Photovoltaic cleaning robot

Abstract

This application discloses a photovoltaic cleaning robot, belonging to the field of photovoltaic cleaning technology. The photovoltaic cleaning robot includes a main unit; a first cleaning mechanism installed on the main unit; and a second cleaning mechanism including an adjustment mechanism and a second cleaning section. The adjustment mechanism is configured to adjust the height of the second cleaning section and connects the main unit and the second cleaning section. The second cleaning section is located in the central region along the length of the photovoltaic cleaning robot. According to this application, by providing a liftable second cleaning section in the central region along the length of the photovoltaic cleaning robot, the second cleaning section can be raised before encountering obstacles such as photovoltaic support protrusions in the central region, reducing excessive compression of the second cleaning section and extending its service life. After passing over obstacles, the second cleaning section can be lowered, allowing it to continue cleaning while adhering to the surface of the photovoltaic module, thereby improving the cleaning quality and operational efficiency of the photovoltaic cleaning robot.

Description

Technical Field

[0001] This application belongs to the field of photovoltaic cleaning technology, and in particular relates to a photovoltaic cleaning robot. Background Technology

[0002] When photovoltaic cleaning robots are cleaning photovoltaic modules, the central area of ​​their cleaning section along its length is easily compressed by obstacles. This causes the compression in the central area of ​​the cleaning section to be inconsistently maintained within a suitable range, resulting in the accumulation of dust and dirt in the middle area of ​​the photovoltaic modules. This affects the cleaning quality and efficiency of the robot. Furthermore, the frequent contact between the central area of ​​the cleaning section and obstacles makes it prone to wear and damage, thus affecting the service life of the cleaning section. Utility Model Content

[0003] This application aims to address at least one of the technical problems existing in the related art. To this end, this application proposes a photovoltaic cleaning robot, in which a second cleaning unit located in the middle region along the length direction can be raised before encountering an obstacle and lowered after avoiding the obstacle to continue performing the cleaning task.

[0004] In a first aspect, this application provides a photovoltaic cleaning robot, comprising:

[0005] Host;

[0006] The first cleaning mechanism is installed on the main unit;

[0007] The second cleaning mechanism includes an adjustment mechanism and a second cleaning part. The adjustment mechanism is configured to adjust the height of the second cleaning part. The adjustment mechanism is capable of connecting the main unit and the second cleaning part, and the second cleaning part is located in the middle region along the length of the photovoltaic cleaning robot.

[0008] According to the photovoltaic cleaning robot of this application, by setting a liftable second cleaning part in the middle of the photovoltaic cleaning robot along its length, the second cleaning part can be raised before encountering obstacles such as photovoltaic bracket protrusions in the middle area, reducing excessive compression between the second cleaning part and the obstacle, effectively reducing the risk of wear or structural damage to the second cleaning part, and extending the service life of the second cleaning part. After passing the obstacle, the second cleaning part can be lowered so that it can re-adhere to the surface of the photovoltaic module and perform the cleaning task, thereby improving the cleaning quality and operation efficiency of the photovoltaic cleaning robot.

[0009] According to one embodiment of this application, the photovoltaic cleaning robot further includes:

[0010] Sensors are used to detect obstacle signals below the central region;

[0011] The controller is electrically connected to the sensor and the adjustment mechanism.

[0012] According to one embodiment of this application, the host includes:

[0013] The sensor is mounted below the middle region of the main beam, and the adjustment mechanism connects the second cleaning section and the main beam.

[0014] According to one embodiment of this application, the main unit is equipped with the second cleaning mechanism on both sides along the width direction. The photovoltaic cleaning robot has two working modes. In the first working mode, one of the second cleaning mechanisms is in a lifting posture. In the second working mode, both of the second cleaning mechanisms are in a cleaning posture.

[0015] According to one embodiment of this application, the adjusting mechanism includes:

[0016] Support components are installed on the host unit;

[0017] Mounting bracket, the second cleaning part is mounted on the mounting bracket, and the mounting bracket is movably connected to the support member;

[0018] A drive mechanism is provided for driving the mounting bracket to move relative to the support member, and the relative movement between the mounting bracket and the support member has at least a vertical component.

[0019] According to one embodiment of this application, the drive mechanism includes an electric push rod, the two ends of which are respectively hinged to the main unit and the mounting bracket;

[0020] The mounting bracket and the support are slidably hinged, and the sliding direction has at least a component in the vertical direction.

[0021] According to one embodiment of this application, the mounting bracket includes:

[0022] The second cleaning part is mounted on the mounting frame body;

[0023] The first support is installed on the mounting frame body and is hinged to the electric push rod;

[0024] The second support is installed on the mounting frame body. The support member is provided with a sliding groove, and the second support is slidably hinged to the support member along the sliding groove.

[0025] According to one embodiment of this application, the drive mechanism includes a linear module, which is mounted on the support member, and the output end of the linear module is connected to the mounting bracket.

[0026] According to one embodiment of this application, the support member is provided with multiple sets of first mounting structures distributed vertically, and the support member is mounted to the host through at least one set of the first mounting structures.

