Damping device and floating photovoltaic cleaning robot

Abstract

The invention discloses a damping device and a floating type photovoltaic cleaning robot, and relates to the technical field of equipment damping, and the floating type photovoltaic cleaning robot comprises a plurality of damping devices, and further comprises a machine body, a moving device and a cleaning device; the moving device comprises four seat bodies, four rotating wheels, a plurality of first driving pieces and a plurality of auxiliary wheels; the seat body is movably connected with the machine body through the damping device, and the rotating wheel is rotatably connected with the seat body; the first driving part is used for driving the rotating wheel to rotate; the auxiliary wheels are rotationally connected with the machine body; a guide groove is formed in the inclined upper end of the photovoltaic panel; when the auxiliary wheel rolls along the guide groove, the rotating wheel is in contact with and abuts against the surface of the photovoltaic panel; the cleaning device comprises a spraying assembly, a brushing assembly and a dirt suction assembly. The vibration amplitude of the cleaning equipment can be effectively reduced, so that the stability and reliability of the cleaning equipment for cleaning the floating photovoltaic device can be effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of equipment vibration reduction, and in particular to a vibration reduction device and a floating photovoltaic cleaning robot. Background Art

[0002] Floating photovoltaics is a power generation technology that installs a solar photovoltaic system on the surface of a water body (such as a lake, reservoir, pond, offshore, etc.). Different from traditional ground-mounted or rooftop photovoltaics, floating photovoltaics supports photovoltaic modules through a floating body structure to achieve the comprehensive utilization of water surface space. For a floating photovoltaic power station operating for a long time, the surface of its photovoltaic panels is easily affected by dust-caused shading, hot spots, and corrosion effects, etc., resulting in problems such as shortened service life of the photovoltaic panels and reduced power generation efficiency. Therefore, the cleaning and maintenance of the surface of the photovoltaic panels of a floating photovoltaic power station is an important issue in solar power generation technology.

[0003] Currently, usually each row of photovoltaic panels on a floating photovoltaic requires a cleaning device for cleaning the floating photovoltaic. During the process of the cleaning device cleaning multiple photovoltaic panels in the same row, it needs to move past the multiple photovoltaic panels in sequence. During this process, if the cleaning device vibrates significantly due to the uneven surface of the photovoltaic panel or the influence of wave undulations, and moreover, the adjacent photovoltaic panels in the same row are not arranged closely, there is a panel gap between the two, which will hinder the stable movement of the device past.

[0004] Since most photovoltaic panels are inclined, when the cleaning device vibrates significantly during the movement process, it is not only easy to cause the position of the cleaning device on the photovoltaic panel to shift, but may even cause the cleaning device to slide down along the inclined surface of the photovoltaic panel, affecting the normal use of the cleaning device, and thus affecting the cleaning effect of the floating photovoltaic. Summary of the Invention

[0005] The present application provides a vibration reduction device and a floating photovoltaic cleaning robot, which can effectively reduce the amplitude of vibration of the cleaning device, thereby effectively improving the stability and reliability of the cleaning device for cleaning the floating photovoltaic.

[0006] On the one hand, the present application provides a vibration reduction device, adopting the following technical solution: A vibration reduction device for a device for cleaning a floating photovoltaic, comprising a fixing member, a movable member, two linkage members, two first elastic members, and two second elastic members; The interior of the fixing member has a cavity, and through holes communicating with the cavity are provided at both ends in the length direction thereof; both ends in the length direction of the movable member respectively pass through the two through holes and are both in penetration fit with the fixing member. A partition portion is provided at the middle position of the movable member, and the partition portion is located in the cavity and divides the cavity; the movable member is movably connected to the fixing member, and its moving direction is parallel to the length direction of the fixing member. The two linkage members are respectively arranged at both ends in the length direction of the movable member and are respectively located on both sides in the length direction of the fixing member. The linkage member is movably connected to the movable member, and the moving direction of the linkage member is parallel to the moving direction of the movable member. The two first elastic members are both arranged in the cavity and are respectively located on both sides of the partition portion. Both ends of the first elastic member are respectively connected to the partition portion and the inner wall of the cavity close to the through hole, and the two first elastic members are used to drive the partition portion to keep the position centered in the cavity. The two second elastic members are respectively located on both sides in the length direction of the fixing member. Both ends of the second elastic member are respectively connected to one side in the length direction of the fixing member and the adjacent linkage member, and the second elastic member is used to drive the linkage member to move relative to the movable member in a direction away from the fixing member to an extreme position and stay.

[0007] By adopting the above technical solution, after the linkage is only formed with the position where the equipment vibrates, when the equipment vibrates, a linkage member will first move relative to the movable member in a direction close to the fixing member to squeeze the corresponding second elastic member. In this process, the corresponding second elastic member can absorb a part of the vibration; then, after the linkage member moves back to its original position under the action of the corresponding second elastic member, the acting force of the linkage member on the movable member can drive the movable member to move in a direction close to the linkage member and stretch the corresponding second elastic member, respectively squeezing and stretching the two first elastic members on both sides thereof, and driving the other linkage member to move to squeeze the corresponding second elastic member. In this process, the two first elastic members and the two second elastic members can all absorb vibration, so that the amplitude of vibration of the cleaning equipment can be effectively reduced, and further the stability and reliability of the cleaning equipment for cleaning the floating photovoltaic can be effectively improved.

[0008] On the other hand, the present application also provides a floating photovoltaic cleaning robot, adopting the following technical solution: A floating photovoltaic cleaning robot includes a plurality of the above-mentioned vibration damping devices, and further includes a machine body, a moving device and a cleaning device, and the vibration damping device, the moving device and the cleaning device are all arranged on the machine body. The mobile device includes four seat bodies, four rotating wheels, a plurality of first driving members, and a plurality of auxiliary wheels; the seat body is movably connected to the machine body through the damping device, the rotating wheel is rotatably connected to the seat body, the rotation axis of the rotating wheel is perpendicular to the moving direction of the seat body, and the rotation axes of the four rotating wheels are parallel to each other; the first driving member is arranged on the seat body and is used to drive the corresponding rotating wheel to rotate; the auxiliary wheel is rotatably connected to the machine body, and the rotation axis of the auxiliary wheel is parallel to the moving direction of the seat body; a guiding groove adapted to the auxiliary wheel is formed at the inclined upper end of the photovoltaic panel, and when the auxiliary wheel rolls along the guiding groove, all the four rotating wheels are in contact with and abutted against the surface of the photovoltaic panel; The cleaning device includes a spraying assembly for spraying cleaning liquid, a scrubbing assembly for scrubbing the surface of the photovoltaic panel, and a dirt suction assembly for sucking pollutants.

