High-stability photovoltaic cleaning robot

Abstract

The utility model relates to the technical field of photovoltaic equipment cleaning, solves the problems that in the prior art, a walking binding face is not stably attached to an uneven surface in the running process, and walking and cleaning effects are easily affected, and particularly discloses a high-stability photovoltaic cleaning robot which comprises a robot body. Crawler walking mechanisms are connected to the two sides of the machine body respectively, walking crawlers are arranged on the crawler walking mechanisms, a suspension assembly is connected between the crawler walking mechanisms and the machine body and comprises a suspension pressing plate and a pressing plate support, and the suspension pressing plate is connected with the machine body through the pressing plate support. The bottom face of the hanging pressing plate is attached to the inner wall of the walking crawler belt, and a buffer spring is further connected between the pressing plate support and the machine body. Wherein the hanging pressing plate is used for applying pressure in a plane area to the walking crawler belt, so that the walking crawler belt is attached to the photovoltaic panel in the area of the hanging pressing plate. The photovoltaic panel cleaning device is used for rapidly and automatically cleaning photovoltaic panels and has the advantages of being stable in walking and good in cleaning effect.

Description

TECHNICAL FIELD

[0001] The utility model relates to photovoltaic equipment cleaning technical field, especially a kind of photovoltaic cleaning robot of high stability. BACKGROUND

[0002] With the concern of society to energy security and the worry of environmental deterioration, environmental sustainability has become the core goal of global public policy. In this context, the use and development of renewable energy has become a key strategy to ensure energy security, strengthen environmental protection and respond to climate change. Among the many renewable energy technologies, the cleaning of photovoltaic panels is one of the key links in the operation and maintenance of photovoltaic power stations, and plays a crucial role in protecting the performance of photovoltaic panels and extending their service life. According to research, accumulated dust can reduce the power generation efficiency of solar panels by 17% to 25%. Regular cleaning, such as cleaning the surface of solar panels every 20 to 30 days, can increase power generation by an average of about 50%.

[0003] However, photovoltaic panels of photovoltaic power stations are usually installed at a high position, which makes the cleaning operation highly dangerous. Manual cleaning is not only cumbersome, costly and inefficient, but also difficult to ensure cleaning quality. Traditional cleaning methods have failed to meet current market demand, and while using conventional cleaning robots can clean the same plane or the same row of photovoltaic panels, the investment is huge, the burden on the power station is heavy, and the cleaning quality is still difficult to guarantee. Therefore, a professional photovoltaic cleaning robot needs to be designed.

[0004] The existing photovoltaic cleaning robot walks on the surface of the photovoltaic panel, and the walking mechanism is usually attached to the surface of the photovoltaic panel by point contact pressure of the suspension system. During operation, the attachment surface is unstable on uneven surfaces, which can affect the walking and cleaning effect, and even cause the robot to fall. SUMMARY

[0005] To solve the problem of the photovoltaic cleaning robot in the prior art that the walking attachment surface is unstable on uneven surfaces during operation, which can affect the walking and cleaning effect, and even cause the robot to fall, the utility model provides a photovoltaic cleaning robot with high stability.

[0006] The utility model adopts the technical scheme of:

[0007] The utility model provides a kind of high-stability photovoltaic cleaning robot, including machine body, the two sides of the machine body are connected with track walking mechanism respectively, walking track is provided on track walking mechanism, suspension assembly is connected between track walking mechanism and machine body, the suspension assembly includes suspension pressing plate and pressing plate support, the suspension pressing plate is connected with machine body by pressing plate support, the bottom surface of suspension pressing plate is matched with the inner wall of walking track, buffer spring is further connected between pressing plate support and machine body;

[0008] Wherein, the suspension pressing plate is used to exert the pressure of plane area on walking track, so that walking track is matched with photovoltaic panel at the area of suspension pressing plate;The buffer spring is used to absorb the impact transmitted to suspension pressing plate and pressing plate support by walking track.

