Photovoltaic cleaning robot

Abstract

The invention belongs to the technical field of photovoltaic cleaning, and particularly relates to a photovoltaic cleaning robot, which comprises a body used for being mounted on a photovoltaic panel to clean the photovoltaic panel, and is characterized in that the body comprises a shell, a plurality of photovoltaic modules and a plurality of photovoltaic modules, the driving mechanism is located in the shell and used for driving the body to move on the photovoltaic panel; the cleaning mechanism is positioned in the shell, at least partially extends out of the shell and is used for contacting the surface of the photovoltaic panel; the cleaning mechanism comprises a scraping plate assembly which comprises a fixing piece fixedly installed at the upper end in the shell and a scraping plate part rotationally connected to the lower portion of the fixing piece; and the swing assembly is used for driving the scraping plate part to swing to clean the photovoltaic panel and can disturb airflow, so that the airflow flows towards the photovoltaic panel through the scraping plate part. The photovoltaic robot has the beneficial effects that through mutual cooperation of the scraping plate assembly and the swing assembly, the photovoltaic robot can realize combination of static cleaning and dynamic cleaning; the working efficiency of the photovoltaic cleaning robot can be improved, and energy consumption is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic cleaning, and in particular to a photovoltaic cleaning robot. Background Art

[0002] A photovoltaic cleaning robot is an automated device specifically designed to clean photovoltaic panels. It typically replaces manual cleaning tasks through automation, improving cleaning efficiency, reducing labor costs, and mitigating cleaning risks to a certain extent.

[0003] PV cleaning robots can automatically perform cleaning tasks based on preset programs or sensors that detect the degree of dirt on the panels. They can complete cleaning tasks without human intervention and can monitor the condition of the panels during the cleaning process.

[0004] Compared with traditional cleaning methods, many photovoltaic cleaning robots use dry cleaning technology (such as scrapers, etc.), which does not require a large amount of water. This not only saves water resources, but also reduces the potential damage to photovoltaic panels caused by water.

[0005] Most of the scrapers of existing photovoltaic cleaning robots use a static moving cleaning method to clean the photovoltaic panels. If it is found that there is still adhered and agglomerated dirt on some parts of the photovoltaic panels, the photovoltaic robot needs to move back and forth frequently, which is time-consuming and energy-consuming, and the cleaning efficiency is not high. In addition, the photovoltaic robot is large and has a certain mass. The frequent movement of the whole body may cause the photovoltaic panel to be indented or microcracked by the photovoltaic robot. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a photovoltaic cleaning robot to solve the above problems.

[0007] The technical solution of the present invention is implemented as follows: A photovoltaic cleaning robot comprises: The main body is used to be installed on the photovoltaic panel to clean the photovoltaic panel. The main body includes: case; A driving mechanism, located in the housing, for driving the body to move on the photovoltaic panel; a cleaning mechanism located within the housing and at least partially extending out of the housing for contacting the surface of the photovoltaic panel; Among them, cleaning agencies include: The scraper assembly includes a fixing member fixedly mounted on the upper end of the housing and a scraper portion rotatably connected to the lower portion of the fixing member; The swing component is used to drive the scraper part to swing to clean the photovoltaic panel, and can disturb the airflow so that the airflow flows through the scraper part to the photovoltaic panel.

[0008] Furthermore, a support frame is fixedly installed on one side of the photovoltaic panel, and the support frame is located on the moving path of the main body for placing the main body.

[0009] Furthermore, a photovoltaic panel for providing electrical energy to the main body is installed on one side of the upper end of the shell, and a hollow bracket extending upward from the main body is installed on one side of the support frame. A scraper 1 is connected and fixed to the hollow bracket, and the scraper 1 is located on the moving path of the photovoltaic panel.

[0010] Furthermore, the driving mechanism includes a driving part 1 in contact with two side surfaces of the upper edge of the photovoltaic panel, and a driving part 2 in contact with two side surfaces of the lower edge of the photovoltaic panel, and the driving part 1 includes: The support plate is fixedly mounted on the inner side of the shell and is in an L-shape, comprising a vertical portion and a horizontal portion connected to each other; There are two drive gears, which are rotatably mounted on the lower end of the transverse portion, and a transmission track is sleeved between the two drive gears; There are two drive gears 2, which are rotatably mounted on the right side of the vertical portion, and a transmission track 2 is sleeved between the two drive gears 2; A driving motor 1 is mounted on the upper end of the transverse portion and is in transmission connection with one of the driving gears 1; The second driving motor is installed on the right side of the vertical portion and is in transmission connection with one of the second driving gears; When the main body is located on the photovoltaic panel, the transmission track 1 and the transmission track 2 are respectively fitted with the two sides of the corners of the upper edge of the photovoltaic panel; The second driving part has the same structure as the first driving part and is arranged in a mirror image.

