Photovoltaic inspection robot with cleaning manipulator

Abstract

The photovoltaic inspection robot with the cleaning manipulator comprises a vehicle body, a lifting platform is arranged in the vehicle body, a rotating platform is arranged in the lifting platform, a rotating arm is arranged in the rotating platform, and a sliding arm is arranged in the rotating arm in a sliding mode; a rotating shaft is rotatably arranged below the rotating arm, an extension shaft is slidably arranged in the rotating shaft, and one end of the extension shaft is rotatably connected to the tail end of the sliding arm; a plurality of brush strips are distributed around the rotating shaft and the extension shaft; one end of the rotating shaft close to the vehicle body is connected with a driving motor; compared with the prior art, high efficiency, intelligentization and low maintenance of photovoltaic panel cleaning are achieved through the technologies of mechanical cleaning-advancing cooperative control and pressure adjustment.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning manipulators, and specifically to a photovoltaic inspection robot with a cleaning manipulator. Background Art

[0002] The efficiency of a photovoltaic power generation system highly depends on the light transmittance of the component surface. Research shows that when pollutants such as dust, bird droppings, and snow cover the surface of a photovoltaic panel, it can lead to a decrease in power generation efficiency, and in severe cases, even cause local hot spot effects, accelerating the aging of the components. In areas with frequent sandstorms, the cleaning demand is as high as 2 - 3 times per month, and the manual cleaning cost accounts for more than 40% of the total operation and maintenance cost. Therefore, developing automated and intelligent inspection and cleaning equipment has become the core demand for photovoltaic power stations to reduce costs and increase efficiency.

[0003] In the prior art, there are fixed cleaning robots that lay rails at the edge of a photovoltaic array, and the robot reciprocates along the rails and cleans the surface by rotating bristles, but it cannot adapt to different specifications of photovoltaic panels, and cannot independently cross different photovoltaic panels, thus failing to achieve the effect of inspection and cleaning.

[0004] There is also a vehicle-mounted robotic arm cleaning device in the prior art. A cleaning brush is installed at the end of the robotic arm carried by a mobile vehicle, and the cleaning angle is adjusted through multi-degree-of-freedom joints. However, the robotic arm completely relies on the vehicle chassis for support. When cleaning, the robotic arm extends to form a cantilever beam structure, resulting in the bending moment increasing exponentially with the extension length. It is difficult to adapt to relatively wide photovoltaic panels, and it is also easy to cause uneven stress on the surface of the photovoltaic panel, increasing the risk of hidden cracks. The vibration during vehicle movement is directly transmitted to the robotic arm, exacerbating the structural vibration and resulting in cleaning trajectory deviation errors.

[0005] Therefore, it is necessary to provide a photovoltaic inspection robot with a cleaning manipulator to solve the problems raised in the above background art. Summary of the Invention

[0006] To achieve the above object, the present invention provides the following technical solution: A photovoltaic inspection robot with a cleaning manipulator, including a vehicle body, in which a lifting platform is provided, a rotating platform is provided in the lifting platform, a rotating arm is provided in the rotating platform, and a sliding arm is slidably provided in the rotating arm;

[0007] A rotating shaft is rotatably provided below the rotating arm, an extension shaft is slidably provided in the rotating shaft, and one end of the extension shaft is rotatably connected to the end of the sliding arm;

[0008] Multiple brush bars are distributed around the rotating shaft and the extension shaft;

[0009] One end of the rotating shaft close to the vehicle body is connected to a driving motor.

[0010] Further, turntables are fixed at both ends of the rotating shaft, and turntables are also fixed at the ends of the extension shafts. Multiple sliding rods are arranged in a circumferential distribution in each turntable and are slidably arranged along the radial direction.

[0011] Further, a brush strip is arranged between two sliding rods in the same radial direction in the two turntables at both ends of the rotating shaft;

[0012] A brush strip is also arranged between two sliding rods in the same radial direction in the turntable at the end of the extension shaft and the turntable of the rotating shaft close to the extension shaft, and this brush strip is slidably connected to the sliding rod of the turntable of the rotating shaft close to the extension shaft.

[0013] Further, a connecting rod is hinged in each sliding rod, and each connecting rod corresponding to the same turntable is hinged to the same sliding ring coaxial with the turntable.

[0014] Further, a pull ring is slidably arranged at one end of the rotating shaft close to the vehicle body. Multiple pull rods parallel to the rotating shaft are fixed in the pull ring, and the pull rods slidably penetrate through each turntable and are fixedly connected to each sliding ring.