[0009] Further, the machine body is connected with the brush holder by a self-return pin, and the machine body is further connected with the brush holder by a single-bead pin for locking the angle of the brush holder.

[0010] Further, it comprises a cleaning module, a driving module, a power source module and a water supply module.

[0011] Wherein, the cleaning module and the water supply swing rod module are detachably connected to the brush holder, and the driving module and the power source module are detachably connected to the machine body.

[0012] Further, the machine body is detachably connected with a scraper module, which comprises a scraper connected to one side of the body, and the scraper acts on the surface to be cleaned.

[0013] Further, the brush holder is provided with a brush head assembly, which comprises a roller brush for connecting an external roller brush motor.

[0014] The brush holder is also provided with a water spray head, and the machine body is provided with a rotary joint, one end of which is connected to the water spray head through a water supply pipe, and the other end is used to connect to a water supply mechanism.

[0015] Wherein, the brush holder is connected with a protective cover arranged around the roller brush, and the protective cover is used to partially wrap the roller brush and shield the liquid thrown out of the roller brush.

[0016] Further, the machine body is connected with a track walking mechanism, the track walking mechanism comprises a walking motor arranged inside the machine body, the walking motor is electrically connected with a power supply assembly, the walking motor is connected with driving wheels located on both sides of the machine body, the driving wheels are connected with driven wheels through walking tracks, the walking tracks are provided with protruding guide rails matched with the guide rails on the driving wheels and the driven wheels.

[0017] Furthermore, a correction assembly is connected to the shaft of the driven wheel, and the correction assembly is provided with an adjusting bolt.

[0018] Furthermore, multiple anti-fall sensors are installed on both sides of the main body of the machine.

[0019] The beneficial effects of this utility model are:

[0020] The photovoltaic cleaning robot of this invention features suspension components distributed on the walking tracks on both sides. Each suspension component consists of a pair of suspension pressure plates connected by a suspension system. These plates can flexibly adjust to adapt to different terrains. By increasing the contact area between the tracks and the solar panels through surface contact, optimal grip and traction are maintained. Compared to the existing technology that uses suspension pressure wheels to make point contact with the walking tracks through circular surfaces, these suspension pressure plates enhance the climbing ability and stability of the tracked vehicle. The suspension pressure plates of this invention, combined with the structure of the buffer springs, allow the walking tracks to effectively absorb impact when encountering uneven ground, reducing vibration and damage to the entire mechanical structure. Furthermore, the paired suspension pressure plates better distribute weight, ensuring that the tracks maintain stable grip even in complex terrain. This allows the robot to operate stably on tilted solar panels, with a maximum tilt angle of over 20 degrees, making it more adaptable to different working environments. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the photovoltaic cleaning robot of this utility model;

[0022] Figure 2 This is a top view of the photovoltaic cleaning robot of this utility model;

[0023] Figure 3 for Figure 2 Partial view of the single-bead pin and the self-returning pin;

[0024] Figure 4 This is the front view of the present invention;

[0025] Figure 5 for Figure 4 A partial view of the tracked traveling mechanism;

[0026] Figure 6 This is a schematic diagram of the guide rail groove structure on the track of this utility model.

[0027] Figure 7 This is a schematic diagram of the suspension assembly.

[0028] Figure label:

[0029] 1-rolling brush support, 2-water spraying head, 3-fall prevention sensor, 4-rolling brush, 5-single bead pin, 6-water supply pipe, 7-protection cover, 8-self-return pin, 9-rolling brush motor, 10-track walking mechanism, 11-power supply assembly, 12-machine main body, 13-rotary joint, 14-walking motor, 15-walking track, 16-driving wheel, 17-hanging pressing plate, 18-guide rail groove, 19-driven wheel, 20-correction device, 21-hanging assembly, 22-pressing plate support, 23-buffer spring. DETAILED DESCRIPTION

[0030] The utility model will be described in detail below in combination with the drawings and examples.

