Photovoltaic cleaning robot

Abstract

The photovoltaic cleaning robot comprises a chassis device, a cleaning device and an adsorption assembly, the chassis device comprises a chassis, a driving assembly, a spraying assembly, an electrical control module, a detection module and a camera shooting module, the detection module is used for detecting whether the periphery of the chassis is located at the edge of a photovoltaic panel or not, and the camera shooting module assists the robot in keeping straight running; the adsorption assembly is used for adsorbing dust on the photovoltaic panel; the cleaning device comprises two pairs of connecting assemblies, a pair of cleaning assemblies and a pair of spraying assemblies, each cleaning assembly comprises a cleaning frame, a driving piece, a rolling brush and a second positioning piece, and the middle portions and the inner ends of the two pairs of connecting assemblies are detachably installed at the front end and the rear end of the chassis correspondingly. The detection module prevents the photovoltaic cleaning robot from falling off a photovoltaic panel, and the camera module provides a navigation function; the spraying assembly sprays clean water to the rolling brush, and the dust raising phenomenon in the cleaning process is reduced; the cleaning assembly and the chassis are quickly assembled and disassembled through the connecting assembly, and assembling and maintaining are convenient.

Description

TECHNICAL FIELD

[0001] The utility model relates to photovoltaic panel cleaning robot technical field, mainly relates to a photovoltaic cleaning robot. BACKGROUND

[0002] Photovoltaic panel is also called solar panel, when working outdoors, it is inevitable to accumulate dust, be dirty by birds and insects, etc., and photovoltaic panel cleaning robot is usually used for cleaning. The photovoltaic panel cleaning robot sweeps back and forth on the photovoltaic panel, to prevent missing the cleaning area, it often repeatedly sweeps a small part of the spiral edge, which increases the cleaning time; when the photovoltaic panel cleaning robot sweeps the edge of the photovoltaic panel, there is a small probability of accidental falling risk.

[0003] The cleaning assembly and the connecting assembly are fixedly connected, and the inner side of the connecting assembly and the bottom disc are fixedly connected, which can prevent the installation of the rolling brush during cleaning from being particularly stable and improve the accuracy of the cleaning route, but the disassembly, maintenance and installation are troublesome and time-consuming.

[0004] The existing photovoltaic panel cleaning robot uses a rolling brush to rotate to clean the dust on the surface of the photovoltaic panel, does not have a water spraying function, the dust rises with the airflow during cleaning, and the dust falls on the photovoltaic panel again, which affects the cleaning effect. When cleaning dry, the contact between the cleaning brush and the photovoltaic panel is not comfortable, so that the edges on both sides are not completely cleaned, the repeated area is large during back and forth cleaning, and the cleaning time is long. UTILITY MODEL CONTENTS

[0005] In view of the deficiencies of the prior art, the utility model provides a photovoltaic cleaning robot, which solves the technical problems that the detection module is used for detecting whether the periphery of the bottom disc is located at the edge of the photovoltaic panel, the photovoltaic cleaning robot can be prevented from falling off the photovoltaic panel, the camera module is used for taking pictures of the environment around the bottom disc to provide navigation function for the photovoltaic cleaning robot, the spraying assembly sprays clean water to the front of the bottom disc to reduce the dust phenomenon during cleaning, and the cleaning assembly is quickly assembled and disassembled with the bottom disc through the connecting assembly, so that the assembly and maintenance work can be conveniently carried out, and the working efficiency is high.

[0006] The technical problems solved by the utility model can be solved by the following technical solutions:

[0007] The photovoltaic cleaning robot comprises a bottom disc device and a cleaning device, the bottom disc device comprises a bottom disc, a driving assembly, a spraying assembly and an electrical control module, the driving assembly is used for driving the photovoltaic cleaning robot to move in the front-back and left-right directions on the photovoltaic panel, and the electrical control module is electrically connected with the driving assembly;

[0008] The cleaning device comprises two pairs of connecting assemblies, a pair of cleaning assemblies and a pair of spraying assemblies, outer ends of the two pairs of connecting assemblies are fixedly connected to inner sides of the cleaning assemblies respectively, and the pair of spraying assemblies are used for conveying and spraying clean water in the bottom disc to the pair of cleaning assemblies.

[0009] The photovoltaic cleaning robot further comprises an adsorption assembly used for adsorbing dust on the photovoltaic panel.

