Photovoltaic cleaning robot

Abstract

The utility model discloses a photovoltaic cleaning robot, to clean photovoltaic module, a plurality of photovoltaic module arrange setting along first direction. Photovoltaic cleaning robot includes support, drive mechanism and detection mechanism. Drive mechanism sets up in the length direction opposite both ends of photovoltaic cleaning robot along second direction, and drive mechanism includes casing, walking wheel and drive part, and walking wheel rotation sets up in casing, and the drive end of drive part is connected with walking wheel drive. Detection mechanism sets up in the side of casing away from walking wheel, and detection mechanism includes detection support, sets up two detection wheels of detection support both ends and sets up sensor on detection support, and detection wheel is connected with the edge of photovoltaic module and rolls, and detection support is connected with casing rotation, and sensor is configured as monitoring the included angle between detection support relative to the edge of photovoltaic module. Thus, can reduce the situation that photovoltaic cleaning robot moves on photovoltaic module and occurs and falls from photovoltaic module.

Description

Technical Field

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

[0002] With the continuous development of green energy in my country, the construction of photovoltaic power plants is expanding. Dust on photovoltaic modules is a major factor affecting their power generation efficiency. Therefore, photovoltaic cleaning robots are needed to regularly clean the dust from the modules to improve their power generation. Currently, to increase the cleaning range of the robot, bridges are added between the module arrays to facilitate its passage. However, these bridges can have significant angular misalignments. If the misalignment is too large, the robot may be unable to pass or fall off the photovoltaic modules, posing a certain risk.

[0003] Therefore, it is necessary to provide a photovoltaic cleaning robot to solve the above problems. Utility Model Content

[0004] The purpose of this utility model is to provide a photovoltaic cleaning robot to control the operation of the photovoltaic cleaning robot on the photovoltaic module and avoid the photovoltaic cleaning robot from getting stuck or falling off the photovoltaic module.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A photovoltaic cleaning robot is used to clean photovoltaic modules, wherein a plurality of photovoltaic modules are arranged along a first direction, comprising:

[0007] support;

[0008] A drive mechanism is provided at opposite ends along the length direction of the photovoltaic cleaning robot in a second direction. The drive mechanism includes a housing, a walking wheel, and a drive component. The walking wheel is rotatably mounted on the housing, and the drive end of the drive component is drivenly connected to the walking wheel.

[0009] A detection mechanism is disposed on the side of the housing away from the traveling wheels. The detection mechanism includes a detection bracket, two detection wheels disposed at both ends of the detection bracket, and a sensor disposed on the detection bracket. The detection wheels are rolledly connected to the edge of the photovoltaic module, and the detection bracket is rotatably connected to the housing. The sensor is configured to monitor the angle between the detection bracket and the edge of the photovoltaic module.

[0010] Furthermore, a fixing frame is provided between the detection bracket and the housing. The fixing frame includes two first fixing rods and a second fixing rod connecting the two first fixing rods. The two first fixing rods are respectively connected to the housing, and the detection bracket is rotatably connected to the second fixing rod.

[0011] Furthermore, each of the first fixed rods is provided with a sliding component, the two sliding components are arranged facing each other, and the two ends of the second fixed rod are respectively connected to the two sliding components.

[0012] Furthermore, each of the sliding components includes a guide rail and a slider slidably disposed on the guide rail, the guide rail being disposed on the first fixed rod, and the two ends of the second fixed rod being fixedly connected to the two sliders respectively.

[0013] Furthermore, the detection bracket has a rotating seat at its center, and the second fixed rod is rotatably connected to the rotating seat.

[0014] Furthermore, the detection bracket also includes two elastic elements, with two first fixing rods disposed between the two elastic elements. One end of each elastic element is connected to the housing, and the other end of each elastic element is connected to the detection bracket.

[0015] Furthermore, the detection mechanism also includes a connector disposed on the outer surface of the housing, and the two first fixing rods and the two elastic elements are respectively connected to the connector.

[0016] Furthermore, the detection bracket includes a first support rod and two second support rods vertically disposed at both ends of the first support rod, and the detection wheel is rotatably disposed at the free end of the second support rod.