[0015] Further, a guide ring is rotatably arranged coaxially in the pull ring, a telescopic cylinder is arranged in the rotating arm, and the piston rod of the telescopic cylinder is connected to the guide ring.

[0016] Further, a bracket is fixed at the end of the sliding arm. A transverse pulley coaxial with the rotating shaft is rotatably arranged in the bracket. A vertical pulley perpendicular to the transverse pulley is also arranged on one side of the bracket, and the height of the vertical pulley is lower than that of the transverse pulley.

[0017] Further, a first bevel gear and a second bevel gear coaxial with the extension shaft are respectively rotatably arranged in the bracket. A driving bevel gear is arranged between the first bevel gear and the second bevel gear. The extension shaft rotatably penetrates through the transverse pulley and the second bevel gear. The first bevel gear is fixedly connected to the extension shaft, and the second bevel gear is fixedly connected to the transverse pulley.

[0018] Further, a first straight gear is coaxially fixed to the driving bevel gear. A second straight gear is attached below the first straight gear, and the second straight gear is fixedly connected to the vertical pulley.

[0019] Further, a chute is opened at the end of the sliding rod. The brush strip is slidably arranged in the chute along the radial direction, and a spring fitting the brush strip is arranged in the chute.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] In the present invention, the drive motor drives the brush strip and the horizontal pulley to rotate in opposite directions through a bevel gear set. The linear velocity of the brush strip is superimposed on the lateral movement speed of the vehicle body, forming a sliding friction effect, which significantly improves the cleaning power for stubborn stains. By controlling the radial expansion and contraction of the sliding rod through a telescopic cylinder and combining with the elastic buffer of the spring, the brush strip can automatically adjust the pressing force according to the stain adhesion strength, which can not only efficiently clean the heavily soiled area but also avoid the hidden crack of the component caused by excessive pressure.

[0022] In the present invention, the alternating contact between the vertical pulley and the horizontal pulley triggers the automatic switching of the cleaning mode. The vehicle body can seamlessly connect between longitudinal positioning and lateral cleaning. The single operation covers the entire photovoltaic panel, and when longitudinally positioning and laterally cleaning, the vehicle body and the pulley jointly bear the weight of the rotating arm and the sliding arm, dispersing the stress concentration, avoiding the damage of the photovoltaic panel due to local pressure, and avoiding increasing the bending moment of the rotating arm due to the elongation of the sliding arm, thus improving the stability.

[0023] In the present invention, the brush strip is quickly inserted into the sliding rod through a chute, supporting single-piece replacement and reducing the maintenance cost; the pre-tightening force adjustment function of the spring can compensate for the wear of the bristles and extend the service life. The single drive motor synchronously drives the cleaning and traveling functions through the bevel gear set and the spur gear set, reducing the independent motor configuration and reducing the bending moment of the rotating arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of a photovoltaic inspection robot with a cleaning manipulator;

[0025] Figure 2 It is a schematic diagram of the positions of the rotating arm and the sliding arm;

[0026] Figure 3 It is a schematic diagram of the front end of the rotating shaft;

[0027] Figure 4 It is a schematic plan view of the front end of the rotating shaft;

[0028] Figure 5 It is a schematic diagram of the position of the bracket;

[0029] Figure 6 It is a schematic diagram of the longitudinal movement of the vertical pulley on the photovoltaic panel;

[0030] Figure 7 It is a schematic diagram of the lateral movement of the horizontal pulley on the photovoltaic panel;

[0031] In the figure: 1, vehicle body; 2, lifting platform; 3, rotating platform; 4, rotating arm; 5, sliding arm; 51, bracket; 52, first bevel gear; 53, second bevel gear; 54, driving bevel gear; 55, first spur gear; 56, second spur gear; 6, rotating shaft; 61, extension shaft; 7, brush strip; 8, driving motor; 9, turntable; 91, sliding rod; 92, connecting rod; 93, slip ring; 94, pull ring; 95, pull rod; 96, guide ring; 97, chute; 98, spring; 10, vertical pulley; 11, horizontal pulley; 12, telescopic cylinder. Detailed implementation manners

[0032] Please refer to Figures 1-7 , in an embodiment of the present invention, a photovoltaic inspection robot with a cleaning manipulator includes a vehicle body 1, a lifting platform 2 is arranged in the vehicle body 1, a rotating platform 3 is arranged in the lifting platform 2, a rotating arm 4 is arranged in the rotating platform 3, and a sliding arm 5 is slidably arranged in the rotating arm 4;

[0033] A rotating shaft 6 is rotatably arranged below the rotating arm 4, an extension shaft 61 is slidably arranged in the rotating shaft 6, and one end of the extension shaft 61 is rotatably connected to the end of the sliding arm 5;

[0034] A plurality of brush strips 7 are distributed around the rotating shaft 6 and the extension shaft 61;

[0035] One end of the rotating shaft 6 close to the vehicle body 1 is connected to a driving motor 8.

