Side arm photovoltaic cleaning robot

Abstract

The utility model relates to the technical field of photovoltaic cleaning robot, especially a side arm photovoltaic cleaning robot, including walking mechanism, frame, hoist mechanism and cleaning mechanism, the part of hoist mechanism extends to the side away from frame is equipped with connecting seat, and connecting seat can be up and down lift activity setting, the cleaning mechanism includes linear sliding assembly and brush roll assembly, linear sliding assembly sets up in connecting seat, and the sliding end of linear sliding assembly is connected with brush roll assembly transmission to drive brush roll assembly and moves along the length direction of itself, when the side arm photovoltaic cleaning robot is horizontal and is away from photovoltaic board, can drive brush roll assembly and slide along the length direction of itself upwards through linear sliding assembly, then through hoist mechanism and lower brush roll assembly in vertical direction, make brush roll assembly return to the surface of photovoltaic board, the adjustment of this embodiment has changed only the position of cleaning mechanism, and the change of relative barycenter is small, can effectively reduce the risk of walking mechanism and side overturning and damaging photovoltaic board.

Description

Technical Field

[0001] This utility model relates to the technical field of photovoltaic cleaning robots, and in particular to a side-arm photovoltaic cleaning robot. Background Technology

[0002] Some existing side-arm photovoltaic cleaning robots have a boom installed on the frame of the walking mechanism. The boom lifts the photovoltaic cleaning mechanism, which rests on the photovoltaic panel. When the walking mechanism moves forward, the photovoltaic cleaning mechanism moves relative to the photovoltaic panel to clean it.

[0003] During their movement, these types of photovoltaic cleaning robots often encounter uneven ground or route deviations, making it difficult for them to maintain perfect parallel alignment with the photovoltaic panels. This results in a horizontal distance discrepancy between the robot and the panels. Since the photovoltaic panels are tilted, when the robot deviates horizontally from the panels, the cleaning mechanism moves away from the panels, causing it to be off-surface and resulting in ineffective cleaning.

[0004] To address the issue of a photovoltaic cleaning robot being unable to clean properly on a photovoltaic panel due to its horizontal distance from the panel during movement, existing technologies, such as the solar photovoltaic cleaning device with adaptively adjustable cleaning brushes disclosed in patent document CN106040625A, employ a horizontally movable frame mounted on the drive vehicle. When the robot is detected moving horizontally away from the photovoltaic panel, the frame moves horizontally closer to the panel, causing the boom to move laterally and ensuring the cleaning mechanism remains on the panel. However, because the frame, boom, and cleaning mechanism move horizontally simultaneously, the center of gravity of the upper structure shifts outward relative to the drive vehicle, causing the drive vehicle to tilt towards the photovoltaic panel. This poses a risk of the boom and cleaning mechanism tipping over and damaging the photovoltaic panel. Utility Model Content

[0005] The main purpose of this utility model is to provide a side-arm photovoltaic cleaning robot, which aims to solve the problem that in the existing technology, when the horizontal moving cleaning mechanism is used, the frame and the boom need to move horizontally simultaneously, which increases the risk of the side-arm photovoltaic cleaning robot tipping over and damaging the photovoltaic panels.

[0006] To achieve the above objectives, this utility model proposes a side-arm photovoltaic cleaning robot, comprising a walking mechanism, a frame, a lifting mechanism, and a cleaning mechanism; the frame is mounted on the walking mechanism, the lifting mechanism is mounted on one side of the frame and extends away from the frame; the portion of the lifting mechanism extending away from the frame is provided with a connecting seat, which can be movably raised and lowered; the cleaning mechanism includes a linear sliding component and a brush roller component, the linear sliding component is mounted on the connecting seat, and the sliding end of the linear sliding component is connected to the brush roller component to drive the brush roller component to move along its own length.

