Anti-deviation photovoltaic sweeper

Abstract

The utility model provides an anti-deviation photovoltaic sweeper which comprises a sweeper body (1), walking rollers (2), a cleaning part (3) and first electric motor units (5) used for driving the walking rollers (2) to rotate, the walking rollers (2) are arranged at the two ends of the sweeper body (1) respectively, correspondingly, the first electric motor units (5) are arranged at the two ends of the sweeper body (1) respectively, and the first electric motor units (5) are arranged at the same end of the sweeper body (1). The first electric motor unit (5) drives the walking roller (2) at the end; the fuselage (1) is provided with a deflection sensor (10) and a control unit, the deflection sensor (10) is used for detecting whether the fuselage (1) deflects or not, and the control unit is used for controlling the rotating speed difference of the two first electric motor units (5) to adjust the deflection angle; according to the invention, deviation prevention is facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic maintenance devices, in particular to a photovoltaic cleaning machine capable of preventing deviation. Background Art

[0002] Regular cleaning of photovoltaic panels is beneficial to improve power generation efficiency, so various cleaning equipment have been studied, such as photovoltaic sweepers.

[0003] Currently, there is a robot on the market that cleans the surface of photovoltaic panels. The body of the robot is arranged across the photovoltaic panels with a large span. In order to cope with the large span, the applicant proposes a photovoltaic cleaning machine, including a first electric motor unit for driving a walking roller to rotate and a second electric motor unit for driving a cleaning member to rotate; walking rollers are respectively arranged at both ends of the body, and correspondingly, a first electric motor unit is respectively arranged at both ends of the body, so the first electric motor unit includes two, at the same end of the body, the first electric motor unit drives the walking roller at this end, and the second electric motor unit is located at one of the two ends of the body. Therefore, compared with the prior art, the structure has been greatly simplified, thereby reducing the manufacturing precision of the product to reduce the cost, and at the same time it is beneficial to reduce the transmission power consumption and motor load, and is conducive to the use of motors with smaller power and lower cost.

[0004] Although guide wheels are provided at both ends of the fuselage, the guide wheels move along the longitudinal outer side of the photovoltaic panel, thereby guiding the entire photovoltaic sweeper to move along the longitudinal direction of the photovoltaic panel. In this way, the photovoltaic sweeper is not easy to deviate from the route, but due to the difference in speed of the two first electric motor units, the difference in accuracy of the transmission structure and the slippage during the advancement process, how to better prevent deviation still needs further research. Utility Model Content

[0005] The technical problem to be solved by the utility model is to overcome the defects of the prior art and provide a photovoltaic cleaning machine which can prevent deviation, and is more conducive to preventing deviation.

[0006] Compared with the prior art, the utility model proposes a photovoltaic sweeper that prevents deviation, including a fuselage, a walking roller and a cleaning member, the fuselage is used to be arranged astride the photovoltaic panel, the walking roller is connected to the fuselage, the walking roller is used to drive the fuselage to move through the photovoltaic panel, the cleaning member is connected to the fuselage, the cleaning member is located on the upper side of the photovoltaic panel and is used to clean the photovoltaic panel, guide side wheels are respectively provided at both ends of the fuselage, the guide side wheels move along the longitudinal outer side of the photovoltaic panel, thereby guiding the entire fuselage to move along the longitudinal direction of the photovoltaic panel, and is characterized in that it also includes a first electric motor unit for driving the walking roller to rotate, and walking rollers are respectively provided at both ends of the fuselage, and correspondingly, a first electric motor unit is respectively provided at both ends of the fuselage, and at the same end of the fuselage, the first electric motor unit drives the walking roller at this end.

[0007] The fuselage is provided with a deflection sensor and a control unit. The deflection sensor is used to detect whether the fuselage is deflected, and the control unit is used to control the speed difference between the two first electric motor units to adjust the deflection angle.

[0008] After adopting the above structure, compared with the prior art, the utility model has the following advantages:

[0009] The present invention provides both passive and active structures to prevent deflection through improvement. Specifically, the guide edge wheels are used to guide the entire fuselage to move longitudinally along the photovoltaic panel, i.e., passive guidance, while the deflection sensor is used to detect the deflection angle of the entire fuselage, and the rotation speed of the two first electric motor units is adjusted according to the deflection angle. The purpose of adjusting the deflection angle is achieved through the rotation speed difference, thereby achieving active adjustment of the longitudinal movement of the entire fuselage along the photovoltaic panel.

[0010] In some embodiments, at least two reflection sensors are provided on the same side edge of the front edge and / or the rear edge of the fuselage, and the two reflection sensors are used to detect whether there is a signal time difference to detect the deflection angle when the fuselage passes through the gap between the photovoltaic panels.

