A photovoltaic panel intelligent cleaning robot

Abstract

The application discloses a kind of photovoltaic panel intelligent cleaning robot, it is related to photovoltaic panel maintenance technical field.The application includes two lead screws being arranged in the both sides of photovoltaic panel and cleaning assembly moving on two lead screws.Cleaning assembly includes cross frame beam, cleaning arm and cleaning brush mounting seat, cleaning arm drives brush to reciprocating cleaning photovoltaic panel surface under the drive of second transmission belt.The output shaft of cleaning drive motor synchronously drives detection shaft rod rotation, arc spring piece, lead block and sliding sleeve ring are arranged on detection shaft rod, the change of motor rotation speed caused by the change of brush cleaning resistance is utilized, so that sliding sleeve ring generates axial displacement, and by moving synchronous arm, press trigger button.The trigger button controls displacement drive motor to start for a short time, drives cross frame beam to move to new cleaning area along lead screw.It can automatically judge the cleaning degree of current area according to the change of cleaning resistance, and realizes zoned progressive cleaning.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic panel maintenance technology, specifically to an intelligent cleaning robot for photovoltaic panels. Background Technology

[0002] During long-term outdoor use, photovoltaic panels easily accumulate dust particles on their surfaces. Dust buildup can block incident light, affecting the panel's light reception and reducing power generation efficiency. Therefore, regular cleaning of photovoltaic panel surfaces is necessary. Existing photovoltaic panel cleaning devices typically use moving brushes to sweep the panel surface, with the basic idea being to move the cleaning components along the panel surface to remove dust. However, existing structures have shortcomings in practical use: firstly, the movement area of ​​the cleaning components on the panel surface is not flexible enough, easily leading to repeated cleaning or missed areas; secondly, some devices only operate according to preset paths and times, making it difficult to automatically switch to the next cleaning area based on the actual dust removal level; and thirdly, insufficient synchronization of the lateral movement mechanism on both sides can easily cause the cleaning components to tilt, affecting operational stability. Therefore, a smart photovoltaic panel cleaning robot is needed that can automatically determine the cleaning status based on changes in cleaning resistance and control the zonal advancement of the cleaning components. Summary of the Invention

[0003] To overcome the shortcomings of the prior art, the present invention provides the following technical solution: a photovoltaic panel intelligent cleaning robot, comprising a cleaning assembly that moves on two lead screws, the cleaning assembly moving along the axial direction of the lead screws, the two lead screws being arranged parallel to each other on both sides of the photovoltaic panel; the cleaning assembly includes a crossbeam slidably sleeved on the two lead screws, a cleaning arm slidably mounted on the crossbeam, a cleaning brush mounting seat fixed on the cleaning arm, and a brush for cleaning dust on the surface of the photovoltaic panel mounted on the cleaning brush mounting seat; an easy-to-disassemble installation method is adopted, facilitating subsequent maintenance and replacement of the brush; wherein the movement of the cleaning brush mounting seat on the crossbeam is driven by a second transmission belt; it also includes two limiting sensing units for limiting the range of movement of the crossbeam on the lead screws, the two limiting sensing units being respectively located at both ends of the lead screws, the two limiting sensing units also being used to control the direction of movement of the crossbeam on the lead screws, enabling the crossbeam to reciprocate on the lead screws.

[0004] Preferably, two driven threaded gear sleeves are rotatably installed on the inner side of the cross frame beam. The two driven threaded gear sleeves are respectively sleeved on the two lead screws in a threaded transmission manner. Two second gearboxes are also fixedly installed on the cross frame beam. A drive gear that meshes with the driven threaded gear sleeve is fixedly installed on one of the rotating shafts of the second gearboxes. The other rotating shafts of the two second gearboxes are fixedly driven by a synchronous transmission shaft, so that the two driven threaded gear sleeves can rotate synchronously on the two lead screws.

[0005] Preferably, a sliding top cover is also fixedly installed on the cross frame beam, and an anti-tilting sliding seat that is fixedly matched with the sweeping arm is slidably installed on the lower surface of the sliding top cover; wherein a sliding groove is opened on the sweeping arm, and a sliding pin is slidably arranged in the sliding groove, and the sliding pin is fixedly installed on the side of the second transmission belt.

