Photovoltaic cleaning robot

Abstract

The utility model belongs to the technical field of photovoltaic panel cleaning, and discloses a photovoltaic cleaning robot which comprises a cleaning device and a crossing device, and the cleaning device comprises a walking mechanism and a cleaning mechanism connected with the walking mechanism; the crossing device comprises a translation mechanism connected with the walking mechanism and a lifting mechanism connected with the translation mechanism, the translation mechanism is used for driving the walking mechanism and the lifting mechanism to relatively move in the first direction, and the walking mechanism and the lifting mechanism relatively move in the first direction and have a first relative position and a second relative position; the lifting mechanism comprises two lifting assemblies arranged in the first direction in a spaced mode. The lifting assembly is used for driving the walking mechanism to be lifted to be separated from the photovoltaic panel or driving the walking mechanism to fall onto the photovoltaic panel. The photovoltaic cleaning robot provided by the utility model can span two photovoltaic panels with an interval.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic panel cleaning technology, and in particular to a photovoltaic cleaning robot. Background Technology

[0002] Solar panels need to be cleaned regularly to prevent dust from affecting power generation efficiency.

[0003] A photovoltaic array consists of multiple photovoltaic panels with gaps between them, which existing cleaning carts cannot cross. Typically, a bridge plate is installed between two photovoltaic panels with gaps to allow the cleaning cart to move, but this increases the cost of using and maintaining the rooftop photovoltaic panels. Alternatively, the cleaning cart can be manually moved from one photovoltaic panel to another, which increases labor costs and reduces cleaning efficiency. Utility Model Content

[0004] The purpose of this invention is to provide a photovoltaic cleaning robot that can automatically cross intervals, reduce costs, and improve cleaning efficiency.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A photovoltaic cleaning robot is provided, the photovoltaic cleaning robot comprising:

[0007] A cleaning device, comprising a walking mechanism and a cleaning mechanism connected to the walking mechanism;

[0008] The crossing device includes a translation mechanism connected to the walking mechanism and a lifting mechanism connected to the translation mechanism. The translation mechanism is used to drive the walking mechanism and the lifting mechanism to move relative to each other along a first direction. The walking mechanism and the lifting mechanism have a first relative position and a second relative position when moving relative to each other along the first direction. The lifting mechanism includes two lifting components spaced apart along the first direction. The lifting components are used to drive the walking mechanism to rise to separate from the photovoltaic panel, or to drive the walking mechanism to fall onto the photovoltaic panel.

[0009] At the first relative position, one of the two lifting components protrudes from the first end of the walking mechanism along the first direction;

[0010] At the second relative position, the other of the two lifting components protrudes from the second end of the walking mechanism along the first direction;

[0011] Wherein, the first direction is the direction of travel of the walking mechanism.

[0012] Optionally, the translation mechanism includes a frame disposed on the traveling mechanism, and the frame is slidably connected to the lifting mechanism along the first direction.

[0013] Optionally, the translation mechanism further includes a first guide rail disposed on the frame;

[0014] The lifting mechanism further includes a second guide rail, which is slidably connected to the first guide rail along the first direction. One of the two lifting components is connected to the first end of the second guide rail, and the other is connected to the second end of the second guide rail.

[0015] Optionally, one of the first guide rail and the second guide rail is provided with a guide groove extending along the first direction, and the other is provided with a guide strip extending along the first direction, the guide strip being slidably disposed within the guide groove.

[0016] Optionally, the frame is provided with the first guide rail on both sides along the second direction, and the second guide rail is provided in two parts and is slidably connected to the first guide rail in a one-to-one correspondence.

[0017] Optionally, the translation mechanism further includes:

[0018] An active pulley is rotatably mounted on the frame.

[0019] Driven pulley, rotatably mounted on the frame;

[0020] A timing belt is disposed between the driving pulley and the driven pulley, and the timing belt is connected to the second guide rail;

[0021] A drive motor is fixed to the frame and its drive end is connected to the drive pulley.

[0022] Optionally, the translation mechanism further includes a first clamping plate and a second clamping plate, the first clamping plate being connected to the second guide rail, and the synchronous belt being clamped between the first clamping plate and the second clamping plate.

[0023] Optionally, the lifting assembly includes two telescopic structures spaced apart along the second direction, the length of which is adjustable in the vertical direction;

[0024] The cleaning device is located between the two telescopic structures, and the second direction is perpendicular to the first direction and the vertical direction.