[0009] By adopting the above technical solution, the machine body is hung on the photovoltaic panel through the auxiliary wheel and is in sliding fit with the photovoltaic panel, and is moved on a plurality of photovoltaic panels in the same row through the mobile device. During the moving process, the cleaning device first evenly sprays the cleaning liquid on the surface of the photovoltaic panel, and then the scrubbing assembly peels off the stubborn stains softened by the cleaning liquid on the surface of the photovoltaic panel. At the same time, the dirt suction assembly sucks away dust, stains, dirt, etc. generated during the cleaning process through suction, effectively cleaning the surface of the photovoltaic panel; during the moving process of the machine body through the mobile device, the damping device effectively reduces the amplitude of vibration of the machine body, so as to effectively improve the stability and reliability of the cleaning assembly for cleaning the surface of the photovoltaic panel.

[0010] Optionally, a communication space is formed at one end of the machine body away from the auxiliary wheel, the two seat bodies respectively block the two openings formed on the machine body by the communication space, and a damping device is arranged in the communication space; The fixing member is fixedly connected to the machine body, and both the linkage member and the fixing member form a blockage in the communication space; during the process of the seat body moving relative to the machine body, the communication space is kept blocked, and the seat body has a tendency to move to the limit position away from the machine body and stay under the action of the adjacent linkage member.

[0011] By adopting the above technical solution, the two rotating wheels away from the auxiliary wheel are linked through the damping device, so that the rotating wheels can keep in contact with the surface of the photovoltaic panel during the moving process, and at the same time, when one rotating wheel is displaced, its displacement can be inhibited through the damping device, and at the same time, it can drive the other rotating wheel to displace correspondingly to adapt to the unevenness of the surface of the photovoltaic panel to further reduce the vibration amplitude, thereby further improving the stability of cleaning the surface of the photovoltaic panel.

[0012] Optionally, several communication spaces are provided at one end of the body away from the communication space, and several shock absorption devices are provided. The several communication spaces and the several shock absorption devices correspond to the several auxiliary wheels one by one; The auxiliary wheel is movably connected to the body, and the moving direction of the auxiliary wheel is parallel to the moving direction of the seat body; the auxiliary wheel and the adjacent seat body respectively block two openings formed on the body corresponding to the communication space. During the movement of the seat body and the auxiliary wheel, the communication space is kept blocked, and the seat body and the auxiliary wheel respectively have a tendency to move to the extreme position away from the body and stay under the action of the adjacent linkage member.

[0013] By adopting the above technical solution, during the movement of the body on the surface of the photovoltaic panel, the rotating wheel close to the auxiliary wheel forms a linkage with the auxiliary wheel through the shock absorption device. Therefore, under the cooperation between the auxiliary wheel and the guide groove, the displacement of the corresponding rotating wheel can be effectively suppressed, and further the amplitude of the vibration of the body can be reduced.

[0014] Optionally, the moving device includes two auxiliary wheels in total. The two auxiliary wheels are respectively close to both sides of the body and respectively correspond to the adjacent two rotating wheels one by one, and the adjacent two rotating wheels are located between the two auxiliary wheels.

[0015] By adopting the above technical solution, it is convenient for the body to move across the photovoltaic panel, and the probability of the body slipping due to the separation of the auxiliary wheel from the photovoltaic panel is reduced.

[0016] Optionally, flared grooves for the auxiliary wheels to enter are provided at both ends of the guide groove on the photovoltaic panel.

[0017] By adopting the above technical solution, it is convenient for the body to move so that the auxiliary wheel cooperates with the guide groove, and further the probability of the body slipping during the movement onto the photovoltaic panel can be reduced.

[0018] Optionally, the first driving member is arranged on the seat body away from the auxiliary wheel.

[0019] By adopting the above technical solution, the influence of the vibration of the body on the first driving member can be effectively reduced, and at the same time, the vibration of the position of the body away from the auxiliary wheel can be effectively suppressed, so as to improve the reliability of the stable movement of the body.

[0020] Optionally, the body has a baffle at one end close to the auxiliary wheel, and the baffle is located on the side of the auxiliary wheel away from the body; when the auxiliary wheel cooperates with the guide groove, the baffle is located on the side of the inclined upper end of the photovoltaic panel.

[0021] By adopting the above technical solution, the baffle can contact the photovoltaic panel during the process of the machine body slipping off the photovoltaic panel due to vibration, preventing the machine body from further slipping, thereby effectively reducing the probability of the machine body falling or falling into the sea.

[0022] Optionally, it further includes a line-changing device; The line-changing device includes a mobile vehicle, a guiding track, a loading platform, a lapping member, and a second driving member; the guiding track is arranged on the floating body, and the mobile vehicle moves along the guiding track; the loading platform is arranged on the top of the mobile vehicle for loading the machine body; the lapping member is movably arranged on one side of the loading platform, and after moving away from the loading platform, the lapping member lapps with the adjacent photovoltaic panel for the machine body to move between the photovoltaic panel and the loading platform; the second driving member is arranged on the loading platform and is used to drive the lapping member to move.

[0023] By adopting the above technical solution, it is convenient for the machine body to transfer between different rows of photovoltaic panels, so that it is convenient for a cleaning robot to clean the surfaces of all photovoltaic panels.

[0024] Optionally, the line-changing device further includes a third driving member; The loading platform is rotatably connected to the mobile vehicle, and its rotation axis is perpendicular to the inclination direction of the photovoltaic panel; the third driving member is arranged on the mobile vehicle and is used to drive the loading platform to rotate to the same inclination degree as the adjacent photovoltaic panel.

[0025] By adopting the above technical solution, it is convenient to form a lap between the lapping member and the adjacent photovoltaic panel and improve the lapping effect, thereby improving the reliability and stability of the machine body moving between the photovoltaic panel and the loading platform through the lapping member.

