A photovoltaic module cleaning robot chassis structure

Abstract

The present application relates to the technical field of cleaning robots, and particularly relates to a photovoltaic module cleaning robot chassis structure, which comprises a track wheel and a chassis body, the track wheel is provided with two and symmetrically arranged on both sides of the chassis body, the front end of the chassis body is provided with a cleaning roller frame for cleaning the photovoltaic module, further comprising a sacrificial layer, the sacrificial layer is detachably arranged on the outside of the track wheel, a mud scraping assembly, the mud scraping assembly comprises a mud scraping plate, a drainage pipe and a sedimentation cavity, the mud scraping plate is arranged above the chassis body and is in sliding extrusion with the outer wall of the sacrificial layer below, and the sedimentation cavity is arranged inside and below the chassis body; the present application realizes three-stage management of particle scraping, flow guiding and sedimentation through integrated design of the contact interface, negative pressure adsorption and the mud and sand flow path, and cooperates with partition adsorption and modular structure to improve the reliability and maintainability of the robot under complex working conditions.

Description

Technical Field

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

[0002] With the large-scale construction of ground-mounted power stations, mountain power stations, and distributed rooftop power stations, dirt such as dust, mud, and bird droppings on the surface of photovoltaic modules will significantly reduce the output of the modules. Photovoltaic cleaning robots are gradually becoming routine maintenance equipment.

[0003] The chassis of a photovoltaic module cleaning robot is the "foundation" and "wheels" of the whole machine. It bears the weight of the battery, controller and cleaning mechanism, and evenly transmits the working force to the surface of the module. At the same time, it provides stable walking, wind resistance and fall prevention. The reliability of the chassis directly determines the cleaning efficiency, glass safety and long-term maintenance costs. Most existing photovoltaic cleaning robots use wheeled or tracked walking mechanisms in conjunction with roller brushes to achieve cleaning. Some products improve the adhesion to slopes through negative pressure adsorption or magnetic adsorption.

[0004] However, in existing technologies, during the reciprocating movement of cleaning robots on the component surface, hard particles such as sand are pressed between the tracks and the glass. These particles are not only crushed by the repeated movement but also carried into the chassis by the brush bristles and skirts, causing scratches on the front glass of the component. Long-term operation can easily lead to visible scratches, affecting the light transmittance of the component. In addition, under wet conditions such as dew, standing water, or mud, the coefficient of friction between the tracks and the glass is significantly reduced. Ordinary weight-reducing anti-fall mechanisms cannot balance adhesion and pressure control on the glass, making it easy for slippage, side slippage, or even falls to occur. Risks: In dirty environments, existing robots mostly use brushes or simple scrapers to self-clean the outer surface of the tracks. However, after the mud and sand are scraped off, they often accumulate inside the chassis shell or are directly discharged onto the photovoltaic glass on one side. If they are collected inside the chassis shell, there is a lack of effective discharge path and settling space, and they can only rely on periodic manual disassembly and washing, which requires a lot of maintenance labor. In addition, if they are not cleaned in time, they are prone to jamming the transmission mechanism. If they are discharged directly to the outside, a large amount of accumulated sand and dirt can easily cause secondary pollution to the cleaned photovoltaic panel surface, increasing the cleaning burden. Summary of the Invention

[0005] The purpose of this invention is to solve the problems of glass wear, slippage, and mud and sand accumulation inside the chassis of existing cleaning robots when they walk, and to propose a chassis structure for a photovoltaic module cleaning robot.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a chassis structure for a photovoltaic module cleaning robot, comprising tracked wheels and a chassis body, wherein two tracked wheels are provided and symmetrically arranged on both sides of the chassis body, and a cleaning roller frame for cleaning photovoltaic modules is provided at the front end of the chassis body, and further comprising:

[0007] A sacrificial layer, which is detachably disposed on the outside of the track wheel;

[0008] The sludge scraping assembly includes a scraper blade, a drainage pipe, and a settling chamber. The scraper blade is positioned on the chassis body above and slides and presses against the outer wall of the sacrificial layer below. The settling chamber is located inside the chassis body below. The upper end of the drainage pipe is located below the scraper blade and the lower end extends into the settling chamber.

[0009] The negative pressure assembly includes a seal, a negative pressure fan, and a pressure sensor. The chassis body is equipped with a negative pressure pipe and a negative pressure fan. The seal is located below the chassis body, and a negative pressure cavity is formed between the seal, the chassis body, and the surface of the photovoltaic panel. One end of the negative pressure pipe is connected to the negative pressure cavity, and the other end is connected to the air inlet of the negative pressure fan. The pressure sensor is located inside the seal.