[0017] Furthermore, the drive mechanism also includes a guide wheel, which is rotatably disposed below the housing. The guide wheel is drivenly connected to the drive end of the drive component, and the rotation axis of the guide wheel is perpendicular to the rotation axis of the traveling wheel.

[0018] Furthermore, the photovoltaic cleaning robot also includes an anti-detachment mechanism, which includes an anti-detachment bracket and an anti-detachment wheel rotatably mounted on the anti-detachment bracket. The anti-detachment bracket is located at the bottom of the housing, and the photovoltaic module is located between the anti-detachment wheel and the bracket.

[0019] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0020] This utility model discloses a photovoltaic cleaning robot. The photovoltaic cleaning robot includes a support frame, a drive mechanism, and a detection mechanism. The detection mechanism is housed in the casing and includes a detection support frame, two detection wheels at both ends of the detection support frame, and a sensor mounted on the detection support frame. The detection wheels are roll-connected to the edge of the photovoltaic module. The detection support frame is rotatably connected to the casing. The sensor monitors the angle between the detection support frame and the edge of the photovoltaic module to reduce the likelihood of the photovoltaic cleaning robot getting stuck on or falling off the photovoltaic module. Attached Figure Description

[0021] Figure 1 This is a three-dimensional view of the photovoltaic cleaning robot successfully passing between the first photovoltaic module and the second photovoltaic module in one embodiment of this utility model;

[0022] Figure 2 yes Figure 1 Top view;

[0023] Figure 3 This is a state diagram of the photovoltaic cleaning robot's movement when the first photovoltaic module and the second photovoltaic module are misaligned in one embodiment of this utility model;

[0024] Figure 4 yes Figure 3 Top view;

[0025] Figure 5 This is a diagram showing the movement of the photovoltaic cleaning robot in a state where the second photovoltaic module is missing, according to one embodiment of this utility model.

[0026] Figure 6 yes Figure 5 Top view;

[0027] Figure 7 This is a three-dimensional schematic diagram of a photovoltaic cleaning robot according to one embodiment of the present invention;

[0028] Figure 8 yes Figure 7 A three-dimensional diagram from another angle;

[0029] Figure 9 yes Figure 7 A three-dimensional exploded view;

[0030] Figure 10 yes Figure 9 Another perspective of the three-dimensional breakdown diagram. Detailed Implementation

[0031] The exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. If several embodiments exist, features in these embodiments may be combined with each other without conflict. When the description refers to the drawings, unless otherwise stated, the same numbers in different drawings represent the same or similar elements. The descriptions in the following exemplary embodiments do not represent all embodiments consistent with the present invention; rather, they are merely examples of apparatuses, products, and / or methods consistent with some aspects of the present invention as set forth in the claims.

[0032] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of protection of this invention. The singular forms “a,” “the,” or “the” used in the specification and claims of this invention are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0033] It should be understood that the terms "first," "second," and similar words used in the specification and claims of this utility model do not indicate any order, quantity, or importance, but are merely used to distinguish the features. Similarly, the terms "an" or "a" do not indicate a quantity limitation, but rather indicate the presence of at least one. Unless otherwise stated, the terms "before," "after," "upper," "lower," and similar words appearing in this utility model are for ease of explanation only and are not limited to a specific location or spatial orientation. The terms "comprising" or "including" are an open-ended expression, meaning that the element preceding "comprising" or "including" covers the element following "comprising" or "including" and its equivalents, but this does not exclude that the element preceding "comprising" or "including" may also include other elements. If "several" appears in this utility model, it means two or more.

[0034] Please refer to Figures 1 to 10 This utility model discloses a photovoltaic cleaning robot 100 for cleaning photovoltaic modules 200, wherein several photovoltaic modules 200 are arranged along a first direction D1-D1. There is a gap between two adjacent photovoltaic modules 200, and two adjacent photovoltaic modules 200 are connected by a bridge to facilitate the smooth passage of the photovoltaic cleaning robot 100.

