Robot for photovoltaic cleaning

Abstract

A robot for photovoltaic cleaning. The robot comprises a vehicle body assembly, comprising a vehicle body part and a center-of-gravity distribution part, the vehicle body part comprising a frame; and a functional assembly, comprising a support part, an adjustment part and an action part, wherein the support part comprises side arms respectively mounted on two sides of the front end and two sides of the rear end of the frame; knuckle support frames are provided at all far ends of the side arms; and the knuckle support frames located on the two sides of the front end extend straight towards the front of a vehicle, and the two separately bend outwards by 90 degrees at the far ends. By means of changing the direction of main shafts, Mecanum wheels are at an angle that enables normal operation, thereby increasing the overall length of the robot, and also naturally improving the capability to span a gap. In this way, the need for manual back-and-forth transporting can be prevented, thereby saving time and effort, and being suitable for wider-range operations.

Description

A photovoltaic cleaning robot TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic cleaning, in particular to a photovoltaic cleaning robot. BACKGROUND

[0002] With the concept of energy saving and environmental protection being deeply rooted in people's minds, many places begin to invest heavily in clean energy fields such as photovoltaic power generation. In actual application, in order to increase the laying area of photovoltaic panels and not occupy the valuable land area of the ground, the photovoltaic panels are usually laid on the roof of a factory building, so that the cleaning of the photovoltaic panels becomes a high-altitude operation, which provides a considerable obstacle to the daily maintenance of the photovoltaic panels.

[0003] The existing cleaning robot generally has the ability of remote walking and cleaning, thereby avoiding many manual high-altitude operation scenarios. However, in actual application, a relatively large gap is usually left between the photovoltaic panels as a passage for maintenance personnel, thereby causing great disturbance to the transfer of most existing robots, which requires manual intervention for carrying and causes low cleaning efficiency. SUMMARY

[0004] In order to solve the problem that the maintenance passage between the photovoltaic panels causes great disturbance to the transfer of most existing robots, which requires manual intervention for carrying and causes low cleaning efficiency, the present application provides a photovoltaic cleaning robot to solve the above problems.

[0005] To achieve the above purpose, the present application provides the following technical scheme:

[0006] A photovoltaic cleaning robot comprises,

[0007] A vehicle body assembly comprising a vehicle body part and a gravity center distribution part;

[0008] The vehicle body part comprises a vehicle frame, the vehicle frame has a bow end and a stern end, guide wheels are arranged on both sides of the bow end of the vehicle frame, drive wheels are arranged on both sides of the stern end of the vehicle frame, the guide wheels and the drive wheels on the same side are connected through a track belt, motors are arranged at the shaft centers of the drive wheels, and the housings of the motors are arranged on both sides of the stern end of the vehicle frame correspondingly;

[0009] The gravity center distribution part comprises a pair of straight-line sliding rails arranged at the bottom end of the vehicle frame and a storage battery arranged above the inside of the vehicle frame;

[0010] The straight-line sliding rails are parallel to each other, and the length direction of the straight-line sliding rails is consistent with the bow-tail direction of the vehicle frame, the top of each straight-line sliding rail is slidably connected with a sliding table, and the top of the sliding table abuts against the bottom of the storage battery;

[0011] The gravity center distribution part further comprises an electric cylinder I installed in the middle of the tail end of the frame, and the telescopic end of the electric cylinder I extends to the inside of the frame to change and maintain the position of the battery on the straight slide rail.

[0012] As a preferred scheme of the present application, the gravity center distribution part further comprises a top plate fixed on the top of the frame by buckles.

[0013] The functional assembly comprises a support part, an adjustment part, and a motion part.

[0014] The support part comprises side arms installed on both sides of the bow end and both sides of the tail end of the frame, respectively, and each of the side arms is provided with a horn support frame at the distal end.

[0015] The horn support frames on both sides of the bow end extend straight in the forward direction, and each of the two is bent outward by 90 degrees at the distal end to form a forked frame with a hollow middle part, and one of the two has a longer extension length in the forward direction than the other.

[0016] The horn support frames on both sides of the tail end extend straight in the rear direction, and each of the two is bent inward by 90 degrees at the distal end to form a forked frame with a hollow middle part.

[0017] As a preferred scheme of the present application, the adjustment part comprises swing arms respectively arranged between the side arms and the horn support frames, and bidirectional synchronous electric cylinders respectively arranged on both sides of the frame.

