Automatically rechargeable wheeled cleaning robot for photovoltaic panels cleaning

Abstract

The utility model discloses a kind of for photovoltaic panel cleaning can be automatically charged wheeled cleaning robot, it is related to photovoltaic technical field, including cleaning robot, charger and charging pile, the cleaning robot has roller brush mechanism, the roller brush mechanism is used for the cleaning of photovoltaic panel, a charging docking mechanism is installed on the cleaning robot, the charging docking mechanism includes first charging copper electrode, the charging docking mechanism has a first charging copper electrode, the charging docking mechanism also has a adjusting device installed on cleaning robot, the first charging copper electrode is installed on adjusting device, adjusting device is used to adjust the position of first charging copper electrode to adapt charging equipment;The charger is used to provide electrical energy for cleaning robot;The charging pile provides electrical energy to charger.Elastic contact charging, avoid causing misplacement extrusion damage, charging is convenient, prolongs the service life of equipment.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic technology, and in particular to an automatically rechargeable wheeled cleaning robot for cleaning photovoltaic panels. Background Technology

[0002] With the rapid development of the photovoltaic industry and the accumulation of dirt such as sand and dust on the surface of solar photovoltaic panels over time, power generation efficiency is affected. Traditional power plants use manual or third-party cleaning methods, which are inefficient, expensive, and consume a lot of water, greatly increasing the operation and maintenance costs of photovoltaic power plants. Therefore, the demand for unmanned and automated cleaning robots is growing.

[0003] Currently, most large vehicle-mounted cleaning robots are driven by pure electric power. If we want to achieve unmanned operation, unmanned charging is an unavoidable problem.

[0004] Existing charging docking equipment cannot achieve perfect alignment at the final touch, resulting in hard contact between the charging female connector and the charging gun head. Over time, this can cause wear and damage to the docking equipment. Utility Model Content

[0005] This invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the purpose of this invention is to provide an automatically rechargeable wheeled cleaning robot for cleaning photovoltaic panels. By installing a charging docking mechanism at the tail of the cleaning robot, when the first charging copper electrode initially contacts the second charging copper electrode of the charger, if the first charging copper electrode shifts left or right, it can swing left and right under the action of a spring to align with the second charging copper electrode of the charger. After charging is complete and the robot departs, the first charging copper electrode automatically resets under the action of the spring.

[0006] An automatically rechargeable wheeled cleaning robot for cleaning photovoltaic panels according to an embodiment of the present invention includes:

[0007] A cleaning robot has a roller brush mechanism for cleaning photovoltaic panels. The cleaning robot is equipped with a charging docking mechanism, which includes a first charging copper electrode. The charging docking mechanism also has an adjustment device installed on the cleaning robot. The first charging copper electrode is installed on the adjustment device, which is used to adjust the position of the first charging copper electrode to adapt to the charging equipment.

[0008] A charger, used to provide electrical power to the cleaning robot;

[0009] A charging pile that provides electrical energy to a charger.

[0010] Furthermore, the adjustment device includes a fixed plate connected to the first charging copper electrode on one side, a fixed bracket installed on the side of the fixed plate away from the first charging copper electrode, a fixed frame rotatably connected to the fixed bracket, the fixed frame being installed on the cleaning robot, and a reset device provided between the fixed plate and the fixed frame, which automatically resets the first charging copper electrode when no external force is applied.

[0011] Furthermore, the reset device includes two symmetrically arranged springs, one end of which is connected to the side wall of the fixing frame and the other end of which is connected to the fixing plate.

[0012] Furthermore, an adjustment device is provided at the connection between the spring and the fixed plate for adjusting the external force that rotates the fixed plate.

[0013] Furthermore, the adjustment device includes an L-shaped plate, the vertical section of which has a strip-shaped hole. The L-shaped plate is locked to the fixing plate by bolts passing through the strip-shaped hole. Anti-loosening washers are fitted on the bolts to enhance the friction with the L-shaped plate.

[0014] Furthermore, the cleaning robot includes a walking mechanism, on the upper part of which a robotic arm adjustment system is installed. The roller brush mechanism is mounted on the robotic arm adjustment system. After the robotic arm adjustment system is activated, it adjusts the position of the roller brush mechanism to adapt to the photovoltaic panel surface.