[0026] In summary, the present application includes at least one of the following beneficial effects: 1. It can effectively reduce the amplitude of vibration of the cleaning equipment, thereby effectively improving the stability and reliability of the cleaning equipment for cleaning the floating photovoltaic; 2. It can effectively improve the smoothness of the machine body moving on the surface of the photovoltaic panel during the cleaning process, and at the same time can effectively improve the stability and reliability of the machine body during the process of moving across the photovoltaic panel; 3. It is convenient for the cleaning robot to clean the surfaces of all photovoltaic panels, and at the same time can effectively improve the stability and reliability of the cleaning robot moving onto the photovoltaic panel. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic structural diagram of a floating photovoltaic cleaning robot in Embodiment 1; Figure 2It is a schematic structural diagram when the body moves on the photovoltaic panel in Embodiment 1; Figure 3 It is a bottom view of the body in Embodiment 1; Figure 4 It is Figure 3 a cross-sectional view along the direction of line A-A in Figure 5 It is a schematic result diagram of the line change device in Embodiment 1; Figure 6 It is a schematic structural diagram when the body moves on the photovoltaic panel in Embodiment 2; Figure 7 It is a bottom view of the body in Embodiment 2; Figure 8 It is Figure 7 a cross-sectional view along the direction of line B-B in Figure 9 It is Figure 7 a cross-sectional view along the direction of line C-C in

[0028] Explanation of reference numerals: 1, floating body; 2, photovoltaic panel; 21, guiding groove; 22, flared groove; 3, body; 31, baffle; 32, rod body; 33, communication space; 4, moving device; 41, rotating wheel; 42, first driving member; 43, auxiliary wheel; 44, seat body; 5, cleaning device; 51, spraying assembly; 52, scrubbing assembly; 53, sewage suction assembly; 6, line change device; 61, moving vehicle; 62, guiding track; 63, loading platform; 64, overlapping member; 65, second driving member; 66, third driving member; 7, vibration damping device; 71, fixing member; 711, cavity; 712, perforation; 72, movable member; 721, partition portion; 73, linkage member; 74, first elastic member; 75, second elastic member. Detailed implementation manners

[0029] The following further elaborates on this application in conjunction with the attached Figures 1-9 drawings.

[0030] Embodiment 1: The embodiment of the present application discloses a floating photovoltaic cleaning robot, which is used to clean the surfaces of multiple photovoltaic panels on the floating photovoltaic to improve the working effect of the floating photovoltaic.

[0031] Referring to Figure 1 and Figure 2, the floating photovoltaic power generation system includes a floating body 1 floating on the water surface and multiple photovoltaic panels 2 with the function of generating electricity by using solar energy. The floating body 1 is in an overall rectangular plate-like structure and floats on the water surface with its thickness direction tending to be vertical; the photovoltaic panel 2 is in an overall rectangular plate-like structure and is fixedly installed above the floating body 1 in a position state where its width direction is inclined relative to the horizontal direction; the length direction of the photovoltaic panel 2 is parallel to the length direction of the floating body 1, and the inclination degrees of multiple photovoltaic panels 2 tend to be equal. In this embodiment, it is preferred that the photovoltaic panels 2 are divided into multiple rows along the width direction of the floating body 1, the spacing between adjacent rows of photovoltaic panels 2 is equal, and multiple photovoltaic panels 2 in the same row are equally spaced along the length direction of the floating body 1; since the floating body 1 and the photovoltaic panel 2 with the above functions are common prior arts, no further description will be given here, and they are only briefly shown in the drawings.

[0032] Referring to Figure 1 and Figure 3 , the cleaning robot includes a body 3, a moving device 4, a cleaning device 5 and a line-changing device 6. Among them, the body 3 serves as the installation carrier of the moving device 4 and the cleaning device 5, and moves on the photovoltaic panel 2 to complete the cleaning of the surface of the photovoltaic panel 2; the moving device 4 is used to drive the body 3 to move; the cleaning device 5 is used to clean the surface of the photovoltaic panel 2; the line-changing device 6 is used to help the body 3 transfer positions between different rows of photovoltaic panels 2.

[0033] The body 3 is in an overall cuboid structure. During the process of its movement on the photovoltaic panel 2, its length direction is parallel to the width direction of the photovoltaic panel 2, and its width direction is parallel to the length direction of the photovoltaic panel 2.

[0034] Referring to Figure 3 and Figure 4 , the moving device 4 includes four rotating wheels 41, several first driving members 42 and several auxiliary wheels 43.

[0035] The rotating wheels 41 are respectively installed at both ends of the body 3 in the length direction in pairs and are symmetrically distributed on the body 3. The rotating wheels 41 are rotatably connected to the body 3, and their rotation axes are parallel to the length direction of the body 3; the first driving members 42 are fixedly installed on the body 3 and are used to drive the rotating wheels 41 to rotate relative to the body 3. In this embodiment, it is preferred that the moving device 4 includes a total of two first driving members 42, and the two first driving members 42 are respectively located on both sides of the body 3 in the length direction and are respectively used to drive an adjacent rotating wheel 41 to rotate, and it is preferred that the first driving member 42 is a servo motor; since the servo motor is a common prior art, no further description will be given here, and it is only briefly shown in the drawings.

[0036] Referring to Figure 2 and Figure 3, the auxiliary wheel 43 is rotatably installed at one end of the machine body 3 in the length direction, located on one side of the adjacent rotating wheel 41 away from the rotating wheel 41 at the other end of the machine body 3 in the length direction, and its rotation axis is parallel to the height direction of the machine body 3. In this embodiment, preferably, a rod 32 for rotatably installing the auxiliary wheel 43 extends along the height direction of the machine body 3 on the machine body 3; and preferably, the moving device 4 includes a total of one auxiliary wheel 43, and the auxiliary wheel 43 is centered in the width direction of the machine body 3 on the machine body 3.

[0037] On one side of the inclined upper end of the photovoltaic panel 2 in the width direction, a guiding groove 21 adapted to the auxiliary wheel 43 is provided along its own length direction. The guiding groove 21 penetrates the photovoltaic panel 2 along the length direction of the photovoltaic panel 2, facilitating the movement of the machine body 3 onto the photovoltaic panel 2 through the auxiliary wheel 43 and the movement past adjacent photovoltaic panels 2 in the same row. When the auxiliary wheel 43 cooperates with the guiding groove 21, all four rotating wheels 41 are in contact with and against the surface of the photovoltaic panel 2. At this time, the relative rotation of the rotating wheels 41 with respect to the machine body 3 can drive the machine body 3 to move relative to the machine body 3 along the length direction of the machine body 3, and the machine body 3 can move successively past multiple photovoltaic panels 2 in the same row under the action of the moving device 4.

