Cleaning robot for photovoltaic panel floating on water surface
By designing a cleaning robot with integrated crawler drive and guidance, the problems of unstable walking and obstacle crossing on photovoltaic panels floating on the water surface are solved, and an efficient and stable cleaning effect is achieved. The overall weight is light and it is suitable for cleaning photovoltaic panels floating on the water surface.
Patent Information
- Application Number
- CN202421622226.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-09
- Publication Date
- 2025-09-19
- Estimated Expiration
- 2034-07-09
AI Technical Summary
Existing cleaning robots find it difficult to walk stably on floating photovoltaic panels on the water surface and cross height differences, especially when the photovoltaic panel floats shake due to wind and waves or passing ships, resulting in large height differences. The existing design also increases the complexity and cost of the obstacle crossing and guide mechanism.
A cleaning robot is designed, which includes left and right track drive assemblies, a guide mechanism and a roller brush cleaning assembly. The track drive assembly is supported by a tensioning wheel and a fixed plate. The guide mechanism and the track drive are integrated. The roller brush assembly is arranged in a U-shaped installation space in the middle of the fuselage. The rear roller brush assembly can be independently mounted to smoothly cross the height difference of the photovoltaic panels.
It achieves smooth walking and efficient cleaning on photovoltaic panels floating on the water surface, avoids the obstruction of the roller brush and the photovoltaic panels, is light in overall weight and easy to carry, and improves cleaning efficiency and reliability.
Smart Images
Figure CN223364100U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a cleaning robot for photovoltaic panels floating on water surfaces. Background Art
[0002] The cleaning robot used to clean photovoltaic panels is a type of extreme operation robot. It is mainly used for inclined walls and photovoltaic panels. It can be equipped with cleaning tools to clean large surfaces and photovoltaic panels.
[0003] Currently, most cleaning robots in the industry are used on land, where photovoltaic panels are mounted so that they are flush with the surface. Surface photovoltaic arrays differ from those used on land. Surface photovoltaic panels are fixed to floating drums, and each panel floats at a different height under varying gravity. Winds or the presence of ships or people near the panels can cause the drums to sway, causing the panels to rise and fall. When the cleaning robot operates over the panels, its own weight also causes the panels to float at different depths, creating a height difference between them. This height difference can vary greatly in different water conditions, sometimes as much as 250mm. This means that the cleaning robot must cross a 250mm height when moving from one panel to another. This height, combined with the constant swaying of the panels, necessitates a design concept significantly different from that of surface cleaning robots.
[0004] Most current terrestrial photovoltaic cleaning robots use cleaning roller brushes mounted either in front of, or at the front and rear of, the main unit. This is because the panels of a terrestrial photovoltaic array are aligned, eliminating the need for roller brushes to navigate obstacles. For floating robots, if roller brushes are mounted in front of and behind the main unit, the front brush must be designed with an obstacle-skipping mechanism, as must the main unit itself. The rear brush must also have a guide mechanism to prevent it from hitting the panels behind it. Utility Model Content
[0005] In view of the above problems existing in the prior art, the main purpose of the present invention is to provide a cleaning robot for photovoltaic panels floating on the water surface.
[0006] The technical solution of the present utility model is as follows:
[0007] A cleaning robot for photovoltaic panels floating on a water surface, the cleaning robot comprising a body, a first roller brush cleaning assembly and a second roller brush cleaning assembly being respectively provided at a middle bottom end and a rear end of the body, and a left crawler drive assembly and a right crawler drive assembly being respectively provided on both sides of the body, the cleaning robot moving under the drive of the left crawler drive assembly and the right crawler drive assembly, and performing a cleaning operation on the photovoltaic panels floating on the water surface by using the first roller brush cleaning assembly and the second roller brush cleaning assembly;
[0008] The left crawler drive assembly includes a left crawler, a left driving wheel, a left synchronous wheel, a first left tensioning wheel, a second left tensioning wheel and a left fixed plate, wherein:
[0009] The left driving wheel is located above the rear end of the left crawler, and the plurality of left synchronous wheels are located at the bottom of the left crawler; the left fixing plate is located on the outside of the left crawler, and the left fixing plate is fixedly connected to the left side wall of the fuselage, and the middle position of the bottom of the left fixing plate is concave to form a first recess, two first left tensioning wheels are located at the bottom of the first recess, and the first left tensioning wheel abuts against the outer side wall below the left crawler, the second left tensioning wheel is located below the left driving wheel, and the second left tensioning wheel abuts against the outer side wall behind the left crawler;
[0010] The right crawler drive assembly includes a right crawler, a right drive wheel, a right synchronous wheel, a first right tensioning wheel, a second right tensioning wheel and a right fixed plate, wherein:
[0011] The right driving wheel is located above the rear end of the right crawler, and the plurality of right synchronous wheels are located at the bottom of the right crawler; the right fixing plate is located on the outside of the right crawler, and the right fixing plate is fixedly connected to the right wall of the fuselage, and the middle position of the bottom of the right fixing plate is concave to form a second recess, the two first right tensioning wheels are located at the top of the second recess, and the first right tensioning wheel abuts against the outer side wall below the right crawler, the second right tensioning wheel is located below the right driving wheel, and the second right tensioning wheel abuts against the outer side wall behind the right crawler;
[0012] A guide mechanism is provided at the front end of the fuselage, the guide mechanism comprising a first left-side obstacle-crossing guide pulley, a second left-side obstacle-crossing guide pulley, a first right-side obstacle-crossing guide pulley, and a second right-side obstacle-crossing guide pulley; the first left-side obstacle-crossing guide pulley is arranged above the left-side front end of the fuselage via a first fixed shaft, and the first left-side obstacle-crossing guide pulley is located above the inner front end of the left crawler; the second left-side obstacle-crossing guide pulley is arranged at the left-side front end of the fuselage via a second fixed shaft, and the second left-side obstacle-crossing guide pulley is located at the rear side below the first left-side obstacle-crossing guide pulley; and the angle between the line connecting the first fixed shaft and the second fixed shaft and the horizontal plane is 45°-60°;
[0013] The first right obstacle-crossing guide pulley is arranged above the right front end of the fuselage via a third fixed shaft, and the first right obstacle-crossing guide pulley is located above the inner front end of the right crawler. The second right obstacle-crossing guide pulley is arranged at the right front end of the fuselage via a fourth fixed shaft, and the second right obstacle-crossing guide pulley is located at the rear side below the first right obstacle-crossing guide pulley. The angle between the line connecting the third fixed shaft and the fourth fixed shaft and the horizontal plane is 45°-60°.