[0006] Preferably, the second transmission belt is supported by two second transmission pulleys rotatably mounted on the cross frame beam. The second transmission belt is in transmission cooperation with the two second transmission pulleys. A first gearbox for driving the rotation of the second transmission pulleys is also fixedly mounted on the cross frame beam. The output shaft of the first gearbox is fixed to the second transmission pulleys. A sweeping drive motor is also fixedly mounted on the cross frame beam. The output shaft of the sweeping drive motor is connected to the input shaft of the first gearbox through the first transmission belt.

[0007] Preferably, a detection shaft is also fixedly installed on the output shaft of the sweeping drive motor. A spring plate retaining ring is fixed at the end of the detection shaft away from the sweeping drive motor. The movement of the detection shaft toward the sweeping drive motor is slidably fitted with a sliding collar in a spline manner. Multiple arc-shaped spring plates are evenly and elastically connected between the sliding collar and the spring plate retaining ring in a circular array. A lead block is fixed in the middle of each arc-shaped spring plate.

[0008] Preferably, a protective housing is fitted around all the arc-shaped spring sheets, and the protective housing is fixedly installed on the cross frame beam. The top of the detection shaft is rotatably engaged with the top surface of the inner wall of the protective housing. Two adjusting sliding rods parallel to the detection shaft are also fixedly installed on the top surface of the inner wall of the protective housing. The two adjusting sliding rods are located on the side of the detection shaft (in a position that does not obstruct the movement of the arc-shaped spring sheets and the lead block). Trigger button brackets are slidably fitted on the two adjusting sliding rods. The trigger button brackets can be fixed to the adjusting sliding rods by bolts, and a trigger button is fixedly installed on the trigger button brackets.

[0009] Preferably, a movable synchronizing arm is slidably sleeved on the two adjusting sliding rods, wherein a sliding collar is rotatably mounted on the movable synchronizing arm, and the axial movement of the sliding collar on the detection shaft is used to drive the movable synchronizing arm to move axially on the adjusting sliding rod; wherein the movable synchronizing arm is in contact with the trigger button.

[0010] Preferably, a first outer shell and a second outer shell are fixed to the two sides of the cross frame beam, respectively, wherein a displacement drive motor is fixedly installed on the second outer shell, and the output shaft of the displacement drive motor is fixedly connected to one of the drive gears.

[0011] Compared with the prior art, the present invention has the following advantages: (1) The present invention uses the movement of the horizontal frame beam along the screw and the lateral reciprocating action of the cleaning arm to make the brush form a progressive coverage cleaning of the photovoltaic panel surface, which improves the effective cleaning range of the panel surface and reduces the missed areas; (2) The present invention uses the change of brush cleaning resistance to cause the change of the cleaning drive motor speed and can automatically trigger the lateral displacement, so that the cleaning degree can be judged without the need for an additional dust detector, reducing the system complexity; (3) The present invention can mechanically set the cleaning completion threshold by adjusting the position of the trigger button bracket on the adjusting sliding rod, adapting to different dust thicknesses, brush wear degrees and cleaning requirements, and the adjustment is intuitive and convenient; (4) In the present invention, the two driven threaded gear sleeves are linked by the synchronous transmission shaft to realize the synchronous advancement of both sides of the horizontal frame beam, which is conducive to keeping the horizontal frame beam moving smoothly and reducing the risk of unilateral deviation, jamming and tilting; (5) The present invention sets a limit sensor unit to control the reciprocating stroke of the horizontal frame beam, so that the device can automatically change direction and run in a cycle in the length direction of the panel, which is convenient for continuous cleaning of the entire photovoltaic panel. Attached Figure Description

[0012] Figure 1 This is a diagram showing the assembly location of the present invention on a photovoltaic panel.

[0013] Figure 2 This is a schematic diagram of the overall structure of the present invention.

[0014] Figure 3 For the present invention Figure 2 Schematic diagram of the structure at point A in the middle.

[0015] Figure 4 This is a schematic diagram of the horizontal frame beam structure of the present invention.

[0016] Figure 5 For the present invention Figure 4 Schematic diagram of the structure at point B.

[0017] Figure 6 For the present invention Figure 4 Schematic diagram of the structure at point C.