[0010] Specifically, a cleaning push plate is rotatably provided below the cleaning roller frame. The upper end of the cleaning push plate is rotatably positioned below the side of the cleaning roller frame facing the chassis body, and the lower end of the cleaning push plate is inclined towards the side of the cleaning roller frame. The cleaning push plate is assembled and connected to the cleaning roller frame through a first spring.

[0011] Preferably, the cleaning push plate is configured such that as the cleaning robot moves forward, the cleaning roller frame moves forward, and the cleaning roller shaft inside the cleaning roller frame cleans the surface of the photovoltaic panel. Any remaining small amount of sewage or dirt is cleaned up by the cleaning push plate moving forward.

[0012] Specifically, the sealing element is arranged in a ring structure, and an elastic sealing strip is provided below the sealing element. When the sealing element and the elastic sealing strip are in their natural state, the lower end of the elastic sealing strip is lower than the height below the sacrificial layer.

[0013] Preferably, the sealing element is used to limit the overall shape of the negative pressure chamber, and the elastic sealing strip is soft and used to fit the surface of the photovoltaic panel. Even when passing through the slightly raised edge of the photovoltaic panel assembly, it can effectively reduce air leakage in the negative pressure chamber, so that the negative pressure fan can draw out significant negative pressure in the negative pressure chamber.

[0014] Specifically, the negative pressure pipe and the negative pressure fan are provided in multiple sets and are adapted to the number of the sealing components. The end of the negative pressure pipe away from the negative pressure fan is connected to the corresponding negative pressure chamber. The output end of the negative pressure fan is connected to the outside of the chassis body. The pressure sensor is provided in multiple sets and is placed on the inner wall of the corresponding sealing component.

[0015] Preferably, the negative pressure fan draws gas from the negative pressure chamber through the negative pressure pipe, creating a negative pressure between the seal, the chassis body, and the photovoltaic panel. This increases the chassis body's grip when moving on the photovoltaic module, allowing for smooth movement even in windy weather. In addition, the cleaning push plate can clean most of the dirt and dust on the surface of the photovoltaic module, preventing the sludge accumulated on the photovoltaic panel surface from affecting the sealing of the negative pressure chamber.

[0016] Specifically, the sacrificial layer is detachably disposed on the outside of the track body of the track wheel. The sacrificial layer has multiple slots on its outer side, which are arranged in a honeycomb array on the plane. The thickness of the sacrificial layer is 1-5mm, and the diameter of the slots is 1-5mm.

[0017] Preferably, the sacrificial layer is designed to be detachably fixed to the outside of the track wheel. After each use, it is removed and replaced with a new sacrificial layer. This not only protects the track body and increases its service life, but also makes the sacrificial layer relatively soft, and its grooves can embed mud and sand into it during movement.

[0018] Specifically, the outer side of the track body is provided with anti-slip patterns, the inner side of the sacrificial layer is provided with an anti-slip layer adapted to the anti-slip patterns, and the sacrificial layer is disposed on the outer side of the anti-slip layer;

[0019] Preferably, by providing an anti-slip layer on the inner side of the sacrificial layer, and having a texture that matches the anti-slip pattern, the sacrificial layer can be effectively prevented from slipping on the track body after being assembled onto the track body, thus ensuring the stability of the installation.

[0020] Specifically, the sacrificial layer is symmetrically provided with connecting strips on both sides, and multiple limiting holes are evenly provided on the connecting strips. Multiple locking blocks are evenly provided on the inner edge of the track body, and the limiting holes engage with the corresponding locking blocks.

[0021] Preferably, when installing the sacrificial layer, first, the anti-slip layer on the inner side of the sacrificial layer is matched one by one with the anti-slip pattern on the track body, and then the connecting strips on both sides are pulled into the inner side of the track body and the limiting hole is matched with the corresponding locking block.

[0022] Specifically, the chassis body is symmetrically provided with fixed frames on both sides above, the track wheels are located directly below the fixed frames, the mud scraper is inclinedly arranged below the fixed frames, there are two sets of mud scrapers and they are inclined, and the inclined end of the mud scraper near the chassis body faces the direction of robot movement.

[0023] Preferably, a fixed frame is used to load the scraper. When the cleaning robot moves forward, the track wheels rotate, and the mud and sand below the sacrificial layer are carried up from the rear and rotated upward. When it rotates to the top, it comes into contact with the inclined scraper. The scraper scrapes off the mud and sand attached to the sacrificial layer and moves along the inclined direction of the scraper towards the chassis body until it falls onto the drainage pipe and finally falls into the settling chamber.