[0018] The inside of each of the swing arms is correspondingly connected to the distal end of the side arm, the outside of each of the swing arms is correspondingly connected to the inside of one end of the horn support frame, and the two ends of each of the bidirectional synchronous electric cylinders are correspondingly connected to the lower side of the swing arm.

[0019] The motion part comprises shaft seats correspondingly connected to the hollow forked frame of the horn support frame, and the top end of the rotating shaft of the shaft seat penetrates the horn support frame, the inside of each of the shaft seats is horizontally connected to a main shaft, the outside of the main shaft is sleeved with a roller brush, and the roller brush comprises a roller base installed on the outside of the main shaft and bristles densely arranged around the outside of the roller base.

[0020] As a preferred scheme of the present application, one end of the main shaft is connected to a motor II, the other end of the main shaft is connected to a Mecanum wheel, and the diameter of the Mecanum wheel is between the diameter of the roller base and the diameter of the roller brush.

[0021] The motion part further comprises a bracket installed on the top of the distal end of the horn support frame and above the rotating shaft of the shaft seat, respectively, and each of the brackets is internally provided with a rudder engine, and the driving end of each of the rudder engines is correspondingly connected to the rotating shaft of the shaft seat.

[0022] An auxiliary assembly comprises a first vertical pipe rotatably connected to the top of the support, and a second vertical pipe installed in the middle of the top of the top plate;

[0023] The shaft of the first vertical pipe is in the same straight line with the rotating shaft of the shaft seat, the side of the first vertical pipe is parallel to the direction of the main shaft, and the support pipes are installed and communicated at the side of the first vertical pipe, the bottom of the support pipe is uniformly provided with a plurality of holes, the bottom of one end of the support pipe is provided with a support rod, the bottom end of the support rod is rotatably connected to the outside of the main shaft and located between the roller brush and the Mecanum wheel, the top of the first vertical pipe is connected with the swing pipe one through the rotary interface, one end of the swing pipe one is connected with the hose, one end of the hose is communicated with the second vertical pipe, and the top of the second vertical pipe is connected with the swing pipe two through the rotary interface.

[0024] As a preferred scheme of the application, the two sides of the frame are provided with a plurality of load-bearing wheels, and the bottom wheel surface of the load-bearing wheel is in contact with the inner ring surface of the track;

[0025] The top of the sliding table is provided with a pin column, and the bottom of the battery is provided with a column groove matched with the pin column.

[0026] As a preferred scheme of the application, the top of the battery is provided with a sliding groove on both sides, the inside of the sliding groove is matched with a sliding strip, and the top of the sliding strip is respectively installed at the bottom of the top plate.

[0027] As a preferred scheme of the application, the telescopic end of the electric cylinder one is provided with an embedded block, the side of the battery close to the tail end is provided with an embedded groove matched with the embedded block, and when the embedded block and the embedded groove move in the up-down direction, the embedded block and the embedded groove are connected and then disconnected.

[0028] As a preferred scheme of the application, the side arm is located between the guide wheel and the driving wheel on the same side.

[0029] The axial length of the roller brush is less than the distance between the horn-shaped support frames on both sides of the front end of the vehicle.

[0030] The shell of the motor two is respectively connected with the shaft seat.

[0031] As a preferred scheme of the application, it further comprises a scraping assembly, which comprises a support rod installed in the middle of the tail end of the top plate, and a profile strip arranged on both sides of the support rod.

[0032] Two type strips correspond to the parallel main shafts located on both sides of the tail end of the vehicle, the bottom of the type strip is matched with a rubber scraping strip, the top of the type strip is installed with a T-shaped arm on both sides, the side arm of the T-shaped arm is rotatably connected with a clamp, the clamp is detachably connected on the support pipe, the T-shaped arm is located below the side arm and is equipped with a limiting block, one end of the limiting block is correspondingly abutted on the clamp, the T-shaped arm is connected with a tension spring below the limiting block, one end of the tension spring is correspondingly connected on the bottom of the clamp.

[0033] Compared with the prior art, the beneficial effects of the present application are:

[0034] 1、The present application changes the main shaft to the axial direction, which is consistent with the direction of the vehicle frame head-tail line, at this time, the Mecanum wheel will be at a normal working angle, and due to the overall lengthening, the robot can stably climb onto the adjacent photovoltaic panel when passing through the interval, thus avoiding the need for manual transportation, saving time and effort, and being suitable for a larger range of operation.

