Cleaning robot

Abstract

The utility model relates to the field of solar panel cleaning, in particular to a cleaning robot, and adopts the technical scheme that the cleaning robot comprises a rack, a sweeping device arranged on the rack, a moving device arranged on the bottom surface of the rack and a transferring device arranged on the rack, the sweeping device is used for sweeping a photovoltaic panel, and the moving device is used for moving the photovoltaic panel; the moving device is used for driving the rack to move, and the transfer device is used for driving the rack to move to an adjacent photovoltaic panel. The cleaning robot has the effects that the practicability of the cleaning robot is improved, manual carrying operation is reduced, and the solar panels with different assembly gradients can be cleaned conveniently.

Description

Technical Field

[0001] The present application relates to the field of solar panel cleaning, and in particular to a cleaning robot. Background Art

[0002] Outdoor solar photovoltaic panels are assembled into arrays from rectangular panels to form solar photovoltaic power stations. In order to clean the solar photovoltaic panels, existing staff place cleaning robots on the solar photovoltaic panels to clean the impurities on the solar photovoltaic panels. The existing cleaning robots move on the photovoltaic panels via tracks.

[0003] However, there will be gaps between existing photovoltaic panels and adjacent photovoltaic panels when they are spliced. At the same time, there is a height difference between two adjacent photovoltaic panels to form steps. The tracks are blocked by the steps, causing the cleaning robot to spin in place, and staff are required to move it, resulting in reduced cleaning efficiency. Utility Model Content

[0004] In order to solve the problems existing in the prior art, the present application provides a cleaning robot.

[0005] The present application provides a cleaning robot, which adopts the following technical solution:

[0006] A cleaning robot comprises a frame, a cleaning device arranged on the frame, a moving device arranged on the bottom surface of the frame and a transfer device arranged on the frame, wherein the cleaning device is used to clean photovoltaic panels, the moving device is used to drive the frame to move, and the transfer device is used to drive the frame to move to an adjacent photovoltaic panel.

[0007] By adopting the above technical solution, the frame is used to install the cleaning device, the moving device and the transfer device. The cleaning device is used to clean the debris on the photovoltaic panel, the moving device is used to drive the cleaning device to move and clean on the photovoltaic panel, and the transfer device is used to drive the cleaning device to move to another photovoltaic panel for cleaning, thereby reducing the possibility of the cleaning robot being blocked by the steps between two adjacent photovoltaic panels and improving the cleaning efficiency.

[0008] Preferably, the transfer device includes guide members arranged at both ends of the frame, a mounting seat arranged at one end of the guide member away from the frame, and an adsorption member arranged on the mounting seat, and the frame is provided with a driving device for driving the guide member to move.

[0009] By adopting the above technical solution, the guide member is used to extend the adsorption member to facilitate the adsorption of the adsorption member on the adjacent photovoltaic panel, the mounting frame is used to install the adsorption member to improve the installation stability of the adsorption member, and the driving device is used to control the guide member to move toward the adjacent photovoltaic panel.

[0010] Preferably, the guide member includes a guide rack arranged at one end of the mounting seat and extending along the length direction of the frame, and a guide bar arranged at the other end of the mounting seat and extending along the length direction of the frame, and the frame is provided with a guide groove for the guide rack and the guide bar to be extended and retracted, and the driving device includes a driving member 1 arranged on the frame and a guide gear arranged at the output end of the driving member 1, and the guide gear is meshed with the guide rack.

[0011] By adopting the above technical solution, the driving member drives the guide gear to rotate, and the rotation of the guide gear drives the guide rack to move away from or closer to the frame, thereby driving the mounting seat to move away from or closer to the frame. The guide bar improves the stability of the movement of the mounting seat, and the guide groove improves the stability of the movement of the guide rack and the guide bar, thereby facilitating the extension and retraction of the guide rack and the guide bar.

[0012] Preferably, a plurality of guide rollers are provided on the frame, and the rotating surfaces of the guide rollers are in contact with the side walls of the guide rack in the length direction.

[0013] By adopting the above technical solution, the guide roller is used to reduce the friction force when the guide rack moves.

[0014] Preferably, the guide racks and the guide bars are arranged alternately up and down, the mounting seat is provided with a first positioning groove located above the guide rack, and the mounting seat is provided with a second positioning groove located below the guide bar.

[0015] By adopting the above technical solution, the guide racks and the guide bars are staggered up and down, which is convenient for balancing the movement force and extension stability of the guide racks and the guide bars at both ends of the frame, and at the same time fully improves the utilization rate of the space in the frame. The first positioning groove is used to position another group of guide bars, and the second positioning groove is used to position another group of guide racks.