[0018] Figure 7 This is a diagram showing the transmission relationship between the synchronous drive shaft and the two second gearboxes of the present invention.

[0019] In the diagram: 101-Lead screw; 102-Lead screw bracket; 103-Limit sensing unit; 201-Horizontal frame beam; 202-First housing; 203-Second housing; 204-Displacement drive motor; 205-Protective housing; 206-Sliding top cover; 207-First gearbox; 208-Adjusting sliding rod; 209-Trigger button bracket; 210-Trigger button; 211-Detection shaft; 212-Sliding collar; 213-Arc-shaped spring sheet; 214-Lead block ; 215-Moving synchronous arm; 216-First transmission belt; 217-Sweeping drive motor; 218-Second gearbox; 219-Second transmission belt; 220-Second transmission belt pulley; 221-Driven threaded gear sleeve; 222-Drive gear; 223-Synchronous transmission shaft; 224-Anti-tilt sliding seat; 225-Sweeping arm; 226-Sweeping brush mounting seat; 227-Sliding groove; 228-Sliding pin; 229-Spring retaining ring; 301-Photovoltaic panel. Detailed Implementation

[0020] The following is in conjunction with the appendix Figures 1-5 The technical solution of the present invention will be further illustrated through specific embodiments.

[0021] This invention provides an intelligent cleaning robot for photovoltaic panels, including a cleaning assembly that moves along two lead screws 101. The cleaning assembly moves along the axial direction of the lead screws 101, and the two lead screws 101 are arranged parallel to each other on both sides of a photovoltaic panel 301. The cleaning assembly includes a horizontal frame beam 201 slidably sleeved on the two lead screws 101, a cleaning arm 225 slidably mounted on the horizontal frame beam 201, and a cleaning brush mounting seat 226 fixed on the cleaning arm 225. The cleaning brush mounting seat 226 is used to mount a brush for cleaning dust on the surface of the photovoltaic panel 301. The installation method facilitates easy disassembly, making it convenient for future maintenance and replacement of the brushes. The movement of the cleaning brush mounting base 226 on the crossbeam 201 is driven by the second transmission belt 219. It also includes two limit sensing units 103 for limiting the range of movement of the crossbeam 201 on the lead screw 101. The two limit sensing units 103 are respectively located at both ends of the lead screw 101. The two limit sensing units 103 are also used to control the direction of movement of the crossbeam 201 on the lead screw 101, so that the crossbeam 201 can reciprocate on the lead screw 101. Two driven threaded gear sleeves 221 are rotatably mounted on the inner side of the crossbeam 201. The two driven threaded gear sleeves 221 are respectively sleeved on the two lead screws 101 by threaded transmission. Two second gearboxes 218 are also fixedly mounted on the crossbeam 201. One of the shafts of the second gearboxes 218 is fixedly mounted with a drive gear 222 that meshes with the driven threaded gear sleeve 221. The other shafts of the two second gearboxes 218 are fixedly driven by a synchronous transmission shaft 223, so that the two driven threaded gear sleeves 221 can rotate synchronously on the two lead screws 101. A sliding top cover 206 is also fixedly mounted on the crossbeam 201. An anti-tilt sliding seat 224 that is fixedly engaged with the sweeping arm 225 is slidably mounted on the lower surface of the sliding top cover 206. The sweeping arm 225 has a sliding groove 227, and a sliding pin 228 is slidably disposed in the sliding groove 227. The sliding pin 228 is fixedly mounted on the side of the second transmission belt 219. The second transmission belt 219 is supported by two second transmission pulleys 220 rotatably mounted on the cross frame beam 201. The second transmission belt 219 is in transmission cooperation with the two second transmission pulleys 220. A first gearbox 207 for driving the rotation of the second transmission pulleys 220 is also fixedly mounted on the cross frame beam 201. The output shaft of the first gearbox 207 is fixed to the second transmission pulleys 220. A sweeping drive motor 217 is also fixedly mounted on the cross frame beam 201. The output shaft of the sweeping drive motor 217 is connected to the input shaft of the first gearbox 207 through a first transmission belt 216.