[0025] Optionally, the bottom of the telescopic structure is provided with a support pad.

[0026] Optionally, the support pad is provided with an air extraction hole, and the photovoltaic cleaning robot also includes a vacuum pump, which is mounted on the telescopic structure and connected to the air extraction hole.

[0027] Optionally, the telescopic structure of one of the two lifting components is connected to the ball joint of the support pad, and the telescopic structure of the other is fixedly connected to the support pad.

[0028] The beneficial effects of this utility model are as follows: When the photovoltaic cleaning robot provided by this utility model needs to cross two photovoltaic panels with a gap, the walking mechanism is initially located on the first photovoltaic panel, and the two lifting components are vertically opposite and separated from the first photovoltaic panel. First, the control translation mechanism drives the lifting mechanism to move relative to the walking mechanism in the first direction to the first relative position. At this time, one of the two lifting components protrudes from the first end of the walking mechanism in the first direction and is vertically opposite to the second photovoltaic panel, while the other is still vertically opposite to the first photovoltaic panel. Then, the control lifting component abuts against the opposite photovoltaic panel and lifts the walking mechanism until it is separated from the first photovoltaic panel. Then, the control translation mechanism drives the walking mechanism to move relative to the lifting mechanism in the first direction to the second relative position. At this time, the other of the two lifting components protrudes from the second end of the walking mechanism in the first direction, and the walking mechanism is vertically opposite to the second photovoltaic panel. Finally, the control lifting component disengages from the opposite photovoltaic panel, so that the walking mechanism lands on the second photovoltaic panel, completing the crossing action. This effectively reduces costs, improves cleaning efficiency, and the overall structure of the photovoltaic cleaning robot is compact. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the photovoltaic cleaning robot provided by this utility model from one perspective;

[0030] Figure 2 This is a schematic diagram of the photovoltaic cleaning robot provided by this utility model from another perspective;

[0031] Figure 3 This utility model provides a view of the process structure of a photovoltaic cleaning robot crossing two photovoltaic panels. Figure 1 ;

[0032] Figure 4 This utility model provides a view of the process structure of a photovoltaic cleaning robot crossing two photovoltaic panels. Figure 2 ;

[0033] Figure 5 This utility model provides a view of the process structure of a photovoltaic cleaning robot crossing two photovoltaic panels. Figure 3 ;

[0034] Figure 6 This utility model provides a view of the process structure of a photovoltaic cleaning robot crossing two photovoltaic panels. Figure 4 .

[0035] In the picture:

[0036] 10. Photovoltaic panels;

[0037] 100. Running gear; 110. Vehicle body; 120. Track wheels;

[0038] 200. Cleaning equipment; 210. Cleaning brushes;

[0039] 300. Translation mechanism; 310. Frame; 320. First guide rail; 321. Guide groove; 330. Synchronous belt; 340. Drive motor; 350. First clamping plate;

[0040] 400. Lifting mechanism; 410. Lifting assembly; 411. Telescopic structure; 412. Crossbeam; 413. Angle plate; 414. Support pad; 420. Second guide rail; 421. Guide bar. Detailed Implementation

[0041] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0042] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0043] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0044] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0045] Reference Figures 1 to 6 As shown in the figure, this embodiment provides a photovoltaic cleaning robot, which includes a cleaning device and a crossing device.

[0046] Specifically, the cleaning device includes a walking mechanism 100 and a cleaning mechanism 200 connected to the walking mechanism 100. The cleaning device can move via the walking mechanism 100, and the cleaning mechanism 200 is used to clean the photovoltaic panel 10. The walking mechanism 100 may use tracked wheels as its walking component to better adapt to walking on the photovoltaic panel.

[0047] Specifically, the crossing device includes a translation mechanism 300 connected to the walking mechanism 100 and a lifting mechanism 400 connected to the translation mechanism 300. The translation mechanism 300 is used to drive the walking mechanism 100 and the lifting mechanism 400 to move relative to each other along a first direction. The walking mechanism 100 and the lifting mechanism 400 have a first relative position and a second relative position when moving relative to each other along the first direction. The lifting mechanism 400 includes two lifting components 410 spaced apart along the first direction. The lifting components 410 are used to drive the walking mechanism 100 to rise to separate from the photovoltaic panel 10, or to drive the walking mechanism 100 to fall onto the photovoltaic panel 10. The first direction can be the direction of travel of the walking mechanism 100.