[0027] According to one embodiment of this application, the first cleaning mechanism has a first bristle and a second bristle, with a gap between the first bristle and the second bristle. In the length direction of the photovoltaic cleaning robot, the length of the gap is less than the length of the second cleaning part. In the movement direction of the photovoltaic cleaning robot, the second cleaning part has an overlapping area with the first bristle and the second bristle.

[0028] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0029] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0030] Figure 1 This is a schematic diagram of the structure of the photovoltaic cleaning robot, photovoltaic module, and photovoltaic support provided in the embodiments of this application;

[0031] Figure 2 This is a schematic diagram of the structure of the photovoltaic cleaning robot provided in the embodiments of this application (photovoltaic modules are also shown);

[0032] Figure 3 This is a partial structural schematic diagram of the photovoltaic cleaning robot provided in the embodiments of this application;

[0033] Figure 4 This is one of the structural schematic diagrams of a second cleaning mechanism provided in the embodiments of this application;

[0034] Figure 5 This is a second schematic diagram of the structure of a second cleaning mechanism provided in the embodiments of this application;

[0035] Figure 6 This is a schematic diagram of another second cleaning mechanism provided in an embodiment of this application.

[0036] Figure label:

[0037] 10 photovoltaic cleaning robots;

[0038] First cleaning mechanism 100, first brush bristles 110, second brush bristles 120, support shaft 130;

[0039] Second cleaning mechanism 200, second cleaning part 210, second cleaning drive mechanism 211, adjustment mechanism 220, drive mechanism 221, drive mechanism mounting part 221a, second mounting structure 221b, support part 222, slide 222a, first mounting structure 222b, mounting bracket 223, first support 223a, second support 223b, mounting bracket body 223c;

[0040] Main unit 300, main beam 310, travel assembly 320;

[0041] Sensor 400, sensor mounting component 410;

[0042] 20 photovoltaic modules;

[0043] Photovoltaic bracket 30, column 31, photovoltaic bracket protrusion 32. Detailed Implementation

[0044] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0045] The following is for reference. Figures 1-6 A photovoltaic cleaning robot 10 according to an embodiment of this application is described.

[0046] The photovoltaic cleaning robot 10 is a robot that can perform the task of removing dust, dirt and other obstructions from the surface of the photovoltaic module 20.

[0047] like Figure 1 As shown, the photovoltaic module 20 is mounted on the photovoltaic bracket 30, which includes a column 31 and a photovoltaic bracket protrusion 32. Along the length of the photovoltaic module 20, the photovoltaic bracket protrusion 32 is located in the middle area and protrudes vertically from the surface of the photovoltaic module 20. The obstacle avoidance method of the photovoltaic cleaning robot 10 when encountering obstacles in the middle area, such as the photovoltaic bracket protrusion 32, will be explained in detail below.

[0048] like Figure 1 and Figure 2 As shown, the photovoltaic cleaning robot 10 includes a main unit 300, a first cleaning mechanism 100, and a second cleaning mechanism 200.

[0049] The host unit 300 can perform the task of commanding and coordinating the operation of the photovoltaic cleaning robot 10, and also serves as the installation foundation and support platform for some other components of the photovoltaic cleaning robot 10. For example... Figure 3 As shown, the host 300 may include a walking component 320, which enables the photovoltaic cleaning robot 10 to move as a whole to perform cleaning tasks.

[0050] The first cleaning mechanism 100 is located on both sides of the photovoltaic cleaning robot 10 along its length. The first cleaning mechanism 100 can contact the surface of the photovoltaic module 20 on both sides along its length and perform physical cleaning on that area. The first cleaning mechanism 100 can be a brush, scraper, or mop, etc.

[0051] like Figures 1-3 As shown, the first cleaning mechanism 100 is installed on the main unit 300.

[0052] The first cleaning mechanism 100 can be fixedly installed to the main unit 300 by a rigid connector. Alternatively, the first cleaning mechanism 100 can be movably installed to the main unit 300 by a bearing or pivot.

[0053] The second cleaning mechanism 200 is located in the middle region along the length of the photovoltaic cleaning robot 10. The second cleaning mechanism 200 is a mechanism capable of cleaning the middle region of the photovoltaic module 20 along its length and capable of lifting to avoid obstacles when it encounters them.

[0054] like Figure 4 and Figure 6 As shown, the second cleaning mechanism 200 may include an adjustment mechanism 220 and a second cleaning part 210.

[0055] The adjustment mechanism 220 is a mechanical device in the second cleaning mechanism 200 that enables the second cleaning part 210 to move with a vertical component.

[0056] like Figure 1 and Figure 2 As shown, the second cleaning unit 210 is located in the middle region along the length of the photovoltaic cleaning robot 10.

[0057] The second cleaning unit 210 is a device in the second cleaning mechanism 200 that can contact the surface of the middle region of the photovoltaic module 20 along the length direction and perform physical cleaning on that region.

[0058] The second cleaning unit 210 can be a brush, scraper, or mop, etc.