[0022] A detection shaft 211 is also fixedly installed on the output shaft of the sweeping drive motor 217. A spring plate retaining ring 229 is fixed at the end of the detection shaft 211 away from the sweeping drive motor 217. The movement of the detection shaft 211 toward the sweeping drive motor 217 is slidably fitted with a sliding collar 212 in a spline manner. Multiple arc-shaped spring plates 213 are evenly elastically connected between the sliding collar 212 and the spring plate retaining ring 229 in a circular array. A lead block 214 is fixed in the middle of each arc-shaped spring plate 213. A protective housing 205 is fitted around all the arc-shaped spring plates 213. The protective housing 205 is fixedly installed on the crossbeam 201. The top of the detection shaft 211 is rotatably engaged with the top surface of the inner wall of the protective housing 205. Two adjusting sliding rods 208 parallel to the detection shaft 211 are also fixedly installed on the top surface of the inner wall of the protective housing 205. The two adjusting sliding rods 208 are located on the side of the detection shaft 211 (without obstructing the movement of the arc-shaped spring plates 213 and the lead block 214). A trigger button bracket 209 is slidably fitted on the two adjusting sliding rods 208. The trigger button bracket 209 can be fixed to the adjusting sliding rod 208 by bolts. A trigger button 210 is fixedly installed on the trigger button bracket 209. Two adjusting sliding rods 208 are slidably fitted with movable synchronous arms 215, wherein a sliding collar 212 is rotatably mounted on the movable synchronous arms 215, and the axial movement of the sliding collar 212 on the detection shaft 211 drives the movable synchronous arms 215 to move axially on the adjusting sliding rods 208; wherein the movable synchronous arms 215 are in contact with the trigger button 210. A first housing 202 and a second housing 203 are fixed to the two sides of the crossbeam 201, respectively, wherein a displacement drive motor 204 is fixedly mounted on the second housing 203, and the output shaft of the displacement drive motor 204 is fixedly connected to one of the drive gears 222.

[0023] Two lead screws 101 are fixedly mounted on two lead screw supports 102, and two limit sensing units 103 are fixedly mounted on two lead screw supports 102. The two limit sensing units 103 are in contact with the first housing 202 and the second housing 203 respectively. The photovoltaic panel 301 is fixedly mounted on its own support to ensure that the relative position of the photovoltaic panel 301 and the two lead screws 101 is fixed after installation.