[0010] The bottom disc device further comprises at least one pair of detection modules and at least one pair of camera modules, the detection modules are used for detecting whether the periphery of the bottom disc is located at the edge of the photovoltaic panel, the camera modules are used for judging whether the robot is located at the edge of the photovoltaic panel and assisting the robot in keeping straight driving, the driving assemblies are arranged on left and right sides of the bottom disc, the electrical control module is arranged on the inner front side of the bottom disc, and the detection modules and the camera modules are arranged on front and rear sides of the bottom disc respectively; and the electrical control module is used for controlling the driving assemblies, the detection modules and the camera modules.

[0011] The cleaning assembly comprises a cleaning frame, a driving piece, a rolling brush and a second positioning piece, the cleaning frame is in the shape of a V, inner sides of the cleaning frame are mounted on front and rear end faces of the connecting assemblies, outer sides of the cleaning frame are provided with the driving pieces and the second positioning pieces respectively, the driving piece drives the rolling brush to rotate around the axis of the driving piece, and the other end of the rolling brush is coaxially and rotatably arranged in the second positioning piece.

[0012] In one preferred embodiment of the utility model, the detection module comprises two pairs of ultrasonic detectors, the two pairs of ultrasonic detectors are used for ultrasonic detection of road conditions in front and back of the photovoltaic cleaning robot and have anti-falling function, and the two pairs of ultrasonic detectors are symmetrically arranged on the bottom of the front and rear sides of the bottom disc respectively.

[0013] In one preferred embodiment of the utility model, the camera module comprises a pair of cameras, the pair of cameras are used for imaging in front and back of the photovoltaic cleaning robot, and the pair of cameras are arranged between the two pairs of ultrasonic detectors respectively.

[0014] In an optimal embodiment of the utility model, the driving assembly includes two pairs of driving motors, two pairs of driving rollers, at least two pairs of driven rollers, and a pair of transmission caterpillar belts, the two pairs of driving motors are arranged at the left front part, the left rear part, the right front part and the right rear part of the chassis respectively, the two pairs of driving rollers are coaxially arranged at the outer ends of the two pairs of driving motors respectively, each pair of driven rollers is arranged below the inner side of each pair of driving rollers, and each transmission caterpillar belt is sequentially sleeved on the outer ring surface of a pair of driving rollers and a pair of driven rollers.

[0015] In an optimal embodiment of the utility model, the connecting assembly includes a connecting plate, a plurality of adjusting holes, adjusting bolts, a buckle groove and clamping bolts, the plurality of adjusting holes are longitudinally arranged at the upper middle part of the connecting plate, the adjusting bolts are arranged in and slide in one of the adjusting holes of the connecting plate, and are further arranged at the top of the front and rear ends of the chassis, the buckle groove is longitudinally arranged at the middle bottom of the connecting plate, and the clamping bolts are arranged in and slide in the buckle groove of the connecting plate, and are further arranged at the bottom of the front and rear ends of the chassis.

[0016] The connecting plate is in the shape of L, the front bending part of the connecting plate is parallel to the inner side of the cleaning frame of the cleaning assembly, the connecting assembly further includes a plurality of fixing holes and fixing bolts, the plurality of fixing holes are arranged side by side at the front bending part of the connecting plate, and the fixing bolts are arranged in one of the fixing holes of the connecting plate and are further fixed on the cleaning frame of the cleaning assembly.

[0017] In an optimal embodiment of the utility model, the connecting assembly further includes a positioning groove and a positioning bolt, the positioning groove is arranged at the inner middle part of the connecting plate, and the positioning bolt is arranged in the positioning groove of the connecting plate and is further fixed at the left side or the right side of the chassis.

[0018] In an optimal embodiment of the utility model, the driving part includes a first positioning shell, a driving motor and a bearing, the outer periphery of the first positioning shell and the driving motor is fixedly arranged on the inner wall of the shell of the cleaning frame, and the output shaft of the driving motor is coaxially connected to one end of the rolling brush through the bearing.

[0019] The second positioning part includes a second positioning shell and a second positioning disc, the outer periphery of the second positioning shell and the second positioning disc is fixedly arranged on the inner wall of the shell at the other end of the cleaning frame, and the other end of the rolling brush is inserted into the center hole of the second positioning shell and the second positioning disc.