[0038] Refer to Figure 2 and Figure 3 , further, to prevent the machine body 3 from sliding down along the inclined direction of the photovoltaic panel 2 due to the separation of the auxiliary wheel 43 from the guiding groove 21 during the movement of the machine body 3 on the photovoltaic panel 2 through the moving device 4, preferably, a baffle 31 extends from the position of the machine body 3 near the auxiliary wheel 43 in the length direction towards the photovoltaic panel 2.

[0039] The baffle 31 is located on the side of the auxiliary wheel 43 away from the adjacent rotating wheel 41. When the machine body 3 slides down due to the separation of the auxiliary wheel 43 from the guiding groove 21, the baffle 31 can contact the inclined upper end of the photovoltaic panel 2, thereby preventing the continuous sliding of the machine body 3, and further reducing the probability of the machine body 3 falling into the water body or being damaged due to collision damage after sliding.

[0040] Refer to Figure 3 and Figure 4 , the cleaning device 5 is installed on the machine body 3, and it includes a spraying component 51, a scrubbing component 52 and a sewage suction component 53. Among them, the spraying component 51 is used to spray the cleaning liquid onto the surface of the photovoltaic panel 2; the scrubbing component 52 is used to scrub the surface of the photovoltaic panel 2 to completely peel off the stubborn stains softened by the cleaning liquid on the surface of the photovoltaic panel 2; the sewage suction component 53 is used to quickly suck away the dust, stains and dirt peeled off by the cleaning component during the cleaning process.

[0041] The spraying assembly 51 is fixedly installed on one side of the machine body 3 in the width direction. It can spray the cleaning liquid evenly on the surface of the photovoltaic panel 2 in the direction close to the surface of the photovoltaic panel 2 according to a preset flow rate and atomization mode, so that the dust and stubborn stains on the surface of the photovoltaic panel 2 can all come into contact with the cleaning liquid. In this embodiment, since the spraying assembly 51 with the above functions is a common prior art (such as a spraying pipe with an atomizer), it will not be elaborated here, and it is only briefly shown in the drawings.

[0042] The scrubbing assembly 52 is fixedly installed on one side of the machine body 3 close to the photovoltaic panel 2 and is located between the rotating wheels 41 on both sides of the machine body 3 in the length direction; during the process of the machine body 3 moving relative to the photovoltaic panel 2 through the moving device 4, the scrubbing assembly 52 can scrub the area of the surface of the photovoltaic panel 2 that the machine body 3 passes through. In this embodiment, preferably, the scrubbing assembly 52 is composed of several (only one is shown in the drawings) rotating rollers with a large number of bristles made of soft wear-resistant materials on the surface. During the movement of the machine body 3, the rotating rollers can rotate accordingly, so that the bristles can penetrate into the gaps and corners of the photovoltaic panel 2 and completely peel off the stubborn stains that have been softened by the cleaning liquid; and preferably, the spraying assembly 51 sprays in the direction close to the scrubbing assembly 52 and can be evenly sprayed into the scrubbing area of the scrubbing assembly 52 on the surface of the photovoltaic panel 2; since the above-mentioned scrubbing assembly 52 is a common prior art (such as the rotary brush of an electric cleaning vehicle), it will not be elaborated here, and it is only briefly shown in the drawings.

[0043] The dirt suction assembly 53 is fixedly installed on one side of the machine body 3 away from the spraying assembly 51. Its dirt suction position is close to the scrubbing area of the scrubbing assembly 52. It can quickly suck away the dust, stains and dirt peeled off by the scrubbing assembly 52 during the process of cleaning the surface of the photovoltaic panel 2, and collect the pollutants through a filtration system to prevent secondary pollution. In this embodiment, since the dirt suction assembly 53 with the above functions is a common prior art (such as a vacuum cleaner), it will not be elaborated here, and it is only briefly shown in the drawings.

[0044] Refer to Figure 1 and Figure 5 , the line-changing device 6 includes a mobile carrier 61, a guiding track 62, a load platform 63, a lapping piece 64, a second driving member 65 and a third driving member 66.

[0045] The guiding track 62 is fixedly installed on the top of the floating body 1 and is distributed vertically and horizontally along the directions parallel to the length direction and the width direction of the floating body 1; the mobile carrier 61 is slidably matched with the guiding track 62 and can move along the guiding track 62 around the photovoltaic panel 2 in the direction parallel to the length direction of the floating body 1 or in the direction parallel to the width direction of the floating body 1. In this embodiment, since the mobile carrier 61 with the above functions is a common prior art, it will not be elaborated here, and it is only briefly shown in the drawings.

[0046] The whole of the stage 63 is in a rectangular plate structure. One side in its length direction is rotatably installed on the top of the mobile vehicle 61, and its rotation axis is parallel to its width direction and parallel to the length direction of the floating body 1. The top of the stage 63 is used to carry the machine body 3. When the machine body 3 is located on the stage 63, the length direction of the machine body 3 is parallel to the length direction of the stage 63, and the width direction of the machine body 3 is parallel to the width direction of the stage 63. The third driving member 66 is installed on the mobile vehicle 61 and is used to drive the stage 63 to rotate relative to the mobile vehicle 61, so that the inclination angle of the length direction of the stage 63 is equal to the inclination angle of the width direction of the adjacent photovoltaic panel 2, which is convenient for the subsequent movement of the machine body 3 along its width direction to the adjacent photovoltaic panel 2. In this embodiment, it is preferred that the third driving member 66 is a servo cylinder. Since the method of controlling rotation by a servo cylinder is a common existing technology, it will not be elaborated here, and it is only briefly shown in the drawings.

[0047] The whole of the overlapping member 64 is in a rectangular sheet structure. One side in its width direction is rotatably installed on one side in the width direction of the stage 63, and its rotation axis is parallel to its length direction and parallel to the length direction of the stage 63. The second driving member 65 is fixedly installed on the stage 63, and it is used to drive the overlapping member 64 to rotate relative to the stage 63. In this embodiment, it is preferred that the second driving member 65 is a servo motor.

