Single-winding machine type photovoltaic panel cleaning robot

Abstract

The application relates to a single-winch type photovoltaic panel cleaning robot and relates to the field of cleaning equipment. In order to solve the problems that multiple winches need multiple corresponding motors and transmission components for driving and the structure of the equipment is complex, the application comprises a total frame, a driving mechanism is installed on the total frame, a control mechanism for controlling the driving mechanism is also installed on the total frame, a cleaning mechanism is arranged on one side of the total frame close to a photovoltaic panel, and the driving mechanism controls the cleaning mechanism to clean the photovoltaic panel. The application has the effects of reducing the number of winches and motors, simplifying the structure of the equipment and reducing the production cost.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment, and in particular to a single-winch photovoltaic panel cleaning robot. Background Technology

[0002] A photovoltaic power station is a power station that uses clean solar energy. A photovoltaic power station is generally set up with several photovoltaic panels in an array. Since the operating conditions of a photovoltaic power station must be an open and unobstructed environment, after a long period of use, a layer of impurities will inevitably fall on the photovoltaic panels. If they are not cleaned in time, they will affect the power generation efficiency of the photovoltaic panels. Existing cleaning methods are divided into manual cleaning and automatic cleaning. Automatic cleaning generally uses a special cleaning robot.

[0003] Existing cleaning robots typically move along steel cables using multiple winches. However, multiple winches require multiple corresponding motors and transmission components for driving, resulting in complex equipment structures and high production costs. Utility Model Content

[0004] To simplify the equipment structure and reduce production costs, this application provides a single-winch photovoltaic panel cleaning robot.

[0005] The single-winch photovoltaic panel cleaning robot provided in this application adopts the following technical solution: A single-winch photovoltaic panel cleaning robot includes a main frame, on which a drive mechanism is installed, and on which a control mechanism for controlling the drive mechanism is also installed. A cleaning mechanism is provided on the side of the main frame near the photovoltaic panel, and the drive mechanism controls the cleaning mechanism to clean the photovoltaic panel.

[0006] By adopting the above technical solution, the driving mechanism can be used to control the cleaning mechanism to clean the photovoltaic panels, thereby realizing the cleaning function of the photovoltaic panels; a single driving mechanism and a single cleaning structure can complete the cleaning of the photovoltaic panels, reducing the number of winches and motors used, simplifying the equipment structure, and reducing production costs.

[0007] Preferably, the overall frame includes a frame, a helipad frame, and a turnaround rod. The helipad frame is installed on one side of the photovoltaic panel, the turnaround rod is installed on the side of the photovoltaic panel away from the helipad frame, the frame is slidably installed on the helipad frame, the cleaning mechanism is installed on the side of the frame close to the photovoltaic panel, and the drive mechanism and control mechanism are both installed on the frame.

[0008] By adopting the above technical solution, the specific composition of the overall frame is clarified, allowing the frame to slide on the helipad frame and enabling the cleaning mechanism to move as required near the photovoltaic panels, so as to facilitate the disassembly and assembly of the cleaning structure and achieve the cleaning work of the photovoltaic panels in conjunction with the overall structure.

[0009] Preferably, the drive mechanism includes a drive cable, a guide cable, and a drive assembly; the drive assembly is mounted on the frame and controlled by a control mechanism; one end of the drive cable and the guide cable are respectively fixedly mounted on both ends of the deflector bar, and the other end is respectively fixed to both ends of the helipad frame after passing through the drive assembly; the drive assembly controls the drive cable to cause relative displacement between the frame and the drive cable, so that the frame can move along the direction of the photovoltaic panel toward or away from the deflector bar.

[0010] By adopting the above technical solution, the drive mechanism is equipped with drive cables, guide cables and drive components. The drive components control the drive cables to make the frame and drive cables move relative to each other, so that the frame moves along the direction of the photovoltaic panel closer to or away from the deflection rod. Combined with the cleaning device mentioned above, the photovoltaic panel can be cleaned, simplifying the equipment structure and reducing production costs.

