CN108326869A - A kind of remote control type sweeping robot for the photovoltaic panel that tiles - Google Patents

Abstract

The invention discloses a kind of remote control type sweeping robots for the photovoltaic panel that tiles, belong to photovoltaic panel clearing apparatus field, technical problems to be solved, which are existing sweeping robot run trace and cleaning track, cannot flexibly be arranged and cannot detect automatically run trace and error correction；Its structure includes the rack and supply unit being arranged in rack, clearing apparatus and running gear, further includes remote terminal and the control unit being arranged in rack and run trace detection device；Clearing apparatus includes the hairbrush driving device being assemblied in rack and rotatable brush roll, and hairbrush driving device can drive brush roll rotation to realize cleaning photovoltaic panel；Running gear includes travel driving unit and the walking mechanism that is made of multiple traveling wheels；Remote terminal is capable of the work of remote-controlled walking driving device and hairbrush driving device.Running stroke can be flexibly set by remote terminal and clean stroke, the pre- anti-deflection of run trace can be detected by run trace detection device automatically.

Description

A remote-controlled cleaning robot for tiling photovoltaic panels

technical field

The invention relates to the field of photovoltaic panel cleaning devices, in particular to a remote-controlled cleaning robot for tiling photovoltaic panels.

Background technique

The tile installation method photovoltaic power station is installed on the ground or on the roof, and a large number of photovoltaic power generation modules and photovoltaic power generation module power supplies are installed in a certain direction. The tiled installation method of photovoltaic power stations can be designed according to the shape and terrain of the land. The photovoltaic arrays of the same output voltage level are arranged in multiple rows in the east-west layout. The installation height of each array is mostly between 3 meters and 5 meters, and the width is about 18 meters. To about 20 meters, the distance between each array is about 3 meters to 5 meters, and the power is output to back-end equipment such as inverters and transformers through the combiner box, and the output power is connected to the grid or used directly. Photovoltaic panels installed in tiled photovoltaic power stations are easily covered by dust and pollutants. Photovoltaic panels covered by dust and pollutants will reduce power generation efficiency by about 20%, so roof tiled photovoltaic power stations need to be cleaned regularly Dust to ensure efficient power generation. At present, the cleaning devices for photovoltaic panels in flat photovoltaic power stations mainly include sweeping robots, vehicle-mounted sweepers, and sprinkler washing methods. In these solutions, the cleaning robot often senses the walking distance through the position sensing device installed on the cleaning robot during the cleaning process. To control the walking of the cleaning robot, it is not subject to manual control. Although it saves manpower, the cleaning process cannot be changed flexibly and must be cleaned according to the preset itinerary; at the same time, the existing cleaning robot lacks the detection and error correction of the walking track. When the trajectory deflection occurs during the walking process of the cleaning robot, it cannot be corrected in time.

How to provide a system that can be easily installed in a tiled photovoltaic power station, support users to flexibly control cleaning and walking methods, and can automatically detect walking tracks and correct errors is a technical problem that needs to be solved.

Contents of the invention

The technical task of the present invention is to address the above deficiencies, to provide a remote-controlled cleaning robot for tiling photovoltaic panels, to solve the problem that the existing cleaning robot's walking track and cleaning track cannot be flexibly set, and cannot automatically detect the walking track and correct errors question.

Technical task of the present invention is realized in the following manner:

A remote-controlled cleaning robot for tiling photovoltaic panels, including a frame and a power supply device installed on the frame, a cleaning device and a walking device, and also includes a remote control terminal, a control unit installed on the frame, and a walking track detection device; the cleaning device includes a brush driving device mounted on the frame and a rotatable brush roller, the brush driving device is connected to the brush stick in transmission, and the brush driving device can drive the brush roller to rotate to realize cleaning the photovoltaic panel; The traveling device includes a traveling drive device and a traveling mechanism composed of a plurality of traveling wheels. Each traveling wheel is rotatably assembled on the frame in such a way that its axial direction is parallel to the axial direction of the brush roller. Two sets of traveling wheels arranged side by side at intervals, the traveling driving device is assembled on the frame and respectively connected to each group of traveling wheels. Go straight or turn on the board; the walking track detection device is assembled between the walking drive device and the running mechanism, and the walking track detection device cooperates with the control unit to find and correct the deflection of the walking mechanism when going straight; the remote control terminal is wirelessly connected to the control unit, and the control unit Connected with the brush driving device and the walking driving device, the remote control terminal can remotely control the work of the walking driving device and the brush driving device; the power supply device is respectively connected to the above-mentioned control unit, the walking driving device and the brush driving device.

Remotely control the walking driving device through the remote control terminal to adjust the traveling mode of the traveling mechanism, including forward, backward, left and right; through the remote control terminal remote control the brush driving device, thereby adjusting the rotation and cleaning mode of the brush roller, including clockwise rotation , anticlockwise rotation and stop rotation; the trajectory of the walking mechanism when the cleaning robot is going straight is detected by the walking track detection device. When the walking mechanism deflects, the control unit controls the walking drive device in time according to the detected deflection signal to correct the deflection of the walking mechanism . The walking and cleaning methods are controlled by the remote control terminal, which can support users to flexibly choose the walking and cleaning methods according to their needs.

