Photovoltaic cleaning robot

Abstract

The utility model provides a photovoltaic cleaning robot, and relates to the technical field of cleaning equipment. The at least two cleaning devices are located at the bottom of the front end of the shell and are used for being in contact with the photovoltaic panel to clean the photovoltaic panel; the walking mechanisms are arranged on the two sides of the lower portion of the shell and used for enabling the robot to stably walk on the photovoltaic panel; the suction cup assembly is arranged in the middle of the lower portion of the shell and can move up and down in the direction perpendicular to the surface of the photovoltaic panel, and the suction cup assembly is used for enabling the robot to be adsorbed to the photovoltaic panel; the posture detection device is arranged in the shell and used for measuring the inclination angle of the robot; the control main board is electrically connected with the cleaning device, the walking mechanism, the suction cup assembly and the posture detection device, and the control main board is used for coordinating all the components to achieve cleaning of the photovoltaic panel and stable walking of the robot; and the robot is powered by a power supply device arranged in the shell.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic panel cleaning devices, in particular to a gyroscope photovoltaic cleaning robot with suction cup adsorption. Background Art

[0002] When photovoltaic equipment is in use, its solar panels will be exposed for a long time, and a lot of dust and dirt will accumulate on the surface, so they need to be cleaned regularly. If the photovoltaic panels are not cleaned regularly, the dust covering the surface will affect the utilization of light energy and affect the power generation efficiency.

[0003] Since photovoltaic panels are mostly installed on the top floors of buildings, photovoltaic cleaning robots are mostly used for cleaning. However, existing photovoltaic cleaning robots usually use cleaning structures such as long rollers, which makes the overall structure bulky, inconvenient to carry, and relatively expensive. At the same time, since photovoltaic panels are usually set at an angle, although existing photovoltaic robots mostly use anti-slip designs, there is still a risk of falling. Summary of the invention

[0004] The utility model aims to provide a gyroscopic photovoltaic cleaning robot with suction cup adsorption in view of the defects or shortcomings in the prior art.

[0005] The technical solution of the utility model is to provide a photovoltaic cleaning robot, comprising:

[0006] shell;

[0007] A cleaning device, located at the bottom of the front end of the housing, for contacting the photovoltaic panel to clean the photovoltaic panel;

[0008] A walking mechanism, which is arranged on both sides below the housing and is used to enable the robot to walk smoothly on the photovoltaic panel;

[0009] A suction cup assembly, which is arranged in the middle below the housing and can move up and down in a direction perpendicular to the surface of the photovoltaic panel, and is used to allow the robot to be attached to the photovoltaic panel;

[0010] The posture detection device is arranged in the shell and is used to measure the tilt angle of the robot.

[0011] A control mainboard is electrically connected to the cleaning device, the walking mechanism, the suction cup assembly and the gyroscope. The control mainboard is used to coordinate the various components to achieve the cleaning of the photovoltaic panel and the stable walking of the robot; the robot is powered by a power supply device arranged in the shell.

[0012] In a possible embodiment, the cleaning device includes a roller brush motor and at least one roller brush driven to rotate by the roller brush motor.

[0013] In a possible embodiment, the distance from the outermost edge of the roller brush to the front end surface of the shell is greater than zero.

[0014] In a possible embodiment, a scraper strip is provided under the shell below the front end of the shell and located behind the roller brush, the bottom of the scraper strip is inclined toward one side of the roller brush, and the bottom edge of the scraper strip is used to contact the surface of the photovoltaic panel.

[0015] In a possible embodiment, the inclination angle of the scraper strip is between 5° and 15°.

[0016] In a possible embodiment, an ultrasonic sensor is fixed on the outer shell in the space between the cleaning device and the walking mechanism, the ultrasonic sensor is electrically connected to the control main board, and the ultrasonic sensor is used to detect the edge of the photovoltaic panel.

[0017] In a possible embodiment, the suction cup assembly includes a suction cup, a suction cup motor, a rack and a suction cup air pump, and the suction cup, suction cup motor, rack and suction cup air pump are arranged in the shell; the top of the suction cup is fixedly connected to the rack, the output shaft of the suction cup motor is connected to a gear, the rack is meshed with the gear, and the suction cup air pump is arranged at the top of the suction cup and is connected to the space inside the suction cup.