[0011] Preferably, the drive assembly includes a winch, a first steering component, and a second steering component. The winch is mounted on the frame and controlled by a control mechanism. The first and second steering components are respectively mounted at both ends of the frame. The end of the drive cable away from the turnaround rod is turned by the first steering component, then by the winch, and finally by the second steering component to be tensioned and installed at one end of the helipad frame. The end of the guide cable away from the turnaround rod is turned by the second steering component, then by the winch, and finally by the first steering component to be tensioned and installed at one end of the helipad frame.

[0012] By adopting the above technical solution, the drive cable and guide cable can be routed in a specific direction by means of steering component one and steering component two. This allows a single winch to move by driving the drive cable, enabling the frame to drive the cleaning mechanism to move along the direction of the photovoltaic panel towards or away from the deflector bar, thereby completing the cleaning of the photovoltaic panel. This reduces the number of winches and motors used, simplifies the equipment structure, and lowers production costs.

[0013] Preferably, the winch includes a multi-wedge pulley and a plurality of pressure rollers. A base frame is provided on the frame. The multi-wedge pulley and the plurality of pressure rollers are rotatably connected in the base frame. The multi-wedge pulley is connected to a control mechanism, which controls the rotation of the multi-wedge pulley. The multi-wedge pulley is divided into a wedge portion and a smooth portion. The drive cable is turned by a first steering member and enters the groove of the wedge portion of the multi-wedge pulley, where it is pressed by the plurality of pressure rollers. The guide cable is turned by a second steering member and enters the smooth portion of the multi-wedge pulley, where it slides and rubs against the smooth portion.

[0014] By adopting the above technical solution, the multi-wedge pulley of the winch is connected to the control mechanism. The control mechanism can control the rotation of the multi-wedge pulley. The drive cable enters the groove of the wedge pulley and is pressed by the pressure roller, which can effectively transmit power and make the drive cable drive the frame to move. The guide cable slides and rubs in the smooth part, which plays a guiding role. In this way, a single winch can realize the driving and guiding functions, thereby realizing the reciprocating motion of the cleaning robot to clean the surface of the photovoltaic panel. This reduces the number of winches and motors used, simplifies the equipment structure, and reduces production costs.

[0015] Preferably, the first and second steering components have identical structures. Both the first and second steering components include a unidirectional receiving wheel and a steering delivery wheel. Both the unidirectional receiving wheel and the steering delivery wheel are rotatably mounted on the frame. Both the unidirectional receiving wheel and the steering delivery wheel have two grooves. The axial direction of the unidirectional receiving wheel is perpendicular to the axial direction of the steering delivery wheel. The end of the drive cable away from the turnaround rod first passes through the unidirectional receiving wheel of the first steering component and then enters the winch through the steering delivery wheel of the first steering component. Then, the winch passes through the steering delivery wheel of the second steering component and then delivers the cable through the unidirectional receiving wheel of the second steering component, finally tensioning and installing it at one end of the apron frame. The end of the guide cable away from the turnaround rod first passes through the unidirectional receiving wheel of the second steering component and then enters the winch through the steering delivery wheel of the second steering component. Then, the winch passes through the steering delivery wheel of the first steering component and then delivers the cable through the unidirectional receiving wheel of the first steering component, finally tensioning and installing it at one end of the apron frame.

[0016] By adopting the above technical solution, one end of the drive cable and guide cable is fixed to the turnaround rod, and the other end is fixed to the parking platform after being turned by the same-direction receiving wheel and the turning delivery wheel. This allows a single drive component to control the drive cable, enabling the frame to move relative to the drive cable and move the frame towards or away from the turnaround rod along the photovoltaic panel. This achieves the reciprocating motion of the cleaning robot, reduces the number of winches and motors used, simplifies the equipment structure, and lowers production costs.

[0017] Preferably, a guide assembly is provided between the frame and the apron frame, and guide assemblies are provided on both sides of the frame. The guide assembly includes a sliding guide wheel and a limiting guide wheel. The sliding guide wheel is rotatably mounted on the frame and slidably disposed on the top wall of the apron frame, and the limiting guide wheel is rotatably mounted on the frame and slidably disposed on the outer side wall of the apron frame.