[0014] A groove is laterally arranged at the bottom middle end of the fuselage, and the groove is respectively connected with the first recess and the second recess, and the groove, the first recess and the second recess form an inverted U-shaped installation space, and the first roller brush cleaning assembly is located in the inverted U-shaped installation space.
[0015] A first left connecting hole and a second left connecting hole are provided at the front end of the left fixing plate, a left end of the first fixing shaft is provided in the first left connecting hole, and a right end of the first fixing shaft is fixedly provided on the left side wall of the fuselage;
[0016] The left end of the second fixing shaft is arranged in the second left connecting hole, and the right end of the second fixing shaft is fixedly arranged on the left side wall of the fuselage.
[0017] A first right connecting hole and a second right connecting hole are provided at the front end of the right fixing plate, a right end of the third fixing shaft is provided in the first right connecting hole, and a left end of the third fixing shaft is fixedly provided on the right side wall of the fuselage;
[0018] The right end of the fourth fixing shaft is arranged in the second right connecting hole, and the left end of the fourth fixing shaft is fixedly arranged on the right side wall of the fuselage.
[0019] The middle part of the left fixing plate is located at the front and rear sides of the first recess, and a third left connecting hole is provided. A first mounting bracket is fixedly provided on the fuselage at the left side of the bottom of the groove. A first mounting hole is provided at a position corresponding to the third left connecting hole on the first mounting bracket. A first left connecting shaft is installed between the third left connecting hole and the first mounting hole, and the first left tensioning wheel is installed on the first left connecting shaft.
[0020] A fourth left connecting hole and a fifth left connecting hole are respectively provided above and below the rear portion of the left fixing plate, the left end of the left driving shaft in the left driving wheel is provided in the fourth left connecting hole, and the left end of the second left connecting shaft in the second left tensioning wheel is provided in the fifth left connecting hole.
[0021] The middle part of the right fixing plate is located on the front and rear sides of the second recess, and a third right connecting hole is provided. A second mounting bracket is fixedly provided on the fuselage on the right side of the bottom of the groove. A second mounting hole is provided at a position corresponding to the third right connecting hole on the second mounting bracket. A first right connecting shaft is installed between the third right connecting hole and the second mounting hole, and the first right tensioning wheel is installed on the first right connecting shaft.
[0022] A fourth right connecting hole and a fifth right connecting hole are respectively provided above and below the rear portion of the right fixing plate, the right end of the right driving shaft in the right driving wheel is provided in the fourth right connecting hole, and the right end of the second right connecting shaft in the second right tensioning wheel is provided in the fifth right connecting hole.
[0023] The first roller brush cleaning assembly includes a first left fixing frame, a first right fixing frame, a first rotating shaft, a first brush, a first transmission shaft, a first driving motor and a first transmission box, wherein: the right end of the first left fixing frame is fixedly set on the left wall of the left fixing plate, the left end of the first right fixing frame is fixedly set on the right wall of the right fixing plate, the two ends of the first rotating shaft are rotatably mounted on the left fixing plate and the right fixing plate respectively, the first brush is evenly fixed on the circumferential direction of the outer wall of the first rotating shaft, and the first rotating shaft and the first brush are both located in the inverted U-shaped installation space, the first transmission shaft rotates under the drive of the first driving motor, so that the first transmission shaft drives the first rotating shaft to rotate through the first transmission box, and the first brush performs the first cleaning operation on the floating photovoltaic panel on the water surface under the rotation of the first rotating shaft.