[0031] Example 1

[0032] In order to ensure that the walking track can be well attached to the walking surface and enhance the walking stability of the cleaning robot, please refer to Figures 4-7 The utility model discloses a high-stability photovoltaic cleaning robot, which comprises a machine main body 12, track walking mechanisms 10 connected to the two sides of the machine main body 12, walking tracks 15 arranged on the track walking mechanisms 10, a hanging assembly 21 connected between the track walking mechanisms 10 and the machine main body 12, the hanging assembly 21 comprising a hanging pressing plate 17 and a pressing plate support 22, the hanging pressing plate 17 being connected to the machine main body 12 through the pressing plate support 22, the bottom surface of the hanging pressing plate 17 being attached to the inner wall of the walking track 15, and a buffer spring 23 further connected between the pressing plate support 22 and the machine main body 12.

[0033] The hanging pressing plate 17 is used for applying the pressure of a planar area to the walking track 15, so that the walking track 15 is attached to the photovoltaic panel at the area of the hanging pressing plate 17; and the buffer spring 23 is used for absorbing the impact transmitted by the walking track 15 to the hanging pressing plate 17 and the pressing plate support 22.

[0034] The photovoltaic cleaning robot of the utility model has the hanging assembly 21 distributed on the tracks on the two sides, each group of the hanging assembly 21 is composed of a pair of the hanging pressing plates 17, the hanging pressing plates 17 are connected through a hanging system, can be flexibly adjusted to adapt to the terrain in different terrains, increase the contact area of the track and the solar panel, so as to maintain the best gripping state and traction, and enhance the climbing ability and stability of the track vehicle; the structure of each group of the hanging pressing plates 17 and the buffer spring 23 is arranged, so that the walking track 15 can effectively absorb the impact force when encountering uneven ground, and reduce the vibration and damage to the whole mechanical structure. The pair of the hanging pressing plates 17 can better disperse the weight, ensure that the track can still maintain stable gripping force in complex terrain, so that the robot can stably operate on the inclined solar panel, the maximum inclination angle can reach more than twenty degrees, and the adaptability is stronger.

[0035] As a preferred embodiment, the photovoltaic cleaning robot of the utility model can be configured with remote control function, for example, by using remote control technology, so that the operator can accurately control within a range of 100 meters from the machine, the user experience is better, the operation mode is simple and intuitive, and the operation process is greatly simplified.

[0036] Embodiment 2

[0037] The embodiment is a basic implementation scheme of the photovoltaic cleaning robot of the utility model, and is used to solve the problems of unstable connection and inconvenient disassembly of the existing photovoltaic cleaning equipment. Figures 1-3 In the embodiment, the machine body 12 and the roller brush support 1 are connected through the self-return pin 8, and the machine body 12 and the roller brush support 1 are also connected with the single-bead pin 5 for locking the angle of the roller brush support 1.

[0038] The roller brush support 1 is connected with the machine body 12 through the holes in the two single-ear supports and the self-return pin 8, and the angle is locked through the single-bead pin 5. This connection mode is stable and convenient to disassemble. After removing the single-bead pin 5, the self-return pin 8 on the roller brush support 1 is pulled out, and the entire brush head module can be disassembled as a whole, which is convenient for disassembly and connection, significantly reduces the difficulty of disassembly, maintenance and replacement, facilitates transportation, improves maintenance efficiency, and reduces the use difficulty of the user.

[0039] Embodiment 3

[0040] The embodiment is based on embodiment 1, so that each part of the whole equipment can be quickly disassembled and connected, so that each component can be quickly repaired, replaced and transported. The embodiment divides the whole equipment into a cleaning module, a driving module, a power source module and a water passing module. The cleaning module and the water passing swing rod module can be detachably connected to the roller brush support 1. The cleaning module can include components installed on the roller brush support 1 for cleaning the surface of the panel, such as the roller brush 4 and the roller brush motor 9 thereof, and the water spraying head 2 for spraying water to clean the surface of the panel. The water passing swing rod module can include a rotatable adjustable roller brush support 1 and a water passing assembly on the roller brush support 1, such as a water supply pipe 6 for supplying water to the water spraying head 2. The driving module and the power source module can be detachably connected to the machine body 12. The driving module can include components for driving the robot to walk, such as the track walking assembly and the walking motor 14 thereof. The power source module can include components for providing energy for the operation of the robot, such as the lithium battery power supply assembly 11. The detachable connection design between each module not only makes the overall structure more compact, but also enables them to be quickly disassembled, repaired and replaced, greatly improving the maintenance and repair efficiency of the robot, so that the user can easily operate when encountering a fault or transporting, thereby ensuring the long-term stable operation of the robot and facilitating the transportation and storage.

