Cleaning device and robot

Abstract

The present application provides a cleaning device and a robot. The cleaning device is used for cleaning the surface of a cleaning target. The cleaning device includes a housing body, a rotating brush, a dust collecting bin, a flow guide plate, a baffle, and an opening / closing device. The housing body is a cylindrical object. The rotating brush is rotatably connected within the housing body. The dust collecting bin is connected to the housing body. The dust collecting bin includes an opening and at least two first exhaust holes, the opening facing the rotating brush, and the first exhaust holes communicating with the outside of the dust collecting bin. The flow guide plate is connected to a lower end of the opening and extends toward a bottom of the rotating brush. The baffle is connected to an upper end of the opening and disposed opposite the flow guide plate. A passage is formed between the baffle and the flow guide plate to communicate between the housing body and the dust collecting bin. The opening / closing device is a bottom of the dust collecting bin. When the dust collecting bin is located on the surface of the cleaning target, the opening / closing device is closed. When the dust collecting bin is located other than the surface of the object to be cleaned, the opening and closing device can be opened to solve the technical problem that the load is too large on the inclined photovoltaic surface and the robot is prone to slipping.

Description

Technical Field

[0001] This application relates to the technical field of cleaning solar power panels, and specifically to cleaning devices and robots.

Background Art

[0002] Most of the materials of solar power panels are silicon, which uses semiconductor materials to generate an electromotive effect under light conditions, thereby directly converting solar energy into electrical energy. Since solar power panels are installed outdoors, dust and the like easily adhere to the panel surface, reducing the power generation efficiency of the solar power panels. Usually, the surface of solar power panels needs to be cleaned regularly. In order to reduce the cleaning cost of manual work and improve the cleaning efficiency, cleaning robots are often used to clean the panel surface in solar power plants.

[0003] Solar power panels are often tilted at a certain angle with respect to the horizontal plane to ensure power generation efficiency. However, since robots in the prior art are often applied to horizontally arranged surfaces, there are many difficulties when applying them to inclined solar power generation surfaces. When a robot cleans deposits such as dust and sand on an inclined and smooth solar power panel, due to the heavy weight of deposits such as dust and sand, the robot is too heavy to slide easily on the inclined solar power generation surface, and the stability and safety of the robot during cleaning cannot be guaranteed.

Summary of the Invention

[0004] This application provides a cleaning device and a robot for solving the technical problem that the load is too large on an inclined solar power generation surface and the robot is prone to slipping.

[0005] This application provides a cleaning device for cleaning the surface of an object to be cleaned. The cleaning device includes a housing, a rotating brush, a dustbin, a deflector, a baffle, and an opening and closing device. The housing is a cylindrical object. The rotating brush is rotatably connected within the housing. The dustbin is connected to the housing. The dustbin includes an opening and at least two first exhaust holes. The opening faces the rotating brush, and the first exhaust holes communicate with the outside of the dustbin. The deflector is connected to the lower end of the opening and extends towards the bottom of the rotating brush. The baffle is connected to the upper end of the opening and is disposed opposite to the deflector. A passage for communicating the housing and the dustbin is formed between the baffle and the deflector. The opening and closing device is at the bottom of the dustbin. When the dustbin is located on the surface of the object to be cleaned, the opening and closing device is closed. When the dustbin is located outside the surface of the object to be cleaned, the opening and closing device can be opened.

[0006] Optionally, the opening and closing device further includes a support plate and a driving member. The support plate is at the bottom of the dustbin and can be movably and closely attached to the side wall of the dustbin. The driving member is attached to the dustbin and connected to the support plate and is used to drive the movement or rotation of the support plate. When the support plate is driven, an outlet is formed at the bottom of the dustbin.

[0007] Optionally, the support plate includes a support bottom plate and support side plates. The support bottom plate is a flat plate, a bent plate, or a curved plate. The upper end of the support side plate is connected to the driving member, and its lower end is connected to the support bottom plate. When the driving member rotates, the support side plate can rotate the support bottom plate. When the driving member is stationary, one end of the support bottom plate is in close contact with the side wall of the dustbin or forms the outlet with the side wall of the dustbin.

[0008] Optionally, the housing includes a first housing body and a connection plate. The first housing body is disposed above the rotary brush. The connection plate is detachably connected to the edge of the first housing body. The dust collecting bin includes a support plate, a first plate body, and a second plate body. The support plate includes a support bottom plate and support side plates, and the lower ends of the support side plates are connected to the support bottom plate. The second plate body is disposed opposite to the support bottom plate and is connected to the connection plate. The first plate body is disposed opposite to the support side plates and is connected to the second plate body. The opening is formed between the support side plates and the second plate body. When the support plate is driven, a discharge port is formed between the support plate and the first plate body, and when the support bottom plate is in close contact with the first plate body, the discharge port is sealed.

[0009] Optionally, the housing further includes a third housing body. The third housing body is detachably disposed above the dust collecting bin and the connection plate. The third housing body, the upper surface of the dust collecting bin, and the connection plate surround to form a sealed exhaust cavity. At least two of the first exhaust holes are provided on the second plate body, and at least two second exhaust holes are provided on the third housing body. When the rotary brush rotates, the air in the housing flows into the dust collecting bin through the passage, and sequentially passes through the first exhaust holes and the second exhaust holes and flows out of the third housing body.

[0010] Accordingly, the present application further provides a robot. The robot includes a vehicle body and a cleaning device. The vehicle body can travel on the surface of the object to be cleaned. The cleaning device is connected to the vehicle body. The cleaning device is the cleaning device according to any one of the above.

[0011] Optionally, the cleaning robot further includes a data processing device and a distance sensor. The distance sensor is electrically connected to the data processing device. The distance sensor is attached to the front end of the vehicle body and is used to collect the real-time distance between the distance sensor and the surface of the object to be cleaned. The forward direction of the vehicle body is defined as the front. The opening and closing device includes a driving member, and the driving member is electrically connected to the data processing device. The data processing device determines whether the dustbin is on the surface of the object to be cleaned based on the real-time distance. If not, the data processing device controls the driving member to open the opening and closing device.