[0011] Furthermore, a limiting plate extending toward the rear end of the photovoltaic panel is fixedly installed at the middle portion of the lower end of the transverse portion.

[0012] Furthermore, there are three groups of cleaning mechanisms, which are arranged at intervals along the length of the shell at the upper end of the shell, and the three groups of cleaning mechanisms are all arranged obliquely.

[0013] Furthermore, the swing assembly includes: The stepper motor is fixedly installed on the top of the housing; The spoiler cylinder is fixedly installed on the top of the shell; The spoiler cylinder includes: The first rotating shaft is rotatably connected to the spoiler cylinder, and the first rotating shaft is connected to the stepping motor through a toothed belt transmission; The limiting member includes a limiting block 1 and a limiting block 2, which are fixedly installed on the left and right sides of the spoiler cylinder respectively. The limiting block 1 and the limiting block 2 are provided with an arc-shaped inner concave surface abutting against the rotating shaft 1 on the side facing the rotating shaft 1, so as to separate the spoiler cylinder into an upper chamber and a lower chamber; Swing blocks are fixedly installed on the upper and lower sides of the rotating shaft 1, and the outer edges of the swing blocks are in contact with the wall of the spoiler cylinder. When the rotating shaft 1 rotates forward and reverse, the swing blocks in the upper chamber and the lower chamber can swing synchronously. Among them, an air inlet channel 1 and an air outlet channel are respectively opened on both sides of the upper end of the limit block 1, an air supply channel 1 extending to the outside of the spoiler cylinder is opened on the inner wall of the middle part of the air outlet channel 1, and an air suction channel 1 extending to the outside of the spoiler cylinder is opened on the inner wall of the middle part of the air inlet channel 1, and a one-way valve 1 is embedded at both ends of the air inlet channel 1 and the air outlet channel.

[0014] Furthermore, the scraper portion includes: The rotating block is long and horizontally arranged. The lower end of the fixed member is provided with downwardly extending extension arms on both sides along its length. The two ends of the rotating block are rotatably connected between the two extension arms through a rotating shaft. An accommodating groove is provided at the lower end of the rotating block along its length direction; The mounting cover is in a U-shaped structure and is fixedly mounted on the lower end surface of the rotating block. An elastic tympanic membrane is sandwiched between the mounting cover and the rotating block to cover the lower notch of the accommodating groove. The clamping member comprises a first clamping arm and a second clamping arm respectively fixedly mounted on the left and right sides of the rotating block; Scraper 2, a scraper holder is inserted between the first clamping arm and the second clamping arm, and the scraper 2 is clamped at the lower end of the scraper holder; Wherein, the holding tank is connected to the air supply channel 1 through the air transmission pipeline 1; Among them, one of the rotating shafts of the rotating block passes through the corresponding extension arm and is connected and fixed with the second rotating shaft. One end of the second rotating shaft passes through the spoiler cylinder and is coaxially connected and fixed with the rotating shaft.

[0015] Furthermore, the second limiting block includes: The second air inlet channel is provided through the upper end surface of the second limit block, and the inner wall of the middle part of the second air inlet channel is provided with an air suction channel extending to the outside of the spoiler cylinder; The air outlet hole 1 is provided on one side of the upper end surface of the limiting block 2, and the air supply channel 2 extending to the outside of the spoiler cylinder is provided through the hole wall of the air outlet hole 1; The air outlet hole 2 is opened on one side of the lower end of the limit block 2, and the air supply channel 3 extending to the outside of the spoiler cylinder is opened through the hole wall of the air outlet hole 2. The first clamping arm and the second clamping arm are both provided with an accommodating cavity arranged along the length direction of the clamping member, and a plurality of exhaust holes are opened on the lower cavity wall of the accommodating cavity. One of the accommodating cavities is connected to the air supply channel 2 through the air supply pipe 2, and the other accommodating cavity is connected to the air supply channel 3 through the air supply pipe 3. Among them, one-way valves 2 are provided at both ends of the air inlet channel 2, and one-way valves 3 are provided in the air outlet hole 1 and the air outlet hole 2.