[0007] Optionally, the linear sliding assembly includes an electric push cylinder, a first guide rod, and a slider. The electric push cylinder and the first guide rod are both disposed on the bottom side of the connecting seat. The extension and retraction direction of the extension rod of the electric push cylinder is parallel to the length direction of the guide rod. The extension and retraction rod of the electric push cylinder is connected to the brush roller assembly. The slider slides in cooperation with the guide rod and is fixedly connected to the brush roller assembly.

[0008] Optionally, the brush roller assembly includes a base, a drive unit, and a brush roller, with the brush roller rotatably mounted on the base about its own central axis. The base is connected to the sliding end of the linear sliding assembly. The drive unit is mounted on the base and is connected to the brush roller to drive the brush roller to rotate. The drive unit is located at the bottom of the base.

[0009] Optionally, the lifting mechanism includes a boom and a lifting traction assembly. The boom is connected to the frame, the lifting traction assembly is mounted on the boom, and the lifting traction assembly is connected to the connecting seat to drive the connecting seat to move up and down.

[0010] Optionally, the frame includes a main frame, a lifting frame, and a lifting drive mechanism. The main frame is connected to the traveling mechanism. The lifting frame is connected to the main frame and moves up and down along the height direction. The lifting drive mechanism is connected to the lifting frame to drive the lifting frame to move up and down relative to the main frame. The hoisting mechanism is connected to the lifting frame to move up and down with the lifting frame.

[0011] Optionally, the lifting drive mechanism includes a power unit and a counterweight assembly. The main frame has a first side and a second side opposite to each other. The lifting frame is located on the first side, and the power unit and the counterweight assembly are both located on the second side.

[0012] Optionally, the counterweight assembly includes a counterweight base and a counterweight block. The counterweight block is mounted on the counterweight base, and the counterweight base is mounted on the main frame and moves up and down along the height direction. The power unit is connected to the counterweight base to drive the counterweight base to move up and down. The counterweight base is connected to the lifting frame to enable the lifting frame to descend synchronously when the counterweight base rises and to ascend synchronously when the counterweight base descends.

[0013] Optionally, a first sprocket is provided on both the first side and the second side of the main frame. The first sprocket on the first side is positioned above the lifting frame, and the first sprocket on the second side is positioned above the counterweight seat. A first chain is provided between the counterweight seat and the lifting frame. The two ends of the first chain are fixedly connected to the counterweight seat and the lifting frame, and the first chain meshes with the two first sprockets.

[0014] Optionally, the power unit is located at the bottom of the main frame and below the counterweight base.

[0015] Optionally, a second sprocket is provided on both the first and second sides of the main frame. The second sprocket on the first side is located below the lifting frame, and the second sprocket on the second side is located below the counterweight. A second chain is provided between the counterweight and the lifting frame, with both ends of the second chain fixedly connected to the counterweight and the lifting frame, and the second chain meshing with the two second sprockets. The power unit includes a geared motor and a drive shaft. The geared motor is mounted on the main frame, and the drive shaft is mounted on the main frame and rotates around its own axis. The second sprockets are located on the drive shaft, and the geared motor is connected to the drive shaft to drive the drive shaft to rotate.

[0016] The technical solution provided by this utility model can include the following beneficial effects: In the side-arm photovoltaic cleaning robot provided by this utility model, the brush roller assembly can move and adjust its position along its own length direction through a linear sliding assembly, and can also change its own height position through a connecting seat. Therefore, when the side-arm photovoltaic cleaning robot is horizontally away from the photovoltaic panel, the brush roller assembly can be driven to slide upward along its own length direction through the linear sliding assembly, and then the brush roller assembly can be lowered vertically through a lifting mechanism, causing the brush roller assembly to return to the surface of the photovoltaic panel for cleaning. The adjustment in this embodiment only changes the position of the cleaning mechanism, with a small change in the relative center of gravity, which can effectively reduce the risk of the walking mechanism tipping over and damaging the photovoltaic panel. Attached Figure Description

