Self-adjusting photovoltaic panel cleaning robot

Abstract

The utility model relates to the technical field of photovoltaic panel cleaning equipment, and discloses a self-adjusting photovoltaic panel cleaning robot which comprises a cleaning robot body and walking assemblies, the walking assemblies are arranged on the two sides of the bottom of the cleaning robot body, and side plates are arranged at the two ends of the cleaning robot body. The two side plates are each provided with a plurality of independent retraction assemblies, positioning guide wheels are connected to the independent retraction assemblies, and infrared sensors used for detecting advancing deviation of the cleaning robot are further arranged at the two ends of the cleaning robot body. Due to the arrangement of the independent retraction assembly, each positioning guide wheel can retract, when the positioning guide wheels meet an obstacle, the positioning guide wheels can be pushed backwards and press the shock absorbers, the shock absorbers are compressed and store energy until the positioning guide wheels cross the obstacle, and the positioning guide wheels can move back and forth under the action of resilience of the shock absorbers. In this way, the robot can be prevented from inclining and being clamped.

Description

TECHNICAL FIELD

[0001] The utility model relates to photovoltaic panel cleaning equipment technical field, concretely is a kind of self-adjusting photovoltaic panel cleaning robot. BACKGROUND

[0002] Solar photovoltaic panel assembly is the core part in solar power generation system, it can convert solar energy into electric energy, solar photovoltaic panel is covered with a layer of dust after using a period of time, at this time it needs to use cleaning robot to clean.

[0003] When cleaning, the robot is half-sheathed on the photovoltaic panel frame, so that the robot moves linearly along the photovoltaic panel, and the positioning guide wheels at the four corners of the robot are closely attached to the two sides of the photovoltaic panel frame to ensure the stable movement of the robot and position it, thereby preventing the robot from sliding or deviating during cleaning.

[0004] However, photovoltaic panels are mostly made up of multiple pieces and placed side by side, which may have up-down misalignment, side surface protrusion, etc., and the positioning guide wheels are fixed at the four corners of the robot, which may cause the robot to be partially blocked during operation, and thus the robot may tilt, which may cause the robot to be stuck, slip, etc., or even damage the robot or the photovoltaic panel. To solve the above problems, we propose a self-adjusting photovoltaic panel cleaning robot. UTILITY MODEL CONTENT

[0005] The utility model aims to provide a kind of self-adjusting photovoltaic panel cleaning robot, to solve the problem that robot is partially blocked during operation, makes robot tilt, causes robot to be stuck, slip, even causes robot or photovoltaic panel damage.

[0006] To achieve the above object, the utility model provides the following technical scheme: a kind of self-adjusting photovoltaic panel cleaning robot, including cleaning robot main body and walking component, the walking component is set to the both sides of the bottom of the cleaning robot main body, the both ends of the cleaning robot main body are equipped with edge board, the bottom of the edge board is extended to the lower edge of photovoltaic panel frame, the inner wall of two edge boards is equipped with multiple independent retraction components, multiple independent retraction components are all connected with the positioning guide wheel that is resisted with photovoltaic panel frame, the both ends of cleaning robot main body are also equipped with infrared sensor for detecting the deviation of cleaning robot.

[0007] According to the above technical scheme, the independent retraction component is transversely equidistantly arranged along the side wall of the edge plate, and the positioning guide wheel is provided with a guide member connected with the independent retraction component on one side.

[0008] According to the above technical scheme, the guide member is a guide wheel rotatably connected with the independent retraction component, and the guide wheel is arranged on the side of the independent retraction component away from the edge plate.

[0009] According to the technical scheme, the independent retraction assembly comprises a swing arm hinged to the side plate, the positioning guide wheel is rotationally connected to an end of the swing arm, and an outer wall of the swing arm is hinged to a shock absorber hinged to the side plate.

[0010] According to the technical scheme, the swing arm and the side plate are hinged through a hinged lug plate, and a limiting piece is arranged on the hinged lug plate.

[0011] According to the technical scheme, the middle part of the inner wall of the cleaning robot body is fixedly connected with a partition plate, the walking assembly comprises a driving walking wheel rotationally connected in the cleaning robot body, a side wall of the partition plate is rotationally connected with a driven walking wheel, and the driving walking wheel and the driven walking wheel are coaxially transmissionally connected through an optical axis.

