectively used for rolling cooperation with the two side edges of the photovoltaic panel along the length direction of the photovoltaic panel, and both groups of walking wheel sets are fixed to the mounting bracket.

[0011] Optionally, the wire rope traction type photovoltaic cleaning robot further includes a transmission gear set. The number of the transmission gear sets is two groups. Each group of walking wheel sets is in transmission connection with one end of the brush roller through a group of the transmission gear sets. Each group of the transmission gear sets includes a double-row sprocket and a single-row sprocket. The double-row sprocket is coaxially fixed to the brush roller, the single-row sprocket is coaxially fixed to the walking wheel set, and the double-row sprocket is in transmission connection with the single-row sprocket through a chain, so that the walking wheel set drives the brush roller to rotate during the rolling process.

[0012] Optionally, each group of walking wheel sets includes a first walking wheel and a second walking wheel; both the first walking wheel and the second walking wheel are rotatably mounted on the mounting bracket, and the first walking wheel and the second walking wheel are symmetrically arranged relative to the brush roller. A single-row sprocket is coaxially fixed to each of the first walking wheel and the second walking wheel. The single-row sprocket coaxially fixed to the first walking wheel and the single-row sprocket coaxially fixed to the second walking wheel are respectively in transmission connection with the corresponding double-row sprocket of the brush roller through a chain.

[0013] Optionally, the wire rope traction type photovoltaic cleaning robot further includes a connecting plate; one end of the connecting plate is fixed to the mounting bracket, and the other end of the connecting plate extends along the height direction of the photovoltaic panel to be fixedly connected to the wire rope.

[0014] Optionally, the wire rope traction type photovoltaic cleaning robot further includes a hook; one end of the hook is used to be fixed to the photovoltaic panel, and the other end of the hook is used to be slidably engaged with the wire rope and hook the wire rope upward to prevent the wire rope from sagging.

[0015] Optionally, the wire rope traction type photovoltaic cleaning robot further includes a limiting wheel. At least one limiting wheel is arranged on the mounting bracket. The limiting wheel is located on one side of the photovoltaic panel and is used to be slidably engaged with the edge of the photovoltaic panel to prevent the mounting bracket from slipping.

[0016] Optionally, the wire rope traction type photovoltaic cleaning robot further includes a bending member; a bending member is fixed at each of the two ends of the mounting bracket corresponding to the two side edges of the photovoltaic panel. The two bending members are respectively arranged corresponding to the two sets of walking wheel groups and form a limiting channel for passing through the photovoltaic panel. The limiting channel is used to limit the movement of the mounting bracket in the height direction and width direction of the photovoltaic panel.

[0017] Optionally, the driving mechanism includes a transmission rod and a wire reel; the transmission rod is rotatably arranged below the photovoltaic panel. The driving mechanism is connected to the transmission rod and is used to drive the transmission rod to rotate. The transmission rod is coaxially fixed with the wire reel, and the rotating rod is used to drive the wire reel to rotate during rotation; the wire rope includes an upper layer wire rope and a lower layer wire rope that are connected to form a circle and are arranged in two layers, upper and lower. The upper layer wire rope is fixed to the mounting bracket, and the lower layer wire rope is wound around the wire reel. The upper layer wire rope and the lower layer wire rope are used to move synchronously during the rotation of the wire reel to drive the mounting bracket to move.

[0018] Optionally, the wire rope traction type photovoltaic cleaning robot further includes a cross beam, a vertical steel bar, and a pulley; the cross beam is fixed below the photovoltaic panel along the length direction of the photovoltaic panel. Two vertical steel bars extending along the width direction of the photovoltaic panel are respectively fixed at both ends of the cross beam. A pulley is respectively fixed at both ends of the two vertical steel bars. A wire reel is correspondingly arranged between the two pulleys at the same end of the two vertical steel bars. The lower layer wire rope wound out from the wire reel bypasses the two pulleys on both sides and then forms the upper layer wire rope for connection and is fixed to the mounting bracket.

[0019] An embodiment of the present invention further provides a wire rope traction type photovoltaic cleaning control method for implementing the wire rope traction type photovoltaic cleaning robot. The wire rope traction type photovoltaic cleaning control method includes:

[0020] Obtain the position of the brush roller;

[0021] Acquiring the power quantity of the driving mechanism;

[0022] The driving mechanism is controlled according to the position of the brush roller and the power level of the power supply.

[0023] Optionally, the step of controlling the driving mechanism according to the position of the brush roller and the power of the power supply includes:

[0024] When the brush roller remains stationary for a preset time, the power of the driving mechanism is controlled to increase;

[0025] When the power of the power source is less than the power required for the mounting bracket to be reset and moved to the initial position, the driving mechanism is controlled to drive the mounting bracket to be reset and moved to the initial position.

[0026] The beneficial effects of the wire rope traction type photovoltaic cleaning robot and the control method of the embodiment of the present invention include, for example:

[0027] A wire rope-traction photovoltaic cleaning robot is used to be assembled on a photovoltaic panel. The wire rope-traction photovoltaic cleaning robot includes a mounting bracket, a brush roller, a walking wheel group, a wire rope and a driving mechanism; the brush roller is rotatably mounted on the mounting bracket, and the brush roller is arranged along the width direction of the photovoltaic panel, and the brush roller is used to contact the surface of the photovoltaic panel; the walking wheel group is mounted on the mounting bracket, and the walking wheel group is used to roll with the surface of the photovoltaic panel along the length direction of the photovoltaic panel; the walking wheel group is transmission-connected to the brush roller, and the walking wheel group is used to drive the brush roller to rotate during the rolling process; the wire rope is fixed to the mounting bracket, and the wire rope is movably arranged along the length direction of the photovoltaic panel, and the wire rope is used to drive the mounting bracket to move during the movement; the driving mechanism is connected to the wire rope, and the driving mechanism is used to drive the wire rope to move back and forth along the length direction of the photovoltaic panel.

