CN113098382A

CN113098382A - Photovoltaic cleaning robot with self-adaptation round brush subassembly

Info

Publication number: CN113098382A
Application number: CN202110486929.XA
Authority: CN
Inventors: 田殷钦; 陈应洪
Original assignee: Shenzhen Monster Robot Co ltd
Current assignee: Shenzhen Monster Robot Co ltd
Priority date: 2021-05-03
Filing date: 2021-05-03
Publication date: 2021-07-09

Abstract

The invention relates to a photovoltaic cleaning robot with an adaptive rolling brush component, which comprises a vehicle body, a track driving component and an adaptive rolling brush component, wherein the adaptive rolling brush component is arranged on the front side of the vehicle body, the photovoltaic cleaning robot cleans through the adaptive rolling brush component, the vehicle body comprises a vehicle frame, the left side and the right side of the vehicle frame are respectively provided with the track driving component, the adaptive rolling brush component is arranged on the outer side of the front side wall of the vehicle frame, the adaptive rolling brush component comprises a rolling brush module, a mounting bracket, a connecting bracket and a lifting module, the rolling brush module is arranged in the mounting bracket, the mounting bracket passes through the linking bridge setting at the front end lateral wall of frame, and the lifting module sets up on the frame, and photovoltaic cleaning machines people lifts up and falls the action to the round brush module through the lifting module to the adaptation has the photovoltaic board working face of difference in height. The invention has the characteristics of convenient use, strong adaptability, high cleaning efficiency, safety and reliability.

Description

Photovoltaic cleaning robot with self-adaptation round brush subassembly

Technical Field

The invention relates to a photovoltaic cleaning robot with a self-adaptive rolling brush assembly.

Background

The sustainable development type and the environmental protection property of solar power generation make the solar power generation become one of the most ideal renewable energy technologies, wherein the photovoltaic power generation is mainly used, the photovoltaic soot deposition effect is one of the biggest problems of the photovoltaic power generation in large-scale application, most photovoltaic power stations with larger scale are established in areas with long sunshine time and less rainwater, and the generated energy can be reduced by 20% -30% under the condition of not cleaning for a long time, so that a great amount of economic loss is caused. Therefore, how to economically and reasonably solve the problem of dust accumulation becomes a key task for the development of the photovoltaic industry.

The photovoltaic panel frame is higher than the photovoltaic panel, and probably pass through photovoltaic briquetting fixed connection between two photovoltaic boards, and the photovoltaic briquetting is higher than the photovoltaic panel frame, and at some photovoltaic power plants, because of the influence of reasons such as topography, also can have certain difference in height between the possible photovoltaic board. If cleaning device fixed connection on the fuselage, when photovoltaic cleaning machines people track traveles in these places that compare in the photovoltaic panel is higher, the fuselage can the perk, drives the round brush perk, keeps away from the photovoltaic panel, has one section clean not region.

Disclosure of Invention

In view of the above problems in the prior art, a primary object of the present invention is to provide a photovoltaic cleaning robot with an adaptive rolling brush assembly, which has the characteristics of convenient use, strong adaptability, high cleaning efficiency, safety and reliability.

The technical scheme of the invention is as follows:

the utility model provides a photovoltaic cleaning robot with self-adaptation round brush subassembly, photovoltaic cleaning robot includes automobile body and track drive assembly, track drive assembly sets up the both sides of automobile body, photovoltaic cleaning robot walks under track drive assembly's drive, still includes self-adaptation round brush subassembly, self-adaptation round brush subassembly sets up the front side of automobile body, photovoltaic cleaning robot passes through self-adaptation round brush subassembly cleans, the automobile body includes the frame, the left side and the right side of frame are provided with one respectively the track drive assembly, self-adaptation round brush subassembly sets up in the front side wall outside of frame, self-adaptation round brush subassembly includes round brush module, installing support, linking bridge and lifting module, the round brush module sets up in the installing support, the installing support passes through the linking bridge sets up the front end lateral wall of frame, the lifting module is arranged on the frame, and the photovoltaic cleaning robot lifts and falls the rolling brush module through the lifting module to adapt to the working surface of a photovoltaic panel with height difference.

The mounting bracket includes mounting panel, first extension board and second extension board, the fixed left end front side that sets up at the mounting panel of first extension board, the fixed setting of second extension board is in the right-hand member front side of mounting panel.