[0012] According to the technical scheme, the cleaning robot body is further rotationally connected with an auxiliary wheel.

[0013] According to the technical scheme, the number of unilateral positioning guide wheels 6 is greater than 3.

[0014] Compared with the prior art, the cleaning robot has the beneficial effects that:

[0015] The independent retraction assembly is arranged, so that each positioning guide wheel can be independently retracted, when the positioning guide wheel meets foreign matter, or meets two photovoltaic panels which are misaligned in up-down direction and the second photovoltaic panel is higher than the first photovoltaic panel, the positioning guide wheel is pushed backward, and the shock absorber is pressed to be compressed and store energy, until the positioning guide wheel passes the obstacle, the positioning guide wheel continues to abut against the frame edge of the photovoltaic panel under the rebounding action of the shock absorber, so that the robot can be prevented from being tilted and stuck.

[0016] The infrared sensors for detecting the deviation of the cleaning robot are arranged on the two sides of the bottom of the cleaning robot body, the distance from each to the edge of the photovoltaic panel frame is detected to determine whether the robot is tilted, and the two independently operated walking assemblies are matched, so that the advancing direction of the cleaning robot can be corrected in time, the cleaning robot advances along the straight line direction of the photovoltaic panel in the transverse direction, and the robot can be prevented from being tilted during the advancing process and stuck. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is the overall structure schematic view of the cleaning robot of the utility model;

[0018] Figure 2 is the schematic view of the novel cleaning robot of the utility model when the first photovoltaic panel and the second photovoltaic panel are misaligned in up-down direction;

[0019] Figure 3is the schematic view of the novel cleaning robot when the first photovoltaic panel and the second photovoltaic panel are aligned.

[0020] Figure 4 is the novel cleaning robot Figure 3 A part enlarged schematic view in the middle;

[0021] Figure 5 is the novel cleaning robot Figure 2 B part enlarged schematic view in the middle.

[0022] In the drawing: 1, cleaning robot main body; 2, execution area; 3, walking assembly; 31, driving walking wheel; 32, driven walking wheel; 33, optical axis; 34, auxiliary wheel; 4, infrared sensor; 5, side plate; 6, positioning guide wheel; 7, independent retraction assembly; 71, swing arm; 72, shock absorber; 73, hinged lug plate; 81, guide wheel; 9, partition plate; 100, first photovoltaic panel; 200, second photovoltaic panel. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0024] Please refer to Figures 1-5 The present application provides a technical solution:

[0025] A self-adjusting photovoltaic panel cleaning robot, comprising a cleaning robot main body 1 and a walking assembly 3, both ends of the cleaning robot main body 1 are provided with an execution area 2, a central processing unit CPU is arranged in the execution area 2, responsible for receiving signals from various sensors and input devices, and issuing instructions to control the action of the cleaning robot, the walking assembly 3 is arranged on both sides of the bottom of the cleaning robot main body 1, both walking assemblies 3 are electrically connected with the central processing unit CPU and independently run.

[0026] Both ends of the cleaning robot main body 1 are provided with a side plate 5, the bottom of the side plate 5 extends to the lower edge of the photovoltaic panel frame, the opposite side of the two side plates 5 is provided with a plurality of independent retraction assemblies 7, the plurality of independent retraction assemblies 7 are connected with the positioning guide wheels 6 abutting against the photovoltaic panel frame, the plurality of positioning guide wheels 6 are tightly combined with the same side of the photovoltaic panel frame to ensure the stable movement of the robot and position it, thereby preventing the robot from sliding or deviating during cleaning.

[0027] When the robot travels to the left and the positioning guide wheel 6 encounters foreign matter, or travels to the two upper and lower misaligned photovoltaic panels and reaches the intersection of the two upper and lower misaligned photovoltaic panels, each positioning guide wheel 6 can be retracted or extended so as to pass over the obstacle or the surface with height difference, and after passing over, it is extended again and tightly fits the frame edge of the photovoltaic panel frame, preventing the robot from being partially blocked during operation, causing the robot to tilt, resulting in the robot being stuck, slipping, or even causing damage to the robot or the photovoltaic panel.

[0028] The two ends of the cleaning robot body 1 are also provided with infrared sensors 4 for detecting the deviation of the cleaning robot, which are arranged in the execution area 2 to prevent the robot from tilting during travel, causing the robot to be stuck.