[0048] When the mobile vehicle 61 moves along the guiding track 62 to one side of a photovoltaic panel 2 and is opposite to this photovoltaic panel 2 along the length direction of the floating body 1, first control the third driving member 66 to drive the stage 63 to rotate to an inclination angle equal to the inclination angle of the photovoltaic panel 2, and then control the overlapping member 64 to rotate towards the adjacent photovoltaic panel 2 to the limit position, so that the overlapping member 64 forms an overlap between the stage 63 and the adjacent photovoltaic panel 2, which is convenient for the machine body 3 to exchange positions between the photovoltaic panel 2 and the stage 63 through the moving device 4 via the overlapping member 64. In this embodiment, it is preferred that when the overlapping plate overlaps with the photovoltaic panel 2, the direction close to the stage 63 is its inclined upper end; and it is preferred that the mobile vehicle 61 is controlled by an intelligent control system, and the mobile vehicle 61 can be accurately positioned on the guiding track 62, which is convenient for the mobile vehicle 61 to move to the required position for the machine body 3 to realize line change through the moving device 4.

[0049] Refer to Figure 1 and Figure 3 Furthermore, it is preferred that during the process that the machine body 3 moves on multiple photovoltaic panels 2 in the same row through the moving device 4 and the cleaning device 5 cleans the surfaces of the multiple photovoltaic panels 2, the machine body 3 will move back and forth while keeping the surfaces of the photovoltaic panels 2 cleaned, so that the machine body 3 can clean the surfaces of the multiple photovoltaic panels 2 twice during one round-trip movement, so as to further ensure the cleaning effect of the surfaces of the photovoltaic panels 2.

[0050] The implementation principle of a floating photovoltaic cleaning robot in an embodiment of the present application is as follows: When it is necessary to clean the surface of the photovoltaic panel 2, the mobile carrier 61 will move along the guiding track 62 to one side of the photovoltaic panel 2 to be cleaned. Then, the control platform 63 is rotated until its inclination angle is equal to that of the photovoltaic panel 2. Next, the overlapping member 64 is rotated to form an overlap between the control platform 63 and the adjacent photovoltaic panel 2. Then, the body 3 moves to the adjacent photovoltaic panel 2 through the overlapping member 64 under the action of the moving device 4, and at the same time, the auxiliary wheel 43 cooperates with the guiding groove 21 on the adjacent photovoltaic panel 2. After that, the body 3 can sequentially move through multiple photovoltaic panels 2 in the same row under the action of the moving device 4, and at the same time, the surface of the multiple photovoltaic panels 2 is cleaned by the cleaning device 5. When the surfaces of multiple photovoltaic panels 2 in the same row are all cleaned, the body 3 can move to the control platform 63 through the overlapping member 64 under the action of the moving device 4, and then move along the guiding track 62 to one side of another row of photovoltaic panels 2 through the mobile carrier 61. Then, by repeating the above operations, the body 3 can clean the surfaces of multiple photovoltaic panels 2 in another row through the moving device 4 and the cleaning device 5.

[0051] Embodiment 2: Referring to Figure 6 and Figure 7 This embodiment is different from Embodiment 1 in terms of the moving device 4.

[0052] Referring to Figure 8 and Figure 9 Moreover, the cleaning robot further includes a plurality of vibration damping devices 7, which are used to effectively reduce the degree of vibration during the cleaning of the surface of the photovoltaic panel 2 when the surface of the photovoltaic panel 2 is uneven or affected by wave undulations, thereby effectively reducing the influence of vibration on the cleaning effect of the cleaning robot.

[0053] Referring to Figure 6 and Figure 7 When the cleaning robot is not equipped with the vibration damping device 7, if the surface of the photovoltaic panel 2 is uneven or affected by wave undulations, the body 3 is likely to move relative to the photovoltaic panel 2 in its own height direction, thereby generating vibration. If the vibration amplitude is large, the probability that the auxiliary wheel 43 disengages from the guiding groove 21 will also increase, and it will affect the stability and reliability of the body 3 to move across the spacing between adjacent photovoltaic panels 2 through the moving device 4.

[0054] Since the contact between the rotating wheel 41 and the uneven surface of the photovoltaic panel 2 will cause the body 3 to move relative to the photovoltaic panel 2 in its own height direction, to reduce its influence, preferably, the moving device 4 further includes four seat bodies 44.

[0055] The four seat bodies 44 correspond to the four rotating wheels 41 one by one. The seat body 44 is movably connected to the machine body 3 along the height direction of the machine body 3. The rotating wheel 41 is rotatably connected to the seat body 44 and its rotation axis is parallel to the length direction of the machine body 3. And the first driving member 42 is fixedly installed on the seat body 44 for driving the corresponding rotating wheel 41 to rotate. In this embodiment, preferably, the first driving member 42 is located on the side of the corresponding rotating wheel 41 away from the washing assembly 52.

[0056] Further, during the process of the rotating wheel 41 contacting the uneven surface of the photovoltaic panel 2, the degree of vibration of the machine body 3 caused by the two rotating wheels 41 close to the auxiliary wheel 43 is greater than that caused by the two rotating wheels 41 far from the auxiliary wheel 43. Therefore, preferably, the two first driving members 42 are both fixedly installed on the two seat bodies 44 far from the auxiliary wheel 43.

[0057] At this time, the two first driving members 42 can make the center of gravity shift towards the position of the machine body 3 close to the side away from the auxiliary wheel 43, so as to effectively suppress the degree of vibration of the position of the machine body 3 away from the auxiliary wheel 43, and at the same time can effectively improve the stability and reliability of the cooperation between the auxiliary wheel 43 and the guide groove 21.

[0058] Refer to Figure 6 and Figure 7 , furthermore, to improve the stability and reliability of the machine body 3 passing through the gap between adjacent photovoltaic panels 2 by the moving device 4, preferably, the moving device 4 altogether includes two auxiliary wheels 43, and preferably, the photovoltaic panel 2 is provided with flared grooves 22 at both ends in the length direction of the guide groove 21.