[0018] By adopting the above technical solution, the overall frame, which houses the drive mechanism, control mechanism, and cleaning mechanism, can clean the photovoltaic panels. The overall frame consists of a frame, a landing pad, and a turning rod. The frame slides on the landing pad to facilitate cleaning. The drive mechanism controls the drive cable through the drive components to move the frame relative to the drive cable, thus moving the frame along the direction of the photovoltaic panels. A guide component is installed between the frame and the landing pad, and both sides of the frame are equipped with guide components including sliding guide wheels and limiting guide wheels, which can ensure that the frame slides stably along the landing pad and improve the stability and reliability of the cleaning robot's movement.

[0019] Preferably, the control mechanism includes an electrical control box and a control motor. The electrical control box is mounted on the frame, the control motor is mounted inside the electrical control box, and the control shaft of the control motor passes through the electrical control box and is connected to the drive mechanism.

[0020] By adopting the above technical solution, the control motor is installed in the electrical control box, and the control shaft of the control motor passes through the electrical control box and is connected to the drive mechanism, which can stably control the drive mechanism, enabling the cleaning mechanism to clean the photovoltaic panels. This reduces the number of winches and motors used, simplifies the equipment structure, and lowers production costs.

[0021] In summary, this application includes at least one of the following beneficial technical effects: 1. The cleaning mechanism can be controlled by the drive mechanism to clean the photovoltaic panels, thus realizing the cleaning function of the photovoltaic panels; the cleaning of the photovoltaic panels can be completed by a single drive mechanism and a single cleaning structure, reducing the number of winches and motors used, simplifying the equipment structure, and reducing production costs; 2. The multi-wedge pulleys of the winch are connected to the control mechanism, which can control the rotation of the multi-wedge pulleys. The drive cable enters the groove of the wedge pulley and is pressed by the clamping roller, which can effectively transmit power and make the drive cable drive the frame to move. The guide cable slides and rubs on the smooth part, which plays a guiding role. In this way, a single winch can realize the driving and guiding functions, thereby realizing the reciprocating motion of the cleaning robot to clean the surface of the photovoltaic panel. This reduces the number of winches and motors used, simplifies the equipment structure, and reduces production costs. Attached Figure Description

[0022] Figure 1 This is a structural schematic diagram of the single-winch photovoltaic panel cleaning robot in the implementation scheme of this application.

[0023] Figure 2 This is a structural diagram illustrating the connection relationship between the drive mechanism and the control mechanism in the implementation scheme of this application.

[0024] Figure 3 yes Figure 2 An enlarged diagram of A in the diagram.

[0025] Figure 4 yes Figure 2 Enlarged diagram of B in the diagram.

[0026] Explanation of reference numerals in the attached drawings: 1. Overall frame; 11. Frame; 111. Base frame; 12. Helipad frame; 13. Turnback rod; 2. Drive mechanism; 21. Drive cable; 22. Guide cable; 3. Control mechanism; 31. Electrical control box; 32. Control motor; 33. Quick-connect female connector; 34. Battery pack; 35. Remote control receiver; 4. Cleaning mechanism; 41. Roller brush; 42. Cleaning motor; 5. Drive assembly; 51. Winch; 511. Multi-wedge pulley; 512. Pressure roller; 513. Wedge wheel section; 514. Smoothing section; 52. Steering component one; 53. Steering component two; 54. Same-direction receiving wheel; 55. Steering delivery wheel; 6. Guide assembly; 61. Sliding guide wheel; 62. Limiting guide wheel. Detailed Implementation

[0027] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0028] This application discloses a single-winch type photovoltaic panel cleaning robot. (Refer to...) Figure 1 The single-winch photovoltaic panel cleaning robot includes a main frame 1, a drive mechanism 2, a control mechanism 3, and a cleaning mechanism 4. The drive mechanism 2 and the control mechanism 3 are installed on the main frame 1, and the cleaning mechanism 4 is located on the side of the main frame 1 close to the photovoltaic panel. Under the control of the control mechanism 3, the drive mechanism 2 drives the cleaning mechanism 4 to clean the photovoltaic panel.

[0029] The system enables a single drive mechanism 2 and a single cleaning structure to complete the cleaning of photovoltaic panels, reducing the number of winches 51 and motors used, simplifying the equipment structure, and lowering production costs.