[0029] Each side of the infrared sensor 4 is provided with two, arranged in front and back, which detect the distance from the photovoltaic panel frame edge to determine whether the robot is tilted, and by arranging two independently running walking assemblies 3, the central processing unit CPU can control one side of the walking assembly 3 or make the walking assemblies 3 on both sides produce a speed difference to correct the travel direction of the cleaning robot, i.e. make the cleaning robot travel in a direction parallel to the two side frames of the photovoltaic panel frame.

[0030] Specifically, the independent retraction assembly 7 is arranged transversely and equidistantly along the side wall of the edge plate 5, which can make the robot travel more stably, and one side of the positioning guide wheel 6 is provided with a guide member connected with the independent retraction assembly 7, when the photovoltaic panel frame on the opposite side is higher than the photovoltaic panel frame on this side, i.e. the second photovoltaic panel 200 is higher than the first photovoltaic panel 100, and the height difference is too large, the independent retraction assembly 7 can retract the positioning guide wheel 6 through the guidance of the guide member, preventing the positioning guide wheel 6 from being blocked by the second photovoltaic panel frame 200 with too large height difference, or interfering with the independent retraction assembly 7.

[0031] Specifically, the guide member is a guide wheel 81 rotatably connected with the independent retraction assembly 7, which is arranged on the side of the independent retraction assembly 7 away from the edge plate 5, and the guide wheel 81 is rotatably connected with the independent retraction assembly 7 through a hinged plate, when the photovoltaic panel frame on the opposite side is higher than the photovoltaic panel frame on this side, i.e. the second photovoltaic panel 200 is higher than the first photovoltaic panel 100, and the height difference is too large, as the robot advances, the second photovoltaic panel frame 200 on the opposite side will first contact the guide wheel 81, which can change the resistance into rotational force, causing the independent retraction assembly 7 to retract the positioning guide wheel 6.

[0032] Specifically, the independent retraction assembly 7 comprises a swing arm 71 hinged to the side plate 5, so that the swing arm 71 can swing around the side plate 5 as a fulcrum, the positioning guide wheel 6 is rotationally connected to the end of the swing arm 71, the positioning guide wheel 6 is arranged away from the side plate 5, and the outer wall of the swing arm 71 is hinged to a shock absorber 72 hinged to the side plate 5. When the photovoltaic panel frame on the opposite side is higher than the photovoltaic panel frame on the same side, i.e. the second photovoltaic panel 200 is higher than the first photovoltaic panel 100, the positioning guide wheel 6 will be pushed backward under the obstruction of the second photovoltaic panel 200 and press the shock absorber 72, so that the shock absorber 72 is compressed and stores energy until the positioning guide wheel 6 passes over the obstacle. Under the rebounding effect of the shock absorber 72, the positioning guide wheel 6 continues to abut against the frame of the photovoltaic panel, so that the robot can be prevented from tilting and being stuck.

[0033] Specifically, the swing arm 71 is hinged to the side plate 5 through a hinged lug plate 73, the hinged lug plate 73 is fixed to the side plate 5, and a limiting piece is further fixed to the hinged lug plate 73. The limiting piece can limit the swing limit of the swing arm 71, so as to prevent the distance between the positioning guide wheels 6 on both sides from being too small after cleaning a row of photovoltaic panels, i.e. after all the positioning guide wheels 6 are separated from the frame of the photovoltaic panel, which affects the cleaning of the next row.

[0034] Specifically, the middle part of the inner wall of the cleaning robot body 1 is fixedly connected with a partition plate 9, which plays a stabilizing role for the robot. The walking assembly 3 comprises a driving walking wheel 31 rotationally connected to the inside of the cleaning robot body 1. The execution area 2 is provided with a motor electrically connected to the central processing unit CPU. The output end of the motor is connected to the driving walking wheel 31 through a shaft coupling. The side wall of the partition plate 9 is rotationally connected with a driven walking wheel 32. The driving walking wheel 31 and the driven walking wheel 32 are coaxially connected through an optical shaft 33. The output end of the motor can drive the driving walking wheel 31 to rotate, and then drive the driven walking wheel 32 to rotate through the optical shaft 33, so that the driving walking wheel 31 and the driven walking wheel 32 drive the cleaning robot to walk on the photovoltaic panel.

