Photovoltaic cleaning device

Abstract

The utility model discloses a photovoltaic cleaning device, include: the brush assembly is configured as cleaning photovoltaic panel, mechanical arm is configured as adjusting the position of brush assembly relative to photovoltaic panel, adjusting assembly, adjusting assembly connects mechanical arm and brush assembly, and brush assembly can be mobile relative to the end of mechanical arm, and adjusting assembly is configured as adjusting the distance of brush assembly and the end of mechanical arm. The brush assembly is flexibly connected with the end of mechanical arm through the adjusting assembly, realizes the distance variable of brush assembly relative to the end of mechanical arm, namely realized the height's adjustment of brush assembly relative to the end of mechanical arm, realizes the height of brush assembly relative to the end of mechanical arm can change with the height change of photovoltaic module, reaches the purpose that avoids the collision of brush assembly and photovoltaic module. Adjust the height of brush assembly through adjusting assembly, can reduce the adjustment of mechanical arm and chassis, has reduced the operation difficulty, has improved the work efficiency in the cleaning process of photovoltaic cleaning device.

Description

Technical Field

[0001] This utility model relates to the technical field of photovoltaic cleaning, and in particular to a photovoltaic cleaning device with an adjustment component. Background Technology

[0002] A photovoltaic power station has multiple rows of photovoltaic strings, with photovoltaic modules connected in series in each row to increase the total voltage and meet the input requirements of grid-connected inverters or other equipment.

[0003] To achieve cross-row cleaning of multiple rows of photovoltaic (PV) strings, a mobile chassis carrying a robotic arm is currently used. The robotic arm has a roller brush component at its end, and the cleaning is performed by moving the chassis across rows. However, due to the influence of terrain, the PV modules in the PV strings may be uneven in height and misaligned from side to side.

[0004] As the robotic arm moves with the mobile chassis, the height of the roller brush device relative to the robotic arm is constant. Due to the different heights of the photovoltaic modules, the roller brush device may collide with the photovoltaic modules, affecting the safe use of the photovoltaic modules. Utility Model Content

[0005] In view of this, the present invention provides a photovoltaic cleaning device that realizes the height change of the roller brush assembly relative to the robotic arm, thereby avoiding collision between the roller brush assembly and the photovoltaic module.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A photovoltaic cleaning device includes: a roller brush assembly configured to clean a photovoltaic panel; a robotic arm configured to adjust the position of the roller brush assembly relative to the photovoltaic panel; and an adjustment component connected to the robotic arm and the roller brush assembly, wherein the roller brush assembly is movable relative to the end of the robotic arm, and the adjustment component is configured to adjust the distance between the roller brush assembly and the end of the robotic arm.

[0008] Preferably, in the above-mentioned photovoltaic cleaning device, the adjustment component includes: an adjustment member, one end of which is fixedly connected to the roller brush assembly, and the other end of which is connected to the robotic arm; the length of the adjustment member is adjustable, and the length direction of the adjustment member is the direction of the line connecting the roller brush assembly and the robotic arm.

[0009] Preferably, in the above-mentioned photovoltaic cleaning device, the adjusting component includes a connecting rope and a power unit; one end of the connecting rope is fixedly connected to the roller brush assembly, and the other end of the connecting rope is connected to the robotic arm; the power unit is configured to retract and extend the connecting rope.

[0010] Preferably, in the above-mentioned photovoltaic cleaning device, the adjustment component further includes a guide and a connector; the connector is hinged to the end of the robotic arm, and the adjustment component is mounted on the connector; the guide is fixedly connected to the roller brush assembly; and the connector is slidably connected to the guide.

[0011] Preferably, in the above-mentioned photovoltaic cleaning device, the adjustment component further includes: an elastic telescopic member, which extends and retracts along the axial direction, and one end of the elastic telescopic member along the axial direction is connected to the roller brush assembly, and the other end of the elastic telescopic member along the axial direction is connected to the connecting member.

[0012] Preferably, in the above-mentioned photovoltaic cleaning device, there are two guide members, which are arranged in parallel; the guide members are distributed at both ends of the connector.

