Photovoltaic cleaning robot

Abstract

The utility model provides a photovoltaic cleaning robot, which relates to the technical field of photovoltaic panel dust removal devices and comprises two walking devices and a cleaning roller. The cleaning roller is arranged between the two walking devices. The walking device comprises a main walking wheel set and an auxiliary walking wheel set which are arranged at the positions, close to the bottom, of the walking device. At least one walking device further comprises an anti-disengaging disc which is located on the lower side of the auxiliary walking wheel set and rotationally connected with the auxiliary walking wheel set. Therefore, compared with an anti-dropping structure comprising an anti-dropping bracket, an anti-dropping hook and an anti-dropping wheel in the prior art, the anti-dropping structure has the advantages that the anti-dropping bracket, the anti-dropping hook and other elements do not need to be configured, so that the anti-dropping structure is relatively few in required parts, more compact in structure and relatively low in manufacturing material and cost, and also has an anti-dropping function.

Description

Technical Field

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

[0002] With growing awareness of the environment, photovoltaic power generation, as a clean energy source, is becoming increasingly widely used. However, since photovoltaic panels are typically installed outdoors, dust and other dirt will gradually accumulate on the panel surface as sand and dust erode the panel surface, resulting in a decrease in power generation. Therefore, some manufacturers choose to use cleaning robots for cleaning. Cleaning robots typically include two running gears and a cleaning roller located between the two running gears. During operation, the running gear's wheels correspond to the photovoltaic panels or tracks, driving the cleaning roller across the photovoltaic panels to clean them.

[0003] In order to avoid the photovoltaic cleaning robot from jumping due to strong winds, encountering foreign objects during work, or encountering large-angle climbing, the cleaning robot may tilt at one end, causing one of the walking wheels to be unable to fit the walking and fall from the photovoltaic panel. To this end, the Chinese utility model with the authorization announcement number "CN217388641U" and the name "A twistable photovoltaic panel cleaning robot" discloses a technical solution in which an anti-slip hook extending from the front to the back of the photovoltaic panel is configured at the bottom of the edge walking device through an anti-slip bracket, and the end of the anti-slip hook is configured with an anti-slip wheel to prevent the cleaning robot from falling off the photovoltaic panel abnormally. However, this technical solution also has some shortcomings. For example, this structure includes an anti-slip bracket, an anti-slip hook and an anti-slip wheel, and the structure is too much, relatively complex, and requires more manufacturing materials.

[0004] Therefore, a photovoltaic cleaning robot with a compact structure and an anti-falling function needs to be designed. Utility Model Content

[0005] The purpose of the present invention is to provide a photovoltaic cleaning robot to address the defects and shortcomings of the existing technology, and to solve at least one of the above technical problems. The robot has the advantages of compact structure and anti-slip function.

[0006] To achieve the above-mentioned purpose, the utility model provides a photovoltaic cleaning robot, comprising: two walking devices, and a cleaning roller arranged between the two walking devices, the walking devices comprising: a main walking wheel group and an auxiliary walking wheel group arranged near the bottom of the walking device; at least one of the walking devices also comprises: an anti-slip disc located on the lower side of the auxiliary walking wheel group and rotatably connected to the auxiliary walking wheel group.

[0007] Optionally, the anti-slip disc is rotatably arranged at the lower end of the axle of the auxiliary walking wheel set through a power isolator.

[0008] Optionally, the power isolation member is a wear-resistant bushing or a bearing.

[0009] Optionally, the anti-slip disk has a circular disk surface, and the center of the anti-slip disk has an axial hole; the anti-slip disk is rotatably configured on the outer peripheral surface of the power isolation component through the axial hole; and the disk surface of the anti-slip disk close to the photovoltaic panel extends from the edge of the photovoltaic panel toward the center.

[0010] Optionally, a threaded hole is vertically arranged at the lower end of the wheel axle of the auxiliary traveling wheel assembly; and a bolt is further included that cooperates with the threaded hole and is used to axially limit the power isolation component.

[0011] Optionally, the auxiliary running wheel assembly includes at least two auxiliary running wheels, and an anti-slip disc is disposed on the lower side of each auxiliary running wheel.

[0012] Optionally, the anti-slip disc is made of rubber or silicone material in one piece.

[0013] Optionally, one of the walking devices further includes a roller power shaft, a first motor and a second motor, the roller power shaft is connected to the second motor, and the main walking wheel group and the auxiliary walking wheel group of the walking device on this side are both connected to the first motor; the other walking device further includes a roller support shaft, and the main walking wheel group and the auxiliary walking wheel group of the walking device on this side are connected to the roller support shaft; one end of the cleaning roller is connected to the roller support shaft, and the other end is connected to the roller power shaft.