[0020] In an optimal embodiment of the utility model, the spraying assembly comprises water tank, power pump, a pair of spraying main pipes, a plurality of spraying branch pipes and a plurality of spraying heads connected in sequence, the water tank, power pump and a pair of spraying main pipes are arranged at the inner middle part of the chassis respectively, a plurality of spraying branch pipes and a plurality of spraying heads are arranged at the front and back sides of the chassis respectively, and the inclination angle of the spraying branch pipe and spraying head along the vertical direction is 0-10 degrees.

[0021] The spraying assembly further comprises mounting seat and support pipe, the mounting seat is arranged on the top plate of the chassis, the overall shape of the mounting seat is inverted N-shaped, and the bottom of the support pipe is mounted on the N-shaped mounting seat.

[0022] In an optimal embodiment of the utility model, the electrical control module comprises electrical control box, controller, circuit board and power module, the power module is used for continuously providing power, the power module and controller are electrically connected with the driving assembly, detection module, camera module, cleaning assembly, spraying assembly and adsorption assembly respectively, the electrical control box and power module are arranged at the front and back sides of the inside of the chassis respectively, and the controller and circuit board are arranged in the electrical control box.

[0023] In an optimal embodiment of the utility model, the adsorption assembly comprises adsorption disc, central shaft, positioning arm and positioning shaft, the central shaft is longitudinally arranged on the bottom plate of the chassis, and the adsorption disc is horizontally arranged at the bottom of the central shaft; the positioning arm and positioning shaft are sequentially arranged on the middle and upper parts of the central shaft from bottom to top, and the positioning arm and positioning shaft are arranged in the inside of the chassis.

[0024] The cross section of the positioning arm is triangular star-shaped, the longitudinal section of the positioning shaft is inverted T-shaped, the positioning shaft passes through the positioning arm from bottom to top, and the inverted T-shaped bottom of the positioning shaft is located on the bottom surface of the positioning arm.

[0025] Compared with the prior art, the utility model has the advantages that the photovoltaic cleaning robot is provided with detection module and camera module on the front and back sides of the chassis respectively, the detection module is used for detecting whether the periphery of the chassis is located at the edge of the photovoltaic panel, so that the photovoltaic cleaning robot can be prevented from falling off the photovoltaic panel, the camera module is used for taking pictures of the environment around the chassis, thereby providing the photovoltaic cleaning robot with navigation function, making the cleaning route more convenient and reducing the repeated cleaning area, the driving assembly is used for driving the photovoltaic cleaning robot to move on the photovoltaic panel in the front-back and left-right directions, so that the surface of the photovoltaic panel can be cleaned comprehensively.

[0026] The spraying assembly sprays clean water to the front of the chassis, reduces dust raising during the cleaning process, and makes the cleaning brush contact the photovoltaic panel smoothly, and the edges of the two sides of the chassis are also cleaned thoroughly.

[0027] The connecting assembly of the cleaning device is fixedly connected between the outside and the cleaning assembly, the inside of the connecting assembly is detachably connected with the chassis, the inside of the connecting assembly is pressed downward to be stable, and the connecting assembly is detachably connected by moving upward, so that the cleaning robot is convenient and fast to install, high in working efficiency and convenient to assemble and maintain. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a structural schematic view of the photovoltaic cleaning robot.

[0029] Figure 2 It is a bottom structure schematic view of the chassis device.

[0030] Figure 3 It is an internal structure schematic view of the chassis device.

[0031] Figure 4 It is a whole installation schematic view of the cleaning device.

[0032] Figure 5 It is a structure schematic view of the cleaning device.

[0033] Figure 6 It is a structure schematic view of the connecting assembly.

[0034] Figure 7 It is a structure schematic view of the adsorbing assembly.

[0035] Reference Signs:

[0036] 10 chassis, 11 electrical control box, 12 power module, 21 driving motor, 22 driving roller, 23 driven roller, 24 transmission track, 40 detection module, 41 ultrasonic detector, 50 camera module, 51 camera.

[0037] Spraying assembly: 31 spraying main pipe, 32 spraying branch pipe, 33 spraying head, 34 mounting seat, 35 supporting pipe.

[0038] Connecting assembly: 61 connecting plate, 62 adjusting hole, 63 adjusting bolt, 64 clamping groove, 65 clamping bolt; 66 fixing hole, fixing bolt; 67 positioning groove, 68 positioning bolt.