[0013] Preferably, in the above-mentioned photovoltaic cleaning device, the adjusting member is located in the middle position of the connecting member, and elastic telescopic members are provided on both sides of the adjusting member in the axial direction of the roller brush assembly.

[0014] Preferably, in the above-mentioned photovoltaic cleaning device, the end of the guide member away from the roller brush assembly is provided with a limiting member that can abut against and limit the connection member.

[0015] Preferably, in the above-mentioned photovoltaic cleaning device, the roller brush assembly includes: a roller brush bracket, the connecting member being fixedly connected to the roller brush bracket; a roller brush, the roller brush being rotatably mounted on the roller brush bracket; and a distance sensor, the distance sensor being configured to detect the distance between the axis of the roller brush and the photovoltaic panel.

[0016] Preferably, in the above-mentioned photovoltaic cleaning device, the robotic arm includes: rotating arms connected in sequence, with the end of the rotating arm hinged to the connecting member; and a connecting structure, wherein at least one group of adjacent rotating arms are rotatably connected through the connecting structure.

[0017] Preferably, in the above-mentioned photovoltaic cleaning device, the connecting structure includes: a connecting shaft, the end face of the first end of the connecting shaft along the axial direction abuts against the wall surface of one of the adjacent rotating arms along the axial direction, and the second end of the connecting shaft along the axial direction is locked; the other of the adjacent rotating arms is rotatably connected to the connecting shaft; a positioning member, the end face of the first end of the connecting shaft has a clearance groove, the positioning member is fixedly connected to the corresponding rotating arm, and the positioning member abuts against the side wall of the clearance groove to restrict the circumferential rotation of the connecting shaft.

[0018] This utility model discloses a photovoltaic cleaning device, wherein the roller brush assembly is flexibly connected to the end of the robotic arm by adjusting the assembly, thereby realizing the variable distance between the roller brush assembly and the end of the robotic arm, that is, realizing the adjustment of the height of the roller brush assembly relative to the end of the robotic arm, so that the height of the roller brush assembly relative to the end of the robotic arm can change with the height of the photovoltaic module, thereby achieving the purpose of avoiding collision between the roller brush assembly and the photovoltaic module.

[0019] In addition, by adjusting the height of the roller brush assembly, the adjustment of the robotic arm and chassis can be reduced, thus lowering the difficulty of operation and improving the working efficiency of the photovoltaic cleaning device during the cleaning process. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this 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 this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of the photovoltaic cleaning device disclosed in the embodiments of this utility model;

[0022] Figure 2 This is a schematic diagram of the structure of the roller brush assembly and adjustment assembly of the photovoltaic cleaning device disclosed in this embodiment of the utility model;

[0023] Figure 3 This is a schematic diagram of the structure of the adjustment component of the photovoltaic cleaning device disclosed in an embodiment of this utility model;

[0024] Figure 4 for Figure 3 A magnified view of part A in the image;

[0025] Figure 5 This is a partial structural schematic diagram of the adjustment component of the photovoltaic cleaning device disclosed in an embodiment of the present utility model;

[0026] Figure 6 This is a schematic diagram of the structure of the robotic arm of the photovoltaic cleaning device disclosed in an embodiment of this utility model;

[0027] Figure 7 for Figure 6 A magnified view of part B from another direction;

[0028] Figure 8 This is a front view of the assembly of the first arm and connecting structure of the photovoltaic cleaning device disclosed in this embodiment of the utility model. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0031] A photovoltaic power station is a photovoltaic power generation system that utilizes solar energy, employs special materials such as crystalline silicon panels and electronic components such as inverters, and is connected to the power grid to transmit electricity to the grid.

[0032] A photovoltaic power station has multiple rows of photovoltaic strings, with photovoltaic modules connected in series in each row to increase the total voltage and meet the input requirements of grid-connected inverters or other equipment.

[0033] To achieve cross-row cleaning of multiple rows of photovoltaic (PV) strings, a mobile chassis carrying a robotic arm is currently used. The robotic arm has a roller brush component at its end, and the cleaning is performed by moving the chassis across rows. However, due to the influence of terrain, the PV modules in the PV strings may be uneven in height and misaligned from side to side.