[0017] 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 the structures shown in these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the side-arm photovoltaic cleaning robot of this utility model;

[0019] Figure 2 This is a schematic diagram of the cleaning mechanism structure of the side-arm photovoltaic cleaning robot of this utility model;

[0020] Figure 3 This is a schematic diagram of the lifting mechanism of the side-arm photovoltaic cleaning robot of this utility model;

[0021] Figure 4 This is a schematic diagram of the frame structure of the side-arm photovoltaic cleaning robot of this utility model;

[0022] Figure 5 This is a schematic diagram of the lifting drive mechanism of the side-arm photovoltaic cleaning robot of this utility model;

[0023] In the attached diagram: 1-walking mechanism, 2-frame, 21-main frame, 211-first side, 212-second side, 22-lifting frame, 23-lifting drive mechanism, 231-power unit, 2311-reduction motor, 2312-drive shaft, 232-counterweight assembly, 2321-counterweight seat, 2322-counterweight block, 2323-sleeve, 24-second guide rod, 25-first sprocket, 26-first chain, 27-second sprocket, 28-second chain, 3-lifting mechanism, 31-connecting seat, 32-boom, 33-lifting traction assembly, 4-sweeping mechanism, 41-linear sliding assembly, 411-electric pusher cylinder, 412-first guide rod, 413-slider, 42-brush roller assembly, 421-base, 422-drive unit, 423-brush roller. Detailed Implementation

[0024] 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.

[0025] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0026] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0027] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the word "and / or" throughout the text means including three parallel solutions; taking "A and / or B" as an example, it includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0028] like Figure 1 As shown in the figure, a side-arm photovoltaic cleaning robot according to an embodiment of the present invention includes a walking mechanism 1, a frame 2, a lifting mechanism 3, and a cleaning mechanism 4. The frame 2 is mounted on the walking mechanism 1, and the lifting mechanism 3 is mounted on one side of the frame 2 and extends away from the frame 2. The portion of the lifting mechanism 3 extending away from the frame 2 is provided with a connecting seat 31, which can be raised and lowered. The cleaning mechanism 4 includes a linear sliding component 41 and a brush roller assembly 42. The linear sliding component 41 is mounted on the connecting seat 31, and the sliding end of the linear sliding component 41 is connected to the brush roller assembly 42 to drive the brush roller assembly 42 to move along its own length direction. The length direction of the brush roller assembly 42 is consistent with the width direction of the photovoltaic panel, so that when the walking mechanism 1 moves forward, the brush roller assembly 42 sweeps and cleans the photovoltaic panel. The walking mechanism 1 can be a tracked walking mechanism or a wheeled walking mechanism; the present invention does not impose a specific limitation.

[0029] In the side-arm photovoltaic cleaning robot provided by this utility model, the brush roller assembly 42 can move and adjust its position along its own length direction via the linear sliding assembly 41, and can also change its height position via the connecting seat 31. Therefore, when the side-arm photovoltaic cleaning robot is horizontally away from the photovoltaic panel, the brush roller assembly 42 can be driven to slide upward along its own length direction via the linear sliding assembly 41, and then the brush roller assembly 42 can be lowered vertically via the lifting mechanism 3, causing the brush roller assembly 42 to return to the surface of the photovoltaic panel for cleaning. The adjustment in this embodiment only changes the position of the cleaning mechanism 4, with a small change in the relative center of gravity, which can effectively reduce the risk of the walking mechanism 1 tipping over and damaging the photovoltaic panel.

[0030] Specifically, such as Figure 2As shown, the linear sliding assembly 41 includes an electric push cylinder 411, a first guide rod 412, and a slider 413. Both the electric push cylinder 411 and the first guide rod 412 are disposed on the bottom side of the connecting seat 31. The extension direction of the telescopic rod of the electric push cylinder 411 is parallel to the length direction of the guide rod. The telescopic rod of the electric push cylinder 411 is connected to the brush roller assembly 42. The slider 413 slides with the guide rod and is fixedly connected to the brush roller assembly 42. In this embodiment, the brush roller assembly 42 can slide on the connecting seat 31 via the slider 413. Thus, when the telescopic rod of the electric push cylinder 411 extends or retracts, it can drive the cleaning mechanism 4 to move linearly and reciprocally. Of course, in other embodiments, the linear sliding assembly 41 can also be a linear module.