[0028] The entire process is carried out by moving the wire rope through a driving mechanism to complete the action of cleaning the brush roller along the length direction of the photovoltaic panel. It has a simple structure, light weight, simple control, and is not easy to damage the photovoltaic panel during walking. It improves the problems of laying tracks and the robot getting stuck during walking in the prior art.

[0029] The wire rope traction photovoltaic cleaning control method is used to control the above-mentioned wire rope traction photovoltaic cleaning robot to improve the problem that the photovoltaic cleaning robot is difficult to coordinate and easy to get stuck. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above features and advantages of the present invention can be better understood after reading the detailed description of the embodiments of the present disclosure in conjunction with the following drawings. In the drawings, the components are not necessarily drawn to scale, and components with similar related properties or features may have the same or similar reference numerals.

[0031] Figure 1 Schematic diagram of the assembly structure of the wire rope traction type photovoltaic cleaning robot and the photovoltaic panel provided by the embodiment of the present invention;

[0032] Figure 2 Partial structure schematic diagram of the wire rope traction type photovoltaic cleaning robot provided by the embodiment of the present invention;

[0033] Figure 3 Schematic diagram of the structure of the chain transmission box of the wire rope traction type photovoltaic cleaning robot from the first perspective provided by the embodiment of the present invention;

[0034] Figure 4 Front structure schematic diagram of the chain transmission box of the wire rope traction type photovoltaic cleaning robot provided by the embodiment of the present invention;

[0035] Figure 5 Schematic diagram of the structure of the chain transmission box of the wire rope traction type photovoltaic cleaning robot from the second perspective provided by the embodiment of the present invention;

[0036] Figure 6 Schematic diagram of the chain transmission structure of the wire rope traction type photovoltaic cleaning robot provided by the embodiment of the present invention;

[0037] Figure 7 Schematic diagram of the structure of the drive mechanism of the wire rope traction type photovoltaic cleaning robot provided by the embodiment of the present invention;

[0038] Figure 8 Schematic diagram of the assembly structure of the wire rope and the photovoltaic panel of the wire rope traction type photovoltaic cleaning robot provided by the embodiment of the present invention;

[0039] Figure 9 Schematic diagram of the wire rope winding of the wire rope traction type photovoltaic cleaning robot provided by the embodiment of the present invention;

[0040] Figure 10 Robot control work block diagram of the wire rope traction type photovoltaic cleaning robot provided by the embodiment of the present invention;

[0041] Figure 11 Control flow chart of the wire rope traction type photovoltaic cleaning robot provided by the embodiment of the present invention;

[0042] Figure 12 Robot power supply detection flow chart of the wire rope traction type photovoltaic cleaning robot provided by the embodiment of the present invention.

[0043] Icons: Installation Bracket - 1; First Chain Transmission Box - 2; Second Chain Transmission Box - 14; Motor - 29; First Upper Traveling Wheel - 3; Second Upper Traveling Wheel - 4; First Lower Traveling Wheel - 10; Photovoltaic Panel - 36; Brush Roller - 9; First L-shaped Connecting Plate - 5; Second L-shaped Connecting Plate - 7; First Bending Piece - 6; Third L-shaped Connecting Plate - 12; Fourth L-shaped Connecting Plate - 13; Second Bending Piece - 15; Limiting Wheel - 8; First Transmission Shaft - 16; Second Transmission Shaft - 24; First Bearing Block - 22; Second Bearing Block - 23; Third Bearing Block - 25; Fourth Bearing Block - 26; Fifth Bearing Block - 27; Brush Rotating Shaft - 28; First Single-row Sprocket - 17; Second Single-row Sprocket - 19; Double-row Sprocket - 18; First Chain - 20; Second Chain - 21; First Purlin - 49; First Hook - 50; Second Purlin - 51; Second Hook - 52; Third Purlin - 53; Third Hook - 54; Fourth Purlin - 55; Fourth Hook - 56; Steel Wire Rope - 48; Cross Beam - 37; First Vertical Steel Fixing Plate - 38; First Vertical Steel - 40; First Pulley - 42; Second Pulley - 43; Second Vertical Steel Fixing Plate - 39; Second Vertical Steel - 41; Third Pulley - 44; Fourth Pulley - 45; Support Bracket - 57; Motor Base - 30; Horizontal Steel - 34; Third Single-row Sprocket - 31; Transmission Rod - 35; Transmission Rod Sprocket - 33; Third Chain - 32; First Reel - 46; Second Reel - 47; Control Box - 60; Controller - 101; Timer - 103; Power Supply Module - 104; Power Quantity Detection Module - 105; Communication Module - 106; Position Laser Sensor - 107. Detailed Implementation Manner

[0044] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the aspects described below in conjunction with the accompanying drawings and specific embodiments are merely exemplary and should not be construed as imposing any limitation on the protection scope of the present invention.

[0045] In the description of the present invention, it should be noted that if terms such as "upper", "lower", "inner", "outer", "vertical", etc. are used to indicate the orientation or position relationship, it is based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship when the product of the present invention is commonly placed, rather than indicating or implying that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0046] At the same time, it should be noted that if terms such as "first", "second", etc. are only used for differential description and should not be construed as indicating or implying relative importance.

