Climbing robot for cleaning photovoltaic module in sewage treatment plant

Abstract

The utility model discloses a sewage treatment plant photovoltaic assembly cleaning climbing robot, and relates to the field of photovoltaic assembly cleaning robots, the sewage treatment plant photovoltaic assembly cleaning climbing robot comprises a cleaning robot body, two sides of the cleaning robot body are provided with a cleaning roller and a cleaning brush roller, and the top of the cleaning robot body is provided with a mounting seat; a rotating seat is movably mounted at the top of the mounting seat, and a first motor is arranged at the bottom of the mounting seat. The problem that the cleaning robot body needs to rely on a ferry vehicle when the photovoltaic panel is replaced is solved, during use, the cleaning robot body rotates firstly, the second arm rod rotates to enable the suction cup to be adsorbed to the surface of the photovoltaic panel, and then the cleaning robot body moves; during cleaning, an end edge beam top plate at the top of a crawler photovoltaic support on one side of the cleaning robot body moves, at the moment, a second motor, a third motor and a fourth motor work at the same time, a first arm rod and a second arm rod rotate slowly, and the cleaning robot body is pulled to the position above a photovoltaic panel on the other side.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic module cleaning robots, specifically a climbing robot for cleaning photovoltaic modules in a sewage treatment plant. Background Technology

[0002] Photovoltaic power generation is a technology that uses solar energy to convert light energy into electrical energy through the photovoltaic effect (photovoltaic effect). Many sewage treatment plants now install photovoltaic modules above sewage ponds. However, the long-term use of photovoltaic modules requires cleaning of their surfaces, thus necessitating the use of photovoltaic module cleaning climbing robots. Photovoltaic module cleaning climbing robots are automated devices used to clean the surface of photovoltaic panels. With the popularization of photovoltaic power generation, cleaning photovoltaic modules has become an important part of improving their power generation efficiency. Traditional manual cleaning is not only time-consuming but also easily damages photovoltaic modules, while cleaning robots can clean them efficiently, energy-savingly, and without damaging the modules.

[0003] Because the photovoltaic modules above the sewage treatment plant are installed using flexible cables, with the photovoltaic panels installed in rows, and multiple rows of photovoltaic panels installed on mounting frames on both sides of the sewage pool, the existing photovoltaic module cleaning climbing robots are usually used in conjunction with shuttle vehicles. After each row of photovoltaic panels is cleaned, the cleaning robot falls from above the photovoltaic panels to above the shuttle vehicle. The shuttle vehicle then moves the cleaning robot to the bottom of another row of photovoltaic panels to be cleaned. Subsequently, the shuttle vehicle adjusts its angle, and the robot moves back to above the photovoltaic panels. The shuttle vehicle transfer takes a long time, making this method cumbersome and inefficient. Utility Model Content

[0004] Based on this, the purpose of this utility model is to provide a climbing robot for cleaning photovoltaic modules in a sewage treatment plant, so as to solve the technical problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a climbing robot for cleaning photovoltaic modules in a sewage treatment plant, comprising a cleaning robot body, cleaning rollers and cleaning brush rollers installed on both sides of the cleaning robot body, and a mounting base installed on the top of the cleaning robot body. A rotating seat is movably mounted on the top of the mounting base, and a first motor is provided at the bottom of the mounting base. A fixing block is fixed on the top of the rotating seat, and a first arm is movably mounted on one side of the fixing block. A second motor is installed on the other side of the fixing block. A second arm is movably mounted at the end of the first arm, and a third motor is installed on one side of the first arm. An adsorption component is installed at the end of the second arm. The adsorption component includes a connecting block, a mounting plate, and a suction cup. The connecting block is movably connected to the second arm, and a miniature vacuum pump is installed on one side of the connecting block. The mounting plate is fixed at the end of the connecting block, and a suction cup is provided at the bottom of the mounting plate.