[0016] Preferably, the mounting seat is provided with a lifting device for driving the adsorption part to move up and down, and the lifting device includes a connecting seat arranged on the bottom surface of the mounting seat, a screw rod arranged on the connecting seat, a nut arranged on the screw rod and located on the mounting seat, and a driving member 2 arranged on the mounting seat.

[0017] By adopting the above technical solution, the lifting device is used to drive the adsorption part to move up and down, the connecting seat is used to install and position the adsorption part, and the driving member 2 drives the screw rod to move up and down, thereby driving the connecting seat to move up and down. The movement of the connecting seat drives the adsorption part to move up and down, and the adsorption part moves down and lifts the entire frame, effectively reducing the possibility of the bottom cleaning device scratching the photovoltaic panel when moving.

[0018] Preferably, the adsorption member includes a suction cup arranged on the connecting seat and an elastic member arranged on the connecting seat, one end of the elastic member is connected to the connecting seat, and the other end of the elastic member is connected to the suction cup.

[0019] By adopting the above technical solution, the suction cup is used to adsorb the photovoltaic panel, and the cleaning robot is adsorbed and positioned on the photovoltaic panel. The elastic member is used to reduce the force of the suction cup when pressing, and at the same time improve the stability of the suction cup pressing.

[0020] To summarize, when the moving device is blocked by the steps between two adjacent photovoltaic panels, the transfer device will move the cleaning robot, the driving device will drive the guide member on one side of the frame to extend toward the adjacent photovoltaic panel, the lifting device will drive the adsorption member to move down and adsorb onto the adjacent photovoltaic panel, and the adsorption member on the other side of the frame will move down and adsorb onto the photovoltaic panel cleaned by the cleaning robot; by starting the driving device to drive another set of guide members to move, the initially moved guide members will retract accordingly, driving the frame to move toward the adjacent photovoltaic panel, and after the frame is located on another photovoltaic panel, the guide members and adsorption members on the cleaned photovoltaic panel will be retracted; the present application improves the practicality of the cleaning robot and reduces the number of manual transport of the cleaning robot. At the same time, the present application can also clean photovoltaic panels with larger inclination angles, thereby increasing the application scope of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of a cleaning robot in the present application;

[0022] Figure 2 This is a schematic diagram of the structure of a cleaning robot in the present application;

[0023] Figure 3 is a cross-sectional view of a cleaning robot of the present application;

[0024] Figure 4 It is a structural schematic diagram of a cleaning robot in the present application.

[0025] Explanation of the reference numerals: 1. frame; 2. cleaning device; 3. moving device; 4. transfer device; 41. guide member; 411. guide rack; 412. guide bar; 42. mounting seat; 43. adsorption member; 431. suction cup; 432. elastic member; 5. driving device; 51. driving member 1; 52. guide gear; 6. guide groove; 7. guide roller; 8. positioning groove 1; 9. positioning groove 2; 10. lifting device; 101. connecting seat; 102. screw rod; 103. nut; 104. driving member 2. DETAILED DESCRIPTION

[0026] The following is combined with Figure 1-Figure 4 This application is described in further detail.

[0027] The present application embodiment discloses a cleaning robot. Figure 1, including a frame 1, a cleaning device 2 installed on the frame 1 and used to clean debris on the photovoltaic panel, a moving device 3 used to drive the frame 1 to move on the photovoltaic panel, and a transfer device 4 installed on the frame 1 and used to drive the frame 1 to move to an adjacent photovoltaic panel.

[0028] Reference Figure 1 and Figure 2 In the embodiment of the present application, the cleaning device 2 includes a plurality of rollers installed at the bottom of the frame 1, a dust box installed on the frame 1 and used to absorb the rollers to clean impurities, a cleaning brush installed at the bottom of the frame 1 and located at both ends of the rollers, and a cleaning fabric wrapped on the bottom surface of the frame 1. The bottom surface of the frame 1 is provided with a vacuum nozzle for adsorbing on the photovoltaic panel, and the mobile device 3 drives the cleaning device 2 to move and clean. In the embodiment of the present application, the mobile device 3 is set as a mobile crawler, and a structure with a moving and traveling function such as wheels can be used in the specific implementation process; since the mobile device 3 is moving on the photovoltaic panel, in order to avoid the mobile device 3 from scratching the photovoltaic panel, a protective belt is installed on the traveling surface of the mobile device 3, and the protective belt is provided with a plurality of grooves along the length direction to increase the friction between the protective belt and the photovoltaic panel, so as to facilitate the movement of the mobile device 3. In the case where the photovoltaic panel is installed relatively smoothly, the mobile device 3 can meet the cleaning requirements of the cleaning robot by moving alone. When the photovoltaic panel is installed with a high slope or there is a large height difference between adjacent photovoltaic panels to form a step, the transfer device 4 is started to drive the cleaning robot to move as a whole to the adjacent photovoltaic panel for cleaning operation.

