Photovoltaic cleaning robot

Abstract

The utility model relates to the technical field of photovoltaic cleaning equipment, and discloses a photovoltaic cleaning robot which comprises a main body and power pieces arranged at the two ends of the main body, the power pieces are provided with deviation rectifying wheels at the positions of lower machine heads, inductors and sensors are arranged below the power pieces, the inductors and the sensors are coaxially connected with the deviation rectifying wheels, and the deviation rectifying wheels are connected with the main body. And the sensor judges the posture position of the main body by identifying whether the inductor rotates along with the contact of the deviation rectifying wheel and the photovoltaic panel. Whether the cleaning robot inclines to a set threshold value or not is judged by monitoring whether the deviation rectifying wheel rotates or not through the sensing device, and on one hand, whether cleaning equipment inclines or not can be accurately recognized through the gap between the deviation rectifying wheel and the photovoltaic panel of the cleaning robot; and meanwhile, a certain error and fault-tolerant space is provided, the situation that the photovoltaic cleaning equipment is frequently adjusted, and consequently the machine is stuck is avoided, and extremely high economic benefits are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic cleaning equipment, in particular to a photovoltaic cleaning robot. Background Art

[0002] As a clean energy source, solar energy is mainly converted into electrical energy and stored through photovoltaic panels. In actual use, in areas with a relatively high degree of solar energy resource development, which are concentrated in grasslands, deserts, and coastal areas, etc., these areas have large areas and complex environments. The dust and dirt on the photovoltaic panels need to be cleaned regularly to prevent the occurrence of hot spot effects on the photovoltaic panels, reduce the power generation efficiency, or even burn out the components, affecting the stability of the system.

[0003] When using photovoltaic cleaning equipment to clean photovoltaic panels, especially for rail-mounted photovoltaic cleaning robots, the cleaning device often tilts due to the speed difference or other asynchronous conditions of the upper and lower head drive devices. However, in actual operation, due to the large size of the machine body and the machine being always in the cleaning operation, it is difficult to monitor the pose of the entire cleaning equipment.

[0004] Therefore, it is necessary to provide a photovoltaic cleaning robot to solve the problems existing in the above-mentioned prior art. Summary of the Utility Model

[0005] The purpose of this part is to outline some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Simplifications or omissions may be made in this part, as well as in the abstract and the title of the application of this application, to avoid obscuring the purpose of this part, the abstract, and the title of the utility model. Such simplifications or omissions shall not be used to limit the scope of the utility model.

[0006] In view of the problem that the upper and lower drives are asynchronous during the cleaning process of the existing photovoltaic cleaning equipment, which is prone to tilting and difficult to monitor the posture, the present utility model is proposed.

[0007] To solve the above technical problems, the present utility model provides the following technical solution: A photovoltaic cleaning robot, comprising a main body and power members arranged at both ends of the main body. The power members are provided with deviation-correcting wheels at the lower head. It is characterized in that: an inductor and a sensor coaxially connected to the deviation-correcting wheels are arranged below the power members, and the sensor determines the posture position of the main body by identifying whether the inductor rotates with the contact between the deviation-correcting wheels and the photovoltaic panel.

[0008] As a preferred embodiment of the photovoltaic cleaning robot of the present utility model, wherein: the inductor includes an inductor plate and a connecting plate, the inductor plate is arranged below the deviation correction wheel, a plurality of induction slits are formed on the inductor plate, and the sensor is connected to the main body through the connecting plate.

[0009] As a preferred embodiment of the photovoltaic cleaning robot of the present utility model, wherein: the connecting plate is an L-shaped plate body, and the upper end is detachably connected to the main body through bolts, and the sensor is fixed to the lower end of the connecting plate.

[0010] As a preferred embodiment of the photovoltaic cleaning robot of the present utility model, wherein: a notch is arranged on the side of the lower end of the connecting plate, a connecting block is connected below the notch, a connecting hole is arranged on the connecting block, and the sensor is arranged in the connecting hole.