[0018] In a possible embodiment, the traveling mechanism is configured as a crawler-type traveling mechanism, and the crawler wheels arranged thereon are driven by crawler wheel driving motors.

[0019] In a possible embodiment, a safety rope column is fixed to the top of the shell, and a safety rope that can be used to stabilize the robot is fixed on the column.

[0020] In a possible embodiment, the posture detection device is configured as a gyroscope or an inclination sensor.

[0021] The beneficial effects of the utility model are as follows: through the setting of the gyroscope and the ultrasonic sensor, when the working angle of the robot is too large or exceeds the working area, the suction cup mechanism can be quickly started to fix the robot on the photovoltaic panel, thereby effectively preventing the robot from falling when encountering abnormal situations, and the use of a roller brush as a cleaning structure effectively reduces the overall volume and improves the convenience of carrying. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0023] Figure 1 It is a schematic structural diagram of a photovoltaic cleaning robot provided by an embodiment of the utility model.

[0024] Figure 2 This is another angle view of the photovoltaic cleaning robot provided by one embodiment of the utility model.

[0025] Figure 3 It is a schematic diagram of the internal structure of a photovoltaic cleaning robot provided in one embodiment of the utility model.

[0026] Explanation of the reference numerals: 1. outer casing; 2. roller brush; 3. roller brush motor; 4. scraper strip; 5. suction cup; 6. walking mechanism; 7. track wheel drive motor; 8. gyroscope; 9. suction cup motor; 10. rack; 11. suction cup air pump; 12. ultrasonic sensor; 13. control main board; 14. safety rope column; 15. safety rope; 16. power supply device. DETAILED DESCRIPTION

[0027] See also Figure 1-3 As shown, the utility model provides a photovoltaic cleaning robot, which includes a shell 1, a downward protruding cavity is arranged at the bottom of the front end of the shell 1, a notch is opened at the bottom of the protruding cavity, and two cleaning devices are arranged at intervals in the notch. In some possible embodiments, the cleaning device includes a roller brush motor 3, and a roller brush 2 is transmission-connected to the bottom of the roller brush motor 3. The roller brush 2 is a rotating structure and does not exceed the front end shell of the shell 1 (the distance from the outermost edge of the roller brush to the front end surface of the shell is greater than zero). In traditional structures, cleaning structures such as roller brushes or drums usually exceed the robot shell and are extended structures, resulting in the overall structure of the robot being relatively complex and bulky, and not easy to carry. Therefore, in the present application, a vertically rotating roller brush structure hidden in the shell is provided. In this embodiment, the roller brush structure at the front end is illustrated, and in another embodiment, it can also be provided at both ends to enhance the cleaning ability of the photovoltaic robot.

[0028] refer to Figure 1 and Figure 2 A walking mechanism 6 is arranged on both sides of the space behind the lower convex cavity of the housing 1, and a suction cup assembly is arranged in the space between the walking mechanisms 6, and the suction cup assembly is used to be adsorbed on the surface of the photovoltaic panel. The suction cup assembly is arranged in the middle of the lower side of the housing and can move up and down in a direction perpendicular to the surface of the photovoltaic panel.

[0029] In some possible embodiments, reference Figure 3A gyroscope 8, a control mainboard 13 and a power supply device 16 are arranged at the top of the inner part of the shell 1. The control mainboard 13 is electrically connected with the cleaning device, the walking mechanism 6, the suction cup assembly and the gyroscope 8. The control mainboard 13 is used to coordinate the various components to achieve the cleaning of the photovoltaic panel and the stable walking of the robot; the robot is powered by the power supply device 16 arranged in the shell 1.

