Photovoltaic panel cleaning robot

Abstract

The photovoltaic panel cleaning robot comprises a robot body, walking mechanisms and a cleaning mechanism, the walking mechanisms are arranged on the two sides of the walking direction of the robot body, and the walking mechanisms are used for walking on a photovoltaic panel; the cleaning mechanisms are arranged at the two ends of the walking direction of the machine body and used for cleaning the photovoltaic panel. The walking mechanism and the cleaning mechanism can be quickly mounted or dismounted from the robot body of the cleaning robot, the contact surface between the walking mechanism and the photovoltaic panel is increased, the stability is improved, the cleaning mechanism can collect and discharge impurities such as dust in a centralized mode in the cleaning process, and the cleaning efficiency is improved. And meanwhile, an obstacle crossing mechanism is arranged to prevent the cleaning robot from falling off when the cleaning robot moves to the splicing part of the two adjacent photovoltaic panels or passes through an obstacle.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic panel cleaning technology, and in particular to a photovoltaic panel cleaning robot. Background Technology

[0002] With the continuous development of clean energy, a large number of photovoltaic panels will be installed in areas with long hours of sunshine. Currently, these photovoltaic panels are largely installed in open areas. To ensure their operational efficiency, they need to be cleaned regularly to remove dust and other debris. Currently, cleaning is done manually or by equipment. Manual cleaning is labor-intensive and inefficient. Existing cleaning robots consist of a main body and a walking mechanism and a cleaning mechanism mounted on it. The walking mechanism drives the cleaning mechanism to perform rolling cleaning on the photovoltaic panels.

[0003] However, the existing cleaning robots have the following defects in the process of moving and cleaning: (1) The existing cleaning robot is an integrated whole, with the body and the walking mechanism and cleaning mechanism fixedly connected, and the size cannot be adjusted; (2) When the existing cleaning robot moves to the splicing part of two adjacent photovoltaic panels or passes through obstacles, the tracks of the walking mechanism are easily supported, causing the cleaning robot to fall off the photovoltaic panel; (3) During the cleaning process, the cleaning mechanism of the existing cleaning robot only performs cleaning operations, and the dust and other impurities cannot be collected and discharged after cleaning, and still need to be collected manually; (4) The body of the existing cleaning robot is vacuum adsorbed onto the photovoltaic panel. When the cleaning robot moves to the splicing part of two adjacent photovoltaic panels or passes through obstacles, it will destroy the adsorption and positioning effect of the body, causing the cleaning robot to slip off the solar panel. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a photovoltaic panel cleaning robot. The walking mechanism and the cleaning mechanism can be quickly installed or removed from the robot's body. The walking mechanism increases the contact surface with the photovoltaic panels, improving stability. During the cleaning process, the cleaning mechanism can collect and discharge dust and other impurities. At the same time, an obstacle-crossing mechanism is provided to prevent the cleaning robot from moving to the joint between two adjacent photovoltaic panels or falling off when passing through obstacles.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a photovoltaic panel cleaning robot, comprising: The main body includes a mounting frame and a main adsorption module and a main lifting module mounted on the mounting frame. The main lifting module drives the main adsorption module to move up and down. The main adsorption module is located at the lower part of the mounting frame and is used to adsorb photovoltaic panels. A walking mechanism is provided on both sides of the main body in the direction of travel, and the walking mechanism is used for walking on the photovoltaic panel; A cleaning mechanism is provided at both ends of the main body in the direction of travel, and the cleaning mechanism is used for cleaning the photovoltaic panel.

[0006] As a preferred embodiment, the walking mechanism is mounted on the body of the cleaning robot via a first fastening component, and the cleaning mechanism is mounted on the body of the cleaning robot via a second fastening component.

[0007] As a preferred embodiment, the main lifting module includes a main lifting connecting seat, a main lifting motor, a main lifting screw, and a main lifting guide rod. The main lifting connecting seat is mounted on the machine body mounting frame. The main lifting screw and the main lifting guide rod are connected through the main lifting connecting seat. The main lifting motor drives the main lifting screw to move the main adsorption module up and down on the main lifting guide rod. The main adsorption module includes a main negative pressure pump, an upper negative pressure connecting cover, and a lower negative pressure connecting seat. The upper negative pressure connecting cover and the lower negative pressure connecting seat are connected to form a negative pressure cavity. The main negative pressure pump is connected to the negative pressure cavity. The upper negative pressure connecting cover is connected to the main lifting screw and the main lifting guide rod. The lower negative pressure connecting seat has a negative pressure adsorption port, and a mop is provided at the bottom of the lower negative pressure connecting seat.

[0008] As a preferred embodiment, the walking mechanism includes a walking housing and a walking motor, a main pulley, a driven pulley, a belt support wheel, and a support spring disposed within the walking housing. The walking motor drives the main pulley to rotate, and the main pulley is connected to the driven pulley and the belt support wheel via a walking belt. An inclined guide rail is provided on the walking housing, and a sliding guide post is provided inside the inclined guide rail. The belt support wheel is disposed on the sliding guide post, and one end of the support spring is disposed on the walking housing, while the other end of the support spring is sleeved on the sliding guide post.

[0009] As a preferred embodiment, the cleaning mechanism includes a cleaning mounting frame, a sweeping component, and a vacuuming component. The sweeping component includes a cleaning connector, a roller brush, and a drive component. The cleaning connector is mounted on the cleaning mounting frame, the roller brush is mounted on the cleaning connector, and the drive component is mounted on the cleaning connector and drives the roller brush to rotate. The vacuuming component includes a vacuum cylinder and a vacuum pump mounted on the cleaning mounting frame. The cleaning connector has a dust inlet located above the roller brush. The vacuum cylinder has a suction port and a negative pressure port. The vacuum pump is connected to the negative pressure port via a suction pipe. The suction port of the vacuum cylinder is connected to the dust inlet of the cleaning connector.