[0006] By adopting the above technical solution, the problem of needing a shuttle vehicle when replacing photovoltaic panels is solved. During use, the cleaning robot body rotates first, then the first motor drives the rotating base to rotate 160°. Immediately afterwards, the second and third motors work simultaneously. The third motor drives the second arm to rotate, and the second motor drives the first arm to rotate 10-30 degrees (depending on the tilt angle of the photovoltaic panel). The fourth motor drives the connecting block to rotate. The rotation of the second arm causes the suction cup to adhere to the surface of the photovoltaic panel. Then, the vacuum pump works to remove air from the suction cup, making the suction cup adhere more stably to the photovoltaic panel surface. Subsequently, the cleaning robot body moves, and the top edge beam of the photovoltaic support on one side of the cleaning robot body moves. At this time, the second, third, and fourth motors work simultaneously, causing the first and second arms to rotate slowly, pulling the cleaning robot body towards the photovoltaic panel on the other side.

[0007] The present invention is further configured such that a fourth motor is installed at the end of the second arm, and the output end of the fourth motor is connected to the connecting block.

[0008] Preferably, the fourth motor can adjust the angle of the suction cup according to the tilt angle of the photovoltaic panel, so that the suction cup can better adhere to the surface of the photovoltaic panel.

[0009] The present invention is further configured such that the output end of the micro vacuum pump is provided with a connecting pipe, the interior of the mounting plate is provided with an annular groove, and the bottom end of the inner wall of the annular groove is fixed with a connecting pipe, and the connecting pipe is connected to the suction cup. The interior of the mounting plate is provided with a connecting groove, and the connecting groove is connected to the annular groove, and the end of the connecting pipe extends into the interior of the connecting groove.

[0010] Preferably, a micro vacuum pump is activated, which extracts the air from inside the suction cup. The micro vacuum pump then extracts the gas from the annular groove, the connecting groove, and the suction cup through the connecting pipe, thereby ensuring that the suction cup is firmly attached to the top of the photovoltaic panel.

[0011] The present invention is further configured such that a groove is provided on the top of the cleaning robot body, and a caster wheel is installed at the bottom of the first arm.

[0012] Preferably, the casters are designed to support the bottom of the first arm when it rotates, and the grooves allow the casters to slide inside them.

[0013] The present invention is further provided that a support block is fixed on one side of the top of the mounting base.

[0014] Preferably, the support block can support the bottom of the second arm when it is retracted.

[0015] The present invention is further configured such that the number of suction cups is multiple sets, and the multiple sets of suction cups are evenly distributed on the bottom of the mounting plate.

[0016] Preferably, by setting multiple sets of suction cups, the suction cups can achieve better adsorption and avoid the problem of the installation plate moving.

[0017] The present invention is further configured such that the output end of the first motor is connected to the bottom of the rotating base, and the bottom of the rotating base is in contact with the top of the mounting base.

[0018] Preferably, when the first motor is working, it drives the rotating seat to rotate, and the bottom of the rotating seat contacts the mounting base to avoid the problem of being suspended in the air.

[0019] The present invention is further configured such that a mounting groove is provided on the top of the cleaning robot body, and the mounting base is installed on the top of the cleaning robot body by bolts.

[0020] Preferably, the installation slot facilitates the installation of the first motor, preventing it from being exposed, and the bolts secure the mounting base to the cleaning robot body, making the mounting base more stable.

[0021] In summary, the present invention has the following main advantages:

[0022] 1. This utility model, by incorporating a mounting base, a rotating base, a first arm, and a second arm, solves the problem of relying on a transfer vehicle when replacing photovoltaic panels with a cleaning robot. During use, the cleaning robot body rotates first, then the first motor drives the rotating base to rotate 160°. Immediately afterwards, the second and third motors work simultaneously. The third motor drives the second arm to rotate, and the second motor drives the first arm to rotate 10-30 degrees (depending on the tilt angle of the photovoltaic panel). The fourth motor drives the connecting block to rotate. The rotation of the second arm causes the suction cup to adhere to the surface of the photovoltaic panel. A vacuum pump then works to remove air from the suction cup, making the adhesion more stable. Subsequently, the cleaning robot body moves, and the top edge beam of the photovoltaic support on one side of the cleaning robot body moves. At this time, the second, third, and fourth motors work simultaneously, causing the first and second arms to rotate slowly, pulling the cleaning robot body towards the photovoltaic panel on the other side.