[0047] In the description of the present invention, it should also be noted that unless otherwise clearly specified or defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, an integral connection, or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or the communication inside two components, etc. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] The following will combine Figures 1 to 12 to describe in detail the wire rope traction type photovoltaic cleaning robot provided in this embodiment.

[0049] Please refer to Figure 1 and Figure 2 In an embodiment of the present invention, a wire rope traction type photovoltaic cleaning robot is provided, which is used to be assembled on a photovoltaic panel 36. The wire rope traction type photovoltaic cleaning robot includes a mounting bracket 1, a brush roller 9, a walking wheel set, a wire rope 48, and a driving mechanism. The brush roller 9 is rotatably mounted on the mounting bracket 1, and the brush roller 9 is arranged along the width direction of the photovoltaic panel 36. The brush roller 9 is used to contact the surface of the photovoltaic panel 36. The walking wheel set is mounted on the mounting bracket 1, and the walking wheel set is used to rollingly cooperate with the surface of the photovoltaic panel 36 along the length direction of the photovoltaic panel 36. The walking wheel set is drivingly connected to the brush roller 9, and the walking wheel set is used to drive the brush roller 9 to rotate during the rolling process. The wire rope 48 is fixed to the mounting bracket 1, and the wire rope 48 is arranged to move along the length direction of the photovoltaic panel 36. The wire rope 48 is used to drive the mounting bracket 1 to move during the movement. The driving mechanism is connected to the wire rope 48, and the driving mechanism is used to drive the wire rope 48 to reciprocate along the length direction of the photovoltaic panel 36.

[0050] It should be noted that in this embodiment, the "length direction of the photovoltaic panel 36" refers to Figure 1 the direction indicated by the arrow A in Figure 1 and the "width direction of the photovoltaic panel 36" refers to

[0051] The driving mechanism drives the wire rope 48 to move. The movement of the wire rope 48 drives the mounting bracket 1 to move synchronously. The movement of the mounting bracket 1 drives the walking wheel set to roll along the length direction of the photovoltaic panel 36, and at the same time drives the brush roller 9 to move synchronously. The walking wheel set rotates while rolling, driving the brush roller 9 to rotate, so as to realize the rotation of the brush roller 9 during the movement along the length direction of the photovoltaic panel 36 to complete the cleaning of the photovoltaic panel 36.

[0052] The brush roller 9 can be cleaned along the length direction of the photovoltaic panel 36 by driving the wire rope 48 through a driving mechanism. The structure is simple, the weight is light, the control is simple, and it is not easy to damage the photovoltaic panel 36 during walking. The problem of laying tracks and the robot getting stuck during walking in the prior art is improved. The number of driving mechanisms set up in the robot is reduced, which reduces energy consumption and also reduces the failure rate. The cost is low, can meet market demand, and has good commercial prospects and promotion value. In addition, since the driving mechanism is not set on the mounting bracket 1, the driving mechanism can use a motor 29 with a larger volume, a larger weight, and a larger driving power, which can generate a sufficiently large pulling force to achieve stable walking of the cleaning robot and improve its ability to cross obstacles.

[0053] Reference Figure 1 and Figure 2 In this embodiment, there are two sets of running wheel groups, which are respectively used for rolling cooperation with the two side edges of the photovoltaic panel 36 along the length direction of the photovoltaic panel 36, and the two sets of running wheel groups are fixed to the mounting bracket 1.

[0054] The two sets of running wheel groups are symmetrically arranged at the two side edges of the photovoltaic panel 36 relative to the center line of the photovoltaic panel 36, so as to realize the stable movement of the mounting bracket 1 along the length direction of the photovoltaic panel 36.

[0055] Specifically, there are two steel wire ropes 48, and the two steel wire ropes 48 are respectively arranged along the two side edges of the photovoltaic panel 36. The mounting bracket 1 has two ends that are relatively positioned, and the two ends of the mounting bracket 1 correspond to the two side edge positions of the photovoltaic panel 36. A first chain transmission box 2 is provided at one end of the mounting bracket 1, and a second chain transmission box 14 is provided at the other end of the mounting bracket 1. The first chain transmission box 2 and the second chain transmission box 14 are respectively fixed to the steel wire ropes 48 on the two side edges of the photovoltaic panel 36. The first chain transmission box 2 and the second chain transmission box 14 are both driven by the movement of the steel wire rope 48, and the two sets of walking wheel groups are respectively installed on the first chain transmission box 2 and the second chain transmission box 14.

[0056] Reference Figure 2 and Figure 3 In this embodiment, the wire rope traction photovoltaic cleaning robot also includes a transmission gear set, and the number of transmission gear sets is two sets. Each set of walking wheel sets is connected to one end of the brush roller 9 through a set of transmission gear sets. Each set of transmission gear sets includes a double-row sprocket 18 and a single-row sprocket. The brush roller 9 is coaxially fixed with the double-row sprocket 18, and the walking wheel set is coaxially fixed with the single-row sprocket. The double-row sprocket 18 is connected to the single-row sprocket through a chain transmission, so that the brush roller 9 is driven to rotate during the rolling of the walking wheel set.

[0057] The walking wheel set and the brush roller 9 are drivingly connected through a transmission gear set. During the rolling process of the walking wheel set, it will rotate on its own axis, thereby driving the brush roller 9 to rotate through the transmission gear set. The walking wheel set and the brush roller 9 are drivingly connected through a sprocket and a chain.

[0058] The double-row sprocket 18 is connected to the brush roller 9, and the two walking wheel sets are respectively connected to single-row sprockets. Two shorter chains are used for transmission. This transmission method has a simple structure, is convenient to install, does not require a tensioning device, and saves costs.