[0010] As a preferred embodiment, the main body of the device is also provided with an obstacle-crossing mechanism. The obstacle-crossing mechanism includes an obstacle-crossing component and a separation component. The obstacle-crossing component includes an obstacle-crossing mounting frame and an obstacle-crossing lifting module and an obstacle-crossing adsorption module disposed on the obstacle-crossing mounting frame. The obstacle-crossing mounting frame is detachably connected to the main body of the device through the separation component. The obstacle-crossing lifting module drives the obstacle-crossing adsorption module to perform lifting and lowering movements. The obstacle-crossing adsorption module is used to adsorb photovoltaic panels.

[0011] As a preferred embodiment, the obstacle-crossing lifting module includes an obstacle-crossing lifting connecting seat, an obstacle-crossing lifting motor, an obstacle-crossing lifting lead screw, and an obstacle-crossing lifting guide rod. The obstacle-crossing lifting connecting seat is mounted on the obstacle-crossing mounting frame. The obstacle-crossing lifting lead screw and the obstacle-crossing lifting guide rod are connected through the obstacle-crossing lifting connecting seat. The obstacle-crossing lifting motor drives the obstacle-crossing lifting lead screw to move the obstacle-crossing adsorption module up and down on the obstacle-crossing lifting guide rod.

[0012] As a preferred embodiment, the obstacle-crossing adsorption module includes an adsorption connector, an obstacle-crossing suction cup, and an obstacle-crossing adsorption pump. The obstacle-crossing adsorption pump is connected to the obstacle-crossing suction cup. The upper part of the adsorption connector is connected to the obstacle-crossing lifting screw and the obstacle-crossing lifting guide rod, and the lower part of the adsorption connector is connected to the obstacle-crossing suction cup.

[0013] As a preferred embodiment, the separation assembly includes a separation bearing, a separation gear rail, and a separation motor. The separation bearing is mounted on the fuselage body, the obstacle-crossing mounting bracket is mounted on the separation gear rail, and the separation motor drives the separation gear rail to perform linear reciprocating motion on the fuselage body under the action of the separation bearing.

[0014] As a preferred embodiment, the cleaning robot is equipped with several sensors for automatic navigation. A first laser sensor for tracking navigation is provided on the edge side of the cleaning robot in the direction of travel. A second laser sensor for gap calibration and a first ultrasonic sensor for fall prevention are provided at the front end of the cleaning robot. A second ultrasonic sensor for turning calibration is provided at the rear end of the cleaning robot.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) Modular design, easy to disassemble and maintain: The walking mechanism and cleaning mechanism can be detached from the main body through fastening components, so that the entire cleaning robot can be quickly disassembled and assembled, reducing storage space occupation. When a walking mechanism or cleaning mechanism is damaged, the damaged module can be directly replaced without overall maintenance, which greatly improves maintenance efficiency and economy. (2) Improve walking stability and anti-fall capability: The walking mechanism is equipped with elastic design of belt support wheel, inclined guide rail and support spring. When the walking belt encounters the splicing part of photovoltaic panel or obstacle, the belt support wheel can automatically slide upward and stretch the support spring, so that the walking belt keeps in close contact with the surface of photovoltaic panel; when returning to the flat surface, the support spring returns to its original position, ensuring that the walking belt always has sufficient contact surface. This adaptive structure effectively prevents the cleaning robot from falling off the photovoltaic panel during movement, and enhances the stability and reliability of walking; combined with the negative pressure adsorption function of the main adsorption module, it works in conjunction with the walking mechanism to further improve the adsorption force of the cleaning robot on photovoltaic panel, especially on inclined or smooth surfaces, reducing the risk of slippage; (3) High-efficiency cleaning and dust collection: The dust is raised by the rotation of the roller brush and combined with the negative pressure suction of the dust collection component to realize the integrated operation of sweeping and dust collection, which effectively improves the cleaning efficiency of photovoltaic panels. The design of the first and second roller brushes rotating inward simultaneously can raise the dust more concentratedly and quickly suck it in through the dust inlet to reduce dust residue. (4) Stable obstacle crossing and anti-falling: By combining the obstacle crossing adsorption module with the separation component, the cleaning robot always has a reliable adsorption point when crossing obstacles, which greatly reduces the risk of falling off the photovoltaic panel. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of one structure of the cleaning robot in this invention; Figure 2 This is a schematic diagram of the fuselage body in this invention; Figure 3 In this invention Figure 2 Structural sectional view; Figure 4 This is a schematic diagram of the walking mechanism in this invention; Figure 5 In this invention Figure 4 Structural sectional view; Figure 6 This is a schematic diagram of the cleaning mechanism in this invention; Figure 7 This is an exploded view of the cleaning mechanism in this invention; Figure 8 This is a schematic diagram of the driving component in this invention; Figure 9 This is a schematic diagram of the cleaning connector in this invention; Figure 10 This is a schematic diagram of the centrifuge cylinder in this invention; Figure 11 This is a schematic diagram of the obstacle-crossing mechanism in this invention; Figure 12 In this invention Figure 11 Structural sectional view Figure 1 ; Figure 13 In this invention Figure 11 Structural sectional view Figure 2 ; Figure 14 This is a schematic diagram of the obstacle-crossing component of the present invention being installed on the fuselage body via a detachable component; Figure 15 In this invention Figure 14 A partial schematic diagram; Figure 16 This is another structural schematic diagram of the cleaning robot in this invention; The attached diagram lists the following components: Cleaning Robot 1, Main Body 2, Main Mounting Frame 21, Main Body Adsorption Module 22, Main Body Lifting Module 23, First Threaded Hole 24, Main Body Lifting Connecting Seat 25, Main Body Lifting Motor 26, Main Body Lifting Screw 27, Main Body Lifting Guide Rod 28, Main Body Lifting Drive Wheel 29, Main Body Lifting Driven Wheel 210, Main Body Lifting Limit Switch 211, Main Body Negative Pressure Pump 212, Upper Negative Pressure Connecting Cover 213, Lower Negative Pressure Connecting Seat 214, Negative Pressure Chamber 215, Negative Pressure Adsorption Port 216, Mop 217, Buffer Spring 218, Walking Mechanism 3, Walking Housing 31, Walking Motor 32, Main Belt Pulley 33, Driven Belt Pulley 34 35. Belt support pulley; 36. Support spring; 37. Travel belt; 38. Inclined guide rail; 39. Sliding guide post; 310. Transmission gear; 311. Gear spline; 312. Travel drive wheel; 313. Belt brush; 4. Cleaning mechanism; 41. Cleaning mounting bracket; 42. Sweeping assembly; 43. Vacuuming assembly; 44. Cleaning connector; 45. Roller brush; 46. Drive assembly; 47. Vacuum cylinder; 48. Vacuum pump; 49. Dust inlet; 410. Vacuum outlet; 411. Negative pressure outlet; 412. Suction pipe; 413. First roller brush; 414. Second roller brush; 415. Drive motor; 416. Drive gear; 417. First driven gear; 418. Second driven gear; 419. First roller brush drive gear. Second roller brush drive gear 420, convex arc surface 421, brush 422, dust collection cylinder 423, centrifugal cylinder 424, spiral arc surface air duct 425, second fastening assembly 426, screw connection end 427, screw 428, spring pin 429, fixing bracket 430, fixing pin 431, dust outlet 432, dust outlet cover 433, push-pull rod 434, dust outlet fan 435, obstacle crossing mechanism 5, obstacle crossing assembly 51, separation assembly 52, obstacle crossing mounting bracket 53, obstacle crossing lifting module 54, obstacle crossing adsorption module 55, obstacle crossing lifting connecting seat 56, obstacle crossing lifting motor 57, obstacle crossing lifting lead screw 58, obstacle crossing lifting guide rod 59, obstacle crossing lifting drive wheel 51 0. Obstacle-crossing lifting driven wheel 511. Obstacle-crossing lifting limit switch 512. Adsorption connecting seat 513. Obstacle-crossing suction cup 514. Obstacle-crossing adsorption pump 515. Upper connecting cover 516. Lower support seat 517. Suction cup mounting port 518. Mounting shaft 519. Shaft limiting component 520. Solenoid valve 521. Pressure sensor 522. Separation bearing 523. Separation gear rail 524. Separation motor 525. Separation limiter 526. Merging limiter 527. Separation mounting port 528. Sensor 6. First laser sensor 61. Second laser sensor 62. First ultrasonic sensor 63. Second ultrasonic sensor 64. Dust cover 65. Power bank 7. Detailed Implementation