[0023] 2. This utility model is equipped with a miniature vacuum pump, a mounting plate, a suction cup, and an annular groove. The suction cup works in conjunction with the vacuum pump so that it can adhere to one side of the photovoltaic panel during use. When the cleaning robot moves, the end near the suction cup can provide stable support, preventing the cleaning robot from falling off. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of this utility model;

[0025] Figure 2 This is a schematic diagram of the top structure of the cleaning robot body of this utility model;

[0026] Figure 3 This is a schematic diagram of the operation of the first and second booms of this utility model;

[0027] Figure 4 This is a schematic diagram of the internal structure of the mounting plate of this utility model;

[0028] Figure 5 This is a schematic diagram of the distribution structure of the suction cup of this utility model.

[0029] Explanation of reference numerals in the attached figures:

[0030] 1. Cleaning robot body; 2. Cleaning roller; 3. Cleaning brush roller; 4. Mounting base; 41. First motor; 5. Rotating base; 51. Fixing block; 52. Second motor; 53. Support block; 6. First arm; 61. Universal wheel; 7. Second arm; 71. Third motor; 8. Connecting block; 81. Fourth motor; 82. Miniature vacuum pump; 83. Connecting pipe; 9. Mounting plate; 91. Annular groove; 92. Connecting pipe; 93. Suction cup; 94. Connecting groove; 10. Groove; 11. Mounting groove. Detailed Implementation

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0032] The embodiments of this utility model will be described below based on its overall structure.

[0033] Please see Figures 1-5The system includes a cleaning robot body 1, with cleaning rollers 2 and cleaning brush rollers 3 mounted on both sides. A mounting base 4 is mounted on the top of the cleaning robot body 1, and a rotating base 5 is movably mounted on the top of the mounting base 4. A first motor 41 is located at the bottom of the mounting base 4. A fixing block 51 is fixed to the top of the rotating base 5. A first arm 6 is movably mounted on one side of the fixing block 51, and a second motor 52 is mounted on the other side of the fixing block 51. A second arm 7 is movably mounted at the end of the first arm 6, and a third arm 7 is mounted on one side of the first arm 6. The motor 71 and the end of the second arm 7 are equipped with an adsorption assembly, which includes a connecting block 8, a mounting plate 9 and a suction cup 93. The connecting block 8 is movably connected to the second arm 7, and a micro vacuum pump 82 is installed on one side of the connecting block 8. The mounting plate 9 is fixed to the end of the connecting block 8, and the suction cup 93 is provided at the bottom of the mounting plate 9. The operation of the micro vacuum pump 82 enables the suction cup 93 to be better adsorbed on the surface of the photovoltaic panel. At the same time, the micro vacuum pump 82 can also expel the vacuum in the suction cup to avoid damage to the surface of the photovoltaic panel when the suction cup is separated from the photovoltaic panel.

[0034] For details regarding the above embodiments, please refer to [link / reference]. Figure 3 The end of the second arm 7 is equipped with a fourth motor 81, and the output end of the fourth motor 81 is connected to the connecting block 8. The fourth motor 81 can adjust the angle of the suction cup according to the tilt angle of the photovoltaic panel, so that the suction cup can be better adsorbed on the surface of the photovoltaic panel.

[0035] For details regarding the above embodiments, please refer to [link / reference]. Figure 3 and Figure 4 The output end of the micro vacuum pump 82 is provided with a connecting pipe 83. The inside of the mounting plate 9 is provided with an annular groove 91, and the bottom of the inner wall of the annular groove 91 is fixed with a connecting pipe 92, which is connected to the suction cup 93. The inside of the mounting plate 9 is provided with a connecting groove 94, which is connected to the annular groove 91. The end of the connecting pipe 83 extends into the inside of the connecting groove 94. When the micro vacuum pump 82 is started, it extracts the air inside the suction cup 93. The micro vacuum pump 82 extracts the gas in the annular groove 91, the connecting groove 94 and the suction cup 93 through the connecting pipe 83, so that the suction cup 93 is firmly attached to the top of the photovoltaic panel.