Further, one road wheel in the first road wheel set is the active road wheel, the other road wheels are driven road wheels, one road wheel in the second road wheel set is the active road wheel, and the other road wheels are passive road wheels, and The active traveling wheels in the first traveling wheel group and the active traveling wheels in the second traveling wheel group are arranged diagonally; the traveling driving device includes two traveling driving motors, which are respectively the first traveling driving motor and the second traveling driving motor, the second traveling driving motor A traveling drive motor is connected to the active traveling wheel in the first traveling wheel set, and the second traveling driving motor is connected to the active traveling wheel in the second traveling wheel set; the above-mentioned first traveling driving motor and the second traveling driving motor The cooperation can drive the two driving wheels to rotate at the same speed or at a differential speed so as to drive the traveling mechanism to go straight or turn on the photovoltaic panel.

When the first traveling driving motor and the second traveling driving motor have the same speed, the traveling mechanism runs straight; when there is a differential speed between the first traveling driving motor and the second traveling driving motor, the traveling mechanism turns.

Further, the road wheels in the first road wheel set and the road wheels in the second road wheels are active road wheels; the road driving device includes a plurality of road driving motors, each road driving motor corresponds to one active road wheel, each The traveling driving motor is connected to the corresponding active traveling wheel, and the above traveling driving motor cooperates to drive the active traveling wheel to rotate at the same speed or at a differential speed so as to drive the traveling mechanism to go straight or turn on the photovoltaic panel.

When the above-mentioned traveling drive motors are at the same speed, the traveling mechanism runs straight, and when there is a differential speed between the above-mentioned traveling driving motors, the traveling mechanism turns.

Further, the walking trajectory detection device includes a plurality of encoders, each encoder corresponds to a walking drive motor, each encoder is arranged on the output shaft of the corresponding walking drive motor, and the encoder can detect the corresponding walking drive The speed of the motor.

The encoder detects the speed of the traveling drive motor. When it is detected that there is a differential speed between the traveling drive motors during the straight running of the traveling mechanism, it is determined that the traveling mechanism is deflected, and the corresponding traveling driving motor is controlled by the control unit to adjust its speed. , so that the travel drive motors rotate at the same speed.

Further, the remote control terminal includes a housing, a second controller and a wireless signal sending unit arranged in the housing, a rocker arranged on the housing, a walking speed regulating knob, a cleaning speed regulating knob and a cleaning switch, the rocking rod, the walking The speed regulating knob, the cleaning speed regulating knob and the cleaning switch are all connected to the second controller, and the second controller is connected to the wireless signal sending unit; the control unit includes a first controller and a wireless signal receiving unit, and the first controller is respectively connected to the wireless signal The signal receiving unit, the walking driving device, the brush driving device and the walking track detection device are connected, and the wireless signal receiving unit and the wireless signal sending unit exchange data through wireless connection.

The remote lever is a remote lever with front, rear, left and right swings, and the forward, backward, left and right turns of the walking mechanism can be adjusted by shaking the rocker back and forth; The cleaning knob regulates the brush driving device to adjust the rotating speed of the brush roller; the opening or closing of the brush driving device is regulated by the cleaning switch.

Further, the cleaning device also includes a wiper blade and a height adjustment mechanism for the wiper blade. The wiper blade is arranged under the frame through the height adjustment mechanism of the wiper blade. The axis of the wiper blade is parallel to the axis of the brush roller. The water board adjustment mechanism can automatically adjust the height of the wiper board to realize the contact between the wiper board and the top surface of the photovoltaic panel.

When the photovoltaic panels are rinsed with water, it is easy to generate water accumulation on the top surface of the photovoltaic panels, and the cleaning method of the brush roller is not easy to clean the water stains thoroughly. , driving the wiper blade to contact with the photovoltaic panel and slide along the top surface of the photovoltaic panel, thereby scraping and washing the water stains on the top surface of the photovoltaic panel. The flat photovoltaic panels may be uneven. The wiper blades are placed under the frame through the height adjustment structure, and the height of the wiper blades can be automatically adjusted in time, so that the wiper blades are always in contact with the top surface of the photovoltaic panels.

Further, the inlet end of the soft water pipe is provided with a water pipe bracket, and the water pipe bracket can limit the outlet end of the soft water pipe to a bent state; the side end edge of the frame parallel to the axis of the brush roller is the first edge of the frame. End edge, the other end edge on the frame parallel to the axis of the brush roller is the second end edge of the frame; the water spray pipe includes the first water spray pipe and the second water spray pipe, the first water spray pipe The water pipe is assembled at the first end edge of the frame and extends along the axial direction of the brush roller, and the second water spray pipe is assembled at the second end edge of the frame and extends along the axial direction of the brush roller ; There are two above-mentioned wipers, respectively the first wiper and the second wiper, and there are two height adjustment mechanisms, respectively the first height adjustment mechanism and the second height adjustment mechanism, the first wiper passes through The first height adjustment mechanism is arranged under the frame and outside the first water spray pipe close to it, and the second wiper blade is arranged under the frame through the second height adjustment mechanism and is located on the second water spray pipe close to it. outside of the tube.

Further, the remote control terminal includes a casing, a second controller and a wireless signal sending unit arranged in the casing, and a rocker arranged on the casing, a walking speed regulating knob, a cleaning speed regulating knob, a cleaning switch and a water pump switch. Rod, walking speed regulating knob, cleaning speed regulating knob, cleaning switch and water pump switch are all connected with the second controller, and the second controller is connected with the wireless signal sending unit; the control unit includes the first controller and the wireless signal receiving unit, the second controller A controller is respectively connected with the wireless signal receiving unit, the walking driving device, the brush driving device and the walking trajectory detecting device, and the wireless signal receiving unit and the wireless signal sending unit exchange data through wireless connection.