[0030] In some embodiments, continue to refer to Figure 3 An ultrasonic sensor 12 is fixed on the housing 1 in the space between the cleaning device and the walking mechanism 6. The ultrasonic sensor 12 is electrically connected to the control main board 13. The ultrasonic sensor 12 is used to detect the edge of the photovoltaic panel. There is no obstruction in the space between the ultra-speed wave sensor 12 and the photovoltaic panel. During the operation of the photovoltaic robot, when it walks to the edge position, the ultrasonic sensor 12 will be suspended in the air and will send a control signal to the control main board 13 to control the suction cup assembly to adsorb the photovoltaic robot to the photovoltaic panel to prevent it from falling beyond the working area. At the same time, the photovoltaic robot will be controlled to turn to continue working. After the turning is completed, the suction cup assembly will be controlled to work again to release the adsorption and continue to move.

[0031] When the photovoltaic robot encounters an unexpected situation and tilts during operation, and the tilt angle is greater than 50°, the gyroscope 8 will send a control signal to the control mainboard 13 to control the suction cup assembly to adsorb the photovoltaic robot onto the photovoltaic panel. If the robot continues to shake violently, the suction cup assembly will also be controlled to adsorb onto the photovoltaic panel to prevent the photovoltaic robot from falling. The double detection and protection measures can effectively ensure the safe operation of the photovoltaic robot, which not only improves the operating efficiency, but also prevents damage to the equipment.

[0032] More specifically, refer to Figure 3 The suction cup assembly includes a suction cup 5, a suction cup motor 9, a screw 10, and a suction cup air pump 11. The top of the suction cup 5 is connected to the rack 10. A guide structure is arranged around the rack 10. The rack 10 is restricted by the guide structure to achieve up and down movement. The output shaft of the suction cup motor 9 is provided with a gear, which meshes with the rack 10. The suction cup air pump 11 is arranged on the top of the suction cup 5 and its pipeline is connected with the bell mouth of the suction cup 5. In this embodiment, the suction cup motor 9 is used to drive the suction cup to be lifted and lowered, and the suction cup air pump 11 is used to operate in linkage. When the suction cup 5 moves downward, the suction cup air pump 11 is used to evacuate air, and when the suction cup 5 moves upward, air is blown to ensure rapid adsorption or release of adsorption.

[0033] Further, participate Figure 1 and Figure 3A scraper strip 4 is arranged on the rear side of the roller brush 2, and the bottom of the scraper strip 4 is inclined toward one side of the roller brush 2. In order to improve the cleaning effect and effectively remove the swept dust and dirt, a scraper strip 4 is arranged on the rear side of the roller brush, and the scraper strip 4 is inclined, which can push the dust and dirt forward during the process until it is pushed out of the photovoltaic panel.

[0034] Optionally, the inclination angle of the scraper strip 4 is between 5° and 15°.

[0035] For further reference, Figure 2 and Figure 3 The walking mechanism 6 arranged at the bottom of the shell 1 is a crawler walking mechanism, which is driven by a crawler wheel driving motor 7. The crawler walking mechanism is symmetrically arranged at the bottom of the shell 1 and is located on both sides of the suction cup 5. The crawler part of the crawler walking mechanism is made of silicone or rubber material, which has a large friction force, ensuring that the photovoltaic robot moves smoothly on the photovoltaic panel without slipping, and is symmetrically arranged on both sides of the suction cup 5. When the suction cup 5 is adsorbed on the photovoltaic panel, the center of gravity will not shift, thereby improving stability.

[0036] For further reference, Figure 1 and Figure 3 A safety rope column 14 is also provided on the top of the shell 1, and a safety rope 15 is provided on the safety rope column 14. In order to prevent the photovoltaic robot from accidentally falling when working or being placed, the safety rope 15 is first tied to the surrounding railings or columns when being placed, so as to prevent the photovoltaic robot from falling and being damaged.