[0039] Cleaning assembly: 71 cleaning frame, 72 housing; 73 protective cover, 74 handle. Driving member, transmission member, 81 roller brush; driving member: 82 first positioning shell, 84 driving motor; second positioning member: 86 second positioning shell, 87 second positioning disc.

[0040] Suction assembly: 91 suction disc, 92 center shaft, 93 positioning arm, 94 positioning shaft; 95 U-shaped support, 96 connecting rod, 97 base. DETAILED DESCRIPTION

[0041] In order to make the technical means, creative features, purposes and effects of the utility model easy to understand, the utility model is further described below in combination with specific drawings.

[0042] Referring to Figures 1 to 6 , the figure shows a photovoltaic cleaning robot, which comprises a chassis device and a cleaning device, the chassis device comprising a chassis 10, a driving assembly, a spraying assembly, an electrical control module, the driving assembly being used to drive the photovoltaic cleaning robot to move on a photovoltaic panel in the front-back and left-right directions, the electrical control module being electrically connected with the driving assembly; the chassis 10 device further comprises at least one pair of detection modules 40 and at least one pair of camera modules 50, the detection modules 40 being used to detect whether the chassis 10 is located at the edge of the photovoltaic panel, the camera modules 50 being used to take pictures of the environment around the chassis 10, judge whether the robot is located at the edge of the photovoltaic panel, and assist the robot in keeping straight driving; the driving assembly is arranged on the left and right sides of the chassis 10, the electrical control module is arranged on the front side of the inside of the chassis 10, and the detection modules 40 and the camera modules 50 are arranged on the front and rear sides of the chassis 10 respectively; the electrical control module is used to control the driving assembly, the detection modules 40 and the camera modules 50.

[0043] The cleaning device comprises two pairs of connecting assemblies, a pair of cleaning assemblies and a pair of spraying assemblies, the outer ends of the two pairs of connecting assemblies are fixedly connected to the inner sides of the cleaning assemblies, the middle parts and the inner ends of the two pairs of connecting assemblies are detachably installed at the front and rear ends of the chassis 10, and the pair of spraying assemblies are used to convey and spray clean water in the chassis 10 to the upper sides of the pair of cleaning assemblies.

[0044] The photovoltaic cleaning robot further comprises an adsorption assembly for adsorbing dust on the photovoltaic panel.

[0045] The utility model discloses a photovoltaic cleaning robot, including bottom disc 10, drive assembly, cleaning assembly, connecting assembly, camera module 50, detection module 40, bottom disc 10 is provided with the drive assembly, and the drive assembly is used for driving the photovoltaic cleaning robot to move on the photovoltaic panel, realizes the overall cleaning of the photovoltaic panel surface, and the drive assembly is provided with the cleaning assembly, and the cleaning assembly is used for cleaning the photovoltaic panel, and the cleaning assembly is provided with the connecting assembly, and the connecting assembly is used for connecting the cleaning assembly and the bottom disc 10, and the connecting assembly is provided with the detection module 40 and the camera module 50, and the detection module 40 is used for detecting whether the four around of bottom disc 10 is located the edge of photovoltaic panel, can prevent the photovoltaic cleaning robot from falling photovoltaic panel, and the camera module 50 is used for the camera to the four around environment of bottom disc 10, judges whether the four around of bottom disc 10 is located the edge of photovoltaic panel, assists the machine to keep straight line and travels, and automatically carries out the route planning to the scene, provides the navigation function for the photovoltaic cleaning robot, and the cleaning route is more convenient, and reduces the repeated cleaning area.

[0046] The connecting assembly is fixedly connected between the outer side of the cleaning device and the cleaning assembly, the inner side of the connecting assembly is detachably connected with the bottom disc 10, the inner side of the connecting assembly is pressed downward to be in place to be stably connected, and the connecting assembly is moved upward to be quickly detached, so that the cleaning robot is convenient and fast to install, has high working efficiency and is convenient for assembly and maintenance.

[0047] In the preferred embodiment, referring to Figures 1 to 3 The detection module 40 comprises two pairs of ultrasonic detectors 41, which are used for ultrasonic detection of the road conditions in front and back of the photovoltaic cleaning robot and have a fall-preventing function, and the two pairs of ultrasonic detectors 41 are symmetrically arranged at the bottom of the front and back of the bottom disc 10.