[0036] For details regarding the above embodiments, please refer to [link / reference]. Figure 2 and Figure 3 The top of the cleaning robot body 1 is provided with a groove 10, and the bottom of the first arm 6 is equipped with a universal wheel 61. The universal wheel 1 can support the bottom of the first arm 6 when it rotates, and the groove 10 allows the universal wheel 61 to slide inside it.

[0037] For details regarding the above embodiments, please refer to [link / reference]. Figure 3 A support block 53 is fixed on one side of the top of the mounting base 4. The support block 53 can support the bottom of the second arm 7 when the second arm 7 is retracted.

[0038] For details regarding the above embodiments, please refer to [link / reference]. Figure 5 There are multiple sets of suction cups 93, which are evenly distributed on the bottom of the mounting plate 9. By setting multiple sets of suction cups 93, the suction effect of the suction cups 93 can be improved, and the problem of the mounting plate 9 moving can be avoided.

[0039] For details regarding the above embodiments, please refer to [link / reference]. Figure 1 and Figure 3 The output end of the first motor 41 is connected to the bottom of the rotating seat 5, and the bottom of the rotating seat 5 is in contact with the top of the mounting base 4. When the first motor 41 works, it will drive the rotating seat 5 to rotate. The contact between the bottom of the rotating seat 5 and the mounting base 4 can avoid the problem of suspension.

[0040] For details regarding the above embodiments, please refer to [link / reference]. Figure 1 and Figure 2 The top of the cleaning robot body 1 is provided with a mounting slot 11, and the mounting base 4 is installed on the top of the cleaning robot body 1 by bolts. The mounting slot 11 allows for easy installation of the first motor, preventing the first motor 11 from being exposed. The bolts fix the mounting base 4 to the cleaning robot body 1, making the mounting base 4 more stable.

[0041] In practical operation, this invention works as follows: The shuttle vehicle moves the cleaning robot body to below the photovoltaic panels. The cleaning robot body 1 then moves to above the photovoltaic panels to clean their surfaces. After cleaning one row of photovoltaic panels, when moving to another row, the cleaning robot body 1 approaches the photovoltaic support end and rotates 90 degrees, bringing the cleaning brush roller 3 closer to the next row of panels to be cleaned. Then, the first motor 41 is activated, driving the rotating seat 5 to rotate. This rotation of the rotating seat 5 causes the first arm 6 to rotate 160 degrees. Next, the second motor 52 drives the first arm 6 to rotate 10-30 degrees. Immediately afterward, the third motor 71 drives the second arm 7 to rotate 200-230 degrees. (Depending on the tilt angle of the photovoltaic panel), while the second arm 7 rotates, the third motor 81 drives the connecting block 8 to rotate. When the connecting block 8 rotates, it drives the mounting plate 9 to rotate. The rotation angle of the connecting block 8 is 150-120 degrees. After the connecting block 8 finishes rotating, it stops, while the second arm 7 continues to rotate. When the second arm 7 stops rotating, the suction cup 93 at the bottom of the mounting plate 9 contacts the top plate of the photovoltaic panel. Then, the micro vacuum pump 82 is started. The micro vacuum pump 82 works to extract the air inside the suction cup 93, so that the suction cup 93 is firmly attached to the top of the photovoltaic panel. Then, the cleaning robot body moves. The track on one side of the cleaning robot body walks above the end beam. The first motor, the second motor and the third motor work, causing the first arm 6 and the second arm 7 to rotate, pulling the cleaning robot body 1 toward the suction cup 93.

