Multi-adsorption type photovoltaic cleaning robot

Abstract

The multi-adsorption type photovoltaic cleaning robot comprises a vehicle body, a cleaning device, an advancing device and a plurality of adsorption devices, the adsorption devices form negative pressure in suction cups through draught fans, elastic deformation parts are dynamically attached to photovoltaic panels, and a controller adjusts the power of the draught fans according to data of negative pressure sensors. The vehicle body adopts a lightweight aluminum alloy frame, the bottom is provided with an independent adsorption unit, the cleaning device is provided with a rotary rolling brush and an atomizing nozzle, and the advancing device adopts an anti-skid track structure, so that the problems of obstacle crossing instability and adsorption failure of a traditional robot are effectively solved, and the cleaning efficiency and the equipment reliability are improved; the device is suitable for automatic cleaning operation of large-scale photovoltaic power stations.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic cleaning, specifically a multi-adsorption photovoltaic cleaning robot. Background Technology

[0002] Contamination of photovoltaic panels can lead to a decrease in power generation efficiency, so it is necessary to clean the surface of the photovoltaic panels. Currently, the most common photovoltaic cleaning robots on the market are mainly divided into track-mounted and wheeled robots. Track-mounted robots rely on preset tracks for cleaning work, which is costly and has poor flexibility. Wheeled robots are prone to slipping on the surface of photovoltaic panels, posing a risk of falling. Therefore, some wheeled robots have added adsorption devices. Traditional adsorption devices are generally single adsorption types. Such robots are prone to falling when crossing obstacles, such as crossing the splicing frame of photovoltaic panels, or when the adsorption device itself malfunctions, and the robot cannot effectively adhere to the photovoltaic panels. Utility Model Content

[0003] The purpose of this invention is to provide a multi-adsorption photovoltaic cleaning robot that solves the problems of instability and adsorption failure of traditional robots when crossing obstacles, thereby improving cleaning efficiency and equipment reliability.

[0004] A multi-adsorption photovoltaic cleaning robot includes a vehicle body, a cleaning device, and a traveling device. The vehicle body has at least two independent adsorption devices installed at its bottom. Each adsorption device includes a fan, a negative pressure sensor, a suction cup, an air filter, and a controller. The suction cup has an elastic deformation part that contacts the photovoltaic panel to achieve dynamic deformation contact. The controller is connected to the negative pressure sensor and the fan.

[0005] In a further technical solution, the elastic deformation part of the suction cup is made of elastic material, and its cross-section has a hollow ring structure, which is filled with a porous elastic filler.

[0006] In a further technical solution, the adsorption device also includes an upper cover plate fixed to the vehicle body. A hole penetrating the upper cover plate is provided at the center of the upper cover plate. A fan connecting plate is fixedly installed in the hole, and the fan is fixed to the fan connecting plate.

[0007] In a further technical solution, the upper cover plate is provided with an array of heat dissipation holes.

[0008] In a further technical solution, the fan is a centrifugal brushless fan.

[0009] A further technical solution is that a partition is provided on the bottom surface of the upper cover plate, the partition is located directly below the fan, the air filter is fixedly installed on the partition, and the partition is vertically arranged to form an air duct isolation zone, so that air enters the fan after being filtered by the air filter.

[0010] In a further technical solution, the suction cup is detachably fixed to the card plate, and the card plate is detachably installed on the bottom surface of the upper cover plate.

[0011] In a further technical solution, the traveling device is a tracked structure, symmetrically arranged on both sides of the vehicle body in the direction of travel, and the track surface is provided with anti-slip ridges.

[0012] In a further technical solution, the cleaning device includes a swingable rotating roller brush and a high-pressure water mist nozzle, with bristles evenly distributed on the surface of the roller brush.

[0013] A further technical solution is that the vehicle body adopts an aluminum alloy frame structure, with an integrated control box and battery compartment inside, and a waterproof structure on the top.

