Track seeking device suitable for robot to move and clean between photovoltaic panels

Abstract

The utility model relates to a track seeking device suitable for a robot to move and clean between photovoltaic panels. The adjacent photovoltaic panels are connected with each other through a plurality of groups of track seeking assemblies which are longitudinally distributed, and the plurality of track seeking assemblies which are longitudinally distributed are provided with vertical tracks which are sequentially connected end to end and face upwards; the bottom of the robot is transversely provided with an advancing component, brush wheels, a guide wheel group, another group of brush wheels and another group of advancing components from left to right in sequence, the two groups of brush wheels are transversely abutted against the two groups of photovoltaic panels respectively, the guide wheel group is abutted against the vertical rails between the two adjacent groups of photovoltaic panels, and the two groups of advancing components are abutted against the vertical rails on the outer edges of the two groups of photovoltaic panels respectively. According to the photovoltaic panel cleaning robot, the upward vertical rails are arranged while the photovoltaic panels are installed and fixed, two adjacent groups of photovoltaic panels are used for cleaning, the bottom guide wheel group of the robot is fixed on the middle vertical rails, and the advancing components on the left side and the right side serve as drives to advance along the vertical rails on the edges of the photovoltaic panels; and the photovoltaic panel in the longitudinal direction is cleaned.

Description

Technical Field

[0001] The utility model belongs to the field of photovoltaic panel auxiliary installation equipment, and in particular relates to a track-finding device suitable for a robot to move and clean between photovoltaic panels. Background Art

[0002] At present, photovoltaic equipment has entered thousands of households, thanks to the continuous progress of photovoltaic technology and the continuous improvement of the efficiency of photovoltaic modules. At the same time, the increasing maturity of technologies such as energy storage and microgrids has provided strong support for the further development of distributed photovoltaics. With technological progress and large-scale production, the cost of photovoltaic systems has continued to decrease, and grid parity has gradually been achieved, and the dependence on subsidies has gradually decreased. This makes photovoltaic systems more competitive in the market and attracts more users to install them.

[0003] However, since photovoltaic panels are placed on the roof all year round, they can better receive solar energy. However, correspondingly, due to the lack of any shelter, bird droppings and dust, mixed with rain, will cause the surface of the photovoltaic panels to become dirty, thus affecting the power of solar power generation. Therefore, they need to be cleaned after a period of time. However, since the photovoltaic panels are installed on the roof, it is particularly dangerous to clean them manually. Therefore, cleaning robots are basically used instead of manual work. However, the surface of the photovoltaic panels themselves is relatively smooth. If the cleaning robot is not guided, it is difficult to complete the comprehensive cleaning of the panel surface. Utility Model Content

[0004] In order to solve the above technical problems, the utility model provides a track-seeking device suitable for a robot to move and clean between photovoltaic panels. While being installed and fixed between the photovoltaic panels, an upward vertical rail is set to clean two adjacent groups of photovoltaic panels. The bottom guide wheel group of the robot is tracked on the middle vertical rail, and the moving components on the left and right sides serve as a drive to move along the vertical rails at the edge of the photovoltaic panels to clean the photovoltaic panels in the longitudinal direction.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A track-seeking device suitable for a robot to move and clean between photovoltaic panels, comprising a robot, a track-seeking assembly and a plurality of groups of photovoltaic panels, wherein adjacent photovoltaic panels are connected to each other through a plurality of groups of track-seeking assemblies distributed longitudinally, and the plurality of track-seeking assemblies distributed longitudinally are provided with vertical rails which are connected end to end in sequence and face upward, and the track-seeking assemblies at the left and right ends of the photovoltaic panels are distributed at uniform intervals in the longitudinal direction and are staggered in the transverse distribution; the track-seeking assembly also comprises a pressing piece, a fixing piece and a connecting piece, the pressing piece is in a T-shaped structure, the lower end face of the upper end of the pressing piece abuts against the photovoltaic panel, the upper end face of the fixing piece abuts against the bottom of the photovoltaic panel, the connecting piece is arranged in the fixing piece and is detachably connected to the pressing piece upward, and the two ends of the vertical rail are detachably connected to two adjacent groups of pressing pieces and face upward;

[0007] The bottom of the robot is laterally provided with a traveling component, a brush wheel, a guide wheel group, another group of brush wheels and another group of traveling components in sequence from left to right. The two groups of brush wheels are respectively laterally abutted against the two groups of photovoltaic panels, the guide wheel group is abutted against the vertical rails between the two adjacent groups of photovoltaic panels, and the two groups of traveling components are respectively abutted against the vertical rails at the outer edges of the two groups of photovoltaic panels; the brush wheel is a cylindrical structure and its outer side surface is tangentially abutted against the panel surface of the photovoltaic panel.