[0030] Reference Figure 1 The overall frame 1 includes a frame 11, a helipad frame 12, and a turnaround bar 13. The helipad frame 12 is installed on one side of the photovoltaic panel along its length by means of hexagonal bolts or casters with lockable positions. The turnaround bar 13 is installed on the side of the photovoltaic panel away from the helipad frame 12 along its length by means of hexagonal bolts or casters with lockable positions. That is, the turnaround bar 13 and the helipad frame 12 are fixedly set, and the photovoltaic panel to be cleaned is located between the turnaround bar 13 and the helipad frame 12.

[0031] The frame 11 is slidably mounted on the landing pad frame 12. The cleaning mechanism 4 is mounted on the side of the frame 11 closest to the photovoltaic panel. The landing pad frame 12 acts as a "rest area" for the robot. When cleaning is completed or needs to be paused, the frame 11, along with the cleaning mechanism 4, will dock on the landing pad frame 12. At the same time, the cleaning mechanism can also be replaced. The drive mechanism 2 and the control mechanism 3 are both mounted on the frame 11.

[0032] Reference Figure 2 The control mechanism 3 includes an electrical control box 31 and a control motor 32. The electrical control box 31 is fixedly mounted on the frame 11 with bolts. The control motor 32 is installed inside the electrical control box 31, and its control shaft passes through the electrical control box 31 and is connected to the drive mechanism 2. The electrical control box 31 is like the "brain" of the robot. It contains components such as a battery pack 34, a remote control receiver 35, and a main control board. The battery pack 34 provides power to the electrical control box 31, and the remote control receiver 35 receives remote control signals, enabling precise control of the robot's operation. The control motor 32 is the "power source" of the robot, and its control shaft passes through the electrical control box 31 and is connected to the drive mechanism 2.

[0033] Reference Figure 2 and Figure 3 The drive mechanism 2 includes a drive assembly 5, which is mounted on the frame 11. The drive assembly 5 includes a winch 51, which is mounted on the frame 11 and controlled by the control mechanism 3. The winch 51 includes a multi-ribbed pulley 511 and multiple pressure rollers 512. A base frame 111 is provided on the frame 11. The multi-ribbed pulley 511 and multiple pressure rollers 512 are rotatably connected to the base frame 111 through bearings. The shaft of the control motor 32 passes through the electrical control box 31, is connected to a quick-connect female connector 33, and finally passes through the multi-ribbed pulley 511. One end of the shaft of the control motor 32 passing through the multi-ribbed pulley 511 is rotatably connected to the base frame 111 through a bearing. In this embodiment, a driven multi-ribbed pulley 511 is also rotatably connected to the base frame 111.

[0034] The multi-wedge pulley 511 is divided into a wedge wheel portion 513 and a smooth portion 514, and several grooves are formed on the wedge wheel portion 513.

[0035] A drive cable 21 and a guide cable 22 are connected to both ends of the reversing rod 13 along its length. The end of the drive cable 21 away from the reversing rod 13 passes through the groove of the wedge portion 513 of the multi-wedge pulley 511 and is pressed by multiple pressure rollers 512. The end of the drive cable 21 away from the reversing rod 13 is finally tensioned and fixed to the end of the apron frame 12 away from the reversing rod 13 by a tensioning wheel. The guide cable 22 passes through the smooth portion 514 of the multi-wedge pulley 511 and slides and rubs against the smooth portion 514. The end of the guide cable 22 away from the reversing rod 13 is finally tensioned and fixed to the end of the apron frame 12 away from the reversing rod 13 by a tensioning wheel. In this embodiment, the drive cable 21 and the guide cable 22 are arranged in a Z-shape.

[0036] Reference Figure 2 and Figure 4To ensure the stability of the drive cable 21 and guide cable 22 at the turning point, the frame 11 is equipped with a first turning component 52 and a second turning component 53 on both sides of the photovoltaic panel width direction, respectively. The first turning component 52 and the second turning component 53 have the same structure.

[0037] After being turned by the first steering member 52, the drive cable 21 enters the groove of the wedge portion 513 of the multi-wedge pulley 511 and is pressed by multiple pressure rollers 512. The guide cable 22 is turned by the second steering member 53 and enters the smooth portion 514 of the multi-wedge pulley 511, where it slides and rubs against the smooth portion 514. The wedge portion 513 and the smooth portion 514 of the multi-wedge pulley 511 are cleverly designed. The groove of the wedge portion 513 increases the friction with the drive cable 21, ensuring that the drive cable 21 can effectively transmit power. The smooth portion 514 allows the guide cable 22 to slide smoothly without interfering with the operation of the drive cable 21.

