Photovoltaic cleaning robot

Abstract

The utility model relates to a photovoltaic cleaning robot. The device mainly comprises a rack, two auxiliary frames are arranged at the second end of the rack at intervals, each auxiliary frame is provided with a guide structure, each guide structure is provided with a moving rod, each moving rod is sleeved with a spring, one end of each spring is fixed to the corresponding moving rod, the other end of each spring abuts against the corresponding auxiliary frame, and one end of each moving rod is provided with a guide detection wheel. The axial direction of the guide detection wheel is perpendicular to the axial direction of the second set of walking wheels, the other end of the moving rod is provided with a first type induction block, the auxiliary frame is provided with a proximity switch for deviation rectification, and the proximity switch for deviation rectification is used for inducing the first type induction block to generate deviation rectification signals. The photovoltaic cleaning robot can detect whether deviation needs to be corrected or not through a simple mechanism.

Description

Technical Field

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

[0002] Photovoltaic power stations typically have numerous photovoltaic panels arrayed in an array, each mounted on a support. Since these panels are located outdoors, their surfaces can become contaminated by dust and other dirt over time. Therefore, a photovoltaic cleaning robot is required to clean the panels to ensure proper operation.

[0003] Existing photovoltaic cleaning robots generally include a frame with a first drive assembly at the first end, which drives a first set of running wheels and a first set of guide wheels located there. A second drive assembly is located at the second end, which drives a second set of running wheels located there. A cleaning assembly is located at the bottom of the frame, which cleans the surface of the photovoltaic panels. The first and second sets of running wheels drive the entire frame to move along the photovoltaic panel support.

[0004] The existing photovoltaic cleaning robot often deviates during movement. After the deviation, if the photovoltaic cleaning robot is not corrected, it is easy to get stuck, that is, the photovoltaic cleaning robot cannot continue to move.

[0005] Therefore, existing photovoltaic cleaning robots are also provided with a deviation correction detection mechanism. However, the existing deviation correction detection mechanism is too complicated, impractical, and has a high cost.

[0006] For example, Chinese patent 202321553140.2 discloses a photovoltaic cleaning robot with a correction function. This robot requires numerous sensor blocks to be installed on both sides of the photovoltaic panel support. The sensor blocks and corresponding sensor switch components are used to determine whether the robot needs correction. This correction detection mechanism is too complex and requires numerous sensor blocks to be installed on both sides of the existing photovoltaic panel support, which is very costly and impractical. Utility Model Content

[0007] Based on this, a photovoltaic cleaning robot is provided. The photovoltaic cleaning robot can detect whether deviation correction is required through a simple mechanism.

[0008] A photovoltaic cleaning robot includes a frame, a first drive assembly is provided at a first end of the frame, the first drive assembly is used to drive a first set of running wheels and a first set of guide wheels provided at the first end of the frame, a second drive assembly is provided at a second end of the frame, the second drive assembly is used to drive a second set of running wheels provided at the second end of the frame, and a cleaning assembly is provided at the bottom of the frame.

[0009] Two auxiliary frames are also arranged at intervals at the second end of the frame, each auxiliary frame is provided with a guide structure, a moving rod is provided at the guide structure, a spring is sleeved on the moving rod, one end of the spring is fixed on the moving rod, and the other end of the spring is against the auxiliary frame, one end of the moving rod is provided with a guide detection wheel, the axial direction of the guide detection wheel is perpendicular to the axial direction of the second set of walking wheels, and the other end of the moving rod is provided with a first type of sensing block, and the auxiliary frame is provided with a proximity switch for correction, and the proximity switch for correction is used to sense the first type of sensing block to generate a correction signal.

[0010] In one embodiment, an intermediate frame is provided in the middle of the frame, and two intermediate wheel axle assemblies are installed on the intermediate frame, an intermediate wheel is installed at one end of each intermediate wheel axle assembly, and the other end of the intermediate wheel axle assembly is connected to a connecting rod, and the connecting rod is connected to the first drive assembly, and a disk body is also fixed on one of the intermediate wheel axle assemblies, and a second type of sensing block is provided on the disk body, and a second type of proximity switch is provided on one side of the disk body at the bottom end of the frame.

[0011] In one embodiment, the cleaning assembly includes a first cleaning roller and a second cleaning roller, one end of the first cleaning roller is connected to the first drive assembly, the other end of the first cleaning roller is connected to one end of an intermediate shaft mounted on the intermediate frame, the other end of the intermediate shaft is covered with a graphite copper sleeve, the graphite copper sleeve is connected to one end of the second cleaning roller, and the other end of the second cleaning roller is connected to the second drive assembly.