[0024] Over time, dust will accumulate on the surface of the photovoltaic panel 301, which will block sunlight and thus reduce the power generation efficiency of the photovoltaic panel 301. Therefore, the surface of the photovoltaic panel 301 needs to be cleaned regularly. Specifically, the system controls the start of the cleaning drive motor 217. The output shaft of the cleaning drive motor 217 drives the input shaft of the first gearbox 207 to rotate through the first transmission belt 216. The output shaft of the first gearbox 207 drives the second transmission pulley 220, which in turn drives the second transmission belt 219 to rotate. The second transmission belt 219 drives the cleaning arm 225 to move along the length of the second transmission belt 219 through the sliding pin 228. Since the sliding pin 228 is fixed at the edge of the second transmission belt 219, as the second transmission belt 219 rotates, the second gearbox 218 will drive the cleaning arm 225 to move back and forth periodically (while the anti-tilt sliding seat 224 slides on the sliding top cover 206). At the same time, the sliding pin 228 slides in the sliding groove 227. During this process, the cleaning brush mounting seat 226 will move relative to the surface of the photovoltaic panel 301. At this time, the brush on the cleaning brush mounting seat 226 will clean the dust on the surface of the photovoltaic panel 301. Due to the presence of dust, the resistance of the cleaning brush mounting base 226 moving on the surface of the photovoltaic panel 301 is relatively large. This will lead to an increase in the load on the output shaft of the cleaning drive motor 217. Under the same input power, the output shaft speed of the cleaning drive motor 217 will be lower than the speed when there is no dust on the surface of the photovoltaic panel 301. The output shaft of the sweeping drive motor 217 also drives the detection shaft 211 to rotate synchronously. The rotation of the detection shaft 211 will drive all the arc-shaped spring plates 213 and lead blocks 214 to rotate. The lead blocks 214 rotate and are subjected to centrifugal force, which will pull the arc-shaped spring plates 213 to deform. After the arc-shaped spring plates 213 are deformed, the radius of rotation of the lead blocks 214 around the detection shaft 211 will increase. At the same time, the arc-shaped spring plates 213 will pull the sliding collar 212 to move away from the sweeping drive motor 217 along the axial direction of the detection shaft 211. While the sliding collar 212 is moving, it will drive the moving synchronous arm 215 to move in the same direction (the sliding collar 212 and the moving synchronous arm 215 are relative to each other. At this time, the moving synchronous arm 215 will not be driven to rotate by the sliding collar 212). The moving synchronous arm 215 follows the movement of the sliding collar 212.The brush on the brush mounting bracket 226 reciprocates to clean dust on the surface of the photovoltaic panel 301. When the dust is cleaned to a set level (i.e., the resistance of the brush is reduced to a set threshold, which is adjusted by the position of the trigger button bracket 209 on the adjusting sliding rod 208, i.e., the distance between the trigger button 210 and the moving synchronous arm 215), the load on the output shaft of the cleaning drive motor 217 decreases, thereby increasing the output shaft speed of the cleaning drive motor 217. This further increases the centrifugal force on the lead block 214, further increasing the bending degree of the arc spring plate 213, and the sliding collar 212 and the cleaning drive motor 217... As the distance between them increases, the moving synchronous arm 215 gradually approaches the trigger button 210. When the moving synchronous arm 215 contacts the trigger button 210, it presses the trigger button 210. The trigger button 210 then controls the displacement drive motor 204 to start for a set time via a time delay relay (the trigger button 210 controls the time delay relay, which in turn controls the displacement drive motor 204 to shut down after a delay). The specific time is determined based on the starting speed of the displacement drive motor 204 and the pitch of the lead screw 101. This ultimately moves the crossbeam 201 a distance, which should be less than the width of the brush on the cleaning brush mounting base 226. This causes the brush on the cleaning brush mounting base 226 to move to another uncleaned position on the photovoltaic panel 301, where the obstruction causes the brush to come into contact with dust again. This increases the resistance to movement of the brush, reduces the speed of the cleaning drive motor 217, and causes the moving synchronous arm 215 to separate from the trigger button 210.

[0025] Movement of the transverse frame beam 201 on the lead screw 101: The output shaft of the displacement drive motor 204 drives the drive gear 222. The first housing 202 drives another drive gear 222 to rotate through the second gearbox 218, the synchronous transmission shaft 223, and the second gearbox 218. The two drive gears 222 simultaneously drive the driven threaded gear sleeve 221 to rotate. The driven threaded gear sleeve 221 rotates on the lead screw 101. Since the lead screw 101 is fixed, the driven threaded gear sleeve 221 will move along the axial direction of the lead screw 101. Since the driven threaded gear sleeve 221 is rotatably mounted on the transverse frame beam 201, the transverse frame beam 201 will be driven by the two driven threaded gear sleeves 221, thereby causing the transverse frame beam 201 to move on the lead screw 101. When the movement comes into contact with the limit sensor unit 103, the limit sensor unit 103 acts as a trigger signal, causing the system to stop the movement of the displacement drive motor 204 and the cleaning drive motor 217, and switch the positive and negative terminals of the input power supply of the displacement drive motor 204. When it starts up again, it directly drives the crossbeam 201 to move in another direction on the lead screw 101.

Claims

1. A photovoltaic panel intelligent cleaning robot, characterized in that: The system includes a cleaning assembly that moves on two lead screws (101), the cleaning assembly moving along the axial direction of the lead screws (101), the two lead screws (101) being arranged parallel to each other on both sides of the photovoltaic panel (301); The cleaning assembly includes a crossbeam (201) slidably sleeved on two lead screws (101), a cleaning arm (225) slidably mounted on the crossbeam (201), a cleaning brush mounting seat (226) fixed on the cleaning arm (225), and a brush for cleaning dust on the surface of the photovoltaic panel (301) mounted on the cleaning brush mounting seat (226). The movement of the cleaning brush mounting base (226) on the crossbeam (201) is driven by the second transmission belt (219); It also includes two limiting sensing units (103) for limiting the range of movement of the crossbeam (201) on the lead screw (101). The two limiting sensing units (103) are respectively set at both ends of the lead screw (101). The two limiting sensing units (103) are also used to control the direction of movement of the crossbeam (201) on the lead screw (101) so that the crossbeam (201) can reciprocate on the lead screw (101).