Further, the power supply device includes a voltage converter and a power supply cable with a charging interface, the voltage converter is assembled on the frame, the voltage converter is connected to the power supply cable, and the power supply cable can be connected to an external power supply through its charging interface; The power supply cable is limited on the rack through the water pipe bracket.

The external power supply is received through the power supply cable, which avoids the self-weight power supply battery on the rack, reduces the load, and facilitates the flexible walking of the cleaning robot.

A remote-controlled cleaning robot for tiling photovoltaic panels of the present invention has the following advantages:

1. The cleaning driving device drives the brush roller to rotate to realize cleaning, and the walking driving device drives the walking mechanism to realize walking, so that the cleaning work and walking work are relatively independent operations. Through the cooperation of the remote control terminal and the control unit, the walking and walking of the cleaning robot can be manually controlled remotely. Cleaning work is convenient for users to adjust in time according to actual needs;

2. The walking driving device cooperates with the walking mechanism to realize the straight running and turning of the cleaning robot. At the same time, with the cooperation of the walking track detection device, it can detect in time whether the walking mechanism is deflected during the straight running process and correct the deflection in time;

3. The walking track detection device uses an encoder to detect the speed of the corresponding driving wheel, so that it can be analyzed by comparing the speed difference between the driving wheels to see if there is a deflection when the walking mechanism is going straight. The structure is simple and the cost is low;

4. The water spray pipe includes a first water spray pipe and a second water spray pipe. The first water spray pipe is assembled at the edge of the first end of the frame and extends along the axial direction of the brush roller. The second water spray pipe Assembled at the edge of the second end of the frame and extending along the axial direction of the brush roller, so that water spray cleaning can be performed on the traveling direction side and the retreating direction side of the walking track of the cleaning robot;

5. There are two brush rollers, which are driven by a brush drive motor, which saves energy. At the same time, multiple brush rollers cooperate to facilitate cleaning;

6. The power supply device includes a transformer and a cable with an electric plug, which realizes external power supply and reduces the load of the cleaning robot.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings.

Accompanying drawing 1 is a schematic structural diagram of a remote-controlled cleaning robot for tiling photovoltaic panels in Embodiment 1 (excluding terminal equipment);

Accompanying drawing 2 is the control principle block diagram of a kind of remote-controlled cleaning robot that is used for tiling photovoltaic panels in embodiment 1;

Accompanying drawing 3 is the structure diagram of the remote control terminal in a kind of remote control type cleaning robot that is used for tiling photovoltaic panel in embodiment 1;

Accompanying drawing 4 is the structure schematic diagram of a kind of remote control type cleaning robot that is used for tiling photovoltaic panels in embodiment 2;

Accompanying drawing 5 is the block diagram of the control principle of a kind of remote control type cleaning robot that is used for tiling photovoltaic panels in embodiment 2;

Accompanying drawing 6 is the structure diagram of the remote control terminal in a kind of remote control type cleaning robot that is used for tiling photovoltaic panels in embodiment 2;

Accompanying drawing 7 is a schematic structural diagram of a remote-controlled cleaning robot for tiling photovoltaic panels in Embodiment 3 (excluding terminal equipment);

Accompanying drawing 8 is the partial enlarged view of part A in accompanying drawing 7;

In the figure: 1. Frame, 2. Brush drive motor, 3. Brush roller, 4. Drive sprocket, 5. Driven sprocket, 6. Travel mechanism, 7. Travel drive device, 8. Electric control box body, 9. control unit, 10. remote control terminal, 11. power supply unit, 12. water spray pipe, 13. soft water pipe, 14. water pump, 15. water pipe bracket; 16. wiper board, 17. telescopic support frame, 18 , auxiliary fixing rod, 19, rotating shaft, 20, auxiliary support rod;

601, the first traveling wheel, 602, the second traveling wheel, 603, the third traveling wheel, 604, the fourth traveling wheel;

701, the first travel drive motor, 702, the second travel drive motor;

1001, second controller, 1002, wireless signal sending unit, 1003, joystick, 1004, travel speed control knob, 1005, cleaning speed control knob, 1006, cleaning switch, 1007, housing, 1008, water pump switch;

1101, power supply cable, 1102, voltage converter;

1201, the first water spray pipe, 1202, the second water spray pipe, 1203, the water spray hole;

1501, fixed pipe, 1502, support rod;

1701, connecting rod, 1702, return spring.

Detailed ways

A remote-controlled cleaning robot for tiling photovoltaic panels of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Example 1:

As shown in accompanying drawing 1, accompanying drawing 2 and accompanying drawing 3, the present invention is a kind of remote-controlled cleaning robot for tiling photovoltaic panels, including a remote-control terminal 10, a frame 1 and a power supply device 11 arranged on the frame 1 , cleaning device, walking device, control unit 9 and walking trajectory detection device.