[0014] Optionally, the main travel wheel group of the travel device including the first motor includes a first main travel wheel and a second main travel wheel, the first main travel wheel and the second main travel wheel are symmetrically arranged relative to the cleaning roller, and the first main travel wheel and the second main travel wheel are connected by a first linkage gear group.

[0015] Optionally, the first linkage gear set includes a first driving gear, a first driven gear and a second driven gear that are transmission-connected; the first driving gear is fixed to the support shaft of the first main walking wheel, the first driven gear is fixed to the support shaft of the second main walking wheel, the second driven gear is arranged on the roller power shaft, and the second driven gear is rotationally connected to the roller power shaft through a first bearing; the axle of the auxiliary walking wheel set is transmission-connected to the support shaft of the main walking wheel set through a bevel gear set.

[0016] Compared with the prior art, the advantages of this application are:

[0017] Because the photovoltaic cleaning robot includes an anti-slip disc on at least one of its travel devices, and the anti-slip disc is located below and rotationally connected to the auxiliary travel wheel assembly, compared to the conventional anti-slip structures that include an anti-slip bracket, an anti-slip hook, and an anti-slip wheel, the anti-slip bracket, anti-slip hook, and other components are no longer required. Therefore, the robot requires fewer components, has a more compact structure, and has relatively low manufacturing materials and costs, while still maintaining the anti-slip function. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0019] Figure 1 This is a schematic diagram of the structure of the photovoltaic cleaning robot and the photovoltaic panel in accordance with an embodiment of the present invention;

[0020] Figure 2 This is a schematic structural diagram of a photovoltaic cleaning robot according to an embodiment of the present utility model;

[0021] Figure 3 This is a schematic structural diagram of the walking device according to an embodiment of the utility model;

[0022] Figure 4 This is a partial structural exploded diagram of the walking device with the first motor on one side according to an embodiment of the present utility model;

[0023] Figure 5 This is a partial exploded side view of the structure of the walking device with the first motor on one side according to an embodiment of the utility model;

[0024] Figure 6 This is a top view of the partial structure of the walking device with the first motor on one side of the embodiment of the utility model;

[0025] Figure 7 This is a partial structural axonometric diagram of the walking device with the first motor on one side of the embodiment of the utility model;

[0026] Figure 8 This is a schematic diagram of the partial structural decomposition of the walking device without the first motor side in an embodiment of the present utility model.

[0027] Description of Reference Numerals

[0028] 1000-Photovoltaic cleaning robot;

[0029] 100-walking device;

[0030] 1-main running wheel group; 11-first main running wheel; 12-second main running wheel; 13-third main running wheel; 14-fourth main running wheel;

[0031] 2- auxiliary traveling wheel group; 21- first auxiliary traveling wheel; 22- second auxiliary traveling wheel;

[0032] 3-anti-slip plate; a-shaft hole; 32-wear-resistant bushing; 33-bolt; 34-washer;

[0033] 4-roller power shaft;

[0034] 5- first motor;

[0035] 6- Second motor;

[0036] 7-roller support shaft;

[0037] 8-first linkage gear set; 81-first driving gear; 82-first driven gear; 83-second driven gear; 84-first bearing; 85-intermediate gear;

[0038] 9-second linkage gear set; 91-second driving gear; 92-third driven gear; 93-fourth driven gear;

[0039] 10-bevel gear set;

[0040] 200-sweeping roller;

[0041] 2000-photovoltaic panels. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0043] It should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "back," "left," "right," "top," "bottom," "inner," "outer," "back," "side," and "circumferential" used in the present invention to indicate positions or positional relationships are based on the positions or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific position, be constructed, or operate in a specific position. Therefore, they should not be construed as limiting the present invention. In addition, terms such as first and second are used only to distinguish multiple components or structures having the same or similar structures and do not represent any special limitation on the arrangement order or connection relationship.