[0024] Specifically, the chassis body has side grooves on both sides, the drainage pipe is installed in the side grooves, the upper end of the drainage pipe is connected to a drainage bucket, the drainage bucket is located directly below the end of the scraper facing the chassis body, the upper two sides of the drainage bucket are slidably connected to the track body, the chassis body has a water source inside, the water source is connected to a fixed pipe through a water pump, the fixed pipe is installed inside the scraper above, the fixed pipe is connected to multiple overflow holes, the overflow holes are set facing the rear of the chassis body;

[0025] Preferably, water is introduced into the fixed pipe by driving a water pump and overflows evenly from the overflow hole. The amount of overflow is small, which avoids a large amount of water dripping down from above the track wheel. The mud and sand attached to the surface of the sacrificial layer are more easily scraped off by the scraper after mixing with the water. The scraped mud and water are guided along the scraper to the diversion bucket, and then flow into the settling chamber through the diversion pipe.

[0026] Specifically, a filter cylinder and an inner cylinder are arranged sequentially from the inside to the outside at the center of the settling chamber. The bottom of the inner cylinder is detachably and sealed to the chassis body via a sealing cap. Filter holes are provided on both the inner cylinder and the filter cylinder. The diameter of the filter holes on the inner cylinder is larger than the diameter of the filter holes on the filter cylinder. A spiral guide plate is provided on the inner wall of the settling chamber. A sewage discharge chamber is connected to the lower end of the settling chamber. A sewage discharge pipe is connected to the lower part of the sewage discharge chamber. The water pump inlet extends to the lower part of the filter cylinder.

[0027] Preferably, the silt and water entering the settling chamber flows downward in a spiral shape through the spiral guide plate. This process can accelerate the settling of sand and gravel. In addition, the sand and gravel will rub against the filter cartridge during the rotation and descent. The inner cylinder can isolate the filter cartridge from the wear of large particles of impurities. The inner cylinder is made of corrosion-resistant stainless steel. The settled particles are temporarily stored in the sewage discharge chamber.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. This invention features a sacrificial layer detachably mounted on the outer side of the track body of the track wheel. On one hand, the sacrificial layer, as a replaceable soft protective layer in direct contact with the photovoltaic panel, wears down preferentially during operation rather than the track body, thus protecting the track body and extending the overall service life of the track wheel. On the other hand, the sacrificial layer is relatively soft, and its grooves can embed mud and sand particles during robot movement, increasing ground friction and reducing the probability of hard particles directly scratching the surface of the photovoltaic panel, thereby effectively reducing the risk of scratches on the photovoltaic panel surface and ensuring the light transmission quality of the photovoltaic module. Simultaneously, through the interlocking cooperation of the anti-slip layer and anti-slip texture, as well as the mechanical engagement of the connecting strip, limiting hole, and locking block, reliable anti-slip positioning and quick installation and removal of the sacrificial layer on the track body are achieved, facilitating quick replacement of the sacrificial layer after each operation, improving maintenance convenience and overall machine economy.

[0030] 2. In this invention, when the track wheels rotate, the mud and sand on the surface of the sacrificial layer are carried upwards and come into contact with the multi-stage inclined scraper blades in sequence. They are fully scraped away from the sacrificial layer and fall into the diversion bucket along the scraping direction, and then introduced into the settling chamber through the diversion pipe. An appropriate amount of water overflows from the overflow hole and mixes with the mud and sand to form mud-water with better fluidity. This not only improves the scraping efficiency, but also reduces the risk of mud and sand accumulating and clogging at the diversion bucket or diversion pipe. After the mud-water enters the settling chamber, it flows downwards in a spiral shape under the guidance of the spiral guide plate, accelerating particle settling. Large particles are first blocked by the inner cylinder to avoid direct wear on the filter cartridge, and small particles are then intercepted by the filter cartridge. The settled particles are temporarily stored in the sewage discharge chamber. After the operation is completed, the sewage can be discharged by simply opening the sewage discharge pipe valve. If necessary, the inner cylinder can also be replaced by removing the sealing cover. This achieves effective scraping, directional flow and efficient settling of mud and sand in the track area. It has strong self-cleaning ability, significantly reduces the risk of mud and sand accumulating and getting stuck under the chassis body, and improves the long-term operational reliability and maintenance convenience of the whole machine.