[0015] Furthermore, the walking mechanism includes a main frame, with several tires arranged on both sides of the main frame along the forward direction. A drive unit for driving and a power supply battery for powering the drive unit are installed inside the main frame, and the first charging copper electrode is electrically connected to the power supply battery.

[0016] Furthermore, the robotic arm adjustment system includes a rotating mechanism mounted on the main frame and a first drive motor that drives the rotating mechanism to rotate. The upper end of the rotating mechanism is connected to a column, and a cantilever is rotatably connected to the top of the column. A first electric telescopic assembly is provided between the cantilever and the column for controlling the lifting and lowering of the cantilever. The end of the cantilever away from the column is hinged to a roller brush mechanism. A second electric telescopic assembly is installed between the cantilever and the roller brush mechanism for adjusting the cleaning angle of the roller brush mechanism. A first ultrasonic sensor is provided at both ends of one side of the cantilever for measuring the distance between the roller brush mechanism and the photovoltaic panel.

[0017] Furthermore, the roller brush mechanism includes a supporting main beam that is cantilevered and hinged in the middle. Several legs are connected to the lower end of the supporting main beam. A main shaft is rotatably inserted into each of the legs. A brush for cleaning the photovoltaic panel is arranged on the outer periphery of the main shaft. A second drive motor connected to the main shaft is installed on a leg located on any edge of the supporting main beam. Several second ultrasonic sensors are installed on the supporting main beam for measuring the distance between the roller brush mechanism and the photovoltaic panel.

[0018] Furthermore, the cleaning robot also includes an outer shell, which is mounted on the main frame. The outer shell includes a shell body covering the main frame. The shell body has doors that can be opened and closed on the front, rear, left, and right sides. Positioning antennas are installed on both sides of the rear of the shell body. Obstacle avoidance sensors are installed on the front of the shell body. Ultrasonic radars are installed on the four side walls of the shell body. An alarm light is installed on the top of the shell body. Emergency stop switches are installed on both sides of the rear of the shell body.

[0019] Additional aspects and advantages of this invention 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 the invention. Attached Figure Description

[0020] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0021] Figure 1 This is a three-dimensional structural diagram according to an embodiment of this application;

[0022] Figure 2 This is a three-dimensional structural diagram of a cleaning robot according to an embodiment of this application;

[0023] Figure 3 This is a three-dimensional structural schematic diagram of the charging docking mechanism according to an embodiment of this application;

[0024] Figure 4 This is a three-dimensional structural schematic diagram of the robotic arm adjustment system according to an embodiment of this application;

[0025] Figure 5 This is a three-dimensional structural schematic diagram of the roller brush mechanism according to an embodiment of this application;

[0026] Figure 6 This is a three-dimensional structural schematic diagram of the outer casing according to an embodiment of this application;

[0027] Figure 7 This is a three-dimensional structural diagram of a charger according to an embodiment of this application.

[0028] Figure label:

[0029] The cleaning robot 100 includes a walking mechanism 110, a main frame 111, a robotic arm adjustment system 120, a rotating mechanism 121, a first drive motor 122, a column 123, a cantilever 124, a first electric telescopic assembly 125, a second electric telescopic assembly 126, a first ultrasonic sensor 127, a roller brush mechanism 130, a supporting main beam 131, outriggers 132, a brush 133, a second drive motor 134, a second ultrasonic sensor 135, an outer casing 140, a casing body 141, a door 142, a positioning antenna 143, an obstacle avoidance sensor 144, an ultrasonic radar 145, an alarm light 146, an emergency stop switch 147, a charging docking mechanism 150, a first charging copper electrode 151, a fixing plate 152, a fixing bracket 153, a fixing frame 154, a spring 155, an L-shaped plate 156, and a strip hole 1561.

[0030] Charger 200, second charging copper electrode 201, telescopic device 202;

[0031] Charging station 300. Detailed Implementation

[0032] The embodiments of this utility model 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 utility model, and should not be construed as limiting this utility model.

[0033] The following is for reference. Figures 1-7 This invention describes an automatically rechargeable wheeled cleaning robot for cleaning photovoltaic panels according to an embodiment of the present invention.