[0024] The second roller brush cleaning assembly includes a roller brush support frame, and a first hook portion and a second hook portion are fixedly provided on the left and right sides of the front end of the roller brush support frame, wherein:
[0025] The first hooking portion is provided with a first hooking groove and a first hooking limiting recess, and a first left hooking shaft and a second left hooking shaft are fixedly provided on the left side of the rear side wall of the fuselage, the first left hooking shaft is adapted to the first hooking groove, and the second left hooking shaft is adapted to the first hooking limiting recess;
[0026] A second hooking groove and a second hooking limiting recess are provided on the second hooking portion, and a first right hooking shaft and a second right hooking shaft are fixedly provided on the right side of the rear side wall of the fuselage, the first right hooking shaft is adapted to the second hooking groove, and the second right hooking shaft is adapted to the second hooking limiting recess.
[0027] The second roller brush cleaning assembly further includes a second rotating shaft, a second brush, a second transmission shaft, a second drive motor and a second transmission box, wherein:
[0028] The two ends of the second rotating shaft are rotatably connected to the two ends of the roller brush support frame, the second brush is evenly fixed on the circumferential direction of the outer wall of the second rotating shaft, and the second transmission shaft rotates under the drive of the second drive motor, so that the second transmission shaft drives the second rotating shaft to rotate through the second transmission box, and the second brush performs a second cleaning operation on the floating photovoltaic panel on the water surface under the rotation of the second rotating shaft.
[0029] The utility model has the following advantages and beneficial effects: the cleaning robot can walk smoothly and reliably on the floating photovoltaic panels on the water surface and smoothly cross the uneven photovoltaic panels; secondly, the roller brush of the cleaning robot will not be hindered by the photovoltaic panels on the water surface and any photovoltaic panel fixing facilities, and at the same time it can completely clean the photovoltaic panels, meeting the requirements of good cleaning effect and high cleaning efficiency; in addition, the overall total weight of the cleaning robot (including the roller brush) does not exceed 35Kg, and manual movement is still required when crossing rows or changing arrays, to ensure that most staff can easily carry and move it. BRIEF DESCRIPTION OF THE DRAWINGS
[0030] Figure 1 A schematic diagram of the three-dimensional structure of a cleaning robot for floating photovoltaic panels on water provided by an embodiment of the utility model in one direction.
[0031] Figure 2 This is a schematic diagram of the three-dimensional structure of the cleaning robot for floating photovoltaic panels on the water surface provided by an embodiment of the utility model from another direction.
[0032] Figure 3 This is a schematic diagram of the main structure of a cleaning robot for floating photovoltaic panels on water surface provided by an embodiment of the utility model.
[0033] Figure 4This is a schematic diagram of the rear view structure of a cleaning robot for floating photovoltaic panels on water surface provided by an embodiment of the utility model.
[0034] Figure 5 This is a schematic diagram of the rear view structure of the cleaning robot for floating photovoltaic panels provided by an embodiment of the utility model, with the right fixing plate, the first roller brush cleaning assembly and the second roller brush cleaning assembly removed.
[0035] Figure 6 This is a schematic diagram of the main structure of the cleaning robot for floating photovoltaic panels provided by an embodiment of the present utility model, with the left fixing plate, the first roller brush cleaning assembly and the second roller brush cleaning assembly removed.
[0036] Figure 7 This is a schematic diagram of the three-dimensional structure in one direction of the cleaning robot for floating photovoltaic panels provided by an embodiment of the utility model after removing the left fixing plate, the first roller brush cleaning assembly and the second roller brush cleaning assembly.
[0037] Figure 8 This is a schematic diagram of the three-dimensional structure in another direction of the cleaning robot for floating photovoltaic panels provided by an embodiment of the present invention after removing the left fixing plate, the first roller brush cleaning assembly and the second roller brush cleaning assembly.
[0038] Figure 9 A schematic diagram of the three-dimensional structure of the inverted U-shaped installation space, the first left tensioning wheel and the first right tensioning wheel provided in an embodiment of the present utility model.
[0039] Figure 10 This is a schematic diagram of the three-dimensional structure of the left fixed plate, the left crawler, the left fixed plate and the right crawler provided in an embodiment of the utility model.
[0040] Figure 11 This is a schematic diagram of the three-dimensional structure of the body, the first roller brush cleaning assembly and the second roller brush cleaning assembly provided in an embodiment of the present utility model.
[0041] Figure 12 for Figure 11 Schematic diagram of the enlarged structure at position A in the middle.
[0042] Figure 13 for Figure 11 Schematic diagram of the enlarged structure at position B in the middle.
[0043] Figure 14 for Figure 11 Schematic diagram of the enlarged structure at position C in the middle.
[0044] Figure 15 for Figure 11 Schematic diagram of the enlarged structure at position D in the middle. DETAILED DESCRIPTION
[0045] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the utility model for protection, but merely represents selected embodiments of the present invention. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.
[0046] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0047] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in this utility model based on specific circumstances.
[0048] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.