[0036] The telescoping of the sliding arm 5 can adjust the combined length of the rotating shaft 6 and the extension shaft 61, so that the brush strip 7 covers the transverse width of the photovoltaic panel. The rotation of the rotating shaft 6 drives the brush strip 7 to rotate circumferentially. When the vehicle body 1 moves longitudinally along the photovoltaic panel, the brush strip 7 cleans the surface of the photovoltaic panel.

[0037] In this embodiment, the extension shaft 61 and the rotating shaft 6 are cooperated through a keyway structure to limit the circumferential rotation of the extension shaft 61.

[0038] In this embodiment, turntables 9 are fixed at both ends of the rotating shaft 6, and turntables 9 are also fixed at the ends of the extension shafts 61. A plurality of sliding rods 91 are arranged in a circumferential distribution and slidably arranged along the radial direction in each turntable 9.

[0039] In this embodiment, a brush strip 7 is arranged between two sliding rods 91 in the same radial direction in the two turntables 9 at both ends of the rotating shaft 6;

[0040] A brush strip 7 is also arranged between two sliding rods 91 in the same radial direction in the turntable 9 at the end of the extension shaft 61 and the turntable 9 of the rotating shaft 6 close to the extension shaft 61, and the brush strip 7 is slidably connected to the sliding rod 91 of the turntable 9 of the rotating shaft 6 close to the extension shaft 61.

[0041] That is to say, the brush bars 7 connected in the extension shaft 61 can change the overlapping length with other brush bars 7 as the extension shaft 61 slides, thereby changing the total length of the brush bars 7.

[0042] In this embodiment, a connecting rod 92 is hinged in each sliding rod 91, and each connecting rod 92 corresponding to the same turntable 9 is hinged to the same sliding ring 93 coaxial with the turntable 9.

[0043] In this embodiment, a pull ring 94 is slidably arranged at one end of the rotating shaft 6 close to the vehicle body 1. A plurality of pull rods 95 parallel to the rotating shaft 6 are fixed in the pull ring 94. The pull rods 95 slidably penetrate through each turntable 9 and are fixedly connected to each sliding ring 93.

[0044] In this embodiment, a guiding ring 96 is rotatably arranged coaxially in the pull ring 94. A telescopic cylinder 12 is arranged in the rotating arm 4, and the piston rod of the telescopic cylinder 12 is connected to the guiding ring 96.

[0045] That is to say, driving the guiding ring 96 by the telescopic cylinder 12 can drive the pull ring 94 to slide, thereby changing the axial position of each sliding ring 93, thereby changing the distance between each sliding ring 93 and the corresponding turntable 9, so that the connecting rod 92 pushes the sliding rod 91 to slide radially to change the expansion range of the brush bars 7.

[0046] In this embodiment, a bracket 51 is fixed at the end of the sliding arm 5. A horizontal pulley 11 coaxial with the rotating shaft 6 is rotatably arranged in the bracket 51. A vertical pulley 10 perpendicular to the horizontal pulley 11 is also arranged on one side of the bracket 51, and the height of the vertical pulley 10 is lower than that of the horizontal pulley 11.

[0047] By longitudinally moving the vertical pulley 10 on the photovoltaic panel, the sliding arm 5 can be driven to expand and contract, so that the sliding arm 5 extends to the uppermost part of the photovoltaic panel. When the sliding arm 5 crosses the uppermost part of the photovoltaic panel, the horizontal pulley 11 fits with the upper edge of the photovoltaic panel. At this time, the horizontal pulley 11 and the vehicle body 1 jointly bear the rotating arm 4 and the sliding arm 5 and can move horizontally on the photovoltaic panel to clean the photovoltaic panel;

[0048] Moreover, when the vertical pulley 10 moves longitudinally on the photovoltaic panel, the telescopic cylinder 12 drives the brush bars 7 to contract so that the brush bars 7 do not contact the photovoltaic panel; and when the horizontal pulley 11 moves horizontally on the photovoltaic panel, the telescopic cylinder 12 drives the brush bars 7 to expand. At this time, the brush bars 7 are in contact with the photovoltaic panel, so that the brush bars 7 can clean the photovoltaic panel when rotating circumferentially.