[0048] In the first relative position, one of the two lifting components 410 protrudes from the first end of the traveling mechanism 100 along the first direction. In the second relative position, the other of the two lifting components 410 protrudes from the second end of the traveling mechanism 100 along the first direction.

[0049] When the photovoltaic cleaning robot needs to cross two photovoltaic panels 10 with a gap, the walking mechanism 100 is initially positioned on the first photovoltaic panel 10, and the two lifting components 410 are vertically opposite and separated from the first photovoltaic panel 10. First, the control translation mechanism 300 drives the lifting mechanism 400 to move relative to the walking mechanism 100 in the first direction to the first relative position. At this time, as Figure 3 As shown, one of the two lifting components 410 protrudes from the first end of the traveling mechanism 100 along a first direction and is vertically opposite to the second photovoltaic panel 10, while the other is vertically opposite to the first photovoltaic panel 10; secondly, as Figure 4As shown, the control lifting assembly 410 abuts against the opposing photovoltaic panel 10 and raises the walking mechanism 100 until it separates from the first photovoltaic panel 10; then, the control translation mechanism 300 drives the walking mechanism 100 to move relative to the lifting mechanism 400 in the first direction to the second relative position. At this time, as shown... Figure 5 As shown, the other of the two lifting components 410 protrudes from the second end of the traveling mechanism 100 along the first direction, and the traveling mechanism 100 is vertically opposite the second photovoltaic panel 10; finally, as Figure 6 As shown, the control lifting component 410 detaches from the opposite photovoltaic panel 10 so that the walking mechanism 100 lands on the second photovoltaic panel 10, completing the crossing action, effectively reducing costs, improving cleaning efficiency, and the overall structure of the photovoltaic cleaning robot is compact.

[0050] For example, the walking mechanism 100 and the lifting mechanism 400, when moving relative to each other along the first direction, also have an intermediate position. In the intermediate position, neither of the two lifting components 410 protrudes from the walking mechanism 100 along the first direction, resulting in a compact structure. In some embodiments, in the intermediate position, both lifting components 410 may protrude from the walking mechanism 100 along the first direction. After the crossing action is completed, the lifting mechanism 400 can be reset to the intermediate position.

[0051] In this embodiment, reference is made to Figure 1 and Figure 2 As shown, the translation mechanism 300 includes a frame 310 mounted on the walking mechanism 100. The frame 310 is slidably connected to the lifting mechanism 400 along a first direction, so that the relative movement of the walking mechanism 100 and the lifting mechanism 400 along the first direction is stable and reliable.

[0052] In one feasible implementation, the translation mechanism 300 further includes a first guide rail 320 disposed on the frame 310; the lifting mechanism 400 further includes a second guide rail 420, which is slidably connected to the first guide rail 320 along a first direction. One of the two lifting components 410 is connected to the first end of the second guide rail 420, and the other is connected to the second end of the second guide rail 420. In this embodiment, both the first guide rail 320 and the second guide rail 420 have a large length along the first direction. Even if the contact area between the first guide rail 320 and the second guide rail 420 is reduced, the support of the first guide rail 320 and the second guide rail 420 for the traveling mechanism 100 and the lifting mechanism 400 remains stable and reliable.

[0053] For example, one of the first guide rail 320 and the second guide rail 420 is provided with a guide groove 321 extending in a first direction, and the other is provided with a guide bar 421 extending in the first direction. The guide bar 421 is slidably disposed in the guide groove 321 to facilitate the sliding connection between the first guide rail 320 and the second guide rail 420.

[0054] For example, the cross-sectional shape of the guide bar 421 and the guide groove 321 includes, but is not limited to, a T-shape or a cut circle.

[0055] In one feasible implementation, the frame 310 is provided with first guide rails 320 on both sides along the second direction, and two second guide rails 420 are provided and slidably connected to the first guide rails 320 one-to-one, so as to ensure a stable and reliable connection between the walking mechanism 100 and the lifting mechanism 400. The second direction is perpendicular to the first direction and the vertical direction.

[0056] In this embodiment, reference continues to be made to... Figure 1 and Figure 2 As shown, the translation mechanism 300 also includes a driving pulley (not shown), a driven pulley (not shown), a synchronous belt 330, and a drive motor 340. Both the driving and driven pulleys are rotatably mounted on the frame 310. The synchronous belt 330 is positioned between the driving and driven pulleys. The drive motor 340 is fixed to the frame 310, and its driving end is connected to the driving pulley. The synchronous belt 330 is connected to the second guide rail 420. The drive motor 340 drives the driving pulley to rotate, thereby moving the second guide rail 420 along a first direction via the synchronous belt 330, ensuring stable and reliable operation.

