Plate surface cleaning device

Abstract

The utility model provides a plate surface cleaning device which comprises a robot, the robot comprises a walking assembly and a machine body, and the machine body is driven by the walking assembly to move. Walking assemblies are arranged on the two opposite sides of the machine body correspondingly and rotationally connected with the machine body.

Description

Technical Field

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

[0002] Solar energy is an important renewable energy source and has become a key energy source for clean energy applications. With the continuous development of photovoltaic power generation technology, photovoltaic tracking power generation systems have been widely used. However, photovoltaic tracking systems are mostly set up in desolate and open areas, where strong winds and dust storms are common, making photovoltaic modules prone to dust accumulation. Under certain light conditions, dust particles on the surface of photovoltaic modules can greatly affect power generation efficiency. To ensure good power generation performance of photovoltaic modules and maintain the cleanliness of their surfaces, a cleaning device for cleaning / sweeping the surface of photovoltaic modules can be applied.

[0003] Currently, in various application scenarios such as solar-aquaculture, solar-agricultural applications, mountainous areas, and wastewater treatment plants, the installation terrain for photovoltaic (PV) modules is uneven and undulating. To ensure that the PV module panels remain on the same plane, the mounting frames on both sides of the PV module have different inclinations and directions. The PV module's traveling brackets can also serve as part of the traveling brackets for the cleaning device. Therefore, the traveling brackets on both sides of the cleaning device have different inclinations and directions; for example, one side of the traveling bracket is laid at an upward inclination, while the other side is laid at a downward inclination. The traveling components of the cleaning device need to adapt to the different inclinations and directions of the traveling brackets on both sides to maintain the movement of the cleaning device. Utility Model Content

[0004] The purpose of this utility model is at least to provide a panel cleaning device, wherein the walking component of the cleaning device can adapt to the walking bridge with different inclination and direction on both sides of the cleaning device.

[0005] The following provides a brief overview of one or more aspects to offer a basic understanding of them. This overview is not an exhaustive summary of all conceived aspects, nor is it intended to identify key or decisive elements of all aspects, nor to define the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form to prepare for the more detailed descriptions that follow.

[0006] One embodiment of this utility model provides a panel cleaning device. The cleaning device includes a robot comprising a walking component and a body. The body moves under the drive of the walking component. Walking components are respectively arranged on opposite sides of the body, and the walking components are rotatably connected to the body.

[0007] In some embodiments, the walking component includes walking wheels, which are connected to the machine body via a drive component. The walking wheels can rotate under the drive of the drive component to adjust the direction of travel of the sweeping device.

[0008] In some embodiments, the drive assembly includes a sliding pair, a linkage, and a steering member; a first end of the steering member is connected to a slider of the sliding pair via the linkage, and a second end of the steering member is connected to a traveling wheel; when the slider moves closer to or further away from the traveling assembly on the guide of the sliding pair, the linkage pushes the steering member to rotate, and the traveling wheel rotates under the drive of the steering member.

[0009] In some embodiments, the guide of the sliding pair is a lead screw, and the slider of the sliding pair is a lead screw nut; the lead screw is provided with two sections of threads with opposite helical directions, and lead screw nuts are respectively provided on the two sections of threads with opposite helical directions, and the two lead screw nuts are respectively connected to the steering component through connecting rods; when the lead screw rotates, the two lead screw nuts on the lead screw move simultaneously closer to or further away from the traveling components on opposite sides of the machine body, so that all traveling wheels rotate synchronously.

[0010] In some embodiments, the walking assembly includes a walking bracket, a walking wheel is mounted on the walking bracket, and a steering groove is provided on the walking bracket. The steering groove is a 90° fan-shaped groove, and the rotation of the steering component is limited within the steering groove.

[0011] In some embodiments, the cleaning device includes a positioning component and a controller for acquiring the position of the machine body. The controller is signal-connected to the positioning component and the drive component. The controller receives the position information acquired by the positioning component and controls the drive component to start and stop, thereby controlling the rotation of the walking wheels.

[0012] In some embodiments, the cleaning device includes an imaging module, a spray assembly, and a controller. The controller is signal-connected to the imaging module and the spray assembly, and receives image information acquired by the imaging module to control the start and stop of the spray assembly.

[0013] In some embodiments, the cleaning device includes a photoelectric module and a power storage module. The photoelectric module is electrically connected to the power storage module. The photoelectric module is used to convert received light energy into electrical energy, and the power storage module is used to store electrical energy for use by the cleaning device.