[0038] Both the first steering component 52 and the second steering component 53 include a unidirectional receiving wheel 54 and a steering delivery wheel 55. The unidirectional receiving wheel 54 and the steering delivery wheel 55 are rotatably mounted on the frame 11. Both the unidirectional receiving wheel 54 and the steering delivery wheel 55 have two grooves, or both can have two grooves. The axial direction of the unidirectional receiving wheel 54 is perpendicular to the axial direction of the steering delivery wheel 55.

[0039] The end of the drive cable 21 away from the turnaround bar 13 first passes through the same-direction receiving wheel 54 of the first steering component 52 and then enters the winch 51 through the steering delivery wheel 55 of the first steering component 52. Then, the winch 51 passes through the steering delivery wheel 55 of the second steering component 53 and is delivered by the same-direction receiving wheel 54 of the second steering component 53. Finally, it is tensioned and installed at one end of the apron frame 12. The end of the guide cable 22 away from the turnaround bar 13 first passes through the same-direction receiving wheel 54 of the second steering component 53 and then enters the winch 51 through the steering delivery wheel 55 of the second steering component 53. Then, the winch 51 passes through the steering delivery wheel 55 of the first steering component 52 and is delivered by the same-direction receiving wheel 54 of the first steering component 52. Finally, it is tensioned and installed at one end of the apron frame 12.

[0040] The winch 51 controls the drive cable 21, thereby causing relative displacement between the frame 11 and the drive cable 21, so that the frame 11 can move in the direction of the photovoltaic panel toward or away from the deflector rod 13.

[0041] Reference Figure 2To improve the accuracy and stability of the rack 11 entering the apron frame 12, a guide assembly 6 is provided between the rack 11 and the apron frame 12. The guide assembly 6 is provided on both sides of the rack 11. The guide assembly 6 includes a sliding guide wheel 61 and a limiting guide wheel 62. The sliding guide wheel 61 is rotatably mounted on the rack 11 through a bearing and is slidably mounted on the top wall of the apron frame 12. The limiting guide wheel 62 is rotatably mounted on the rack 11 through a bearing and is slidably mounted on the outer side wall of the apron frame 12.

[0042] The cleaning mechanism 4 includes a roller brush 41 and a cleaning motor 42. The cleaning motor 42 is fixedly mounted on the frame 11 by bolts. The roller brush 41 is rotatably connected to the frame 11 by bearings. The output shaft of the cleaning motor 42 is connected to the roller brush 41 and is used to drive the roller brush 41 to rotate.

[0043] The implementation principle of the single-winch photovoltaic panel cleaning robot in this application embodiment is as follows: the control motor 32 is started, and the control motor 32 drives the multi-wedge pulley 511 to move, thereby causing the frame 11 and the drive cable 21 to move relative to each other, so that the frame 11 can move along the direction of the photovoltaic panel closer to or away from the deflector rod 13. During this process, the guide cable 22 only plays a guiding role. After the robot finishes cleaning the photovoltaic panel, the frame 11 moves to the parking platform 12, at which time the operator can inspect the roller brush 41.