[0035] Please refer to Figures 1 to 7The photovoltaic cleaning robot 100 includes a support frame 1, a drive mechanism 2, and a detection mechanism 3. The drive mechanism 2 is positioned at opposite ends along a second direction along the length of the photovoltaic cleaning robot. The support frame 1 extends along the second direction D2-D2, which is perpendicular to the first direction D1-D1. The drive mechanism 2 includes a housing 21, wheels 22, and a drive component 23. The wheels 22 are rotatably mounted on the housing 21, and the drive end of the drive component 23 is droop-connected to the wheels 22. The detection mechanism 3 is located on the side of the housing 21 opposite to the wheels 22. The detection mechanism 3 includes a detection bracket 31, two detection wheels 32 at both ends of the detection bracket 31, and a sensor 33 mounted on the detection bracket 31. The detection wheels 32 are roll-connected to the edge of the photovoltaic module 200, and the detection bracket 31 is rotatably connected to the housing 21. The sensor 33 is configured to monitor the angle between the detection bracket 31 and the edge of the photovoltaic module 200. When the drive mechanism 2 drives the traveling wheel 22 to rotate, causing the bracket to move along the first direction D1-D1 from the first photovoltaic module 210 to the second photovoltaic module 220, one of the detection wheels 32 first rolls into contact with the edge of the second photovoltaic module 220. At this time, the sensor 33 monitors the angle between the detection bracket 31 and the edge of the first photovoltaic module 210. If the angle exceeds a set value, as shown in the attached diagram... Figure 6 As shown, when the angle formed by the detection bracket 31 and the edge of the photovoltaic module 200 is b, the photovoltaic cleaning robot 100 cannot pass smoothly, and the drive mechanism 2 drives the photovoltaic cleaning robot 100 back to the initial position. If the angle is smaller than the set value, as shown in the attached diagram... Figure 2 and attached Figure 4 As shown, when the detection bracket 31 is parallel to the edge of the photovoltaic module or the angle between the detection bracket and the edge of the photovoltaic module is α, the photovoltaic cleaning robot 100 can pass smoothly. Then the drive mechanism 2 drives the photovoltaic cleaning robot 100 to move from the first photovoltaic module 210 to the second photovoltaic module 220 along the first direction D1-D1.

[0036] Please refer to Figures 1 to 6 In other embodiments, when the drive mechanism 2 drives the walking wheel 22 to rotate, causing the bracket 1 to move along the first direction D1-D1 from the first photovoltaic module 210 to the second photovoltaic module 220, and the bridge between the first photovoltaic module 210 and the second photovoltaic module 220 is missing, the sensor 33 detects that the angle between the bracket 31 and the edge of the first photovoltaic module 210 exceeds a set value. The drive mechanism 23 then stops operating, and the photovoltaic cleaning robot 100 stops moving at the edge of the first photovoltaic module 210, waiting for maintenance personnel to remove the photovoltaic cleaning robot 100 to prevent it from falling off the photovoltaic module 200.

[0037] Please refer to Figures 1 to 10A fixing frame 34 is also provided between the detection bracket 31 and the housing 21. The fixing frame 34 includes two first fixing rods 341 and a second fixing rod 342 connecting the two first fixing rods 341. The two first fixing rods 341 are respectively connected to the housing 21. Specifically, the two first fixing rods 341 are perpendicularly arranged on the outside of the housing 21 along the second direction D2-D2, and the two first fixing rods 341 are spaced apart and parallel along the first direction D1-D1. The second fixing rod 342 extends along the first direction D1-D1, and its two ends are connected to the two first fixing rods 341. The detection bracket 31 is rotatably connected to the second fixing rod 342, and the sensor 33 is disposed on the second fixing rod 342. With this configuration, the sensor 33 can monitor the swing angle of the detection bracket 31 relative to the second fixing rod 342, thereby calculating the angle between the detection bracket 31 and the edge of the photovoltaic module 200. The size of the angle determines whether the photovoltaic cleaning robot 100 can pass through the bridge between the first photovoltaic module 210 and the second photovoltaic module 220.