[0049] In this embodiment, a first bevel gear 52 and a second bevel gear 53 coaxial with the extension shaft 61 are respectively rotatably arranged in the bracket 51. A transmission bevel gear 54 is arranged between the first bevel gear 52 and the second bevel gear 53. The extension shaft 61 rotatably penetrates through the horizontal pulley 11 and the second bevel gear 53. The first bevel gear 52 is fixedly connected to the extension shaft 61, and the second bevel gear 53 is fixedly connected to the horizontal pulley 11.

[0050] That is to say, when the extension shaft 61 rotates, under the action of the transmission bevel gear 54, the horizontal pulley 11 rotates in the opposite direction, so that the driving motor 8 can drive the rotating shaft 6 and the horizontal pulley 11 to rotate in the opposite direction at the same time, making the rotation direction of the brush strip 7 opposite to the traveling direction of the horizontal pulley 11, and enabling the brush strip 7 to slide-friction with the photovoltaic panel when rolling on the brush roller photovoltaic panel, improving the cleaning efficiency.

[0051] In this embodiment, a first spur gear 55 is coaxially fixed to the transmission bevel gear 54. A second spur gear 56 is attached to the lower side of the first spur gear 55. The second spur gear 56 is fixedly connected to the vertical pulley 10.

[0052] That is to say, when the driving motor 8 drives the rotating shaft 6 to rotate, it can also drive the vertical pulley 10 to rotate, so as to drive the vertical pulley 10 to move longitudinally on the photovoltaic panel.

[0053] In this embodiment, a chute 97 is opened at the end of the slide bar 91. The brush strip 7 is slidably arranged in the chute 97 in the radial direction, and a spring 98 in contact with the brush strip 7 is arranged in the chute 97.

[0054] That is to say, by adjusting the expansion range of the brush strip 7, the brush strip 7 can contact the photovoltaic panel with different pressures under the action of the spring 98, so that the brush strip 7 can adjust the pressure on the photovoltaic panel according to the dirt degree of the photovoltaic panel.

[0055] During specific implementation, the robot is placed at the starting position of the photovoltaic panel array. The height of the rotating arm 4 is adjusted through the lifting platform 2 to make the vertical pulley 10 contact the surface of the photovoltaic panel. The angle of the rotating arm 4 is adjusted through the rotating platform 3 to ensure that the vertical pulley 10 is aligned with the longitudinal edge of the photovoltaic panel;

[0056] The driving motor 8 is turned on, and the power is transmitted to the second spur gear 56 through the rotating shaft 6, driving the vertical pulley 10 to roll longitudinally along the photovoltaic panel. The telescopic cylinder 12 drives the pull ring 94 to drive the sliding ring 93 away from the turntable 9, and the connecting rod 92 drives the slide bar 91 to contract radially, and the brush strip 7 disengages from the surface of the photovoltaic panel;

[0057] The rolling of the vertical pulley 10 drives the sliding arm 5 to slide outwards, and the extension shaft 61 synchronously extends from the rotating shaft 6 until the vertical pulley 10 crosses the upper edge of the photovoltaic panel and falls, and the horizontal pulley 11 contacts the upper edge of the photovoltaic panel;

[0058] The telescopic cylinder 12 pushes the slip ring 93 close to the turntable 9, the connecting rod 92 pushes the slide bar 91 to expand radially, and the brush strip 7 presses against the surface of the photovoltaic panel under the action of the spring 98. When the dirt is serious, the expansion amplitude of the slide bar 91 can be increased, and the compression amount of the spring 98 can be increased to increase the pressure of the brush strip 7;

[0059] The vehicle body 1 moves horizontally along the photovoltaic panel at a constant speed. The drive motor 8 continues to drive, so that the horizontal pulley 11 moves synchronously with the vehicle body 1. The rotating shaft 6 and the extension shaft 61 drive multiple groups of brush strips 7 to rotate circumferentially. And under the action of the transmission bevel gear 54, the rotation direction of the brush strip 7 is opposite to the traveling direction of the horizontal pulley 11, forming a sliding friction to efficiently remove stubborn stains;

[0060] When the vehicle body 1 moves to the other side edge of the photovoltaic panel, the vehicle body 1 moves away from the photovoltaic panel, so that the vertical pulley 10 contacts the surface again, the telescopic cylinder 12 retracts, the brush strip 7 contracts and disengages from the photovoltaic panel, and the sliding arm 5 is retracted by driving the vertical pulley 10 to move towards the vehicle body 1.