[0014] To achieve the above objectives, this utility model employs the following technical solution:

[0015] In summary, this utility model has the following beneficial effects: multiple adsorption devices are controlled in a coordinated manner. When a single adsorption device fails, or when crossing obstacles, an adsorption device still works and adsorbs onto the photovoltaic panel. It also automatically adjusts the adsorption force of another adsorption device to improve adsorption stability. This solves the problems of easy side slippage when crossing obstacles and robot falling when a single adsorption device fails. The elastic deformation part can maintain the continuity of adsorption and prevent the robot from getting stuck when crossing obstacles. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a three-dimensional structural diagram of the multi-adsorption photovoltaic cleaning robot of this application;

[0018] Figure 2 This is a schematic diagram of the adsorption device of this application;

[0019] Figure 3 This is a schematic diagram of the bottom structure of the vehicle body in this application.

[0020] In the diagram: 100, vehicle body; 200, adsorption device; 201, upper cover plate; 202, fan; 203, fan connecting plate; 204, air filter; 205, partition plate; 206, clamping plate; 207, suction cup; 208, controller; 209, elastic deformation part; 300, cleaning device; 400, traveling device. Detailed Implementation

[0021] The present invention will be further described in detail below with reference to embodiments. However, the implementation of the present invention is not limited thereto. The technical solutions in the embodiments of this application are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0022] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0023] Furthermore, the use of terms such as "first," "second," etc., in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0024] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0025] Furthermore, the technical solutions of the various embodiments of this application can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this application.

[0026] Combined with appendix Figures 1-3As shown, a multi-adsorption photovoltaic cleaning robot includes a vehicle body 100, on which a cleaning device 300 and a traveling device 400 are installed. The vehicle body 100 is also equipped with an adsorption device 200. At least two sets of adsorption devices 200 are provided. In this embodiment, two sets of adsorption devices 200 are provided to form a dual adsorption structure. The adsorption device 200 includes a fan 202, a negative pressure sensor, a suction cup 207, an air filter 204, and a controller 208. The controller 208 is signal-connected to the negative pressure sensor and the fan 202 to dynamically adjust the fan power according to the negative pressure sensor data.

[0027] Specifically, the adsorption device 200 is based on Bernoulli's principle, which states that air pressure decreases as air speed increases. During the negative pressure adsorption process, air enters the suction cup 207 and generates a negative pressure effect through high-speed airflow, thus adsorbing the object. As the speed increases, the airflow pressure decreases. In the area where the suction cup 207 contacts the photovoltaic panel, the airflow speed decreases, thereby generating a higher pressure than the surrounding airflow, which causes the suction cup to generate an adsorption force between the object and the object, thus allowing the robot to be adsorbed onto the photovoltaic panel without slipping.

[0028] The adsorption device 200 also includes an upper cover plate 201, which is fixed to the vehicle body 100. A hole is provided in the center of the upper cover plate 201, through which a fan connecting plate 203 is fixedly installed. The fan 202 is fixed to the fan connecting plate 203. A partition plate 205 is fixed on the bottom surface of the upper cover plate 201, which is located directly below the fan 202. An air filter 204 is fixedly installed on the partition plate 205. The partition plate 205 is vertically arranged to form an air duct isolation zone, so that air enters the fan 202 after being filtered by the air filter 204.

[0029] The upper cover plate 201 is provided with a heat dissipation hole array for heat dissipation. A card plate 206 is fixed on the bottom surface of the upper cover plate 201. The suction cup 207 is installed on the card plate 206 and is made of rubber. The part of the suction cup 207 that contacts the photovoltaic panel is an elastic deformation part 209, which is made of elastic material. Its cross-section is a hollow ring structure and is filled with a porous elastic filler. The elastic deformation part 209 is circular in shape and is filled with a flexible functional material, such as sponge. This makes the contact between the suction cup 207 and the photovoltaic panel dynamic. When passing over the protrusions of the photovoltaic frame, the elastic deformation part 209 will also be squeezed and deformed, so it will not be stuck. It can maintain adsorption at all times while avoiding problems such as difficulty in movement caused by excessive friction.