[0031] Optionally, such as Figure 2 As shown, the brush roller assembly 42 includes a base 421, a drive unit 422, and a brush roller 423. The brush roller 423 is rotatably mounted on the base 421 around its own central axis. The base 421 is connected to the sliding end of the linear sliding assembly 41. The drive unit 422 is mounted on the base 421 and is connected to the brush roller 423 for transmission to drive the brush roller 423 to rotate. The drive unit 422 is located at the bottom of the base 421.

[0032] In some optional embodiments of this utility model, the drive unit 422 can be a structure composed of an electric motor and a transmission component such as a synchronous belt or gears. The electric motor drives the brush roller 423 to rotate on the base 421 through the synchronous belt or gears, thereby sweeping the photovoltaic panel. In this embodiment, the drive unit 422 is located at the bottom of the brush roller assembly 42, which lowers the center of gravity of the photovoltaic cleaning side arm and improves the stability of the photovoltaic cleaning side arm.

[0033] Optionally, such as Figure 3 As shown, the lifting mechanism 3 includes a boom 32 and a lifting traction assembly 33. The boom 32 is connected to the frame 2, the lifting traction assembly is mounted on the boom 32, and the lifting traction assembly 33 is connected to the connecting seat 31 to drive the connecting seat 31 to move up and down. In some optional embodiments, the lifting traction assembly 33 can be a combination of a winch and a traction rope. The winch is mounted on the boom 32, one end of the traction rope is connected to the winch, and the other end of the traction rope is connected to the connecting seat 31. When it is necessary to raise or lower the connecting seat 31, this can be achieved by winding or releasing the traction rope with the winch. In this way, the connecting seat 31 can move up and down.

[0034] Optional embodiments of this utility model, such as... Figure 4 and Figure 5As shown, the frame 2 includes a main frame 21, a lifting frame 22 and a lifting drive mechanism 23. The main frame 21 is connected to the traveling mechanism 1. The lifting frame 22 is connected to the main frame 21 and moves up and down along the height direction. The lifting drive mechanism 23 is connected to the lifting frame 22 to drive the lifting frame 22 to move up and down relative to the main frame 21. The hoisting mechanism 3 is connected to the lifting frame 22 and moves up and down with the lifting frame 22.

[0035] Thus, when the lifting drive mechanism 23 drives the lifting frame 22 to rise and fall, the lifting mechanism 3 as a whole rises and falls, thereby realizing the up and down movement of the connecting seat 31.

[0036] Specifically, the lifting drive mechanism 23 includes a power unit 231 and a counterweight assembly 232. The main frame 21 has opposing first side 211 and second side 212. The lifting frame 22 is disposed on the first side 211, and both the power unit 231 and the counterweight assembly 232 are disposed on the second side 212. For example... Figure 4 As shown, the main frame 21 is a square frame. The first side 211 is the side closer to the lifting mechanism 3, and the second side 212 is the side farther away from the lifting mechanism 3. By setting the power unit 231 and the counterweight assembly 232 on the second side 212, gravity balancing is achieved, avoiding the gravity from being biased towards the first side 211, thereby reducing the risk of tipping over.