[0042] During the pulling process, the suction cup 93 is not located directly in front of the cleaning robot body 1, and the first motor, the second motor and the third motor work. When the cleaning robot body 1 moves above the photovoltaic panel, the micro vacuum pump 82 works to expel the vacuum in the suction cup 93, causing the suction cup 93 to detach from the photovoltaic panel. Then the fourth motor, the third motor, the second motor and the first motor work to retract the first arm 6 and the second arm 7, so that they are in a horizontal state, which does not affect the cleaning robot body 1 from cleaning the photovoltaic panel. The cleaning robot body 1 rotates 90 degrees to clean the photovoltaic panel.

[0043] Although embodiments of the present invention have been shown and described, these specific embodiments are merely explanations of the present invention and are not intended to limit the invention. The specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions, and variations to the embodiments as needed without departing from the principles and spirit of the present invention, provided that such modifications, substitutions, and variations are within the scope of the claims of the present invention and are protected by patent law.

Claims

1. A climbing robot for cleaning photovoltaic modules in a wastewater treatment plant, comprising a robot body (1), characterized in that: The cleaning robot body (1) is equipped with cleaning rollers (2) and cleaning brush rollers (3) on both sides, and a mounting base (4) is installed on the top of the cleaning robot body (1). A rotating base (5) is movably mounted on the top of the mounting base (4), and a first motor (41) is provided at the bottom of the mounting base (4). A fixing block (51) is fixed on the top of the rotating base (5), and a first arm (6) is movably mounted on one side of the fixing block (51). A second motor (52) is installed on the other side of the fixing block (51). A second arm (7) is movably mounted at the end of the first arm (6), and a third motor (71) is mounted on one side of the first arm (6). An adsorption assembly is mounted at the end of the second arm (7). The adsorption assembly includes a connecting block (8), a mounting plate (9), and a suction cup (93). The connecting block (8) is movably connected to the second arm (7), and a micro vacuum pump (82) is mounted on one side of the connecting block (8). The mounting plate (9) is fixed at the end of the connecting block (8), and a suction cup (93) is provided at the bottom of the mounting plate (9).

2. The climbing robot for cleaning photovoltaic modules in a sewage treatment plant according to claim 1, characterized in that: The end of the second arm (7) is equipped with a fourth motor (81), and the output end of the fourth motor (81) is connected to the connecting block (8).

3. The climbing robot for cleaning photovoltaic modules in a sewage treatment plant according to claim 1, characterized in that: The output end of the micro vacuum pump (82) is provided with a connecting pipe (83). The interior of the mounting plate (9) is provided with an annular groove (91), and the bottom of the inner wall of the annular groove (91) is fixed with a connecting pipe (92). The connecting pipe (92) is connected to the suction cup (93). The interior of the mounting plate (9) is provided with a connecting groove (94), and the connecting groove (94) is connected to the annular groove (91). The end of the connecting pipe (83) extends into the interior of the connecting groove (94).

4. The climbing robot for cleaning photovoltaic modules in a sewage treatment plant according to claim 1, characterized in that: The top of the cleaning robot body (1) is provided with a groove (10), and the bottom of the first arm (6) is equipped with a caster wheel (61).

5. The climbing robot for cleaning photovoltaic modules in a sewage treatment plant according to claim 1, characterized in that: A support block (53) is fixed to one side of the top of the mounting base (4).

6. The climbing robot for cleaning photovoltaic modules in a sewage treatment plant according to claim 1, characterized in that: The number of suction cups (93) is multiple sets, and the multiple sets of suction cups (93) are evenly distributed on the bottom of the mounting plate (9).

7. The climbing robot for cleaning photovoltaic modules in a sewage treatment plant according to claim 1, characterized in that: The output end of the first motor (41) is connected to the bottom of the rotating seat (5), and the bottom of the rotating seat (5) is in contact with the top of the mounting base (4).

8. The climbing robot for cleaning photovoltaic modules in a sewage treatment plant according to claim 1, characterized in that: The top of the cleaning robot body (1) is provided with a mounting groove (11), and the mounting base (4) is installed on the top of the cleaning robot body (1) by bolts.

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