[0048] Further, the camera module 50 comprises a pair of cameras 51, which are used for imaging in front and back of the photovoltaic cleaning robot, and the pair of cameras 51 are arranged between the two pairs of ultrasonic detectors 41.

[0049] In the preferred embodiment, referring to Figures 1 to 3The driving assembly comprises two pairs of driving motors 21, two pairs of driving rollers 22, at least two pairs of driven rollers 23, and a pair of transmission caterpillar belts 24. The two pairs of driving motors 21 are arranged at the left front part, the left rear part, the right front part and the right rear part of the chassis 10 respectively. The two pairs of driving rollers 22 are coaxially arranged at the outer ends of the two pairs of driving motors 21 respectively. Each pair of driven rollers 23 is arranged below the inner side of each pair of driving rollers 22. Each transmission caterpillar belt 24 is sequentially arranged on the outer ring surface of one pair of driving rollers 22 and one pair of driven rollers 23. The two pairs of driving motors 21 drive the two pairs of driving rollers 22, and further drive the two pairs of driven rollers 23 to roll.

[0050] Further, two pairs of driven rollers 23 are arranged below the inner side of each pair of driving rollers 22.

[0051] Specifically, the outer ring surface of the driving roller 22 and the driven roller 23 is arranged with a plurality of teeth in the axial direction, and the inner wall of the caterpillar belt is arranged with a plurality of sawteeth in the width direction. The plurality of sawteeth of the caterpillar belt and the plurality of teeth are in meshing transmission.

[0052] The two pairs of driving rollers 22 and the driving motors 21 of the upper part of the driving assembly are arranged on the same horizontal plane, and the four pairs of driven rollers 23 of the lower part are arranged on the same horizontal plane and below the inner side of the two pairs of driving rollers 22, so as to ensure that the bottom surface of the caterpillar belt remains horizontal, and the driving assembly drives the photovoltaic cleaning robot to run stably. The caterpillar belt cleaning robot has strong gripping ability and can effectively prevent falling.

[0053] In the preferred embodiment, the electrical control module comprises an electrical control box 11, a controller, a circuit board and a power module 12. The power module 12 is used to continuously provide power. The power module 12 and the controller are electrically connected with the driving assembly, the detection module, the camera module, the cleaning assembly, the spraying assembly and the adsorption assembly respectively. The electrical control box 11 and the power module 12 are arranged at the inner front side and the inner rear side of the chassis 10 respectively, and the controller and the circuit board are arranged in the electrical control box 11.

[0054] The electrical control assembly controls the rotating speed of one pair of driving rollers 22 on the left side of the chassis 10 or the rotating speed of one pair of driving rollers 22 on the right side of the chassis 10 at the same time. By designing different rotating speeds, the turning action of the photovoltaic cleaning robot can be realized. The electrical control assembly controls the amount of cleaning liquid of the spraying head, and sprays according to the required amount.

[0055] In the preferred embodiment, referring to Figures 4 to 6The connecting assembly of the cleaning device comprises a connecting plate 61, a plurality of adjusting holes 62, adjusting bolts 63, a clamping groove 64, clamping bolts 65, the adjusting holes 62 are longitudinally arranged on the upper middle part of the connecting plate 61, the adjusting bolts 63 pass through and slide in one of the adjusting holes 62 on the connecting plate 61 and are further installed on the top of the front and rear ends of the chassis 10; the clamping groove 64 is longitudinally arranged on the middle bottom of the connecting plate 61, the clamping bolts 65 pass through and slide in the clamping groove 64 on the connecting plate 61 and are further installed on the bottom of the front and rear ends of the chassis 10.

[0056] Further, the connecting plate 61 is in the shape of L, the front bending part of the connecting plate 61 is parallel to the inner side of the cleaning frame 71 of the cleaning assembly; the connecting assembly further comprises a plurality of fixing holes 66 and fixing bolts, the fixing holes 66 are arranged side by side on the front bending part of the connecting plate 61, the fixing bolts pass through one of the fixing holes 66 on the connecting plate 61 and are further fixed on the cleaning frame 71 of the cleaning assembly.

[0057] Further, the connecting assembly further comprises a positioning groove fixing bolt 67 and a positioning bolt 68, the positioning groove fixing bolt 67 is arranged on the inner middle part of the connecting plate 61, the positioning bolt 68 passes through the positioning groove fixing bolt 67 on the connecting plate 61 and is further fixed on the left side or the right side of the chassis 10.