[0029] Reference Figure 1 and Figure 2The transfer device 4 includes guide members 41 located at both ends of the frame 1, a mounting seat 42 installed at the end of the guide member 41 away from the frame 1, and an adsorption member 43 provided on the mounting seat 42. A driving device 5 is installed on the frame 1, and the driving device 5 is used to drive the guide member 41 to telescopically move along the length direction of the machine body. The driving device 5 includes a driving member 1 51 fixedly installed on the frame 1 and a guide gear 52 installed on the driving member 1 51. In the embodiment of the present application, the driving member 1 51 is a motor, and the guide gear 52 is installed at the output end of the motor. The guide member 41 includes a guide bar 412 located on one side of the length direction of the frame 1 and fixedly installed at one end of the mounting seat 42, and a guide rack 411 located on the other side of the length direction of the frame 1 and fixedly installed at the other end of the mounting seat 42. The guide rack 411 is meshed with the guide gear 52. The frame 1 is provided with a guide groove 6 for the guide rack 411 and the guide bar 412 to move and retract. The frame 1 is provided with a plurality of guide rollers 7 located in the guide groove 6. The rotating surface of the guide roller 7 contacts the side wall of the guide rack 411 or the guide bar 412 in the length direction. When the transfer device 4 is started, the driving member 1 51 drives the guide gear 52 to rotate. The guide gear 52 rotates to drive the guide rack 411 to move along the length direction of the frame 1. The guide bar 412 moves synchronously with the guide rack 411, thereby improving the movement stability of the mounting seat 42. The guide roller 7 is used to reduce the friction between the guide rack 411 and the guide bar 412 and the frame 1.

[0030] Reference Figure 2 and Figure 3 , in order to make full use of the installation space of the frame 1, the influence of the guide member 41 when moving is balanced. The guide racks 411 and the guide bars 412 are staggered up and down, so that the guide members 41 at both ends of the frame 1 are also staggered, one group of guide racks 411 is located below the other group of guide bars 412, and one group of guide bars 412 is located above the other group of guide racks 411. The present application adopts two groups of guide members 41, and two groups of driving members 51 are arranged. The guide racks 411 and the guide bars 412 are staggered, so that the two groups of driving members 51 are respectively installed on both sides of the frame 1, balancing the force of the frame 1 and improving the movement stability of the frame 1. A positioning groove 8 is provided on the mounting seat 42, which is located above the guide rack 411, and the positioning groove 8 is used to position the other group of guide bars 412. A positioning groove 2 9 is provided on the mounting seat 42, which is located below the guide bar 412, and the positioning groove 2 9 is used to position the end of the other group of guide racks 411.

[0031] Reference Figure 2 and Figure 4When the cleaning robot needs to move to an adjacent photovoltaic panel, the driving member 1 51 close to the adjacent photovoltaic panel starts to drive the corresponding guide member 41 to extend and move toward the adjacent photovoltaic panel. The guide member 41 moves the mounting seat 42 to the adjacent photovoltaic panel. The mounting seat 42 is provided with a lifting device 10. At this time, the lifting device 10 drives the adsorption member 43 to move downward and support the frame 1. The adsorption member 43 adsorbs the photovoltaic panel for positioning. The lifting device 10 includes a connecting seat 101 located at the bottom of the mounting seat 42, a screw rod 102 installed on the connecting seat 101, a nut 103 installed on the screw rod 102 and located on the mounting seat 42, and a driving member 2 104 installed on the mounting seat 42 and used to drive the screw rod 102 to move. In the embodiment of the present application, the driving member 2 104 is a servo motor. The adsorbent 43 includes a suction cup 431 mounted on the connection base 101 and an elastic member 432 mounted on the connection base 101 and connected to the suction cup 431. The elastic member 432 is set as a spring in the embodiment of the present application. The elastic member 432 can also be a bellows or other member with elastic expansion and contraction function. The elastic member 432 is used to reduce the force of the suction cup 431 contacting the photovoltaic panel, and at the same time, press the suction cup 431 and the photovoltaic panel tightly to improve the adsorption effect of the suction cup 431. In the embodiment of the present application, a group of suction cups 431 are respectively set at both ends of the connection base 101 to improve the adsorption stability of the adsorbent 43.