[0012] In one embodiment, the auxiliary frame includes a first plate, a second plate, a third plate and an L-shaped fixed plate, the first plate is connected to the frame, the second plate and the third plate are arranged at intervals, the second plate and the third plate are respectively connected to the first plate, the second plate and the third plate are both provided with the guide structure, the guide structure is a guide hole, the L-shaped fixed plate is connected to the second plate, and the correction proximity switch is installed on the L-shaped fixed plate.

[0013] In one embodiment, edge detection sensors are respectively provided on both sides of the bottom end of the frame along the width direction.

[0014] In one embodiment, the moving direction of the moving rod is parallel to the axial direction of the second set of running wheels.

[0015] In one embodiment, an end frame is provided at the second end of the frame, the second drive assembly is mounted on the end frame, and the two auxiliary frames are respectively located on both sides of the end frame.

[0016] In one embodiment, a solar cell assembly is provided on the top of the frame, and the solar cell assembly is used to supply power to the first drive assembly and the second drive assembly.

[0017] In one embodiment, both the first drive assembly and the second drive assembly are provided with a cover mounted on the frame.

[0018] In one embodiment, a safety bracket is provided at the first end and the second end of the frame respectively. The safety bracket includes a connecting portion, a vertical portion and a horizontal portion. The connecting portion is connected to the frame, the vertical portion is provided between the connecting portion and the horizontal portion, the horizontal portion extends inward, and a rubber plate is provided on the horizontal portion.

[0019] The beneficial effects of this application are:

[0020] 1. During the movement of the photovoltaic cleaning robot, if the photovoltaic cleaning robot is deflected, that is, the entire frame is deflected, this will cause one of the guide detection wheels to collide with the bracket of the photovoltaic panel, and the guide detection wheel will drive the corresponding moving rod to move, and the first type of sensing block on the moving rod will also move with the moving rod. When the first type of sensing block moves to the proximity switch for correction, the proximity switch for correction senses the first type of sensing block and generates a correction signal. The generation of the correction signal means that the photovoltaic cleaning robot needs to be corrected. At this time, the correction operation can be achieved by controlling the moving speed of the first group of running wheels and the moving speed of the second group of running wheels, that is, making the moving speed of the first group of running wheels inconsistent with the moving speed of the second group of running wheels. In this way, the photovoltaic cleaning robot can be straightened as a whole and can continue to move normally. Therefore, the mechanism for detecting and correcting the deviation of the present application is very simple, compact in structure, and easy to install and maintain.

[0021] 2. Because the components used to detect the need for correction are all mounted on the auxiliary frame, the distance between the guide detection wheel and the panel support can be adjusted by changing the auxiliary frame's mounting position on the frame. Adjusting the distance between the guide detection wheel and the panel support controls the correction threshold. Therefore, the device of this application allows for convenient and flexible adjustment of the correction threshold.

[0022] 3. The first cleaning roller and the second cleaning roller of the present application are independently controlled to operate.

[0023] 4. The present application is provided with an edge detection sensor, which is used to detect whether the photovoltaic cleaning robot has moved to the edge of the solar panel bracket. When the photovoltaic cleaning robot moves to the edge of the bracket, the edge detection sensor will generate a signal and the controller will control the photovoltaic cleaning robot to move in the opposite direction.

[0024] 5. A disk is fixed on one of the intermediate wheel axle assemblies of the present application, and a second type of sensing block is provided on the disk. A second type of proximity switch is provided on one side of the disk at the bottom end of the frame. In this way, the distance traveled by the photovoltaic cleaning robot can be obtained by detecting the number of rotations of the intermediate wheel axle assembly. The data of the distance traveled can be used to calculate the area of ​​photovoltaic panels cleaned by the photovoltaic cleaning robot, and the battery power of the photovoltaic cleaning robot can also be estimated. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of a photovoltaic cleaning robot according to an embodiment of the present application.

[0026] Figure 2 This is a schematic diagram of a guide detection wheel provided at one end of a moving rod according to an embodiment of the present application.

[0027] Figure 3 This is a schematic diagram of the arrangement positions of two guide detection wheels in an embodiment of the present application.

[0028] Figure 4 This is a schematic diagram of a rack according to an embodiment of the present application, wherein a first drive assembly and a second drive assembly are respectively provided at both ends.

[0029] Figure 5 This is a schematic diagram of a first driving component according to an embodiment of the present application.

[0030] Figure 6 This is a schematic diagram showing that an intermediate wheel is provided at the middle position of the frame according to an embodiment of the present application.