[0058] Specifically, the inclination angle of the connecting plate 61 is 25-35 degrees, preferably, the inclination angle of the connecting plate 61 is 30 degrees; the adjusting hole 62 is in the shape of a waist; the clamping groove 64 is in the shape of an irregular quadrilateral; the positioning groove fixing bolt 67 is in the shape of U.

[0059] The outer end face of the connecting plate 61 of the above connecting assembly is fixedly installed on the cleaning frame 71 of the cleaning assembly, the adjusting holes 62 longitudinally arranged on the inner middle part of the connecting plate 61 and the clamping groove 64 longitudinally arranged below can slide along the longitudinal direction; the inner side of the connecting assembly is pressed downward to the position along the adjusting bolts 63 and the clamping bolts 65, that is, it can be stably connected to the chassis 10, and upward movement can realize quick disassembly. The positioning groove fixing bolt 67 and the positioning bolt 68 are added, three-point positioning connection is realized, and the deviation or inclination of the connecting assembly is further prevented.

[0060] In the preferred embodiment, referring to Figures 5 to 6 The driving member comprises a first positioning shell 82 and a driving motor 84, the outer periphery of the first positioning shell 82 and the driving motor 84 is fixedly arranged on the inner wall of the shell of the cleaning frame 71, and the output shaft of the driving motor 84 is coaxially connected to one end of the roller brush 81 through a bearing.

[0061] Further, the second positioning member comprises a second positioning shell 86 and a second positioning disc 87, the outer periphery of the second positioning shell 86 and the second positioning disc 87 is fixedly arranged on the inner wall of the shell 72 at the other end of the cleaning frame 71, and the other end of the shaft of the roller brush 81 is inserted into the center hole of the second positioning shell 86 and the second positioning disc 87.

[0062] Specifically, the cleaning assembly further comprises a driving member and a transmission member, the driving member drives the transmission member, and in turn drives the roller brush 81 to rotate. The driving member is a driving motor; the shell 72 is oval; the roller brush 81 comprises a roller and bristles, and a plurality of bristles are arranged on the outer ring surface of the roller in a radial direction; the bristles are made of nylon, PP or PBT.

[0063] The first positioning assembly and the second positioning assembly above give good positioning effect to the shaft of the roller brush 81.

[0064] In the preferred embodiment, as shown in Figures 4 to 6 , the spraying assembly comprises a water tank, a power pump, a pair of spraying main pipes 31, a plurality of spraying branch pipes 32 and a plurality of spraying heads 33 connected in sequence, the water tank and the power pump and the pair of spraying main pipes 31 are arranged in the middle part of the bottom plate 10; the plurality of spraying branch pipes 32 and the plurality of spraying heads 33 are arranged on the front and rear sides of the bottom plate 10 in a slightly inclined manner towards the inside, and the inclination angle of the spraying branch pipes 32 and the spraying heads 33 in the vertical direction is 0-10 degrees; preferably, the inclination angle of the spraying branch pipes 32 and the spraying heads 33 in the vertical direction is 5 degrees.

[0065] Further, the spraying assembly further comprises a mounting seat 34 and a support pipe 35, the mounting seat 34 is arranged on the top plate of the bottom plate 10, the overall shape of the mounting seat 34 is inverted U-shaped, and the bottom of the support pipe 35 is mounted on the U-shaped mounting seat 34.

[0066] The spraying assembly above sprays clean water on the roller brush 81, reduces the dust phenomenon in the cleaning process, and makes the contact between the cleaning brush and the photovoltaic panel fit, and the edges of the bottom plate 10 are also completely cleaned; the spraying assembly pumps clean water to the front side of the bottom plate 1010 through the power pump, realizes uniform spraying of clean water, and manually sprays a certain amount of cleaning liquid on the photovoltaic panel according to the situation, which can remove stains. The support pipe 35 is used to install the quick-release water pipe, because the water pipe is soft, so a support pipe 35 is added to support it, to prevent the risk of the water pipe being wound into the roller brush 81; the mounting frame facilitates the installation of the spraying pipe and makes the installation more stable.

[0067] Preferably, a protective cover 73 is arranged on the top of the cleaning frame 71 in front of the roller brush 81, and the periphery of the protective cover 73 is vertically provided with a retaining edge; a handle 74 is arranged on the top surface of the cleaning frame 71, and the handle 74 is inverted U-shaped.