[0031] 3. This invention uses a sealing element as a rigid thin edge to define the overall shape and range of the negative pressure chamber. The elastic sealing strip adheres to the photovoltaic panel surface with a small pre-pressure, maintaining a good fit even when crossing slightly protruding parts of the module frame, significantly reducing air leakage in the negative pressure chamber. During operation, the negative pressure fan draws air from each negative pressure chamber through the negative pressure pipe, forming multiple partitioned negative pressure chambers between the sealing element, the elastic sealing strip, and the photovoltaic panel. This, combined with the sacrificial layer contact of the track wheels, improves the adhesion and grip of the chassis body on the photovoltaic module surface, enabling the robot to walk stably even in complex conditions such as wind and slippery conditions. Simultaneously, pressure sensors monitor the negative pressure level in different negative pressure chambers in real time. When a low negative pressure is detected in a certain side of the negative pressure chamber, the microcontroller can automatically adjust the speed of the corresponding negative pressure fan based on the sensor data to compensate for the pressure on that side, thereby suppressing the tendency of the chassis body to tilt or slide. This achieves closed-loop control of the negative pressure adsorption force, further improving the stability and safety of the cleaning robot walking on the inclined surface of the photovoltaic module. Attached Figure Description

[0032] Figure 1 This is a perspective view of the chassis structure of the photovoltaic module cleaning robot provided by the present invention.

[0033] Figure 2 This is a bottom view of the chassis structure of the photovoltaic module cleaning robot provided by the present invention.

[0034] Figure 3 This is a schematic diagram of the chassis body structure of the photovoltaic module cleaning robot chassis structure provided by the present invention.

[0035] Figure 4 A schematic diagram of the internal structure of the chassis body of the photovoltaic module cleaning robot chassis structure provided by the present invention.

[0036] Figure 5 This is a schematic diagram of the disassembled structure of the track body and sacrificial layer of the photovoltaic module cleaning robot chassis structure provided by the present invention.

[0037] Figure 6 This is a schematic diagram of the disassembled structure of the track body and sacrificial layer of the photovoltaic module cleaning robot chassis structure provided by the present invention.

[0038] Figure 7 A schematic diagram of the mud scraping component structure of the chassis structure of the photovoltaic module cleaning robot provided by the present invention.

[0039] Figure 8 This is a schematic diagram of the scraper structure of the chassis structure of the photovoltaic module cleaning robot provided by the present invention.

[0040] Figure 9 A schematic diagram of the assembly structure of the cleaning roller frame and cleaning push plate of the photovoltaic module cleaning robot chassis provided by the present invention.

[0041] Figure 10 A schematic diagram of the assembly structure of the track wheels and sacrificial layer of the chassis structure of the photovoltaic module cleaning robot provided by the present invention.

[0042] In the diagram: 1. Track wheel; 2. Chassis body; 3. Cleaning roller frame; 4. Sacrificial layer; 411. Groove; 412. Anti-slip texture; 413. Anti-slip layer; 421. Connecting strip; 422. Limiting hole; 423. Locking block; 511. Scraper; 512. Drainage pipe; 513. Settling chamber; 611. Seal; 612. Negative pressure fan; 613. Negative pressure pipe; 614. Pressure sensor; 615. Negative pressure chamber; 621, elastic sealing strip; 711, cleaning push plate; 712, first spring; 8, track body; 911, fixing frame; 912, side groove; 913, diversion hopper; 914, water pump; 915, fixing pipe; 916, overflow hole; 921, filter cartridge; 922, inner cylinder; 923, sealing cover; 924, filter hole; 925, spiral guide plate; 926, sewage discharge chamber; 927, sewage discharge pipe. Detailed Implementation

[0043] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0044] like Figures 1 to 10 The diagram shows a chassis structure for a photovoltaic module cleaning robot, including tracked wheels 1 and a chassis body 2. Two tracked wheels 1 are symmetrically arranged on both sides of the chassis body 2. A cleaning roller frame 3 for cleaning photovoltaic modules is provided at the front end of the chassis body 2. The chassis body 2 also includes:

[0045] Sacrificial layer 4, which is detachably disposed on the outside of track wheel 1;

[0046] The sludge scraping assembly includes a scraper 511, a drainage pipe 512, and a settling chamber 513. The scraper 511 is disposed on the chassis body 2 above and slides and presses against the outer wall of the sacrificial layer 4 below. The settling chamber 513 is opened inside the lower part of the chassis body 2. The upper end of the drainage pipe 512 is located below the scraper 511 and the lower end extends into the settling chamber 513.