[0017] The present invention will be further described below with reference to specific embodiments. These embodiments are only used to more clearly illustrate the technical solutions of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0018] Example: like Figure 1 As shown, a photovoltaic panel cleaning robot includes: The main body 2 includes a mounting frame 21 and a main body adsorption module 22 and a main body lifting module 23 disposed on the mounting frame 21. The main body lifting module 23 drives the main body adsorption module 22 to perform lifting and lowering movements. The main body adsorption module 22 is disposed at the lower part of the mounting frame 21 and is used to adsorb photovoltaic panels. Walking mechanism 3, which is disposed on both sides of the body 2 in the walking direction, is used to walk on the photovoltaic panel; Cleaning mechanism 4 is located at both ends of the main body 2 in the direction of travel, and is used for cleaning the photovoltaic panel.

[0019] Specifically, when the cleaning robot 1 moves normally via the walking mechanism 3, the main body lifting module 23 drives the main body adsorption module 22 to descend. The main body adsorption module 22 uses negative pressure to adsorb the photovoltaic panel, while the walking mechanism 3 moves on the photovoltaic panel and the cleaning mechanism 4 cleans the photovoltaic panel. By using the main body adsorption module 22 in coordination with the walking mechanism 3, the cleaning robot 1 is effectively prevented from falling off the photovoltaic panel, thus improving reliability and stability. Preferred, such as Figures 2-3 As shown, the main lifting module 23 includes a main lifting connecting seat 25, a main lifting motor 26, a main lifting lead screw 27, and a main lifting guide rod 28. The main lifting connecting seat 25 is mounted on the machine body mounting frame 21. The main lifting lead screw 27 and the main lifting guide rod 28 are connected through the main lifting connecting seat 25. The main lifting motor 26 drives the main lifting lead screw 27 to move the main adsorption module 22 up and down on the main lifting guide rod 28.

[0020] Specifically, the main body lifting connecting seat 25 is located at the lower part of the machine body mounting frame 21. The main body lifting drive wheel 29 is sleeved on the drive shaft of the main body lifting motor 26, and the main body lifting driven wheel 210 is sleeved on the main body lifting screw 27. The main body lifting drive wheel 29 and the main body lifting driven wheel 210 are connected by a belt. When the main body lifting motor 26 rotates, it drives the main body lifting drive wheel 29 to rotate. The main body lifting drive wheel 29 drives the main body lifting driven wheel 210 to rotate, thereby controlling the rotation of the main body lifting screw 2736 to perform lifting and lowering movements, and thus the main body adsorption module 22 performs lifting and lowering movements.

[0021] More preferably, the main body lifting connecting seat 25 is provided with a main body lifting limit switch 211, which is located above the main body adsorption module 22.

[0022] Specifically, the main body lifting limit switch 211 restricts the upward movement of the main body adsorption module 22.

[0023] More preferably, the main adsorption module 22 includes a main negative pressure pump 212, an upper negative pressure connecting cover 213, and a lower negative pressure connecting seat 214. The upper negative pressure connecting cover 213 and the lower negative pressure connecting seat 214 are connected to form a negative pressure cavity 215. The main negative pressure pump 212 is connected to the negative pressure cavity 215. The upper negative pressure connecting cover 213 is connected to the main lifting screw 27 and the main lifting guide rod 28. The lower negative pressure connecting seat 214 has a negative pressure adsorption port 216, and a mop 217 is provided at the bottom of the lower negative pressure connecting seat 214.