[0057] Specifically, the translation mechanism 300 also includes a first clamping plate 350 and a second clamping plate (not shown). The first clamping plate 350 is connected to the second guide rail 420, and a timing belt 330 is clamped between the first clamping plate 350 and the second clamping plate to facilitate the connection between the second guide rail 420 and the timing belt 330.

[0058] Of course, the translation mechanism 300 can also be set as an electric push rod or other drive mechanism, and this application does not limit it.

[0059] In this embodiment, reference continues to be made to... Figure 1 and Figure 2 As shown, the lifting assembly 410 includes two telescopic structures 411 spaced apart along the second direction, and the length of the telescopic structure 411 in the vertical direction is adjustable; wherein, the cleaning device is located between the two telescopic structures 411, effectively ensuring the stable and reliable lifting of the lifting mechanism 400 driving the walking mechanism 100.

[0060] For example, the telescopic structure 411 can be an electric linear actuator. Of course, the telescopic structure 411 can also be an electric linear actuator, a motor-driven linkage structure, a telescopic rod structure, or other structures with telescopic functions; this application does not limit the scope of the application.

[0061] For example, the lifting assembly 410 further includes a crossbeam 412, which connects the telescopic structure 411 and the second guide rail 420. The crossbeam 412 can be connected to the second guide rail 420 via an angle plate 413.

[0062] In one feasible implementation, the bottom of the telescopic structure 411 is provided with a support pad 414 to ensure that the lifting mechanism 400 is stably supported on the photovoltaic panel 10.

[0063] For example, the support pad 414 can be a rubber pad, which has a good cushioning effect and prevents damage to the photovoltaic panel 10.

[0064] For example, the support pad 414 is provided with an air extraction hole (not shown), and the photovoltaic cleaning robot also includes a vacuum pump (not shown). The vacuum pump is installed on the telescopic structure 411 and is connected to the air extraction hole. The support pad 414 can be evacuated through the air extraction hole to adhere to the photovoltaic panel 10. When the walking mechanism 100 crosses the interval, it effectively prevents the support pad 414 from sliding relative to the photovoltaic panel 10 and prevents the support pad 414 from falling off.

[0065] In one feasible implementation, the telescopic structure 411 of one of the two lifting components 410 is ball-jointed to the support pad 414, and the telescopic structure 411 of the other is fixedly connected to the support pad 414. In this embodiment, even if the two photovoltaic panels 10 that need to be crossed are set at an angle, the ball-jointed support pad 414 can adaptively adjust its angle to ensure that all support pads 414 can contact the surface of the photovoltaic panel 10, and the two lifting components 410 can be stably and reliably supported on the two photovoltaic panels 10 one-to-one.

[0066] In one feasible implementation, the telescopic structure 411 is connected to a pressure sensor (not shown), which is used to detect the supporting force of the photovoltaic panel 10 on the telescopic structure 411. Based on the feedback from the pressure sensor, it can be ensured that all the support pads 414 are stably supported on the photovoltaic panel 10 when the walking mechanism 100 crosses the interval.

[0067] In this embodiment, reference continues to be made to... Figure 1 and Figure 2 As shown, the traveling mechanism 100 can be configured as a tracked vehicle, specifically including a vehicle body 110 and track wheels 120 arranged on both sides of the vehicle body 110 along the second direction. The vehicle body 110 is provided with a traveling drive assembly (not shown), which is connected to the track wheels 120. The track wheels 120 can ensure the stability of the movement of the traveling mechanism 100.

[0068] For example, at least one track wheel 120, such as two, may be provided on the same side of the vehicle body 110 along the second direction.

[0069] For example, the frame 310 is disposed on the top of the vehicle body 110.

[0070] In this embodiment, reference continues to be made to... Figure 1 and Figure 2 As shown, the cleaning mechanism 200 includes a cleaning brush 210 disposed at one end of the walking mechanism 100 along the first direction. Driven by the walking mechanism 100, the cleaning brush 210 automatically cleans the photovoltaic panel 10.