[0012] This application provides a cleaning device and a robot. When the rotating brush rotates in the housing, deposits such as dust and sand attached to the surface of the object to be cleaned are moved in the direction of the opening of the dustbin. Since the oppositely arranged flow guide plate and baffle can limit the movement area of the deposits, most of the deposits are collected into the dustbin by centrifugal force and negative pressure at the opening.

[0013] When the dustbin moves outside the surface of the object to be cleaned, the opening and closing device opens to discharge deposits such as dust and sand in the dustbin. During cleaning, by discharging the deposits in the dustbin step by step by the opening and closing device, the weight of the dustbin and the internal deposits can be reduced, thereby reducing the driving force required during the movement of the cleaning device, and increasing the usage time and lifespan of the cleaning device. At the same time, since the design size of the dustbin can also be reduced to achieve the lightweight design of the cleaning device, by using a lightweight dustbin to discard the deposits in the dustbin step by step, the skidding caused by the excessive weight of the cleaning device can be reduced, and the safety and stability during the robot's running can be improved.

Brief Description of the Drawings

[0014] To further elaborate on the technical solutions of the embodiments of this application, the drawings necessary for the description of the embodiments will be briefly explained. Naturally, the drawings in the following description are only some embodiments of this application. A person skilled in the art can obtain other drawings based on these drawings without creative labor.

Figure 1

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Explanation of Reference Signs

[0015] 100, vehicle body; 110, first fixed rod; 120, second fixed rod; 200, housing; 210, first housing body; 220, connecting plate; 230, first side plate; 231, first locking block; 232, position limiting groove; 233, second locking block; 234, elastic member; 300, dust collection bin; 310, first plate body; 320, second plate body; 321, first exhaust hole; 330, second side plate; 331, first locking block; 332, second locking groove; 340, support plate; 341, support bottom plate; 342, support side plate; 350, steering mechanism; 351, transmission pair; 360, inspection door; 400, third housing body; 410, exhaust cavity; 420, second exhaust hole; 500, deflector plate; 510, arc segment; 520, flat segment; 610, baffle; 611, scraping teeth; 620, reinforcing member; 630, buffer member; 700, mounting frame; 710, fixed frame; 720, two-axis motor; 730, handle; 800, rotating brush; 900, fixing plate; 910, sliding groove; 911, first end; 912, second end; 920, concave groove

Embodiments for Carrying out the Invention

[0016] Hereinafter, with reference to the accompanying drawings of the embodiments of the present application, the technical solutions of the embodiments of the present application will be clearly and completely described. Naturally, the embodiments described here are only a part of all the embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative work are included in the protection scope of the present application. It should also be understood that the specific embodiments described here are only for the purpose of explaining and interpreting the present application and are not intended to limit the present application. In the present application, unless otherwise specified, terms indicating directions such as "up", "down", "left", "right", etc. generally refer to the up, down, left, and right of the device in the actual use state or operating state, specifically, the drawing direction of the accompanying drawings.

[0017] This application provides a cleaning device and a robot, which will be described in detail below. Note that the order of description of the following embodiments does not limit the preferred order of the embodiments of the present invention. And in the following embodiments, the description of each embodiment focuses on itself, but for the parts not described in detail in a certain embodiment, the relevant descriptions of other embodiments can be referred to.

[0018] Referring to FIG. 1, this application provides a robot that can travel on the surface of an object to be cleaned and remove deposits such as dust and sand on the surface of the object to be cleaned. The above object to be cleaned may be a solar power generation panel or a panel array composed of solar power generation panels, or may be a flat surface made of materials such as glass. In this embodiment, a solar power generation panel will be taken as an example to describe the object to be cleaned.

[0019] Referring to FIG. 1, the robot includes a vehicle body 100 and a cleaning device. The cleaning device is detachably connected to the front of the vehicle body 100. Here, the forward direction of the vehicle body 100 is defined as the front. The vehicle body 100 can travel on the solar power generation panel and drive the cleaning device to clean the deposits on the solar power generation panel.

[0020] Referring to FIG. 1, the robot further includes two sets of connection assemblies. The above two sets of connection assemblies are respectively arranged on both sides of the vehicle body 100 and are symmetrically distributed with respect to the central axis of the vehicle body 100 to enhance the reliability of the connection between the vehicle body 100 and the cleaning device.

[0021] Referring to FIGS. 1 and 2, each connection assembly includes a fixing plate 900 and a first fixing rod 110. One end of the fixing plate 900 is connected to the housing of the cleaning device by a fastening screw, and a sliding groove 910 is opened in the fixing plate 900 along its height direction. The above sliding groove 910 includes an opposing first end 911 and a second end 912, and the first end 911 is located below the second end 912.

[0022] One end of the first fixed rod 110 is provided with a boss, and the orthographic projection of the boss along the axial direction of the first fixed rod 110 can completely cover the rod body of the first fixed rod 110. That is, the diameter of the boss is larger than the diameter of the first fixed rod 110. The opening width of the first end portion 911 of this embodiment is slightly larger than the opening width of the second end portion 912, so that the boss fits the opening width of the first end portion 911, and at the same time, the rod body of the first fixed rod 110 fits the second end portion 912.

[0023] The rod body of the first fixed rod 110 is fixedly connected to the front end of the vehicle body 100. The first end portion 911 of the sliding groove 910 corresponds to the boss, and the boss penetrates the first end portion 911. Due to the gravitational action of the cleaning device itself, the fixing plate 900 moves downward, so that the rod body of the first fixed rod 110 moves from the first end portion 911 to the second end portion 912, and the assembly of the cleaning device and the vehicle body 100 is completed.

[0024] Referring to FIGS. 1 and 2, the connection assembly further includes a second fixed rod 120. The second fixed rod 120 is connected to the front end of the vehicle body 100. Correspondingly, a concave groove 920 is recessed and opened on the front end of the fixing plate 900. When the first fixed rod 110 is fitted into the second end portion 912, the second fixed rod 120 is also correspondingly fitted into the concave groove 920.

[0025] The fixing position of the second fixed rod 120 is located behind the fixing position of the first fixed rod 110. In order to avoid interference between the fixing plate 900 and the second fixed rod 120 during the process of the first fixed rod 110 moving along the sliding groove 910, the sliding groove 910 of this embodiment is arc-shaped, and the concave surface is installed facing the second fixed rod 120.