[0024] Specifically, there are two sets of main adsorption modules 22, symmetrically arranged on both sides of the walking direction of the cleaning robot 1. When moving normally, the main lifting module 23 controls the negative pressure chamber 215 to move downward. The main negative pressure pump 212 draws air into the negative pressure chamber 215 to form negative pressure, which is then adsorbed onto the photovoltaic panel through the negative pressure adsorption port 216 to prevent the cleaning robot 1 from falling off the photovoltaic panel. When crossing obstacles, the main lifting module 23 controls the negative pressure chamber 215 to move upward, easily crossing the obstacles.

[0025] More preferably, a buffer spring 218 is provided between the upper negative pressure connecting cover 213 and the lower negative pressure connecting seat 214.

[0026] Specifically, the buffer spring 218 acts as a buffer, which can limit the downward movement of the main adsorption module 22 and further improve stability.

[0027] Preferred, such as Figures 4-5 As shown, the walking mechanism 3 includes a walking housing 31 and a walking motor 32, a main pulley 33, a driven pulley 34, a belt support wheel 35, and a support spring 36 disposed within the walking housing 31. The walking motor 32 drives the main pulley 33 to rotate. The main pulley 33 is connected to the driven pulley 34 and the belt support wheel 35 via a walking belt 37. An inclined guide rail 38 is provided on the walking housing 31, and a sliding guide post 39 is provided inside the inclined guide rail 38. The belt support wheel 35 is disposed on the sliding guide post 39. One end of the support spring 36 is disposed on the walking housing 31, and the other end of the support spring 36 is sleeved on the sliding guide post 39.

[0028] Specifically, when the cleaning robot 1 walks, the walking belt 37 is in close contact with the photovoltaic panel. However, when the cleaning robot 1 moves to the splicing part of two adjacent photovoltaic panels or passes through obstacles, the walking belt 37 is easily supported. At this time, the belt support wheel 35 is supported upward, the sliding guide post 39 slides upward in the inclined guide rail 38, and the support spring 36 is pulled open. When it returns to the flat surface of the photovoltaic panel, the support spring 36 returns to its original position, and the sliding guide post 39 slides downward in the inclined guide rail 38 to its original position. The belt support wheel 35 makes the walking belt 37 continue to be in close contact with the photovoltaic panel, increasing the contact area between the walking belt 37 and the photovoltaic panel, and preventing the cleaning robot 1 from falling off the photovoltaic panel.

[0029] Preferably, the main pulley 33 has the same structure as the secondary pulley 34, including a transmission gear 310, a gear spline 311, and a travel drive wheel 312 arranged sequentially from the inside to the outside, and the shaft of the travel motor 32 is located at the center of the transmission gear 310 of the main pulley 33.

[0030] Specifically, when the walking mechanism 3 is working, the walking motor 32 drives the transmission gear 310 of the main pulley 33 to rotate, and then the walking drive wheel 312 of the main pulley 33 also rotates through the transmission of the gear spline 311. Only one walking motor 32 is needed to drive the main pulley 33, and then drive the secondary pulley 34 and belt support wheel 35 connected through the walking belt 37, so as to realize the movement of the cleaning robot 1.

[0031] Preferably, the walking housing 31 is further provided with a belt brush 313, which is in contact with the walking belt 37.

[0032] Specifically, there are several belt brushes 313, which are respectively disposed on the top and side of the walking belt 37, so as to clean the surface of the walking belt 37.

[0033] Preferably, the walking mechanism 3 is mounted on the body 2 of the cleaning robot 1 via a first fastening component (not shown in the figure). The first fastening component is a threaded connection structure. The walking housing 31 and the side of the body mounting frame 21 are both provided with a first threaded hole 24. The walking housing 31 is connected to the side of the body mounting frame 21 by a threaded rod (not shown in the figure) provided in the first threaded hole 24.

[0034] Specifically, in this embodiment, a cleaning robot 1 has two walking mechanisms 3 on its body 2. These mechanisms can be detached when not in use to reduce space occupation. When one of the walking mechanisms 3 is damaged, only the damaged walking mechanism 3 needs to be replaced for repair. The threaded rod is used to realize the integrated assembly and disassembly of the walking mechanism 3 and the body 2, which is convenient for carrying and maintenance.

[0035] Preferred, such as Figures 6-7 As shown, the cleaning mechanism 4 includes a cleaning mounting frame 41, a sweeping component 42, and a vacuuming component 43. The sweeping component 42 includes a cleaning connecting seat 44, a roller brush 45, and a drive component 46. The cleaning connecting seat 44 is mounted on the cleaning mounting frame 41, the roller brush 45 is mounted on the cleaning connecting seat 44, and the drive component 46 is mounted on the cleaning connecting seat 44 and drives the roller brush 45 to rotate. The vacuuming component 43 includes a vacuum cylinder 47 and a vacuum pump 48 mounted on the cleaning mounting frame 41. The cleaning connecting seat 44 has a dust inlet 49 located above the roller brush 45. The vacuum cylinder 47 has a suction port 410 and a negative pressure port 411. The vacuum pump 48 is connected to the negative pressure port 411 through a suction pipe 412. The suction port 410 of the vacuum cylinder 47 is connected to the dust inlet 49 of the cleaning connecting seat 44.

[0036] Specifically, the drive assembly 46 drives the roller brush 45 to rotate, and the roller brush 45 lifts up the dust. At the same time, the vacuum pump 48 draws air from the negative pressure port 411 through the suction pipe 412, and a negative pressure is formed inside the vacuum cylinder 47. Due to the negative pressure suction, the lifted dust enters the dust inlet 49 and then enters the vacuum cylinder 47 through the suction port 410.