[0037] The working principle of the utility model is as follows: the photovoltaic robot is placed on the surface of the photovoltaic panel, and the safety rope 15 is tied to the surrounding fixed railings, and the roller brush motor 3 and the track wheel driving motor 7 are started by remote control or switch to drive the roller brush 2 and the track wheel to start rotating, and the roller brush 2 can sweep the dust on the surface of the photovoltaic panel, and push the swept dust forward through the scraper bar 4 during the movement until it is pushed out of the photovoltaic panel, and after the scraper bar 4 is suspended in the air, the ultrasonic sensor 12 is also suspended in the air, and after the ultrasonic sensor obtains the changing distance signal, it sends a signal to the control main board 13 to control the steering of the track wheel, and at the same time sends a control signal to the suction cup motor 9 to drive the suction cup 5 to suck downward Attached to the photovoltaic panel, the suction cup air pump 11 pumps air to ensure that the photovoltaic robot is adsorbed on the photovoltaic panel, effectively preventing the photovoltaic robot from accidentally falling when turning at the edge. When the photovoltaic robot completes the turning, the ultrasonic sensor 12 returns from the edge to the photovoltaic panel, and sends a signal to the control main board 13 again, the suction cup motor 9 reverses, the suction cup air pump 11 blows air, the suction cup 5 moves upward, and the adsorption is released. The photovoltaic robot can continue to move forward. In addition, when there is a strong wind or an unexpected situation that causes the photovoltaic robot to tilt at an angle greater than 50 degrees, the gyroscope 8 sends a control signal to the control main board 13, and drives the suction cup 5 to be adsorbed on the photovoltaic panel again to prevent the photovoltaic robot from falling.

[0038] The above description is only used to illustrate the technical solution of the utility model rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the utility model by ordinary technicians in this field should be included in the scope of the claims of the utility model as long as they do not depart from the spirit and scope of the technical solution of the utility model.

Claims

1. A photovoltaic cleaning robot, characterized in that: include shell; At least two cleaning devices, which are located at the bottom of the front end of the housing and are used to contact the photovoltaic panel to clean the photovoltaic panel; A walking mechanism, which is arranged on both sides below the housing and is used to enable the robot to walk smoothly on the photovoltaic panel; A suction cup assembly is disposed in the middle below the housing and can move up and down in a direction perpendicular to the surface of the photovoltaic panel, and the suction cup assembly is used to allow the robot to be attached to the photovoltaic panel; A posture detection device, disposed in the housing, for measuring the tilt angle of the robot; A control main board is electrically connected to the cleaning device, the walking mechanism, the suction cup assembly and the posture detection device. The control main board is used to coordinate the various components to achieve the cleaning of the photovoltaic panel and the stable walking of the robot; the robot is powered by a power supply device arranged in the shell.

2. The photovoltaic cleaning robot according to claim 1, characterized in that: The cleaning device comprises a roller brush motor and at least one roller brush driven to rotate by the roller brush motor.

3. The photovoltaic cleaning robot according to claim 2, characterized in that: The distance from the outermost edge of the rolling brush to the front end surface of the shell is greater than zero.

4. The photovoltaic cleaning robot according to claim 2, characterized in that: A scraper strip is arranged below the front end of the shell and located under the shell on the rear side of the roller brush. The bottom of the scraper strip is inclined toward one side of the roller brush, and the bottom edge of the scraper strip is used to contact the surface of the photovoltaic panel.

5. The photovoltaic cleaning robot according to claim 4, characterized in that: The inclination angle of the scraper strip is between 5° and 15°.

6. The photovoltaic cleaning robot according to claim 1, characterized in that: An ultrasonic sensor is fixed on the outer shell in the space between the cleaning device and the walking mechanism. The ultrasonic sensor is electrically connected to the control main board and is used to detect the edge of the photovoltaic panel.

7. The photovoltaic cleaning robot according to claim 1, characterized in that: The suction cup assembly includes a suction cup, a suction cup motor, a rack and a suction cup air pump, and the suction cup, suction cup motor, rack and suction cup air pump are arranged in the shell; the top of the suction cup is fixedly connected to the rack, the output shaft of the suction cup motor is connected to a gear, the gear is meshed with the rack, and the suction cup air pump is arranged on the top of the suction cup and is connected to the space inside the suction cup.

8. The photovoltaic cleaning robot according to claim 1, characterized in that: The traveling mechanism is configured as a crawler-type traveling mechanism, which is driven by a crawler wheel driving motor.

9. The photovoltaic cleaning robot according to claim 1, characterized in that: A safety rope column is also fixed on the top of the shell, on which a safety rope that can be used to stabilize the robot is fixed.

10. The photovoltaic cleaning robot according to claim 1, characterized in that: The posture detection device is configured as a gyroscope or an inclination sensor.

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