Wherein, the cleaning device comprises a brush driving device assembled on the frame 1 and two brush rollers 3, and the two brush rollers 3 are arranged side by side at intervals along the horizontal direction below the frame 1, and the brush roller 3 driving device Comprising a brush drive motor 2 and a brush drive mechanism, the brush drive motor 2 is located above and between the two brush rollers 3, and the brush drive mechanism is composed of a drive sprocket 4, two A driven sprocket 5 and a sprocket chain transmission mechanism of a transmission chain (not shown in the figure), the driving sprocket 4 is rotatably assembled on the output shaft of the brush drive motor 2, and each brush roller 3 A rotatable driven sprocket 5 is respectively assembled on the end, and the transmission chain transmission is connected between the driving sprocket 4 and the above-mentioned two driven sprockets 5. The two brush rollers 3 are driven to rotate synchronously, and the photovoltaic panels are cleaned by the rotating brush rollers 3 .

The above-mentioned sprocket chain transmission mechanism is preferred in this embodiment, and other existing transmission mechanisms can also be used to realize the transmission connection between the brush drive motor 2 and the two brush rollers 3 arranged side by side, such as through the sprocket chain and The transmission mode with gears or the transmission mode with synchronous belt and synchronous pulley.

The traveling device comprises a traveling drive device 7 and a traveling mechanism 6 composed of four traveling wheels, which are respectively a first traveling wheel 601, a second traveling wheel 602, a third traveling wheel 603 and a fourth traveling wheel 604, and each traveling wheel passes through Its axial direction is rotatably assembled on the frame 1 in parallel with the axial direction of the brush roller 3, and the first traveling wheel 601 and the second traveling wheel 602 are coaxially spaced to form the first traveling wheel 601 group, and the third traveling wheel The wheels 603 and the fourth road wheels 604 are coaxially arranged at intervals to form the second road wheel group, and the first road wheel group 601 and the second road wheel group are arranged at intervals; wherein the first road wheels 601 and the third road wheels arranged diagonally 603 is an active traveling wheel, and the second traveling wheel 602 and the fourth traveling wheel 604 are passive traveling wheels. Correspondingly, the travel drive device 7 includes two travel drive motors, which are respectively the first travel drive motor 701 and the second travel drive motor 702, and the first travel drive motor 701 is connected to the active travel wheel in the first travel wheel 601 group. , the second travel drive motor is connected to the active travel wheel in the second travel wheel set; the first travel drive motor 701 and the second travel drive motor 702 cooperate to drive the two active travel wheels to rotate at the same speed or at a differential speed To realize driving traveling mechanism 6 to go straight or turn around on the photovoltaic panel.

Specifically, when the first traveling drive motor 701 and the second traveling driving motor 702 rotate forward at the same speed, the traveling mechanism 6 moves straight along the forward direction; When rotating to, the traveling mechanism 6 moves straight along the reverse direction. When the rotating speed of the first traveling driving motor 701 was greater than the rotating speed of the second traveling driving motor 702, the traveling mechanism 6 turned to the side direction near the first traveling driving motor 701. When the rotational speed of the first traveling driving motor 701 is lower than that of the second traveling driving motor 702 , the traveling mechanism 6 turns to the side direction close to the second traveling driving motor 702 .

The walking trajectory detection device includes two encoders, each encoder corresponds to a walking drive motor, each encoder is arranged on the output shaft of the corresponding walking driving motor, and the encoder is used to detect the speed of the corresponding walking driving motor . The working mode of the encoder is: during the straight running process of the traveling mechanism 6, the two encoders respectively detect the rotating speed of the corresponding traveling drive motor and transmit it to the control unit 9, so that the rotating speed of the two active traveling wheels can be obtained. When the speed of the traveling wheels is different, it is judged that the traveling mechanism 6 deflects during the straight running process. The control unit 9 can adjust the working state of the corresponding traveling drive motor according to the speed difference of the two active traveling wheels, thereby correcting the deflection of the traveling mechanism 6 .

The control unit 9 includes a first controller and a wireless signal receiving unit, the first controller is respectively connected with the above-mentioned walking drive motor, the brush drive motor 2 and the wireless signal receiving unit, and the wireless signal receiving unit is used to receive signals from the remote control terminal 10 .

The remote control terminal 10 includes a housing 1007, a second controller 1001 and a wireless signal sending unit 1002 disposed in the housing 1007, a rocker 1003 disposed on the housing 1007, a walking speed regulating knob 1004, a cleaning speed regulating knob 1005 and The cleaning switch 1006, the rocker 1003, the walking speed control knob 1004, the cleaning speed control knob 1005 and the cleaning switch 1006 are all connected to the second controller 1001, and the second controller 1001 is connected to the wireless signal sending unit 1002. The rocker 1003 can be shaken back and forth, left and right, and by shaking the rocker 1003 forward, backward, left, and right, the instructions of forward, backward, left turn and right turn can be sent to the control unit 9, and the control unit 9 can adjust the speed of the two driving motors after receiving the instructions. The working state includes adjusting the forward rotation, reverse rotation and stop rotation of the walking drive motor; the speed control knob 1004 is used to send a signal to the control unit 9, and the speed of the walking drive motor is adjusted under the control of the control unit 9. Control the walking speed of the traveling mechanism 6; send an open or close signal to the control unit 9 through the cleaning switch 1006, so that the start or close of the brush motor can be adjusted under the control of the control unit 9, so that the rotation or stop of the brush roller 3 can be controlled Rotate; send instructions to the control unit 9 through the cleaning speed regulating knob 1005, and regulate the speed of the brush drive motor 2 under the control of the control unit 9, so as to control the speed of the brush roller 3 to realize the adjustment of the cleaning frequency.