[0049] like Figures 1 to 15As shown: a cleaning robot for floating photovoltaic panels on the water surface according to an embodiment of the present invention, the cleaning robot includes a body 100, a first roller brush cleaning assembly 110 and a second roller brush cleaning assembly 120 are respectively provided at the middle bottom end and the rear end of the body 100, and a left crawler drive assembly 200 and a right crawler drive assembly 300 are respectively provided on both sides of the body 100. The cleaning robot moves under the drive of the left crawler drive assembly 200 and the right crawler drive assembly 300, and cleans the floating photovoltaic panels on the water surface by using the first roller brush cleaning assembly 110 and the second roller brush cleaning assembly 120;
[0050] The left crawler drive assembly 200 includes a left crawler 201, a left driving wheel 202, a left synchronous wheel 203, a first left tensioning wheel 204, a second left tensioning wheel 205 and a left fixing plate 206, wherein:
[0051] The left driving wheel 202 is located above the rear end of the left crawler 201, and the plurality of left synchronous wheels 203 are located at the bottom of the left crawler 201; the left fixing plate 206 is located on the outside of the left crawler 201, and the left fixing plate 206 is fixedly connected to the left side wall of the fuselage 100, and the bottom middle position of the left fixing plate 206 is concave to form a first recess 207, and the two first left tensioning wheels 204 are located at the top of the first recess 207, and the first left tensioning wheels 204 abut against the outer side wall below the left crawler 201, that is, the middle part of the lower side of the left crawler 201 is abutted upward by the two first left tensioning wheels 204 to form a first accommodating space 266, the second left tensioning wheel 205 is located below the left driving wheel 202, and the second left tensioning wheel 205 abuts against the outer side wall behind the left crawler 201;
[0052] The right crawler drive assembly 300 includes a right crawler 301, a right driving wheel 302, a right synchronous wheel 303, a first right tensioning wheel 304, a second right tensioning wheel 305 and a right fixing plate 306, wherein:
[0053] The right driving wheel 302 is located above the rear end of the right crawler 301, and the plurality of right synchronous wheels 303 are located at the bottom of the right crawler 301; the right fixing plate 306 is located on the outside of the right crawler 301, and the right fixing plate 306 is fixedly connected to the right wall of the fuselage 100, and the middle position of the bottom of the right fixing plate 306 is concave to form a second recess 307, the two first right tensioning wheels 304 are located at the top of the second recess 307, and the first right tensioning wheels 304 are abutted against the outer side wall below the right crawler 301, that is, the middle part of the lower side of the right crawler 301 is abutted upwards by the two second left tensioning wheels 304 to form a second accommodating space 377, the second right tensioning wheel 305 is located below the right driving wheel 302, and the second right tensioning wheel 305 is abutted against the outer side wall behind the right crawler 301;
[0054] A guide mechanism is provided at the front end of the fuselage 100, comprising a first left obstacle-crossing guide pulley 121, a second left obstacle-crossing guide pulley 122, a first right obstacle-crossing guide pulley 131, and a second right obstacle-crossing guide pulley 132. The first left obstacle-crossing guide pulley 121 is disposed above the left front end of the fuselage 100 via a first fixed shaft 123, and is located above the inner front end of the left crawler 201. The second left obstacle-crossing guide pulley 122 is disposed at the left front end of the fuselage 100 via a second fixed shaft 124, and is located rearward and below the first left obstacle-crossing guide pulley 121. The angle between the line connecting the first fixed shaft 123 and the second fixed shaft 124 and the horizontal plane is 45°-60°.
[0055] The first right obstacle-crossing guide pulley 131 is disposed above the right front end of the fuselage 100 via a third fixed shaft 133, and is located above the inner front end of the right crawler 301. The second right obstacle-crossing guide pulley 132 is disposed at the right front end of the fuselage 100 via a fourth fixed shaft 134, and is located rearward and below the first right obstacle-crossing guide pulley 131. The angle between the line connecting the third fixed shaft 133 and the fourth fixed shaft 134 and the horizontal plane is 45°-60°.
[0056] A groove 101 is laterally provided at the middle bottom end of the fuselage 100, and the groove 101 is connected to the first recess 207 and the second recess 307 through the first accommodating space 266 and the second accommodating space 377 respectively, and the groove 101, the first accommodating space 266, the second accommodating space 377, the first recess 207 and the second recess 307 form an inverted U-shaped installation space 102, and the first roller brush cleaning assembly 110 is located in the inverted U-shaped installation space 102.
[0057] The front end of the left fixing plate 206 is provided with a first left connecting hole 208 and a second left connecting hole 209. The left end of the first fixing shaft 123 is set in the first left connecting hole 208, and the right end of the first fixing shaft 123 is fixedly set on the left side wall of the fuselage 100. Through the above design, the early installation and later disassembly and maintenance of the first fixing shaft 123 are facilitated, and at the same time, the firmness of the combination of the first fixing shaft 123 and the fuselage 100 can be improved, and the safety and reliability are improved.
[0058] The left end of the second fixing shaft 124 is disposed within the second left connecting hole 209, and the right end of the second fixing shaft 124 is fixedly mounted on the left side wall of the body 100. This design facilitates the initial installation, subsequent removal, and maintenance of the second fixing shaft 124, while also enhancing the secure connection between the second fixing shaft 124 and the body 100, further improving safety and reliability.
[0059] The front end of the right fixing plate 306 is provided with a first right connecting hole 308 and a second right connecting hole 309, the right end of the third fixing shaft 133 is set in the first right connecting hole 208, and the left end of the third fixing shaft 133 is fixedly set on the right side wall of the fuselage 100; through the above design, the early installation and later disassembly and maintenance of the third fixing shaft 133 are facilitated, and at the same time, the firmness of the combination of the third fixing shaft 133 and the fuselage 100 can be improved, and the safety and reliability are further improved.