[0037] Preferably, the roller brush 45 includes a first roller brush 413 and a second roller brush 414 arranged side by side on the cleaning connector 44. The first roller brush 413 and the second roller brush 414 rotate inward synchronously, and the dust inlet 49 is located above the first roller brush 413 and the second roller brush 414.

[0038] Specifically, in this embodiment, there are two dust inlets 49, which are staggered. Correspondingly, there are also two dust suction components 43, which are connected to the two dust inlets 49 respectively.

[0039] More preferably, such as Figure 8 As shown, the drive assembly 46 includes a drive motor 415, a drive gear 416, a first driven gear 417, a second driven gear 418, a first roller brush drive gear 419, and a second roller brush drive gear 420. The drive gear 416 is disposed on the output shaft of the drive motor 415. The first driven gear 417 meshes with the drive gear 416. The first roller brush drive gear 419 is disposed on the roller of the first roller brush 413 and meshes with the first driven gear 417. The second driven gear 418 meshes with the first driven gear 417. The second roller brush drive gear 420 is disposed on the roller of the second roller brush 414 and meshes with the second driven gear 418.

[0040] Specifically, when the drive motor 415 rotates, the drive gear 416 drives the first driven gear 417 to rotate, which in turn drives the second driven gear 418 and the first roller brush drive gear 419 to rotate. The first roller brush drive gear 419 drives the first roller brush 413 to rotate inward, and the second driven gear 418 is provided between the second roller brush drive gear 420 and the first driven gear 417, so the second roller brush drive gear 420 also drives the second roller brush 414 to rotate inward. As a result, dust enters the dust inlet 49 from between the first roller brush 413 and the second roller brush 414.

[0041] More specifically, there are two sets of drive components 46, which are respectively disposed at both ends of the rollers of the first roller brush 413 and the second roller brush 414, and synchronously drive the first roller brush 413 and the second roller brush 414 to rotate.

[0042] More preferably, such as Figure 9 As shown, the cleaning connector 44 has a wavy convex arc surface 421 near the bottom of the roller brush 45, and the dust inlet 49 is located in the recess between adjacent convex arc surfaces 421.

[0043] Specifically, after the roller brush 45 raises the dust, it guides the airflow of the dust through the set wavy arc surface, so that the dust enters the dust inlet 49 in the recess more quickly.

[0044] More preferably, the side of the roller brush 45 is provided with a brush 422.

[0045] Specifically, the brush 422 is located on one side close to the main body 2. Since static electricity is easily generated during the cleaning process, and static electricity can easily damage the internal components of the equipment, the brush 422 can be made of anti-static material to directly release static electricity and prevent damage to the components.

[0046] Preferred, such as Figure 10 As shown, the dust collection cylinder 47 includes a dust collection cylinder 423 and a centrifugal cylinder 424. The dust suction port 410 and the negative pressure port 411 are disposed on the centrifugal cylinder 424. A spiral arc-shaped air duct 425 is disposed inside the centrifugal cylinder 424. The center of the spiral arc-shaped air duct 425 is connected to the negative pressure port 411, and the edge of the spiral arc-shaped air duct 425 is connected to the dust suction port 410. The dust collection cylinder 423 is connected to the centrifugal cylinder 424.

[0047] Specifically, the dust pump 48 draws air from the negative pressure port 411. At this time, a centrifugal negative pressure is formed in the dust collection cylinder 423. Dust enters the dust collection cylinder 423 from the dust suction port 410 through the spiral arc surface air duct 425 and is pushed to the end of the dust collection cylinder 423 away from the centrifugal cylinder 424 due to the centrifugal force.

[0048] More specifically, the dust collection cylinder 423 can be connected to the centrifuge cylinder 424 by a snap-fit ​​or by a thread.

[0049] Preferably, the cleaning mechanism 4 is mounted on the body 2 of the cleaning robot 1 via a second fastening component 426.

[0050] Specifically, in this embodiment, a cleaning robot 1 has two cleaning mechanisms 4 on its body 2. These mechanisms can be detached when not in use to reduce space occupation. When one of the cleaning mechanisms 4 is damaged, only the damaged cleaning mechanism 4 needs to be replaced for repair.

[0051] More preferably, the second fastening component 426 is a threaded connection structure, that is, the cleaning mechanism 4 is connected to the body 2 of the cleaning robot 1 through the threaded connection structure.

[0052] Specifically, the main body 2 is provided with a second threaded hole (not shown in the figure), and the cleaning mounting bracket 41 of the cleaning mechanism 4 is provided with a screw connection end 427. During installation, the screw 428 on the screw connection end 427 is screwed into the second threaded hole, and during disassembly, the screw 428 is unscrewed.

[0053] Preferred, such as Figures 11-13 As shown, the main body 2 is also provided with an obstacle-crossing mechanism 5. The obstacle-crossing mechanism 5 includes an obstacle-crossing component 51 and a separation component 52. The obstacle-crossing component 51 includes an obstacle-crossing mounting frame 53 and an obstacle-crossing lifting module 54 and an obstacle-crossing adsorption module 55 disposed on the obstacle-crossing mounting frame 53. The obstacle-crossing mounting frame 53 can be detachably connected to the main body 2 through the separation component 52. The obstacle-crossing lifting module 54 drives the obstacle-crossing adsorption module 55 to perform lifting and lowering movements. The obstacle-crossing adsorption module 55 is used to adsorb photovoltaic panels.

[0054] Specifically, the cleaning robot 1 moves normally via the walking mechanism 3. When crossing an obstacle, the obstacle-crossing lifting module 54 drives the obstacle-crossing adsorption module 55 to descend. The obstacle-crossing adsorption module 55 adsorbs the photovoltaic panel, and the walking mechanism 3 continues to walk on the photovoltaic panel. Driven by the separation component 52, the robot body 2 separates from the obstacle-crossing component 51. After the robot body 2 and the walking mechanism 3 cross the obstacle, the obstacle-crossing adsorption module 55 detaches from the photovoltaic panel. The obstacle-crossing lifting module 54 drives the obstacle-crossing adsorption module 55 to ascend. Driven by the separation component 52, the robot body 2 re-attaches and connects to the obstacle-crossing component 51, effectively preventing the cleaning robot 1 from falling off the photovoltaic panel and improving reliability and stability.