[0034] As the robotic arm moves with the mobile chassis, the height of the roller brush device relative to the robotic arm is constant. Due to the different heights of the photovoltaic modules, the roller brush device may collide with the photovoltaic modules, affecting the safe use of the photovoltaic modules.

[0035] Based on the above-mentioned technical problems, this application discloses a photovoltaic cleaning device. By increasing redundant degrees of freedom, the height of the roller brush assembly relative to the robotic arm changes synchronously with the height of the photovoltaic module, thereby avoiding collision between the roller brush assembly and the photovoltaic module.

[0036] like Figure 1 As shown, the photovoltaic cleaning device disclosed in this application includes: a walking device 10, a chassis 20, a robotic arm 30, an adjustment component 40, and a roller brush component 50.

[0037] The walking device 10 includes, but is not limited to, a tracked structure. In other optional embodiments, the walking device 10 may also be a walking wheel, and the walking wheel may include, but is not limited to, four wheels. It should be noted that: the tracked structure of the walking device 10 in this embodiment can ensure the stability of the photovoltaic cleaning device's movement and is beneficial to ensuring the stability of the photovoltaic cleaning device's center of gravity during movement.

[0038] The chassis 20 serves as the mounting base, and functional components can be installed inside as needed. The walking device 10 is mounted on the chassis 20, making the chassis 20 a movable structure. The shape, size, and material of the chassis 20 can be set according to different needs, and all are within the protection range.

[0039] The robotic arm 30 is rotatably mounted on the chassis 20. In some embodiments, the robotic arm 30 is mounted at one end of the chassis 20, including but not limited to the front end of the chassis 20 (the front end being the end in the forward direction of the photovoltaic cleaning device). A counterweight box 21 is provided on the end of the chassis 20 opposite to the robotic arm 30. By providing the counterweight box 21, the stability of the center of gravity of the photovoltaic cleaning device can be ensured, preventing the photovoltaic cleaning device from tipping over during the rotation of the robotic arm 30.

[0040] The roller brush assembly 50 is a cleaning device for cleaning photovoltaic module panels. The roller brush assembly 50 is connected to the robotic arm 30 via an adjusting component 40, which is connected to the end of the robotic arm 30.

[0041] The roller brush assembly 50 can move relative to the end of the robotic arm 30 through the adjustment assembly 40. This can be understood as the roller brush assembly 50 achieving a flexible connection relative to the end of the robotic arm 30 through the adjustment assembly 40.

[0042] It should be noted that the roller brush assembly 50 of the photovoltaic cleaning device disclosed in this application is flexibly connected to the end of the robotic arm 30 via the adjusting assembly 40, thereby enabling the variable distance between the roller brush assembly 50 and the end of the robotic arm 30. This allows for adjustment of the height of the roller brush assembly 50 relative to the end of the robotic arm 30, ensuring that the height of the roller brush assembly 50 changes with the height of the photovoltaic module, thus preventing collisions between the roller brush assembly 50 and the photovoltaic module. Furthermore, adjusting the height of the roller brush assembly 50 via the adjusting assembly 40 reduces the need for adjustments to the robotic arm 30 and the chassis 20, lowers the operational difficulty, and improves the working efficiency of the photovoltaic cleaning device during the cleaning process.

[0043] The following combination Figures 2 to 5 The structure of the adjustment component 40 disclosed in the embodiments of this application will be described.

[0044] like Figure 2 and Figure 3As shown, the adjustment component 40 disclosed in this application embodiment includes: a guide 41, a connector 42, a slider 421, a rotating shaft 43, a mounting base 44, a connecting rope 45, an elastic telescopic component 46, a drive motor 47, a fixed base 48, and a coupling 49.

[0045] The guide member 41 is fixedly connected to the roller brush assembly 50. The guide member 41 extends along the connection direction between the roller brush assembly 50 and the robotic arm 30. Optionally, the guide member 41 extends perpendicular to the roller brush assembly 50.

[0046] The connector 42 can move along the extension direction of the guide 41. Specifically, the end of the connector 42 is slidably connected to the guide 41 via a slider 421; the end of the robotic arm 30 is connected to the connector 42.