[0014] In some embodiments, the cleaning device includes a water collection component, a detection component, and a controller. The water collection component is used to store the water used by the cleaning device. A normally closed switch is provided at the water collection port of the water collection component. The controller is signal-connected to the detection component and receives the detection information obtained by the detection component to control the opening and closing of the normally closed switch.

[0015] In some embodiments, multiple balance wheels are provided at the bottom of the machine body. The balance wheels always roll on the component cable to assist the sweeping device in moving.

[0016] The panel cleaning device of this utility model rotatably connects the walking components on both sides of the machine body relative to the machine body, so that the walking components on both sides of the machine body can rotate at a certain angle relative to the machine body, so that the walking components on both sides of the machine body can adapt to the slope of the bridge on both sides of the panel cleaning device. Attached Figure Description

[0017] The above-described features and advantages of this invention can be better understood after reading the following detailed description of the embodiments of this disclosure in conjunction with the accompanying drawings. In the drawings, the components are not necessarily drawn to scale, and components having similar related characteristics or features may have the same or similar reference numerals. Wherein:

[0018] Figure 1 This is a structural schematic diagram of a panel cleaning device according to some embodiments;

[0019] Figure 2 This is a structural schematic diagram of the first walking component according to some embodiments;

[0020] Figure 3 This is a schematic diagram of the movement of the panel cleaning device according to some embodiments;

[0021] Figure 4 This is a schematic diagram of the internal structure of the first walking component according to some embodiments;

[0022] Figure 5 This is a schematic diagram showing the connection between the walking component and the fuselage according to some embodiments;

[0023] Figure 6 This is a schematic diagram of the internal structure of the fuselage according to some embodiments;

[0024] Figure 7 This is a structural schematic diagram of the fuselage based on some embodiments;

[0025] Figure 8 This is a structural schematic diagram of the second walking component according to some embodiments. Detailed Implementation

[0026] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. It should be noted that the aspects described below with reference to the accompanying drawings and specific embodiments are merely exemplary and should not be construed as limiting the scope of protection of the present invention in any way.

[0027] It should be understood that the terms “system,” “device,” “unit,” and / or “module” used herein are one method of distinguishing different components, elements, parts, sections, or assemblies at different levels. However, if other words can achieve the same purpose, they may be replaced by other expressions.

[0028] It is understood that the technical terms that may be involved in the description of this specification, such as “center,” “longitudinal,” “lateral,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the implementation method and do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of the utility model.

[0029] It should be noted that the use of terms such as "first" and "second" to define features in this article is merely for the purpose of distinguishing the corresponding features. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.

[0030] In the description of this specification, it should also be noted that, unless otherwise expressly specified or limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, an integral connection, or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium, or a connection within two components, etc. Those skilled in the art can understand the specific meaning of the above terms in this specification according to the specific circumstances.

[0031] Figure 1 This is a structural schematic diagram of a panel cleaning device according to some embodiments.

[0032] like Figure 1 As shown, the panel cleaning device includes a body 1 and a traveling assembly. The traveling assembly includes a first traveling assembly 2 and a second traveling assembly 3. The first traveling assembly 2 and the second traveling assembly 3 are respectively located on opposite sides of the body 1, and the body 1 moves under the drive of the first traveling assembly 2 and the second traveling assembly 3.

[0033] To accommodate the different inclination directions and degrees of the bridges on both sides of the sweeping device, the traveling components (including the first traveling component 2 and the second traveling component 3) on both sides of the machine body 1 are rotatably connected to the machine body 1. The second traveling component 3 has the same or similar structure as the first traveling component 2. This manual describes the specific structure of the traveling components using the first traveling component 2 as an example.

[0034] Figure 2 This is a structural schematic diagram of the first walking component according to some embodiments.

[0035] In some embodiments, such as Figure 2As shown, the first traveling assembly 2 includes traveling wheels 2-4 and a traveling bracket 2-6. The traveling wheels 2-4 are mounted on the traveling bracket 2-6. A rotating shaft 2-7 is provided on the traveling bracket 2-6, and the traveling bracket 2-6 is connected to the machine body 1 via the rotating shaft 2-7, allowing the traveling assembly to rotate around the rotating shaft at a certain angle to adapt to different slopes. Figure 3 As shown, the walking bridge on one side of the sweeping device is tilted upward, and the walking bridge on the other side is tilted downward. The first walking component 2 adapts to the upward tilting walking bridge and rotates clockwise around the rotating shaft 2-7. The second walking component 3 adapts to the downward tilting walking bridge and rotates counterclockwise around the rotating shaft.

[0036] In some embodiments, the first walking component 2 includes two walking wheels 2-4, each of which is equipped with a motor 2-5. Each motor 2-5 drives one walking wheel 2-4 to increase the driving force of the walking component and adapt to walking paths with larger slopes.