[0055] Preferably, the obstacle-crossing lifting module 54 includes an obstacle-crossing lifting connecting seat 56, an obstacle-crossing lifting motor 57, an obstacle-crossing lifting lead screw 58, and an obstacle-crossing lifting guide rod 59. The obstacle-crossing lifting connecting seat 56 is disposed on the obstacle-crossing mounting frame 53. The obstacle-crossing lifting lead screw 58 and the obstacle-crossing lifting guide rod 59 are disposed through the obstacle-crossing lifting connecting seat 56. The obstacle-crossing lifting motor 57 drives the obstacle-crossing lifting lead screw 58 to drive the obstacle-crossing adsorption module 55 to perform lifting and lowering movements on the obstacle-crossing lifting guide rod 59.

[0056] Specifically, the obstacle-crossing lifting connecting seat 56 is located at the lower part of the obstacle-crossing mounting frame 53. An obstacle-crossing lifting drive wheel 510 is sleeved on the drive shaft of the obstacle-crossing lifting motor 57, and an obstacle-crossing lifting driven wheel 511 is sleeved on the obstacle-crossing lifting screw 58. The obstacle-crossing lifting drive wheel 510 and the obstacle-crossing lifting driven wheel 511 are connected by a belt. When the obstacle-crossing lifting motor 57 rotates, it drives the obstacle-crossing lifting drive wheel 510 to rotate. The obstacle-crossing lifting drive wheel 510 drives the obstacle-crossing lifting driven wheel 511 to rotate, thereby controlling the obstacle-crossing lifting screw 58 to rotate and perform lifting and lowering movements, thereby causing the obstacle-crossing adsorption module 55 to perform lifting and lowering movements.

[0057] More preferably, the obstacle-crossing lifting connecting seat 56 is provided with an obstacle-crossing lifting limit switch 512, which is located above the obstacle-crossing adsorption module 55.

[0058] Specifically, the obstacle-crossing lifting limit switch 512 restricts the upward movement of the obstacle-crossing adsorption module 55.

[0059] Preferably, the obstacle-crossing adsorption module 55 includes an adsorption connector 513, an obstacle-crossing suction cup 514, and an obstacle-crossing adsorption pump 515. The obstacle-crossing adsorption pump 515 is connected to the obstacle-crossing suction cup 514. The upper part of the adsorption connector 513 is connected to the obstacle-crossing lifting screw 58 and the obstacle-crossing lifting guide rod 59, and the lower part of the adsorption connector 513 is connected to the obstacle-crossing suction cup 514.

[0060] Specifically, there are two sets of obstacle-crossing adsorption modules 55, symmetrically arranged on both sides of the walking direction of the cleaning robot 1. When crossing an obstacle, the obstacle-crossing lifting module 54 controls the obstacle-crossing suction cup 514 to move downward. The obstacle-crossing adsorption pump 515 draws air into the obstacle-crossing suction cup 514 to form a negative pressure. The obstacle-crossing suction cup 514 adsorbs the photovoltaic panel through the negative pressure. After the robot body 2 and the walking mechanism 3 have crossed the obstacle, the obstacle-crossing lifting module 54 controls the obstacle-crossing suction cup 514 to move upward. The obstacle-crossing component 51 returns to the original position of the robot body 2 through the separation component 52.

[0061] More preferably, the adsorption connector 513 includes an upper connector 516 and a lower support 517. The upper connector 516 is connected to the obstacle-crossing lifting screw 58 and the obstacle-crossing lifting guide rod 59. The lower support 517 has a suction cup mounting port 518. The upper part of the obstacle-crossing suction cup 514 is provided with a mounting shaft 519. The mounting shaft 519 is engaged on the lower support 517. The obstacle-crossing suction cup 514 is disposed in the suction cup mounting port 518.

[0062] More preferably, a shaft limiting member 520 is provided above the mounting shaft 519, the shaft limiting member 520 is provided on the lower support base 517, and the axial direction of the mounting shaft 519 is perpendicular to the traveling direction of the traveling mechanism 3.

[0063] Specifically, by attaching a mounting shaft 519 between the pivot limiter 520 and the lower support base 517, the obstacle-crossing suction cup 514 can still adhere even if the main body 2 tilts back and forth when crossing obstacles.

[0064] More preferably, an electromagnetic valve 521 is provided between the obstacle-crossing suction cup 514 and the obstacle-crossing adsorption pump 515.

[0065] Specifically, the solenoid valve 521 serves to release air. After the obstacle crossing is completed, the solenoid valve 521 is controlled to release air from the obstacle crossing suction cup 514 and detach it from the photovoltaic panel.

[0066] More preferably, the obstacle-crossing suction cup 514 is equipped with a pressure sensor 522.

[0067] Specifically, pressure sensor 522 is used to monitor whether the obstacle-crossing suction cup 514 reaches negative pressure.

[0068] Preferred, such as Figures 14-15 As shown, the separation component 52 includes a separation bearing 523, a separation gear rail 524, and a separation motor 525. The separation bearing 523 is mounted on the body 2, and the obstacle-crossing mounting frame 53 is mounted on the separation gear rail 524. The separation motor 525 drives the separation gear rail 524 to perform linear reciprocating motion on the body 2 under the action of the separation bearing 523.

[0069] Specifically, the separating gear 524 is inserted into the body 2, and a separating bearing 523 is provided between the separating gear 524 and the body 2. The shaft of the separating motor 525 meshes with the teeth of the separating gear 524 via gears. Driven by the separating motor 525, the separating gear 524 performs linear reciprocating motion within the body 2, thereby separating and merging the obstacle crossing component 51 with the body 2.