[0038] Please refer to Figure 10 Each first fixed rod 341 is provided with a sliding component 343, and the two sliding components 343 are arranged facing each other. The two ends of the second fixed rod 342 are respectively connected to the two sliding components 343. When the first photovoltaic module 210 and the second photovoltaic module 220 are misaligned in the second direction D2-D2, the sliding components 343 are set to adjust the relative distance between the second fixed rod 342 and the detection bracket 31 and the edges of the first photovoltaic module 210 and the second photovoltaic module 220 in the second direction D2-D2. This allows the detection wheel 32 on the detection bracket 31 to roll into contact with the edges of the first photovoltaic module 210 and the second photovoltaic module 220, thereby enabling the sensor 33 to monitor the angle between the detection bracket 31 and the edge of the second photovoltaic module 220. The drive unit 23 controls the photovoltaic cleaning robot 100 to continue moving or return to the initial position based on the data from the sensor 33.

[0039] Each sliding component 343 includes a guide rail 3431 and a slider 3432 slidably disposed on the guide rail 3431. The guide rail 3431 is disposed on the first fixed rod 341, and the two guide rails 3431 are arranged face to face in the first direction D1-D1. The two ends of the second fixed rod 342 are respectively fixedly connected to the two sliders 3432. This arrangement not only facilitates the movement of the detection bracket 31 back and forth along the second direction D2-D2 to adjust the distance between the detection bracket 31 and the edge of the photovoltaic module 200, but also reduces maintenance costs.

[0040] Please refer to Figure 9The detection bracket 31 has a rotating seat 35 at its center, and the second fixed rod 342 is rotatably connected to the rotating seat 35. Specifically, the rotating seat 35 includes a first base 351 and a second base 352. The first base 351 and the second base 352 are respectively vertically disposed on the second fixed rod 342, and the first base 351 and the second base 352 extend along the second direction D2-D2 toward the housing 21. The first base 351 and the second base 352 are vertically corresponding. The first base 351 has a first rotating hole 301, and the second base 352 has a second rotating hole 302. The first rotating hole 301 and the second rotating hole 302 are vertically corresponding. The second fixed rod 342 has a third rotating hole 303 in its middle. A pin passes through the first rotating hole 301, the third rotating hole 303, and the second rotating hole 302, so that the detection bracket 31 can rotate relative to the second fixed rod 342 around the pin. Sensor 33 is mounted on the second fixed rod 342 and is positioned opposite to the rotating seat 35. Thus, when the detection bracket 31 rotates around the pin relative to the second fixed rod 342, sensor 33 can send the angle of rotation of the detection bracket 31 to the drive component 23. The drive component 23 controls the photovoltaic cleaning robot 100 to continue moving or return to the initial position according to the angle.

[0041] Please refer to Figures 1 to 10 The detection bracket 31 also includes two elastic elements 36, and two first fixing rods 341 are disposed between the two elastic elements 36. One end of the elastic element 36 is connected to the housing 21, and the other end of the elastic element 36 is connected to the detection bracket 31. In this embodiment, the elastic element 36 is a tension spring. One end of the tension spring is connected to the housing 21, and the other end of the tension spring is connected to the detection bracket 31. When the detection rollers on the detection bracket 31 roll along the edge of the photovoltaic module 200, by providing two elastic elements 36 on both sides of the two first fixing rods 341, a certain pulling force can be provided on the side of the detection bracket 31 facing the photovoltaic module 200 along the second direction D2-D2, ensuring that the two detection rollers can always roll and connect with the edge of the photovoltaic module 200, thereby ensuring that the sensor 33 can monitor the swing angle of the detection bracket 31 in real time.

[0042] Please refer to Figure 10The detection mechanism 3 also includes a connector 37, which is disposed on the outer surface of the housing 21. Two first fixing rods 341 and two tension springs are respectively connected to the connector 37. Specifically, the connector 37 is integrally bent and includes a first connecting portion 371 and two second connecting portions 372 vertically disposed on the first connecting portion 371. The first connecting portion 371 is fitted and connected to the outer surface of the housing 21, and the two second connecting portions 372 are respectively fitted and connected to the side surfaces of the housing 21. The two first fixing rods 341 are vertically disposed on the first connecting portion 371, and two elastic members 36 are respectively connected to the first connecting portion 371. By providing the connector 37, the detection mechanism 3 can be assembled separately and then assembled with the housing 21, which can reduce the labor installation cost and the parts manufacturing cost.