[0059] Specifically, referring to Figure 6 , the structures of the first chain transmission box 2 and the second chain transmission box 14 in this embodiment are the same. Inside the first chain transmission box 2 and the second chain transmission box 14, there are provided a first transmission shaft 16, a second transmission shaft 24, a first bearing seat 22, a second bearing seat 23, a third bearing seat 25, a fourth bearing seat 26, a fifth bearing seat 27, a brush rotating shaft 28, a first single-row sprocket 17, a second single-row sprocket 19, a double-row sprocket 18, a first chain 20 and a second chain 21. The first single-row sprocket 17 and the first transmission shaft 16 are connected through the first bearing seat 22 and the fifth bearing seat 27, and the second single-row sprocket 19 and the second transmission shaft 24 are connected through the third bearing seat 25 and the fourth bearing seat 26. The first single-row sprocket 17 and the double-row sprocket 18 are connected through the first chain 20, and the second single-row sprocket 19 and the double-row sprocket 18 are connected through the second chain 21; the brush rotating shaft 28 is in interference fit with the double-row sprocket 18, so that the brush roller 9 rotates stably.

[0060] Referring to Figure 4 and Figure 5 , in this embodiment, each walking wheel set includes a first walking wheel and a second walking wheel; both the first walking wheel and the second walking wheel are rotatably installed on the mounting bracket 1, and the first walking wheel and the second walking wheel are symmetrically arranged relative to the brush roller 9. A single-row sprocket is coaxially fixed to each of the first walking wheel and the second walking wheel, and the single-row sprockets coaxially fixed to the first walking wheel and the second walking wheel are respectively drivingly connected to the corresponding double-row sprocket 18 of the brush roller 9 through a chain.

[0061] A set of walking wheel sets are respectively arranged inside the first chain transmission box 2 and the second chain transmission box 14. That is, the first walking wheel and the second walking wheel are arranged in the first chain transmission box 2, and the first walking wheel and the second walking wheel are also arranged in the second chain transmission box 14.

[0062] Specifically, referring to Figure 2, the first driving wheels and the second driving wheels mounted on the first chain transmission case 2 are respectively the first upper driving wheel 3 and the second upper driving wheel 4, and the first driving wheels and the second driving wheels mounted on the second chain transmission case 14 are respectively the first lower driving wheel 10 and the second lower driving wheel (not shown in the figure). The first chain transmission case 2 and the second chain transmission case 14 respectively drive the first upper driving wheel 3, the second upper driving wheel 4, the first lower driving wheel 10, and the second lower driving wheel (not shown in the figure) to move on the photovoltaic panel 36 along the length direction of the photovoltaic panel 36, and the first chain transmission case 2 and the second chain transmission case 14 are also respectively used to drive the brush roller 9 to move so as to realize the cleaning of the photovoltaic panel 36; the brush roller 9 is arranged at the central position of the first chain transmission case 2 and the second chain transmission case 14, and both sides of one end of the brush roller 9 are respectively provided with the first upper driving wheel 3 and the second upper driving wheel 4, and the first upper driving wheel 3 and the second upper driving wheel 4 are axially connected to the first chain transmission case 2; both sides of the other end of the brush roller 9 are respectively provided with the first lower driving wheel 10 and the second lower driving wheel (not shown in the figure), and the first lower driving wheel 10 and the second lower driving wheel (not shown in the figure) are axially connected to the second chain transmission case 14.

[0063] The first upper driving wheel 3, the second upper driving wheel 4, the first lower driving wheel 10, and the second lower driving wheel (not shown in the figure) are all coaxially fixed with single-row sprockets, and both ends of the brush roller 9 are respectively fixedly provided with double-row sprockets 18 corresponding thereto. The single-row sprockets corresponding to the first upper driving wheel 3 and the second upper driving wheel 4 are chain-connected to the double-row sprockets 18 of the brush roller 9 in the middle thereof, and the single-row sprockets corresponding to the first lower driving wheel 10 and the second lower driving wheel (not shown in the figure) are connected to the double-row sprockets 18 of the corresponding brush roller 9 in the middle thereof.

[0064] Referring to Figure 2 and Figure 8 , in this embodiment, the wire rope traction type photovoltaic cleaning robot further includes a connecting plate; one end of the connecting plate is fixed to the mounting bracket 1, and the other end of the connecting plate extends along the height direction of the photovoltaic panel 36 so as to be fixedly connected to the wire rope 48.

[0065] The wire rope 48 is fixedly connected to the mounting bracket 1 through the connecting plate. During the movement of the wire rope 48, the mounting bracket 1 is driven to move synchronously through the connecting plate.

[0066] As mentioned above, wire ropes 48 are arranged on both side edges of the photovoltaic panel 36, and the first chain transmission case 2 and the second chain transmission case 14 are respectively fixed to both ends of the mounting bracket 1. In this embodiment, the number of the connecting plates is four, and the first chain transmission case 2 and the second chain transmission case 14 are respectively fixed with two connecting plates. The two connecting plates on the first chain transmission case 2 are fixed to the wire rope 48 on one side edge of the photovoltaic panel 36, and the two connecting plates on the second chain transmission case 14 are fixed to the wire rope 48 on the other side edge of the photovoltaic panel 36.