[0032] The implementation principle of a cleaning robot in an embodiment of the present application is as follows: the cleaning robot is placed on a photovoltaic panel, and the moving device 3 is started, driving the cleaning device 2 to move and clean. When the moving device 3 moves to the assembly position of two photovoltaic panels, the step formed by the installation blocks the moving device 3 from continuing to move. At this time, the transfer device 4 is started (for ease of understanding, the drive member 51 close to the adjacent photovoltaic panel is hereinafter referred to as the drive member 51A; the other group of drive members 51 is hereinafter referred to as the drive member 51B), and the drive member 51A is started, driving the guide gear 52 to rotate, and the guide gear 52 rotates to drive the guide rack 411 to extend toward the adjacent photovoltaic panel, and the guide bar 412 moves the mounting seat 42 to the adjacent photovoltaic panel along with the guide rack 411;

[0033] Then, the lifting device 10 is started to move the connection seat 101 downward, so that the suction cup 431 is adsorbed on the adjacent photovoltaic panel, and another set of lifting devices 10 cooperates to move the connection seat 101 downward, so that the suction cup 431 is adsorbed on the photovoltaic panel. Then, the driving member 51A and the driving member 51B are started, and the driving member 51A drives the corresponding guide rack 411 to retract, and the driving member 51B drives the corresponding guide rack 411 to extend, thereby driving the frame 1 as a whole to move toward the adjacent photovoltaic panel. After the cleaning robot is transferred to the adjacent photovoltaic panel, the driving member 51B starts to retract the corresponding guide rack 411. When the driving member 51B is started, the corresponding suction cup 431 cancels the adsorption state, so that the driving member 51B can retract the mounting seat 42.

[0034] After the cleaning robot moves as a whole to another photovoltaic panel, the lifting device 10 retracts, and the moving device 3 contacts the photovoltaic panel, and the cleaning robot continues the cleaning operation. The present application effectively improves the practicality of the cleaning robot, and the moving effect is good; when the photovoltaic panel is installed unevenly, the cleaning robot can also perform the cleaning operation normally without manual handling; when the photovoltaic panel is installed at a high angle, the adsorption member 43 adsorbs the cleaning robot on the photovoltaic panel, improves the stability of the cleaning robot during the cleaning process, and effectively reduces the possibility of the cleaning robot sliding off the photovoltaic panel with a steep slope.

[0035] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A cleaning robot, characterized in that: The invention comprises a frame (1), a cleaning device (2) arranged on the frame (1), a moving device (3) arranged on the bottom surface of the frame (1), and a transfer device (4) arranged on the frame (1), wherein the cleaning device (2) is used to clean the photovoltaic panel, the moving device (3) is used to drive the frame (1) to move, and the transfer device (4) is used to drive the frame (1) to move to an adjacent photovoltaic panel.

2. A cleaning robot according to claim 1, characterized in that: The transfer device (4) comprises guide members (41) arranged at both ends of the frame (1), a mounting seat (42) arranged at one end of the guide member (41) away from the frame (1), and an adsorption member (43) arranged on the mounting seat (42); and a driving device (5) for driving the guide member (41) to move is provided on the frame (1).

3. A cleaning robot according to claim 2, characterized in that: The guide member (41) comprises a guide rack (411) arranged at one end of a mounting seat (42) and extending along the length direction of the frame (1), and a guide bar (412) arranged at the other end of the mounting seat (42) and extending along the length direction of the frame (1); a guide groove (6) for the guide rack (411) and the guide bar (412) to be extended and retracted is provided on the frame (1); the driving device (5) comprises a driving member (51) arranged on the frame (1) and a guide gear (52) arranged at the output end of the driving member (51); the guide gear (52) and the guide rack (411) are meshed with each other.

4. A cleaning robot according to claim 3, characterized in that: A plurality of guide rollers (7) are provided on the frame (1), and the rotating surfaces of the guide rollers (7) are in contact with the side walls of the guide rack (411) in the length direction.

5. A cleaning robot according to claim 3, characterized in that: The guide rack (411) and the guide bar (412) are arranged in an up-and-down staggered manner; the mounting seat (42) is provided with a first positioning groove (8) located above the guide rack (411); and the mounting seat (42) is provided with a second positioning groove (9) located below the guide bar (412).

6. A cleaning robot according to claim 2, characterized in that: The mounting seat (42) is provided with a lifting device (10) for driving the adsorption member (43) to move up and down, and the lifting device (10) comprises a connecting seat (101) arranged on the bottom surface of the mounting seat (42), a screw rod (102) arranged on the connecting seat (101), a nut (103) arranged on the screw rod (102) and located on the mounting seat (42), and a second driving member (104) arranged on the mounting seat (42).

7. A cleaning robot according to claim 6, characterized in that: The adsorption member (43) comprises a suction cup (431) arranged on the connection seat (101) and an elastic member (432) arranged on the connection seat (101), one end of the elastic member (432) is connected to the connection seat (101), and the other end of the elastic member (432) is connected to the suction cup (431).

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