[0034] This application proposes an automatically rechargeable wheeled cleaning robot for cleaning photovoltaic panels, such as... Figure 1 As shown, the system includes a cleaning robot 100, a charger 200, and a charging pile 300. The cleaning robot 100 is used to walk and clean the photovoltaic panels; the charger 200 is used to provide power to the cleaning robot 100; and the charging pile 300 provides power to the charger 200.

[0035] In some examples, such as Figure 2 and Figure 3 As shown, a charging docking mechanism 150 is installed on the cleaning robot 100. The charging docking mechanism 150 includes a first charging copper electrode 151. The charging docking mechanism 150 also has an adjustment device installed on the cleaning robot 100. The first charging copper electrode 151 is installed on the adjustment device, and the adjustment device is used to adjust the position of the first charging copper electrode 151 to adapt to the charging equipment.

[0036] In some examples, see Figure 3 The adjustment device includes a fixed plate 152 connected to the first charging copper electrode 151 on one side, a fixed bracket 153 installed on the side of the fixed plate 152 away from the first charging copper electrode 151, a fixed frame 154 rotatably connected to the fixed bracket 153, the fixed frame 154 is installed on the cleaning robot 100, and a reset device is provided between the fixed plate 152 and the fixed frame 154 to automatically reset the first charging copper electrode 151 when no external force is applied.

[0037] As a preferred embodiment of this case, see Figure 3 The reset device includes two symmetrically arranged springs 155, one end of which is connected to the side wall of the fixing frame 154 and the other end is connected to the fixing plate 152.

[0038] When the robot moves to the charger 200, and the first charging copper electrode 151 contacts the charger 200, if there is a left-right deviation between the two positions, the first charging copper electrode 151 will rotate under the elastic force of the spring 155 to adapt to the charger 200, ensuring that the contact is flush and avoiding misalignment, squeezing and damage, making charging convenient and extending the service life of the equipment.

[0039] To adjust the tension of the spring 155, an adjustment device is provided at the connection between the spring 155 and the fixed plate 152 to adjust the external force that rotates the fixed plate 152. Specifically, the adjustment device includes an L-shaped plate 156, such as... Figure 3 As shown, the vertical section of the L-shaped plate 156 has a strip hole 1561. The L-shaped plate 156 is locked onto the fixing plate 152 by bolts passing through the strip hole 1561. Anti-loosening washers are fitted on the bolts to enhance the friction with the L-shaped plate 156. By adjusting the position of the bolts in the strip hole 1561, the position of the L-shaped plate 156 is changed, thereby changing the extension length of the spring 155 to achieve the tension force under different application conditions.

[0040] It should be noted that, as Figure 2 As shown, the cleaning robot 100 includes a walking mechanism 110, a robotic arm adjustment system 120 is mounted on the upper part of the walking mechanism 110, and a roller brush mechanism 130 is mounted on the robotic arm adjustment system 120. The cleaning robot 100 also has a roller brush mechanism 130, which is used for cleaning photovoltaic panels. After the robotic arm adjustment system 120 is started, it adjusts the position of the roller brush mechanism 130 to adapt to the photovoltaic panel surface.

[0041] In some examples, such as Figure 2As shown, the walking mechanism 110 includes a main frame 111. Several tires are arranged on both sides of the main frame 111 along the forward direction. Specifically, there are three groups of two tires each, arranged on both sides of the main frame 111 in the forward direction. Compared to traditional tracked photovoltaic cleaning robots, wheeled cleaning robots have better stability and smoother roller brush operation, thereby improving cleaning speed and efficiency. The main frame 111 houses a drive unit for driving the robot and a power supply battery for powering the drive unit. The first charging copper electrode 151 is electrically connected to the power supply battery.

[0042] In some examples, such as Figure 4 As shown, the robotic arm adjustment system 120 includes a rotating mechanism 121 mounted on the main frame 111 and a first drive motor 122 that drives the rotating mechanism 121 to rotate. The upper end of the rotating mechanism 121 is connected to a column 123, and a cantilever 124 is rotatably connected to the top of the column 123. A first electric telescopic assembly 125 is provided between the cantilever 124 and the column 123 to control the lifting and lowering of the cantilever 124. The end of the cantilever 124 away from the column 123 is hinged to the roller brush mechanism 130. A second electric telescopic assembly 126 is installed between the cantilever 124 and the roller brush mechanism 130. The second electric telescopic assembly 126 is used to adjust the cleaning angle of the roller brush mechanism 130. A first ultrasonic sensor 127 is provided at both ends of one side of the cantilever 124 to measure the distance between the roller brush mechanism 130 and the photovoltaic panel.