[0016] The beneficial effects of the present invention are: Through the cooperation of the scraper assembly and the swing assembly, the photovoltaic robot can achieve a combination of static cleaning and dynamic cleaning, which can not only improve the working efficiency of the photovoltaic cleaning robot and reduce energy consumption, but also effectively reduce the damage to the photovoltaic panel caused by the robot's frequent and large-scale movement, thereby extending the service life of the photovoltaic panel and greatly improving the cleaning effect of the photovoltaic panel and the system stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a schematic diagram of the cooperation structure between the photovoltaic cleaning robot and the photovoltaic panel in a specific embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the cooperation structure between the photovoltaic cleaning robot and the photovoltaic panel in a specific embodiment of the present invention. Figure 2 ; Figure 3 Specific implementation of the present invention Figure 2 A magnified view of middle A; Figure 4 Specific implementation of the present invention Figure 2 Enlarged view of middle B; Figure 5 This is a front view of a spoiler cylinder according to a specific embodiment of the present invention; Figure 6 This is an exploded view of the spoiler cylinder according to a specific embodiment of the present invention; Figure 7 Specific implementation of the present invention Figure 5 Middle AA section view; Figure 8 Specific implementation of the present invention Figure 5 Middle BB cross-section; Figure 9 Specific implementation of the present invention Figure 5 Middle CC section view; Figure 10 Specific implementation of the present invention Figure 5 Middle DD section view; Figure 11This is a schematic structural diagram of a scraper assembly according to a specific embodiment of the present invention; Figure 12 It is a cross-sectional view of a scraper assembly according to a specific embodiment of the present invention. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0020] In the description of this application, it should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to this application. For ease of description, the dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Technologies, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the technologies, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, so once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0021] Example 1: like Figures 1 to 12 As shown, the present invention discloses a photovoltaic cleaning robot, comprising: The main body 1 is used to be installed on the photovoltaic panel 2 to perform cleaning operations on the photovoltaic panel 2, and is characterized in that the main body 1 includes: Shell 3; A driving mechanism, located in the housing 3, for driving the body to move on the photovoltaic panel 2; a cleaning mechanism, located in the housing 3 and at least partially extending out of the housing 3 for contacting the surface of the photovoltaic panel 2; Among them, cleaning agencies include: The scraper assembly includes a fixing member fixedly mounted on the upper end of the housing 3 and a scraper portion rotatably connected to the lower portion of the fixing member; The swing assembly is used to drive the scraper portion to swing to clean the photovoltaic panel 2, and can disturb the airflow so that the airflow flows through the scraper portion to the photovoltaic panel 2.

[0022] In the above technical solution, the photovoltaic cleaning robot is equipped with several cameras to capture dirt on the photovoltaic panels, helping the robot to accurately determine the cleaning requirements and cleaning degree of the panels. This is a prior art and will not be discussed again in this specification. By adopting the above technical solution, through the mutual cooperation of the scraper assembly and the swing assembly, the photovoltaic robot can achieve a combination of static cleaning and dynamic cleaning, which can not only improve the working efficiency of the photovoltaic cleaning robot and reduce energy consumption, but also effectively reduce the damage to the photovoltaic panel caused by the robot's frequent and large-scale movement, thereby extending the service life of the photovoltaic panel and greatly improving the cleaning effect of the photovoltaic panel and the system stability.

[0023] When the photovoltaic cleaning robot moves, it drives the scraper assembly to move synchronously to perform a static cleaning of the photovoltaic panel. If any residual adhered and agglomerated dirt is observed, the photovoltaic cleaning robot can move above the adhered and agglomerated dirt, and then use the swing mechanism to cooperate with the scraper assembly to quickly peel off the difficult-to-remove agglomerated dirt. The cleaning method combines static cleaning with dynamic cleaning, improving the comprehensiveness and efficiency of photovoltaic panel cleaning.

[0024] Example 2: This embodiment provides a photovoltaic cleaning robot, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0025] Furthermore, a support frame 4 is fixedly installed on one side of the photovoltaic panel 2. The support frame 4 is located on the moving path of the main body 1 for placing the main body 1.