2. The intelligent cleaning robot for photovoltaic panels according to claim 1, characterized in that: Two driven threaded gear sleeves (221) are rotatably mounted on the inner side of the cross frame beam (201). The two driven threaded gear sleeves (221) are respectively sleeved on the two lead screws (101) by threaded transmission. Two second gearboxes (218) are also fixedly mounted on the cross frame beam (201). One of the shafts of the second gearboxes (218) is fixedly mounted with a drive gear (222) that meshes with the driven threaded gear sleeve (221). The other shafts of the two second gearboxes (218) are fixedly driven by a synchronous transmission shaft (223), so that the two driven threaded gear sleeves (221) can rotate synchronously on the two lead screws (101).

3. The intelligent cleaning robot for photovoltaic panels according to claim 2, characterized in that: A sliding top cover (206) is also fixedly installed on the cross beam (201). An anti-tilting sliding seat (224) that is fixedly matched with the sweeping arm (225) is slidably installed on the lower surface of the sliding top cover (206). A sliding groove (227) is provided on the sweeping arm (225). A sliding pin (228) is slidably installed in the sliding groove (227). The sliding pin (228) is fixedly installed on the side of the second transmission belt (219).

4. The intelligent cleaning robot for photovoltaic panels according to claim 3, characterized in that: The second transmission belt (219) is supported by two second transmission pulleys (220) rotatably mounted on the cross beam (201). The second transmission belt (219) is in transmission cooperation with the two second transmission pulleys (220). A first gearbox (207) for driving the second transmission pulleys (220) to rotate is also fixedly mounted on the cross beam (201). The output shaft of the first gearbox (207) is fixed to the second transmission pulleys (220). A sweeping drive motor (217) is also fixedly mounted on the cross beam (201). The output shaft of the sweeping drive motor (217) and the input shaft of the first gearbox (207) are connected by a first transmission belt (216).

5. The intelligent cleaning robot for photovoltaic panels according to claim 4, characterized in that: A detection shaft (211) is also fixedly installed on the output shaft of the sweeping drive motor (217). A spring plate retaining ring (229) is fixed at the end of the detection shaft (211) away from the sweeping drive motor (217). A sliding collar (212) is slidably sleeved on the detection shaft (211) as it moves closer to the sweeping drive motor (217) in a spline manner. Multiple arc-shaped spring plates (213) are evenly and elastically connected between the sliding collar (212) and the spring plate retaining ring (229) in a circular array. A lead block (214) is fixed in the middle of each arc-shaped spring plate (213).

6. The intelligent cleaning robot for photovoltaic panels according to claim 5, characterized in that: A protective housing (205) is fitted on the outside of all the arc-shaped spring sheets (213). The protective housing (205) is fixedly installed on the crossbeam (201). The top of the detection shaft (211) is rotatably engaged with the top surface of the inner wall of the protective housing (205). Two adjusting sliding rods (208) parallel to the detection shaft (211) are also fixedly installed on the top surface of the inner wall of the protective housing (205). The two adjusting sliding rods (208) are located on the side of the detection shaft (211). A trigger button bracket (209) is slidably fitted on the two adjusting sliding rods (208). The trigger button bracket (209) can be fixed on the adjusting sliding rod (208) by bolts. A trigger button (210) is fixedly installed on the trigger button bracket (209).

7. The intelligent cleaning robot for photovoltaic panels according to claim 6, characterized in that: Two adjusting sliding rods (208) are slidably fitted with movable synchronizing arms (215), wherein a sliding collar (212) is rotatably mounted on the movable synchronizing arms (215), and the axial movement of the sliding collar (212) on the detection shaft (211) is used to drive the movable synchronizing arms (215) to move axially on the adjusting sliding rods (208); wherein the movable synchronizing arms (215) are in contact with the trigger button (210).

8. The intelligent cleaning robot for photovoltaic panels according to claim 7, characterized in that: The two sides of the crossbeam (201) are respectively fixed with a first outer shell (202) and a second outer shell (203), wherein a displacement drive motor (204) is fixedly installed on the second outer shell (203), and the output shaft of the displacement drive motor (204) is fixedly connected to one of the drive gears (222).

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