[0067] Specifically, the connecting plate is in an L shape. The end of the vertical part is fixed to the mounting bracket 1, and the end of the horizontal part is fixed to the wire rope 48. Specifically, on both inner sides of the first chain transmission box 2, a first L-shaped connecting plate 5 and a second L-shaped connecting plate 7 are provided. The first L-shaped connecting plate 5 and the second L-shaped connecting plate 7 are fixed to the wire rope 48 on one side edge of the photovoltaic panel 36. On both inner sides of the second chain transmission box 14, a third L-shaped connecting plate 12 and a fourth L-shaped connecting plate 13 are provided. The third L-shaped connecting plate 12 and the fourth L-shaped connecting plate 13 are fixed to the wire rope 48 on the other side edge of the photovoltaic panel 36.

[0068] Refer to Figure 2 and Figure 8 , in this embodiment, the wire-rope traction type photovoltaic cleaning robot further includes a hook. One end of the hook is used to be fixed to the photovoltaic panel 36, and the other end of the hook is used to slidably cooperate with the wire rope 48 and hook the wire rope 48 upward to prevent the wire rope 48 from sagging.

[0069] The hook is used to reduce the sagging height of the wire and reduce the resistance of the wire rope 48 to move. Specifically, hooks are fixed to both side edges of the photovoltaic panel 36. The number of hooks is set according to actual needs, and multiple hooks can be arranged at intervals on one side of the photovoltaic panel 36.

[0070] Purlins are provided between adjacent photovoltaic panels 36. Hooks can be provided at both the right end and the left end of the purlin. The hooks hook the wire rope 48 to prevent it from sagging. Multiple groups of purlins and hooks are arranged along the length direction of the photovoltaic panel 36. Refer to Figure 6 , from right to left, a first purlin 49 and a first hook 50, a second purlin 51 and a second hook 52, a third purlin 53 and a third hook 54, a fourth purlin 55 and a fourth hook 56 are respectively provided.

[0071] Refer to Figure 2 and Figure 8 , in this embodiment, the wire-rope traction type photovoltaic cleaning robot further includes a bending member. A bending member is respectively fixed to both ends of the mounting bracket 1 corresponding to both side edges of the photovoltaic panel 36. The two bending members are respectively arranged corresponding to two groups of walking wheel sets and form a limiting channel for passing through the photovoltaic panel 36. The limiting channel is used to limit the movement of the mounting bracket 1 in the height direction and the width direction of the photovoltaic panel 36.

[0072] The bending member is used to play a role in limiting. Bending members are fixed to the first chain transmission box 2 and the second chain transmission box 14 at both ends of the mounting bracket 1. The two bending members jointly limit the movement of the mounting bracket 1 in the height direction and the width direction of the photovoltaic panel 36.

[0073] Specifically, the bent member is L-shaped. The vertical part is used to limit the movement of the mounting bracket 1 in the width direction of the photovoltaic panel 36, and the horizontal part is used to limit the movement of the mounting bracket 1 in the height direction of the photovoltaic panel 36.

[0074] Specifically, the bent member includes a first bent member 6 and a second bent member 15. The first bent member 6 is disposed in the middle of the outer side of the first chain transmission box 2; the second bent member 15 is disposed in the middle of the outer side of the second chain transmission box 14. One end of the first bent member 6 and one end of the second bent member 15 are respectively located at the bottom of the photovoltaic panel 36 and do not contact the lower surface of the photovoltaic panel 36, so as to prevent the photovoltaic cleaning robot from slipping off the photovoltaic panel 36 in strong wind weather.

[0075] Refer to Figure 2 and Figure 8 In this embodiment, the wire rope traction type photovoltaic cleaning robot further includes a limiting wheel 8. At least one limiting wheel 8 is provided on the mounting bracket 1. The limiting wheel 8 is located on one side of the photovoltaic panel 36. The limiting wheel 8 is used for sliding cooperation with the edge of the photovoltaic panel 36 to prevent the mounting bracket 1 from slipping.

[0076] Since the photovoltaic panel 36 is generally inclined to ensure a larger light receiving surface, in order to prevent the photovoltaic cleaning robot from slipping off the photovoltaic panel 36, a limiting wheel 8 is also provided in this embodiment. The limiting wheel 8 is provided at the bottom of the first chain transmission box 2 to ensure the safe operation of the cleaning robot on the photovoltaic panel 36.

[0077] The limiting wheel 8 is vertically arranged, and the arc surface of the limiting wheel 8 is used for cooperation with the side edge of the photovoltaic panel 36. The limiting wheel 8 can be provided at both ends of the mounting bracket 1.

[0078] Refer to Figure 7 and Figure 8 In this embodiment, the driving mechanism includes a transmission rod 35 and a wire reel; the transmission rod 35 is rotatably arranged below the photovoltaic panel 36. The driving mechanism is connected to the transmission rod 35. The driving mechanism is used to drive the transmission rod 35 to rotate. The transmission rod 35 is coaxially fixed with the wire reel. The rotating rod is used to drive the wire reel to rotate during the rotation process; the wire rope 48 includes an upper wire rope 48 and a lower wire rope 48 that are connected to form a circle and are arranged in upper and lower layers. The upper wire rope 48 is fixed to the mounting bracket 1, and the lower wire rope 48 is wound around the wire reel. The upper wire rope 48 and the lower wire rope 48 are used for synchronous movement during the rotation of the wire reel to drive the mounting bracket 1 to move.

[0079] The driving mechanism drives the transmission rod 35 to rotate. The rotation of the transmission rod 35 drives the wire reel to rotate. The rotation of the wire reel drives the upper wire rope 48 and the lower wire rope 48 of the wire rope 48 to move around, driving the mounting bracket 1 to move.