[0041] The above-mentioned modular structure, in particular, the detachable connection structure, can adopt bolt connection, bolt connection, buckle connection, etc., which can be flexibly selected and directly applied according to the prior art. The structure setting makes the photovoltaic cleaning robot of the utility model be able to easily cope with whether passing through a narrow channel or needing to be assembled in a limited space. The weight of each part after decomposition is moderate, facilitating manual carrying, and it is also suitable for using small transport tools for rapid transfer. The structure makes the robot be able to be quickly deployed in various application scenarios, greatly improving its applicability and operation efficiency. At the same time, the modular design also greatly improves the expandability of the product, providing convenience for future upgrading and innovation.

[0042] Embodiment 4

[0043] This embodiment is based on embodiment 1, and is used for cleaning the rainwater, sewage or water sprayed in the machine cleaning process on the surface of the photovoltaic panel, ensuring the smoothness of the surface of the photovoltaic panel and improving the absorption effect of solar energy. The scraper module is detachably connected to the machine body 12 of the embodiment. The scraper module includes a scraper connected to one side of the body. The scraper acts on the surface of the photovoltaic panel to be cleaned, and is used to remove surface sewage and improve the cleaning effect. The scraper module of the embodiment can also be cooperatively arranged with each detachable module in embodiment 3 to form a detachable structure, facilitating maintenance, replacement and transportation.

[0044] The scraper module not only improves the cleaning efficiency, but also effectively reduces the potential damage of water stains to the solar panel, prolonging its service life. The use of the scraper can also improve the photoelectric conversion efficiency of the solar panel. A clean surface can better absorb sunlight, thereby improving the overall power generation efficiency.

[0045] Embodiment 5

[0046] This embodiment is based on embodiment 1, and is used for improving the cleaning effect of the cleaning robot of the utility model. Please refer to Figure 1 、 Figure 2 、 Figure 4The brush head assembly is arranged on the rolling brush support 1, and the brush head assembly comprises a rolling brush 4, the rolling brush 4 is connected with a rolling brush motor 9, the rolling brush support 1 is connected with a protective cover 7 arranged on the periphery of the rolling brush 4, and the rolling brush support 1 is further provided with a water spraying head 2, the water spraying head 2 is connected with a water supply pipe 6, the water supply pipe 6 is connected with a rotary joint 13, the rotary joint 13 is arranged on a machine body 12, and the rotary joint 13 is connected with a water supply mechanism. When the equipment is in the cleaning process, the rolling brush motor 9 drives the rolling brush 4 to rotate at high speed, the rolling brush 4 can be arranged as a wool rolling brush 4 and the like and will not damage the photovoltaic panel, so that the rolling brush 4 can efficiently remove dirt and dust on the surface, and the water spraying head 2 can spray fan-shaped water mist to form a water curtain, so that the water flow is attached to the surface of the photovoltaic panel, and the dirt is washed through the impact force of the high-pressure water and the flow of the water flow, so that the rolling brush 4 realizes more thorough cleaning effect, and the protective cover 7 on the periphery of the rolling brush 4 can block dirt during the cleaning process, so as to avoid splashing to other places and affecting the cleaning effect.