[0047] Mounting base 44 is fixed on connector 42, rotating shaft 43 is rotatably mounted on mounting base 44, connecting rope 45 is wound around rotating shaft 43, one end of connecting rope 45 is fixedly connected to rotating shaft 43, and the other end of connecting rope 45 is fixedly connected to roller brush assembly 50.

[0048] The drive motor 47 is rotatably connected to the rotating shaft 43 and can drive the rotating shaft 43 to rotate forward and / or reverse. Specifically, the drive motor 47 is fixed to the connector 42 via a mounting base 48, and the output shaft of the drive motor 47 is connected to the rotating shaft 43 via a coupling 49. The rotation of the drive motor 47 enables the winding and unwinding of the connecting rope 45. Winding the connecting rope 45 reduces the distance between the roller brush assembly 50 and the robotic arm 30 to accommodate photovoltaic modules with higher heights on the photovoltaic string; unwinding the connecting rope 45 increases the distance between the roller brush assembly 50 and the robotic arm 30 to accommodate photovoltaic modules with lower heights on the photovoltaic string, thus accommodating photovoltaic modules with varying heights in the photovoltaic string.

[0049] It should be noted that the drive motor 47 can also be a power unit such as a cylinder or actuator.

[0050] The adjusting component includes the connecting rope 45 and the power unit described above. In other alternative embodiments, the adjusting component may also be other structures that realize the length of the line connecting the roller brush assembly 50 and the robotic arm 30. For example, the adjusting component may also be a telescopic rod, etc.

[0051] Since photovoltaic panels are typically arranged at an angle, when the angle of inclination of the photovoltaic panel relative to the vertical direction is small (i.e., the angle of inclination of the photovoltaic panel relative to the horizontal plane is large), the roller brush assembly 50 is adjusted by the robotic arm 30 to be parallel to the photovoltaic panel and clean it. During the cleaning process of the roller brush assembly 50, the component of the connector 42 along the direction of gravity cannot satisfy the requirement for the connector 42 to slide along the guide 41 under the action of gravity. Furthermore, during the process of the roller brush assembly 50 adhering to the photovoltaic panel, when the photovoltaic panel undulates, the connecting rope 45 cannot guarantee that it will always maintain tension. Specifically, when the height of the photovoltaic panel increases, the roller brush assembly 50 moves closer to the robotic arm 30, causing the connecting rope 45 to loosen and affecting the cleaning effect.

[0052] Based on the above problems, in some embodiments, the connector 42 and the roller brush assembly 50 are connected by an elastic telescopic member 46. The elastic telescopic member 46 can provide the roller brush assembly 50 with a thrust away from the connector 42. Optionally, the thrust provided by the elastic telescopic member 46 can ensure that the roller brush assembly 50 has a compression distance of 10mm on the relative plane of the photovoltaic module, so as to ensure cleaning efficiency.

[0053] By providing thrust to the roller brush assembly 50 through the elastic telescopic member 46, the response efficiency of the roller brush assembly 50 in moving away from the robotic arm 30 can be improved, and the roller brush assembly 50 can always maintain the pressure to clean the photovoltaic panel.

[0054] Optionally, the elastic telescopic member 46 includes a first rod, a second rod, and a spring. The first rod is fixed to the connector 42, and the second rod is fixed to the roller brush assembly 50. The first and second rods are sleeved together, and a spring is disposed between them. One end of the spring abuts against the first rod, and the other end of the spring abuts against the second rod.

[0055] In some embodiments, the connecting rope 45 may be, but is not limited to, a flexible steel wire rope, or a spring; the spring in the elastic telescopic member 46 may be, but is not limited to, a nitrogen spring.

[0056] Based on the structure of the photovoltaic cleaning device disclosed above, it can be seen that during the cleaning process, the photovoltaic cleaning device disclosed in this application adjusts the angle of the robotic arm 30 according to the height of the photovoltaic string so that the roller brush assembly 50 is at the basic height of the photovoltaic string (the basic height is the height of multiple photovoltaic modules of the same height in the photovoltaic string); the roller brush assembly 50 is in contact with the photovoltaic panel to clean the photovoltaic panel; the walking device 10 is started, and during the movement of the photovoltaic cleaning device, the drive motor 47 of the adjusting component 40 adjusts the length of the connecting rope 45 released according to the height of the photovoltaic module, so that the height of the roller brush assembly 50 relative to the end of the robotic arm 30 can change with the height of the photovoltaic module, thereby achieving the purpose of avoiding collision between the roller brush assembly 50 and the photovoltaic module.