[0059] like Figure 4 and Figure 6 As shown, the adjustment mechanism 220 is configured to adjust the height of the second cleaning section 210, and the adjustment mechanism 220 can be connected to the main unit 300 and the second cleaning section 210.

[0060] The adjustment mechanism 220 is installed on the main unit 300, and the second cleaning unit 210 is connected to the adjustment mechanism 220. The second cleaning unit 210 is not rigidly fixed to the main unit 300, but its height position relative to the main unit 300 can be changed by the adjustment mechanism 220.

[0061] When the photovoltaic cleaning robot 10 moves across the surface of the photovoltaic module 20 and performs cleaning tasks, the second cleaning mechanism 200 may encounter obstacles in the central area, such as the photovoltaic support protrusion 32. Before the second cleaning mechanism 200 comes into contact with obstacles such as the photovoltaic support protrusion 32, the adjustment mechanism 220 can raise the second cleaning part 210 to reduce the risk of wear or damage to the second cleaning part 210 due to excessive pressure from obstacles such as the photovoltaic support protrusion 32, thus extending the service life of the second cleaning part 210. After the second cleaning mechanism 200 no longer faces the risk of contacting obstacles such as the photovoltaic support protrusion 32, the adjustment mechanism 220 can lower the second cleaning part 210, allowing the second cleaning mechanism 200 to continue performing cleaning tasks on the surface of the photovoltaic module 20, ensuring the cleaning quality and efficiency of the photovoltaic cleaning robot 10.

[0062] like Figures 4-6 As shown, the second cleaning mechanism 200 may include a second cleaning drive mechanism 211. The second cleaning drive mechanism 211 provides power and transmits that power to the second cleaning unit 210. The second cleaning drive mechanism 211 may include a second cleaning drive source and a second cleaning transmission mechanism. The second cleaning drive source is a device that generates power, and can be an electric motor, pneumatic motor, or electric motor, etc. The second cleaning transmission mechanism is a device that transmits the power generated by the second cleaning drive source to the second cleaning unit 210, and can be a universal joint, gear set, or coupling, etc.

[0063] According to the photovoltaic cleaning robot 10 provided in the embodiments of this application, by setting a liftable second cleaning part 210 in the middle of the photovoltaic cleaning robot 10 along the length direction, the second cleaning part 210 can be raised before encountering obstacles such as photovoltaic bracket protrusions 32 located in the middle area, reducing excessive compression between the second cleaning part 210 and the obstacle, effectively reducing the risk of wear or structural damage to the second cleaning part 210, and extending the service life of the second cleaning part 210. After passing the obstacle, the second cleaning part 210 can be lowered so that the second cleaning part 210 re-adhere to the surface of the photovoltaic module 20 and perform the cleaning task, thereby improving the cleaning quality and operation efficiency of the photovoltaic cleaning robot 10.

[0064] In some embodiments, such as Figure 3 As shown, the photovoltaic cleaning robot 10 includes a sensor 400 and a controller.

[0065] Sensor 400 is a measuring device that converts the spatial displacement between a target object and sensor 400 into a signal that can be processed and measured. Sensor 400 can be a laser sensor 400 or an ultrasonic sensor 400, etc.

[0066] Sensor 400 is used to detect obstacle signals below the central area.

[0067] The sensor 400 can continuously acquire high-frequency distance measurement data, and the measurement point data can include distance information of various objects such as the second cleaning section 210, the surface of the photovoltaic module 20, and obstacles such as the photovoltaic support protrusion 32.

[0068] A controller is an electronic device that can receive input signals, perform calculations, judgments, and processes according to pre-set algorithms or logic, and generate output signals to manipulate the operation of actuators.

[0069] The controller is electrically connected to the sensor 400 and the adjustment mechanism 220, and can be configured to control the adjustment mechanism 220 based on the detection signal of the sensor 400 to adjust the height of the second cleaning section 210.

[0070] That is, the controller can receive the electrical signal transmitted by the sensor 400 and transmit the electrical signal to the adjustment mechanism 220. Based on the detection signal of the sensor 400, the controller controls the adjustment mechanism 220 so that the adjustment mechanism 220 adjusts the height of the second cleaning section 210.

[0071] The sensor 400 can emit laser or ultrasonic signals to the second cleaning section 210, the surface of the photovoltaic module 20, and the photovoltaic support protrusion 32, and convert the light or sound signals returned from the surface of the photovoltaic module 20 in the central region into electrical signals. By using a timer or geometric calculation, the time difference or position difference represented by the electrical signals is converted into a distance value. The sensor 400 can output distance data to the controller in the form of analog voltage, current, or digital signals.