[0060] The right end of the fourth fixing shaft 134 is disposed within the second right connecting hole 309, and the left end of the fourth fixing shaft 134 is fixed to the right side wall of the fuselage 100. This design facilitates the initial installation, subsequent removal, and maintenance of the fourth fixing shaft 134, while also enhancing the firmness of the connection between the fourth fixing shaft 134 and the fuselage 100, further improving safety and reliability.
[0061] The middle part of the left fixing plate 206 is located at the front and rear sides of the first recess 207, and a third left connecting hole 210 is provided. A first mounting bracket 211 is fixedly provided on the fuselage 100 at the bottom left side of the groove 101. A first mounting hole (not shown in the figure) is provided on the first mounting bracket 211 at a position corresponding to the third left connecting hole 210. A first left connecting shaft 213 is installed between the third left connecting hole 210 and the first mounting hole. The first left tensioning wheel 204 is installed on the first left connecting shaft 213 to facilitate early installation and later disassembly and maintenance.
[0062] A fourth left connecting hole 214 and a fifth left connecting hole 215 are respectively provided above and below the rear portion of the left fixing plate 206. The left end of the left driving shaft 216 in the left driving wheel 202 is provided in the fourth left connecting hole 214, and the left end of the second left connecting shaft 217 in the second left tensioning wheel 205 is provided in the fifth left connecting hole 215, so as to facilitate early installation and later disassembly and maintenance.
[0063] The middle part of the right side fixing plate 306 is located at the front and rear sides of the second recess 307, and a third right side connecting hole 310 is provided. A second mounting bracket 212 is fixedly provided on the fuselage 100 at the bottom right side of the groove 101. A second mounting hole (not shown in the figure) is provided at a position corresponding to the third right side connecting hole 310 on the second mounting bracket 212. A first right side connecting shaft 313 is installed between the third right side connecting hole 310 and the second mounting hole. The first right side tensioning wheel 304 is installed on the first right side connecting shaft 313 to facilitate early installation and later disassembly and maintenance.
[0064] A fourth right connecting hole 314 and a fifth right connecting hole 315 are respectively provided above and below the rear portion of the right fixing plate 306. The right end of the right driving shaft 316 in the right driving wheel 302 is provided in the fourth right connecting hole 314, and the right end of the second right connecting shaft 317 in the second right tensioning wheel 305 is provided in the fifth right connecting hole 315, which facilitates early installation and later disassembly and maintenance.
[0065] The first roller brush cleaning assembly 110 includes a first left fixing frame 111, a first right fixing frame 112, a first rotating shaft 113, a first brush 114, a first transmission shaft 115, a first drive motor 116 and a first transmission box 117, wherein: the right end of the first left fixing frame 111 is fixedly arranged on the left side wall of the left fixing plate 206, the left end of the first right fixing frame 112 is fixedly arranged on the right side wall of the right fixing plate 306, and the two ends of the first rotating shaft 113 are rotatably mounted on the left fixing plate 206 and the right fixing plate 306 respectively. On the fixed plate 306, the first brush 114 is evenly fixed on the circumferential direction of the outer wall of the first rotating shaft 113, and the first rotating shaft 113 and the first brush 114 are both located in the inverted U-shaped installation space 102. The first transmission shaft 115 rotates under the drive of the first drive motor 116, so that the first transmission shaft 115 drives the first rotating shaft 113 to rotate through the first transmission box 117. The first brush 114 performs the first cleaning operation on the floating photovoltaic panel on the water surface under the rotation of the first rotating shaft 113.
[0066] The second roller brush cleaning assembly 120 includes a roller brush support frame 183, and a first hook portion 184 and a second hook portion 185 are fixedly provided on the left and right sides of the front end of the roller brush support frame 183, wherein:
[0067] A first hooking groove 191 and a first hooking limiting recess 192 are provided on the first hooking portion 184, and a first left hooking shaft 193 and a second left hooking shaft 194 are fixedly provided on the left side of the rear side wall of the fuselage 100, the first left hooking shaft 193 is adapted to the first hooking groove 191, and the second left hooking shaft 194 is adapted to the first hooking limiting recess 192; at the same time, the left ends of the first left hooking shaft 193 and the second left hooking shaft 194 are respectively fixed on the left fixing plate 206, thereby improving safety and reliability.
[0068] The second hook portion 185 is provided with a second hook groove 195 and a second hook limiting recess 196. A first right hook shaft 197 and a second right hook shaft 198 are fixedly provided on the right side of the rear side wall of the body 100. The first right hook shaft 197 is adapted to fit within the second hook groove 195, and the second right hook shaft 198 is adapted to fit within the second hook limiting recess 196. Furthermore, the right ends of the first right hook shaft 197 and the second right hook shaft 198 are respectively fixed to the right fixing plate 306, thereby improving safety and reliability.