[0059] The two auxiliary wheels 43 are both installed on the side of the machine body 3 close to the baffle 31, and the two auxiliary wheels 43 are respectively close to both sides in the width direction of the machine body 3; when the machine body 3 moves on the photovoltaic panel 2 by the moving device 4, the two auxiliary wheels 43 will both cooperate with the same guide groove 21; when the machine body 3 moves from one photovoltaic panel 2 to another photovoltaic panel 2 by the moving device 4, at least one of the two auxiliary wheels 43 cooperates with the guide groove 21.

[0060] The flared groove 22 expands outward along the thickness direction of the photovoltaic panel 2, and the flared groove 22 is flared towards the direction close to the adjacent photovoltaic panel 2. At this time, it can facilitate the cooperation between the auxiliary wheel 43 and the guide groove 21 through the flared groove 22, so as to improve the stability and reliability of the machine body 3 moving on multiple photovoltaic panels 2 in the same row by the moving device 4.

[0061] Refer to Figure 8 and Figure 9 , the vibration damping device 7 is installed on the machine body 3 for damping the four rotating wheels 41 and the two auxiliary wheels 43. In this embodiment, preferably, three vibration damping devices 7 are altogether installed on the machine body 3.

[0062] The vibration damping device 7 includes a fixing member 71, a movable member 72, two linkage members 73, two first elastic members 74, and two second elastic members 75.

[0063] The fixing member 71 is integrally in a cuboid structure, and has a cavity 711 in the shape of a cuboid inside, and the length direction of the cavity 711 is parallel to the length direction of the fixing member 71.

[0064] The movable member 72 is integrally in a rod-like structure. Through holes 712 communicating with the cavity 711 are provided at both ends of the fixing member 71 in the length direction, and the through holes 712 are adapted to the ends of the movable member 72 in the length direction; a partition portion 721 is provided at the middle position of the movable member 72 along its own length direction, and the partition portion 721 is adapted to the cavity 711.

[0065] The movable member 72 is movably connected to the fixing member 71, and its moving direction is parallel to both its own length direction and the length direction of the fixing member 71; at this time, the partition portion 721 is in close contact with the inner wall of the cavity 711, separating the cavity 711 into two independent spaces. At the same time, both ends of the movable member 72 are in close contact with the inner walls of the two through holes 712 respectively, and block the two through holes 712 respectively.

[0066] The two linkage members 73 are respectively installed at both ends of the movable member 72 in the length direction and are respectively located on both sides of the fixing member 71 in the length direction, and the moving direction of the linkage member 73 is parallel to the length direction of the movable member 72. In this embodiment, it is preferably that the linkage member 73 is sleeved and fitted with the end of the movable member 72, and the linkage member 73 remains sleeved and fitted with the end of the movable member 72 during the process of moving relative to the movable member 72.

[0067] The two first elastic members 74 are both installed in the cavity 711 and are respectively located on both sides of the partition portion 721. The two ends of the first elastic member 74 are respectively fixedly connected to the partition portion 721 and the inner wall of one end of the cavity 711 in the length direction, and the two first elastic members 74 have a tendency to drive the partition portion 721 to remain centered in the cavity 711. In this embodiment, it is preferably that the first elastic member 74 is a spring, and when the partition portion 721 is centered in the cavity 711, the lengths of the parts of the two ends of the movable member 72 extending out of the fixing member 71 are equal.

[0068] The two second elastic members 75 are respectively installed on both sides of the fixing member 71 in the length direction. The two ends of the second elastic member 75 are respectively fixedly connected to the adjacent linkage member 73 and one end of the fixing member 71 in the length direction, and the second elastic member 75 has a tendency to drive the linkage member 73 to move away from the fixing member 71 to the extreme position and remain. In this embodiment, it is preferably that the second elastic member 75 is a spring, and it is preferably that the second elastic member 75 is sleeved on the end of the movable member 72 in the length direction.

[0069] There are three communicating spaces 33 provided on the body 3 for installing the vibration damping device 7, and a vibration damping device 7 is installed in each communicating space 33 of the body 3. Among them, one communicating space 33 is located at a position away from the auxiliary wheel 43 in the length direction of the body 3 and is located between two adjacent seat bodies 44; the other two communicating spaces 33 are located at positions close to the auxiliary wheel 43 in the length direction of the body 3 and are located between the adjacent seat body 44 and the auxiliary wheel 43.

[0070] Referring to Figure 7 and Figure 8 , for the communicating space 33 away from the auxiliary wheel 43, after the vibration damping device 7 is installed in this communicating space 33, the length direction of the fixing member 71 is parallel to the width direction of the body 3; two openings are formed on one side of the communicating space 33 close to the photovoltaic panel 2 of the body 3, and the two adjacent seat bodies 44 respectively block the two openings, and the seat body 44 can keep blocking the opening during the process of moving relative to the body 3; both the fixing member 71 and the linkage member 73 form blockages in the communicating space 33, so that sealed spaces are formed between the linkage member 73 and the fixing member 71 and between the seat body 44 and the adjacent linkage member 73. In this embodiment, it is preferably that when the rotating wheel 41 is not affected by other external forces except its own gravity, the seat body 44 will be in a state of moving to the limit position away from the body 3.

[0071] At this time, when the body 3 moves on the photovoltaic panel 2 through the moving device 4, the rotating wheel 41 will drive the seat body 44 to move a certain distance relative to the body 3 in the direction close to the body 3 under the gravity of the body 3 and other devices, and preferably the distances that the seat bodies 44 corresponding to the four rotating wheels 41 move relative to the body 3 are equal.

[0072] For the two rotating wheels 41 away from the auxiliary wheel 43, when both of the two rotating wheels 41 are affected by the undulation and displace along the height direction of the body 3 relative to the photovoltaic panel 2, at this time, the displacement amplitude of the body 3 relative to the body 3 restricted by the auxiliary wheel 43 is small, so that the seat bodies 44 corresponding to the two rotating wheels 41 will move relative to the body 3; after the seat body 44 moves relative to the body 3, it can trigger the corresponding vibration damping device 7, reduce its own movement amplitude and at the same time inhibit the movement of the other seat body 44 relative to the body 3, thereby effectively reducing the vibration amplitude.