[0047] The negative pressure assembly includes a seal 611, a negative pressure fan 612, and a pressure sensor 614. The chassis body 2 is equipped with a negative pressure pipe 613 and a negative pressure fan 612. The seal 611 is located below the chassis body 2, and a negative pressure cavity 615 is formed between the seal 611, the chassis body 2, and the surface of the photovoltaic panel. One end of the negative pressure pipe 613 is connected to the negative pressure cavity 615, and the other end is connected to the air inlet of the negative pressure fan 612. The pressure sensor 614 is located inside the seal 611.

[0048] A cleaning push plate 711 is rotatably provided below the cleaning roller frame 3. The upper end of the cleaning push plate 711 is rotatably positioned below the side of the cleaning roller frame 3 facing the chassis body 2, and the lower end of the cleaning push plate 711 is inclined to the side facing the cleaning roller frame 3. The cleaning push plate 711 is assembled and connected to the cleaning roller frame 3 by a first spring 712.

[0049] The cleaning push plate 711 is designed so that when the cleaning robot moves forward, the cleaning roller frame 3 moves forward and the cleaning roller shaft inside the cleaning roller frame 3 cleans the surface of the photovoltaic panel. The small amount of residual sewage or mud is pushed forward by the cleaning push plate 711 and is cleaned up during the operation of the cleaning roller shaft, so as to avoid entering under the chassis body 2 as much as possible.

[0050] In addition, the sealing element 611 is arranged in a ring structure, and an elastic sealing strip 621 is provided below the sealing element 611. When the sealing element 611 and the elastic sealing strip 621 are in their natural state, the lower end of the elastic sealing strip 621 is lower than the height below the sacrificial layer 4.

[0051] Among them, the sealing element 611 is used to limit the overall shape of the negative pressure chamber 615, and the elastic sealing strip 621 is soft and is used to fit the surface of the photovoltaic panel. Even when passing through the slightly raised edge of the photovoltaic panel assembly, it can effectively reduce air leakage in the negative pressure chamber 615, so that the negative pressure fan 612 can draw out obvious negative pressure in the negative pressure chamber 615.

[0052] Among them, the elastic sealing strip 621 can be made of silicone, foamed rubber, soft TPU, etc. Although there is friction, it is much less than that of hard plastic or metal, and its soft structure will not scratch the photovoltaic module.

[0053] The negative pressure pipe 613 and the negative pressure fan 612 are provided in multiple sets and are adapted to the number of the sealing elements 611. The end of the negative pressure pipe 613 away from the negative pressure fan 612 is connected to the corresponding negative pressure chamber 615. The output end of the negative pressure fan 612 is connected to the outside of the chassis body 2. The pressure sensor 614 is provided in multiple sets and is placed on the inner wall of the corresponding sealing element 611.

[0054] The negative pressure fan 612 draws gas from the negative pressure chamber 615 through the negative pressure pipe 613, so that the sealing element 611, the chassis body 2 and the photovoltaic panel form a negative pressure, thereby increasing the grip of the chassis body 2 when moving on the photovoltaic module, and can move smoothly even in windy weather. In addition, the cleaning push plate 711 can clean most of the dirt and dust on the surface of the photovoltaic module, and prevent the sludge accumulated on the surface of the photovoltaic panel from affecting the sealing of the negative pressure chamber 615.

[0055] In addition, the pressure sensor 614 can be used to monitor the negative pressure in different negative pressure chambers 615 at all times. When the pressure in a certain negative pressure chamber 615 is low, it indicates that the grip on that side is weak, and the chassis body 2 may tilt to the opposite side. At this time, the pressure in the negative pressure chamber 615 on that side can be increased.

[0056] The chassis body 2 is equipped with a microcontroller. The pressure sensor 614 is electrically connected to the drive motor of the negative pressure fan 612 through the microcontroller. The data detected by the pressure sensor 614 is transmitted to the microcontroller, which converts it into an electrical signal and transmits it to the drive motor of the negative pressure fan 612, causing the negative pressure fan 612 to rotate at high speed, increasing the negative pressure in the negative pressure chamber 615 and improving the stability of the chassis body 2.

[0057] In addition, the sacrificial layer 4 is detachably disposed on the outside of the track body 8 of the track wheel 1. The sacrificial layer 4 is provided with a plurality of slots 411 on its outer side. The slots 411 are arranged in a honeycomb array on the plane. The thickness of the sacrificial layer 4 is 1-5mm and the diameter of the slots 411 is 1-5mm.