[0026] In the above technical solution, the photovoltaic panel is supported by a fixed frame and placed obliquely above the ground. One side of the fixed frame is provided with an extension extending to the left side of the photovoltaic panel, and the support frame is fixedly installed on the extension. In the above technical solution, the support frame is rectangular, and the length of the support frame is equal to the width of the photovoltaic panel, so that the body will not get stuck when moving toward the photovoltaic panel; By adopting the above technical solution, the main body is placed on the support frame when not in use, so that it will not block the photovoltaic panel, and it is also convenient to maintain the photovoltaic cleaning robot main body.

[0027] Example 3: This embodiment provides a photovoltaic cleaning robot, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0028] Furthermore, a photovoltaic panel 5 for providing electrical energy to the main body 1 is installed on one side of the upper end of the shell 3, and a hollow bracket 6 extending above the main body 1 is installed on the outer side of the support frame 4. A scraper 7 is connected and fixed to the hollow bracket 6, and the scraper 7 is located on the moving path of the photovoltaic panel 5.

[0029] In the above technical solution, the photovoltaic panel on the shell is used to convert light energy to power the cleaning robot body; In the above technical solution, a battery for storing electrical energy is installed in the housing; By adopting the above technical solution, when the photovoltaic cleaning robot moves from the support frame to the photovoltaic panel, or when the photovoltaic cleaning robot moves from the photovoltaic panel to the support frame, the photovoltaic panel will pass through the interval where the scraper is located. As the photovoltaic robot moves, the scraper can scrape off impurities attached to the photovoltaic panel on the shell to prevent impurities from affecting the power generation of the photovoltaic panel.

[0030] Example 4: This embodiment provides a photovoltaic cleaning robot, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0031] Furthermore, the driving mechanism includes a driving part 1 in contact with two side surfaces of the upper edge of the photovoltaic panel 2, and a driving part 2 in contact with two side surfaces of the lower edge of the photovoltaic panel 2, and the driving part 1 includes: The support plate 8 is fixedly mounted on the inner side of the housing 1 and is in an L-shape, comprising a vertical portion and a horizontal portion connected to each other; There are two driving gears 9, which are rotatably mounted on the lower end of the transverse portion, and a transmission track 1 is sleeved between the two driving gears 9; There are two drive gears 10, which are rotatably mounted on the right side of the vertical portion, and a transmission track 2 is sleeved between the two drive gears 10; A driving motor 1 is mounted at the upper end of the transverse portion and is in transmission connection with one of the driving gears 1-9; The second driving motor is installed on the right side of the vertical portion and is connected to one of the second driving gears 10; When the main body 1 is located on the photovoltaic panel 2, the transmission track 1 and the transmission track 2 are respectively in contact with the two sides of the corners of the upper edge of the photovoltaic panel 2; The second driving part has the same structure as the first driving part and is arranged in a mirror image.

[0032] In the above technical solution, the photovoltaic panel includes a back plate connected to a fixing frame and a photovoltaic module mounted on the front of the back plate; In the above technical solution, a gap is provided between the upper and lower edges of the photovoltaic module and the upper and lower edges of the back plate, respectively, to form a contact surface for the second transmission track. That is, the transmission track only contacts the back plate, so that the transmission track does not contact and squeeze the photovoltaic module, thereby ensuring the electrical performance of the photovoltaic module. In the above technical solution, the two side surfaces of the upper edge of the photovoltaic panel are respectively the upper edge of the back sheet front and the upper end surface of the back sheet, and the two side surfaces of the lower edge of the photovoltaic panel are respectively the lower edge of the back sheet front and the lower end surface of the back sheet; In the above technical solution, rubber blocks are fixedly installed on the circumference of the transmission crawler belt 1 and the transmission crawler belt 2 to reduce damage to the back plate and provide better traction; By adopting the above technical solution, the driving part 1 and the driving part 2 enable the main body to have two upper and lower angled contact surfaces to contact the back plate, which is firm and stable. When the main body is located on the support frame, the two angled contact surfaces contact the upper and lower edges of the support frame respectively. When the photovoltaic module needs to be cleaned, the drive motor of the drive mechanism is started synchronously, driving the drive tracks to move synchronously, so that the main body enters the photovoltaic panel along the support frame to clean the photovoltaic panel; The setting of the transmission crawler makes the photovoltaic cleaning robot move more stably and reliably on the photovoltaic panels and is not prone to deviation.

[0033] Example 5: This embodiment provides a photovoltaic cleaning robot, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0034] Furthermore, a limiting plate 11 extending toward the rear end of the photovoltaic panel 2 is fixedly installed at the middle portion of the lower end of the transverse portion.