[0047] Embodiment 6

[0048] In this embodiment, based on embodiment 1, in order to ensure the walking stability and obstacle crossing ability of the robot, please refer to Figures 4-7 The machine body 12 is connected with a track walking mechanism 10, the track walking mechanism 10 comprises a walking motor 14 arranged in the machine body 12, the walking motor 14 is electrically connected with a power supply assembly 11, the walking motor 14 is connected with driving wheels 16 located on both sides of the machine body 12, the driving wheels 16 are connected with driven wheels 19 through walking tracks 15, the walking tracks 15 are provided with guide groove 18, and the driving wheels 16 and the driven wheels 19 are provided with protruding guide rails matched with the guide groove 18. The track walking mechanism 10 provides higher adaptability and stability for the robot to cope with various complex and changeable terrain conditions, wherein the driving wheels 16 and the driven wheels 19 are arranged in pairs and distributed on both sides of the track, the power of walking is provided by the walking motor 14, the power source is the power supply assembly 11 installed in the machine body 12, the driving wheels 16 and the driven wheels 19 are driven to move, so that the walking tracks 15 are driven to walk on the photovoltaic panel by friction force, which is more stable and efficient. Compared with other motion systems, the track walking mechanism 10 has a larger contact area with the photovoltaic panel, so that the robot can move stably on a slope with a large slope, and can maintain good stability even in complex terrain conditions. The guide groove 18 ensures that the walking track 15 can remain stable during operation, and the middle parts of the driving wheels 16 and the driven wheels 19 are provided with corresponding protruding structures, which can effectively prevent the walking track 15 from derailing in complex terrain or severe motion. Through the above structure, the stability and reliability of the walking track 15 of the utility model are significantly improved, so as to ensure the normal operation of the equipment under various working conditions.

[0049] The rotating shaft of the driven wheel 19 is connected with a deviation rectifying assembly, and an adjusting bolt is arranged on the deviation rectifying assembly. The rotating shaft of the driven wheel 19 can be finely adjusted through the adjusting bolt, so that the tension of the walking track 15 is finely adjusted, and then the advancing direction is affected. This function realizes the fine adjustment of the running deviation of the walking track, and the main deviation rectifying function can be realized by controlling the rotating speed of the walking motor 14.

[0050] The power supply assembly 11 can be a lithium battery pack, and a built-in detachable and replaceable battery system is arranged. When the battery power of the robot is gradually consumed, the user can conveniently take out the old battery and quickly install a brand new spare battery, greatly improving the practicability of the robot, ensuring that it can continuously work without interruption, thereby meeting the needs of the user for long-time use, and the user does not need to worry about the problem of machine shutdown due to battery depletion, and can be more focused on the completion of the task, improving the work efficiency. The robot can also be equipped with a low power reminder function, so that the user can be notified in time when the power is insufficient, avoiding the sudden shutdown of the robot during work. This function ensures that the robot can continuously work during operation and will not stop halfway due to power depletion, thereby improving the reliability of the robot and the user's use experience.

[0051] Embodiment 7

[0052] This embodiment is based on embodiment 1. In order to further improve the safety performance of the robot, please refer to Figure 2 The robot body 12 can be equipped with a fall prevention sensor 3 at each corner, such as an ultrasonic sensor, a laser sensor, an infrared sensor, etc. These sensors can monitor the surrounding environment in real time and timely detect potential obstacles and dangers. The fall prevention operation system matched with the robot can effectively prevent the robot from falling and ensure that the robot can safely operate on photovoltaic panels of various heights and slopes. At the same time, this function can also be manually turned off by the user to pass through narrow areas, so that the user can flexibly control the running state of the equipment according to the actual situation to ensure that the equipment can also smoothly run in limited space. In addition, the robot of the utility model can also be equipped with a misoperation prevention system to maximize the prevention of accidents during use. When the system detects that the equipment is close to the boundary of the photovoltaic panel, the operation of the remote controller will be immediately locked to prevent further misoperation. At the same time, the robot will automatically retreat and return to the safe area, thereby effectively preventing the equipment from falling due to misoperation. This function not only improves the safety and reliability of the operation, but also brings a more secure use experience to the user.