[0026] When the first fixed rod 110 is fitted into the second end portion 912, the degrees of freedom in the vertical and horizontal directions of the cleaning device with respect to the vehicle body 100 can be restricted. When the second fixed rod 120 is fitted into the inside of the concave groove 920, the degree of freedom of rotation of the cleaning device with respect to the vehicle body 100 can be restricted. Therefore, based on the fitting of the first fixed rod 110 and the sliding groove 910, and the fitting of the second fixed rod 120 and the concave groove 920, the restriction of multiple degrees of freedom at the connection location between the cleaning device and the vehicle body 100 can be realized, and the stability of the connection location can be improved.

[0027] Referring to FIGS. 4 and 5, the cleaning device includes a housing 200, a dust collecting bin 300, and a rotating brush 800. The housing 200 is a cylindrical object and is connected to the dust collecting bin 300. The rotating brush 800 is rotatably connected inside the housing 200. Specifically, both end faces of the rotating brush 800 are connected to the side wall of the housing 200 via rotary bearings.

[0028] Referring to FIGS. 4 and 5, the dust collecting bin 300 includes an opening. The above-mentioned opening is opened towards the rotating brush 800 inside the housing 200, whereby the dust collecting bin 300 communicates with the inside of the housing 200 through the opening. When the vehicle body 100 travels on the solar power generation panel, the rotating brush 800 rotates while being located inside the housing 200, so as to clean the deposits on the surface of the solar power generation panel to the inside of the dust collecting bin 300 through the opening.

[0029] The cleaning device further includes a deflector 500 and a baffle 610. One end of the deflector 500 is connected to the lower end portion of the opening, and the other end extends towards the lower end portion of the rotating brush 800 such that the end thereof approaches the rotating brush 800 as much as possible. One end of the baffle 610 is connected to the upper end portion of the opening, and the other end extends in a direction away from the dust collecting bin 300. Moreover, the baffle 610 corresponds to the above-mentioned deflector 500, and a passage communicating the housing 200 and the dust collecting bin 300 is formed between the baffle 610 and the deflector 500, whereby the intake area at the opening is restricted.

[0030] When the rotating brush 800 rotates within the housing 200, along the rotation direction of the rotating brush 800, the brush bristles of the rotating brush 800 can remove deposits such as dust and sand from the surface of the photovoltaic panel. At the same time, since the opening of the dust collection bin 300 is arranged facing the housing 200, the deposits are removed from the brush bristles by the centrifugal force applied by the rotating brush 800 and collected inside the dust collection bin 300 through the opening.

[0031] At the same time, when the rotating brush 800 is located near the opening of the dust collection bin 300 and rotates, the flow velocity of the air at the opening of the dust collection bin 300 is slightly large, causing the opening of the dust collection bin 300 to be in a negative pressure state. Therefore, the deposits are more likely to be adsorbed into the dust collection bin 300 through the opening.

[0032] Referring to FIGS. 3 to 5, the dust collection bin 300 further includes at least two first exhaust holes 321. The above-mentioned first exhaust holes 321 may be opened on the side wall and / or the upper wall of the dust collection bin 300, and the inside of the dust collection bin 300 can be communicated with the outside through the first exhaust holes 321.

[0033] When the vehicle body 100 moves on the photovoltaic panel, the rotating brush 800 collects the air and the deposits mixed in the air into the inside of the dust collection bin 300. The dust and sand in the air gather at the bottom of the dust collection bin 300 under the action of their own gravity, and the air inside the dust collection bin 300 can flow out of the dust collection bin 300 through the first exhaust holes 321. Therefore, by using the combination of the dust collection bin 300 and the rotating brush 800, the cleaning of the surface of the photovoltaic panel is realized.

[0034] Referring to FIGS. 3 to 5, the dust collection bin 300 further includes an opening and closing device. The above-mentioned opening and closing device is at the bottom of the dust collection bin 300. When the dust collection bin 300 is located on the photovoltaic panel, the opening and closing device is closed. When the dust collection bin 300 is located outside the photovoltaic panel, the opening and closing device can be opened, and through the opened opening and closing device, deposits such as dust and sand inside the dust collection bin 300 can be discharged to the outside.

[0035] In order to ensure power generation efficiency, solar power generation panels are often designed to be inclined at a certain angle with respect to the mounting surface. At the same time, since the surface of the solar power generation panel is a smooth plane, when the vehicle body 100 drives the cleaning device to travel, it is necessary to overcome the sliding due to the gravity of the robot itself. When the dust collection bin 300 moves outside the solar power generation panel, the opening and closing device of the dust collection bin 300 opens, and the attached matter is discharged outside the dust collection bin 300. The weight during the travel of the cleaning device can be reduced, the side slip of the robot can be reduced, the energy consumption during the travel of the robot can be saved, and the usage time of the robot can be extended.

[0036] When the opening and closing device of the dust collection bin 300 opens, the dust and sand in the dust collection bin 300 are discharged, the designed volume of the dust collection bin 300 can be reduced, and further the weight of the cleaning device can be reduced and the cost can be reduced.

[0037] Referring to FIGS. 3 to 5, the housing 200 includes a first housing main body 210 and a connection plate 220. The first housing main body 210 and the connection plate 220 are detachably connected by fastening screws and are covered together above the rotating brush 800. The dust collection bin 300 includes a first plate body 310, a second plate body 320, and a support plate 340. The above-mentioned first plate body 310, second plate body 320, and connection plate 220 are connected in a stepped manner. The end of the connection plate 220 can be connected to the edge of the first housing main body 210 by fastening screws or rivets so that the dust collection bin 300 and the housing 200 are connected. The support plate 340 is the bottom of the dust collection bin 300 and includes a support bottom plate 341 and a support side plate 342. One side of the support bottom plate 341 is connected to the bottom of the support side plate 342, and the other side can be in close contact with the edge of the first plate body 310.

[0038] The first plate body 310 is the front side wall of the dust collection bin 300. The second plate body 320 is the upper wall of the dust collection bin 300 and is arranged opposite to the support bottom plate 341. The support side plate 342 is the rear side wall of the dust collection bin 300 and is arranged opposite to the aforementioned first plate body 310.