[0035] 2、The present application connects the cleaning liquid pumping mechanism with the swing pipe, and then sprays cleaning liquid onto the roller brush through the hole in the support pipe, and at the same time, the support pipe can also serve as an auxiliary support structure for the main shaft, reducing the probability of deformation of the main shaft structure, and also providing protection for the stability of the main shaft structure when crossing the photovoltaic panel interval.

[0036] 3、The present application changes and maintains the position of the battery on the linear slide rail by means of the electric cylinder, thereby controlling the gravity distribution part to redistribute the gravity center of the robot, i.e., when initially passing through the interval, the gravity distribution part first moves the battery to the tail end of the vehicle, and when the track is about to touch the adjacent photovoltaic panel, the gravity center is moved to the head end of the vehicle, and then combined with the power of the vehicle frame, the robot can quickly climb onto the adjacent photovoltaic panel under the cooperation of the Mecanum wheel at the tail end of the vehicle.

[0037] 4、The present application converges the main shaft at the tail end of the vehicle, so that the T-shaped arm gradually approaches the support rod from both sides, thereby relying on the limiting support of the support rod under the continuous convergence action, the type strip and the rubber scraping strip are deflected with the contact point of the T-shaped arm side arm and the clamp as the fulcrum, thereby lifting away from the photovoltaic panel, avoiding the rubber scraping strip still touching the surface of the photovoltaic panel, and making the friction between the robot and the photovoltaic panel larger, affecting the normal movement of the Mecanum wheel. BRIEF DESCRIPTION OF DRAWINGS

[0038] Fig. 1 is a schematic view of the three-dimensional structure of the present application;

[0039] Fig. 2 is a schematic view of the vehicle body assembly structure of the present application;

[0040] Fig. 3 is another view of the structure in Fig. 2;

[0041] Fig. 4 is an exploded view of the structure in Fig. 2;

[0042] Fig. 5 is another view of the structure in Fig. 4;

[0043] Fig. 6 is a schematic view of the functional assembly structure of the present application;

[0044] Fig. 7 is a schematic view of the support portion and adjustment portion structure in embodiment 1 of the present application;

[0045] Fig. 8 is another view of the structure in Fig. 6;

[0046] Fig. 9 is a schematic view of the action portion structure in embodiment 1 of the present application;

[0047] Fig. 10 is an exploded view of the structure in Fig. 9;

[0048] Fig. 11 is a schematic view of the Mecanum wheel in embodiment 1 of the present application in a working angle state;

[0049] Fig. 12 is a schematic view of the sweeping assembly structure of the present application;

[0050] Fig. 13 is a schematic view of the assembly structure of part of the sweeping assembly of the present application;

[0051] Fig. 14 is a schematic view of the main shaft in embodiment 3 of the present application in a parallel state.

[0052] Wherein, 1, vehicle body assembly; 101, vehicle frame; 102, guide wheel; 103, drive wheel; 104, motor one; 105, track; 106, load wheel; 107, linear slide rail; 108, slide table; 109, pin post; 110, battery; 111, electric cylinder one; 112, embedded block; 113, embedded groove; 114, top plate; 115, slide groove; 116, slide bar; 2, functional assembly; 201, side arm; 202, swing arm; 203, goat horn support frame; 204, bidirectional synchronous electric cylinder; 205, shaft seat; 206, main shaft; 207, roller brush; 208, motor two; 209, Mecanum wheel; 210, support; 211, rudder engine; 3, auxiliary assembly; 301, vertical pipe one; 302, support pipe; 303, support rod; 304, swing pipe one; 305, hose; 306, vertical pipe two; 307, swing pipe two; 4, sweeping assembly; 401, support rod; 402, profile bar; 403, rubber scraping strip; 404, T-shaped arm; 405, clamp; 406, limit block; 407, tension spring. DETAILED DESCRIPTION

[0053] With reference to the drawings and the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of the present application.

[0054] Embodiment 1

[0055] As shown in FIG. 1-11, the embodiment of the present application provides a photovoltaic cleaning robot, which comprises a vehicle body assembly 1, and the vehicle body assembly 1 comprises a vehicle body part.