[0044] Please refer to Figures 1 to 3 The present invention provides a photovoltaic cleaning robot 1000 for cleaning dust and other dirt from photovoltaic panels 2000. The robot 1000 is protected from jerking due to strong winds or foreign objects encountered during operation, or from falling off the photovoltaic panels 2000 due to one end tilting when climbing a steep slope. The robot 1000 includes two walking devices 100 and a cleaning roller 200, which is positioned between the two walking devices 100. The walking device 100 includes a main walking wheel assembly 1 and an auxiliary walking wheel assembly 2. The main walking wheel assembly 1 is positioned near the bottom of the walking device 100 and is designed to engage with the front of the photovoltaic panel 2000 or the front of a track (not shown) to ensure proper alignment with the front of the photovoltaic panel 2000 or the side of the track. The auxiliary walking wheel group 2 is used to cooperate with the side of the photovoltaic panel 2000 or the side of the track. In this way, it can help the photovoltaic cleaning robot 1000 to maintain stability on the photovoltaic panel 2000. Especially when working on an inclined surface, it can increase the grip and stability of the photovoltaic cleaning robot 1000, prevent sliding, and ensure safety and efficiency during the cleaning process. In order to reduce the photovoltaic cleaning robot 1000 from falling off the photovoltaic panel 2000 under abnormal conditions, in this embodiment, the walking devices 100 on both sides also include an anti-slip disc 3, and the anti-slip wheel is located on the lower side of the auxiliary walking wheel group 2 and is rotatably connected to the auxiliary walking wheel group 2. Of course, in other embodiments, the above-mentioned anti-slip disc 3 can also be included in the walking device 100 on one side, and an anti-slip hook (not shown in the figure), an anti-slip wheel (not shown in the figure) or other anti-slip structures can be configured in the walking device 100 on the other side. No specific limitation is made here.

[0045] Since the photovoltaic cleaning robot 1000 further includes an anti-slip disc 3 on at least one side of the walking device 100, and the anti-slip disc 3 is located on the lower side of the auxiliary walking wheel group 2 and is rotatably connected to the auxiliary walking wheel group 2, compared with the anti-slip structure in the prior art that includes an anti-slip bracket, an anti-slip hook and an anti-slip wheel, the photovoltaic cleaning robot 1000 does not need to be equipped with an anti-slip bracket, an anti-slip hook and other components, thereby having the advantages of relatively fewer components, a more compact structure, and relatively low manufacturing materials and costs, while still having the advantages of the anti-slip function.

[0046] In order to realize the rotation connection between the anti-slip disc 3 and the auxiliary travel wheel set 2, and not to interfere with the rotation of the auxiliary travel wheel set 2 itself. Figure 4 and Figure 5In this embodiment, the anti-slip disc 3 is rotatably arranged at the lower end of the axle of the auxiliary walking wheel group 2 through a power isolator. Specifically, in this embodiment, the power isolator is a wear-resistant bushing 32. The inner sleeve of the wear-resistant bushing 32 and the lower end of the axle of the auxiliary walking wheel group 2 slide and rotate, and the outer sleeve of the wear-resistant bushing 32 and the shaft hole a of the anti-slip disc 3 are slidably and rotatably connected. Of course, in another embodiment, the power isolator can also be a bearing (not shown in the figure). The inner ring of the bearing is fixed to the lower end of the axle of the auxiliary walking wheel group 2, and the outer ring of the bearing is fixed to the shaft hole a of the anti-slip disc 3.

[0047] Alternatively, see Figure 1 and Figure 4 In this embodiment, the anti-slip disc 3 has a circular disc surface, and the center of the anti-slip disc 3 has an axial hole a; the anti-slip disc 3 is rotatably arranged on the outer peripheral surface of the power isolation member through the axial hole a; and the disc surface of the anti-slip disc 3, which is close to the photovoltaic panel 2000, extends from the edge of the photovoltaic panel 2000 toward the center. Since the auxiliary walking wheel group 2 cooperates with the side of the photovoltaic panel 2000 or the side of the track, the upper disc surface of the anti-slip disc 3 located on the lower side of the auxiliary walking wheel group 2 is also located on the bottom surface of the photovoltaic panel 2000 or the lower side of the bottom surface of the track. When the photovoltaic cleaning robot 1000 encounters an abnormal situation, the upper disc surface of the anti-slip disc 3 close to one end of the photovoltaic panel 2000 contacts the bottom surface of the photovoltaic panel 2000 or the bottom surface of the track. With the cooperation of the auxiliary walking wheel group 2, the cleaning robot can be prevented from falling from the photovoltaic panel 2000 or the bridge due to excessive jumping amplitude.

[0048] In order to avoid the power isolator and the lower end of the wheel axle of the auxiliary travel wheel group 2 from separating, optionally, please refer to Figure 4 In this embodiment, a threaded hole (not shown in the figure) is vertically arranged at the lower end of the axle of the auxiliary walking wheel group 2; the photovoltaic cleaning robot 1000 also includes a bolt 33 that cooperates with the threaded hole and is used to axially limit the power isolation member. Optionally, a washer 34 is also arranged between the bolt 33 and the lower end of the axle of the auxiliary walking wheel group 2. Since the bolt 33 axially limits the power isolation member at the lower end of the axle of the auxiliary walking wheel group 2, the power isolation member will not be separated from the lower end of the axle of the auxiliary walking wheel group 2. Of course, in other embodiments, a sieve hole can also be vertically arranged at the lower end of the axle of the auxiliary walking wheel group 2, and the power isolation member can be axially limited by cooperating with the hole plug and the plug hole. No specific limitation is made here.