[0069] The second roller brush cleaning assembly 120 further includes a second rotating shaft 141, a second brush 142, a second transmission shaft 143, a second driving motor 144 and a second transmission box 145, wherein:
[0070] The two ends of the second rotating shaft 141 are rotatably connected to the two ends of the roller brush support frame 183, and the second brush 142 is evenly fixed on the circumferential direction of the outer wall of the second rotating shaft 141. The second transmission shaft 143 rotates under the drive of the second drive motor 144, so that the second transmission shaft 143 drives the second rotating shaft 142 to rotate through the second transmission box 145. The second brush 142 performs a second cleaning operation on the floating photovoltaic panel on the water surface under the rotation of the second rotating shaft 141.
[0071] The roller brush mechanism mounted on the photovoltaic cleaning robot (that is, the first roller brush cleaning assembly 110 and the second roller brush cleaning assembly 120) must be able to move smoothly and reliably and smoothly cross the height difference between the two connected floating photovoltaic panels (due to the weight of the machine itself, the height difference between the two connected panels is usually 20-25CM). The front end of the fuselage 100 must have a guide mechanism. If only an inclined skateboard or an undriven belt pulley is added to cross the floating photovoltaic panel, it will inevitably cause backward resistance. This will cause the thrust of the interaction between the front and rear photovoltaic panels during crossing, resulting in the gap between the two photovoltaic panels to increase, and at the same time, the forward movement will be hindered. Therefore, there cannot be sliding friction between the crossing guide mechanism and the photovoltaic panel to be crossed.
[0072] There must be an obstacle-crossing guide pulley in front of the fuselage 100. In addition, the obstacle-crossing track that plays a guiding role must have an obstacle-crossing slope. The obstacle-crossing track must have rolling friction with the photovoltaic panel to be crossed. In this way, because of the rolling friction between the crossing guide mechanism and the photovoltaic panel to be crossed, no relative thrust and resistance will be generated, thereby ensuring smooth walking.
[0073] This guiding mechanism must be integral to the fuselage 100 and the drive tracks that propel the fuselage 100. This same track drives the fuselage 100 and also serves as the obstacle-crossing guide wheel. This single drive system achieves both fuselage drive and guidance. Having ensured the fuselage's stable and reliable obstacle crossing, how do the two 1.3-meter-long roller brushes overcome obstacles? If a roller brush assembly is mounted at the front and rear of the fuselage, then a guiding mechanism must be added to the front brush assembly. Obstacle crossing for this front brush assembly presents another challenge. Adding additional obstacle-crossing mechanisms increases cost and weight, while also increasing the risk of obstacle crossing.
[0074] The embodiment of the present invention provides a cleaning robot for photovoltaic panels floating on the water surface, which cleverly arranges the front roller brush assembly (i.e., the first roller brush cleaning assembly 110) in the middle of the fuselage 100, opens a groove in the middle of the fuselage 100 and the driving component, and uses two middle track tensioning wheel shafts to support the track in the middle of the fuselage to form a U-shaped installation space 102, and the first roller brush cleaning assembly 110 is arranged in this U-shaped installation space 102. This roller brush assembly is located in the middle of the fuselage 100, and has driving tracks (i.e., the left track 201 and the right track 301) pressing on the photovoltaic panel at the front and rear. When this roller brush assembly crosses the photovoltaic panels, the fuselage 100 is placed exactly between the two photovoltaic panels. The two connected photovoltaic panels bear roughly the same weight of the photovoltaic cleaning robot equipment. At this time, the two photovoltaic panels are V-shaped and there is no height difference between them. The roller brush assembly in the middle will not encounter the height difference obstacle of the photovoltaic panels.
[0075] The embodiment of the present invention provides a cleaning robot for photovoltaic panels floating on the water surface. In order to achieve a better cleaning effect, in addition to the front side roller brush assembly for cleaning once, a rear side roller brush assembly (that is, the second roller brush cleaning assembly 120) is added behind the fuselage 100 for a second cleaning. The rear side roller brush assembly can be separated from the fuselage 100 and is an independent assembly part. It can be hung on the hook shaft (that is, the first left hook shaft 193, the second left hook shaft 194, the first right hook shaft 197 and the second right hook shaft 198) at the tail of the fuselage 100 at any time. The upper hook shaft (that is, the first left hook shaft 1 93 and the first right hook shaft 197) play a role in rotational positioning, and the lower hook shaft (that is, the second left hook shaft 194 and the second right hook shaft 198) plays a limiting role and can rotate upward. When the photovoltaic cleaning robot finishes walking on a photovoltaic panel and crosses to the previous photovoltaic panel, the rear photovoltaic panel floats upward and the rear roller brush assembly is also lifted up. Because the rear roller brush assembly is close to the fuselage 100 and the last synchronous wheel of the fuselage, when the last synchronous wheel of the fuselage finishes walking on a photovoltaic panel, the rear roller brush assembly is also 40MM away from finishing walking on this photovoltaic panel. When this photovoltaic panel floats and rises, the rear roller brush assembly also crosses this photovoltaic panel.
[0076] The cleaning robot for floating photovoltaic panels provided by the present invention has the following advantages:
[0077] 1. The guiding mechanism for crossing the obstacle is designed to be integrated with the machine body, and is driven by the same crawler as the driving crawler. When crossing an obstacle, the guiding crawler (i.e. the left crawler 201 and the right crawler 301) and the floating photovoltaic panels are subjected to forward rolling friction, which ensures that the entire machine body can cross the obstacle smoothly and reliably.