The power supply device 11 includes a voltage converter 1102 and a power supply cable 1101 with a charging interface. The voltage conversion unit is assembled on the frame 1. The voltage converter 1102 is connected to the power supply cable 1101. The power supply cable 1101 can be connected to the power supply cable 1101 through its charging interface. The external power supply is connected; the power supply cable 1101 is limited on the frame 1 through the water pipe bracket 15 .

In this embodiment, both the power supply device 11 and the control unit 9 are assembled in the electric control box 8 , and the power supply cable 1101 and its charging interface go out of the electric control box 8 .

In this embodiment, the working mode of a remote-controlled cleaning robot for tiling photovoltaic panels is as follows: the user turns on the brush drive motor 2 through the brush switch in the remote control terminal 10, and the brush roller 3 rotates. The working state of the two walking drive motors is controlled by the forward shaking of the remote sensing mechanism 6. During the progress of the cleaning robot, the brush roller 3 cleans the photovoltaic panels. Control the walking mechanism 6 to move backward or turn, and the brush roller 3 cleans the other parts of the photovoltaic panel; during the progress of the cleaning robot, the user can adjust the speed of the two walking drive motors by rotating the walking speed control knob 1004, thereby adjusting the cleaning robot. During the cleaning process, the user can adjust the rotation speed of the brush drive motor 2 by rotating the cleaning speed control knob 1005, thereby adjusting the rotation speed of the brush roller 3, thereby adjusting the cleaning frequency.

During the straight-ahead process of the cleaning robot, the two encoders detect the speeds of the corresponding walking drive motors. The rotating speeds of two walking drive motors are identical to avoid running gear 6 deflection in the process of going straight.

As another implementation of this embodiment, the four traveling wheels that can constitute the traveling mechanism 6 are all set as active traveling wheels, and the corresponding driving device includes four traveling driving motors, and each traveling driving motor corresponds to one active traveling wheel. Each travel drive motor is connected to its corresponding active travel wheel, and the four travel drive motors are all connected to the first controller. When adjusting the straight running or turning of the traveling mechanism 6 by shaking the remote lever, the first controller simultaneously regulates the above-mentioned four traveling drive motors.

Correspondingly, four encoders are configured in the walking track detection device, and each output shaft of the driving motor corresponds to an encoder, and the above four encoders are all connected to the first controller. When the traveling mechanism 6 was going straight, it was judged whether the traveling mechanism 6 deflected by analyzing the rotating speeds of the four traveling driving motors. According to the speed situation, the corresponding walking drive motor is regulated.

Example 2:

As shown in accompanying drawing 4, accompanying drawing 5 and accompanying drawing 6, this embodiment is a further improvement on the basis of embodiment 1. The difference between this embodiment and embodiment 1 is: the cleaning device also includes a spraying mechanism, and the spraying mechanism includes Water spray pipe 12, flexible water pipe 13, water pipe support 15 and water pump 14, are formed with a plurality of water spray holes 1203 on the water spray pipe 12, water spray pipe 12 is assembled on the frame 1 and water spray holes 1203 face the photovoltaic panel, spray The water pipe 12, the water pump 14 and the soft water pipe 13 are connected in sequence. The water pipe bracket 15 is arranged on the soft water pipe 13 and can limit the bending state of the soft water pipe 13 when the soft water pipe 13 rotates. The water pump 14 is connected to the power supply device 11 and the control unit 9 respectively. ; The remote control terminal 10 can remotely control the operation of the water pump 14 .

Wherein, the water spray pipe 12 comprises a first water spray pipe 1201 and a second water spray pipe 1202, and the first water spray pipe 1201 is assembled at the first end edge of the frame 1 and extends along the axial direction of the brush roller 3 , the second water spray pipe 1202 is assembled at the edge of the second end of the frame 1 and extends along the axial direction of the brush roller 3 . The cleaning robot can go straight back and forth and can turn. The first end edge and the second end edge of the frame 1 are provided with water spray pipes 12, which can clean the end of the photovoltaic panel that the robot travels during the cleaning robot. The second flushing ensures the cleanliness of the cleaning.

In view of the fact that the first traveling wheels 601 are assembled on the frame 1 and located at the edge of the first end of the frame 1, in order to ensure the spraying effect of the first water spray pipe 1201, the first water spray pipe 1201 surrounds the above-mentioned first water spray pipe 1201. The outer periphery of the walking wheel set is walked, and the second water spray pipe 1202 is wound around the outer periphery of the second traveling wheel set.

The water pipe support 15 is a Y-shaped support composed of a horizontal fixed pipe 1501 and an inclined support bar 1502. The end of the support bar 1502 that is located at the open end of the Y-shaped support is the outer end of the support bar 1502, and the outer end of the support bar 1502 Bend and parallel to the fixed pipe 1501 , a through hole for the soft water pipe 13 to pass through is opened on the outer end of the support rod 1502 , and the inner cavity of the fixed pipe 1501 can allow the soft water pipe 13 to pass through. The outlet end of the soft water pipe 13 passes through the inner cavity of the fixed pipe 1501 and bends down through the through hole on the support rod 1502, so that the outlet of the soft water pipe 13 is connected to the water pump 14, and the water pump 14 communicates with the above-mentioned first through the water pipe. A water spray pipe 1201 communicates with a second water spray pipe 1202 . The inlet end of the soft water pipe 13 can be flexibly rotated. When in use, the inlet of the soft water pipe 13 is connected to a water storage device (such as a pool) or a water supply device (such as a faucet), and the length of the soft water pipe 13 meets the requirements of the flexible water pipe 13 in water storage. Stretch between equipment or water supply equipment and the water pump 14 that moves with running gear 6.