[0056] In the embodiment, referring to FIG. 2-3, the vehicle body part comprises a vehicle frame 101, and the vehicle frame 101 has a bow end and a stern end. The two sides of the bow end of the vehicle frame 101 are respectively provided with a guide wheel 102, and the two sides of the stern end of the vehicle frame 101 are respectively provided with a drive wheel 103. The same side guide wheel 102 and the drive wheel 103 are connected through a track 105, and the shaft center of the drive wheel 103 is connected with a motor one 104. The shell of the motor one 104 is correspondingly installed on the two sides of the stern end of the vehicle frame 101.

[0057] The two sides of the vehicle frame 101 are respectively provided with a plurality of load wheels 106, and the bottom wheel surface of the load wheel 106 is in contact with the inner ring surface of the track 105.

[0058] In the embodiment, the steering of the robot can be realized through the differential of the motor one 104, and the advancing and retreating of the robot can be realized through the synchronous rotation of the motor one 104.

[0059] In the embodiment, referring to FIG. 6, the function assembly 2 comprises a supporting part, an adjusting part and a moving part.

[0060] In the embodiment, referring to FIG. 7, the supporting part comprises a side arm 201 respectively installed on the two sides of the bow end and the two sides of the stern end of the vehicle frame 101, and the distal end of the side arm 201 is provided with a horn support frame 203.

[0061] The horn support frame 203 located on the two sides of the bow end extends straight to the front direction of the vehicle, and the distal ends of the two horn support frames 203 are respectively bent outward by ninety degrees and form a forked frame with a hollow middle part. The extending length of one of the two horn support frames 203 to the front direction of the vehicle is greater than the extending length of the other.

[0062] The horn support frame 203 located on the two sides of the stern end extends straight to the rear direction of the vehicle, and the distal ends of the two horn support frames 203 are respectively bent inward by ninety degrees and form a forked frame with a hollow middle part.

[0063] Further, the side arm 201 is located between the same side guide wheel 102 and the drive wheel 103.

[0064] In the embodiment, referring to FIGS. 8-9, the adjusting part comprises swing arms 202 respectively arranged between the side arms 201 and the horn support frames 203, and bidirectional synchronous electric cylinders 204 respectively arranged at both sides of the vehicle frame 101.

[0065] In the embodiment, the inner side of the swing arms 202 is respectively connected to the distal end of the side arms 201, the outer side of the swing arms 202 is respectively connected to the inner side of one end of the horn support frames 203, and the two ends of the bidirectional synchronous electric cylinders 204 are respectively connected to the lower side of the swing arms 202.

[0066] In the embodiment, referring to FIGS. 9-10, the moving part comprises shaft seats 205 respectively connected to the hollow fork frames of the horn support frames 203, the top end of the rotating shaft of the shaft seats 205 penetrates the horn support frames 203, the inside of the shaft seats 205 is respectively connected to main shafts 206 in a transverse direction, the outside of the main shafts 206 is respectively sleeved with roller brushes 207, and the roller brushes 207 comprise roller bases installed on the outside of the main shafts 206 and bristles densely arranged around the outside of the roller bases.

[0067] Further, the axial length of the roller brushes 207 is less than the distance between the horn support frames 203 at both sides of the front end of the vehicle.

[0068] In the embodiment, referring to FIGS. 9-10 again, one end of the main shaft 206 is connected to a motor 208, the shell of the motor 208 is respectively connected to the shaft seat 205, the other end of the main shaft 206 is connected to a Mecanum wheel 209, and the diameter of the Mecanum wheel 209 is between the diameter of the roller base and the diameter of the roller brush 207.

[0069] In actual application, a large gap is usually left between photovoltaic panels as a channel for maintenance personnel, which greatly disturbs the transfer of the robot and causes the cleaning efficiency to be low. When the robot encounters the above situation, referring to FIG. 11, the main shaft 206 is all changed to the state that the axial direction is consistent with the direction of the line connecting the front and rear ends of the vehicle frame 101. At this time, the Mecanum wheel 209 will be at an angle that can normally work, thereby lengthening the overall length and naturally improving the ability to span the interval. In this way, the situation of manual carrying back and forth can be avoided, which saves time and effort and is suitable for larger range of operation.

[0070] In the embodiment, the Mecanum wheel 209 belongs to mature special tire technology, which is widely used in places such as forklifts and remote control vehicles that need to have high mobility. The technical principle is not described here.