[0043] Please refer to Figures 1 to 10 The detection bracket 31 includes a first support rod 311 and two second support rods 312 perpendicularly disposed at both ends of the first support rod 311. The detection wheel 32 is rotatably disposed at the free end of the second support rod 312. Specifically, the rotating seat 35 and the sensor 33 are respectively disposed on opposite sides of the first support rod 311 in the second direction D2-D2. The first support rod 311 is rotatably connected to the second fixed rod 342 through the rotating seat 35. The other ends of the two elastic members 36 are respectively connected to the first support rod 311. The second support rods 312 are perpendicular to the first support rod 311 along the second direction D2-D2, and the second support rods 312 are disposed toward the edge of the photovoltaic module 200, so that the detection wheel 32 can roll into contact with the edge of the photovoltaic module 200.

[0044] Please refer to Figures 1 to 10 The drive mechanism 2 also includes a guide wheel 24, which is rotatably mounted below the housing 21. The guide wheel 24 is driven by the drive end of the drive component 23, and the rotation axis 38 of the guide wheel 24 is perpendicular to the rotation axis 38 of the walking wheel 22. By setting the guide wheel 24, when the drive component 23 drives the photovoltaic cleaning robot to move along the first direction D1-D1, the guide wheel 24 can contact the edge of the photovoltaic module, reducing the risk of the photovoltaic cleaning robot 100 deviating during movement, which could cause the photovoltaic cleaning robot 100 to collide with the photovoltaic module 200 or fall off the photovoltaic module 200.

[0045] Please refer to Figures 7 to 10The photovoltaic cleaning robot 100 also includes an anti-detachment mechanism 4, which includes an anti-detachment bracket 41 and an anti-detachment wheel 42 rotatably mounted on the anti-detachment bracket 41. The anti-detachment bracket 41 is located at the bottom of the housing 21, and the photovoltaic module 200 is located between the anti-detachment wheel 42 and the bracket. Specifically, the anti-detachment bracket 41 includes a first anti-detachment rod 411 and a second anti-detachment rod 412. The first anti-detachment rod 411 is mounted on the brackets of the two guide wheels 24 and extends along a third direction D3-D3. The third direction D3-D3, the second direction D2-D2, and the first direction D1-D1 are perpendicular to each other. The second anti-detachment rod 412 extends from the first anti-detachment rod 411 along the second direction D2-D2, and the anti-detachment wheel 42 is rotatably mounted on the second anti-detachment rod 412. When the drive unit 23 drives the photovoltaic cleaning robot 100 to move, the anti-detachment wheel 42 is located below the photovoltaic module 200, which can prevent the photovoltaic cleaning robot 100 from shifting or falling off the photovoltaic module 200.

[0046] In summary, this utility model discloses a photovoltaic cleaning robot 100. The photovoltaic cleaning robot 100 includes a support frame, a drive mechanism 2, and a detection mechanism 3. The detection mechanism 3 is disposed on the housing 21 and includes a detection support 31, two detection wheels 32 disposed at both ends of the detection support 31, and a sensor 33 disposed on the detection support 31. The detection wheels 32 are in a rolling connection with the edge of the photovoltaic module 200. The detection support 31 is rotatably connected to the housing 21, and the sensor 33 monitors the angle between the detection support 31 and the edge of the photovoltaic module 200. If the angle exceeds a set value, the photovoltaic cleaning robot 100 cannot pass smoothly, and the drive mechanism 2 drives the photovoltaic cleaning robot 100 back to its initial position. If the angle is less than the set value, the photovoltaic cleaning robot 100 can pass smoothly, and the drive mechanism 2 drives the photovoltaic cleaning robot 100 to move along a first direction D1-D1 from the first photovoltaic module 210 to the second photovoltaic module 220. This reduces the risk of the photovoltaic cleaning robot 100 getting stuck on or falling off the photovoltaic module 200.