The above-mentioned water pipe support 15 can limit the outlet end of the soft water pipe 13 to be in a bent state, so as to avoid the instability of the soft water pipe 13 during the walking process of the cleaning robot.

Correspondingly, the remote control terminal 10 supports the user to control the spraying condition of the spraying mechanism. A water pump switch 1008 is provided on the casing 1007. The water pump switch 1008 is connected to the second controller 1001. The user can remotely control the start of the water pump 14 through the water pump switch 1008. and off.

In this embodiment, the working mode of a remote-controlled cleaning robot for tiling photovoltaic panels is as follows: the user turns on the water pump 14 through the water pump switch 1008, then the water pump 14 draws water from the external water supply equipment through the soft water pipe 13, and the water passes through the water spray pipe Spray onto the photovoltaic panels to wash the photovoltaic panels; the user turns on the brush drive motor 2 through the brush switch in the remote control terminal 10, and the brush roller 3 rotates, and at the same time, the user controls the working status of the two travel drive motors through the remote lever. The walking mechanism 6 is controlled to move forward by shaking the remote sensing, and the brush roller 3 is combined with the sprayed water to clean the photovoltaic panel during the moving process of the cleaning robot. Or turning, the brush roller 3 cleans other parts of the photovoltaic panel; during the progress of the cleaning robot, the user can adjust the speed of the two walking drive motors by rotating the walking speed control knob 1004, thereby adjusting the walking speed of the cleaning robot; During the cleaning process, the user can adjust the rotation speed of the brush drive motor 2 by rotating the cleaning speed control knob 1005, thereby adjusting the rotation speed of the brush roller 3, thereby adjusting the cleaning frequency.

During the straight-ahead process of the cleaning robot, the two encoders detect the speeds of the corresponding walking drive motors. The rotating speeds of two walking drive motors are identical to avoid running gear 6 deflection in the process of going straight.

Example 3:

As shown in Figure 7, this embodiment is a further improvement on the basis of Embodiment 2. The difference between this embodiment and Embodiment 2 is: the cleaning device also includes a wiper blade 16 and a height adjustment mechanism, and the wiper blade 16 The height adjustment mechanism is arranged under the frame 1, the axis of the wiper blade 16 is parallel to the axis of the brush roller 3, and the height adjustment mechanism can automatically adjust the height of the wiper blade 16 to achieve the top of the wiper blade 16 and the photovoltaic panel. surface contact.

The height adjustment structure includes two telescopic support frames 17 composed of return springs 1702 and inverted L-shaped connecting rods 1701. The connecting rods 1701 include a horizontal part and a vertical part. One end that is positioned at its vertical part on the connecting rod 1701 is the lower end, the top of back-moving spring 1702 is fixed on the frame 1, the bottom end of back-moving spring 1702 is connected with the upper end of connecting rod 1701, and the horizontal part of connecting rod 1701 is connected with the frame 1. Hinged, the lower end of the connecting rod 1701 is fixedly connected with the wiper blade 16, and three telescopic support frames 17 are arranged between the frame 1 and the wiper blade 16 in sequence. Under the action of the telescopic support frame 17, the wiper blade 16 can be arranged below the frame 1 up and down and can always be in contact with the top surface of the photovoltaic panel, so that the wiper blade 16 can Scrape and clean water stains on the top surface of photovoltaic panels.

The above-mentioned height adjustment mechanism is a mechanism with automatic reset function. In practical applications, other automatic resettable mechanisms can also be used to install the wiper blade 16, so as to realize the adjustable height of the wiper blade 16. For example, a reset spring is selected but connected The structure of the rod changes, or select other elastic expansion parts with automatic contraction function to realize automatic reset, or select a linkage rod structure that can automatically lift.

In order to adjust the height of the wiper blade accurately, a position sensor can be set on the wiper blade, the position sensor is connected with the control unit, and the wiper blade is installed through an electric adjustable height adjustment mechanism, such as a cylinder or a motor, a nut and a screw Composed of height adjustment mechanism.

In this embodiment, the wiper board 16 is a silica gel board, and there are two wiper boards 16, which are the first wiper board and the second wiper board, and there are two corresponding height adjustment mechanisms, which are respectively the first height adjustment mechanism and the second height adjustment mechanism, the first wiper blade is set under the frame 1 and outside the first water spray pipe 1201 close to it through the first height adjustment mechanism, and the second wiper blade is adjusted through the second height adjustment mechanism The mechanism is arranged under the frame 1 and outside the second water spray pipe 1202 close to it, so that the cooperation of the first wiper blade and the second wiper blade can make the front side and the rear side of the traveling mechanism 6 on the photovoltaic panel Scrape and wash the ends of the sides.