[0035] By adopting the above technical solution, the movement range of the main body is limited, and the upper and lower drive parts are prevented from being out of sync due to failure, which may cause the main body to deviate. At the same time, it can also prevent the main body from being separated from the support frame or photovoltaic panel when there is a lot of external interference, thereby ensuring the stability of the main body and preventing it from falling off.

[0036] Example 6: This embodiment provides a photovoltaic cleaning robot, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0037] Furthermore, three groups of cleaning mechanisms are provided, and the three groups of cleaning mechanisms are sequentially arranged at the upper end of the shell 3 along the length of the shell 3, and the three groups of cleaning mechanisms are all arranged obliquely.

[0038] By adopting the above technical solution, it is ensured that the cleaning mechanism can effectively cover the photovoltaic module.

[0039] Example 7: This embodiment provides a photovoltaic cleaning robot, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0040] Furthermore, the swing assembly includes: The stepper motor 12 is fixedly mounted on the top of the housing 3; The spoiler cylinder 13 is fixedly installed on the top of the shell 3; Wherein, the spoiler cylinder 13 comprises: The rotating shaft 14 is rotatably connected to the spoiler cylinder 13, and the rotating shaft 14 is connected to the stepping motor 12 through a toothed belt transmission; The limiting member 15 includes a limiting block 151 and a limiting block 152. The limiting block 151 and the limiting block 152 are fixedly installed on the left and right sides of the spoiler cylinder 13 respectively. The limiting block 151 and the limiting block 152 have an arc-shaped inner concave surface abutting against the rotating shaft 14 on the side facing the rotating shaft 14, so as to separate the spoiler cylinder 13 into an upper chamber 16 and a lower chamber 17. Swing blocks 18 are fixedly mounted on the upper and lower sides of the rotating shaft 14. The outer edge of the swing block 18 is in contact with the wall of the spoiler cylinder 12. When the rotating shaft 14 rotates forward and reverse, the swing blocks 18 in the upper chamber 16 and the lower chamber 17 can swing synchronously. Among them, an air inlet channel 18 and an air outlet channel 19 are respectively opened on both sides of the upper end of the limit block 151, an air supply channel 20 extending to the outside of the spoiler cylinder 13 is opened on the inner wall of the middle part of the air outlet channel 19, and an air suction channel 21 extending to the outside of the spoiler cylinder 13 is opened on the inner wall of the middle part of the air inlet channel 18. A one-way valve 100 is embedded at both ends of the air inlet channel 18 and the air outlet channel 19.

[0041] In the above technical solution, the spoiler cylinder is a detachable cylindrical sealing shell; In the above technical solution, a transmission gear 1 connected to the rotating shaft 1 is installed on the outer side of the spoiler, and a transmission gear 2 is installed on the output shaft of the stepping motor. The transmission gear 1 and the transmission gear 2 are connected by a toothed belt; By adopting the above technical solution, when the swing block in the upper chamber swings to the right, the swing block in the lower chamber swings to the left synchronously. During the swinging process, negative pressure is formed on the left side of the upper chamber, that is, the left side of the swing block in the upper chamber. External air is sucked in through the suction channel 1 on the limit block 1, and then enters the left side of the upper chamber through the upper channel opening of the air inlet channel 1, while the air on the left side of the lower chamber is squeezed and transported to the external scraper part through the lower channel opening of the air outlet channel and the air supply channel 1. Similarly, when the swing block in the upper chamber swings to the left, the swing block in the lower chamber swings to the right synchronously. During the swinging process, the air on the left side of the upper chamber is squeezed and transported to the external scraper part through the upper channel opening of the air outlet channel and the air supply channel 1, while negative pressure is formed on the left side of the lower chamber. The external air is sucked in through the air suction channel 1 on the limit block 1, and then enters the left side of the lower chamber through the lower channel opening of the air inlet channel 1. The reciprocating swing of the swing block can continuously deliver airflow to the scraper portion for auxiliary cleaning.