[0068] In the preferred embodiment, as shown in Figure 3 and Figure 7The chassis transmission device further comprises an adsorption assembly, the adsorption assembly comprising an adsorption disc, a central shaft, a positioning arm and a positioning shaft, the central shaft being longitudinally arranged on the bottom plate of the chassis, and the adsorption disc being horizontally arranged at the bottom of the central shaft; the positioning arm and the positioning shaft being sequentially arranged on the middle and upper portions of the central shaft from bottom to top, and the positioning arm and the positioning shaft being arranged inside the chassis.

[0069] Further, the cross section of the positioning arm is in the shape of a triangular star, and the longitudinal section of the positioning shaft is in the shape of an inverted T, the positioning shaft passing through the positioning arm from bottom to top, and the bottom of the inverted T of the positioning shaft being located on the bottom surface of the positioning arm.

[0070] Specifically, the adsorption disc is hollow and in the shape of a circular truncated cone, and the top outlet of the adsorption disc is sequentially connected with a vacuum pipe and a vacuum generator, the vacuum generator being used to generate negative pressure and thus provide suction force for the adsorption disc to adsorb dust or other sundries on the photovoltaic panel.

[0071] During the driving of the chassis, the vacuum generator provides negative pressure, the adsorption disc is horizontally and stably located above the photovoltaic panel and sucks in the dust, and the positioning arm is in the shape of a triangular star and can be inserted into the positioning column for positioning.

[0072] The basic principle, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principle of the present application. Various changes and improvements can be made to the present application without departing from the spirit and scope of the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and equivalents thereof.

Claims

1. A photovoltaic cleaning robot, comprising a chassis device and a cleaning device, the chassis device comprising a chassis, a driving assembly, a spraying assembly, an electrical control module, the driving assembly being used to drive the photovoltaic cleaning robot to move on a photovoltaic panel in the front-back and left-right directions, the electrical control module being electrically connected with the driving assembly; The cleaning device comprises two pairs of connecting assemblies, a pair of cleaning assemblies and a pair of spraying assemblies, outer ends of the two pairs of connecting assemblies are fixedly connected to inner sides of the cleaning assemblies respectively, characterized in that, the middle and inner ends of the two pairs of connecting assemblies are detachably mounted at the front and rear ends of the chassis; the photovoltaic cleaning robot further comprises an adsorption assembly, which is used to adsorb dust on the photovoltaic panel; the chassis device further comprises at least one pair of detection modules and at least one pair of camera modules, the detection modules being used to detect whether the chassis is located at the edge of the photovoltaic panel, the camera modules being used to determine whether the robot is located at the edge of the photovoltaic panel and assist the robot to keep straight driving; the driving assembly is arranged on the left and right sides of the chassis, the electrical control module is arranged on the inner front side of the chassis, and the detection modules and the camera modules are arranged on the front and rear sides of the chassis; the electrical control module is used to control the driving assembly, the detection modules and the camera modules; the cleaning assembly comprises a cleaning frame, a driving member, a rolling brush and a second positioning member, the cleaning frame has a overall shape of a V-shaped letter, and the inner side of the cleaning frame is mounted at the front and rear end faces of the connecting assemblies; the lengthwise ends of the cleaning frame are respectively provided with housings, and the inner sides of the two housings are respectively provided with the driving member and the second positioning member; the driving member drives the rolling brush to rotate around its own axis, and the other end of the rolling brush is coaxially and rotatably arranged in the inner side of the second positioning member.

2. The photovoltaic cleaning robot of claim 1, wherein, the detection module comprises two pairs of ultrasonic detectors, the two pairs of ultrasonic detectors are used to detect the road conditions in front of and behind the photovoltaic cleaning robot and have a fall-preventing function, and the two pairs of ultrasonic detectors are respectively and symmetrically arranged at the bottoms of the front and rear sides of the chassis.

3. The photovoltaic cleaning robot of claim 2, wherein, the camera module comprises a pair of cameras, the pair of cameras are used to take images in front of and behind the photovoltaic cleaning robot, and the pair of cameras are respectively arranged between the two pairs of ultrasonic detectors.