[0011] As a preferred embodiment of the photovoltaic cleaning robot of the present utility model, wherein: a fitting hole is arranged at the center of the inductor plate, and the inductor plate is connected to the deviation correction wheel through the fitting hole.

[0012] As a preferred embodiment of the photovoltaic cleaning robot of the present utility model, wherein: the deviation correction wheels are symmetrically arranged in two groups, and an inductor and a sensor are arranged below each group of deviation correction wheels, and the inductor and the sensor correspond one by one.

[0013] As a preferred embodiment of the photovoltaic cleaning robot of the present utility model, wherein: the deviation correction wheels are arranged in parallel on the lower side of the photovoltaic panel, and there is a gap of 10-30 cm between the deviation correction wheels and the lower side of the photovoltaic panel.

[0014] As a preferred embodiment of the photovoltaic cleaning robot of the present utility model, wherein: the number of the induction slits formed on each inductor plate is not less than 4.

[0015] The beneficial effects of the present utility model: By using the sensing device to monitor whether the deviation correction wheel rotates to judge whether the cleaning robot is tilted to a set threshold, and using the gap between the deviation correction wheel of the cleaning robot and the photovoltaic panel, on the one hand, it can accurately identify whether the cleaning device is tilted, and at the same time, it also gives a certain error and tolerance space to avoid frequent adjustment of the photovoltaic cleaning device, resulting in machine jamming, and has extremely high economic benefits. Description of the Drawings

[0016] To more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings. Among them:

[0017] Figure 1 It is a schematic diagram of the application scenario of the photovoltaic cleaning robot of the present utility model;

[0018] Figure 2 It is a schematic diagram of the bottom view structure of the photovoltaic cleaning robot of the present utility model;

[0019] Figure 3 It is a structural diagram of the lower head of the photovoltaic cleaning robot of the present utility model;

[0020] Figure 4 It is an exploded schematic diagram of the deviation correction wheel structure of the photovoltaic cleaning robot of the present utility model; Detailed implementation manners

[0021] To make the above objects, features, and advantages of the present utility model more obvious and understandable, the following will give a detailed description of the specific implementation manners of the present utility model in conjunction with the drawings of the specification.

[0022] Many specific details are set forth in the following description to facilitate a thorough understanding of the present utility model. However, the present utility model can also be implemented in other ways different from those described herein. Those skilled in the art can make similar generalizations without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0023] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that can be included in at least one implementation manner of the present utility model. The "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it an individual or alternative embodiment that mutually excludes other embodiments.

[0024] Furthermore, the present utility model is described in detail in conjunction with the schematic diagrams. When detailing the embodiments of the present utility model, for the convenience of explanation, the cross-sectional views showing the device structure will be enlarged locally not in accordance with the general scale, and the schematic diagrams are only examples and should not limit the scope of protection of the present utility model herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0025] Embodiment

[0026] Refer to Figures 1 to 4, which is the first embodiment of the present utility model, provides a photovoltaic cleaning robot, including a main body 100 and power components 200 arranged at both ends of the main body 100. The power component 200 is provided with a deviation correction wheel 201 at the lower head. Below the power component 200, an induction body 300 and a sensor 400 coaxially connected to the deviation correction wheel 201 are provided. The sensor 400 determines the attitude position of the main body 100 by identifying whether the induction body 300 rotates as it contacts the photovoltaic panel along with the deviation correction wheel 201.