[0042] Example 8: This embodiment provides a photovoltaic cleaning robot, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0043] Furthermore, the scraper portion includes: The rotating block 22 is long and horizontally arranged. The lower end of the fixed member is provided with downwardly extending extension arms on both sides along its length. The two ends of the rotating block 22 are rotatably connected between the two extension arms through a rotating shaft. The accommodating groove 23 is provided at the lower end of the rotating block 22 along its length direction; The mounting cover 24 is in a U-shaped structure and is fixedly mounted on the lower end surface of the rotating block 22. An elastic tympanic membrane 241 for covering the lower notch of the receiving groove 23 is sandwiched between the mounting cover 24 and the rotating block 22. The clamping member includes a first clamping arm and a second clamping arm respectively fixedly mounted on the left and right sides of the rotating block 22. Specifically, the lower edges of the first clamping arm and the second clamping arm are concavely arranged to form a V-shaped clamping structure; The scraper 25 is provided with a scraper holder inserted between the first clamping arm and the second clamping arm, and the scraper 25 is clamped at the lower end of the scraper holder; The receiving tank is connected to the air supply channel 1 20 through the air supply pipeline 1; Among them, one of the rotating shafts of the rotating block 22 passes through the corresponding extension arm and is connected and fixed with the second rotating shaft. One end of the second rotating shaft passes through the spoiler cylinder 13 and is coaxially connected and fixed with the first rotating shaft 14.

[0044] In the above technical solution, a solenoid valve for discharging air from the holding tank is installed on one side of the holding tank; By adopting the above technical solution, when the first rotating shaft rotates forward and reverse to drive the swing block to swing left and right, the second rotating shaft can also drive the rotating block to swing rapidly, thereby driving the scraper to swing rapidly, which helps to quickly peel off the adhered and agglomerated dirt; When the swing block swings, external air can be extracted and delivered to the receiving tank through the air pipeline. Since the receiving tank is closed by an elastic tympanic membrane, when the air pressure in the receiving tank rises, the elastic tympanic membrane will expand downward and pass through the opening in the middle of the mounting cover to contact the scraper holder, exerting a downward force on the scraper holder. The clamping piece and the scraper holder are designed in a V shape as a whole, which makes the scraper and the scraper holder fit more firmly and makes the scraper more stable when swinging. It can also increase the contact force between the scraper and the photovoltaic module, thereby improving the scraper's ability to remove dirt. The solenoid valve is set to release pressure to avoid damage to the elastic eardrum due to excessive pressure. After cleaning the adhered and agglomerated dirt, the solenoid valve is used to release pressure in the receiving tank, so that when the main body returns to the support frame, the scraper moves on the photovoltaic module without applying pressure, reducing wear on the scraper.

[0045] Example 9: This embodiment provides a photovoltaic cleaning robot, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0046] Furthermore, the second limiting block 152 includes: The second air inlet channel 1521 is formed through the upper end surface of the second limiting block 152, and the inner wall of the middle portion of the second air inlet channel 1521 is formed through the first air suction channel 1522 extending to the outside of the spoiler cylinder; The first air outlet hole 1523 is provided on one side of the upper end surface of the second limiting block 152. The wall of the first air outlet hole 1523 is penetrated by a second air supply channel 1524 extending toward the outside of the spoiler cylinder. The second air outlet hole 1525 is opened on the lower side of the second limit block 152, and the wall of the second air outlet hole 1525 is penetrated by an air supply channel 1526 extending to the outside of the spoiler cylinder. The first clamping arm and the second clamping arm are each provided with an accommodating cavity 26 arranged along the length direction of the clamping member. A plurality of exhaust holes are opened on the lower cavity wall of the accommodating cavity 26. One accommodating cavity 26 is connected to the second air supply channel 1524 through the second air supply pipe, and the other accommodating cavity 26 is connected to the third air supply channel 1526 through the third air supply pipe. Among them, one-way valves 2 are provided at both ends of the air inlet channel 2, and one-way valves 3 are provided in the air outlet hole 1 and the air outlet hole 2.