In order to meet the requirement that the wiper blade 16 is located outside the water spray pipe 12 close to it, a horizontal auxiliary support rod 20 is provided at the connection between the upper end of the frame 1 and the return spring 1702, and one end of the auxiliary support rod 20 is fixed on the frame 1. Above, the other end of the auxiliary support rod 20 is located outside the frame 1 and above the photovoltaic panel, and the upper end of the return spring 1702 is fixedly connected to the auxiliary support rod 20 . At the same time, a vertical auxiliary fixing rod 18 is arranged at the end part hinged with the horizontal part of the connecting rod 1701 on the frame 1, the top of the auxiliary fixing rod 18 is fixed on the frame 1, and the end of the auxiliary fixing rod 18 is located at On the outside of the frame 1, a hinge hole is provided on the horizontal part of the connecting rod 1701, and a hinge hole is provided on the bottom end of the auxiliary fixing rod 18. The hinge hole on the connecting rod 1701 and the hinge hole on the auxiliary fixing rod 18 Horizontally connected and pierced with a rotating shaft 19, the horizontal part of the connecting rod 1701 is hinged with the auxiliary fixed rod 18 through the rotating shaft 19, and the horizontal part of the connecting rod 1701 is hinged with the frame 1 through the cooperation of the auxiliary fixed rod 18 and the rotating shaft 19. Thereby, under the expansion and contraction of the return spring 1702, the connecting rod 1701 can be driven to rotate up and down around the rotating shaft 19, thereby driving the wiper blade 16 to lift up and down.

The above is only one embodiment for realizing that the wiper blade 16 is arranged on the edge of the corresponding frame end, and other existing mechanisms that can realize the above-mentioned arrangement of the wiper blade 16 outside the corresponding water spray pipe can also be used.

In this embodiment, the working mode of a remote-controlled cleaning robot for tiling photovoltaic panels is as follows: the user turns on the water pump 14 through the water pump switch 1008, then the water pump draws water from the external water supply equipment through the soft water pipe 13, and the water passes through the water spray pipe 12 Spray onto the photovoltaic panels to wash the photovoltaic panels; the user turns on the brush drive motor 2 through the brush switch in the remote control terminal 10, and the brush roller 3 rotates, and at the same time, the user controls the working status of the two travel drive motors through the remote lever. The walking mechanism 6 is controlled to move forward by shaking the remote sensing, and the brush roller 3 combines the sprayed water to clean the photovoltaic panel during the cleaning robot's progress, and the wiper 16 scrapes and washes the water stains on the photovoltaic panel. After the robot travels to the preset position, the walking mechanism 6 can be controlled to retreat or turn by shaking the remote sensing, and the brush roller 3 can clean other parts of the photovoltaic panel; during the cleaning robot's travel process, the user can adjust the speed by rotating the travel speed control knob 1004. The speed of the two walking drive motors is used to adjust the walking speed of the cleaning robot; during the cleaning process, the user can adjust the speed of the brush drive motor 2 by rotating the cleaning speed control knob 1005, thereby adjusting the speed of the brush roller 3, thereby adjusting Cleaning frequency.

During the straight-ahead process of the cleaning robot, the two encoders detect the speeds of the corresponding walking drive motors. The rotating speeds of two walking drive motors are identical to avoid running gear 6 deflection in the process of going straight.

Through the above specific implementation manners, those skilled in the technical field can easily realize the present invention. However, it should be understood that the present invention is not limited to the specific embodiments described above. On the basis of the disclosed embodiments, those skilled in the art can arbitrarily combine different technical features, so as to realize different technical solutions. Except for the technical features described in the instructions, all are known technologies by those skilled in the art.

Claims (10)

1. a kind of for the remote control type sweeping robot of photovoltaic panel of tiling, including rack and the power supply dress that is arranged in rack It sets, clearing apparatus and running gear, it is characterised in that further include remote terminal and the control unit being arranged in rack and row Walk track detection device；

Clearing apparatus includes the hairbrush driving device being assemblied in rack and rotatable brush roll, hairbrush driving device and hair Brush rod is sequentially connected, and hairbrush driving device can drive brush roll rotation to realize cleaning photovoltaic panel；

Running gear includes travel driving unit and the walking mechanism that is made of multiple traveling wheels, and each traveling wheel passes through its axial direction Mode arranged side by side is rotatably mounted in rack with the axial direction of brush roll, and multiple above-mentioned traveling wheels form two groups of spacing parallel arrangings and set The traveling wheel group set, travel driving unit are assemblied in rack and are sequentially connected respectively with every group of traveling wheel group, hoofing part dress Setting can drive the synchronized rotation of above-mentioned traveling wheel or differential rotation to keep straight on or turn to realize walking mechanism in photovoltaic panel；

Run trace detection device is assemblied between travel driving unit and walking mechanism, and run trace detection device is single with control Member cooperation is it can be found that and correct deflection when walking mechanism straight trip；

Remote terminal is wirelessly connected with control unit, and control unit is connect with hairbrush driving device and travel driving unit, is remotely controlled Terminal is capable of the work of remote-controlled walking driving device and hairbrush driving device；

Supply unit is respectively that above-mentioned control unit, travel driving unit are connected with hairbrush driving device.

2. a kind of remote control type sweeping robot for the photovoltaic panel that tiles according to claim 1, it is characterised in that first A traveling wheel is positive transport wheel in traveling wheel group, other traveling wheels are driven row traveling wheel, one in the second traveling wheel group Traveling wheel is positive transport wheel, other traveling wheels are passive walking wheel, and the positive transport wheel and second in the first traveling wheel group Positive transport wheel in traveling wheel group is diagonally arranged；

Travel driving unit includes two travel driving motors, respectively the first travel driving motor and the second hoofing part electricity Machine, the positive transport wheel in the first travel driving motor and the first traveling wheel group are sequentially connected, second of travel driving motor with Positive transport wheel in second traveling wheel group is sequentially connected；Above-mentioned first travel driving motor and the cooperation of the second travel driving motor Can drive two positive transport wheels at the same speed rotation or differential rotation with realize drive walking mechanism in photovoltaic panel straight trip or It turns to.