[0047] The above embodiments are only for illustration and not for limiting the technical solutions described in this utility model. The understanding of this specification should be based on those skilled in the art. For example, the directional descriptions such as "front", "back", "left", "right", "up", and "down" are important. Although this specification has described the present invention in detail with reference to the above embodiments, those skilled in the art should understand that they can still make modifications or equivalent substitutions to this utility model. All technical solutions and improvements that do not depart from the spirit and scope of this utility model should be covered within the scope of the claims of this utility model.

Claims

1. A photovoltaic cleaning robot for cleaning photovoltaic modules (200), wherein a plurality of photovoltaic modules (200) are arranged along a first direction, characterized in that, include: Frame (1); A drive mechanism (2) is provided at opposite ends of the photovoltaic cleaning robot along the second direction. The drive mechanism (2) includes a housing (21), a walking wheel (22), and a drive component (23). The walking wheel (22) is rotatably disposed on the housing (21), and the drive end of the drive component (23) is drivenly connected to the walking wheel (22). A detection mechanism (3) is disposed on the side of the housing (21) away from the walking wheel (22). The detection mechanism (3) includes a detection bracket (31), two detection wheels (32) disposed at both ends of the detection bracket (31), and a sensor (33) disposed on the detection bracket (31). The detection wheels (32) are rolledly connected to the edge of the photovoltaic module (200), and the detection bracket (31) is rotatably connected to the housing (21). The sensor (33) is configured to monitor the angle between the detection bracket (31) and the edge of the photovoltaic module (200).

2. The photovoltaic cleaning robot as described in claim 1, characterized in that: A fixing frame (34) is also provided between the detection bracket (31) and the housing (21). The fixing frame (34) includes two first fixing rods (341) and a second fixing rod (342) connecting the two first fixing rods (341). The two first fixing rods (341) are respectively connected to the housing (21), and the detection bracket (31) is rotatably connected to the second fixing rod (342).

3. The photovoltaic cleaning robot as described in claim 2, characterized in that: Each of the first fixed rods (341) is provided with a sliding component (343), and the two sliding components (343) are arranged facing each other. The two ends of the second fixed rod (342) are respectively connected to the two sliding components (343).

4. The photovoltaic cleaning robot as described in claim 3, characterized in that: Each of the sliding components (343) includes a guide rail (3431) and a slider (3432) slidably disposed on the guide rail (3431). The guide rail (3431) is disposed on the first fixed rod (341), and the two ends of the second fixed rod (342) are respectively fixedly connected to the two sliders (3432).

5. The photovoltaic cleaning robot as described in claim 2, characterized in that: The detection bracket (31) has a rotating seat (35) at its center, and the second fixing rod (342) is rotatably connected to the rotating seat (35).

6. The photovoltaic cleaning robot as described in claim 2, characterized in that: The detection bracket (31) also includes two elastic elements (36), and two first fixing rods (341) are disposed between the two elastic elements (36). One end of the elastic element (36) is connected to the housing (21), and the other end of the elastic element (36) is connected to the detection bracket (31).

7. The photovoltaic cleaning robot as described in claim 6, characterized in that: The detection mechanism (3) further includes a connector (37), which is disposed on the outer surface of the housing (21). The two first fixing rods (341) and the two elastic members (36) are respectively connected to the connector (37).

8. The photovoltaic cleaning robot as described in claim 5, characterized in that: The detection bracket (31) includes a first support rod (311) and two second support rods (312) vertically disposed at both ends of the first support rod (311). The detection wheel (32) is rotatably disposed at the free end of the second support rod (312).

9. The photovoltaic cleaning robot as described in claim 6, characterized in that: The drive mechanism (2) further includes a guide wheel (24), which is rotatably disposed below the housing (21). The guide wheel (24) is driven to the drive end of the drive member (23), and the rotation axis of the guide wheel (24) is perpendicular to the rotation axis of the walking wheel (22).

10. The photovoltaic cleaning robot as described in claim 1, characterized in that: The photovoltaic cleaning robot also includes an anti-detachment mechanism (4), which includes an anti-detachment bracket (41) and an anti-detachment wheel (42) rotatably mounted on the anti-detachment bracket (41). The anti-detachment bracket (41) is located at the bottom of the housing (21), and the photovoltaic module (200) is located between the anti-detachment wheel (42) and the bracket (1).

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