[0030] Specifically, the vehicle body 100 adopts a lightweight aluminum alloy frame, with an integrated control box and battery compartment inside. A waterproof cover is provided on the top. Two independent adsorption devices 200 are symmetrically installed at the bottom of the vehicle body 100. A cleaning device 300 is installed on the side of the vehicle body 100. Two sets of travel devices 400 are provided, which are symmetrically installed on both sides of the vehicle body 100 in the direction of travel.

[0031] The cleaning device 300 includes a rotating roller brush that can swing up and down. The roller brush is evenly covered with bristles made of nylon-carbon fiber composite material. A high-pressure water mist nozzle is installed on the frame on which the roller brush is mounted. The nozzle is connected to the water tank on the side of the vehicle body 100 through a hose.

[0032] The traveling device 400 adopts a tracked traveling structure and is symmetrically arranged on both sides of the vehicle body 100 in the direction of travel. The track surface is provided with anti-slip ridges.

[0033] The adsorption device 200 includes the following components:

[0034] The upper cover plate 201 is fixed to the bottom of the vehicle body 100 by bolts. It is made of anodized aluminum to reduce weight and prevent rust. Heat dissipation holes are provided on the upper cover plate 201 to accelerate heat dissipation inside the robot.

[0035] The fan connecting plate 203 is placed in the center of the upper cover plate 201 by bolts or welding, and is used to install the fan 202. The fan 202 is a centrifugal brushless fan, and its power is selected according to the model of the robot. For example, the power can be selected as 200W, and the maximum negative pressure can reach -15kPa. Changing the speed of the fan 202 can change the negative pressure value it generates.

[0036] Multiple negative pressure sensors are evenly embedded in the suction cup 207. The value is taken as the average value detected by the negative pressure sensors to reduce errors. When the negative pressure sensor detects a pressure change, it determines whether the adsorption device has failed based on the data stored in the controller. For example, if the negative pressure sensor detects a sudden change in data and the change value falls within the range of stored failure data, the adsorption device is determined to have failed. At this time, another adsorption device adjusts the power of the fan to increase the suction of the other adsorption device that has not failed.

[0037] The partition 205 is vertically welded to the bottom surface of the upper cover plate 201 to form an air duct isolation area. A cylindrical air filter 204 is fixed on it. The partition 205 can also be installed on the bottom surface of the upper cover plate 201 by bolts. The air filter 204 is selected according to the model of the robot. For example, an air filter with a filtration accuracy of 5μm can be selected to filter the air.

[0038] The card plate 206 is installed on the bottom surface of the upper cover plate 201. In one embodiment, the upper cover plate 201 is rectangular and the card plate 206 is rectangular in shape. It is used to install the suction cup 207. The upper part of the suction cup 207 is a rectangular frame that fits the card plate 206, and the lower part is an elastic deformation part 209 that is circular.

[0039] In another embodiment, the difference between this embodiment and the previous embodiment is that the upper cover plate 201 is circular, the card plate 206 is also circular, the upper part of the suction cup 207 is circular, and the lower elastic deformation part 209 is annular.

[0040] The connection between the card plate 206 and the suction cup 207 can be fastened by screws. When maintenance or replacement is required, the suction cup 207 can be removed by unscrewing the screws.

[0041] In one embodiment, the vehicle body 100 adopts an aluminum alloy frame structure, integrates a control box and battery compartment inside, and has a waterproof structure on top, such as a waterproof cloth.