[0039] Since there is a distance between the support side plate 342 and the second plate body 320, the above-described opening is formed, and it becomes easy to collect deposits into the dustbin 300 through the opening.

[0040] The opening and closing device includes a support plate 340 and a connected drive member. The above support plate 340 includes a connected support bottom plate 341 and a support side plate 342. The drive member is connected to the support side plate 342 and can drive the rotation of the support side plate 342. Since the support side plate 342 can move the support bottom plate 341, the support bottom plate 341 can be in close contact with or separated from the lower edge of the first plate body 310, thereby forming an openable and closable discharge port.

[0041] In another embodiment, the opening and closing device includes a support plate 340 and a drive member. The above support plate 340 is the bottom of the dustbin 300, and the drive member is connected to the support plate 340 and drives the support plate 340 to move along a straight line, and the support plate 340 is movably in close contact with the side wall of the dustbin 300. When the dustbin 300 is located on the solar power generation panel, the support plate 340 is in an initial state and is in close contact with the lower edge of the first plate body 310. When the dustbin 300 is located outside the solar power generation panel, the drive member moves the support plate 340 to separate the support plate 340 from the lower edge of the first plate body, thereby forming the above-described openable and closable discharge port. Specifically, the support plate 340 may be disposed obliquely or horizontally. The drive member may be a linear movement mechanism such as a cylinder, a linear motor, or a rack and pinion.

[0042] Referring to FIGS. 5 to 8, the first housing body 210 is a sheet metal part, which is formed into an arch-shaped structure by bending the entire sheet. Since the first plate body 310, the second plate body 320 and the connecting plate 220 are formed into a stepped structure by bending the entire sheet, the above-mentioned entire sheet is defined as the second housing body. The support plate 340 is formed by bending the entire sheet to form a support bottom plate 341 and a support side plate 342. By manufacturing the first housing body 210, the second housing body and the support plate 340 through the bending process, the manufacturing process can be simplified, the processing and assembly efficiency can be improved, the manufacturing cost can be reduced, and at the same time, the strength of the first housing body 210, the second housing body and the support plate 340 can be guaranteed, and the service life of the cleaning device can be extended.

[0043] Referring to FIG. 5, when the cleaning device travels by the drive of the vehicle body 100, since there is a gap between the support bottom plate 341 and the solar power generation panel, the support bottom plate 341 is located above the solar power generation panel. The periphery of the solar power generation panel is surrounded by a frame, and since the above-mentioned frame is slightly higher than the solar power generation panel, it is restricted so that there is a gap between the lowest position of the support bottom plate 341 and the solar power generation panel. When the cleaning device straddles the adjacent solar power generation panels, the collision between the support plate 340 and the frame can be avoided, thereby protecting both the robot and the solar power generation panel.

[0044] Referring to FIGS. 3 and 4, the housing 200 further includes a first side plate 230. The above-mentioned first side plate 230 is connected to the end of the first housing body 210 by a fastening screw. The dust collection bin 300 further includes a second side plate 330, and the second side plate 330 is connected to the end of the second housing body by a fastening screw. That is, the ends of the first plate body 310, the second plate body 320 and the connecting plate 220 are all connected to the second side plate 330.

[0045] The first side plate 230, the first housing body 210, and the connection plate 220 form the aforementioned housing 200. The end of the rotary brush 800 is rotatably connected to the first side plate 230 via a rotary bearing, realizing the assembly of the rotary brush 800 and the housing 200. The second side plate 330, the first plate body 310, the second plate body 320, and the support plate 340 constitute the aforementioned dust collection bin 300. The end of the support side plate 342 is rotatably connected to the second side plate 330, realizing the assembly of the support plate 340.

[0046] Referring to FIGS. 5 and 9, the drive member is attached to the second side plate 330 of the dust collection bin 300. The above drive member includes a steering gear 350 and a transmission pair. The steering gear 350 is attached to the inside of the second side plate 330 and connected to the upper end of the support side plate 342 via a transmission pair 351. The steering gear 350 drives the support side plate 342 to rotate at an angle via the transmission pair 351. At the same time, the support side plate 342 can synchronously rotate the support bottom plate 341 connected thereto, so that the edge of the support bottom plate 341 separates from the first plate body 310. At this time, the discharge port is opened, and deposits such as dust and sand in the dust collection bin 300 can be discharged from the discharge port. After the deposits in the dust collection bin 300 are discharged, the steering gear 350 drives the support side plate 342 to rotate in the reverse direction, resets the support bottom plate 341 by the support side plate 342, and closes the discharge port by closely adhering to the edge of the first plate body 310.

[0047] The drive member of this embodiment can be a high-precision servo motor. At the same time, the transmission pair 351 includes a synchronous toothed belt and a toothed transmission wheel with high transmission accuracy. By using the steering gear 350 and the transmission pair 351 with high movement accuracy, the movement accuracy of the support plate 340 can be improved, and the opening and closing of the discharge port can be accurately controlled.

[0048] Referring to FIGS. 5 and 9, the robot includes a data processing device and at least one distance sensor (not shown), and both the steering mechanism 350 and the distance sensor are electrically connected to the data processing device. The above-mentioned distance sensor is attached to the front end of the vehicle body 100 to collect the real-time distance between the distance sensor and the solar power generation panel, and transmit the collected signal to the data processing device. The data processing device determines whether the dust collection bin 300 is located on the surface of the solar power generation panel based on the real-time distance signal of the distance sensor. If so, the vehicle body 100 continues to travel. Otherwise, the data processing device controls the steering mechanism 350 to drive the rotation of the support side plate 342, rotates the support bottom plate 341 by a certain angle by the support side plate 342, separates the support bottom plate 341 from the first plate body 310, and forms the above-mentioned discharge port.

[0049] Referring to FIGS. 5 and 9, since the solar power generation panel includes a panel and a frame surrounding the periphery of the panel, the above-mentioned frame is slightly higher than the surface of the panel. When the distance sensor is attached to the bottom of the vehicle body 100 and arranged close to the front end of the vehicle body 100, when the vehicle body 100 moves to the frame, the distance sensor can collect a changed signal. Since the dust collection bin 300 is arranged at the front end of the vehicle body 100, the data processing device determines that the dust collection bin 300 is located outside the solar power generation panel at this time based on the signal change of the distance sensor.