[0031] Figure 7 This is a schematic diagram of a second type of sensor block provided on a disk body according to an embodiment of the present application.

[0032] Figure 8 Schematic diagram of the first cleaning roller and the second cleaning roller according to an embodiment of the present application.

[0033] in:

[0034] 101. Frame; 1011. End frame; 102. First drive assembly; 103. Second drive assembly; 104. First set of travel wheels; 105. First set of guide wheels; 106. Second set of travel wheels; 107. Guide detection wheels; 108. Auxiliary frame; 1081. First plate; 1082. Second plate; 1083. Third plate; 1084. L-shaped fixing plate; 109. Travel rod; 110. Correction proximity switch; 111. First type sensor block; 112. Screw; 113. Spring.

[0035] 114. cover; 115. solar cell assembly;

[0036] 116. Connecting rod; 117. Intermediate frame; 118. Intermediate wheel; 119. Intermediate wheel axle assembly;

[0037] 120. Disk; 121. Second-type induction block; 122. Second-type proximity switch;

[0038] 123. Edge detection sensor; 124. Intermediate shaft; 125. Graphite copper sleeve;

[0039] 126. First cleaning roller; 127. Second cleaning roller; 128. Gear shaft; 129. Gear shaft. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0041] like Figure 1 and Figure 4 As shown, an embodiment of the present application provides a photovoltaic cleaning robot, which includes a frame 101, a first drive assembly 102 is provided at the first end of the frame 101, and the first drive assembly 102 is used to drive a first set of walking wheels 104 and a first set of guide wheels 105 provided at the first end of the frame 101, a second drive assembly 103 is provided at the second end of the frame 101, and the second drive assembly 103 is used to drive a second set of walking wheels 106 provided at the second end of the frame 101, and a cleaning assembly is provided at the bottom of the frame 101, as shown in FIG. Figure 2 and Figure 3As shown, two auxiliary frames 108 are arranged at intervals at the second end of the frame 101, and each auxiliary frame 108 is provided with a guide structure, and a moving rod 109 is provided at the guide structure. A spring 113 is sleeved on the moving rod 109, and one end of the spring 113 is fixed on the moving rod 109, and the other end of the spring 113 is against the auxiliary frame 108. A guide detection wheel 107 is provided at one end of the moving rod 109, and the axial direction of the guide detection wheel 107 is perpendicular to the axial direction of the second set of walking wheels 106. A first type of sensing block 111 is provided at the other end of the moving rod 109, and a proximity switch 110 for correction is provided on the auxiliary frame 108. The proximity switch 110 for correction is used to sense the first type of sensing block 111 to generate a correction signal.

[0042] Specifically, the first drive assembly 102 may be composed of a motor, a gear set, a chain, a tensioning wheel set, a transmission shaft, etc. The second drive assembly 103 may also be composed of a motor, a gear set, a chain, a tensioning wheel set, a transmission shaft, etc.

[0043] Specifically, the present application is provided with two auxiliary frames 108, and each auxiliary frame 108 is correspondingly provided with a moving rod 109 and a guide detection wheel 107. When the photovoltaic cleaning robot deviates during movement, one of the guide detection wheels 107 collides with the bracket of the photovoltaic panel, and the bracket applies a force to the guide detection wheel 107, so that the guide detection wheel 107 drives the corresponding moving rod 109 to move, and the first type of sensing block 111 on the moving rod 109 also moves with the moving rod 109. When the first type of sensing block 111 moves to the proximity switch 110 for correction, the proximity switch 110 for correction senses the first type of sensing block 111 and generates a correction signal.

[0044] This correction signal is sent to the control device, which then performs a correction operation on the photovoltaic cleaning robot. The correction operation is achieved by controlling the movement speed of the first set of running wheels 104 and the movement speed of the second set of running wheels 106. This means that the movement speed of the first set of running wheels 104 is inconsistent with the movement speed of the second set of running wheels 106. This allows the photovoltaic cleaning robot to be straightened as a whole and continue to move normally. For example, the movement speed of the first set of running wheels 104 can be increased while the movement speed of the second set of running wheels 106 can be decreased. After straightening, both the first set of running wheels 104 and the second set of running wheels 106 can move at normal speeds.

[0045] It is understandable that when the photovoltaic cleaning robot is straightened as a whole, under the action of the spring 113, the moving rod 109 will drive the guide detection wheel 107 to reset.