[0027] As shown in the figure, when the photovoltaic cleaning equipment is working, it is usually of the hanging rail type, that is, the cleaning robot is obliquely hung on the photovoltaic cleaning equipment, and the walking wheel motor is used to drive the walking wheel to move on the photovoltaic panel. The main body 100 includes a machine frame and a cleaning component. The cleaning component is a rolling brush arranged in the middle of the machine, and the rolling brush motor is used to drive the rolling brush. Power components 200 are arranged at both ends of the main body 100, including a driving motor and a rolling brush motor. A deviation correction wheel 201 is arranged at the lower head position. The deviation correction wheel 201 is parallel to the lower side of the photovoltaic panel, and there is a gap of 10 - 30 cm between the deviation correction wheel 201 and the lower side of the photovoltaic panel. When the machine main body 100 is in a normal attitude or the inclination does not reach a certain threshold angle, the deviation correction wheel 201 will not contact the side of the photovoltaic panel, and at this time, the deviation correction wheel 201 will not rotate. When the machine main body 100 is inclined and reaches a certain threshold, the deviation correction wheel 201 contacts the side of the photovoltaic panel. At this time, because the machine moves under the drive of the driving motor, it will drive the deviation correction wheel 201 to rotate together. An induction body 300 coaxially connected is arranged below the deviation correction wheel 201. By using the sensor 400 to identify whether the induction body 300 rotates together with the deviation correction wheel 201, it can be determined whether the machine main body 100 is inclined, and then the position and attitude of the machine can be judged. For the gap of 10 - 30 cm between the deviation correction wheel 201 and the lower side of the photovoltaic panel, when considering the gap between the two, on the one hand, it is necessary to ensure that the inclination of the cleaning equipment can be accurately identified, which requires that the gap between the two cannot be too large. On the other hand, a certain error and tolerance space also need to be given to avoid frequent adjustment of the photovoltaic cleaning equipment, resulting in the machine being stuck. For the photovoltaic cleaning equipment, the cleaning area is usually very large, and the normal movement of the machine should be ensured as much as possible.

[0028] The induction body 300 includes an induction plate 301 and a connecting plate 302. The induction plate 301 is arranged below the deviation correction wheel 201. A number of induction slits 301a are opened on the induction plate 301. The sensor 400 is connected to the main body 100 through the connecting plate 302. An embedding hole 301b is arranged at the center of the induction plate 301, and the induction plate 301 is connected to the deviation correction wheel 201 through the embedding hole 301b. The number of induction slits 301a opened on each induction plate 301 is not less than 4.

[0029] Specifically, for the inductor 300, it mainly moves synchronously with the deviation rectifying wheel 201, thereby achieving the same state as the deviation rectifying wheel 201. The sensor 400 monitors the state of the deviation rectifying wheel 201 by identifying the state of the inductor 300. As shown in the figure, the inductor 300 includes an induction plate 301 and a connecting plate 302. Among them, the induction plate 301 is connected to the main body 100 through the connecting plate 302. Specifically, the induction plate 301 is below the deviation rectifying wheel 201, and an induction slot 301a is opened on the induction plate 301. It should be noted that the induction slot 301a is an opened through hole. The sensor 400 emits a pulse signal upward. When the signal passes through the induction slot 301a and the non-induction slot 301a, different signals will be refracted and feedback. Based on the induction between the sensor 400 and the induction slot 301a, when the deviation rectifying wheel 201 drives the induction plate 301 to rotate, at this time, the rotation of the deviation rectifying wheel 201 will be recognized by the sensor 400. In order to achieve synchronous rotation of the deviation rectifying wheel 201 and the induction plate 301, as shown in the figure, a fitting hole 301b is provided at the center of the induction plate 301, and the induction plate 301 realizes coaxial rotation with the deviation rectifying wheel 201 through the fitting hole 301b. The sensor 400 is a prior art. In order to improve the recognition accuracy of the sensor 400 and ensure that the rotation of the deviation rectifying wheel 201 is recognized immediately when it rotates, the number of induction slots 301a opened on each induction plate 301 should be no less than 4.

[0030] The connecting plate 302 is an L-shaped plate body. The upper end is detachably connected to the main body 100 by bolts. The sensor 400 is fixed to the lower end of the connecting plate 302. A notch 302a is provided on the side of the lower end of the connecting plate 302, and a connecting block 302b is connected below the notch 302a. A connecting hole 302c is provided on the connecting block 302b, and the sensor 400 is arranged in the connecting hole 302c.