[0047] By adopting the above technical solution, when the swing block in the upper chamber swings to the right, the swing block in the lower chamber swings to the left synchronously. During the swinging process, the states of the upper chamber and the left side of the lower chamber are as shown in Example 7, and the air on the right side of the upper chamber is squeezed and discharged through the air outlet hole 1 and the air supply channel 2, and then transported to one of the accommodating chambers through the air supply pipe 2. Under normal conditions, the scraper is in a vertical state. As the swing block in the upper chamber swings to the right, the scraper swings to the left. The air supply pipe 2 is connected to the accommodating chamber in the opposite direction of the scraper swinging, that is, the accommodating chamber of the first clamping arm, and then auxiliary blowing is performed on the area scraped by the scraper through the exhaust hole, which helps to peel off the agglomerated dirt and improve the cleaning effect. At the same time, negative pressure is formed on the right side of the lower chamber, and external air enters the right side of the lower chamber through the lower channel opening of the air inlet channel 2. If the swing direction is switched, the air on the right side of the lower chamber is squeezed and discharged through the air outlet hole 2 and the air supply channel 3, and then enters the accommodating cavity of the second clamping arm through the air transmission pipe 3, and then is auxiliary-blown to the area scraped by the scraper through the exhaust hole; In addition, the air exhausted through the solenoid valve can also be connected to the accommodating cavity through another pipeline to improve the utilization rate; To sum up, the scraper assembly, on the basis of meeting the routine cleaning requirements of the photovoltaic panel, can be used in conjunction with the swing assembly to peel off and clean the agglomerated dirt that is difficult to remove during static cleaning of the scraper assembly, thereby improving the cleaning efficiency of the photovoltaic panel and ensuring the photoelectric conversion efficiency of the photovoltaic panel.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A photovoltaic cleaning robot, comprising: The main body (1) is used for being installed on a photovoltaic panel (2) to perform a cleaning operation on the photovoltaic panel (2), and is characterized in that the main body (1) comprises: Housing (3); A driving mechanism, located in the housing (3), for driving the body to move on the photovoltaic panel (2); A cleaning mechanism is located in the housing (3) and at least partially extends out of the housing (3) for contacting the surface of the photovoltaic panel (2); Among them, cleaning agencies include: The scraper assembly comprises a fixing member fixedly mounted on the upper end of the housing (3) and a scraper portion rotatably connected to the lower portion of the fixing member; The swing assembly is used to drive the scraper portion to swing to clean the photovoltaic panel (2), and can disturb the airflow so that the airflow flows through the scraper portion toward the photovoltaic panel (2).

2. A photovoltaic cleaning robot according to claim 1, characterized in that: A support frame (4) is fixedly mounted on one side of the photovoltaic panel (2), and the support frame (4) is located on the moving path of the main body (1) for the main body (1) to be placed.

3. A photovoltaic cleaning robot according to claim 2, characterized in that: A photovoltaic panel (5) for providing electric energy to the main body (1) is installed on one side of the upper end of the shell (3), and a hollow bracket (6) extending above the main body (1) is installed on one side of the outer side of the support frame (4). A scraper (7) is connected and fixed to the hollow bracket (6), and the scraper (7) is located on the moving path of the photovoltaic panel (5).

4. A photovoltaic cleaning robot according to claim 1, characterized in that: The driving mechanism comprises a driving part 1 in contact with two side surfaces of the upper edge of the photovoltaic panel (2), and a driving part 2 in contact with two side surfaces of the lower edge of the photovoltaic panel (2), wherein the driving part 1 comprises: A support plate (8) is fixedly mounted on the inner side of the housing (1), is L-shaped, and includes a vertical portion and a horizontal portion connected to each other; There are two driving gears (9), and the two driving gears (9) are rotatably mounted on the lower end of the transverse portion, and a transmission track (1) is sleeved between the two driving gears (9); There are two driving gears 2 (10), and the two driving gears 2 (10) are respectively rotatably mounted on the right side of the vertical portion, and a transmission track 2 is sleeved between the two driving gears 2 (10); A driving motor 1 is mounted on the upper end of the transverse portion and is in transmission connection with one of the driving gears 1 (9); A second driving motor is installed on the right side of the vertical portion and is in transmission connection with one of the second driving gears (10); When the main body (1) is located on the photovoltaic panel (2), the first transmission track and the second transmission track are respectively fitted to two sides of the corners of the upper edge of the photovoltaic panel (2); The second driving part has the same structure as the first driving part and is arranged in a mirror image.

5. The photovoltaic cleaning robot according to claim 4, characterized in that: A limiting plate (11) extending toward the rear end of the photovoltaic panel (2) is fixedly mounted at the middle portion of the lower end of the transverse portion.

6. The photovoltaic cleaning robot according to claim 1, characterized in that: The cleaning mechanisms are provided in three groups, and the three groups of cleaning mechanisms are sequentially arranged at intervals along the length of the shell (3) at the upper end of the shell (3), and the three groups of cleaning mechanisms are all arranged obliquely.