[0057] The following combination Figure 4 and Figure 5 The connection method between connector 42 and guide 41 is explained as shown.

[0058] like Figure 4 As shown, a rotatable roller 423 is installed on the connector 42. The side of the roller 423 closest to the guide member 41 slides in cooperation with the guide member 41. A protective cover 422 is provided on the outer periphery of the side of the roller 423 away from the guide member 41. The protective cover 422 is used to cover the side of the roller 423 away from the guide member 41, to prevent other parts from bumping into the roller 423, and to prevent external impurities from entering the roller 423.

[0059] like Figure 5 As shown, the guide member 41 has a guide rail 411, which is arranged perpendicular to the roller brush assembly 50. The guide rail 411 is slidably engaged with the roller 423. Optionally, the guide rail 411 is a guide groove structure, in which the roller 423 is inserted and can move along the guide groove. Using a guide groove structure allows the sidewalls of the guide groove structure to limit the movement of the roller 423, thus guiding the movement of the roller 423. In other optional embodiments, the guide rail 411 is a track structure protruding from the guide member 41, and the roller 423 has a groove that engages with the track structure, thus guiding the movement of the roller 423.

[0060] Figure 5 A limiting element 412 is provided at the end of the guide member 41 away from the roller brush assembly 50. By providing the limiting element 412, the connecting member 42 can be prevented from disengaging from the end of the guide member 41 during the movement of the connecting member 42 along the guide member 41, thus limiting the movement of the connecting member 42.

[0061] In some embodiments, the limiting member 412 includes a baffle 4121 and a shock-absorbing pad 4122. The baffle 4121 is connected to the guide member 41. Optionally, the baffle 4121 is arranged parallel to the connecting member 42, i.e., perpendicular to the guide member 41. The shock-absorbing pad 4122 is mounted on the baffle 4121. Optionally, the shock-absorbing pad 4122 is located on the side of the baffle 4121 facing the connecting member 42. When the connecting member 42 moves to the position of the limiting member 412, the slider 421 of the connecting member 42 abuts against the shock-absorbing pad 4122, thereby limiting the connecting member 42 while simultaneously reducing vibration during the contact process between the connecting member 42 and the limiting member 412.

[0062] In some embodiments, there are two guide members 41, arranged in parallel and side by side. Each end of the connector 42 is connected to a guide member 41, and the two ends of the connector 42 are slidably connected to the corresponding guide member 41 via sliders 421.

[0063] The above description illustrates the specific structure of the adjustment component 40. In other optional embodiments, the adjustment component 40 may also include a pneumatic rod structure, which uses the extension and retraction of the pneumatic rod to move the connecting member 42 along the guide member 41, thereby enabling the roller brush assembly 50 to move relative to the end of the robotic arm 30.

[0064] In summary, the connecting rope 45 is connected to the connecting member 42. During the rotation of the connecting rope 45 driven by the drive motor 47, the connecting member 42 can be adjusted to move towards the guide member 41. The elastic telescopic member 46 is connected to the connecting member 42. The rebound effect of the elastic telescopic member 46 can be used to move the connecting member 42 away from the guide member 41.

[0065] In other alternative embodiments, the device for moving the roller brush assembly 50 relative to the end of the robotic arm 30 can also be other structures. For example, the adjustment assembly 40 includes a motor, a drive wheel, and a rack, wherein the drive wheel is driven to the output shaft of the motor, the drive wheel is rotatably mounted on the connecting member 42, and the guide member 41 has a rack that meshes with the drive wheel. By driving the drive wheel to rotate in both directions, the guide member 41 moves relative to the connecting member 42, that is, the distance between the roller brush assembly 50 and the end of the robotic arm 30 is adjusted.

[0066] The following combination Figure 2 The specific structure of the roller brush assembly 50 will be described.

[0067] like Figure 2 As shown, the roller brush assembly 50 includes: a roller brush bracket 51, a roller brush 53, a mounting rod 52, an emergency stop sensor 54, an obstacle avoidance sensor 55, and a distance measuring sensor 56.