[0061] The above-mentioned is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered within the protection scope of the present invention.

Claims

1. A photovoltaic inspection robot with a cleaning manipulator, characterized in that: The vehicle comprises a vehicle body (1), wherein a lifting platform (2) is arranged in the vehicle body (1), wherein a rotating platform (3) is arranged in the lifting platform (2), wherein a rotating arm (4) is arranged in the rotating platform (3), and wherein a sliding arm (5) is slidably arranged in the rotating arm (4); A rotating shaft (6) is rotatably arranged below the rotating arm (4), an extension shaft (61) is slidably arranged inside the rotating shaft (6), and one end of the extension shaft (61) is rotatably connected to the end of the sliding arm (5); A plurality of brush strips (7) are distributed around the rotating shaft (6) and the extension shaft (61); One end of the rotating shaft (6) close to the vehicle body (1) is connected to a driving motor (8).

2. A photovoltaic inspection robot with a cleaning manipulator according to claim 1, characterized in that: A rotating disk (9) is fixed at both ends of the rotating shaft (6), and a rotating disk (9) is also fixed at the end of the extension shaft (61). A plurality of sliding rods (91) are distributed around the circumference of each rotating disk (9) and are arranged to slide in a radial direction.

3. A photovoltaic inspection robot with a cleaning manipulator according to claim 2, characterized in that: A brush strip (7) is provided between two sliding rods (91) in the same radial direction in two rotating disks (9) at both ends of the rotating shaft (6); A brush strip (7) is also provided between the rotating disc (9) at the end of the extension shaft (61) and two sliding bars (91) in the same radial direction in the rotating disc (9) of the rotating shaft (6) close to the extension shaft (61), and the brush strip (7) is slidably connected to the sliding bar (91) of the rotating disc (9) of the rotating shaft (6) close to the extension shaft (61).

4. A photovoltaic inspection robot with a cleaning manipulator according to claim 2, characterized in that: A connecting rod (92) is hinged in each of the sliding rods (91), and each connecting rod (92) corresponding to the same rotating disk (9) is hinged in a same sliding ring (93) coaxial with the rotating disk (9).

5. A photovoltaic inspection robot with a cleaning manipulator according to claim 4, characterized in that: A pull ring (94) is slidably provided at one end of the rotating shaft (6) close to the vehicle body (1), and a plurality of pull rods (95) parallel to the rotating shaft (6) are fixed in the pull ring (94). The pull rods (95) slidably penetrate each rotating disk (9) and are fixedly connected to each sliding ring (93).

6. The photovoltaic inspection robot with a cleaning manipulator according to claim 5, characterized in that: A guide ring (96) is coaxially rotatably arranged in the pull ring (94), a telescopic cylinder (12) is arranged in the rotating arm (4), and a piston rod of the telescopic cylinder (12) is connected to the guide ring (96).

7. The photovoltaic inspection robot with a cleaning manipulator according to claim 1, characterized in that: A bracket (51) is fixed at the end of the sliding arm (5), a transverse pulley (11) coaxial with the rotating shaft (6) is rotatably arranged in the bracket (51), and a vertical pulley (10) perpendicular to the transverse pulley (11) is also arranged on one side of the bracket (51), and the height of the vertical pulley (10) is lower than that of the transverse pulley (11).

8. The photovoltaic inspection robot with a cleaning manipulator according to claim 7, characterized in that: A first bevel gear (52) and a second bevel gear (53) coaxial with the extension shaft (61) are rotatably arranged in the bracket (51), a transmission bevel gear (54) is arranged between the first bevel gear (52) and the second bevel gear (53), the extension shaft (61) rotatably penetrates the transverse pulley (11) and the second bevel gear (53), the first bevel gear (52) is fixedly connected to the extension shaft (61), and the second bevel gear (53) is fixedly connected to the transverse pulley (11).

9. The photovoltaic inspection robot with a cleaning manipulator according to claim 8, characterized in that: The transmission bevel gear (54) is coaxially fixed with a first spur gear (55), a second spur gear (56) is attached below the first spur gear (55), and the second spur gear (56) is fixedly connected to the vertical pulley (10).

10. The photovoltaic inspection robot with a cleaning manipulator according to claim 2, characterized in that: A sliding groove (97) is provided at the end of the sliding rod (91), and the brush strip (7) can be radially slidably arranged in the sliding groove (97), and a spring (98) is arranged in the sliding groove (97) and is in contact with the brush strip (7).

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