[0050] Referring to FIGS. 3 and 9, the dust collection bin 300 further includes an inspection door 360. The above-mentioned inspection door 360 is detachably connected to the outside of the second side plate 330. Since the end of the rotating shaft of the steering mechanism 350 protrudes outside the second side plate 330, a belt transmission pair 351 adapted thereto is attached to the outside of the second side plate 330. Therefore, the detachably attached inspection door 360 facilitates the assembly and inspection of the steering mechanism 350 and the transmission pair 351.

[0051] Referring to FIGS. 3 to 5, the dust collection bin 300 further includes a third housing body 400. The third housing body 400 is detachably connected to the outside of the second housing body by fastening screws. Since the first plate body 310 and the second plate body 320 are connected in a stepped manner, when the third housing body 400 is covered outside the first plate body 310 and the second plate body 320, an airtight exhaust cavity 410 can be formed between the third housing body 400 and the second housing body.

[0052] Several first exhaust holes 321 are opened in the first plate body 310 and / or the second plate body 320. The exhaust cavity 410 communicates with the dust collection bin 300 through the first exhaust holes 321, enabling the air in the dust collection bin 300 to flow into the exhaust cavity 410. At least two second exhaust holes 420 are opened in the third housing body 400. The exhaust cavity 410 can communicate with the outside through the second exhaust holes 420, enabling the air in the exhaust cavity 410 to flow to the outside of the cleaning device via the second exhaust holes 420.

[0053] By covering the outside of the first plate body 310 and the second plate body 320, the third housing body 400 can prevent particulate matter such as external sand from falling into the first exhaust holes 321 and avoid clogging of the air passage of the first exhaust holes 321. Air flows into the exhaust cavity 410 through the first exhaust holes 321 and then flows to the outside of the cleaning device through the second exhaust holes 420. Therefore, after the air is double-filtered by the first exhaust holes 321 and the second exhaust holes 420, more impurities such as dust floating in the air can be deposited in the dust collection bin 300 and the exhaust cavity 410, thereby improving the cleaning effect of the cleaning robot.

[0054] Referring to FIGS. 4 to 6, the first exhaust holes 321 of this embodiment are opened in the second plate body 320 and are distributed on one side of the second plate body 320 away from the third housing body 400. Correspondingly, since the opening position of the second exhaust holes 420 is above the second plate body 320, the opening position of the second exhaust holes 420 is slightly higher than the opening position of the first exhaust holes 321.

[0055] The second plate body 320 is the upper wall of the dust collecting bin 300, and since the first exhaust hole 321 is formed in the second plate body 320, when particulate matter mixed in the air moves upward and flows into the first exhaust hole 321, it is easier for the particulate matter to fall to the bottom of the dust collecting bin 300 due to its own gravity. Therefore, when the air in the dust collecting bin 300 flows into the inside of the exhaust cavity 410 through the first exhaust hole 321, more particulate matter such as dust and sand mixed in the air can be filtered by the first exhaust hole 321, and more particulate matter accumulates in the dust collecting bin 300. The opening position of the second exhaust hole 420 is slightly higher than the second plate body 320, and since the second exhaust hole 420 is formed in the vertical portion of the third housing body 400, it is easy for the air in the exhaust cavity 410 to flow outside the third housing body 400, and it is possible to prevent external sand and particulate matter from falling into the second exhaust hole 420 and causing blockage of the air passage.

[0056] Since the first exhaust holes 321 are distributed on one side of the second plate body 320 away from the third housing body 400, the air discharged from the dust collecting bin 300 gathers at the first exhaust holes 321. When the air in the exhaust cavity 410 flows into the second exhaust holes 420, the air passage through which the air flows increases, and fine particulate matter such as dust floating in the air can be deposited on the side of the second plate body 320 close to the third housing body 400, thereby further improving the cleaning effect of the robot.

[0057] Referring to FIGS. 4 and 5, the deflector plate 500 is connected to the lower end of the opening. Since the opening of the dust collecting bin 300 is in a negative pressure state, when the deflector plate 500 is used to limit the intake area at the lower end of the opening, air and deposits floating in the air can flow into the dust collecting bin 300 along the deflector plate 500. Therefore, it is possible to avoid particulate matter from falling between the dust collecting bin 300 and the rotating brush 800, thereby improving the efficiency and effect of cleaning.

[0058] Since the baffle 610 is connected to the upper end of the opening, when the rotating brush 800 rotates to the baffle 610, the baffle 610 can limit the particulate matter adhering to the brush bristles. As a result, after the particulate matter is separated from the rotating brush 800, it is adsorbed to the opening. At the same time, the baffle 610 can also block a part of the particulate matter moving upward driven by centrifugal force. As a result, the particulate matter is collected inside the dust bin 300.

[0059] Referring to FIGS. 4 and 7, at least two scraping teeth 611 are provided at an end of the baffle 610 close to the brush bristles. When the brush bristles of the rotating brush 800 pass through the scraping teeth 611, the baffle 610 can block the particulate matter adhering to the brush bristles and can remove foreign matters such as hair, feathers, and ropes entangled in the brush bristles by the scraping teeth 611, thereby enhancing the cleaning effect of the rotating brush 800.

[0060] Referring to FIGS. 4 and 5, since the second plate body 320 and the connecting plate 220 are formed by bending the second housing body, the baffle 610 is fixed at the bending portion of the second plate body 320 and the connecting plate 220 and is arranged to extend along the axial direction of the rotating brush 800. In order to facilitate the installation of the baffle 610 and enhance the strength of the bending portion of the second plate body 320 and the connecting plate 220, a reinforcing member 620 is connected above or below the baffle 610. The reinforcing member 620 of the present embodiment is fixed above the baffle 610 and is arranged to extend along the axial direction of the rotating brush 800.