[0070] More preferably, the separation component 52 further includes a separation limiter 526 and a merging limiter 527. The separation limiter 526 is disposed on the side of the fuselage body 2 to limit the position where the obstacle crossing component 51 separates from the fuselage body 2. The merging limiter 527 is disposed at the end of the fuselage body 2 near the obstacle crossing component 51 to limit the position where the obstacle crossing component 51 merges with the fuselage body 2.

[0071] Specifically, when obstacle crossing is required, the obstacle crossing suction cup 514 of the obstacle crossing component 51 adsorbs the obstacle. While the walking mechanism 3 continues to walk, the separation component 52 drives the obstacle crossing component 51 to separate from the body 2 until the separation toothed track 524 moves to the separation limiter 526. At this time, the body 2 and the walking mechanism 3 have crossed the obstacle and separated from the obstacle crossing component 51. Then, the obstacle crossing suction cup 514 of the obstacle crossing component 51 releases the adsorption, and the separation component 52 drives the obstacle crossing component 51 to merge with the body 2 until the obstacle crossing component 51 moves to the merging limiter 527. The entire cleaning robot 1 has crossed the obstacle.

[0072] More specifically, the mounting frame 21 has a separation mounting port 528 for the separation component 52, and the separation toothed rail 524 is installed in the separation mounting port 528. When the cleaning robot 1 moves normally via the walking mechanism 3, the main body lifting module 23 drives the main body adsorption module 22 to descend. The main body adsorption module 22 adsorbs the photovoltaic panel under negative pressure, and at the same time, the walking mechanism 3 moves on the photovoltaic panel. At this time, the robot body 2 is in close contact with the obstacle crossing component 51. When crossing an obstacle, the obstacle crossing lifting module 54 drives the obstacle crossing adsorption module 55 to descend. The robot 1 is attached to the photovoltaic panel, and the walking mechanism 3 continues to walk on the photovoltaic panel. Driven by the separation component 52, the robot body 2 separates from the obstacle-crossing component 51. After the robot body 2 and the walking mechanism 3 cross the obstacle, the obstacle-crossing adsorption module 55 detaches from the photovoltaic panel. The obstacle-crossing lifting module 54 drives the obstacle-crossing adsorption module 55 to move upward. Driven by the separation component 52, the robot body 2 and the obstacle-crossing component 51 reconnect. The robot crosses the obstacle by using the main adsorption module 22 in conjunction with the obstacle-crossing adsorption module 55, which effectively prevents the cleaning robot 1 from falling off the photovoltaic panel and improves reliability and stability.

[0073] Preferably, the cleaning robot 1 is equipped with several sensors 6 for automatic navigation of the cleaning robot 1.

[0074] More preferably, the cleaning robot 1 is provided with a first laser sensor 61 for tracking navigation on the edge side of the walking direction, a second laser sensor 62 for gap calibration and a first ultrasonic sensor 63 for fall prevention at the front end of the cleaning robot 1, and a second ultrasonic sensor 64 for turning calibration at the rear end of the cleaning robot 1.

[0075] Specifically, there are three first laser sensors 61, which are located on the right side of the walking mechanism 3. The second laser sensor 62 is located between the front cleaning mechanism 4 and the main body 2. The first ultrasonic sensor 63 is located at the front of the cleaning mechanism 4, and the second ultrasonic sensor 64 is located between the rear cleaning mechanism 4 and the main body 2. Through the autonomous path planning of several sensors 6, it patrols along the edge of the photovoltaic panel. The tested coverage width reaches 700mm, which is suitable for a conventional 1.3-meter wide photovoltaic array, and realizes fully automatic back-and-forth cleaning.

[0076] More preferably, the sensor 6 is provided with a cone-shaped dust cover 65, and the top of the dust cover 65 is connected to an air pump (not shown in the figure).

[0077] Specifically, by adding a dust cover 65 and setting up a positive pressure airflow protection from top to bottom, it is possible to effectively prevent dust accumulation on the sensor 6.

[0078] In specific implementation, the main body 2 has a built-in power supply 7, which is a rechargeable battery that can be removed and replaced, or it can be charged by connecting to a charging dock via an electrical connection to a charging panel.

[0079] Example 2: The difference from Example 1 is that, as Figure 16 As shown, the second fastening component 426 is a spring-locking structure, that is, the cleaning mechanism 4 is connected to the body 2 of the cleaning robot 1 through the spring-locking structure.

[0080] Specifically, the main body 2 is provided with a spring pin 429 and a fixing bracket 430, and the mounting bracket of the cleaning mechanism 4 is provided with a fixing pin 431. During installation, the fixing pin 431 is set in the fixing bracket 430 through the spring pin 429. During disassembly, the spring pin 429 is pressed to move the fixing pin 431 out of the fixing bracket 430.

[0081] More specifically, there are two brushes 422, which are respectively set on both sides of the roller brush 45. By setting two brushes 422, not only can dust be prevented from being stirred up, but the vacuuming environment can also be formed into a semi-enclosed state, increasing the space sealing, reducing air circulation, and improving vacuuming efficiency.

[0082] Preferably, the dust collection cylinder 423 is provided with a dust outlet 432, and a dust outlet cover 433 is provided at the dust outlet 432. A push-pull rod 434 is provided on the outer wall of the dust collection cylinder 423, and the push-pull rod 434 drives the opening and closing of the dust outlet cover 433.

[0083] Specifically, the dust outlet 432 and the dust cover 433 are equipped with adsorption magnets (not shown in the figure) to prevent the dust cover 433 from failing to adsorb properly when closed.

[0084] Preferably, a dust exhaust fan 435 is provided at the dust outlet 432, and the dust exhaust fan 435 is disposed inside the dust outlet cover 433.