[0073] Wherein, when a seat body 44 moves towards the machine body 3, it will first drive the adjacent linkage 73 to move towards the fixing member 71 and compress the corresponding second elastic member 75. Then, the linkage 73 will move back to its original position under the action of the second elastic member 75. During this process, the second elastic member 75 can effectively absorb part of the vibration, thereby reducing the amplitude; after the linkage 73 moves back to its original position, it will drive the movable member 72 to move towards the previously moved linkage 73. One of the two first elastic members 74 is compressed and the other is stretched. At the same time, the other linkage 73 will move along with the movable member 72 and compress the corresponding second elastic member 75. After that, the movable member 72 and the linkage 73 respectively move back to their initial states. During this process, the two first elastic members 74 and the two second elastic members 75 can further absorb part of the vibration, thereby further reducing the amplitude.

[0074] When the two seat bodies 44 can move relative to the machine body 3 in the same direction simultaneously or staggeredly, the ways they trigger the damping device 7 are opposite, that is, the directions in which they drive the movable member 72 and the linkage 73 to move are opposite. During this process, the two first elastic members 74 and the two second elastic members 75 can not only absorb the vibration, but also inhibit each other.

[0075] When the rotating wheel 41 located in the front along the moving direction first contacts the uneven surface of the photovoltaic panel 2, resulting in the corresponding seat body 44 of the rotating wheel 41 moving relative to the machine body 3 first. At this time, after the damping device 7 is triggered, during the process that the linkage 73 close to the other seat body 44 moves towards the fixing member 71 along with the movable member 72, it can drive the seat body 44 corresponding to the rotating wheel 41 located in the rear along the moving direction to move relative to the machine body 3 through air pressure, and its moving direction is the same as the initial moving direction of the rotating wheel 41 located in the front along the moving direction. Since their movements are staggered, it is convenient for the rotating wheel 41 located in the rear along the moving direction to displace in advance according to the uneven area on the surface of the photovoltaic panel 2 in the front, so as to reduce the amplitude of vibration relative to the machine body 3 when it passes through.

[0076] Refer to Figure 7 and Figure 9 For the two rotating wheels 41 close to the auxiliary wheel 43, the two rotating wheels 41 and the two auxiliary wheels 43 correspond one by one, that is, the adjacent rotating wheel 41 and auxiliary wheel 43 correspond one by one. Moreover, the rod 32 on the machine body 3 for rotatably mounting the auxiliary wheel 43 is movably connected to the machine body 3 along the height direction of the machine body 3, and the end of the rod 32 far from the auxiliary wheel 43 remains inside the machine body 3 during the process of moving relative to the machine body 3.

[0077] Refer to Figure 6 and Figure 9, for the two connected spaces 33 close to the auxiliary wheels 43, the two auxiliary wheels 43 and the adjacent two rotating wheels 41 correspond to the two connected spaces 33 one by one, and the two connected spaces 33 are also provided with vibration damping devices 7; the rod body 32 where the auxiliary wheel 43 is located and the seat body 44 of the corresponding rotating wheel 41 block the two openings of the same connected space 33. In this embodiment, it is preferably that during the process of the machine body 3 moving onto the photovoltaic panel 2 and moving on multiple photovoltaic panels 2, the auxiliary wheel 43 can smoothly enter the guiding groove 21 through the flared groove 22.

[0078] During the process of the machine body 3 moving across the gap between adjacent photovoltaic panels 2, if there is a certain difference in the inclination of adjacent photovoltaic panels 2, the area between the two photovoltaic panels 2 will also be uneven; during this process, the auxiliary wheel 43 located in the front along the moving direction first moves relative to the machine body 3 under the guidance of the flared groove 22, and then drives the rotating wheel 41 located in the front along the moving direction to adaptively move relative to the machine body 3 through the corresponding vibration damping device 7, so as to effectively reduce the vibration generated when the rotating wheel 41 located in the front along the moving direction contacts another photovoltaic panel 2; afterwards, the rotating wheel 41 located in the back along the moving direction first contacts another photovoltaic panel 2 to generate vibration and moves relative to the machine body 3, so as to drive the auxiliary wheel 43 located in the back along the moving direction to move relative to the machine body 3 through another vibration damping device 7, so as to adapt to the positions of the flared groove 22 and the guiding groove 21 on another photovoltaic panel 2, make the process of its cooperation with the guiding groove 21 smoother, and at the same time can further reduce the amplitude of vibration of the machine body 3 during this process.

[0079] The implementation principle of a vibration damping device in an embodiment of the present application is as follows: During the process of the machine body 3 moving on the photovoltaic panel 2 through the moving device 4 and during the process of its moving through multiple photovoltaic panels 2, the vibration damping device 7 can play a role and effectively reduce the amplitude of vibration, so as to effectively reduce the influence of the unevenness or undulation of the photovoltaic surface on the stability of the movement of the machine body 3; At the same time, it can make the rotating wheel 41 with a forward position adaptively displace out of phase through the vibration damping device 7 when displacement vibration occurs, so as to effectively reduce the amplitude of displacement vibration of the rotating wheel 41 with a backward position passing through the same position; And it can facilitate the machine body 3 to move across adjacent photovoltaic panels 2 with a certain difference in inclination, improve the stability and reliability of the cooperation between the auxiliary wheel 43 and the guiding groove 21 of different photovoltaic panels 2 during the movement of the machine body 3, and thus can effectively reduce the probability of the machine body 3 slipping due to the separation of the auxiliary wheel 43 from the guiding groove 21 during the movement.

[0080] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application shall be covered within the protection scope of the present application.

Claims

1. A vibration reduction device for cleaning floating photovoltaic equipment, characterized in that: It comprises a fixed part (71), a movable part (72), two linkage parts (73), two first elastic parts (74) and two second elastic parts (75); The fixing member (71) has a cavity (711) inside, and both ends of the fixing member (71) in the length direction are provided with through holes (712) communicating with the cavity (711); both ends of the movable member (72) in the length direction pass through the two through holes (712) respectively and are both arranged to cooperate with the fixing member (71); a partition (721) is provided in the middle of the movable member (72), and the partition (721) is located in the cavity (711) and divides the cavity (711); the movable member (72) is movably connected to the fixing member (71), and its movable direction is parallel to the length direction of the fixing member (71); The two linkage members (73) are respectively arranged at two ends of the movable member (72) in the length direction and are respectively located at two sides of the fixed member (71) in the length direction; the linkage member (73) is movably connected to the movable member (72), and the movement direction of the linkage member (73) is parallel to the movement direction of the movable member (72); The two first elastic members (74) are both arranged in the cavity (711) and are respectively located on both sides of the partition (721); the two ends of the first elastic member (74) are respectively connected to the partition (721) and the inner wall of the cavity (711) close to the through hole (712); and the two first elastic members (74) are used to drive the partition (721) to maintain a central position in the cavity (711); The two second elastic members (75) are respectively located on both sides of the fixed member (71) in the length direction, and the two ends of the second elastic member (75) are respectively connected to one side of the fixed member (71) in the length direction and the adjacent linkage member (73), and the second elastic member (75) is used to drive the linkage member (73) to move relative to the movable member (72) in a direction away from the fixed member (71) to an extreme position and maintain the position.