[0061] Referring to FIGS. 4 and 5, in order to avoid vibration at the connection portion between the rigid baffle 610 and the rigid reinforcing member 620, a buffer member 630 is provided between the baffle 610 and the reinforcing member 620. In the present embodiment, the material of the buffer member 630 is preferably rubber or silicone. When the brush bristles of the rotating brush 800 pass through the scraping teeth 611 of the baffle 610, the buffer member 630 can buffer the force between the baffle 610 and the reinforcing member 620 and reduce vibration.

[0062] Referring to FIGS. 4, 5 and 7, the deflector 500 includes connected arc segments 510 and a planar segment 520. The arc segment 510 is located at the opening of the dust collecting bin 300 and at the upper part of the supporting side plate 342. One end of the planar segment 520 is connected to the end of the arc segment 510, and the other end is disposed obliquely toward the lower end of the rotating brush 800, so that the planar segment 520 is located below the opening.

[0063] The downwardly inclined planar segment 520 brings its end closer to below the rotating brush 800. When the rotating brush 800 exerts a force on the deposits on the solar panel, the deposits move toward the opening of the dust collecting bin 300 under the action of centrifugal force. As a result, part of the deposits such as dust and sand lifted by the rotating brush 800 is blown into the dust collecting bin 300 by the airflow, and part of it falls onto the planar segment 520 due to its gravity and is driven into the dust collecting bin 300 along the surface of the planar segment 520. In the present application, the inclination angle of the planar segment 520 can be specifically designed according to the inclination angle of the solar panel and the size of the rotating brush 800, and is not particularly limited here.

[0064] Since the opening of the dust collecting bin 300 is in a negative pressure state, by using the arc segment 510 located at the upper part of the supporting side plate 342, it is easy for the deposits to gather in the dust collecting bin 300. In this embodiment, the upper part of the supporting side plate 342 is a cylindrical structure. By the arc segment 510 being in close contact with the upper part of the supporting side plate 342, interference between the arc segment 510 and the supporting side plate 342 is avoided during the process of the rudder actuator 350 rotating the supporting side plate 342. At the same time, the supporting side plate 342 can be used to apply a supporting force to the deflector 500, thereby improving the connection strength and stability of the deflector 500.

[0065] Referring to FIG. 4, when the cleaning device is driven by the vehicle body 100 and travels along the surface of the photovoltaic panel, there is a gap between the lowest point of the planar segment 520 and the photovoltaic panel. As a result, the deflector 500 is located above the photovoltaic panel. The periphery of the photovoltaic panel is surrounded by a frame, and since the above-mentioned frame is slightly higher than the surface of the photovoltaic panel, it is restricted so that there is a gap between the lowest position of the deflector 500 and the photovoltaic panel. When the deflector 500 straddles the adjacent photovoltaic panels, collision between the deflector 500 and the frame can be avoided, thereby protecting both the robot and the photovoltaic panel.

[0066] Referring to FIGS. 5 and 6, the cleaning device further includes a two-axis motor 720, a mounting frame 700, and a fixed frame 710. The two-axis motor 720 includes two opposing protruding shafts, and a rotating brush 800 is connected to each protruding shaft. Therefore, by using the two-axis motor 720, it is possible to realize simultaneous cleaning of the surface of the photovoltaic panel by two sets of rotating brushes 800, thereby improving the cleaning efficiency. The two-axis motor 720 is fixed to the mounting frame 700 such that the two protruding shafts protrude from both sides of the mounting frame 700. At the same time, the fixed frame 710 is connected to a side wall of the mounting frame 700 by a tightening screw to realize relative fixation between the fixed frame 710 and the mounting frame 700.

[0067] Referring to FIGS. 5 to 7, since a communicating housing 200 and a dust collecting bin 300 are covered outside each rotating brush 800, when the housing body is fixedly connected to the mounting frame 700 and the fixed frame 710, the two housings 200 are respectively connected to both side walls of the mounting frame 700 by tightening screws, and the two dust collecting bins 300 are respectively connected to both side walls of the fixed frame 710 by tightening screws. Since the first plate body 310 and the second plate body 320 of the dust collecting bin 300 are connected to the side surface of the fixed frame 710, the two opposing side surfaces of the fixed frame 710 serve as the side walls of the dust collecting bin 300.

[0068] Two rotating brushes 800 are respectively connected to the two protruding shafts of the two-axis motor 720. As a result, the combined length of the two housing bodies covering the outside of the rotating brushes 800 is relatively long. Since the housing body has a sheet metal part structure, by using the mounting frame 700 and the fixing frame 710 to fix the housing 200 and the dust collecting bin 300 respectively, a supporting force can be applied to the housing body, thereby reducing the bending deformation of the housing body and improving the strength and stability of the housing body. In addition, on the premise of increasing the cleaning area and improving the cleaning efficiency by joining two sets of housing bodies, the processing and manufacturing of the housing body can be facilitated, the manufacturing difficulty can be reduced, and the processing efficiency can be improved.

[0069] Referring to FIGS. 3 and 6, outside the mounting frame 700, a handle 730 for facilitating the assembly of the cleaning device and the vehicle body 100 is connected. Since the mounting frame 700 is located at the center of two sets of housing bodies, when assembling the cleaning device using the handle 730, the assembly of the cleaning device and the vehicle body 100 can be facilitated by two sets of connection assemblies distributed symmetrically. At the same time, since the mounting frame 700 has relatively high strength and hardness, when assembling the cleaning device using the handle 730, the housing body will not deform, thereby avoiding the deformation and damage of the cleaning device during assembly.

[0070] Referring to FIGS. 3, 4 and 9, the side wall of the housing body includes a first side plate 230 and a second side plate 330, and the first side plate 230 and the second side plate 330 are located on the same plane. After the first side plate 230 is pre-fixed to the end of the first housing body 210 by a fastening screw, the second side plate 330 is connected to the first side plate 230 by a position limiting assembly and fixed to the end of the second housing body by a fastening screw. The above-mentioned position limiting assembly can limit the relative positions of the first side plate 230 and the second side plate 330 and improve the assembly accuracy.

[0071] Referring to FIGS. 9 and 10, the position limiting assembly includes a first locking block 231 and a first locking block 331 that fits therewith. The first locking block 231 is fixed to the side wall of the first side plate 230, and the first locking block 331 is fixed to the opposing side wall of the second side plate 330. The first locking block 231 can lock with the first locking block 331 along a first direction. In this embodiment, the first direction is preferably the Z-axis direction.