[0046] In one embodiment, Figure 6 and Figure 7As shown, an intermediate frame 117 is provided in the middle of the frame 101, and two intermediate wheel axle assemblies 119 are installed on the intermediate frame 117. An intermediate wheel 118 is installed at one end of each intermediate wheel axle assembly 119, and the other end of the intermediate wheel axle assembly 119 is connected to the connecting rod 116, and the connecting rod 116 is connected to the first drive assembly 102. A disk 120 is also fixed on one of the intermediate wheel axle assemblies 119, and a second type of sensing block 121 is provided on the disk 120. A second type of proximity switch 122 is provided on one side of the disk 120 at the bottom end of the frame 101.

[0047] Specifically, a bearing may be provided on the intermediate frame 117, and the intermediate axle assembly 119 is connected to the bearing. The intermediate axle assembly 119 may be composed of multiple axles, or may be composed of an axle and a bushing. The intermediate axle assembly 119 and the connecting rod 116 may be connected by a connector, such as a pin. One end of the connecting rod 116 is connected to the first drive assembly 102. For example, the first drive assembly 102 includes a drive shaft with a running wheel mounted thereon, and the drive shaft is connected to the connecting rod 116 via a coupling.

[0048] The rotation of the intermediate wheel shaft assembly 119 drives the disk 120, which in turn drives the second-type sensor block 121. Each time the second-type sensor block 121 reaches the second-type proximity switch 122, it generates a signal. This signal can be used to calculate the number of rotations of the intermediate wheel shaft assembly 119, and thus the number of rotations of the intermediate wheel 118. The number of rotations of the intermediate wheel 118 can be used to determine the distance traveled by the photovoltaic cleaning robot.

[0049] In one embodiment, Figure 8 As shown, the cleaning assembly includes a first cleaning roller 126 and a second cleaning roller 127. One end of the first cleaning roller 126 is connected to the first drive assembly 102. For example, the first drive assembly 102 has a gear shaft 128. One end of the first cleaning roller 126 is connected to the gear shaft 128. In turn, the first driving assembly 102 can drive the first cleaning roller 126 to rotate. The other end of the first cleaning roller 126 is connected to one end of an intermediate shaft 124 mounted on the intermediate frame 117. The intermediate frame 117 is provided with a bearing. The intermediate shaft 124 is connected to the bearing. The other end of the intermediate shaft 124 is covered with a graphite copper sleeve 125. The graphite copper sleeve 125 is connected to one end of the second cleaning roller 127. The other end of the second cleaning roller 127 is connected to the second drive assembly 103. For example, the second drive assembly 103 is provided with a gear shaft 129. The second cleaning roller 127 is connected to the gear shaft 129. The second driving assembly 103 can drive the second cleaning roller 127 to rotate.

[0050] In one embodiment, Figure 2 As shown, the auxiliary frame 108 includes a first plate 1081, a second plate 1082, a third plate 1083, and an L-shaped fixing plate 1084. The first plate 1081 is connected to the frame 101, and the second plate 1082 and the third plate 1083 are spaced apart. The second plate 1082 and the third plate 1083 are respectively connected perpendicularly to the first plate 1081. The second plate 1082 and the third plate 1083 are both provided with the guide structure, which is a guide hole. The L-shaped fixing plate 1084 is connected to the second plate 1082, and the correction proximity switch 110 is mounted on the L-shaped fixing plate 1084. The above-mentioned moving rod 109 passes through the two guide holes. One end of the spring 113 is fixed to the moving rod 109 by a screw 112, and the other end of the spring 113 abuts against the third plate 1083.

[0051] In one embodiment, Figure 6 As shown, edge detection sensors 123 are provided on both sides of the bottom end of the frame 101 along the width direction. For example, the edge detection sensor 123 can be a proximity switch, with sensor plates provided at both ends of the photovoltaic panel support. When the photovoltaic cleaning robot moves to the edge of the support, the proximity switch senses the sensor plates and generates a reversing signal, which in turn causes the photovoltaic cleaning robot to change its direction of movement.

[0052] In one embodiment, the moving direction of the moving rod 109 is parallel to the axial direction of the second set of running wheels 106 .

[0053] In one embodiment, an end frame 1011 is provided at the second end of the frame 101 , the second drive assembly 103 is mounted on the end frame 1011 , and the two auxiliary frames 108 are respectively located on both sides of the end frame 1011 .

[0054] In one embodiment, Figure 4 As shown, a solar cell assembly 115 is provided at the top of the frame 101. The solar cell assembly 115 is used to power the first drive assembly 102 and the second drive assembly 103. This facilitates the long-term continuous operation of the photovoltaic cleaning robot. The solar cell assembly 115 can be implemented using existing solar cell assemblies 115.