[0053] The above-described embodiments only express the specific implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application.

Claims

1. A high-stability photovoltaic cleaning robot, characterized by, The machine body (12) is connected with track walking mechanisms (10) on both sides, respectively, and walking tracks (15) are arranged on the track walking mechanisms (10), and a suspension assembly (21) is connected between the track walking mechanisms (10) and the machine body (12), the suspension assembly (21) comprises a suspension pressing plate (17) and a pressing plate support (22), the suspension pressing plate (17) is connected with the machine body (12) through the pressing plate support (22), the bottom surface of the suspension pressing plate (17) is matched with the inner wall of the walking track (15), and the pressing plate support (22) is further connected with a buffer spring (23) between the machine body (12); The suspension pressing plate (17) is used for applying the pressure of a plane area to the walking track (15), so that the walking track (15) is matched with the photovoltaic panel at the area of the suspension pressing plate (17); and the buffer spring (23) is used for absorbing the impact of the walking track (15) transmitted to the suspension pressing plate (17) and the pressing plate support (22).

2. A high-stability photovoltaic cleaning robot according to claim 1, characterized in that, The machine body (12) is connected with the rolling brush support (1) through a self-return pin (8), and the machine body (12) is further connected with a single-bead pin (5) for locking the angle of the rolling brush support (1) between the machine body (12) and the rolling brush support (1).

3. The high-stability photovoltaic cleaning robot according to claim 1, characterized in that, The machine body (12) is connected with track walking mechanisms (10) on both sides, respectively, and walking tracks (15) are arranged on the track walking mechanisms (10), and a suspension assembly (21) is connected between the track walking mechanisms (10) and the machine body (12), the suspension assembly (21) comprises a suspension pressing plate (17) and a pressing plate support (22), the suspension pressing plate (17) is connected with the machine body (12) through the pressing plate support (22), the bottom surface of the suspension pressing plate (17) is matched with the inner wall of the walking track (15), and the pressing plate support (22) is further connected with a buffer spring (23) between the machine body (12); The cleaning module and the water passing swing rod module are detachably connected to the rolling brush support (1), and the driving module and the power source module are detachably connected to the machine body (12).

4. The high-stability photovoltaic cleaning robot according to claim 1, characterized in that, The machine body (12) is detachably connected with a scraper module, the scraper module comprises a scraper connected to one side of the machine body, and the scraper acts on the surface to be cleaned.

5. The high-stability photovoltaic cleaning robot according to claim 2, characterized in that, The rolling brush support (1) is provided with a brush head assembly, the brush head assembly comprises a rolling brush (4), and the rolling brush (4) is used for connecting an external rolling brush motor (9); The rolling brush support (1) is further provided with a water spraying head (2), the machine body (12) is provided with a rotary joint (13), one end of the rotary joint (13) is communicated with the water spraying head (2) through a water supply pipe (6), and the other end of the rotary joint (13) is used for connecting a water supply mechanism; The rolling brush support (1) is further provided with a protection cover (7) arranged at the periphery of the rolling brush (4), and the protection cover (7) is used for semi-wrapping the rolling brush (4) and shielding the liquid splashed by the rolling brush (4).

6. The high-stability photovoltaic cleaning robot according to claim 1, characterized in that, The track walking mechanism (10) comprises a walking motor (14) arranged in the machine body (12), the walking motor (14) is electrically connected with a power supply assembly (11), the walking motor (14) is connected with driving wheels (16) located on both sides of the machine body (12), the driving wheels (16) are connected with driven wheels (19) through walking tracks (15), the walking tracks (15) are provided with guide grooves (18), and the driving wheels (16) and the driven wheels (19) are provided with protruding guide rails matched with the guide grooves (18); The shaft of the driven wheel (19) is connected with a deviation rectifying assembly, and the deviation rectifying assembly is provided with an adjusting bolt.

7. The high-stability photovoltaic cleaning robot according to claim 1, characterized in that, A plurality of anti-falling sensors (3) are arranged on both sides of the machine body (12).

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