[0008] The track-seeking assembly also includes a screw, a fixing plate is provided at one end of the vertical rail, the fixing plate abuts against the upper end surface of the buckling piece, the screw passes through the fixing plate and the buckling piece in sequence and is screwed into the screw hole on the connecting piece, and the other end of the vertical rail is embedded in the embedding groove on the adjacent buckling piece; a accommodating groove for embedding the fixing plate and the screw is provided on the upper end surface of the buckling piece.

[0009] The track-seeking device for a robot that uses this structure to move and clean between photovoltaic panels first needs to connect the photovoltaic panels to each other, so a track-seeking assembly is set up, and a fixing piece with an upward U-shaped structure is abutted at the bottom between the two groups of photovoltaic panels. The two groups of upper end surfaces separated by the fixing piece extend inwardly and abut against the bottoms of the two groups of photovoltaic panels, and a connecting piece is embedded in the fixing piece. The two ends of the connecting piece abut against the lower end surface of the upper end extension of the fixing piece so that the connecting piece is limited in position, and the upper end between the two groups of photovoltaic panels is pressed downward by a T-shaped pressing piece, and screws are assisted by penetrating the pressing piece from top to bottom and screwed into the screw holes on the connecting piece, and locked. The screws pull the connecting parts upward, forcing the fixing parts and the pressing parts to press the photovoltaic panels together, thereby achieving a fixed connection between the photovoltaic panels. The array-shaped track-seeking components can be distributed as needed in the longitudinal direction between the photovoltaic panels, and then upward-facing vertical rails are provided on two adjacent groups of pressing parts. In order to achieve the fixation of the vertical rails and facilitate disassembly, a fixing plate is provided on one end of the vertical rail, and the fixing plate is embedded in the embedding groove on the upper end surface of the pressing part. The screw passes through the fixing plate and the pressing part and is screwed into the screw hole, thereby achieving the fixation of the fixing plate, and the other end of the vertical rail is embedded in the accommodating groove on the adjacent pressing part for support, and at the same time, the distance between adjacent pressing parts can also be limited.

[0010] Therefore, after adjacent photovoltaic panels are connected to each other through the track-finding assembly, there will be a vertical rail located in the middle between the adjacent photovoltaic panels and two sets of vertical rails located at the edge on the two adjacent sets of photovoltaic panels. Therefore, the guide wheel group in the middle of the bottom of the robot can abut on the middle vertical rail to play a supporting role, while the traveling components on the left and right sides of the robot abut on the two sets of vertical rails at the edge and drive the robot to move longitudinally through the driving force, and a brush wheel is set in the area between the traveling component and the guide wheel group. The outer side of the brush wheel with a cylindrical structure is tangentially connected to the panel surface of the photovoltaic panel. Therefore, when the robot moves longitudinally under the drive of the traveling component, the photovoltaic panel in this area is cleaned by the brush wheel, and effective mobile cleaning can be performed. Since there will be gaps without vertical rails between adjacent buckling parts, the track-finding components at the left and right ends of the photovoltaic panel are distributed at the same intervals in the longitudinal direction and staggered in the transverse distribution to avoid the robot encountering a gap in the same direction during the movement and derailing due to the transverse gaps being on the same horizontal plane.

[0011] Furthermore, the guide wheel group includes a plurality of guide wheels, and the plurality of guide wheels are distributed in a longitudinal array at the bottom of the robot, and the plurality of guide wheels can be abutted and connected to the vertical rail between two adjacent groups of photovoltaic panels; the traveling component includes a driving track and a plurality of pipe positive wheels, and the driving track and the pipe positive wheels are distributed left and right with the vertical rail as the center of symmetry, the driving track abuts on the top surface of the buckling part, and the plurality of pipe positive wheels are distributed in a longitudinal array at the bottom of the robot and abut on the side wall of the vertical rail; the plurality of pipe positive wheels on the two groups of traveling components respectively move toward the middle toward the guide wheel group.