[0072] The controller can process the raw data from the sensor 400 and make decisions. When there are obstacles such as photovoltaic bracket protrusions 32 in front of the second cleaning section 210, the controller can send a command to the adjustment mechanism 220 to raise the corresponding second cleaning section 210 to a preset safe position to avoid obstacles and reduce the risk of compression, wear, or structural damage to the second cleaning section 210. When there are no obstacles such as photovoltaic bracket protrusions 32 in front of the second cleaning section 210 but the surface of the photovoltaic module 20 needs to be cleaned, the controller can control the adjustment mechanism 220 to lower or keep the second cleaning section 210 unchanged based on the distance data between the second cleaning section 210 and the surface of the photovoltaic module 20. This keeps the compression of the second cleaning section 210 within a reasonable range to ensure the cleaning effect of the second cleaning section 210 while reducing unnecessary compression, wear, or structural damage.

[0073] In some embodiments, such as Figure 3 As shown, the host 300 includes a main beam 310.

[0074] The main beam 310 can be a component that supports the main unit 300 and provides an installation platform for other structures. The main beam 310 can be a rigid crossbeam or main frame along the length of the photovoltaic cleaning robot 10.

[0075] like Figure 3 As shown, sensor 400 is installed below the middle region of beam 310.

[0076] The lower part of the central area of ​​the main beam 310 provides a mounting platform for the sensor 400, which can be fixedly mounted to the main beam 310 using the sensor mounting bracket 410. This mounting arrangement allows the sensor 400 to have a better field of view, enabling it to clearly detect obstacles such as the photovoltaic support protrusion 32 in the central area. This provides the controller with reaction time, allowing it to issue a lifting command before a collision occurs.

[0077] like Figure 2 As shown, the adjustment mechanism 220 connects the second cleaning section 210 and the main beam 310.

[0078] The adjusting mechanism 220 is installed on the main beam 310, and the second cleaning part 210 is connected to the adjusting mechanism 220. The second cleaning part 210 does not necessarily have to be rigidly fixed to the main beam 310; its height relative to the main beam 310 can be adjusted via the adjusting mechanism 220. The main beam 310 provides a relatively stable and reliable mounting platform for the adjusting mechanism 220, which helps protect the accuracy and stability of the lifting action and reduces control errors caused by foundation swaying.

[0079] In some embodiments, such as Figure 1 As shown, the main unit 300 has a second cleaning mechanism 200 installed on both sides along the width direction.

[0080] That is, the photovoltaic cleaning robot 10 can have two second cleaning mechanisms 200, which can be respectively installed on both sides of the main beam 310 of the host 300 along the width direction, and the sensor 400 is located between the two second cleaning mechanisms 200.

[0081] The photovoltaic cleaning robot 10 has two working modes, namely the first working mode and the second working mode.

[0082] When obstacles such as the photovoltaic support protrusion 32 appear in the central area of ​​the photovoltaic cleaning robot 10's travel path, the photovoltaic cleaning robot 10 enters the first working mode.

[0083] In the first working mode, one of the second cleaning units 200 is in a lifting posture.

[0084] In the first working mode, the second cleaning unit 210, located at the front end of the photovoltaic cleaning robot 10 in the direction of travel, maintains a lifted posture. The second cleaning unit 210, located at the rear end of the photovoltaic cleaning robot 10 in the direction of travel, switches between the lifted posture and the cleaning posture.

[0085] As the photovoltaic cleaning robot 10 moves across the surface of the photovoltaic module 20, a second cleaning section 210 positioned at the front of the travel direction remains at a high position. This second cleaning section 210 may not perform cleaning tasks, may not contact the surface of the photovoltaic module 20, and may even maintain a certain vertical distance from the surface. This prevents the second cleaning section 210 from being excessively compressed by obstacles such as the photovoltaic support protrusion 32, thus avoiding wear or structural damage.

[0086] When the photovoltaic cleaning robot 10 moves on the surface of the photovoltaic module 20, another second cleaning part 210 located at the rear in the direction of travel can either be in contact with the surface of the photovoltaic module 20 or be lifted to a higher position by the adjustment mechanism 220. This second cleaning part 210 is the component that performs the cleaning task; it can contact the surface of the photovoltaic module 20 or be lifted to avoid obstacles. In this way, the second cleaning part 210 located at the rear in the direction of travel is not excessively compressed by obstacles such as the photovoltaic support protrusion 32, which could lead to wear or structural damage, while still performing the cleaning task, ensuring the cleaning quality and work efficiency of the photovoltaic cleaning robot 10.

[0087] During the movement of the photovoltaic cleaning robot 10 from left to right, the second cleaning section 210 on the right side, being the front-end section in the direction of travel, maintains a raised posture and does not directly participate in the cleaning work. The second cleaning section 210 on the left side, being the rear-end section in the direction of travel, switches between a raised posture and a cleaning posture to perform cleaning work. When the sensor 400 on the right side of the second cleaning section 210 on the left side detects obstacles such as the photovoltaic bracket protrusion 32, the controller can send a command to the adjustment mechanism 220 to raise the second cleaning section 210 on the left side to a preset safe position, thereby avoiding obstacles and reducing the risk of compression, wear, or structural damage to the second cleaning section 210 on the left side. When the sensor 400 detects no obstacles such as the photovoltaic bracket protrusion 32 on the right side of the second cleaning section 210 on the left side, the controller can control the adjustment mechanism 220 to lower or keep the second cleaning section 210 on the left side, keeping the compression of the second cleaning section 210 on the left side within a reasonable range to ensure the cleaning effect of the second cleaning section 210 on the left side while reducing unnecessary compression, wear, or structural damage.