[0037] Furthermore, the counterweight assembly 232 includes a counterweight base 2321 and a counterweight block 2322. The counterweight block 2322 is mounted on the counterweight base 2321. The counterweight base 2321 is mounted on the main frame 21 and moves up and down along the height direction. The power unit 231 is driven by the counterweight base 2321 to drive the counterweight base 2321 to move up and down. The counterweight base 2321 is also driven by the lifting frame 22 so that the lifting frame 22 moves down synchronously when the counterweight base 2321 rises and moves up synchronously when the counterweight base 2321 falls. By using the counterweight base 2321 and the counterweight block 2322 to balance the lifting frame 22, the lifting mechanism 3, and the cleaning mechanism 4, the load on the power unit 231 can be reduced, which is beneficial for the power unit 231 to drive the lifting frame 22 to move up and down. Optionally, the counterweight seat 2321 is provided with a sleeve 2323, and the main frame 21 is provided with a second guide rod 24, which extends in the vertical direction. The sleeve 2323 is fitted onto the guide rod. In this way, the counterweight seat 2321 is slidably mounted on the main frame 21 to ensure that the counterweight seat 2321 slides up and down in the vertical direction.

[0038] Specifically, both the first side 211 and the second side 212 of the main frame 21 are provided with first sprockets 25. The first sprocket 25 located on the first side 211 is positioned above the lifting frame 22, and the first sprocket 25 located on the second side 212 is positioned above the counterweight 2321. A first chain 26 is provided between the counterweight 2321 and the lifting frame 22, with both ends of the first chain 26 fixedly connected to the counterweight 2321 and the lifting frame 22 respectively. The first chain 26 meshes with the two first sprockets 25. In some optional embodiments, the power unit 231 can drive the first sprockets 25 to rotate, thereby achieving synchronous descent of the lifting frame 22 when the counterweight 2321 rises and synchronous ascent of the lifting frame 22 when the counterweight 2321 falls.

[0039] Specifically, the power unit 231 is located at the bottom of the main frame 21 and below the counterweight 2321. By placing the power unit 231 at the bottom of the main frame 21 and below the counterweight 2321, the center of gravity of the lifting drive mechanism 23 is lowered, improving the stability of the side-arm photovoltaic cleaning robot. In some optional embodiments, the power unit 231 can be an electric push rod, with its cylinder fixed to the main frame 21. The telescopic end of the electric push rod extends and retracts in the vertical direction and is connected to the counterweight 2321. This allows the power unit 231 to drive the counterweight 2321 to move up and down.

[0040] Specifically, both the first side 211 and the second side 212 of the main frame 21 are provided with second sprockets 27. The second sprocket 27 located on the first side 211 is located below the lifting frame 22, and the second sprocket 27 located on the second side 212 is located below the counterweight seat 2321. A second chain 28 is provided between the counterweight seat 2321 and the lifting frame 22. The two ends of the second chain 28 are fixedly connected to the counterweight seat 2321 and the lifting frame 22 respectively. The second chain 28 meshes with the two second sprockets 27. The power unit 231 includes a reduction motor 2311 and a drive shaft 2312. The reduction motor 2311 is mounted on the main frame 21, and the drive shaft 2312 is rotatably mounted on the main frame 21 around its own axis. The second sprockets 27 are mounted on the drive shaft 2312. The reduction motor 2311 is connected to the drive shaft 2312 to drive the drive shaft 2312 to rotate. Thus, when the geared motor 2311 drives the drive shaft 2312 to rotate, the drive shaft 2312 drives the second sprocket 27 to rotate. The rotation of the second sprocket 27 causes the second chain 28 to drive the lifting frame 22 to rise and the counterweight assembly 232 to fall, or vice versa. This achieves the effect of the lifting frame 22 falling synchronously when the counterweight seat 2321 rises and the lifting frame 22 rising synchronously when the counterweight seat 2321 falls.

[0041] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the concept of the present utility model and using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A side-arm photovoltaic cleaning robot, characterized in that: The system includes a traveling mechanism, a frame, a lifting mechanism, and a cleaning mechanism. The frame is mounted on the traveling mechanism, and the lifting mechanism is located on one side of the frame and extends away from the frame. The portion of the lifting mechanism extending away from the frame is provided with a connecting seat, which is movable up and down. The cleaning mechanism includes a linear sliding component and a brush roller assembly. The linear sliding component is located on the connecting seat, and its sliding end is connected to the brush roller assembly to drive the brush roller assembly to move along its own length.