[0071] The action part further comprises a support 210 mounted on the top of the distal end of the sheep horn support frame 203 and above the rotating shaft of the shaft seat 205, and a steering engine 211 is mounted in the support 210, and the driving end of the steering engine 211 is connected with the rotating shaft of the shaft seat 205.

[0072] In this embodiment, referring to Fig. 1 again, the auxiliary assembly 3 comprises a first vertical pipe 301 rotatably connected to the top of the support 210 and a second vertical pipe 306 mounted on the top of the top plate 114.

[0073] The shaft of the first vertical pipe 301 is in the same straight line with the rotating shaft of the shaft seat 205, and a support pipe 302 is mounted on the side of the first vertical pipe 301 and communicated with the first vertical pipe 302, a plurality of holes are uniformly arranged on the bottom of the support pipe 302, a support rod 303 is mounted on one end of the bottom of the support pipe 302, the bottom end of the support rod 303 is rotatably connected to the outside of the main shaft 206 and located between the roller brush 207 and the Mecanum wheel 209, a swing pipe 304 is connected to the top of the first vertical pipe 301 through a rotating joint, one end of the swing pipe 304 is connected with a hose 305, one end of the hose 305 is communicated with the second vertical pipe 306, the top of the second vertical pipe 306 is connected with a swing pipe 307 through a rotating joint, the swing pipe 307 is used for connecting with a cleaning liquid pumping mechanism, so that the cleaning liquid can be sprayed on the roller brush 207, and the support pipe 302 can also be used as an auxiliary support structure of the main shaft 206, which reduces the probability of structural deformation of the main shaft 206, and also provides a guarantee for the structural stability of the main shaft 206 when the robot crosses the interval between the photovoltaic panels.

[0074] Embodiment 2:

[0075] Compared with embodiment 1, the difference of this embodiment is that the vehicle body assembly 1 further comprises a gravity distribution part additionally arranged in the vehicle frame 101, so that the robot can cross the interval between the photovoltaic panels more stably.

[0076] In this embodiment, referring to Figs. 2-3 and Figs. 4-5, the gravity distribution part comprises a pair of straight line sliding rails 107 arranged at the bottom of the vehicle frame 101 and a storage battery 110 arranged above the vehicle frame 101.

[0077] The straight line sliding rails 107 are parallel to each other, and the length direction is consistent with the head-tail direction of the vehicle frame 101, and the top of the straight line sliding rail 107 is slidably connected with a sliding table 108, and the top of the sliding table 108 abuts against the bottom of the storage battery 110.

[0078] The gravity center distribution part further comprises an electric cylinder 111 installed in the middle of the tail end of the frame 101, and the telescopic end of the electric cylinder 111 extends to the inside of the frame 101 and is used to change and maintain the position of the battery 110 on the straight rail 107.

[0079] The gravity center distribution part further comprises a top plate 114 fixed on the top of the frame 101 by buckling.

[0080] In combination with the actual technical application in the field, it is found that the battery mass ratio is often the largest in a remote control cleaning robot, and therefore, the battery 110 is designed as a gravity center distributor in this embodiment, and by changing the front and rear position of the battery 110 inside the frame 101, the gravity center position of the robot when crossing the interval is changed, and the stability of passing through is improved.

[0081] Further, the top of the sliding table 108 is provided with a pin column 109 in the middle, and the bottom of the battery 110 is provided with a column groove matched with the pin column 109 on both sides, so as to facilitate the quick docking between the battery 110 and the sliding table 108. Since the application inclination angle of the robot is small in actual use, the battery 110 can be fixed through the simple cooperation of the column and the groove, thereby improving the convenience of use.

[0082] Further, the top of the battery 110 is provided with a sliding groove 115 on both sides, and the inside of the sliding groove 115 is matched with a sliding strip 116, and the top of the sliding strip 116 is respectively installed at the bottom of the top plate 114. Through the above design, the battery 110 can be prevented from accidentally falling out of the inside of the frame 101.

[0083] Further, the telescopic end of the electric cylinder 111 is provided with an embedded block 112, and the middle of the side of the battery 110 close to the tail end is provided with an embedded groove 113 matched with the embedded block 112. When the embedded block 112 and the embedded groove 113 move relatively in the up and down direction, the embedded block 112 and the embedded groove 113 are disconnected in a connected relationship. In this embodiment, while considering the effect of re-distribution of the gravity center, the above three-step design can also realize the quick disassembly of the battery 110, thereby improving the convenience of use.