[0012] Compared with the prior art, the advantages of the utility model are: the photovoltaic panels are connected by a plurality of longitudinally distributed track-finding assemblies, so as to fix the photovoltaic panels, and at the same time, an upward vertical rail is arranged between adjacent buckling parts thereon for track-finding and alignment, so that the alignment wheel group at the bottom of the robot abuts against the middle vertical rail for support and guidance, and the moving components on both sides of the bottom of the robot provide driving force for the advance, and at the same time, the two sets of vertical rails abutting against the edges can realize limiting and movement, and the brush wheels thereon can realize the cleaning of the photovoltaic panel surface during movement, and the laterally distributed and staggered track-finding assemblies can avoid the situation where the robot encounters the same-directional gaps during movement and derails due to the lateral gaps being on the same horizontal plane. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] 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 work.

[0014] Figure 1 It is a three-dimensional diagram of the utility model;

[0015] Figure 2 It is a front view of the utility model;

[0016] Figure 3 For the utility model Figure 2 A local enlarged view of point A;

[0017] Figure 4 For the utility model Figure 2 A partial enlarged view of point B

[0018] Figure 5 This is a schematic diagram of the explosion after the hidden robot of the utility model;

[0019] Figure 6 For the utility model Figure 5 A partial enlarged view of point C;

[0020] Figure 7 It is a bottom view of the robot of the present invention.

[0021] Among them: 1. Robot; 11. Traveling component; 111. Driving track; 112. Pipe straightening wheel; 12. Brush wheel; 13. Guide wheel group; 131. Guide wheel; 2. Track-finding assembly; 21. Vertical rail; 211. Fixing plate; 22. Buckling piece; 221. Embedding groove; 222. Accommodating groove; 23. Fixing piece; 24. Connecting piece; 25. Screw; 3. Photovoltaic panel. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the utility model.

[0023] The specific implementation of the utility model will be described below in conjunction with the accompanying drawings:

[0024] like Figure 1-7 As shown, a tracking device suitable for a robot to move and clean between photovoltaic panels comprises a robot 1, a tracking assembly 2 and a plurality of groups of photovoltaic panels 3, wherein adjacent photovoltaic panels 3 are connected to each other through a plurality of groups of tracking assemblies 2 distributed longitudinally, and a plurality of said tracking assemblies 2 distributed longitudinally are provided with vertical rails 21 which are connected end to end in sequence and face upward, and the tracking assemblies 2 at the left and right ends of said photovoltaic panels 3 are distributed at uniform intervals in the longitudinal direction and are staggered in the transverse distribution; said tracking assembly 2 also comprises a pressing member 22, a fixing member 23 and a connecting member 24, said pressing member 22 being a T-shaped structure, and the lower end surface of the upper end portion of said pressing member 22 abuts against the photovoltaic panel 3, and the upper end surface of said fixing member 23 abuts against under the photovoltaic panel 3, said connecting member 24 is arranged in the fixing member 23 and is detachably connected to the pressing member 22 upward, and the two ends of said vertical rail 21 are detachably connected to two adjacent groups of pressing members 22 and face upward;

[0025] The bottom of the robot 1 is provided with a traveling component 11, a brush wheel 12, a guide wheel group 13, another group of brush wheels 12 and another group of traveling components 11 in sequence from left to right laterally. The two groups of brush wheels 12 are respectively abutted laterally on the two groups of photovoltaic panels 3, the guide wheel group 13 is abutted on the vertical rail 21 between the two adjacent groups of photovoltaic panels 3, and the two groups of traveling components 11 are respectively abutted on the vertical rail 21 at the outer edges of the two groups of photovoltaic panels 3; the brush wheel 12 is a cylindrical structure and its outer side surface is tangentially abutted with the panel surface of the photovoltaic panel 3.

[0026] The track-seeking assembly 2 also includes a screw 25. A fixing plate 211 is provided at one end of the vertical rail 21. The fixing plate 211 abuts against the upper end surface of the buckling piece 22. The screw 25 passes through the fixing plate 211 and the buckling piece 22 in sequence and is screwed into the screw hole on the connecting piece 24. The other end of the vertical rail 21 is embedded in the embedding groove 221 on the adjacent buckling piece 22; a receiving groove 222 is provided on the upper end surface of the buckling piece 22 for embedding the fixing plate 211 and the screw 25.

[0027] Furthermore, the guide wheel group 13 includes a plurality of guide wheels 131, and the plurality of guide wheels 131 are distributed in a longitudinal array at the bottom of the robot 1, and the plurality of guide wheels 131 can be abutted and connected to the vertical rail 21 between two adjacent groups of photovoltaic panels 3; the traveling component 11 includes a driving track 111 and a plurality of pipe positive wheels 112, and the driving track 111 and the pipe positive wheels 112 are distributed left and right with the vertical rail 21 as the symmetrical center, and the driving track 111 abuts on the top surface of the buckling member 22, and the plurality of pipe positive wheels 112 are distributed in a longitudinal array at the bottom of the robot 1 and abut on the side wall of the vertical rail 21; the plurality of pipe positive wheels 112 on the two groups of the traveling components 11 respectively move toward the middle toward the guide wheel group 13.