[0080] Specifically, the driving mechanism is a motor 29, which is assembled on a motor base 30. A cross beam 37 is arranged below the mounting bracket 1. A motor base 30 and a cross steel 34 are arranged at the lower part of the cross beam 37. A third single-row sprocket 31 is arranged on the motor base 30 and is axially connected to the motor 29. A transmission rod 35 passes through the cross steel 34 and is connected to a transmission rod sprocket 33. The third single-row sprocket 31 and the transmission rod sprocket 33 are connected by a third chain 32, so that the motor 29 drives the transmission rod 35 to rotate. The wire reel includes a first wire reel 46 and a second wire reel 47. The first wire reel 46 and the second wire reel 47 are respectively arranged at both ends of the transmission rod 35. The transmission rod 35 is in interference fit with the first wire reel 46 and the second wire reel 47 respectively.

[0081] The "upper wire rope 48 and lower wire rope 48" are the same wire rope 48 divided according to the upper and lower positions. The wire rope 48 forms a circle. During the layout process, it is divided into upper and lower layers. During the movement of the wire rope 48, the one located above is the upper wire rope 48, and the one located below is the lower wire rope 48. When the upper wire rope 48 winds to the lower position, it becomes the lower wire rope 48, and when the lower wire rope 48 winds to the upper position, it becomes the upper wire rope 48. The positions of the upper wire rope 48 and the lower wire rope 48 are alternately changed during the winding movement of the wire rope 48.

[0082] Refer to Figure 9 , the wire rope 48 is wound on the first wire reel 46 and the second wire reel 47 on both sides of the transmission rod 35 respectively, and the winding method is the same. The winding method is as follows: The wire rope 48 winds out from the bottom of the third pulley 44, then winds into the first wire reel 46 from above, winds around the first wire reel 46 for several circles and then winds out from above the first wire reel 46, then winds into the first pulley 42 from the bottom and winds out from the top of the first pulley 42, and then is connected to the L-shaped connecting plate and the L-shaped connecting plate of the cleaning robot, and finally winds into the third pulley 44 from the top to form a closed loop. In this way, when the motor 29 drives the first wire reel 46 to rotate clockwise, the wire rope 48 drives the first upper walking wheel 3 and the second upper walking wheel 4 of the cleaning robot to move along the edge of the photovoltaic panel 36 through the first L-shaped connecting plate 5 and the second L-shaped connecting plate 7 connecting the cleaning robot. The first upper walking wheel 3 and the second upper walking wheel 4 respectively drive the double-row sprocket 18 to rotate through the first single-row sprocket 17 and the second single-row sprocket 19 by the first chain 20 and the second chain 21, and then drive the brush roller 9 to rotate to implement the cleaning work of the photovoltaic panel 36.

[0083] Refer to Figure 8, in this embodiment, the wire rope traction type photovoltaic cleaning robot further includes a cross beam 37, vertical steel bars, and pulleys; the cross beam 37 is fixed below the photovoltaic panel 36 along the length direction of the photovoltaic panel 36. Two vertical steel bars extending along the width direction of the photovoltaic panel 36 are respectively fixed at both ends of the cross beam 37. One pulley is respectively fixed at both ends of the two vertical steel bars. A wire reel is correspondingly arranged between the two pulleys at the same end of the two vertical steel bars. The lower wire rope 48 extending from the wire reel bypasses the two pulleys on both sides and then forms an upper wire rope 48 for connection, and is fixed to the mounting bracket 1.

[0084] The cross beam 37 is arranged along the length direction of the photovoltaic panel 36. Vertical steel bars are respectively arranged at both ends of the photovoltaic panel 36. The two vertical steel bars are respectively fixed to both ends of the cross beam 37. Pulleys are arranged at both ends of the vertical steel bars. Two pulleys and a wire reel are arranged on the same side of the photovoltaic panel 36, wherein the wire reel is located between the two pulleys.

[0085] A cross beam 37 is arranged below the middle of the photovoltaic panel 36. A first vertical steel bar fixing plate 38 is arranged at one end of the cross beam 37. The first vertical steel bar 40 passes through the first vertical steel bar fixing plate 38. A first pulley 42 and a second pulley 43 are arranged at both ends of the first vertical steel bar 40. The first pulley 42 and the second pulley 43 are in interference fit with the first vertical steel bar 40. A second vertical steel bar fixing plate 39 is arranged at the other end of the cross beam 37. The second vertical steel bar 41 passes through the second vertical steel bar fixing plate 39. A third pulley 44 and a fourth pulley 45 are arranged at both ends of the second vertical steel bar 41. The third pulley 44 and the fourth pulley 45 are in interference fit with the second vertical steel bar 41.

[0086] Refer to Figure 8 , in this embodiment, a support frame 57 is arranged at the bottom of the cross beam 37, and the support frame 57 supports the photovoltaic panel 36 to be placed obliquely.

[0087] Refer to Figure 10 , Figure 11 and Figure 12 , the embodiment of the present invention further provides a wire rope 48 traction type photovoltaic cleaning control method for implementing the wire rope traction type photovoltaic cleaning robot. The wire rope 48 traction type photovoltaic cleaning control method includes:

[0088] Obtain the position of the brush roller 9;

[0089] Obtain the power supply power of the driving mechanism;

[0090] Control the driving mechanism according to the position of the brush roller 9 and the power supply power.

[0091] , in this embodiment, the wire rope 48 traction type photovoltaic cleaning system includes a control box 60 and a wire rope traction type photovoltaic cleaning robot. The control box 60 (not shown in the figure) is arranged below the cross beam 37 to facilitate controlling the rotation of the motor 29.