[0037] In some embodiments, the first walking assembly 2 includes a housing 2-2, which covers the walking bracket 2-6 and protects the structures and devices disposed within the first walking assembly 2. A support plate 2-1 is disposed on the walking bracket 2-6 to support the housing 2-2.

[0038] In a photovoltaic (PV) module installation area, multiple rows of PV modules are often laid out. Currently, cleaning devices move linearly back and forth, with one cleaning device for each row of PV modules, which undoubtedly increases equipment costs significantly. In some embodiments, to enable one cleaning device to clean multiple rows of PV modules, the cleaning device needs to have an automatic steering function. When the cleaning device reaches the end of one row of PV modules, it should be able to automatically turn and switch to the end of another row of PV modules for continuous cleaning. In some embodiments, to enable the cleaning device to have an automatic steering function, the traveling wheels 2-4 are connected to the machine body through a drive assembly. The traveling wheels 2-4 can rotate under the drive assembly to adjust the direction of travel of the cleaning device. When the traveling wheels 2-4 rotate continuously by 90° under the drive assembly, the cleaning device can be steered.

[0039] Figure 4 This is a schematic diagram of the internal structure of the first walking component according to some embodiments. Figure 5 This is a schematic diagram showing the connection between the walking component and the fuselage according to some embodiments.

[0040] In some embodiments, such as Figure 4 and Figure 5As shown, the drive assembly includes a sliding joint, a connecting rod 4, and a steering component 2-8. A sliding joint is a mechanism capable of generating linear motion. In some embodiments, the sliding joint includes a slider and a guide, with the slider moving linearly away from or towards the travel assembly along the guide. The sliding joint is mounted on the body 1, and the steering component 2-8 is mounted on the travel bracket 2-6. The first end of the steering component 2-8 is hinged to the slider of the sliding joint via the connecting rod 4, and the second end of the steering component 2-8 is fixed relative to the travel wheel 2-4 via a connecting member 2-9. The slider moves linearly away from or towards the travel assembly along the guide, and the connecting rod 4, driven by the slider, pushes the steering component 2-8 to rotate around its second end. Driven by the steering component 2-8, the travel wheel 2-8 rotates at a certain angle.

[0041] In some embodiments, such as Figure 4 As shown, a steering groove 2-10 is provided on the walking bracket 2-6. The steering groove 2-10 is a 90° fan-shaped groove. The rotation limit of the steering component 2-8 is located within the steering groove 2-10. The steering groove 2-10 restricts the rotation angle of the steering component 2-8 to ensure the correct steering of the walking wheel 2-4.

[0042] Figure 6 This is a schematic diagram of the internal structure of the fuselage according to some embodiments.

[0043] In some embodiments, such as Figure 6 As shown, the guide for the sliding pair is the lead screw 1-16, and the guide for the sliding pair is the lead screw nut 1-12. The lead screw 1-16 has two sections of threads with opposite helical directions, namely thread 1-15 and thread 1-16, which are located near the first traveling assembly 2 and the second traveling assembly 3, respectively. Lead screw nuts 1-12 are respectively fitted onto the two sections of threads with opposite helical directions, achieving threaded engagement between the lead screw nut 1-12 and the external thread of the lead screw 1-16. The two lead screw nuts 1-12 are connected to the steering component 2-8 via connecting rods 4.

[0044] In some embodiments, the drive assembly includes a drive motor 1-13 connected to a lead screw 1-16. When the drive motor 1-13 drives the lead screw 1-16 to rotate, the two lead screw nuts 1-12 move in opposite directions due to the reverse threads on the lead screw 1-16. That is, the two lead screw nuts 1-12 on the lead screw 1-16 simultaneously move closer to or further away from the traveling assemblies on opposite sides of the machine body 1. Under the push of the connecting rod 4, the steering component 2-8 rotates along the steering groove 2-10, causing the four traveling wheels 2-4 of the sweeping device to rotate synchronously, thereby achieving the steering of the sweeping device.

[0045] In some embodiments, the machine body 1 includes a frame 1-10, and a lead screw base 1- is disposed on the frame 1-10.

[0046] 11. The drive motor 1-13 and the lead screw 1-16 are mounted on the lead screw base 1-11. In some embodiments, a brush 1-8 is mounted on the bottom of the frame 1-10. The brush 1-8 is driven by a brush motor 1-9, and the rotating brush 1-8 cleans the surface of the photovoltaic module. In some embodiments, the frame 1 includes a cover 1-1. The cover 1-1 is placed on the frame 1-10 to protect the internal structure and components of the frame 1.