3. according to a kind of claim remote control type sweeping robot for the photovoltaic panel that tiles according to claim 1, It is characterized in that the traveling wheel in the traveling wheel and the second traveling wheel in the first traveling wheel group is positive transport wheel；

Travel driving unit includes multiple travel driving motors, and each travel driving motor corresponds to a positive transport wheel, each Travel driving motor and corresponding positive transport wheel are sequentially connected, and above-mentioned travel driving motor cooperation can drive above-mentioned master Rotation or differential rotation drive walking mechanism keeping straight on or turning in photovoltaic panel to dynamic traveling wheel to realize at the same speed.

4. a kind of remote control type sweeping robot for the photovoltaic panel that tiles according to claim 2 or 3, it is characterised in that row It includes multiple encoders to walk track detection device, and each encoder corresponds to a travel driving motor, and each encoder is respectively provided with On the output shaft of corresponding travel driving motor, encoder can detect turning for corresponding travel driving motor Speed.

5. a kind of remote control type sweeping robot for the photovoltaic panel that tiles according to claim 1,2 or 3, it is characterised in that The second controller and wireless signal transmission unit and be arranged on shell that remote terminal includes shell, is arranged in shell Rocking bar, walking speed governing knob clean speed governing knob and clean switch, and rocking bar, cleans speed governing knob and cleaning at walking speed governing knob Switch is connect with second controller, and second controller is connect with wireless signal transmission unit；

Control unit include the first controller and reception of wireless signals unit, the first controller respectively with reception of wireless signals list Member, travel driving unit, hairbrush driving device are connected with run trace detection device, reception of wireless signals unit and wireless signal Transmission unit carries out data exchange by way of wireless connection.

6. a kind of remote control type sweeping robot for the photovoltaic panel that tiles according to claim 1,2 or 3, it is characterised in that Clearing apparatus further includes spraying mechanism, and spraying mechanism includes sparge pipe, hose and water pump, and multiple water sprays are formed on sparge pipe Hole, sparge pipe is assemblied in rack and hole for water spraying is towards photovoltaic panel, and the import of sparge pipe, the outlet of water pump and hose connect successively Logical, the import of hose can be connected to supply equipment；Water pump is connect with supply unit and control unit respectively, remote terminal energy Enough it is remotely controlled the work of water pump.

7. a kind of remote control type sweeping robot for the photovoltaic panel that tiles according to claim 6, it is characterised in that clean Device further includes by Wiper blade and height adjustment mechanism, and Wiper blade is arranged by height adjustment mechanism in the lower section of rack, and water is scraped The axis of plate and the axis of brush roll are arranged side by side, and height adjustment mechanism can automatically adjust the height of Wiper blade to realize Wiper blade 16 It is contacted with the top surface of photovoltaic panel.

8. a kind of remote control type sweeping robot for the photovoltaic panel that tiles according to claim 7, it is characterised in that soft water The input end of pipe is provided with Water pipe bracket, and the outlet end of hose can be limited to bending state by Water pipe bracket；

The side end edge arranged side by side with the axis of brush roll is the first end edge of rack in rack, in rack with brush roll Axis end side edge arranged side by side be rack the second end edge；

Sparge pipe includes the first sparge pipe and the second sparge pipe, and the first sparge pipe is assemblied in the first end edge of rack and edge The axially extending of brush roll, the second sparge pipe is assemblied in the second end edge of rack and prolongs along the axial direction of brush roll It stretches；

Above-mentioned Wiper blade totally two, respectively the first Wiper blade and the second Wiper blade, height adjustment mechanism totally two, respectively One height adjustment mechanism and the second height adjustment mechanism, the first Wiper blade are arranged by the first height adjustment mechanism under rack Side and the outside for being located at the first sparge pipe being adjacent to, the second Wiper blade are arranged by the second height adjustment mechanism in rack Lower section and the outside for being located at the second sparge pipe being adjacent to.

9. a kind of remote control type sweeping robot for the photovoltaic panel that tiles according to claim 6, it is characterised in that remote control Terminal includes shell, is arranged in shell second controller and wireless signal transmission unit and what is be arranged on shell shake Bar walking speed governing knob, cleans speed governing knob, cleans switch and pump switch, and rocking bar, cleans speed governing rotation at walking speed governing knob Button, cleaning switch and pump switch are connect with second controller, and second controller is connect with wireless signal transmission unit；

Control unit include the first controller and reception of wireless signals unit, the first controller respectively with reception of wireless signals list Member, travel driving unit, hairbrush driving device are connected with run trace detection device, reception of wireless signals unit and wireless signal Transmission unit carries out data exchange by way of wireless connection.

10. according to a kind of remote control type sweeping robot for the photovoltaic panel that tiles according to claim 9, it is characterised in that Supply unit includes electric pressure converter and the power cable with charging interface, and electric pressure converter is assemblied in rack, and voltage turns Parallel operation is connect with power cable, and power cable can be connect by its charging interface with external power supply；Power cable passes through water pipe Holder limits in rack.