[0088] During the movement of the photovoltaic cleaning robot 10 from right to left, the left-side second cleaning section 210, being the front-end section in the direction of travel, maintains a raised posture and does not directly participate in cleaning. The right-side second cleaning section 210, being the rear-end section in the direction of travel, switches between a raised posture and a cleaning posture to perform cleaning. When the sensor 400 on the left side of the right-side second cleaning section 210 detects obstacles such as the photovoltaic bracket protrusion 32, the controller can send a command to the adjustment mechanism 220 to raise the right-side second cleaning section 210 to a preset safe position, thus avoiding obstacles and reducing the risk of compression, wear, or structural damage to the right-side second cleaning section 210. When the sensor 400 detects no obstacles such as the photovoltaic bracket protrusion 32 on the left side of the right-side second cleaning section 210, the controller can control the adjustment mechanism 220 to lower or keep the right-side second cleaning section 210 unchanged, keeping the compression of the right-side second cleaning section 210 within a reasonable range to ensure the cleaning effect of the right-side second cleaning section 210 while reducing unnecessary compression, wear, or structural damage.

[0089] Since the photovoltaic cleaning robot 10 has a second cleaning mechanism 200 at both ends, no matter which direction the photovoltaic cleaning robot 10 moves, there will always be a second cleaning part 210 at the rear to be responsible for cleaning. There is no need to turn around at the end of the photovoltaic array, which can reduce the empty driving distance and time.

[0090] When there are no obstacles in the central area, such as the photovoltaic support protrusion 32, on the path of the photovoltaic cleaning robot 10, the photovoltaic cleaning robot 10 enters the second working mode.

[0091] In the second working mode, both second cleaning units 200 are in a cleaning posture.

[0092] When the photovoltaic cleaning robot 10 moves on the surface of the photovoltaic module 20, the two second cleaning parts 210 located at the front and rear of the travel direction are both components that perform cleaning tasks, and both second cleaning parts 210 can be in contact with the surface of the photovoltaic module 20. In this way, both second cleaning parts 210 can perform cleaning tasks, further ensuring the cleaning quality and work efficiency of the photovoltaic cleaning robot 10.

[0093] In some embodiments, such as Figure 4 and Figure 6 As shown, the adjustment mechanism 220 includes a support member 222, a mounting bracket 223, and a drive mechanism 221.

[0094] Support member 222 is the base of adjustment mechanism 220 and the component that enables installation.

[0095] Support component 222 is installed on the main unit 300.

[0096] The support component 222 can be installed on the main beam 310 of the main unit 300 via threaded connectors or snap-locking mechanisms.

[0097] Mounting bracket 223 is a component in adjustment mechanism 220 that enables the installation of the second cleaning part 210, and is also a component that drives the second cleaning part 210 to rise or fall under the drive of drive mechanism 221.

[0098] like Figure 4 and Figure 6 As shown, the second cleaning unit 210 is mounted on the mounting bracket 223.

[0099] The second cleaning drive mechanism 211 can also be mounted on the mounting bracket 223.

[0100] like Figure 5 and Figure 6 As shown, the mounting bracket 223 is movably connected to the support member 222.

[0101] That is, the mounting bracket 223 and the support member 222 may not be fixedly connected, and the mounting bracket 223 and the support member 222 may move relative to each other.

[0102] The drive mechanism 221 is the actuator in the regulating mechanism 220 that provides power and generates motion.

[0103] The drive mechanism 221 is used to drive the mounting bracket 223 to move relative to the support member 222, and the relative movement between the mounting bracket 223 and the support member 222 has at least a component in the vertical direction.

[0104] That is, the drive mechanism 221 can receive electrical signals from the controller, convert electrical energy into mechanical energy, and drive the mounting bracket 223 and the second cleaning part 210 thereon to move relative to the support member 222 and the host 300 connected to the support member 222. This relative movement has a vertical component, that is, the relative movement may have a vertical component and other directional components, or the relative movement may only have a vertical component.

[0105] In some embodiments, such as Figure 4 and Figure 5 As shown, the drive mechanism 221 includes an electric push rod.

[0106] That is, the drive mechanism 221 can be an electric linear actuator. An electric linear actuator is an electrically driven device that converts the rotary motion of a motor into linear push-pull motion. An electric linear actuator may include a motor, reduction gears, a lead screw, a push rod, and a housing, etc.

[0107] like Figure 4 and Figure 5 As shown, the two ends of the electric actuator can be hinged to the main unit 300 and the mounting bracket 223, respectively.

[0108] The housing of the electric linear actuator can be hinged to a drive mechanism mounting component 221a, which can be connected to the main beam 310 of the main unit 300 via a threaded connection or a snap-locking mechanism. In this way, the electric linear actuator can be rotatably connected to the main beam 310 of the main unit 300 through the drive mechanism mounting component 221a. The actuator rod can also be hinged to the mounting bracket 223, allowing for a rotatable connection between the electric linear actuator and the mounting bracket 223.