[0085] Specifically, a dust removal fan 435 is provided to better remove dust from the dust collection cylinder 423.

[0086] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A photovoltaic panel cleaning robot, characterized in that, include: The main body includes a mounting frame and a main adsorption module and a main lifting module mounted on the mounting frame. The main lifting module drives the main adsorption module to move up and down. The main adsorption module is located at the lower part of the mounting frame and is used to adsorb photovoltaic panels. A walking mechanism is provided on both sides of the main body in the direction of travel, and the walking mechanism is used for walking on the photovoltaic panel; A cleaning mechanism is provided at both ends of the main body in the direction of travel, and the cleaning mechanism is used for cleaning the photovoltaic panel.

2. The photovoltaic panel cleaning robot according to claim 1, characterized in that: The walking mechanism is mounted on the body of the cleaning robot via a first fastening component, and the cleaning mechanism is mounted on the body of the cleaning robot via a second fastening component.

3. The photovoltaic panel cleaning robot according to claim 1, characterized in that: The main lifting module includes a main lifting connecting seat, a main lifting motor, a main lifting screw, and a main lifting guide rod. The main lifting connecting seat is mounted on the machine body mounting frame. The main lifting screw and the main lifting guide rod are connected through the main lifting connecting seat. The main lifting motor drives the main lifting screw to move the main adsorption module up and down on the main lifting guide rod. The main adsorption module includes a main negative pressure pump, an upper negative pressure connecting cover, and a lower negative pressure connecting seat. The upper negative pressure connecting cover and the lower negative pressure connecting seat are connected to form a negative pressure cavity. The main negative pressure pump is connected to the negative pressure cavity. The upper negative pressure connecting cover is connected to the main lifting screw and the main lifting guide rod. The lower negative pressure connecting seat has a negative pressure adsorption port, and a mop is provided at the bottom of the lower negative pressure connecting seat.

4. A photovoltaic panel cleaning robot according to claim 1, characterized in that: The traveling mechanism includes a traveling housing and a traveling motor, a main pulley, a driven pulley, a belt support wheel, and a support spring disposed within the traveling housing. The traveling motor drives the main pulley to rotate. The main pulley is connected to the driven pulley and the belt support wheel via a traveling belt. An inclined guide rail is provided on the traveling housing, and a sliding guide post is provided inside the inclined guide rail. The belt support wheel is disposed on the sliding guide post. One end of the support spring is disposed on the traveling housing, and the other end of the support spring is sleeved on the sliding guide post.

5. A photovoltaic panel cleaning robot according to claim 1, characterized in that: The cleaning mechanism includes a cleaning mounting frame, a sweeping component, and a vacuuming component. The sweeping component includes a cleaning connector, a roller brush, and a drive component. The cleaning connector is mounted on the cleaning mounting frame, the roller brush is mounted on the cleaning connector, and the drive component is mounted on the cleaning connector and drives the roller brush to rotate. The vacuuming component includes a vacuum cylinder and a vacuum pump mounted on the cleaning mounting frame. The cleaning connector has a dust inlet located above the roller brush. The vacuum cylinder has a suction port and a negative pressure port. The vacuum pump is connected to the negative pressure port via a suction pipe. The suction port of the vacuum cylinder is connected to the dust inlet of the cleaning connector.

6. A photovoltaic panel cleaning robot according to claim 1, characterized in that: The main body of the machine is also provided with an obstacle-crossing mechanism, which includes an obstacle-crossing component and a separation component. The obstacle-crossing component includes an obstacle-crossing mounting frame and an obstacle-crossing lifting module and an obstacle-crossing adsorption module disposed on the obstacle-crossing mounting frame. The obstacle-crossing mounting frame is detachably connected to the main body of the machine through the separation component. The obstacle-crossing lifting module drives the obstacle-crossing adsorption module to perform lifting and lowering movements. The obstacle-crossing adsorption module is used to adsorb photovoltaic panels.

7. A photovoltaic panel cleaning robot according to claim 6, characterized in that: The obstacle-crossing lifting module includes an obstacle-crossing lifting connecting seat, an obstacle-crossing lifting motor, an obstacle-crossing lifting lead screw, and an obstacle-crossing lifting guide rod. The obstacle-crossing lifting connecting seat is mounted on the obstacle-crossing mounting frame. The obstacle-crossing lifting lead screw and the obstacle-crossing lifting guide rod are connected through the obstacle-crossing lifting connecting seat. The obstacle-crossing lifting motor drives the obstacle-crossing lifting lead screw to move the obstacle-crossing adsorption module up and down on the obstacle-crossing lifting guide rod.

8. A photovoltaic panel cleaning robot according to claim 7, characterized in that: The obstacle-crossing adsorption module includes an adsorption connector, an obstacle-crossing suction cup, and an obstacle-crossing adsorption pump. The obstacle-crossing adsorption pump is connected to the obstacle-crossing suction cup. The upper part of the adsorption connector is connected to the obstacle-crossing lifting screw and the obstacle-crossing lifting guide rod, and the lower part of the adsorption connector is connected to the obstacle-crossing suction cup.

9. A photovoltaic panel cleaning robot according to claim 1, characterized in that: The separation assembly includes a separation bearing, a separation gear rail, and a separation motor. The separation bearing is mounted on the fuselage body, and the obstacle-crossing mounting bracket is mounted on the separation gear rail. The separation motor drives the separation gear rail to perform linear reciprocating motion on the fuselage body under the action of the separation bearing.

10. A photovoltaic panel cleaning robot according to claim 1, characterized in that: The cleaning robot is equipped with several sensors for automatic navigation. A first laser sensor for tracking navigation is provided on the edge side of the cleaning robot in the direction of travel. A second laser sensor for gap calibration and a first ultrasonic sensor for fall prevention are provided at the front end of the cleaning robot. A second ultrasonic sensor for turning calibration is provided at the rear end of the cleaning robot.

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