[0092] The wire rope 48 traction type photovoltaic cleaning system includes a position laser sensor 107 and a power supply power detection module 105. The position laser sensor 107 is used to detect the position of the brush roller 9, and the control box 60 obtains the position of the brush roller 9. The power supply power detection module 105 is used to detect the power supply power of the driving mechanism, and the control box 60 obtains the power supply power of the driving mechanism. The control box 60 controls the driving mechanism according to the position and power supply power of the brush roller 9.

[0093] Referring to Figure 10 , Figure 11 and Figure 12 , in this embodiment, the steps of controlling the driving mechanism according to the position and power supply power of the brush roller 9 include:

[0094] If the position of the brush roller 9 remains stationary for a preset time, then control the power of the driving mechanism to increase;

[0095] If the power supply power is less than the power required for the mounting bracket 1 to reset and move to the initial position, then control the driving mechanism to drive the mounting bracket 1 to reset and move to the initial position.

[0096] The control box 60 is signal-connected to the motor 29. A timer 103 is provided inside the control box 60 for timing the start of the motor 29. For example, start the cleaning robot to perform cleaning operations in a timely manner according to the local weather conditions. A position laser sensor 107 is provided on the mounting bracket 1. The controller 101 is connected to the position laser sensor 107 for real-time acquisition of the position information of the photovoltaic panel 36 cleaning robot. After the controller 101 acquires the position information of the position laser sensor 107, if the position continues to change, then in the normal driving mode, if the position does not change within a second, it means that the cleaning robot encounters an obstacle during cleaning and the motor 29 cannot cross it with the existing power. At this time, the controller 101 issues an instruction to the motor 29 to achieve rapid obstacle crossing of the robot by increasing the power of the motor 29.

[0097] In order to prevent the photovoltaic cleaning robot from stopping on the photovoltaic panel 36 due to insufficient power, a power supply module 104 and a power supply power detection module 105 are also provided inside the control box 60. One end of the power supply power detection module 105 is connected to the power supply module 104 for real-time detection of the remaining power of the power supply module 104. The other end of the battery power detection module is connected to the controller 101 for sending the remaining power to the controller 101. When it is detected that the remaining power is exactly enough to drive the cleaning robot from the current position to the initial position, the controller 101 will issue an instruction to the motor 29 to make the motor 29 rotate in the reverse direction to drive the robot to the initial position.

[0098] According to a wire rope traction type photovoltaic cleaning robot provided by this embodiment, the working principle of the wire rope traction type photovoltaic cleaning robot includes:

[0099] The motor 29 drives the transmission rod 35 to rotate. The transmission rod 35 drives the wire reel to rotate, drives the steel wire rope 48 to move, drives the connecting plate and the mounting bracket 1 to move synchronously, thereby driving the traveling wheel set to rotate. The traveling wheel set drives the brush roller 9 to rotate, so as to realize the rotation of the brush roller 9 during the movement along the length direction of the photovoltaic panel 36 to clean the surface of the photovoltaic panel 36.

[0100] The control box 60 is signal-connected to the motor 29. A controller 101 and a timer 103 signal-connected to the controller 101 are arranged inside the control box 60, which is used to start the motor 29 regularly. A position laser sensor 107 is installed on the mounting bracket 1, which is used to obtain the position information of the brush roller 9 in real time during cleaning, and then send the position information to the controller 101. The controller 101 obtains the position information of the brush roller 9 in real time. When the position information meets the set conditions, the controller 101 loads the control mechanism, and the judgment module judges the control instruction corresponding to the preset conditions in the control mechanism. The controller 101 sends a control instruction to drive the motor 29 to adjust the position of the mounting bracket 1; the control box 60 monitors the power information of the power module in real time. When it detects that the remaining power meets the preset conditions, the controller 101 loads the control mechanism, and the judgment module judges the control instruction corresponding to the preset conditions in the control mechanism. The controller 101 sends a control instruction to drive the motor 29 to reverse to drive the photovoltaic panel 36 cleaning robot to return to the parking rack.

[0101] A steel wire rope traction type photovoltaic cleaning robot provided by this embodiment has at least the following advantages:

[0102] The motor 29 drives the transmission rod 35, and then the wire reel pulls the steel wire rope 48. The steel wire rope 48 is connected to the mounting bracket 1, thereby driving the traveling wheels of the robot to move. The traveling wheels are drivingly connected to the brush roller 9, thereby driving the brush roller 9 to rotate, improving the problems of laying tracks and the robot getting stuck during walking in the prior art.

[0103] The motor 29 is installed below the photovoltaic panel 36, and the movement of the robot is controlled by driving the steel wire rope 48 through chain drive. This method reduces the number of motors 29 of the cleaning robot, reduces energy consumption and also reduces the failure rate. This method makes the cleaning robot simple in structure, light in weight, not easy to damage the photovoltaic panel 36 during walking, low in cost, able to meet the market demand, and has good commercial prospects and promotion value.

[0104] Since the driving mechanism is not arranged on the photovoltaic cleaning robot, a motor 29 with a relatively large volume, a relatively large weight, and a relatively large driving power can be selected for the driving mechanism, which can generate a large enough pulling force to realize the stable walking of the cleaning robot and improve the obstacle-crossing ability.

[0105] A double-row sprocket 18 is used inside the transmission case to connect with the brush roller 9. Two single-row sprockets are respectively connected with two walking wheels, and two shorter chains are used for transmission. This transmission method has a simple structure, is convenient to install, does not require a tensioning device, and saves costs.