[0072] In this embodiment, the first locking block 331 is docked with the first locking block 231 along the Z-axis direction to realize the limitation of the degrees of freedom of the first side plate 230 and the second side plate 330 along the X-axis and Y-axis directions. By the fitting of the first locking block 331 and the first locking block 231, the first side plate 230 and the second side plate 330 can be pre-fixed, and the assembly accuracy of the first side plate 230 and the second side plate 330 is improved.

[0073] Referring to FIGS. 9 and 10, the position limiting assembly further includes a second locking block 233 and a second locking groove 332 that fits therewith. A position limiting groove 232 is opened inward from the side wall of the first side plate 230. The locking block is fitted into the position limiting groove 232 and can slide along the opening direction, whereby a part of the second locking block 233 can protrude from the position limiting groove 232. In this embodiment, the second locking block 233 includes a locking body and a locking head. The locking head is connected to the locking body, and the size specification of the locking head is smaller than that of the locking body. The position limiting groove 232 includes a first groove body and a second groove body that communicate with each other. The opening size of the first groove body described above conforms to the locking head, and the opening size of the second groove body conforms to the locking body.

[0074] An elastic member 234 is provided between the second locking block 233 and the position limiting groove 232. In this embodiment, the elastic member 234 is preferably a coil spring. One end of the elastic member 234 is connected to the locking body of the second locking block 233, and the other end abuts against the inner wall of the second groove body. The elastic member 234 presses the locking head of the second locking block 233 to protrude from the first groove body and fit into the second locking groove 332.

[0075] On the side wall of the second side plate 330, the above-mentioned second locking groove 332 is recessed and opened inward, and the second locking block 233 can abut against the second locking groove 332 along the second direction. In this embodiment, the second direction is preferably the X-axis direction. When the second locking block 233 and the second locking groove 332 abut along the X-axis direction, the degrees of freedom of the first side plate 230 and the second side plate 330 along the Z-axis direction and the Y-axis direction can be restricted. That is, the assembly accuracy of the first side plate 230 and the second side plate 330 can be improved, and the stability of the connection location can be improved.

[0076] The above-mentioned position limiting assembly can select the combination of the first locking block 231 and the first locking block 331 alone, can select the combination of the second locking block 233 and the second locking groove 332 alone, and can also select the combination of the first locking block 231 and the first locking block 331 and the combination of the second locking block 233 and the second locking groove 332 at the same time.

[0077] Referring to FIGS. 9 and 10, after the first side plate 230 of this embodiment is fixed to the end of the first housing body 210, the second side plate 330 is attached along the Z-axis direction, and the first locking block 231 and the first locking block 331 engage along the Z-axis direction. In the process of the second side plate 330 moving along the Z-axis, the second side plate 330 is in close contact with the side wall of the first side plate 230. At this time, the second side plate 330 applies a thrust to the second locking block 233 to completely fit the second locking block 233 into the position limiting groove 232, and at the same time, the elastic member 234 is in a compressed state. After the second locking groove 332 of the second side plate 330 moves to a position opposite to the second locking block 233, the elastic member 234 can convert its elastic force into a thrust to drive the movement of the second locking block 233, so that the locking head of the second locking block 233 is fitted into the second locking groove. At this time, the first locking block 231 fits with the first locking block 331, and the second locking block 233 abuts against the second locking groove 332, thereby realizing the pre-fixation of the first side plate 230 and the second side plate 330, and ensuring the accuracy of the relative position between the first side plate 230 and the second side plate 330. Then, by fixing the second side plate 330 to the end of the second housing body with a tightening screw, the assembly of the first side plate 230 and the second side plate 330 is realized.

[0078] Referring to FIG. 1, since the vehicle body can drive the cleaning device to travel along the surface of the solar power generation panel, the structure of the vehicle body can refer to the following prior art to ensure the stability of the robot during cleaning.

[0079] Based on the suction cup crawler drive mechanism and the solar power generation panel cleaning robot of Publication No. CN112657991A, the vehicle body 100 includes a suction cup crawler drive mechanism.

[0080] Based on the crawler tensioning device and the crawler type traveling device of Publication No. CN111942489A, the crawler tensioning devices are fixedly attached to two side walls of the vehicle body 100.

[0081] Based on the crawler belt and the crawler-type traveling device of the announcement No. CN114104131A, two or more wheels are provided on both the left and right sides of the vehicle body 100, and each of the crawler belts is externally fitted to a plurality of the wheels on one side of the vehicle body.

[0082] As described above, the cleaning device and the robot provided in this application have been introduced in detail. In this specification, the principle and embodiments of this application have been described using specific examples. The description of the above embodiments is only used to assist in understanding the method and the gist of the present invention. At the same time, for those skilled in the art, based on the gist of this application, there may be points that are changed in specific embodiments and application ranges. In summary, the content of this specification should not be understood as a limitation to the present invention.

Claims

1. A cleaning device, which is used to clean the surface of an object to be cleaned, and the cleaning device includes a housing, a rotating brush, a dust collecting bin, a deflector, a baffle, and an opening / closing device, wherein the housing is a cylindrical object, the rotating brush is rotatably connected within the housing, the dust collecting bin is connected to the housing, and the dust collecting bin includes an opening and at least two first exhaust holes, the opening faces the rotating brush, and the first exhaust holes communicate with the outside of the dust collecting bin, the deflector is connected to the lower end of the opening and extends towards the bottom of the rotating brush, the baffle is connected to the upper end of the opening and is arranged opposite to the deflector, and a passage for communicating the housing and the dust collecting bin is formed between the baffle and the deflector, the opening / closing device is at the bottom of the dust collecting bin, when the dust collecting bin is located on the surface of the object to be cleaned, the opening / closing device is closed, and when the dust collecting bin is located outside the surface of the object to be cleaned, the opening / closing device can be opened. A cleaning device characterized by this.