[0068] The roller brush bracket 51 is fixedly connected to the guide member 41, and the connection method between the two includes, but is not limited to, welding or threaded connection. The roller brush bracket 51 includes a crossbeam parallel to the axis of the roller brush 53 and a longitudinal beam perpendicular to the crossbeam. Optionally, the guide member 41 is fixedly connected to the crossbeam.

[0069] The roller brush 53 is rotatably mounted on the longitudinal beam. Optionally, there are two longitudinal beams, distributed at both ends of the crossbeam, with the roller brush 53 rotatably mounted between the two longitudinal beams. The type and size of the roller brush 53 can be set according to different needs, and all are within the protection range.

[0070] The mounting rod 52 is fixedly connected to the roller brush bracket 51, optionally using a threaded connection. The mounting rod 52 is arranged parallel to the axis of the roller brush 53. Optionally, the mounting rod 52 is at the same height as the axis of the roller brush 53, and the mounting rod 52 is located at the front end of the roller brush 53 in the forward direction.

[0071] Emergency stop sensor 54, obstacle avoidance sensor 55, and ranging sensor 56 are all mounted on mounting rod 52. Emergency stop sensor 54 is located at the axial end of mounting rod 52, and is triggered when it comes into contact with the photovoltaic panel. This can be understood as the emergency stop sensor 54 detecting a collision between the roller brush assembly 50 and the photovoltaic panel. Emergency stop sensor 54 is connected to the walking device 10, and when it is triggered, it controls the walking device 10 to stop moving.

[0072] In an optional embodiment, emergency stop sensors 54 are provided at both ends of the mounting rod 52 along the axial direction to detect both ends of the roller brush assembly 50 along the axial direction, thereby further ensuring the safety of the photovoltaic panel.

[0073] Obstacle avoidance sensor 55 is used to detect obstacles on the photovoltaic panel. When obstacle avoidance sensor 55 detects an obstacle on the photovoltaic panel, it is triggered. Obstacle avoidance sensor 55 is connected to walking device 10, and when it is triggered, it controls walking device 10 to stop walking. It should be noted that obstacles on the photovoltaic panel in this article include, but are not limited to, objects protruding from the surface of the photovoltaic panel at a preset height. The preset height can be set according to different needs, for example, 5mm-15mm. These obstacles can be clods of soil, stones, fallen leaves, or other impurities that have fallen onto the photovoltaic panel.

[0074] In some embodiments, multiple obstacle avoidance sensors 55 are arranged along the axial direction of the mounting rod 52. The number of obstacle avoidance sensors 55 and the distance between adjacent obstacle avoidance sensors 55 can be set according to different needs, and all are within the protection range.

[0075] The distance sensor 56 is used to detect the distance between the axis of the roller brush 53 and the photovoltaic panel, and controls the drive motor 47 to work according to the detected distance, adjusts the winding and unwinding of the connecting rope 45, realizes the lifting and lowering of the roller brush bracket 51, and thus realizes the lifting and lowering of the roller brush 53 to adapt to photovoltaic modules of different heights.

[0076] The distance sensor 56 installed on the roller brush assembly 50 disclosed in this application embodiment can realize the automatic control of the drive motor 47, thereby improving the automatic control of the lifting and lowering of the roller brush assembly 50 of the photovoltaic cleaning device.

[0077] The following combination Figure 6 The structure of the robotic arm 30 disclosed in the embodiments of this application will be described.

[0078] Combination Figure 1 and Figure 6 As shown, the robotic arm 30 includes: a first arm 31, a second arm 32, a third arm 33, a gripping end 34, a first drive member 35, a second drive member 36, and a third drive member 37.

[0079] The first arm 31 is connected to the chassis 20. Optionally, the first arm 31 is rotatably mounted on the chassis 20. In some embodiments, the axis of rotation of the first arm 31 is arranged perpendicular to the chassis 20.

[0080] The second arm 32 is rotatably connected to the first arm 31, and the axis of rotation of the second arm 32 is perpendicular to the first arm 31, so that the second arm 32 can be flipped relative to the first arm 31.