[0058] The sacrificial layer 4 is designed to be detachably fixed to the outside of the track wheel 1. After each use, it is removed and replaced with a new sacrificial layer 4. This serves two purposes: firstly, it protects the track body 8 and increases its service life; secondly, the sacrificial layer 4 is relatively soft, and its grooves 411 can embed mud and sand during movement, which can reduce the possibility of mud and sand scratching the photovoltaic panel and ensure the quality of the photovoltaic panel.

[0059] In addition, the outer side of the track body 8 is provided with anti-slip texture 412, the inner side of the sacrificial layer 4 is provided with anti-slip layer 413 adapted to the anti-slip texture 412, and the sacrificial layer 4 is disposed on the outer side of the anti-slip layer 413.

[0060] By setting an anti-slip layer 413 on the inner side of the sacrificial layer 4, and having a texture that matches the anti-slip texture 412, the sacrificial layer 4 can be effectively prevented from slipping on the track body 8 after it is assembled onto the track body 8, thus ensuring the stability of the installation.

[0061] In addition, the sacrificial layer 4 is symmetrically provided with connecting strips 421 on both sides, and multiple limiting holes 422 are evenly provided on the connecting strips 421. Multiple locking blocks 423 are evenly provided on the inner edge of the track body 8, and the limiting holes 422 engage with the corresponding locking blocks 423.

[0062] When installing the sacrificial layer 4, first, the anti-slip layer 413 on the inner side of the sacrificial layer 4 is matched one-to-one with the anti-slip pattern 412 on the track body 8. Then, the connecting strips 421 on both sides are pulled into the inner side of the track body 8 and the limiting hole 422 is matched with the corresponding locking block 423.

[0063] In addition, the chassis body 2 is symmetrically provided with fixed frames 911 on both sides above, the track wheel 1 is located directly below the fixed frame 911, the scraper 511 is inclinedly arranged below the fixed frame 911, the scraper 511 is provided in two sets and is inclined, and the end of the scraper 511 near the chassis body 2 is inclined towards the robot's forward direction.

[0064] The fixed frame 911 is used to load the scraper 511. When the cleaning robot moves forward, the track wheel 1 rotates. The mud and sand below the sacrificial layer 4 will be carried up from the rear and rotated upward. When it rotates to the top, it will contact the inclined scraper 511. The scraper 511 will scrape off the mud and sand attached to the sacrificial layer 4 and move along the inclined direction of the scraper 511 towards the chassis body 2 until it falls onto the drainage pipe 512 and finally falls into the settling chamber 513.

[0065] The scraper 511 is provided with two or more blades, which can scrape off the mud and sand on the sacrificial layer 4 again if it is not completely scraped in one go, so as to ensure the cleanliness of the surface of the sacrificial layer 4.

[0066] In addition, the chassis body 2 has side grooves 912 on both sides, and the drainage pipe 512 is set in the side grooves 912. The upper end of the drainage pipe 512 is connected to the drainage bucket 913. The drainage bucket 913 is located directly below the end of the scraper 511 facing the chassis body 2. The upper two sides of the drainage bucket 913 are slidably connected to the track body 8. The chassis body 2 has a water source inside, and the water source is connected to a fixed pipe 915 through a water pump 914. The fixed pipe 915 is set inside and above the scraper 511. The fixed pipe 915 is connected to a plurality of overflow holes 916, and the overflow holes 916 are set facing the rear of the chassis body 2.

[0067] By driving the water pump 914, water is introduced into the fixed pipe 915 and overflows evenly from the overflow hole 916. The overflow amount is small, which avoids a large amount of water dripping down from above the track wheel 1. The mud and sand attached to the surface of the sacrificial layer 4 are more easily scraped off by the scraper 511 after mixing with the water. The scraped mud and water are guided along the scraper 511 to the diversion bucket 913, and then flow into the settling chamber 513 through the diversion pipe 512. The added water can also prevent the mud and sand from accumulating and clogging in the diversion bucket 913 or the diversion pipe 512.

[0068] The settling chamber 513 has a filter cylinder 921 and an inner cylinder 922 arranged sequentially from the inside to the outside at the center position. The bottom of the inner cylinder 922 is detachably and sealedly connected to the chassis body 2 through a sealing cover 923.

[0069] Both the inner cylinder 922 and the filter cylinder 921 are provided with filter holes 924. The diameter of the filter holes 924 on the inner cylinder 922 is larger than the diameter of the filter holes 924 on the filter cylinder 921. The inner wall of the settling chamber 513 is provided with a spiral guide plate 925. The lower end of the settling chamber 513 is connected to a sewage discharge chamber 926. The lower part of the sewage discharge chamber 926 is connected to a sewage discharge pipe 927. The water inlet of the water pump 914 extends to the lower part of the filter cylinder 921.