[0028] Description of the working method of this utility model:

[0029] The track-seeking device for a robot that uses this structure to move and clean between photovoltaic panels first needs to connect the photovoltaic panels 3 to each other, so a track-seeking assembly 2 is set up, and a fixing piece 23 with an upward U-shaped structure is abutted at the bottom between the two groups of photovoltaic panels 3, and the two groups of upper end surfaces separated by the fixing piece 23 extend inwardly and abut against the bottoms of the two groups of photovoltaic panels 3, and a connecting piece 24 is embedded in the fixing piece 23, and the two ends of the connecting piece 24 are respectively abutted against the lower end surface of the upper end extension of the fixing piece 23 so that the connecting piece 24 is limited, and the upper ends of the two groups of photovoltaic panels 3 are pressed downward by the T-shaped buckling piece 22, and the screws 25 penetrate the buckling piece 22 from top to bottom and are screwed into the screw holes on the connecting piece 24, and the connecting piece 24 is locked by locking the screws 25. It is pulled upward, forcing the fixing member 23 and the buckling member 22 to press the photovoltaic panel 3 together, thereby achieving a fixed connection between the photovoltaic panels 3. The array-shaped track-seeking components 2 can be distributed as needed in the longitudinal direction between the photovoltaic panels 3, and then an upward-facing vertical rail 21 is provided on two adjacent groups of buckling members 22. In order to achieve the fixation of the vertical rail 21 and facilitate disassembly, a fixing plate 211 is provided on one end of the vertical rail 21. The fixing plate 211 is embedded in the embedding groove 221 on the upper end surface of the buckling member 22. The screw 25 passes through the fixing plate 211 and the buckling member 22 and is screwed into the screw hole, thereby achieving the fixation of the fixing plate 211, and the other end of the vertical rail 21 is embedded in the accommodating groove 222 on the adjacent buckling member 22 for support, and at the same time, the distance between adjacent buckling members 22 can also be limited.

[0030] Therefore, after the adjacent photovoltaic panels 3 are connected to each other through the track-finding assembly 2, there will be a vertical rail 21 located in the middle between the adjacent photovoltaic panels 3 and two groups of vertical rails 21 located at the edge on the two adjacent groups of photovoltaic panels 3. Therefore, the guide wheel group 13 in the middle of the bottom of the robot 1 can abut on the middle vertical rail 21 to play a supporting role, and the traveling components 11 on the left and right sides of the robot 1 use the guide wheels 131 thereon to abut on the outer surfaces of the two groups of vertical rails 21 at the edge for alignment, and the driving track 111 abuts on the buckling piece 22 on the inner side of the vertical rail 21 and drives the robot 1 to move longitudinally through the driving force. The guide wheel 131 and the driving track 111 are distributed on the left and right with the vertical rail 21 as the symmetrical center, so that the vertical rail 21 can be kept in the middle of the guide wheel 131 and the driving track 111. The robot 1 does not move toward the middle toward the guide wheel group 13, so the vertical rail 21 on the edge can be clamped in the form of abutment by the driven tube positive wheel 112 to limit the travel distance, thereby achieving the track-seeking effect, and a brush wheel 12 is arranged in the area between the traveling component 11 and the guide wheel group 13. The outer side surface of the brush wheel 12 of the cylindrical structure is tangentially abutted with the panel surface of the photovoltaic panel 3. Therefore, when the robot 1 moves longitudinally under the drive of the traveling component 11, the photovoltaic panel 3 in this area is cleaned by the brush wheel 12, and effective mobile cleaning can be performed. Since there will be gaps between adjacent buckling parts 22 where there are no vertical rails 21, the track-seeking components 2 at the left and right ends of the photovoltaic panel 3 are distributed at the same intervals in the longitudinal direction and staggered in the lateral distribution to avoid the robot 1 encountering a gap in the same direction during the movement and causing derailment due to the lateral gaps being on the same horizontal plane.

[0031] As for how to drive the brush wheel 12 to rotate and how to spray water for cleaning, this belongs to the prior art and is not the problem to be solved by this structural technology, so no further elaboration will be made here. As for how to drive the drive track 111 to rotate, since it is a transmission form of the motor driving the track 111, it also belongs to the prior art, so no further elaboration will be made here for this drive form.