[0081] The third arm 33 is rotatably connected to the second arm 32, and the axis of rotation of the third arm 33 is perpendicular to the second arm 32, so as to realize the flipping of the third arm 33 relative to the second arm 32. It should be noted that the axis of rotation of the second arm 32 and the axis of rotation of the third arm 33 are not limited to being arranged in parallel.

[0082] One end of the clamping end 34 is rotatably connected to the third arm 33, and the other end is hinged to the connector 42. The rotation axis of the clamping end 34 is perpendicular to the third arm 33, so that the clamping end 34 can be flipped relative to the third arm 33. It should be noted that the rotation axis of the clamping end 34 and the rotation axis of the third arm 33 are not limited to being arranged in parallel.

[0083] The first driving member 35 includes, but is not limited to, a cylinder, and the cylinder seat of the cylinder is hinged to the first arm 31. The extension rod of the cylinder is hinged to the second arm 32. The second arm 32 can rotate relative to the first arm 31 by extending and retracting the first driving member 35.

[0084] The second driving member 36 includes, but is not limited to, a cylinder, and the cylinder seat of the cylinder is hinged to the second arm 32. The extension rod of the cylinder is hinged to the third arm 33. The extension and retraction of the second driving member 36 can realize the rotation of the third arm 33 relative to the second arm 32.

[0085] The third driving member 37 includes, but is not limited to, a cylinder, and the cylinder seat of the cylinder is hinged to the third arm 33. The extension rod of the cylinder is hinged to the clamping end 34. The clamping end 34 can rotate relative to the third arm 33 by the extension and retraction of the third driving member 37.

[0086] In some embodiments, the first arm 31, the second arm 32, the third arm 33, and the clamping end 34 are arranged sequentially and connected by a clamping device. It should be noted that in other optional embodiments, the robotic arm 30 may also have other numbers of rotating arms; that is, the robotic arm 30 in this application includes, but is not limited to, the first arm 31, the second arm 32, the third arm 33, and the clamping end 34 described above, and may also have two rotating arms. Those skilled in the art can choose the number of rotating arms included in the robotic arm 30 according to different needs, and all are within the scope of protection.

[0087] like Figure 6As shown in the embodiment of this application, a connection structure 38 is disclosed. Optionally, the first arm 31 and the second arm 32 are rotatably connected by the connection structure 38, and the second arm 32 and the third arm 33, as well as the third arm 33 and the clamping end 34, can all adopt the above-mentioned connection structure 38.

[0088] like Figure 7 and Figure 8 As shown, the connecting structure 38 includes: a connecting shaft 381, a positioning element 382, ​​a nut 383, a spring washer 384, and a washer 385.

[0089] The following description uses the connection structure 38 connecting the first arm 31 and the second arm 32 as an example. For other components of the robotic arm 30 connected by the connection structure 38, please refer to the description below.

[0090] In this configuration, along an extension direction perpendicular to the first arm 31, the connecting shaft 381 passes through the first arm 31 and the second arm 32, and the second arm 32 is rotatable around the connecting shaft 381.

[0091] The end face of the first end of the connecting shaft 381 along the axial direction can abut against the first arm 31 along the axial direction, and the end face of the first end of the connecting shaft 381 is circumferentially limited by the positioning member 382. Specifically, the end of the connecting shaft 381 has a radial clearance groove 3811, and the first arm 31 has a mounting hole (not shown in the figure) for mounting the positioning member 382. The clearance groove 3811 is opposite to the mounting hole. When the positioning member 382 is installed in the mounting hole, the positioning member 382 can abut against the side wall of the clearance groove 3811, restricting the connecting shaft 381 from rotating circumferentially.

[0092] The second end of the connecting shaft 381 along the axial direction is locked by a nut 383. A spring washer 384 and a washer 385 are sleeved on the connecting shaft 381 between the nut 383 and the first arm 31 to reduce the stress between the nut 383 and the first arm 31.

[0093] In this embodiment, the connecting shaft 381 is circumferentially limited and fixed by the positioning member 382, ​​which can reduce the machining accuracy and assembly difficulty of the parts. During the tightening of the nut 383, the first arm 31 can be clamped axially by the end face of the first end of the connecting shaft 381 and the nut 383, so as to reduce the gap between the end face of the connecting shaft 381 and the first arm 31 and prevent the components of the robotic arm 30 from shaking during use.