[0109] The drive mechanism mounting component 221a may be provided with multiple sets of second mounting structures 221b distributed vertically, and the drive mechanism 221 is mounted on the main beam 310 of the host 300 through at least one set of second mounting structures 221b.

[0110] The second mounting structure 221b can be a mounting hole or a clip, etc.

[0111] When installing the drive mechanism 221 onto the main beam 310 of the host 300, any one of these multiple sets of second mounting structures 221b can be used to complete the connection.

[0112] In this way, by selecting second mounting structures 221b at different heights on the drive mechanism mounting component 221a, the initial mounting height of the entire drive mechanism 221 can be raised or lowered as a whole, so that the same photovoltaic cleaning robot 10 can be adapted to photovoltaic arrays of different specifications without redesigning or replacing parts, thereby enhancing the versatility and market adaptability of the photovoltaic cleaning robot 10.

[0113] Meanwhile, by selecting a second mounting structure 221b at different heights, the position of the second cleaning unit 210 can be adjusted by adjusting the height of the push rod, thereby helping the second cleaning unit 210 to lift to avoid obstacles and fall to perform cleaning tasks.

[0114] like Figure 4 and Figure 5 As shown, the mounting bracket 223 and the support member 222 are slidably hinged, and the sliding direction has at least a component in the vertical direction.

[0115] That is, the mounting bracket 223 and the support member 222 are not fixedly connected, but relative movement or rotation is allowed between the mounting bracket 223 and the support member 222, and the movement or rotation can have a component in the vertical direction, so that the second cleaning part 210 can be raised by the adjustment mechanism 220 to avoid the obstacle before it encounters the obstacle, and the second cleaning part 210 can be lowered by the adjustment mechanism 220 to perform the cleaning task after avoiding the obstacle.

[0116] In some embodiments, such as Figure 5 As shown, the mounting bracket 223 includes a mounting bracket body 223c, a first support 223a, and a second support 223b.

[0117] Mounting bracket body 223c is a component in mounting bracket 223 that enables the installation of the second cleaning unit 210.

[0118] like Figure 5 As shown, the second cleaning unit 210 is mounted on the mounting bracket body 223c.

[0119] The second cleaning unit 210 can be mounted to the mounting bracket body 223c via a threaded connection or a snap-locking mechanism. The second cleaning drive mechanism 211 can be mounted to the mounting bracket body 223c.

[0120] The first support 223a is a component in the mounting bracket 223 that enables the electric push rod to be hinged to the mounting bracket 223.

[0121] like Figure 5 As shown, the first support 223a is mounted on the mounting frame body 223c.

[0122] The first support 223a can be installed on the mounting bracket body 223c via a threaded connector or a snap-locking mechanism.

[0123] like Figure 5 As shown, the first support 223a is hinged to the electric push rod.

[0124] For example, the first support 223a is hinged to the push rod of the electric actuator. The electric actuator can be rotatably connected to the first support 223a.

[0125] The second support 223b is a component in the mounting bracket 223 that enables the sliding hinge connection between the support member 222 and the mounting bracket 223.

[0126] like Figure 5 As shown, the second support 223b is mounted on the mounting bracket body 223c.

[0127] The second support 223b can be installed on the mounting bracket body 223c via a threaded connector or a snap-locking mechanism.

[0128] like Figure 5 As shown, the support member 222 is provided with a sliding groove 222a, and the second support 223b is slidably hinged to the support member 222 along the sliding groove 222a.

[0129] The second support 223b may be provided with a pin or a slider, which can be embedded in a groove 222a opened on the support member 222 and slide along the groove 222a. The groove 222a of the support member 222 can provide guidance for the sliding between the second support 223b and the support member 222, so that the mounting bracket 223 and the second cleaning part 210 connected to the mounting bracket 223 rise and fall along a preset trajectory.

[0130] In some embodiments, such as Figure 6 As shown, the drive mechanism 221 includes a linear module.

[0131] A linear module is an integrated electromechanical actuation system that can output linear motion.

[0132] Linear modules may include bases and slides.

[0133] like Figure 6 As shown, the linear module is mounted on support 222.

[0134] The fixed part of the linear module, such as the base, can be fixedly installed on the support 222, which can provide a relatively stable and reliable base for the linear module.

[0135] like Figure 6 As shown, the output end of the linear module is connected to the mounting bracket 223.

[0136] The output end of the linear module, such as the slide, can be fixedly connected to the mounting bracket 223, so that the mounting bracket 223 and the second cleaning part 210 connected to the mounting bracket 223 can move up and down with the slide.

[0137] In some embodiments, such as Figure 4 and Figure 6 As shown, the support member 222 is provided with multiple sets of first mounting structures 222b distributed vertically, and the support member 222 is mounted on the host 300 through at least one set of first mounting structures 222b.