2. The opening / closing device further includes a support plate and a driving member, the support plate is at the bottom of the dust collecting bin and can be movably and closely attached to the side wall of the dust collecting bin, the driving member is attached to the dust collecting bin and connected to the support plate and is used to drive the movement or rotation of the support plate, when the support plate is driven, a discharge port is formed at the bottom of the dust collecting bin. The cleaning device according to claim 1, characterized by this.

3. The support plate includes a support bottom plate and a support side plate, the support bottom plate is a flat plate, a bent plate or a curved plate, the upper end of the support side plate is connected to the driving member, and the lower end is connected to the support bottom plate, when the driving member rotates, the support side plate can rotate the support bottom plate, and when the driving member is stationary, one end of the support bottom plate is attached to the side wall of the dust collecting bin or forms the side wall of the dust collecting bin and the discharge port. The cleaning device according to claim 2, characterized by this.

4. The driving member includes a steering gear and a transmission pair, the steering gear is electrically connected to a data processing device and is installed within the dust collecting bin, the steering gear is connected to the support plate through the transmission pair and is used to drive the movement of the support plate. The cleaning device according to claim 2, wherein the transmission pair is a gear transmission pair or a belt transmission pair.

5. The deflector plate an arcuate segment connected to the lower end of the opening, and a flat segment having one end connected to the arcuate segment and the other end extending toward the bottom of the rotary brush, the cleaning device according to claim 1, characterized in that it comprises.

6. When the dust collecting bin is located on the surface of the object to be cleaned, there is a distance between each of the opening and closing device and the deflector plate and the surface of the object to be cleaned, the cleaning device according to claim 1, characterized in that.

7. The housing a first housing body covering the upper part of the rotary brush, and a connection plate detachably connected to the edge of the first housing body, The dust collecting bin includes a support plate, a second plate body, and a first plate body, The support plate includes a support bottom plate and support side plates, and the lower end of the support side plates is connected to the support bottom plate, The second plate body is disposed opposite to the support bottom plate and connected to the connection plate, The first plate body is disposed opposite to the support side plates and connected to the second plate body, The opening is formed between the support side plates and the second plate body, When the support plate is driven, a discharge port is formed between the support plate and the first plate body, and when the support bottom plate is in close contact with the first plate body, the discharge port is sealed, the cleaning device according to claim 1, characterized in that.

8. The housing further includes a first side plate, The rotary brush is rotatably connected to the first side plate, The dust collecting bin further includes a second side plate, The second side plate is located on the same plane as the first side plate, and the deflector plate is connected to the second side plate, the cleaning device according to claim 1, characterized in that.

9. Further comprising a position limiting assembly, the dust collecting bin is detachably connected to the housing via the position limiting assembly, the cleaning device according to claim 1, characterized in that.

10. The housing includes a first side plate, The dust collecting bin includes a second side plate, the second side plate is located on the same plane as the first side plate, The position limiting assembly includes a first locking block and a first locking block, The first locking block is connected to the first side plate, The first locking block is connected to the second side plate, and the first locking block can lock the first locking block. And / or On the side wall of the first side plate facing the second side plate, a downwardly concave position limiting groove is provided. On the side wall of the second side plate facing the first side plate, a downwardly concave second locking groove is provided. The position limiting assembly includes a second locking block and further includes an elastic member. The second locking block is slidably mounted in the position limiting groove and abuts against the second locking groove. One end of the elastic member is connected to the second locking block, and the other end abuts against the inner wall of the position limiting groove. The cleaning device according to claim 9, wherein a first direction in which the first locking block is locked to the first locking block and a second direction in which the second locking block abuts against the second locking groove are perpendicular to each other.

11. It further includes a third housing body detachably covered above the dust collection bin and the connection plate. The third housing body, the upper surface of the dust collection bin, and the connection plate surround to form a sealed exhaust cavity. At least two of the first exhaust holes are provided in the second plate body, at least two second exhaust holes are provided in the third housing body, and when the rotary brush rotates, the air in the housing flows into the dust collection bin through the passage and sequentially passes through the first exhaust hole and the second exhaust hole and flows to the outside of the third housing body. The cleaning device according to claim 7, wherein this is a feature.

12. The cleaning device is A reinforcing member provided above the baffle and arranged opposite to the baffle, And a buffer member in close contact between the baffle and the reinforcing member. The cleaning device according to claim 1, characterized by further comprising this.

13. Scraping teeth evenly distributed are provided at the edge of the baffle facing the rotary brush. When the rotary brush rotates, the brush bristles of the rotary brush can be scraped by the scraping teeth. The cleaning device according to claim 1, characterized by this.

14. A robot, A vehicle body capable of traveling on the surface of the object to be cleaned, And a cleaning device according to any one of claims 1 to 13 connected to the vehicle body. The robot is characterized by including this.

15. It further includes a two-axis motor. The two-axis motor includes two protruding shafts, and each of the protruding shafts is connected to a rotary brush of the cleaning device. The robot according to claim 14, characterized by this.

16. A data processing device, and a distance sensor electrically connected to the data processing device, further comprising: The distance sensor is attached to the front end of the vehicle body to collect the real-time distance between the distance sensor and the surface of the object to be cleaned. Here, the forward direction of the vehicle body is defined as the front, The opening / closing device includes a driving member, the driving member is electrically connected to the data processing device, and the data processing device determines whether the dust collection bin is on the surface of the object to be cleaned based on the real-time distance. If not, the data processing device controls the driving member to open the opening / closing device. The robot according to claim 14, characterized in that.

17. Further comprising two sets of connection assemblies, the two connection assemblies are symmetrically distributed with respect to the central axis of the vehicle body, and each connection assembly includes: A fixing plate connected to the housing and having a sliding groove formed therein, A first fixing rod having a boss provided at one end and the other end connected to the vehicle body, The sliding groove includes a first end portion and a second end portion, the first end portion is located below the second end portion, the boss is adapted to the first end portion, and the first fixing rod can be engaged with the second end portion. The robot according to claim 14, characterized in that.

18. The connection assembly includes: A second fixing rod connected to the vehicle body, And a concave groove recessed inwardly at an end of the fixing plate, When the first fixing rod is engaged with the second end portion, the second fixing rod is engaged in the concave groove. The robot according to claim 17, characterized in that.

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