7. The photovoltaic cleaning robot according to claim 6, characterized in that: The swing assembly includes: A stepper motor (12) is fixedly mounted on the top of the housing (3); A spoiler cylinder (13) is fixedly mounted on the top of the housing (3); Wherein, the spoiler cylinder (13) comprises: A rotating shaft (14) is rotatably connected to the spoiler cylinder (13), and the rotating shaft (14) is connected to the stepping motor (12) via a toothed belt transmission; The limiting member (15) includes a limiting block 1 (151) and a limiting block 2 (152), wherein the limiting block 1 (151) and the limiting block 2 (152) are fixedly mounted on the left and right sides of the spoiler cylinder (13), respectively, and the limiting block 1 (151) and the limiting block 2 (152) are provided with an arc-shaped inner concave surface abutting against the rotating shaft 1 (14) on one side facing the rotating shaft 1 (14), so as to separate the spoiler cylinder (13) into an upper chamber (16) and a lower chamber (17); The swing block (18) is fixedly mounted on the upper and lower sides of the rotating shaft (14), and the outer edge of the swing block (18) is in contact with the wall of the spoiler cylinder (12). When the rotating shaft (14) rotates forward and reverse, the swing blocks (18) in the upper chamber (16) and the lower chamber (17) can swing synchronously. Among them, an air inlet channel (18) and an air outlet channel (19) are respectively provided on both sides of the upper end of the limit block (151), an air supply channel (20) extending to the outside of the spoiler cylinder (13) is provided on the inner wall of the middle part of the air outlet channel (19), and an air suction channel (21) extending to the outside of the spoiler cylinder (13) is provided on the inner wall of the middle part of the air inlet channel (18), and a one-way valve (100) is embedded at both ends of the air inlet channel (18) and the air outlet channel (19).

8. The photovoltaic cleaning robot according to claim 7, characterized in that: The scraper section includes: The rotating block (22) is long and arranged horizontally, and the lower end of the fixing member is provided with downwardly extending extension arms on both sides along the length direction thereof, and the two ends of the rotating block (22) are rotatably connected between the two extension arms through a rotating shaft; An accommodating groove (23), wherein the lower end of the rotating block (22) is provided with an accommodating groove (23) arranged along the length direction thereof; The mounting cover (24) is in a round-shaped structure and is fixedly mounted on the lower end surface of the rotating block (22). An elastic tympanic membrane (241) for covering the lower notch of the receiving groove (23) is sandwiched between the mounting cover (24) and the rotating block (22); The clamping member comprises a first clamping arm and a second clamping arm respectively fixedly mounted on the left and right sides of the rotating block (22); Scraper 2 (25), a scraper holder is inserted between the first clamping arm and the second clamping arm, and the scraper 2 (25) is clamped at the lower end of the scraper holder; Wherein, the receiving tank is connected to the air supply channel 1 (20) through the air supply pipeline 1; Among them, one of the rotating shafts of the rotating block (22) passes through the corresponding extension arm and is connected and fixed with the second rotating shaft, and one end of the second rotating shaft passes through the spoiler cylinder (13) and is coaxially connected and fixed with the first rotating shaft (14).

9. The photovoltaic cleaning robot according to claim 8, characterized in that: Limit block 2 (152) includes: The second air inlet channel (1521) is provided through the upper end surface of the second limit block (152), and the inner wall of the middle portion of the second air inlet channel (1521) is provided with an air suction channel (1522) extending to the outside of the spoiler cylinder; The first air outlet hole (1523) is provided on one side of the upper end surface of the second limiting block (152), and the wall of the first air outlet hole (1523) is provided with a second air supply channel (1524) extending toward the outside of the spoiler cylinder; The second air outlet hole (1525) is opened on one side of the lower end of the second limiting block (152), and the wall of the second air outlet hole (1525) is penetrated by an air supply channel (1526) extending to the outside of the spoiler cylinder. Wherein, both the first clamping arm and the second clamping arm are provided with a receiving cavity (26) arranged along the length direction of the clamping member, and a plurality of exhaust holes are opened on the lower cavity wall of the receiving cavity (26), one of the receiving cavities (26) is connected to the second air supply channel (1524) through the second air supply pipe, and the other receiving cavity (26) is connected to the third air supply channel (1526) through the third air supply pipe; Among them, one-way valves 2 are provided at both ends of the air inlet channel 2, and one-way valves 3 are provided in the air outlet hole 1 and the air outlet hole 2.

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