[0032] The beneficial effect of the utility model is that the photovoltaic panels 3 are connected by a plurality of longitudinally distributed track-finding components 2, so as to fix the photovoltaic panels 3, and at the same time, an upward vertical rail 21 is arranged between adjacent buckling parts 22 thereon for track-finding and alignment, so that the guide wheel group 13 at the bottom of the robot 1 abuts against the middle vertical rail 21 for support and guidance, and the moving components 11 on both sides of the bottom of the robot 1 provide forward driving force through the driving track 111 and the limiting of the pipe positive wheel 112, and at the same time, the two groups of vertical rails 21 abutting against the edge can achieve limiting and movement, and the brush wheel 12 thereon can realize the cleaning of the panel surface of the photovoltaic panel 3 during movement, and the laterally distributed and staggered track-finding components 2 can avoid the situation where the robot 1 encounters a gap in the same direction during the movement and derails due to the lateral gaps being on the same horizontal plane.

[0033] The above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model is described in detail with reference to the above embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the above embodiments, or replace some or all of the technical features therein with equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. A tracking device suitable for a robot to move and clean between photovoltaic panels, characterized in that: It includes a robot, a track-seeking component and several groups of photovoltaic panels. Adjacent photovoltaic panels are connected to each other through several groups of track-seeking components distributed longitudinally. Several of the track-seeking components distributed longitudinally are provided with vertical rails which are connected end to end and face upward. The bottom of the robot is provided with a traveling member, a brush wheel, a guide wheel group, another group of brush wheels and another group of traveling members in sequence from left to right. Two groups of brush wheels are respectively laterally abutted against two groups of photovoltaic panels, the guide wheel group is abutted against the vertical rail between two adjacent groups of photovoltaic panels, and two groups of traveling members are respectively abutted against the vertical rails at the outer edges of the two groups of photovoltaic panels.

2. The tracking device for a robot to move and clean between photovoltaic panels according to claim 1, characterized in that: The track-seeking components at the left and right ends of the photovoltaic panel are uniformly spaced in the longitudinal direction and staggered in the transverse direction.

3. The tracking device for a robot to move and clean between photovoltaic panels according to claim 2, characterized in that: The track-seeking assembly also includes a clamping piece, a fixing piece and a connecting piece. The clamping piece is in a T-shaped structure. The lower end surface of the upper end of the clamping piece abuts against the photovoltaic panel, and the upper end surface of the fixing piece abuts against the bottom of the photovoltaic panel. The connecting piece is arranged in the fixing piece and is detachably connected to the clamping piece upward. The two ends of the vertical rail are detachably connected to two adjacent groups of clamping pieces and point upward.

4. The tracking device for a robot to move and clean between photovoltaic panels according to claim 3, characterized in that: The track-seeking assembly also includes a screw. A fixing plate is provided at one end of the vertical rail, and the fixing plate abuts against the upper end surface of the buckling piece. The screw passes through the fixing plate and the buckling piece in sequence and is screwed into the screw hole on the connecting piece. The other end of the vertical rail is embedded in the embedding groove on the adjacent buckling piece.

5. The tracking device for a robot to move and clean between photovoltaic panels according to claim 4, characterized in that: An accommodating groove for embedding a fixing sheet and a screw is provided on the upper end surface of the buckling piece.

6. The tracking device for a robot to move and clean between photovoltaic panels according to claim 5, characterized in that: The guide wheel group includes a plurality of guide wheels, and the plurality of guide wheels are distributed in a longitudinal array at the bottom of the robot, and the plurality of guide wheels can be abutted and connected to the vertical rails between two adjacent groups of photovoltaic panels.

7. The tracking device for a robot to move and clean between photovoltaic panels according to claim 6, characterized in that: The traveling component includes a driving track and a plurality of pipe wheels, which are distributed left and right with the vertical rail as the symmetrical center. The driving track abuts against the top surface of the clamping piece, and the plurality of pipe wheels are distributed in a longitudinal array at the bottom of the robot and abut against the side wall of the vertical rail.

8. The tracking device for a robot to move and clean between photovoltaic panels according to claim 7, characterized in that: The plurality of pipe guide wheels on the two groups of the traveling components respectively move toward the middle toward the guide guide wheel group.

9. The tracking device for a robot to move and clean between photovoltaic panels according to claim 8, characterized in that: The brush wheel is a cylindrical structure and its outer side surface is tangentially abutted against the panel surface of the photovoltaic panel.

Images