[0011] In some embodiments, the deflection sensor is a gyroscope.

[0012] In some embodiments, the first electric motor unit is provided with a rotation angle sensor of the motor shaft.

[0013] In some embodiments, the rotation angle sensor uses a magnetic encoder.

[0014] In some embodiments, a group of travel rollers are respectively provided on the front and rear sides of the first electric motor unit, and the travel rollers on one side of the travel rollers on the front and rear sides of the first electric motor unit are correspondingly arranged and driven by a synchronous belt.

[0015] In some embodiments, the guide edge wheel is located at the lower side of the walking roller and at the outer edge of the walking roller. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The figure is a three-dimensional schematic diagram of a photovoltaic sweeper that can prevent deviation from the vehicle from being driven off the road from a top view (resting on a parking bracket).

[0017] Figure 2 The figure is a three-dimensional schematic diagram of a bottom view of a photovoltaic sweeper that prevents deviation (staying on a parking bracket).

[0018] Figure 3 It is a three-dimensional schematic diagram of a photovoltaic sweeper that prevents deviation from the road from being seen from the bottom (showing the corresponding electric motor unit).

[0019] Figure 4 This is an enlarged schematic diagram of A.

[0020] Figure 5 A top view of an anti-deviation photovoltaic cleaning machine cleaning a photovoltaic panel.

[0021] Figure 6 The control principle block diagram of a photovoltaic sweeper that prevents deviation.

[0022] Explanation of the reference numerals: 1-body, 2-walking roller, 3-cleaning part, 4-photovoltaic panel, 5-first electric motor unit, 6-second electric motor unit, 7-guide side wheel, 8-outer side, 9-gap, 10-deflection sensor, 11-reflection sensor, 12-first synchronous pulley, 13-second synchronous pulley, 14-synchronous belt, 15-protective plate, 16-mounting base, 17-parking bracket, 18-cabin, 19-control circuit board, 20-rotation angle sensor. DETAILED DESCRIPTION

[0023] The following description is used to disclose the utility model so that those skilled in the art can implement the utility model. The embodiments described below are for example only, and those skilled in the art may think of other obvious variations. The basic principles of the utility model defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the utility model.

[0024] Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0025] like Figures 1 to 6The figure shows a photovoltaic sweeper with anti-deviation, including a body 1, a walking roller 2 and a cleaning member 3. The body 1 is used to be arranged astride the photovoltaic panel 4. The walking roller 2 is connected to the body 1, and the walking roller 2 is used to drive the body 1 to move through the photovoltaic panel 4. The cleaning member 3 is connected to the body 1, and the cleaning member 3 is located on the upper side of the photovoltaic panel 4 and is used to clean the photovoltaic panel 4. Guide side wheels 7 are respectively provided at both ends of the body 1, and the guide side wheels 7 move along the longitudinal outer side 8 of the photovoltaic panel 4, thereby guiding the entire body 1 to move along the longitudinal direction of the photovoltaic panel 4. It also includes a first electric motor unit 5 for driving the walking roller 2 to rotate, and walking rollers 2 are respectively provided at both ends of the body 1. Correspondingly, a first electric motor unit 5 is respectively provided at both ends of the body 1. At the same end of the body 1, the first electric motor unit 5 drives the walking roller 2 at this end.

[0026] The fuselage 1 is provided with a deflection sensor 10 and a control unit. The deflection sensor 10 is used to detect whether the fuselage 1 is deflected. The control unit is used to control the speed difference between the two first electric motor units 5 to adjust the deflection angle.

[0027] The deflection sensor 10 is, for example, a gyroscope.

[0028] The basic principle of the control process is to adjust the deflection angle by controlling the speed difference of the two first electric motor units 5 through the control unit. The control unit is, for example, a control circuit structure built around a single-chip microcomputer and made into a control circuit board 19. The first electric motor unit 5 is, for example, a DC brushless electric motor and is configured with a corresponding driver. The control unit controls the speeds of the two first electric motor units 5 respectively through the driver, thereby forming a speed difference to adjust the deflection angle. The specific adjustment process can be referred to as follows: when the deflection sensor 10 feeds back to the control unit that the deflection angle is greater than a certain value, the control unit begins to control the speed difference of the two first electric motor units 5, thereby actively applying a deflection force to make the entire fuselage 1 deflect in the opposite direction, thereby reducing the degree of deflection. As the deflection sensor 10 periodically feeds back the current deflection angle to the control unit, until the deflection angle is less than a certain value, it can be determined that the deflection has been adjusted, and the entire fuselage 1 moves normally along the longitudinal direction of the photovoltaic panel 4, otherwise it continues to adjust until the requirements are met.