[0047] In some embodiments, the cleaning device includes a positioning component for acquiring the position of the body 1 and a controller 3-1. The controller 3-1 is signal-connected to the positioning component and the drive motor 1-13. The controller 3-1 receives the position information acquired by the positioning component and controls the operation of the drive motor 1-13, including starting, stopping, and reversing, to control the driving wheels 2-4 to generate the correct steering. In some embodiments, the positioning component includes a displacement sensor 1-2 and an infrared ranging sensor 2-3. The displacement sensor 1-2 is used to acquire the moving distance of the cleaning device, and the infrared ranging sensor 2-3 is used to acquire the distance between the cleaning device and the end of the photovoltaic module. The data acquired by the displacement sensor 1-2 and the infrared ranging sensor 2-3 are transmitted to the controller 3-1. The controller 3-1 determines whether the cleaning device needs to turn. When the cleaning device is located at the end of the photovoltaic module, it needs to turn. The controller 3-1 controls the drive motor 1-13 to continuously operate, completing the turning of the cleaning device. This specification does not limit the installation position of the controller 3-1, the displacement sensor 1-2, and the infrared ranging sensor 2-3. By way of example only, the controller 3-1 is mounted on the first walking component 2 or the second walking component 3, and in some embodiments, such as Figure 8 As shown, controller 3-1 is mounted on the walking bracket of the second walking assembly 3. Displacement sensor 1-2 is mounted on the body 1, as in some embodiments, such as Figure 7 As shown, displacement sensor 1-2 is mounted on the cover 1-1 of the fuselage 1. Infrared ranging sensor 2-3 is mounted on the first walking assembly 2 or the second walking assembly 3. In some embodiments, such as... Figure 2 As shown, the infrared ranging sensor 2-3 is installed at the end of the walking bracket 2-6 of the first walking assembly 2.

[0048] By setting the walking wheels to turn under the drive of the drive component, and the controller controlling the start and stop of the drive component based on the position information obtained by the positioning component, the cleaning device can turn autonomously. By repeating this action, a single cleaning device can continuously clean multiple rows of photovoltaic modules.

[0049] In some embodiments, the cleaning device includes an imaging module 1-6 (e.g., an infrared imaging instrument), a spray assembly 1-17, and a controller 3-1. The controller 3-1 is signal-connected to the imaging module 1-6 and the spray assembly 1-17. The controller receives image information acquired by the imaging module 1-6 and controls the start and stop of the spray assembly 1-17. When the imaging module 1-6 detects severe stains on the photovoltaic module surface, causing a hot spot effect, the imaging module 1-6 outputs a signal to the controller 3-1. The controller 3-1 then controls the spray assembly 1-17 to start, cleaning the severe stains on the photovoltaic module surface. In some embodiments, the spray assembly 1-17 is installed at the bottom of the frame 1-10 and positioned close to the brush 1-8 to facilitate the coordinated action of the spray assembly 1-17 and the brush 1-8.

[0050] In some embodiments, the spray assembly 1-17 and the water collection assembly 1-14 are connected by a pipeline. A normally closed switch is provided on the pipeline. The controller controls the normally closed switch on the pipeline to open based on the image information acquired by the imaging module 1-6, thereby activating the spray assembly 1-17.

[0051] The water collection assembly 1-14 is used to collect and store water used by the cleaning device. In some embodiments, the cleaning device includes a detection assembly. A water inlet is provided within the water collection assembly 1-14, and a normally closed switch is installed at the water inlet. The controller 3-1 is signal-connected to the detection assembly, and receives detection information acquired by the detection assembly to control the opening and closing of the normally closed switch. In some embodiments, the detection assembly includes a hygrometer 1-3 and a pressure sensor. The hygrometer 1-3 is used to detect external water sources, and the pressure sensor is used to detect the amount of water collected inside the water collection assembly 1-14. The hygrometer 1-3 is mounted on the surface of the cover 1-1. When it rains, the hygrometer 1-3 sends a signal to the controller 3-1, which then controls the normally closed switch to open, allowing rainwater to flow into the water collection assembly 1-14 through the normally closed switch. The pressure sensor is installed inside the water collection assembly 1-14; when sufficient rainwater is collected, the pressure sensor sends a signal to the controller 3-1, which then controls the normally closed switch to close. In some embodiments, a water inlet 1-4 is provided on the surface of the cover 1-1, and the water inlet 1-4 is connected to the water storage chamber in the water collection assembly 1-14 through a normally closed switch.