2. The side-arm photovoltaic cleaning robot according to claim 1, characterized in that: The linear sliding assembly includes an electric push cylinder, a first guide rod, and a slider. The electric push cylinder and the first guide rod are both disposed on the bottom side of the connecting seat. The extension and retraction direction of the extension rod of the electric push cylinder is parallel to the length direction of the guide rod. The extension and retraction rod of the electric push cylinder is connected to the brush roller assembly. The slider is slidably engaged with the guide rod and is fixedly connected to the brush roller assembly.

3. The side-arm photovoltaic cleaning robot according to claim 1, characterized in that: The brush roller assembly includes a base, a drive unit, and a brush roller. The brush roller is rotatably mounted on the base about its own central axis. The base is connected to the sliding end of the linear sliding assembly. The drive unit is mounted on the base and is connected to the brush roller in a transmission manner to drive the brush roller to rotate. The drive unit is located at the bottom of the base.

4. The side-arm photovoltaic cleaning robot according to claim 1, characterized in that: The lifting mechanism includes a boom and a lifting traction assembly. The boom is connected to the frame, and the lifting traction assembly is disposed on the boom and connected to the connecting seat to drive the connecting seat to move up and down.

5. The side-arm photovoltaic cleaning robot according to any one of claims 1-4, characterized in that: The frame includes a main frame, a lifting frame, and a lifting drive mechanism. The main frame is connected to the traveling mechanism. The lifting frame is connected to the main frame and moves up and down along the height direction. The lifting drive mechanism is connected to the lifting frame to drive the lifting frame to move up and down relative to the main frame. The lifting mechanism is connected to the lifting frame so that it rises and falls along with the lifting frame.

6. The side-arm photovoltaic cleaning robot according to claim 5, characterized in that: The lifting drive mechanism includes a power unit and a counterweight assembly. The main frame has a first side and a second side opposite to each other. The lifting frame is disposed on the first side, and the power unit and the counterweight assembly are both disposed on the second side.

7. The side-arm photovoltaic cleaning robot according to claim 6, characterized in that: The counterweight assembly includes a counterweight base and a counterweight block. The counterweight block is disposed on the counterweight base. The counterweight base is mounted on the main frame and moves up and down along the height direction. The power unit is driven to the counterweight base to drive the counterweight base to move up and down. The counterweight base is driven to the lifting frame so that the lifting frame moves down synchronously when the counterweight base is raised and the lifting frame moves up synchronously when the counterweight base is lowered.

8. The side-arm photovoltaic cleaning robot according to claim 7, characterized in that: Both the first side and the second side of the main frame are provided with first sprockets. The first sprocket on the first side is located above the lifting frame, and the first sprocket on the second side is located above the counterweight seat. A first chain is provided between the counterweight and the lifting frame. The two ends of the first chain are fixedly connected to the counterweight and the lifting frame respectively. The first chain meshes with two first sprockets.

9. The side-arm photovoltaic cleaning robot according to claim 8, characterized in that: The power unit is located at the bottom of the main frame and below the counterweight.

10. The side-arm photovoltaic cleaning robot according to claim 9, characterized in that: The first side and the second side of the main frame are each provided with a second sprocket. The second sprocket on the first side is located below the lifting frame, and the second sprocket on the second side is located below the counterweight seat. A second chain is provided between the counterweight seat and the lifting frame. The two ends of the second chain are fixedly connected to the counterweight seat and the lifting frame respectively, and the second chain meshes with two second sprockets. The power unit includes a geared motor and a drive shaft. The geared motor is mounted on the main frame, and the drive shaft is rotatably mounted on the main frame around its own axis. The second sprocket is mounted on the drive shaft, and the geared motor is connected to the drive shaft to drive the drive shaft to rotate.

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