4. The photovoltaic cleaning robot of claim 1, wherein, the driving assembly comprises two pairs of driving motors, two pairs of driving rollers, at least two pairs of driven rollers and a pair of transmission tracks, the two pairs of driving motors are respectively arranged at the left front, left rear, right front and right rear parts of the chassis; the two pairs of driving rollers are coaxially and transmissionally arranged at the outer ends of the two pairs of driving motors; each pair of driven rollers is arranged below the inner side of each pair of driving rollers; and each transmission track is sequentially sleeved on the outer ring surfaces of a pair of driving rollers and a pair of driven rollers; the two pairs of driving motors drive the two pairs of driving rollers and further drive the two pairs of driven rollers to roll.

5. The photovoltaic cleaning robot of claim 1, wherein, The connecting assembly comprises a connecting plate, a plurality of adjusting holes, adjusting bolts, a clamping groove, and clamping bolts. The adjusting holes are longitudinally arranged on the upper middle part of the connecting plate. The adjusting bolts pass through and slide in the adjusting holes on the connecting plate and are then installed on the top of the front and rear ends of the chassis. The clamping groove is longitudinally arranged on the middle bottom of the connecting plate. The clamping bolts pass through and slide in the clamping groove on the connecting plate and are then installed on the bottom of the front and rear ends of the chassis. The connecting plate is in the shape of an L character. The front bending part of the connecting plate is parallel to the inner side of the cleaning frame of the cleaning assembly. The connecting assembly further comprises a plurality of fixing holes and fixing bolts. The fixing holes are arranged side by side on the front bending part of the connecting plate. The fixing bolts pass through the fixing holes on the connecting plate and are then fixed on the cleaning frame of the cleaning assembly.

6. The photovoltaic cleaning robot of claim 5, wherein, The connecting assembly further comprises a positioning groove and a positioning bolt. The positioning groove is arranged on the inner middle part of the connecting plate. The positioning bolt passes through the positioning groove on the connecting plate and is then fixed on the left side or the right side of the chassis.

7. The photovoltaic cleaning robot of claim 5, wherein, The driving member comprises a first positioning shell and a driving motor. The outer periphery of the first positioning shell and the driving motor is fixedly arranged on the inner wall of the shell of the cleaning frame. The output shaft of the driving motor is coaxially connected to one end of the rolling brush through a bearing. The second positioning member comprises a second positioning shell and a second positioning disc. The outer periphery of the second positioning shell and the second positioning disc is fixedly arranged on the inner wall of the shell at the other end of the cleaning frame. The other end of the rolling brush is inserted into the center hole of the second positioning shell and the second positioning disc.

8. The photovoltaic cleaning robot of claim 1, wherein, The spraying assembly comprises a water tank, a power pump, a pair of spraying main pipes, a plurality of spraying branch pipes, and a plurality of spraying heads, which are connected in sequence. The water tank, the power pump, and the pair of spraying main pipes are arranged in the inner middle part of the chassis. The plurality of spraying branch pipes and the plurality of spraying heads are arranged on the front and rear sides of the chassis. The inclination angle of the spraying branch pipes and the spraying heads in the vertical direction is 0-10 degrees. The spraying assembly further comprises a mounting seat and a support pipe. The mounting seat is arranged on the top plate of the chassis. The overall shape of the mounting seat is in the shape of an inverted N character. The bottom of the support pipe is mounted on the mounting seat.

9. The photovoltaic cleaning robot of claim 1, wherein, The electrical control module comprises an electrical control box, a controller, a circuit board, and a power module. The power module is used to continuously provide power. The power module and the controller are electrically connected to the driving assembly, the detection module, the camera module, the cleaning assembly, the spraying assembly, and the suction assembly. The electrical control box and the power module are arranged on the front side and the rear side of the inside of the chassis. The controller and the circuit board are arranged in the electrical control box.

10. The photovoltaic cleaning robot of claim 1, wherein, The suction assembly comprises a suction disc, a center shaft, a positioning arm, and a positioning shaft. The center shaft is longitudinally arranged on the bottom plate of the chassis. The suction disc is horizontally arranged on the bottom of the center shaft. The positioning arm and the positioning shaft are sequentially arranged on the middle part and the upper part of the center shaft from bottom to top. The positioning arm and the positioning shaft are arranged in the inside of the chassis. The cross section of the positioning arm is in the shape of a triangular star; the longitudinal section of the positioning shaft is in the shape of an inverted T, the positioning shaft passes through the positioning arm from bottom to top, and the bottom of the inverted T shape of the positioning shaft is located on the bottom surface of the positioning arm.

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