[0094] Optionally, the positioning element 382 may include, but is not limited to, a positioning bolt.

[0095] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0096] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A photovoltaic cleaning device, characterized in that, include: A roller brush assembly (50) configured to clean a photovoltaic panel; A robotic arm (30) configured to adjust the position of the roller brush assembly (50) relative to the photovoltaic panel; An adjustment component (40) is connected to the robotic arm (30) and the roller brush assembly (50), and the roller brush assembly (50) is movable relative to the end of the robotic arm (30). The adjustment component (40) is configured to adjust the distance between the roller brush assembly (50) and the end of the robotic arm (30).

2. The photovoltaic cleaning device according to claim 1, characterized in that, The adjustment component (40) includes: An adjusting member is provided, one end of which is fixedly connected to the roller brush assembly (50), and the other end of which is connected to the robotic arm (30); the length of the adjusting member is adjustable, and the length direction of the adjusting member is the direction of the line connecting the roller brush assembly (50) and the robotic arm (30).

3. The photovoltaic cleaning device according to claim 2, characterized in that, The adjusting component includes a connecting rope (45) and a power unit; One end of the connecting rope (45) is fixedly connected to the roller brush assembly (50), and the other end of the connecting rope (45) is connected to the robotic arm (30); the power unit is configured to retract and extend the connecting rope (45).

4. The photovoltaic cleaning device according to claim 2 or 3, characterized in that, The adjustment assembly (40) further includes a guide (41) and a connector (42); The connector (42) is hinged to the end of the robotic arm (30), and the adjusting member is mounted on the connector (42); the guide (41) is fixedly connected to the roller brush assembly (50); and the connector (42) and the guide (41) are slidably connected.

5. The photovoltaic cleaning device according to claim 4, characterized in that, The adjustment component (40) further includes: An elastic telescopic member (46) extends and retracts along the axial direction, and one end of the elastic telescopic member (46) along the axial direction is connected to the roller brush assembly (50), and the other end of the elastic telescopic member (46) along the axial direction is connected to the connector (42).

6. The photovoltaic cleaning device according to claim 5, characterized in that, There are two guide members (41), which are arranged in parallel; the guide members (41) are distributed at both ends of the connector (42).

7. The photovoltaic cleaning device according to claim 5, characterized in that, The adjusting member is located in the middle of the connecting member (42). In the axial direction of the roller brush assembly (50), the elastic telescopic member (46) is provided on both sides of the adjusting member.

8. The photovoltaic cleaning device according to claim 4, characterized in that, The guide member (41) is provided with a limiting member (412) at the end away from the roller brush assembly (50) that can abut against and limit the connection member (42).

9. The photovoltaic cleaning device according to claim 4, characterized in that, The roller brush assembly (50) includes: A roller brush bracket (51) is fixedly connected to the roller brush bracket (51); A roller brush (53) is rotatably mounted on the roller brush bracket (51); A distance sensor (56) is configured to detect the distance between the axis of the roller brush (53) and the photovoltaic panel.

10. The photovoltaic cleaning device according to claim 4, characterized in that, The robotic arm (30) includes: The rotating arms connected in sequence are rotated, and the rotating arm at the end is hinged to the connecting member (42); The connecting structure (38) provides a rotatable connection between at least one set of adjacent rotating arms.

11. The photovoltaic cleaning device according to claim 10, characterized in that, The connection structure (38) includes: A connecting shaft (381) is provided, wherein the end face of the first end of the connecting shaft (381) along the axial direction abuts against the wall surface of one of the adjacent rotating arms along the axial direction, and the second end of the connecting shaft (381) along the axial direction is locked; the other of the adjacent rotating arms is rotatably connected to the connecting shaft (381). The positioning element (382) has a clearance groove (3811) on the end face of the first end of the connecting shaft (381). The positioning element (382) is fixedly connected to the corresponding rotating arm, and the positioning element abuts against the side wall of the clearance groove (3811) to restrict the circumferential rotation of the connecting shaft (381).

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