[0031] For the connecting plate 302, it is a plate body with an L-shaped structure. Its main function is to provide connection and fixing functions. It is connected to the main body 100 above by a detachable method such as bolts, and a sensor is connected below it. In order to realize the size adjustment and installation of the sensor 400, the sensor 400 is not directly connected to the connecting plate 302. As shown in the figure, a notch 302a is provided on the side of the lower end of the connecting plate 302, and a connecting block 302b is provided below the notch 302a. In order to adjust the distance between the sensor 400 and the induction plate 301, a connecting hole 302c is provided on the connecting block 302b, that is, the sensor 400 is installed in the connecting hole 302c. When the distance between the sensor 400 and the induction plate 301 needs to be adjusted, it can be adjusted through the connecting hole 302c.

[0032] The deviation rectifying wheels 201 are arranged in two symmetrically - set groups. Below each group of deviation rectifying wheels 201, an inductor 300 and a sensor 400 are arranged, and the inductors 300 and sensors 400 are in one - to - one correspondence.

[0033] Furthermore, since the deviation rectifying wheels 201 are arranged at the lower end of the machine, for the lower head of the machine, there may be two different situations: the lower head lags behind or the upper head lags behind. That is, the main body 100 of the cleaning robot will have two different types of tilts, namely, tilting to the left or to the right. This requires that the deviation rectifying wheels 201 be arranged in two symmetrically - set groups on the left and right. Below each group of deviation rectifying wheels 201, an inductor 300 and a sensor 400 are arranged to ensure that when the main body 100 of the machine has different types of tilts (the upper head lags behind or the lower head lags behind), there are deviation rectifying wheels 201 and sensors for sensing the position and attitude of the main body 100 on both sides of the lower head. That is, the inductors 300 and sensors 400 are in one - to - one correspondence in terms of position and quantity, ensuring the attitude monitoring of the cleaning robot.

[0034] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. A photovoltaic cleaning robot, comprising a main body (100) and power components (200) arranged at both ends of the main body (100), wherein a deviation correction wheel (201) is arranged at the lower nose of the power component (200), and is characterized in that: Below the power component (200), there is an inductor (300) and a sensor (400) coaxially connected to the deviation correction wheel (201). The sensor (400) determines the attitude position of the main body (100) by identifying whether the inductor (300) rotates as the deviation correction wheel (201) contacts the photovoltaic panel.

2. The photovoltaic cleaning robot according to claim 1, characterized in that: The inductor (300) includes an induction plate (301) and a connecting plate (302). The induction plate (301) is arranged below the deviation correction wheel (201). A number of induction slits (301a) are formed on the induction plate (301). The sensor (400) is connected to the main body (100) through the connecting plate (302).

3. The photovoltaic cleaning robot according to claim 2, characterized in that: The connecting plate (302) is an L-shaped plate body. The upper end is detachably connected to the main body (100) by bolts. The sensor (400) is fixed to the lower end of the connecting plate (302).

4. The photovoltaic cleaning robot according to claim 2, characterized in that: A notch (302a) is arranged on the lower side of the connecting plate (302). A connecting block (302b) is connected below the notch (302a). A connecting hole (302c) is formed on the connecting block (302b). The sensor (400) is arranged in the connecting hole (302c).

5. The photovoltaic cleaning robot according to claim 2, wherein: An engaging hole (301b) is arranged at the center of the induction plate (301). The induction plate (301) is connected to the deviation correction wheel (201) through the engaging hole (301b).

6. The photovoltaic cleaning robot according to claim 2, wherein: The deviation correction wheels (201) are symmetrically arranged in two groups. Below each group of deviation correction wheels (201), there is an inductor (300) and a sensor (400), and the inductor (300) and the sensor (400) are in one-to-one correspondence.

7. The photovoltaic cleaning robot according to claim 2, wherein: The deviation correction wheels (201) are arranged parallel to the lower side of the photovoltaic panel, and there is a gap of 10 - 30 centimeters between the deviation correction wheels (201) and the lower side of the photovoltaic panel.

8. The photovoltaic cleaning robot according to claim 2, wherein: The number of the induction slits (301a) formed on each induction plate (301) is not less than 4.

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