[0071] For example, the cleaning mechanism 200 also includes a blowing assembly (not shown) disposed at the cleaning brush 210, which can spray high-pressure airflow or water flow to assist in cleaning the photovoltaic panel 10 and improve cleaning efficiency.

[0072] The photovoltaic cleaning robot provided in this embodiment can also be applied to other cross-domain scenarios with ravines, and is not specifically limited here.

[0073] It is understandable that for connection methods not explicitly mentioned in the text, common connection methods such as threaded connection, welding or bonding can be used as needed.

[0074] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A photovoltaic cleaning robot, characterized in that, The photovoltaic cleaning robot includes: The cleaning device includes a walking mechanism (100) and a cleaning mechanism (200) connected to the walking mechanism (100); The crossing device includes a translation mechanism (300) connected to the walking mechanism (100) and a lifting mechanism (400) connected to the translation mechanism (300). The translation mechanism (300) is used to drive the walking mechanism (100) and the lifting mechanism (400) to move relative to each other along a first direction. The walking mechanism (100) and the lifting mechanism (400) have a first relative position and a second relative position when moving relative to each other along the first direction. The lifting mechanism (400) includes two lifting components (410) spaced apart along the first direction. The lifting components (410) are used to drive the walking mechanism (100) to rise to separate from the photovoltaic panel (10) or drive the walking mechanism (100) to fall onto the photovoltaic panel (10). At the first relative position, one of the two lifting components (410) protrudes from the first end of the walking mechanism (100) along the first direction; At the second relative position, the other of the two lifting components (410) protrudes from the second end of the walking mechanism (100) along the first direction; Wherein, the first direction is the travel direction of the walking mechanism (100).

2. The photovoltaic cleaning robot according to claim 1, characterized in that, The translation mechanism (300) includes a frame (310) disposed on the walking mechanism (100), and the frame (310) is slidably connected to the lifting mechanism (400) along the first direction.

3. The photovoltaic cleaning robot according to claim 2, characterized in that, The translation mechanism (300) further includes a first guide rail (320) disposed on the frame (310); The lifting mechanism (400) further includes a second guide rail (420), which is slidably connected to the first guide rail (320) along the first direction. One of the two lifting components (410) is connected to the first end of the second guide rail (420), and the other is connected to the second end of the second guide rail (420).

4. The photovoltaic cleaning robot according to claim 3, characterized in that, One of the first guide rail (320) and the second guide rail (420) is provided with a guide groove (321) extending along the first direction, and the other is provided with a guide bar (421) extending along the first direction, wherein the guide bar (421) is slidably disposed in the guide groove (321).

5. The photovoltaic cleaning robot according to claim 4, characterized in that, The frame (310) is provided with the first guide rail (320) on both sides along the second direction, and the second guide rail (420) is provided in two and is slidably connected to the first guide rail (320) one by one.

6. The photovoltaic cleaning robot according to claim 3, characterized in that, The translation mechanism (300) further includes: An active pulley is rotatably mounted on the frame (310); Driven pulley, rotatably mounted on the frame (310); A timing belt (330) is disposed between the driving pulley and the driven pulley, and the timing belt (330) is connected to the second guide rail (420); A drive motor (340) is fixed on the frame (310) and its drive end is connected to the drive pulley.

7. The photovoltaic cleaning robot according to claim 6, characterized in that, The translation mechanism (300) further includes a first clamping plate (350) and a second clamping plate. The first clamping plate (350) is connected to the second guide rail (420), and the synchronous belt (330) is clamped between the first clamping plate (350) and the second clamping plate.

8. The photovoltaic cleaning robot according to any one of claims 1-7, characterized in that, The lifting assembly (410) includes two telescopic structures (411) spaced apart along a second direction, the length of which is adjustable in the vertical direction; The cleaning device is located between the two telescopic structures (411), and the second direction is perpendicular to the first direction and the vertical direction.

9. The photovoltaic cleaning robot according to claim 8, characterized in that, The bottom of the telescopic structure (411) is provided with a support pad (414).

10. The photovoltaic cleaning robot according to claim 9, characterized in that, The support pad (414) is provided with an air extraction hole, and the photovoltaic cleaning robot also includes a vacuum pump, which is mounted on the telescopic structure and connected to the air extraction hole.

11. The photovoltaic cleaning robot according to claim 9, characterized in that, The telescopic structure (411) of one of the two lifting assemblies (410) is ball-jointed to the support pad (414), and the telescopic structure (411) of the other is fixedly connected to the support pad (414).

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