[0052] In some embodiments, the cleaning device includes a photoelectric module 1-5 and a power storage module 3-2. The photoelectric module 1-5 is electrically connected to the power storage module 3-2. The photoelectric module 1-5 converts received light energy into electrical energy, and the power storage module 3-2 stores electrical energy for use by the cleaning device. In some embodiments, the photoelectric module 1-5 is disposed on the surface of the cover 1-1 to receive light energy. This specification does not limit the installation position of the power storage module 3-2. By way of example only, the power storage module 3-2 is installed on the first walking assembly 2 or the second walking assembly 3. In some embodiments, such as... Figure 8As shown, the energy storage module 3-2 is installed on the walking bracket of the second walking component 3.

[0053] In some embodiments, a plurality of balance wheels 1-7 are provided at the bottom of the machine body 1. The balance wheels 1-7 always roll on the module cable of the photovoltaic module. The balance wheels 1-7 are used to assist the cleaning device in moving, maintain the balance of the machine body 1, prevent it from overturning, and distribute the weight of the machine body 1 to the module cable to avoid the weight of the machine body 1 from damaging the photovoltaic module.

[0054] The basic concepts have been described above. It is clear that the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification, especially for those skilled in the art. Furthermore, unless expressly stated in the claims, the order of elements and sequences, the use of numbers and letters, or other names in this specification are not intended to limit the order of the processes and methods described herein. Although various examples of utility model embodiments that are currently considered useful have been discussed in the foregoing disclosure, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments. Rather, the claims are intended to cover all modifications and equivalent combinations that conform to the substance and scope of the embodiments described herein.

Claims

1. A panel cleaning device, characterized in that, The cleaning device includes a robot comprising a walking component and a body, the body of which moves under the drive of the walking component; The traveling components are respectively arranged on opposite sides of the fuselage, and the traveling components are rotatably connected to the fuselage; wherein, The walking component includes walking wheels, which are connected to the machine body via a drive component. The walking wheels can rotate under the drive of the drive component to adjust the direction of travel of the sweeping device. The drive assembly includes a sliding pair, a linkage, and a steering component; The first end of the steering component is connected to the slider of the sliding pair via the connecting rod, and the second end of the steering component is connected to the traveling wheel; When the slider moves closer to or further away from the walking assembly on the guide of the sliding pair, the connecting rod pushes the steering component to rotate, and the walking wheel rotates under the drive of the steering component.

2. The panel cleaning device according to claim 1, characterized in that, The guide of the movable pair is a lead screw, and the slider of the movable pair is a lead screw nut; The lead screw is provided with two sections of threads with opposite helical directions, and the lead screw nut is respectively provided on the two sections of threads with opposite helical directions. The two lead screw nuts are respectively connected to the steering component through the connecting rod. When the lead screw rotates, the two lead screw nuts on the lead screw move simultaneously toward or away from the walking components on opposite sides of the machine body, causing all the walking wheels to rotate synchronously.

3. The panel cleaning device according to claim 1, characterized in that, The walking assembly includes a walking bracket, the walking wheels are mounted on the walking bracket, the walking bracket is provided with a steering groove, the steering groove is a 90° fan-shaped groove, and the rotation limit of the steering component is located within the steering groove.

4. The panel cleaning device according to any one of claims 2-3, characterized in that, The cleaning device includes a positioning component and a controller for obtaining the position of the machine body. The controller is signal-connected to the positioning component and the drive component. The controller receives the position information obtained by the positioning component and controls the drive component to start and stop, so as to control the rotation of the walking wheels.

5. The panel cleaning device according to any one of claims 1-3, characterized in that, The cleaning device includes an imaging module, a spray assembly, and a controller. The controller is signal-connected to the imaging module and the spray assembly. The controller receives image information acquired by the imaging module and is used to control the start and stop of the spray assembly.

6. The panel cleaning device according to any one of claims 1-3, characterized in that, The cleaning device includes a photoelectric module and a power storage module. The photoelectric module is electrically connected to the power storage module. The photoelectric module is used to convert received light energy into electrical energy, and the power storage module is used to store the electrical energy for use by the cleaning device.

7. The panel cleaning device according to any one of claims 1-3, characterized in that, The cleaning device includes a water collection component, a detection component, and a controller. The water collection component is used to store the water used by the cleaning device. A normally closed switch is provided at the water collection port of the water collection component. The controller is signal-connected to the detection component. The controller receives the detection information obtained by the detection component and is used to control the opening and closing of the normally closed switch.

8. The panel cleaning device according to any one of claims 1-3, characterized in that, The bottom of the machine body is equipped with multiple balance wheels, which always roll on the component cable to assist the sweeping device in its movement.

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