2. A floating photovoltaic cleaning robot, comprising a plurality of vibration reduction devices as claimed in claim 1, characterized in that: It also comprises a machine body (3), a moving device (4) and a cleaning device (5), wherein the vibration reduction device (7), the moving device (4) and the cleaning device (5) are all arranged on the machine body (3); The mobile device (4) comprises four base bodies (44), four rotating wheels (41), a plurality of first driving members (42) and a plurality of auxiliary wheels (43); the base body (44) is movably connected to the machine body (3) via the vibration reduction device (7); the rotating wheel (41) is rotatably connected to the base body (44); the rotating axis of the rotating wheel (41) is perpendicular to the movable direction of the base body (44); and the rotating axes of the four rotating wheels (41) are parallel to each other; the first driving member (42) is arranged on the base (44), and used to drive the corresponding rotating wheel (41) to rotate; the auxiliary wheel (43) is rotatably connected to the body (3), and the rotation axis of the auxiliary wheel (43) is parallel to the movement direction of the base (44); a guide groove (21) adapted to the auxiliary wheel (43) is provided at the inclined upper end of the photovoltaic panel (2), and when the auxiliary wheel (43) rolls along the guide groove (21), the four rotating wheels (41) are in contact with and abut against the surface of the photovoltaic panel (2); The cleaning device (5) comprises a spraying component (51) for spraying cleaning liquid, a washing component (52) for washing the surface of the photovoltaic panel (2), and a suction component (53) for sucking away pollutants.

3. A floating photovoltaic cleaning robot according to claim 2, characterized in that: A connecting space (33) is formed at one end of the machine body (3) away from the auxiliary wheel (43); the two seats (44) respectively block two openings of the connecting space (33) formed on the machine body (3); and a vibration reduction device (7) is arranged in the connecting space (33); The fixing member (71) is fixedly connected to the machine body (3), and the linkage member (73) and the fixing member (71) both form a blockage in the communication space (33); the seat body (44) keeps blocking the communication space (33) during movement relative to the machine body (3), and the seat body (44) has a tendency to move in a direction away from the machine body (3) to an extreme position and maintain the position under the action of the adjacent linkage member (73).

4. A floating photovoltaic cleaning robot according to claim 3, characterized in that: A plurality of connecting spaces (33) and a plurality of vibration reduction devices (7) are provided at one end of the machine body (3) away from the connecting space (33), and the plurality of connecting spaces (33) and the plurality of vibration reduction devices (7) are in one-to-one correspondence with the plurality of auxiliary wheels (43); The auxiliary wheel (43) is movably connected to the body (3), and the movement direction of the auxiliary wheel (43) is parallel to the movement direction of the seat body (44); the auxiliary wheel (43) and the adjacent seat body (44) respectively block two openings of the corresponding communication space (33) formed on the body (3); the seat body (44) and the auxiliary wheel (43) keep blocking the communication space (33) during the movement; and the seat body (44) and the auxiliary wheel (43) respectively have a tendency to move in a direction away from the body (3) to an extreme position and maintain the position under the action of the adjacent linkage member (73).

5. A floating photovoltaic cleaning robot according to claim 4, characterized in that: The mobile device (4) comprises two auxiliary wheels (43) in total. The two auxiliary wheels (43) are respectively close to two sides of the machine body (3) and correspond one to one with two adjacent rotating wheels (41), and the two adjacent rotating wheels (41) are located between the two auxiliary wheels (43).

6. A floating photovoltaic cleaning robot according to claim 5, characterized in that: The photovoltaic panel (2) is provided with expanded grooves (22) at both ends of the guide groove (21) to facilitate the entry of the auxiliary wheel (43).

7. A floating photovoltaic cleaning robot according to claim 3, characterized in that: The first driving member (42) is arranged on the seat body (44) away from the auxiliary wheel (43).

8. The floating photovoltaic cleaning robot according to claim 2, characterized in that: The machine body (3) has a baffle (31) at one end thereof close to the auxiliary wheel (43), and the baffle (31) is located on a side of the auxiliary wheel (43) away from the machine body (3); when the auxiliary wheel (43) cooperates with the guide groove (21), the baffle (31) is located on one side of the inclined upper end of the photovoltaic panel (2).

9. The floating photovoltaic cleaning robot according to claim 2, characterized in that: Also includes a line feed device (6); The line-changing device (6) comprises a movable carrier (61), a guide rail (62), a loading platform (63), a bridging member (64) and a second driving member (65); the guide rail (62) is arranged on the floating body (1), and the movable carrier (61) moves along the guide rail (62); the loading platform (63) is arranged on the top of the movable carrier (61) and is used to load the machine body (3); the bridging member (64) is movably arranged on one side of the loading platform (63), and after the bridging member (64) moves in a direction away from the loading platform (63), it is bridging with the adjacent photovoltaic panel (2) so that the machine body (3) can move between the photovoltaic panel (2) and the loading platform (63); the second driving member (65) is arranged on the loading platform (63) and is used to drive the bridging member (64) to move.

10. A floating photovoltaic cleaning robot according to claim 9, characterized in that: The line-changing device (6) further comprises a third driving member (66); The loading platform (63) is rotatably connected to the mobile carrier (61), and its rotation axis is perpendicular to the tilt direction of the photovoltaic panel (2); the third driving member (66) is arranged on the mobile carrier (61) and is used to drive the loading platform (63) to rotate to the same tilt degree as the adjacent photovoltaic panel (2).

Images