[0078] 2. The front roller brush assembly is cleverly designed in the middle of the machine body, so that the left crawler 201 and the rear crawler 301 of the front roller brush assembly bear the weight and press on the photovoltaic panels. When the front roller brush assembly passes through the two photovoltaic panels, the machine will just make the two photovoltaic panels flat or form a large-angle V-shaped surface. The front roller brush assembly can smoothly cross the obstacles and always clean the photovoltaic panels.
[0079] 3. The rear roller brush assembly is an independent component that can be hung on the hook shaft at the rear of the fuselage at any time. The rear roller brush assembly can rotate upward around the hook shaft. Because the rear roller brush assembly is close to the last synchronous wheel of the fuselage, when the fuselage passes over the previous photovoltaic panel, the rear roller brush assembly is also close to passing over this side. Even if the previous panel floats up at this time, it will not affect the normal passage of the rear roller brush assembly and can completely clean the photovoltaic panel. Under two complete cleanings, the cleaning efficiency can be ensured;
[0080] 4. Because the guide mechanism and the driving mechanism of the fuselage are designed as a whole, the structure is compact and the overall weight can be controlled within 35Kg, so it can be freely transported and moved even on the floating water surface.
[0081] Finally, it should be noted that the embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention 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 deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.
Claims
1. A cleaning robot for floating photovoltaic panels on water surfaces, characterized by: The cleaning robot includes a body, a first roller brush cleaning assembly and a second roller brush cleaning assembly are respectively provided at the middle bottom end and the rear end of the body, and a left crawler drive assembly and a right crawler drive assembly are respectively provided on both sides of the body. The cleaning robot moves under the drive of the left crawler drive assembly and the right crawler drive assembly, and cleans the floating photovoltaic panels on the water surface by using the first roller brush cleaning assembly and the second roller brush cleaning assembly; The left crawler drive assembly includes a left crawler, a left driving wheel, a left synchronous wheel, a first left tensioning wheel, a second left tensioning wheel and a left fixed plate, wherein: The left driving wheel is located above the rear end of the left crawler, and the plurality of left synchronous wheels are located at the bottom of the left crawler; the left fixing plate is located on the outside of the left crawler, and the left fixing plate is fixedly connected to the left side wall of the fuselage, and the middle position of the bottom of the left fixing plate is concave to form a first recess, two first left tensioning wheels are located at the top of the first recess, and the first left tensioning wheel abuts against the outer side wall below the left crawler, the second left tensioning wheel is located below the left driving wheel, and the second left tensioning wheel abuts against the outer side wall behind the left crawler; The right crawler drive assembly includes a right crawler, a right drive wheel, a right synchronous wheel, a first right tensioning wheel, a second right tensioning wheel and a right fixed plate, wherein: The right driving wheel is located above the rear end of the right crawler, and the plurality of right synchronous wheels are located at the bottom of the right crawler; the right fixing plate is located on the outside of the right crawler, and the right fixing plate is fixedly connected to the right wall of the fuselage, and the middle position of the bottom of the right fixing plate is concave to form a second recess, the two first right tensioning wheels are located at the top of the second recess, and the first right tensioning wheel abuts against the outer side wall below the right crawler, the second right tensioning wheel is located below the right driving wheel, and the second right tensioning wheel abuts against the outer side wall behind the right crawler; A guide mechanism is provided at the front end of the fuselage, the guide mechanism comprising a first left-side obstacle-crossing guide pulley, a second left-side obstacle-crossing guide pulley, a first right-side obstacle-crossing guide pulley, and a second right-side obstacle-crossing guide pulley; the first left-side obstacle-crossing guide pulley is arranged above the left-side front end of the fuselage via a first fixed shaft, and the first left-side obstacle-crossing guide pulley is located above the inner front end of the left crawler; the second left-side obstacle-crossing guide pulley is arranged at the left-side front end of the fuselage via a second fixed shaft, and the second left-side obstacle-crossing guide pulley is located at the rear side below the first left-side obstacle-crossing guide pulley; and the angle between the line connecting the first fixed shaft and the second fixed shaft and the horizontal plane is 45°-60°; The first right obstacle-crossing guide pulley is arranged above the right front end of the fuselage via a third fixed shaft, and the first right obstacle-crossing guide pulley is located above the inner front end of the right crawler. The second right obstacle-crossing guide pulley is arranged at the right front end of the fuselage via a fourth fixed shaft, and the second right obstacle-crossing guide pulley is located at the rear side below the first right obstacle-crossing guide pulley. The angle between the line connecting the third fixed shaft and the fourth fixed shaft and the horizontal plane is 45°-60°. A groove is laterally arranged at the bottom middle end of the fuselage, and the groove is respectively connected with the first recess and the second recess, and the groove, the first recess and the second recess form an inverted U-shaped installation space, and the first roller brush cleaning assembly is located in the inverted U-shaped installation space.