[0035] Specifically, the cleaning robot body 1 is further rotationally connected with an auxiliary wheel 34, which improves the stability of the robot walking.

[0036] Specifically, the number of unilateral positioning guide wheels 6 is greater than 3, which increases the stability of the robot when passing over foreign matter or passing over two photovoltaic panels with up-down misalignment.

[0037] Working principle:

[0038] When cleaning the surface of the photovoltaic panel, the output end of the motor can drive the driving walking wheel 31 to rotate, and then drive the driven walking wheel 32 to rotate through the optical shaft 33, so that the driving walking wheel 31 and the driven walking wheel 32 drive the cleaning robot to walk on the photovoltaic panel, so as to clean the surface of the photovoltaic panel.

[0039] When the positioning guide wheel 6 encounters foreign matter, or the photovoltaic panel frame on the opposite side is higher than the photovoltaic panel frame on the current side, i.e. the second photovoltaic panel 200 is higher than the first photovoltaic panel 100, the positioning guide wheel 6 will be pushed backward under the obstruction of the second photovoltaic panel 200, and the shock absorber 72 will be pressed, so that the shock absorber 72 is compressed and stores energy, until the positioning guide wheel 6 passes the obstacle, under the rebound of the shock absorber 72, the positioning guide wheel 6 continues to abut against the frame of the photovoltaic panel, so that the robot can be prevented from tilting and being stuck.

[0040] It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, but can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced in the present application. Any reference signs in the claims should not be regarded as limiting the claims to which they relate.

[0041] In addition, it should be understood that, although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that those skilled in the art can understand.

Claims

1. A self-adjusting photovoltaic panel cleaning robot, comprising a cleaning robot body (1) and a walking assembly (3) arranged on both sides of the bottom of the cleaning robot body (1), characterized in that: Both ends of the cleaning robot body (1) are provided with side plates (5), the bottom of the side plate (5) extends to the lower edge of the photovoltaic panel frame, the inner wall of the two side plates (5) is provided with a plurality of independent retracting assemblies (7), a plurality of independent retracting assemblies (7) are connected with the positioning guide wheel (6) abutting against the photovoltaic panel frame, and both ends of the cleaning robot body (1) are also provided with an infrared sensor (4) for detecting the deviation of the cleaning robot.

2. The self-adjusting photovoltaic panel cleaning robot according to claim 1, wherein: The independent retracting assemblies (7) are arranged transversely and equidistantly along the side wall of the side plate (5), and one side of the positioning guide wheel (6) is provided with a guide element connected with the independent retracting assembly (7).

3. The self-adjusting photovoltaic panel cleaning robot according to claim 2, wherein: The guide element is a guide wheel (81) rotationally connected with the independent retracting assembly (7), and the guide wheel (81) is arranged on the side of the independent retracting assembly (7) away from the side plate (5).

4. The self-adjusting photovoltaic panel cleaning robot according to claim 1, wherein: The independent retracting assembly (7) comprises a swing arm (71) hinged with the side plate (5), the positioning guide wheel (6) is rotationally connected with the end of the swing arm (71), and the outer wall of the swing arm (71) is hinged with a shock absorber (72) hinged with the side plate (5).

5. The self-adjusting photovoltaic panel cleaning robot according to claim 4, wherein: The swing arm (71) and the side plate (5) are hinged through a hinged lug plate (73), and the hinged lug plate (73) is provided with a limiting element.

6. The self-adjusting photovoltaic panel cleaning robot according to claim 1, wherein: The middle part of the inner wall of the cleaning robot body (1) is fixedly connected with a partition plate (9), the walking assembly (3) comprises a driving walking wheel (31) rotationally connected in the cleaning robot body (1), the side wall of the partition plate (9) is rotationally connected with a driven walking wheel (32), and the driving walking wheel (31) and the driven walking wheel (32) are coaxially connected through an optical axis (33).

7. The self-adjusting photovoltaic panel cleaning robot according to claim 6, characterized in that: The cleaning robot body (1) is also rotationally connected with an auxiliary wheel (34).

8. The self-adjusting photovoltaic panel cleaning robot according to claim 1, wherein: The number of the positioning guide wheels (6) on one side is greater than 3.

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