[0042] A method for using a multi-adsorption photovoltaic cleaning robot: The controller 208 starts and adjusts the power of the fan 202 according to the current environment, such as the tilt angle of the photovoltaic panel and the wind speed, so that the adsorption device 200 generates adsorption force. If the negative pressure sensor detects that a certain adsorption device fails, it controls the other adsorption device to adjust the adsorption force. For example, when the robot moves from one photovoltaic panel to another, there may be obstacles such as photovoltaic frames or edges protruding from the photovoltaic panels. At this time, when the adsorption device passes through, there may be adsorption failure. Again, for ease of description, the adsorption devices are labeled as the first adsorption device and the second adsorption device according to the order of obstacle crossing. When the first adsorption device fails at the junction of the two photovoltaic panels during obstacle crossing, the second adsorption device still adheres to the photovoltaic panel and increases the adsorption force of the second adsorption device by increasing the fan power to prevent the robot from sliding sideways. After overcoming the obstacle, the failed first adsorption device re-adsorbs onto the new photovoltaic panel, and the second adsorption device crosses the obstacle. When the second adsorption device fails, the first adsorption device increases the adsorption force to achieve obstacle crossing for the robot.

[0043] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand and implement the content of this utility model. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be covered within the scope of protection of this utility model.

Claims

1. A multi-adsorption photovoltaic cleaning robot, comprising a vehicle body (100), a cleaning device (300), and a traveling device (400), characterized in that: At least two independent adsorption devices (200) are installed at the bottom of the vehicle body (100). Each adsorption device (200) includes a fan (202), a negative pressure sensor, a suction cup (207), an air filter (204), and a controller (208). The suction cup (207) has an elastic deformation part (209) that contacts the photovoltaic panel to achieve dynamic deformation contact. The controller (208) is connected to the negative pressure sensor and the fan (202) via signal.

2. The multi-adsorption photovoltaic cleaning robot according to claim 1, characterized in that: The elastic deformation part (209) of the suction cup (207) is made of elastic material, and its cross-section is a hollow ring structure filled with porous elastic filler.

3. The multi-adsorption photovoltaic cleaning robot according to claim 1, characterized in that: The adsorption device (200) also includes an upper cover plate (201) fixed to the vehicle body (100). A hole is provided in the center of the upper cover plate (201) through the upper cover plate (201). A fan connecting plate (203) is fixedly installed in the hole. The fan (202) is fixed to the fan connecting plate (203).

4. The multi-adsorption photovoltaic cleaning robot according to claim 3, characterized in that: The upper cover plate (201) is provided with an array of heat dissipation holes.

5. The multi-adsorption photovoltaic cleaning robot according to claim 1, characterized in that: The fan (202) is a centrifugal brushless fan.

6. The multi-adsorption photovoltaic cleaning robot according to claim 3, characterized in that: The bottom surface of the upper cover plate (201) is provided with a partition plate (205), the partition plate (205) is located directly below the fan (202), the air filter (204) is fixedly installed on the partition plate (205), the partition plate (205) is vertically arranged to form an air duct isolation area, so that air enters the fan (202) after being filtered by the air filter (204).

7. The multi-adsorption photovoltaic cleaning robot according to claim 1, characterized in that: The suction cup (207) is detachably fixed on the card plate (206), and the card plate (206) is detachably installed on the bottom surface of the upper cover plate (201).

8. The multi-adsorption photovoltaic cleaning robot according to claim 1, characterized in that: The traveling device (400) is a tracked structure, symmetrically arranged on both sides of the vehicle body (100) in the direction of travel, and the track surface is provided with anti-slip ridges.

9. The multi-adsorption photovoltaic cleaning robot according to claim 1, characterized in that: The cleaning device (300) includes a swingable rotating roller brush and a high-pressure water mist nozzle, and the surface of the roller brush is evenly covered with bristles.

10. The multi-adsorption photovoltaic cleaning robot according to claim 1, characterized in that: The vehicle body (100) adopts an aluminum alloy frame structure, with an integrated control box and battery compartment inside, and a waterproof structure on the top.

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