[0043] In some examples, such as Figure 5 As shown, the roller brush mechanism 130 includes a support main beam 131 hinged to the cantilever 124 in the middle. Several legs 132 are connected to the lower end of the support main beam 131. A main shaft is rotatably inserted into the legs 132. A brush 133 for cleaning the photovoltaic panel is arranged on the outer periphery of the main shaft. A second drive motor 134 connected to the main shaft is installed on the legs 132 located on any edge side of the support main beam 131. Several second ultrasonic sensors 135 are installed on the support main beam 131 for measuring the distance between the roller brush mechanism 130 and the photovoltaic panel.

[0044] In some examples, such as Figure 6As shown, the cleaning robot 100 also includes an outer shell 140, which is mounted on the main frame 111. The outer shell 140 includes a shell body 141 covering the main frame 111. The shell body 141 has doors 142 that can be opened and closed on the front, rear, left, and right sides for easy maintenance. Positioning antennas 143 are installed on both sides of the rear of the shell body 141 to enhance the signal. An obstacle avoidance sensor 144 is installed on the front of the shell body 141 to ensure an unobstructed working field of vision. Ultrasonic radars 145 are installed on the four side walls of the shell body 141. When triggered, the robot immediately stops moving and can resume moving when the trigger is deactivated. An alarm light 146 is installed on the top of the shell body 141, which will emit an audible warning when the device is working. Emergency stop switches 147 are installed on both sides of the rear of the shell body 141 to shut down the cleaning robot in an emergency.

[0045] It should be noted that the charger 200 includes the casing, such as... Figure 7 As shown, a second charging copper electrode 201, located inside the housing, extends outward to match the first charging copper electrode 151. The second charging copper electrode 201 achieves reciprocating motion of extension and retraction via a linear telescopic mechanism 202. In some examples, the linear telescopic mechanism 202 can be an electric push rod, with the back of the second charging copper electrode 201 mounted on the telescopic end of the electric push rod for extension and retraction. Photoelectric sensors are installed on both sides of the housing at positions corresponding to the second charging copper electrode 201 to detect whether the cleaning robot 100 is in place. The internal electrical structures of the charger 200 and the charging pile 300 are relatively mature technologies in the market and belong to existing technology. They are not technical solutions to the technical problems proposed in this application and will not cause incomplete solutions. They are obvious to those skilled in the art and will not be described in detail here. When the equipment arrives at the photovoltaic power station, the foundation is leveled, and the position of the charger 200 is adjusted so that the second charging copper electrode 201 is aligned with the height of the first charging copper electrode 151.

[0046] Other components and operations of the automatically rechargeable wheeled cleaning robot for cleaning photovoltaic panels according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0047] In this specification, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative use of the above terms does 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.

[0048] Although embodiments of the present invention 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 the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A self-recharging wheeled cleaning robot for cleaning photovoltaic panels, characterized in that, include: A cleaning robot (100) has a roller brush mechanism (130) for cleaning photovoltaic panels. A charging docking mechanism (150) is installed on the cleaning robot (100). The charging docking mechanism (150) includes a first charging copper electrode (151). The charging docking mechanism (150) also has an adjustment device installed on the cleaning robot (100). The first charging copper electrode (151) is installed on the adjustment device, and the adjustment device is used to adjust the position of the first charging copper electrode (151) to adapt to the charging equipment. A charger (200) is used to provide electrical energy to the cleaning robot (100); A charging pile (300) provides electrical energy to a charger (200).

2. The automatically rechargeable wheeled cleaning robot for cleaning photovoltaic panels according to claim 1, characterized in that, The adjustment device includes a fixed plate (152) connected to the first charging copper electrode (151) on one side. A fixed bracket (153) is installed on the side of the fixed plate (152) away from the first charging copper electrode (151). The fixed bracket (153) is rotatably connected to a fixed frame (154). The fixed frame (154) is installed on the cleaning robot (100). A reset device is provided between the fixed plate (152) and the fixed frame (154) so ​​that the first charging copper electrode (151) automatically resets when no external force is applied.