[0049] To improve the anti-shedding effect, optionally, please refer to Figure 3 In this embodiment, the auxiliary running wheel assembly 2 includes two auxiliary running wheels, each of which is equipped with an anti-slip disc 3 on its underside. Of course, in other embodiments, the auxiliary running wheel assembly 2 may also include three, four, five, or more auxiliary running wheels, each of which is equipped with an anti-slip disc 3 on its underside. This configuration is sufficient as long as there are at least two auxiliary running wheels.

[0050] Optionally, in some embodiments, the anti-slip disc 3 is made of rubber or silicone material in one piece.

[0051] In order to realize the movement of the walking devices 100 on both sides of the photovoltaic cleaning robot 1000 and the cleaning roller 200, optionally, please refer to Figures 3 to 8 In this embodiment, one of the walking devices 100 further includes a roller power shaft 4, a first motor 5, and a second motor 6. The roller power shaft 4 is in transmission connection with the second motor 6, and the main walking wheel group 1 and the auxiliary walking wheel group 2 of this side walking device 100 are both in transmission connection with the first motor 5. That is, the main walking wheel group 1 and the auxiliary walking wheel group 2 of this side walking device 100 are both driven by the first motor 5. The other walking device 100 further includes a roller support shaft 7. The main walking wheel group 1 and the auxiliary walking wheel group 2 of this side walking device 100 are both in transmission connection with the roller support shaft 7. One end of the cleaning roller 200 is connected to the roller support shaft 7, and the other end is connected to the roller power shaft 4. That is, the cleaning roller 200, the main walking wheel group 1 on the side not including the first motor 5, and the auxiliary walking wheel group 2 are all driven by the second motor 6. In this embodiment, the first motor 5 and the second motor 6 are both arranged on one side of the walking device 100. Of course, in other embodiments, motors may be respectively configured for the walking devices 100 on both sides to drive their respective main walking wheel sets 1 and auxiliary walking wheel sets 2, and no specific limitation is made here.

[0052] Alternatively, see Figure 4 and Figure 6In this embodiment, the main travel wheel group 1 of the travel device 100 including the first motor 5 includes a first main travel wheel 11 and a second main travel wheel 12. The first main travel wheel 11 and the second main travel wheel 12 are symmetrically arranged relative to the cleaning roller 200, and the first main travel wheel 11 and the second main travel wheel 12 are connected by a first linkage gear group 8. Specifically, the first linkage gear group 8 includes: a first driving gear 81, a first driven gear 82 and a second driven gear 83. The first driving gear 81 and the second driven gear 83 are transmission-connected, and the first driven gear 82 and the second driven gear 83 are transmission-connected. The first driving gear 81 is fixed on the support shaft of the first main travel wheel 11 and rotates coaxially with the support shaft of the first main travel wheel 11. The support shaft of the first main travel wheel 11 is coaxially transmission-connected with the output shaft of the first motor 5; the first driven gear 82 is fixed on the support shaft of the second main travel wheel 12; the second driven gear 83 is rotatably arranged on the roller power shaft 4 through the first bearing 84. That is, the second driven gear 83 and the roller power shaft 4 rotate independently without interfering with each other. The axle of the auxiliary travel wheel set 2 is connected to the support shaft of the main travel wheel set 1 through the bevel gear set 10. Specifically, in this embodiment, the auxiliary travel wheel set 2 includes a first auxiliary travel wheel 21 and a second auxiliary travel wheel 22. The axle of the first auxiliary travel wheel 21 is connected to the support shaft of the first main travel wheel 11 through the bevel gear set 10; the axle of the second auxiliary travel wheel 22 is connected to the support shaft of the second main travel wheel 12 through the bevel gear set 10. Specifically, the bevel gear set 10 includes a pair of intermeshing bevel gears.