[0029] The model of the microcontroller is, for example, and the model of the driver is, for example.

[0030] In some embodiments, Figure 5As shown, at least two reflection sensors 11 are provided on the front edge of the fuselage 1. The two reflection sensors 11 are used to detect whether there is a signal time difference when the fuselage 1 passes through the gap 9 between the photovoltaic panels 4 to detect the deflection angle. In this way, reflection sensors 11 are added at least at two points on the front edge of the fuselage 1. When the front edge passes through the gap 9 between the photovoltaic panels 4, the reflection sensor 11 will have a signal feedback from the upper surface with the photovoltaic panel 4 to the gap 9 without a surface. The time difference of the signal feedback at the two points can sense the deviation of the fuselage 1, and the purpose of correcting the posture of the fuselage 1 according to the degree of deviation is achieved. Therefore, on the one hand, it is more reliable, and on the other hand, it reduces the dependence on the accuracy and reliability of the deflection sensor 10 itself. On the other hand, the reflection sensor 11 can also be used to verify whether the adjustment has achieved the goal.

[0031] Of course, other structural solutions are also possible, such as providing at least two reflection sensors 11 on the rear edge of the fuselage 1, or providing at least two reflection sensors 11 on both the front edge and the rear edge, so as to better control the posture of the fuselage 1.

[0032] The reflection sensor 11 may be, for example, a proximity switch, an ultrasonic sensor, a photoelectric switch, or the like.

[0033] The first electric motor unit 5 is provided with a rotation angle sensor 20 of the motor shaft. This is conducive to more accurately controlling the rotation speed of the first electric motor unit 5. Therefore, the first electric motor unit 5 may be a stepper electric motor or a servo electric motor.

[0034] The rotation angle sensor 20 is, for example, a magnetic encoder, a grating encoder, or the like.

[0035] In some embodiments, Figure 4 As shown, a set of travel rollers 2 are respectively provided on the front and rear sides of the first electric motor unit 5, and one of the travel rollers 2 on the front and rear sides of the first electric motor unit 5 is correspondingly provided, and is driven by a synchronous belt 14. With such a setting, the structure is easier to lay out, and in addition, the synchronous belt 14 can transmit a longer distance with higher precision.

[0036] In some embodiments, Figure 2 As shown, the guide wheel 7 is located at the lower side of the walking roller 2 and at the outer edge of the walking roller 2. In this way, the guide wheel 7 and the walking roller 2 are closer to each other, so as to better stably support the photovoltaic panel 4, reduce the deviation range, and reduce the number of adjustments during a cleaning process.

[0037] like Figure 4As shown, one end of the cleaning member 3 is rotatably connected to a second electric motor unit 6, which is located at one of the two ends of the body 1. The output shaft of the second electric motor unit 6 is connected to one end of the cleaning member 3 to drive the cleaning member 3 to rotate, such as a rotating roller brush.

[0038] like Figure 1 , 2 As shown, a parking bracket 17 is provided on one side of the photovoltaic panel 4. The parking bracket 17 is a frame with an opening toward the photovoltaic panel 4. The anti-deviation photovoltaic sweeper can enter and exit the parking bracket 17 through the opening. The self-propelled movement of the anti-deviation photovoltaic sweeper is mainly driven by the walking roller 2. Because the photovoltaic panel 4 is laid over a large area, Figure 1 , 2 Only the first row of photovoltaic panels 4 is captured for reference.

[0039] In this disclosure, Figure 3 , 4 As shown, the fuselage 1 is provided with a cabin 18 at both ends thereof, and the first electric motor unit 5 and the second electric motor unit 6 are installed in the cabin 18. Figure 4 As shown, in order to show the structure of the cabin 18 and adjacent parts, the cabin 18 has been opened and the protection plate 15 has been removed to expose the first synchronous pulley 12 and the second synchronous pulley 13.

[0040] like Figure 4 As shown, at the same end of the fuselage 1, the number of the first electric motor unit 5 is one, and the walking rollers 2 at the same end are respectively located on the front and rear sides of the cleaning member 3, and the walking rollers 2 on the opposite sides of the cleaning member 3 are centrally arranged. The transmission structure adopts a synchronous belt transmission structure, and the synchronous belt transmission structure includes a first synchronous belt pulley 12, a second synchronous belt pulley 13 and a synchronous belt 14. The first synchronous belt pulley 12 and the second synchronous belt pulley 13 are respectively coaxially arranged and connected with the walking rollers 2 on both sides, and the synchronous belt 14 crosses the axial part where the cleaning member 3 is located or the axial part in the axial extension direction to connect the first synchronous belt pulley 12 and the second synchronous belt pulley 13. The first electric motor unit 5 is located on one side of the cleaning member 3, and the output shaft of the first electric motor unit 5 is coaxially arranged and connected with the synchronous belt 14 wheel on this side. After such a design, not only the structure is further simplified, but also the structure is more compact, which is conducive to further reducing the volume of the anti-deviation photovoltaic sweeper.