3. The automatically rechargeable wheeled cleaning robot for cleaning photovoltaic panels according to claim 2, characterized in that, The reset device includes two symmetrically arranged springs (155), one end of which is connected to the side wall of the fixing frame (154) and the other end is connected to the fixing plate (152).

4. The automatically rechargeable wheeled cleaning robot for cleaning photovoltaic panels according to claim 3, characterized in that, An adjustment device is provided at the connection between the spring (155) and the fixed plate (152) for adjusting the external force of rotating the fixed plate (152).

5. The automatically rechargeable wheeled cleaning robot for cleaning photovoltaic panels according to claim 4, characterized in that, The adjustment device includes an L-shaped plate (156), the vertical section of which has a strip hole (1561). The L-shaped plate (156) is locked onto the fixing plate (152) by bolts passing through the strip hole (1561). Anti-loosening washers are fitted on the bolts to enhance the friction with the L-shaped plate (156).

6. The automatically rechargeable wheeled cleaning robot for cleaning photovoltaic panels according to claim 1, characterized in that, The cleaning robot (100) includes a walking mechanism (110), and a robotic arm adjustment system (120) is installed on the upper part of the walking mechanism (110). The roller brush mechanism (130) is installed on the robotic arm adjustment system (120). After the robotic arm adjustment system (120) is started, it adjusts the position of the roller brush mechanism (130) to adapt to the photovoltaic panel surface.

7. The automatically rechargeable wheeled cleaning robot for cleaning photovoltaic panels according to claim 6, characterized in that, The walking mechanism (110) includes a main frame (111), which has several tires on both sides along the forward direction. The main frame (111) is equipped with a drive unit for driving and a power supply battery for powering the drive unit. The first charging copper electrode (151) is electrically connected to the power supply battery.

8. The automatically rechargeable wheeled cleaning robot for cleaning photovoltaic panels according to claim 7, characterized in that, The robotic arm adjustment system (120) includes a rotating mechanism (121) mounted on the main frame (111) and a first drive motor (122) that drives the rotating mechanism (121) to rotate. A column (123) is connected to the upper end of the rotating mechanism (121), and a cantilever (124) is rotatably connected to the top of the column (123). A first electric telescopic assembly (125) is provided between the cantilever (124) and the column (123) for controlling the movement of the cantilever (124). The cantilever (124) is raised and lowered. The end of the cantilever (124) away from the column (123) is hinged to the roller brush mechanism (130). A second electric telescopic assembly (126) is installed between the cantilever (124) and the roller brush mechanism (130). The second electric telescopic assembly (126) is used to adjust the cleaning angle of the roller brush mechanism (130). A first ultrasonic sensor (127) is provided at both ends of one side of the cantilever (124) to measure the distance between the roller brush mechanism (130) and the photovoltaic panel.

9. The automatically rechargeable wheeled cleaning robot for cleaning photovoltaic panels according to claim 8, characterized in that, The roller brush mechanism (130) includes a supporting main beam (131) hinged to the cantilever (124) in the middle. The lower end of the supporting main beam (131) is connected to several legs (132). A main shaft is rotatably inserted into the legs (132). A brush (133) for cleaning the photovoltaic panel is provided on the outer periphery of the main shaft. A second drive motor (134) connected to the main shaft is installed on the legs (132) located on any edge side of the supporting main beam (131). Several second ultrasonic sensors (135) are installed on the supporting main beam (131) for measuring the distance between the roller brush mechanism (130) and the photovoltaic panel.

10. The automatically rechargeable wheeled cleaning robot for cleaning photovoltaic panels according to claim 7, characterized in that, The cleaning robot (100) also includes an outer shell (140), which is mounted on the main frame (111). The outer shell (140) includes a shell body (141) covering the main frame (111). The shell body (141) has doors (142) that can be opened and closed on the front, back, left and right sides. Positioning antennas (143) are installed on both sides of the rear of the shell body (141). An obstacle avoidance sensor (144) is installed on the front side of the shell body (141). An ultrasonic radar (145) is installed on the four side walls of the shell body (141). An alarm light (146) is installed on the top of the shell body (141). An emergency stop switch (147) is installed on both sides of the rear end of the shell body (141).

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