[0070] The silt and water entering the settling chamber 513 flows downward in a spiral shape through the spiral guide plate 925. This process can accelerate the settling of sand and gravel. In addition, the sand and gravel will rub against the filter cartridge 921 during the rotation and descent. The inner cylinder 922 can isolate the filter cartridge 921 from the wear of large particles of impurities. The inner cylinder 922 is made of corrosion-resistant stainless steel. The settled particles are temporarily stored in the sewage discharge chamber 926.

[0071] After cleaning, simply open the valve on the drain pipe 927 to drain the sewage. The bottom of the inner cylinder 922 is detachably and sealed to the chassis body 2 via the sealing cover 923, which can be used to replace the inner cylinder 922.

[0072] Working Principle: During cleaning, the track wheel 1 drives the chassis body 2 forward. The cleaning roller shaft inside the cleaning roller frame 3 cleans the surface of the photovoltaic panel. Any remaining small amount of sewage or dirt is pushed forward by the cleaning push plate 711 and further cleaned during the operation of the cleaning roller shaft, minimizing its entry under the chassis body 2. A sacrificial layer 4 is detachably fixed to the outside of the track wheel 1. After each use, it is removed and replaced with a new sacrificial layer 4. This serves two purposes: firstly, it protects the track body 8 and increases its service life; secondly, the sacrificial layer 4 is relatively soft, and its grooves 411 can embed dirt and sand during movement, reducing the possibility of dirt and sand scratching the photovoltaic panel and ensuring its quality. The sacrificial layer 4 can be removed and replaced after use, making it convenient to use. Additionally, a fixing frame 911 is used to mount the scraper blade 511. When the cleaning robot moves forward, the track wheel 1 rotates, and dirt and sand passing under the sacrificial layer 4 are lifted from the rear and rotated upwards. Once rotated to the top, it is tilted... The scraper blade 511 contacts the sacrificial layer 4, scraping off the mud and sand adhering to it. The scraper blade 511 moves towards the chassis body 2 along its inclined direction until it falls onto the drainage pipe 512 and finally into the settling chamber 513. Two or more scraper blades 511 are provided, allowing subsequent scraper blades 511 to scrape off the mud and sand from the sacrificial layer 4 again if the sand and sand are not completely scraped in one pass, ensuring the cleanliness of the sacrificial layer 4 surface. The mud and sand entering the settling chamber 513 spirals downwards through the spiral guide plate 925. The flow pattern accelerates the settling of sand and gravel. Additionally, the sand and gravel rub against the filter cartridge 921 during their rotational descent. The inner cylinder 922 isolates the filter cartridge 921 from the wear of large particles. The inner cylinder 922 is made of corrosion-resistant stainless steel. The settled particles are temporarily stored in the drain chamber 926. After cleaning, the valve on the drain pipe 927 can be opened to drain the wastewater. The bottom of the inner cylinder 922 is detachably and sealed to the chassis body 2 via a sealing cover 923, which can be used to replace the inner cylinder 922.

[0073] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A chassis structure for a photovoltaic module cleaning robot, comprising tracked wheels (1) and a chassis body (2), wherein two tracked wheels (1) are provided and symmetrically arranged on both sides of the chassis body (2), and a cleaning roller frame (3) for cleaning photovoltaic modules is provided at the front end of the chassis body (2), characterized in that, Also includes: A sacrificial layer (4) is detachably disposed on the outside of the track wheel (1); The sludge scraping assembly includes a scraper (511), a drainage pipe (512), and a settling chamber (513). The scraper (511) is positioned above the chassis body (2) and slides and presses against the outer wall of the sacrificial layer (4) below. The settling chamber (513) is located inside the chassis body (2) below. The upper end of the drainage pipe (512) is located below the scraper (511), and the lower end extends into the settling chamber (513). The negative pressure assembly includes a seal (611), a negative pressure fan (612), and a pressure sensor (614). The chassis body (2) is provided with a negative pressure pipe (613) and a negative pressure fan (612). The seal (611) is located below the chassis body (2). The seal (611) forms a negative pressure cavity (615) between the chassis body (2) and the photovoltaic panel surface. One end of the negative pressure pipe (613) is connected to the negative pressure cavity (615), and the other end is connected to the air inlet of the negative pressure fan (612). The pressure sensor (614) is located inside the seal (611).