[0044] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A single-winch type photovoltaic panel cleaning robot, characterized in that: The system includes a main frame (1), on which a drive mechanism (2) is mounted, and on which a control mechanism (3) for controlling the drive mechanism (2) is also mounted. A cleaning mechanism (4) is provided on the side of the main frame (1) near the photovoltaic panel. The drive mechanism (2) controls the cleaning mechanism (4) to clean the photovoltaic panel. The main frame (1) includes a frame (11), a helipad frame (12), and a turnaround rod (13). The helipad frame (12) is mounted on one side of the photovoltaic panel, and the turnaround rod (13) is mounted on the side of the photovoltaic panel away from the helipad frame (12). The frame (11) is slidably mounted on the helipad frame (12), and the cleaning mechanism (4) is mounted on the frame (11) near the photovoltaic panel. One side of the plate; the drive mechanism (2) and the control mechanism (3) are both mounted on the frame (11); the drive mechanism (2) includes a drive cable (21), a guide cable (22) and a drive assembly (5); the drive assembly (5) is mounted on the frame (11) and controlled by the control mechanism (3). One end of the drive cable (21) and the guide cable (22) are respectively fixedly mounted on both ends of the turnaround rod (13), and the other end is respectively fixed to both ends of the parking apron frame (12) after passing through the drive assembly (5). The drive assembly (5) controls the drive cable (21) so that the frame (11) and the drive cable (21) are relatively displaced, so that the frame (11) can move closer to or away from the turnaround rod (13) along the photovoltaic panel. The drive assembly (5) includes a winch (51), a first steering component (52), and a second steering component (53). The winch (51) is mounted on the frame (11) and controlled by the control mechanism (3). The first steering component (52) and the second steering component (53) are respectively mounted at both ends of the frame (11). The end of the drive cable (21) away from the deflector bar (13) is turned by the first steering component (52), then by the winch (51), and finally by the second steering component (53) to be tensioned and installed at one end of the parking apron frame (12). The end of the guide cable (22) away from the deflector bar (13) is turned by the second steering component (53), then by the winch (51), and finally by the first steering component (52) to be tensioned and installed. The winch (51) is mounted on one end of the helipad frame (12). The winch (51) includes a multi-wedge pulley (511) and a plurality of pressure rollers (512). A base frame (111) is provided on the frame (11). The multi-wedge pulley (511) and the plurality of pressure rollers (512) are rotatably connected in the base frame (111). The multi-wedge pulley (511) is connected to the control mechanism (3). The control mechanism (3) controls the multi-wedge pulley (511) to rotate. The multi-wedge pulley (511) is divided into a wedge wheel part (513) and a smooth part (514). The drive cable (21) is turned by the first steering component (52) and enters the groove of the wedge wheel part (513) of the multi-wedge pulley (511) and is pressed by the plurality of pressure rollers (512).The guide cable (22) is turned by the second steering component (53) and enters the smooth part (514) of the multi-wedge pulley (511), and slides and rubs against the smooth part (514); the first steering component (52) and the second steering component (53) have the same structure. The first steering component (52) and the second steering component (53) both include a receiving wheel (54) and a steering delivery wheel (55). The receiving wheel (54) and the steering delivery wheel (55) are rotatably mounted on the frame (11). There are two receiving wheels (54) and two steering delivery wheels (55). The axial direction of the receiving wheel (54) is perpendicular to the axial direction of the steering delivery wheel (55). The end of the drive cable (21) away from the return rod (13) first passes through the same direction of the first steering component (52). After turning towards the receiving wheel (54), the cable enters the winch (51) through the steering delivery wheel (55) of steering component one (52), and then is sent out by the winch (51) through the steering delivery wheel (55) of steering component two (53) and finally tensioned and installed at one end of the helipad frame (12); the end of the guide cable (22) away from the turnaround rod (13) first turns through the steering delivery wheel (54) of steering component two (53) and then enters the winch (51) through the steering delivery wheel (55) of steering component two (53), and then is sent out by the steering delivery wheel (54) of steering component two (53) and finally tensioned and installed at one end of the helipad frame (12).

2. The single-winch photovoltaic panel cleaning robot according to claim 1, characterized in that: A guide assembly (6) is provided between the frame (11) and the apron frame (12). The guide assembly (6) is provided on both sides of the frame (11). The guide assembly (6) includes a sliding guide wheel (61) and a limiting guide wheel (62). The sliding guide wheel (61) is rotatably mounted on the frame (11) and slidably mounted on the top wall of the apron frame (12). The limiting guide wheel (62) is rotatably mounted on the frame (11) and slidably mounted on the outer side wall of the apron frame (12).

3. The single-winch photovoltaic panel cleaning robot according to claim 1, characterized in that: The control mechanism (3) includes an electrical control box (31) and a control motor (32). The electrical control box (31) is mounted on the frame (11), and the control motor (32) is mounted inside the electrical control box (31). The control shaft of the control motor (32) passes through the electrical control box (31) and is connected to the drive mechanism (2).

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