[0041] In some embodiments, Figure 2As shown, in the case where the transmission structure adopts a synchronous belt transmission structure, the fuselage 1 is provided with a protection plate 15 at the lower side of the first synchronous belt pulley 12 and the lower side of the second synchronous belt pulley 13, and the protection plate 15 also serves as a mounting base 16 of the guide edge wheel 11. After such a design, it is not only conducive to protecting the first synchronous belt pulley 12 and the second synchronous belt pulley 13, but also solves the installation problem of the guide edge wheel 11, and the structure is more compact.

[0042] Preferably, the first electric motor unit 5 and the second electric motor unit 6 are both planetary gear reduction motors. In this way, the output shaft or the output end of the planetary gear reduction motor has been decelerated, and the torque has been amplified, so the planetary gear reduction motor only needs to be matched with a motor with a smaller power. In addition, the structure of the planetary gear reduction motor is also relatively mature. In addition, the rotation control of the planetary gear reduction motor can adopt the existing technology, which is conducive to achieving the same or similar rotation speed of the walking rollers 2 located at both ends of the fuselage 1.

[0043] Of course, any other electric motor units applicable to the present disclosure may also be applied to the present disclosure.

[0044] When understanding the present disclosure, if necessary, the above structure can refer to other embodiments / appendices. Figure 1 And understand, no further elaboration here.

[0045] The above description is only an illustrative embodiment of the present invention, so any equivalent changes or modifications made according to the structure, characteristics and principles described in the patent protection scope of the present invention are included in the patent protection scope of the present invention.

Claims

1. A photovoltaic cleaning machine with an anti-deviation function, comprising a machine body (1), a walking roller (2) and a cleaning member (3), wherein the machine body (1) is used to be arranged astride a photovoltaic panel (4), the walking roller (2) is connected to the machine body (1), the walking roller (2) is used to drive the machine body (1) to move past the photovoltaic panel (4), the cleaning member (3) is connected to the machine body (1), the cleaning member (3) is located on the upper side of the photovoltaic panel (4) and is used to clean the photovoltaic panel (4), guide side wheels (7) are respectively provided at both ends of the machine body (1), the guide side wheels (7) travel along the longitudinal outer side surface (8) of the photovoltaic panel (4), thereby guiding the entire machine body (1) to move along the longitudinal direction of the photovoltaic panel (4), characterized in that: It also includes a first electric motor unit (5) for driving the running roller (2) to rotate. The two ends of the fuselage (1) are respectively provided with the running roller (2). Accordingly, the two ends of the fuselage (1) are respectively provided with the first electric motor unit (5). At the same end of the fuselage (1), the first electric motor unit (5) drives the running roller (2) at this end. The fuselage (1) is provided with a deflection sensor (10) and a control unit. The deflection sensor (10) is used to detect whether the fuselage (1) is deflected, and the control unit is used to control the speed difference of the two first electric motor units (5) to adjust the deflection angle.

2. The anti-deviation photovoltaic cleaning machine according to claim 1, characterized in that: At least two reflection sensors (11) are provided on the same side edge of the front side edge and / or the rear side edge of the fuselage (1). The two reflection sensors (11) are used to detect whether there is a signal time difference when the fuselage (1) passes through the gap (9) between the photovoltaic panels (4) to detect the deflection angle.

3. The anti-deviation photovoltaic cleaning machine according to claim 1, characterized in that: The deflection sensor (10) adopts a gyroscope.

4. The anti-deviation photovoltaic cleaning machine according to claim 1, characterized in that: The first electric motor unit (5) is provided with a rotation angle sensor (20) of the motor shaft.

5. The anti-deviation photovoltaic cleaning machine according to claim 4, characterized in that: The rotation angle sensor (20) adopts a magnetic encoder.

6. The anti-deviation photovoltaic cleaning machine according to claim 1, characterized in that: A group of travel rollers (2) are respectively provided on the front and rear sides of the first electric motor unit (5); one of the travel rollers (2) on the front and rear sides of the first electric motor unit (5) is correspondingly provided and driven by a synchronous belt (14).

7. The anti-deviation photovoltaic cleaning machine according to claim 6, characterized in that: The guide edge wheel (7) is located at the lower side of the walking roller (2) and at the outer edge of the walking roller (2).

Images