2. The chassis structure of a photovoltaic module cleaning robot according to claim 1, characterized in that: A cleaning push plate (711) is rotatably provided below the cleaning roller frame (3). The upper end of the cleaning push plate (711) is rotatably positioned below the side of the cleaning roller frame (3) facing the chassis body (2). The lower end of the cleaning push plate (711) is inclined to the side facing the cleaning roller frame (3). The cleaning push plate (711) is assembled and connected to the cleaning roller frame (3) through a first spring (712).

3. The chassis structure of a photovoltaic module cleaning robot according to claim 2, characterized in that: The sealing element (611) is arranged in a ring structure, and an elastic sealing strip (621) is provided below the sealing element (611). When the sealing element (611) and the elastic sealing strip (621) are in their natural state, the lower end of the elastic sealing strip (621) is lower than the height below the sacrificial layer (4).

4. The chassis structure of a photovoltaic module cleaning robot according to claim 3, characterized in that: The negative pressure pipe (613) and the negative pressure fan (612) are provided in multiple sets and are adapted to the number of the sealing elements (611). The end of the negative pressure pipe (613) away from the negative pressure fan (612) is connected to the corresponding negative pressure chamber (615). The output end of the negative pressure fan (612) is connected to the outside of the chassis body (2). The pressure sensor (614) is provided in multiple sets and is placed on the inner wall of the corresponding sealing element (611).

5. The chassis structure of a photovoltaic module cleaning robot according to claim 4, characterized in that: The sacrificial layer (4) is detachably disposed on the outside of the track body (8) of the track wheel (1). The sacrificial layer (4) is provided with multiple slots (411) on its outer side. The slots (411) are arranged in a honeycomb array on the plane. The thickness of the sacrificial layer (4) is 1-5mm and the diameter of the slots (411) is 1-5mm.

6. The chassis structure of a photovoltaic module cleaning robot according to claim 5, characterized in that: The outer side of the track body (8) is provided with anti-slip texture (412), and the inner side of the sacrificial layer (4) is provided with an anti-slip layer (413) adapted to the anti-slip texture (412). The sacrificial layer (4) is located on the outer side of the anti-slip layer (413).

7. The chassis structure of a photovoltaic module cleaning robot according to claim 6, characterized in that: The sacrificial layer (4) is symmetrically provided with connecting strips (421) on both sides. Multiple limiting holes (422) are evenly provided on the connecting strips (421). Multiple locking blocks (423) are evenly provided on the inner edge of the track body (8). The limiting holes (422) engage with the corresponding locking blocks (423).

8. The chassis structure of a photovoltaic module cleaning robot according to claim 7, characterized in that: The chassis body (2) is symmetrically provided with fixed frames (911) on both sides above. The track wheel (1) is located directly below the fixed frame (911). The scraper (511) is inclinedly arranged below the fixed frame (911). There are two sets of scraper (511) and they are inclined. The end of the scraper (511) near the chassis body (2) faces the direction of robot movement.

9. The chassis structure of a photovoltaic module cleaning robot according to claim 8, characterized in that: The chassis body (2) has side grooves (912) on both sides. The drainage pipe (512) is set in the side groove (912). The upper end of the drainage pipe (512) is connected to the drainage bucket (913). The drainage bucket (913) is located directly below the end of the scraper (511) facing the chassis body (2). The upper sides of the drainage bucket (913) are slidably connected to the track body (8). The chassis body (2) has a water source inside. The water source is connected to a fixed pipe (915) through a water pump (914). The fixed pipe (915) is set above the inside of the scraper (511). The fixed pipe (915) is connected to multiple overflow holes (916). The overflow holes (916) are set facing the rear of the chassis body (2).

10. The chassis structure of a photovoltaic module cleaning robot according to claim 9, characterized in that: The sedimentation chamber (513) is provided with a filter cylinder (921) and an inner cylinder (922) in sequence from the inside to the outside at the center of the chamber. The bottom of the inner cylinder (922) is detachably and sealed to the chassis body (2) through a sealing cover (923). Filter holes (924) are provided on both the inner cylinder (922) and the filter cylinder (921). The diameter of the filter hole (924) on the inner cylinder (922) is larger than the diameter of the filter hole (924) on the filter cylinder (921). The inner wall of the sedimentation chamber (513) is provided with a spiral guide plate (925). The lower end of the sedimentation chamber (513) is connected to a sewage discharge chamber (926). A sewage discharge pipe (927) is connected below the sewage discharge chamber (926). The water inlet of the water pump (914) extends to the lower part of the filter cylinder (921).

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