2. The cleaning robot for floating photovoltaic panels on water surface according to claim 1, characterized in that: A first left connecting hole and a second left connecting hole are provided at the front end of the left fixing plate, a left end of the first fixing shaft is provided in the first left connecting hole, and a right end of the first fixing shaft is fixedly provided on the left side wall of the fuselage; The left end of the second fixing shaft is arranged in the second left connecting hole, and the right end of the second fixing shaft is fixedly arranged on the left side wall of the fuselage.
3. The cleaning robot for floating photovoltaic panels on water surface according to claim 1, characterized in that: A first right connecting hole and a second right connecting hole are provided at the front end of the right fixing plate, a right end of the third fixing shaft is provided in the first right connecting hole, and a left end of the third fixing shaft is fixedly provided on the right side wall of the fuselage; The right end of the fourth fixing shaft is arranged in the second right connecting hole, and the left end of the fourth fixing shaft is fixedly arranged on the right side wall of the fuselage.
4. The cleaning robot for floating photovoltaic panels on water surface according to claim 1, characterized in that: The middle part of the left fixing plate is located at the front and rear sides of the first recess, and a third left connecting hole is provided. A first mounting bracket is fixedly provided on the fuselage at the left side of the bottom of the groove. A first mounting hole is provided at a position corresponding to the third left connecting hole on the first mounting bracket. A first left connecting shaft is installed between the third left connecting hole and the first mounting hole, and the first left tensioning wheel is installed on the first left connecting shaft.
5. The cleaning robot for floating photovoltaic panels on water surface according to claim 1, characterized in that: A fourth left connecting hole and a fifth left connecting hole are respectively provided above and below the rear portion of the left fixing plate, the left end of the left driving shaft in the left driving wheel is provided in the fourth left connecting hole, and the left end of the second left connecting shaft in the second left tensioning wheel is provided in the fifth left connecting hole.
6. The cleaning robot for floating photovoltaic panels on water surface according to claim 1, characterized in that: The middle part of the right fixing plate is located on the front and rear sides of the second recess, and a third right connecting hole is provided. A second mounting bracket is fixedly provided on the fuselage on the right side of the bottom of the groove. A second mounting hole is provided at a position corresponding to the third right connecting hole on the second mounting bracket. A first right connecting shaft is installed between the third right connecting hole and the second mounting hole, and the first right tensioning wheel is installed on the first right connecting shaft.
7. The cleaning robot for floating photovoltaic panels on water surface according to claim 1, characterized in that: A fourth right connecting hole and a fifth right connecting hole are respectively provided above and below the rear portion of the right fixing plate, the right end of the right driving shaft in the right driving wheel is provided in the fourth right connecting hole, and the right end of the second right connecting shaft in the second right tensioning wheel is provided in the fifth right connecting hole.
8. The cleaning robot for floating photovoltaic panels on water surface according to claim 1, characterized in that: The first roller brush cleaning assembly includes a first left fixing frame, a first right fixing frame, a first rotating shaft, a first brush, a first transmission shaft, a first drive motor and a first transmission box, wherein: the right end of the first left fixing frame is fixedly arranged on the left wall of the left fixing plate, the left end of the first right fixing frame is fixedly arranged on the right wall of the right fixing plate, and the two ends of the first rotating shaft are rotatably mounted on the left fixing plate and the right fixing plate respectively; The first brush is evenly fixed on the circumferential direction of the outer wall of the first rotating shaft, and the first rotating shaft and the first brush are both located in the inverted U-shaped installation space. The first transmission shaft rotates under the drive of the first drive motor, so that the first transmission shaft drives the first rotating shaft to rotate through the first transmission box. The first brush performs the first cleaning operation on the floating photovoltaic panel on the water surface under the rotation of the first rotating shaft.
9. The cleaning robot for floating photovoltaic panels on water surface according to claim 1, characterized in that: The second roller brush cleaning assembly includes a roller brush support frame, and a first hook portion and a second hook portion are fixedly provided on the left and right sides of the front end of the roller brush support frame, wherein: The first hooking portion is provided with a first hooking groove and a first hooking limiting recess, and a first left hooking shaft and a second left hooking shaft are fixedly provided on the left side of the rear side wall of the fuselage, the first left hooking shaft is adapted to the first hooking groove, and the second left hooking shaft is adapted to the first hooking limiting recess; A second hooking groove and a second hooking limiting recess are provided on the second hooking portion, and a first right hooking shaft and a second right hooking shaft are fixedly provided on the right side of the rear side wall of the fuselage, the first right hooking shaft is adapted to the second hooking groove, and the second right hooking shaft is adapted to the second hooking limiting recess.
10. The cleaning robot for floating photovoltaic panels on water surface according to claim 9, characterized in that: The second roller brush cleaning assembly further includes a second rotating shaft, a second brush, a second transmission shaft, a second drive motor and a second transmission box, wherein: The two ends of the second rotating shaft are rotatably connected to the two ends of the roller brush support frame, the second brush is evenly fixed on the circumferential direction of the outer wall of the second rotating shaft, and the second transmission shaft rotates under the drive of the second drive motor, so that the second transmission shaft drives the second rotating shaft to rotate through the second transmission box, and the second brush performs a second cleaning operation on the floating photovoltaic panel on the water surface under the rotation of the second rotating shaft.