[0055] In one embodiment, Figure 1 As shown, the outer sides of the first drive assembly 102 and the second drive assembly 103 are both provided with a cover 114 mounted on the frame 101. The cover 114 can protect the first drive assembly 102 and the second drive assembly 103.

[0056] In one embodiment, Figure 1As shown, the first and second ends of the frame 101 are respectively provided with safety brackets, which include a connecting portion, a vertical portion and a horizontal portion. The connecting portion is connected to the frame 101, the vertical portion is provided between the connecting portion and the horizontal portion, the horizontal portion extends inward, and a rubber plate is provided on the horizontal portion.

[0057] The above-described embodiments merely represent several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present utility model patent shall be determined by the appended claims.

Claims

1. A photovoltaic cleaning robot, characterized in that: The invention comprises a frame, wherein a first drive assembly is provided at a first end of the frame, the first drive assembly is used to drive a first set of running wheels and a first set of guide wheels provided at the first end of the frame, a second drive assembly is provided at a second end of the frame, the second drive assembly is used to drive a second set of running wheels provided at the second end of the frame, and a cleaning assembly is provided at the bottom of the frame, characterized in that: Two auxiliary frames are also arranged at intervals at the second end of the frame, each auxiliary frame is provided with a guide structure, a moving rod is provided at the guide structure, a spring is sleeved on the moving rod, one end of the spring is fixed on the moving rod, and the other end of the spring is against the auxiliary frame, one end of the moving rod is provided with a guide detection wheel, the axial direction of the guide detection wheel is perpendicular to the axial direction of the second set of walking wheels, and the other end of the moving rod is provided with a first type of sensing block, and the auxiliary frame is provided with a proximity switch for correction, and the proximity switch for correction is used to sense the first type of sensing block to generate a correction signal.

2. The photovoltaic cleaning robot according to claim 1, characterized in that: An intermediate frame is provided in the middle of the frame, and two intermediate wheel axle assemblies are installed on the intermediate frame, an intermediate wheel is installed at one end of each intermediate wheel axle assembly, the other end of the intermediate wheel axle assembly is connected to a connecting rod, and the connecting rod is connected to the first drive assembly, one of the intermediate wheel axle assemblies is also fixed with a disk body, and a second type of sensing block is provided on the disk body, and a second type of proximity switch is provided on one side of the disk body at the bottom end of the frame.

3. The photovoltaic cleaning robot according to claim 2, characterized in that: The cleaning assembly includes a first cleaning roller and a second cleaning roller. One end of the first cleaning roller is connected to the first driving assembly, and the other end of the first cleaning roller is connected to one end of an intermediate shaft installed on the intermediate frame. The other end of the intermediate shaft is covered with a graphite copper sleeve, which is connected to one end of the second cleaning roller, and the other end of the second cleaning roller is connected to the second driving assembly.

4. The photovoltaic cleaning robot according to claim 1, characterized in that: The auxiliary frame includes a first plate, a second plate, a third plate and an L-shaped fixing plate, the first plate is connected to the frame, the second plate and the third plate are arranged at intervals, the second plate and the third plate are respectively connected to the first plate, the second plate and the third plate are both provided with the guide structure, the guide structure is a guide hole, the L-shaped fixing plate is connected to the second plate, and the correction proximity switch is installed on the L-shaped fixing plate.

5. The photovoltaic cleaning robot according to claim 1, characterized in that: Edge detection sensors are respectively provided on both sides of the bottom end of the frame along the width direction.

6. The photovoltaic cleaning robot according to claim 1, characterized in that: The moving direction of the moving rod is parallel to the axial direction of the second set of running wheels.

7. The photovoltaic cleaning robot according to claim 1, characterized in that: An end frame is provided at the second end of the frame, the second drive assembly is mounted on the end frame, and the two auxiliary frames are respectively located on both sides of the end frame.

8. The photovoltaic cleaning robot according to claim 1, characterized in that: A solar cell assembly is provided on the top of the frame, and the solar cell assembly is used to supply power to the first drive assembly and the second drive assembly.

9. The photovoltaic cleaning robot according to claim 1, characterized in that: The outer sides of the first drive assembly and the second drive assembly are both provided with a cover shell installed on the frame.

10. The photovoltaic cleaning robot according to claim 1, characterized in that: The first end and the second end of the frame are respectively provided with a safety bracket, which includes a connecting part, a vertical part and a horizontal part. The connecting part is connected to the frame, the vertical part is arranged between the connecting part and the horizontal part, the horizontal part extends inward, and a rubber plate is arranged on the horizontal part.

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