[0138] The first mounting structure 222b can be a mounting hole or a clip, etc.

[0139] The support member 222 may have more than one set of first mounting structures 222b; instead, multiple sets of mounting holes or clips may be machined along the vertical direction, allowing for multiple options in the installation height of the support member 222 relative to the main beam 310 of the main unit 300. When installing the second cleaning mechanism 200 onto the main beam 310 of the main unit 300, any one of these multiple sets of first mounting structures 222b can be used to complete the connection.

[0140] In this way, by selecting the first mounting structure 222b at different heights on the support 222, the initial installation height of the entire second cleaning mechanism 200 can be raised or lowered as a whole, so that the same photovoltaic cleaning robot 10 can be adapted to photovoltaic arrays of different specifications without redesigning or replacing parts, thereby enhancing the versatility and market adaptability of the photovoltaic cleaning robot 10.

[0141] Meanwhile, by selecting first mounting structures 222b at different heights, the compression amount of the second cleaning part 210 can be adjusted by adjusting the height of the second cleaning part 210 in the cleaning posture, thereby optimizing its cleaning effect.

[0142] In some embodiments, such as Figure 3 As shown, the first cleaning mechanism 100 has a first brush bristle 110, a second brush bristle 120 and a mounting shaft 130.

[0143] Mounting shaft 130 is a support structure in the first cleaning mechanism 100.

[0144] The first bristle 110 and the second bristle 120 are components in the first cleaning mechanism 100 that perform cleaning tasks. The first bristle 110 and the second bristle 120 are mounted on the mounting shaft 130.

[0145] like Figure 3 As shown, there is a gap between the first bristle 110 and the second bristle 120.

[0146] In the first cleaning mechanism 100, the first bristles 110 and the second bristles 120 are not connected, and there is a section without bristles between the first bristles 110 and the second bristles 120.

[0147] In the length direction of the photovoltaic cleaning robot 10, the length of the interval is less than the length of the second cleaning part 210. In the movement direction of the photovoltaic cleaning robot 10, the second cleaning part 210 has an overlapping area with the first brush 110 and the second brush 120.

[0148] In other words, the first bristles 110 and the second bristles 120 are respectively located at both ends of the first cleaning mechanism 100 along its length. The middle region of the first cleaning mechanism 100 is a gap, and no bristles are provided in the gap region.

[0149] The cleaning areas of the first bristles 110, the second bristles 120, and the second cleaning section 210 can overlap at both ends of the second cleaning section 210.

[0150] When the photovoltaic cleaning robot 10 moves, the travel path of the second cleaning unit 210 will partially overlap with the paths of the first brush 110 and the second brush 120 in front.

[0151] This design allows the cleaning areas of the photovoltaic cleaning robot 10 to partially overlap. The overlapping areas are cleaned by the first cleaning mechanism 100 and the second cleaning unit 210 respectively, reducing the amount of dust left on the surface of the photovoltaic module 20, and providing a better removal effect for stubborn stains, thus improving the overall cleaning quality.

[0152] The following is combined with Figures 1-6 The photovoltaic cleaning robot 10 is described in an embodiment of this application.

[0153] The photovoltaic cleaning robot 10 includes a main unit 300, a first cleaning mechanism 100, a second cleaning mechanism 200, a sensor 400, and a controller.

[0154] like Figure 3 As shown, the host 300 includes a main beam 310.

[0155] like Figure 3 As shown, sensor 400 is mounted below the central region of beam 310. Sensor 400 is used to detect obstacle signals below the central region.

[0156] The controller is electrically connected to the sensor 400 and the regulating mechanism 220.

[0157] like Figures 1-3 As shown, the first cleaning mechanism 100 is mounted on the main unit 300. The first cleaning mechanism 100 has a first brush bristle 110 and a second brush bristle 120, with a gap between the first brush bristle 110 and the second brush bristle 120. In the length direction of the photovoltaic cleaning robot 10, the length of the gap is less than the length of the second cleaning part 210. In the movement direction of the photovoltaic cleaning robot 10, the second cleaning part 210 has an overlapping area with the first brush bristle 110 and the second brush bristle 120.

[0158] like Figure 1 As shown, the second cleaning mechanism 200 includes two units, which are respectively installed on both sides of the main unit 300 along the width direction. Figure 2 As shown, the second cleaning mechanism 200 includes an adjustment mechanism 220 and a second cleaning section 210. The second cleaning section 210 is located in the middle region along the length of the photovoltaic cleaning robot 10. The adjustment mechanism 220 is configured to adjust the height of the second cleaning section 210. The adjustment mechanism 220 includes a support member 222, a mounting frame 223, and a drive mechanism 221. The adjustment mechanism 220 can connect the main beam of the host 300 and the second cleaning section 210. The support member 222 has multiple sets of first mounting structures 222b distributed vertically, and the support member 222 is mounted to the host 300 through at least one set of the first mounting structures 222b. The mounting frame 223 mounts the second cleaning section 210 and is movably connected to the support member 222. The drive mechanism 221 is used to drive the mounting frame 223 to move relative to the support member 222, and the relative movement between the mounting frame 223 and the support member 222 has at least a vertical component.