[0053] Alternatively, see Figure 8 In this embodiment, the walking device 100 that does not include the first motor 5 includes a third main walking wheel 13 and a fourth main walking wheel 14. The third main walking wheel 13 and the fourth main walking wheel 14 are symmetrically arranged relative to the cleaning roller 200, and the third main walking wheel 13 and the fourth main walking wheel 14 are connected to each other through the second linkage gear set 9 and the roller support shaft 7. Specifically, the second linkage gear set 9 includes a second driving gear 91, a third driven gear 92 and a fourth driven gear 93. The second driving gear 91 is fixed on the roller support shaft 7 and rotates synchronously with it; the third driven gear 92 is fixed on the support shaft of the third main walking wheel 13, and the fourth driven gear 93 is fixed on the support shaft of the fourth main walking wheel 14; the second driving gear 91 is connected to the third driven gear 92 and the fourth driven gear 93 respectively. The setting of the auxiliary walking wheel group 2 on this side is similar to that of the auxiliary walking wheel group 2 on the side including the first motor 5, so it will not be described in detail.

[0054] Alternatively, see Figure 4 and Figure 8In this embodiment, an intermediate gear 85 may be further included between the first driving gear 81 and the second driven gear 83, between the first driven gear 82 and the second driven gear 83, between the second driving gear 91 and the third driven gear 92, and between the second driving gear 91 and the fourth driven gear 93, so as to facilitate adjustment of the size of each gear and the center distance.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A photovoltaic cleaning robot comprising: Two walking devices (100), and a cleaning roller (200) arranged between the two walking devices (100), wherein the walking device (100) comprises: a main walking wheel group (1) and an auxiliary walking wheel group (2) arranged near the bottom of the walking device (100); characterized in that at least one of the walking devices (100) further comprises: an anti-slip disc (3) located on the lower side of the auxiliary walking wheel group (2) and rotatably connected to the auxiliary walking wheel group (2).

2. The photovoltaic cleaning robot according to claim 1, characterized in that: The anti-slip disc (3) is rotatably arranged at the lower end of the wheel axle of the auxiliary running wheel set (2) via a power isolator.

3. The photovoltaic cleaning robot according to claim 2, characterized in that: The power isolating member is a wear-resistant bushing (32) or a bearing.

4. The photovoltaic cleaning robot according to claim 2, characterized in that: The anti-slip disk (3) has a circular disk surface, and the center of the anti-slip disk (3) has an axial hole (a); the anti-slip disk (3) is rotatably arranged on the outer peripheral surface of the power isolation component through the axial hole (a); and the disk surface of the anti-slip disk (3) is close to the photovoltaic panel and extends from the edge of the photovoltaic panel toward the center.

5. The photovoltaic cleaning robot according to claim 2, characterized in that: The lower end of the wheel axle of the auxiliary travel wheel assembly (2) is vertically provided with a threaded hole; and further comprises a bolt (33) that cooperates with the threaded hole and is used to axially limit the power isolation component.

6. The photovoltaic cleaning robot according to claim 1, characterized in that: The auxiliary running wheel assembly (2) comprises at least two auxiliary running wheels, and an anti-slip disc (3) is arranged on the lower side of each auxiliary running wheel.

7. The photovoltaic cleaning robot according to claim 1, characterized in that: The anti-slip disc (3) is made of rubber or silicone material in one piece.

8. The photovoltaic cleaning robot according to claim 1, characterized in that: One of the walking devices (100) further comprises a roller power shaft (4), a first motor (5) and a second motor (6), wherein the roller power shaft (4) is in transmission connection with the second motor (6), and the main walking wheel set (1) and the auxiliary walking wheel set (2) of the walking device (100) on this side are both in transmission connection with the first motor (5); Another of the walking devices (100) further includes a roller support shaft (7), and the main walking wheel group (1) and the auxiliary walking wheel group (2) of the walking device (100) on this side are transmission-connected to the roller support shaft (7); one end of the cleaning roller (200) is connected to the roller support shaft (7), and the other end is connected to the roller power shaft (4).

9. The photovoltaic cleaning robot according to claim 8, characterized in that: The main travel wheel group (1) of the travel device (100) including the first motor (5) includes a first main travel wheel (11) and a second main travel wheel (12), the first main travel wheel (11) and the second main travel wheel (12) are symmetrically arranged relative to the cleaning roller (200), and the first main travel wheel (11) and the second main travel wheel (12) are connected via a first linkage gear group (8).

10. The photovoltaic cleaning robot according to claim 9, characterized in that: The first linkage gear set (8) comprises a first driving gear (81), a first driven gear (82) and a second driven gear (83) which are transmission-connected; the first driving gear (81) is fixed to the support shaft of the first main travel wheel (11), the first driven gear (82) is fixed to the support shaft of the second main travel wheel (12), the second driven gear (83) is arranged on the roller power shaft (4), and the second driven gear (83) is rotationally connected to the roller power shaft (4) via a first bearing (84); the wheel shaft of the auxiliary travel wheel set (2) is transmission-connected to the support shaft of the main travel wheel set (1) via a bevel gear set (10).

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