[0084] Embodiment 3:

[0085] Referring to FIGS. 12-14, the embodiment further comprises a scraping assembly 4 on the basis of the combination of embodiment 1 and embodiment 2, which comprises a supporting rod 401 installed in the middle of the tail end of the top plate 114, and a profiled strip 402 arranged on both sides of the supporting rod 401.

[0086] Two profile strips 402 are parallel to the main shaft 206 located at both sides of the tail end, the bottom of the profile strip 402 is matched with a rubber scraping strip 403, the top of the profile strip 402 is installed with a T-shaped arm 404 at both sides, the side arm of the T-shaped arm 404 is rotationally connected with a clamp 405, the clamp 405 is detachably connected on the support pipe 302, the T-shaped arm 404 is located below the side arm and is connected with a tension spring 407, one end of the tension spring 407 is connected with the bottom of the clamp 405.

[0087] In actual application process, since the cleaning mode mostly uses cleaning liquid for cleaning, the cleaning liquid cannot be dried quickly, thereby causing the cleaning liquid to be partially remained on the light sensitive component on the surface of the photovoltaic panel, and a light spot is formed under sunlight irradiation, in this case, the power generation efficiency is greatly negatively affected, and through the above component, the residual cleaning liquid can be scraped while being washed, thereby avoiding the formation of the light spot, and the service life of the photovoltaic panel is maintained, of course, the application of the above structure also provides another way for the cleaning work, as a supplement to the washing mode, so that the robot is more convenient to use and has stronger applicability.

[0088] In the working process, the cleaning liquid pumping mechanism is connected with the swing pipe 307, and then the cleaning liquid can be sprayed on the roller brush 207, at the same time, the support pipe 302 can be used as an auxiliary support structure of the main shaft 206, thereby reducing the probability of structural deformation of the main shaft 206, and the structural stability of the main shaft 206 is also ensured when the robot crosses the interval of the photovoltaic panel, then the steering of the robot is realized through the differential of the motor 104, and the advance and retreat of the robot are realized through the synchronous rotation of the motor 104, in the normal working process, the two roller brushes 207 at the bow end clean in the posture parallel to the bow end of the vehicle frame 101, and the two roller brushes 207 at the tail end are opened to the outside, at this time, the cleaning area of the robot during driving is greatly expanded, the driving distance of the robot is reduced, and the working efficiency is improved, through the extension and retraction of the bidirectional synchronous electric cylinder 204, the height position of the roller brush 207 is changed under the lever effect, so that the good ground contact state is ensured, in order to ensure the normal cleaning work, the standard of ground contact is that the bristles are in contact with the ground and the Mecanum wheel 209 is not in contact with the ground, at the same time, under the tension of the tension spring 407 and the support of the limiting block 406, the profile strip 402 and the rubber scraping strip 403 are stably arranged on the surface of the photovoltaic panel through the lever effect, so that the scraping purpose of the photovoltaic panel is realized.

[0089] Further, in actual application, there is usually a large gap between photovoltaic panels, which serves as a channel for maintenance personnel, thus causing great disturbance to the transfer of the robot, resulting in low cleaning efficiency. When the robot encounters the above situation, first, the position of the main shaft 206 is changed by the steering engine 211, thereby changing the position of the Mecanum wheel 209. For details, refer to FIG. 11. At this time, the main shaft 206 is changed to the state that the axial direction is consistent with the direction of the head-to-tail line of the vehicle frame 101. At this time, the Mecanum wheel 209 will be at an angle that can normally work. When passing through the gap, first, the battery 110 is moved to the tail end of the vehicle by the gravity center distribution part, and then the vehicle frame 101 continuously moves forward until the Mecanum wheel 209 at the head end is lifted and placed on the adjacent photovoltaic panel. The vehicle frame 101 continuously travels until the vehicle body assembly 1 falls into the gap between the photovoltaic panels. At this time, the four Mecanum wheels 209 will play a role in advancing, driving the whole to continue to move forward. Then, because the side arm 201 is located between the same side guide wheel 102 and the drive wheel 103, the track 105 will first touch the adjacent photovoltaic panel. At this time, combined with the power of the vehicle frame 101 itself, the gravity center is moved to the head end, and then the robot is promoted to climb onto the adjacent photovoltaic panel under the cooperation of the Mecanum wheel 209 at the tail end. In this way, the need for manual transportation back and forth can be avoided, saving time and effort, and being suitable for a larger range of operation.