[0159] The drive mechanism 221 can be at least one of the following structural forms:

[0160] Firstly, such as Figure 4 and Figure 5 As shown, the drive mechanism 221 is an electric push rod.

[0161] In this embodiment, the two ends of the electric actuator are hinged to the main unit 300 and the mounting bracket 223, respectively;

[0162] The mounting bracket 223 and the support member 222 are slidably hinged, and the sliding direction has at least a component in the vertical direction.

[0163] Mounting bracket 223 includes mounting bracket body 223c, first support 223a, and second support 223b. The mounting bracket body 223c is equipped with a second cleaning unit 210. The first support 223a is mounted on the mounting bracket body 223c and is hinged to an electric push rod. The second support 223b is mounted on the mounting bracket body 223c, and the support member 222 is provided with a sliding groove 222a, along which the second support 223b is slidably hinged to the support member 222.

[0164] Secondly, such as Figure 6 As shown, the drive mechanism 221 is a linear module.

[0165] In this embodiment, the linear module is mounted on the support 222, and the output end of the linear module is connected to the mounting bracket 223.

[0166] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0167] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0168] In the description of this application, "first feature" and "second feature" may include one or more of the features.

[0169] In the description of this application, "multiple" means two or more.

[0170] In the description of this application, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them.

[0171] In the description of this application, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0172] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0173] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A photovoltaic cleaning robot (10), characterized in that, include: Main unit (300); The first cleaning unit (100) is installed on the main unit (300). The second cleaning mechanism (200) includes an adjustment mechanism (220) and a second cleaning part (210). The adjustment mechanism (220) is configured to adjust the height of the second cleaning part (210). The adjustment mechanism (220) is capable of connecting the host (300) and the second cleaning part (210). The second cleaning part (210) is located in the middle region along the length of the photovoltaic cleaning robot (10).

2. The photovoltaic cleaning robot (10) according to claim 1, characterized in that Also includes: A sensor (400) is used to detect obstacle signals below the central region; The controller is electrically connected to the sensor (400) and the adjustment mechanism (220).

3. The photovoltaic cleaning robot (10) according to claim 2, characterized in that, The host (300) includes: The main beam (310) has the sensor (400) mounted below the middle region of the main beam (310), and the adjustment mechanism (220) connects the second cleaning part (210) and the main beam (310).

4. The photovoltaic cleaning robot (10) according to claim 1, characterized in that The second cleaning mechanism (200) is installed on both sides of the main unit (300) along the width direction. The photovoltaic cleaning robot (10) has two working modes. In the first working mode, one of the second cleaning mechanisms (200) is in a lifting posture. In the second working mode, both of the second cleaning mechanisms (200) are in a cleaning posture.

5. The photovoltaic cleaning robot (10) according to any one of claims 1-4, characterized in that, The adjustment mechanism (220) includes: Support member (222) is installed on the host (300); Mounting bracket (223), the second cleaning part (210) is mounted on the mounting bracket (223), and the mounting bracket (223) is movably connected to the support member (222); A drive mechanism (221) is used to drive the mounting bracket (223) to move relative to the support member (222), and the relative movement between the mounting bracket (223) and the support member (222) has at least a vertical component.

6. The photovoltaic cleaning robot (10) according to claim 5, characterized in that The drive mechanism (221) includes an electric push rod, the two ends of which are hinged to the main unit (300) and the mounting bracket (223) respectively; The mounting bracket (223) is slidably hinged to the support member (222), and the sliding direction has at least a component in the vertical direction.

7. The photovoltaic cleaning robot (10) according to claim 6, characterized in that The mounting bracket (223) includes: Mounting bracket body (223c), the second cleaning part (210) is mounted on the mounting bracket body (223c); The first support (223a) is installed on the mounting frame body (223c) and is hinged to the electric push rod; The second support (223b) is installed on the mounting frame body (223c). The support member (222) is provided with a sliding groove (222a). The second support (223b) is slidably hinged to the support member (222) along the sliding groove (222a).

8. The photovoltaic cleaning robot (10) according to claim 5, characterized in that, The drive mechanism (221) includes a linear module, which is mounted on the support (222), and the output end of the linear module is connected to the mounting bracket (223).

9. The photovoltaic cleaning robot (10) according to claim 5, characterized in that The support member (222) is provided with multiple sets of first mounting structures (222b) distributed vertically, and the support member (222) is mounted on the host (300) through at least one set of the first mounting structures (222b).

10. The photovoltaic cleaning robot (10) according to any one of claims 1-4, characterized in that, The first cleaning mechanism (100) has a first bristle (110) and a second bristle (120), with a gap between the first bristle (110) and the second bristle (120). In the length direction of the photovoltaic cleaning robot (10), the length of the gap is less than the length of the second cleaning part (210). In the movement direction of the photovoltaic cleaning robot (10), the second cleaning part (210) has an overlapping area with the first bristle (110) and the second bristle (120).

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