[0106] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A wire rope traction photovoltaic cleaning robot, used for assembly on photovoltaic panels, characterized in that: The wire rope traction type photovoltaic cleaning robot comprises: Mounting bracket; A brush roller, the brush roller is rotatably mounted on the mounting bracket, and the brush roller is arranged along the width direction of the photovoltaic panel, and the brush roller is used to contact the surface of the photovoltaic panel; A walking wheel set, the walking wheel set is installed on the mounting bracket, the walking wheel set is used to roll with the surface of the photovoltaic panel along the length direction of the photovoltaic panel; the walking wheel set is transmission-connected with the brush roller, and the walking wheel set is used to drive the brush roller to rotate during rolling; A steel wire rope, the steel wire rope is fixed to the mounting bracket, and the steel wire rope is arranged to move along the length direction of the photovoltaic panel, and the steel wire rope is used to drive the mounting bracket to move during the movement; and a driving mechanism, wherein the driving mechanism is connected to the steel wire rope and is used to drive the steel wire rope to reciprocate along the length direction of the photovoltaic panel.

2. The wire rope traction photovoltaic cleaning robot according to claim 1, characterized in that: There are two sets of the walking wheel groups, which are respectively used for rolling cooperation with the two side edges of the photovoltaic panel along the length direction of the photovoltaic panel, and the two sets of the walking wheel groups are fixed to the mounting bracket.

3. The wire rope traction photovoltaic cleaning robot according to claim 2, characterized in that: The wire rope traction photovoltaic cleaning robot also includes a transmission gear group, and the number of the transmission gear groups is two groups. Each group of the walking wheel group is connected to one end of the brush roller through a group of the transmission gear groups. Each group of the transmission gear groups includes a double-row sprocket and a single-row sprocket. The brush roller is coaxially fixed with the double-row sprocket, and the walking wheel group is coaxially fixed with the single-row sprocket. The double-row sprocket is connected to the single-row sprocket through a chain transmission, so that the brush roller is driven to rotate during the rolling of the walking wheel group.

4. The wire rope traction photovoltaic cleaning robot according to any one of claims 1 to 3, characterized in that: The wire rope traction type photovoltaic cleaning robot also includes a connecting plate; one end of the connecting plate is fixed to the mounting bracket, and the other end of the connecting plate extends along the height direction of the photovoltaic panel to be fixedly connected to the wire rope.

5. The wire rope traction photovoltaic cleaning robot according to any one of claims 1 to 3, characterized in that: The wire rope traction type photovoltaic cleaning robot also includes a hook; one end of the hook is used to be fixed to the photovoltaic panel, and the other end of the hook is used to slide with the wire rope and hook the wire rope upwards to prevent the wire rope from sagging.

6. The wire rope traction photovoltaic cleaning robot according to any one of claims 1 to 3, characterized in that: The wire rope traction type photovoltaic cleaning robot also includes a limiting wheel. The mounting bracket is provided with at least one limiting wheel. The limiting wheel is located on one side of the photovoltaic panel. The limiting wheel is used to slide with the edge of the photovoltaic panel to prevent the mounting bracket from sliding off.

7. The wire rope traction photovoltaic cleaning robot according to claim 2 or 3, characterized in that: The wire rope traction type photovoltaic cleaning robot also includes a bending part; a bending part is fixed on both ends of the edges of the photovoltaic panel respectively, and the two bending parts are respectively arranged corresponding to the two groups of walking wheel groups to form a limiting channel for passing through the photovoltaic panel, and the limiting channel is used to limit the movement of the mounting bracket along the height direction and width direction of the photovoltaic panel.

8. The wire rope traction photovoltaic cleaning robot according to any one of claims 1 to 3, characterized in that: The driving mechanism includes a transmission rod and a cable drum; the transmission rod is rotatably arranged below the photovoltaic panel, the driving mechanism is connected to the transmission rod, the driving mechanism is used to drive the transmission rod to rotate, the transmission rod is coaxially fixed with the cable drum, and the rotating rod is used to drive the cable drum to rotate during the rotation process; the wire rope includes an upper wire rope and a lower wire rope which are connected to each other to form a circle and are divided into two layers, the upper wire rope is fixed to the mounting bracket, and the lower wire rope is wound around the cable drum, and the upper wire rope and the lower wire rope are used to move synchronously during the rotation of the cable drum to drive the mounting bracket to move.

9. The wire rope traction photovoltaic cleaning robot according to claim 8, characterized in that: The wire rope traction type photovoltaic cleaning robot also includes a horizontal beam, a vertical steel and a pulley; the horizontal beam is fixed below the photovoltaic panel along the length direction of the photovoltaic panel, and two vertical steels extending along the width direction of the photovoltaic panel are respectively fixed at both ends of the horizontal beam, and a pulley is respectively fixed at both ends of the two vertical steels, and a winding drum is correspondingly arranged between the two pulleys located at the same end of the two vertical steels, and the lower layer of steel wire rope extended from the winding drum passes around the two pulleys on both sides to form the upper layer of steel wire rope for connection, and is fixed to the mounting bracket.

10. A wire rope traction photovoltaic cleaning control method, used to implement the wire rope traction photovoltaic cleaning robot according to any one of claims 1 to 9, characterized in that: The wire rope traction photovoltaic cleaning control method comprises: Obtaining the position of the brush roller; Obtaining the power supply quantity of the driving mechanism; The driving mechanism is controlled according to the position of the brush roller and the power level of the power supply.

11. The wire rope traction photovoltaic cleaning control method according to claim 10, characterized in that: The step of controlling the driving mechanism according to the position of the brush roller and the power of the power supply comprises: When the brush roller remains stationary for a preset time, the power of the driving mechanism is controlled to increase; When the power of the power source is less than the power required for the mounting bracket to be reset and moved to the initial position, the driving mechanism is controlled to drive the mounting bracket to be reset and moved to the initial position.

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