[0090] Further, when the robot is transferred, especially when the vehicle body assembly 1 is in the gap between adjacent photovoltaic panels, the four Mecanum wheels 209 are in a stressed state. At this time, if the profiled strip 402 and the rubber scraping strip 403 still touch the surface of the photovoltaic panel, the friction between the robot and the photovoltaic panel will inevitably increase, affecting the normal movement of the Mecanum wheel 209. Therefore, in order to avoid the influence of the scraping assembly 4 on the normal rotation of the Mecanum wheel 209, the profiled strip 402 and the rubber scraping strip 403 need to be lifted after the Mecanum wheel 209 moves to the working position. For details, refer to FIGS. 13-14. When the main shaft 206 at the tail end is mutually converged, because the T-shaped arm 404 gradually approaches the support rod 401 from both sides, under the continuous convergence action, the profiled strip 402 and the rubber scraping strip 403 are deflected by the limiting support of the support rod 401, taking the contact point between the side arm of the T-shaped arm 404 and the clamp 405 as the fulcrum, thereby lifting away from the photovoltaic panel and avoiding affecting the normal work of the Mecanum wheel 209.

[0091] Although embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application. The scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A photovoltaic cleaning robot, comprising: Comprising, The vehicle body assembly (1) comprises a vehicle body part and a gravity center distribution part; The vehicle body part comprises a vehicle frame (101) having a bow end and a stern end, both sides of the bow end of the vehicle frame (101) are provided with guide wheels (102), both sides of the stern end of the vehicle frame (101) are provided with drive wheels (103), the same side guide wheels (102) and the drive wheels (103) are connected through a track (105), the shaft center of the drive wheels (103) is connected with a motor one (104), the shell of the motor one (104) is correspondingly installed on both sides of the stern end of the vehicle frame (101); The gravity center distribution part comprises a pair of straight-line slide rails (107) provided at the bottom end of the inside of the vehicle frame (101), and a storage battery (110) provided above the inside of the vehicle frame (101); Wherein, the straight-line slide rails (107) are parallel to each other, the length direction is consistent with the head-tail direction of the vehicle frame (101), the top of the straight-line slide rails (107) is slidably connected with a sliding table (108), the top of the sliding table (108) abuts against the bottom of the storage battery (110); The gravity center distribution part further comprises an electric cylinder one (111) installed in the middle of the stern end of the vehicle frame (101), the telescopic end of the electric cylinder one (111) extends to the inside of the vehicle frame (101) to change and maintain the position of the storage battery (110) on the straight-line slide rails (107).

2. A photovoltaic cleaning robot according to claim 1, characterized in that: The gravity center distribution part further comprises a top plate (114) fixed on the top of the vehicle frame (101) by a buckle; The functional assembly (2) comprises a supporting part, an adjusting part and a moving part; The supporting part comprises side arms (201) respectively installed on both sides of the bow end and both sides of the stern end of the vehicle frame (101), the distal end of the side arms (201) is provided with a horn support frame (203); Wherein, the horn support frames (203) on both sides of the bow end extend straight in the forward direction of the vehicle, and the distal ends of the two are respectively bent outward by ninety degrees, and form a forked frame with a hollow middle part, one of the two has a longer extension length in the forward direction of the vehicle than the other; The horn support frames (203) on both sides of the stern end extend straight in the rear direction of the vehicle, and the distal ends of the two are respectively bent inward by ninety degrees, and form a forked frame with a hollow middle part.

3. A photovoltaic cleaning robot according to claim 2, wherein: The adjusting part comprises swing arms (202) respectively arranged between the side arms (201) and the horn support frames (203), and bidirectional synchronous electric cylinders (204) respectively arranged on both sides of the vehicle frame (101); Wherein, the inside of the swing arms (202) is correspondingly rotatably connected with the distal end of the side arms (201), the outside of the swing arms (202) is correspondingly connected with the inside of one end of the horn support frames (203), and the two ends of the bidirectional synchronous electric cylinders (204) are correspondingly rotatably connected below the swing arms (202). The action part includes shaft seats (205) respectively rotatingly connected in the hollow fork of the goat horn support frame (203), and the rotating shaft top of the shaft seat (205) penetrates the goat horn support frame (203), the inside of the shaft seat (205) is transversely rotatingly connected with a main shaft (206), the outside of the main shaft (206) is sleeved with a roller brush (207), the roller brush (207) includes a roller base installed on the outside of the main shaft (206), and a plurality of bristles are densely arranged on the outside of the roller base.

4. A photovoltaic cleaning robot according to claim 3, wherein: One end of the main shaft (206) is connected with a motor two (208), and the other end of the main shaft (206) is connected with a Mecanum wheel (209), and the diameter of the Mecanum wheel (209) is between the diameters of the roller base and the roller brush (207). The action part further includes supports (210) respectively installed at the top of the distal end of the goat horn support frame (203) and above the rotating shaft of the shaft seat (205), the inside of the support (210) is installed with a rudder (211), and the driving end of the rudder (211) is respectively connected with the rotating shaft of the shaft seat (205); and An auxiliary assembly (3) includes a vertical pipe one (301) respectively rotatingly connected at the top of the support (210) and a vertical pipe two (306) installed at the top of the middle of the top plate (114); The shaft center of the vertical pipe one (301) is in the same straight line with the rotating shaft of the shaft seat (205), the side of the vertical pipe one (301) is parallel to the direction of the main shaft (206), and the side of the vertical pipe one (301) is parallel to the direction of the main shaft (206).

5. A photovoltaic cleaning robot according to claim 4, wherein: The bottom of the support pipe (302) is uniformly provided with a plurality of holes, one end of the support pipe (302) is installed with a support rod (303), the bottom end of the support rod (303) is respectively rotatingly connected on the outside of the main shaft (206) and located between the roller brush (207) and the Mecanum wheel (209), the top of the vertical pipe one (301) is connected with a swing pipe one (304) through a rotary joint, one end of the swing pipe one (304) is connected with a hose (305), one end of the hose (305) is respectively connected with the vertical pipe two (306), and the top of the vertical pipe two (306) is connected with a swing pipe two (307) through a rotary joint. The two sides of the frame (101) are provided with a plurality of load wheels (106), and the bottom wheel surface of the load wheel (106) abuts against the inner ring surface of the track (105).

6. A photovoltaic cleaning robot according to claim 5, wherein: The top of the battery (110) is provided with a pin column (109), and the bottom of the battery (110) is provided with a column groove matched with the pin column (109). The top of the battery (110) is provided with a sliding groove (115), and the inside of the sliding groove (115) is matched with a sliding strip (116), and the top of the sliding strip (116) is respectively installed at the bottom of the top plate (114).

7. A photovoltaic cleaning robot according to claim 4, wherein: The telescopic end of the electric cylinder (111) is provided with an embedded block (112), the battery (110) is provided with an embedded groove (113) in the middle of the side close to the tail end, and the embedded block (112) and the embedded groove (113) are connected when the embedded block (112) and the embedded groove (113) move up and down.

8. A photovoltaic cleaning robot according to claim 4, wherein: The side arm (201) is located between the guide wheel (102) and the driving wheel (103) on the same side; The axial length of the roller brush (207) is less than the distance between the horn support frames (203) on both sides of the front end of the vehicle; The motor housing (208) is connected with the shaft seat (205) respectively.

9. A photovoltaic cleaning robot according to claim 1, wherein: The scraping assembly (4) is also included, which comprises a supporting rod (401) installed in the middle of the tail end of the top plate (114), and profiled strips (402) arranged on both sides of the supporting rod (401); The profiled strips (402) are parallel to the main shafts (206) on both sides of the tail end, the bottom of the profiled strip (402) is provided with a rubber scraping strip (403), the top of the profiled strip (402) is provided with a T-shaped arm (404) on both sides, the side arm of the T-shaped arm (404) is rotatably connected with a clamp (405), the clamp (405) is detachably connected with the supporting pipe (302) respectively, the T-shaped arm (404) is provided with a limiting block (406) below the side arm, one end of the limiting block (406) is abutted on the clamp (405) respectively, the T-shaped arm (404) is connected with a tension spring (407) below the limiting block (406), one end of the tension spring (407) is connected with the bottom of the clamp (405) respectively.

Images