The mounting panel is through two the linking bridge with the left side wall of frame and the anterior rotation in right side wall outside are connected, the left side wall of frame and right side wall outside front portion all are provided with fifth flange bearing, sixth flange bearing and spacing bolt.

The connecting bracket comprises a first connecting plate and a second connecting plate, the left end of the first connecting plate is fixedly connected with the front end of the second connecting plate, and the first connecting plate is fixedly connected with the mounting plate through a fastening screw; be provided with spacing slide, spacing recess and rotation slide on the second connecting plate, the second connecting plate passes through the cooperation location of spacing recess and fifth flange bearing in order to realize with the swing joint of frame, the second connecting plate passes through the sliding connection who rotates slide and sixth flange bearing in order to realize with the rotation of frame is connected, the second connecting plate passes through spacing slide is connected and spacing with the rotation of frame with the sliding connection of spacing bolt.

The limit slide way and the orthographic projection of the rotating slide way are both arc-shaped, and when the second connecting plate rotates anticlockwise for a certain angle, the limit bolt is abutted against the right side wall of the limit slide way.

The round brush module includes brush hair, fixed roll, driven gear, drive gear, round brush wheel, drive gear and round brush motor, wherein, the brush hair sets up on the lateral wall of fixed roll, the both ends of fixed roll are provided with the round brush wheel respectively, the driven gear is fixed to be set up the left end tip of fixed roll, drive gear sets up through fixed subassembly on the first extension board, just drive gear with driven gear meshing transmission, the round brush motor is fixed to be set up on the first extension board, just the output shaft of round brush motor with drive gear connects, drive gear with drive gear meshing transmission.

The round brush module still includes gear dustproof box, the right side opening of gear dustproof box and with first extension board fixed connection, drive gear and driven gear all are located in the gear dustproof box, the left side wall lower part open position of gear dustproof box is provided with the round brush fixed plate, the round brush fixed plate passes through a plurality of fixed columns and first extension board fixed connection.

The fixed subassembly includes first fixing base and second fixing base, first fixing base is fixed to be set up on the first extension board, the second fixing base is fixed to be set up on the round brush fixed plate, drive gear rotates with the fixed axle through first flange bearing to be connected, just the both ends of fixed axle are fixed the setting respectively on first fixing base and the second fixing base.

The left end and the right end of fixed roll are provided with first round brush bearing and second round brush bearing respectively, first round brush bearing is installed in the first bearing fixing base that first extension board right side wall set up, the second round brush bearing is installed in the second bearing fixing base that second extension board left side wall set up.

The first upper bearing seat is fixedly arranged on the right side wall of the first extending plate, and the first lower bearing seat is fixedly connected with the first upper bearing seat through a first fastening screw; the second bearing seat comprises a second upper bearing seat and a second lower bearing seat, the second upper bearing seat is fixedly arranged on the left side wall of the second extension plate, and the second lower bearing seat is fixedly connected with the second upper bearing seat through a second fastening screw.

The lifting module comprises a first lifting connecting rod, a second lifting connecting rod and a rolling brush steering engine, a second flange bearing is arranged at the front end of the first lifting connecting rod, a lifting support is arranged on the rear side wall of the mounting plate, and the lifting support is movably connected with the second flange bearing through a first fastening bolt; the front part of the first lifting connecting rod is provided with a third flange bearing, a second fastening bolt is arranged in the third flange bearing, the second fastening bolt is located on two sides of the first lifting connecting rod and is connected with one end of the second lifting connecting rod respectively, and the other end of the second lifting connecting rod is fixedly connected with a chassis of the frame through a lifting fixing seat.

The rolling brush steering engine is fixedly arranged on a chassis of the frame and located on the rear side of the lifting fixing seat, a driving shaft of the rolling brush steering engine is fixedly connected with a steering wheel, the steering wheel is fixedly connected with one end of a steering arm, a screw bearing is arranged at the other end of the steering arm, the steering arm passes through the screw bearing and is abutted against the upper end face of the rear end of the first lifting connecting rod, the steering arm is abutted against the upper end face of the right end of the second lifting connecting rod under the driving of the rolling brush steering engine, so that the left end of the second lifting connecting rod rises or falls, and the rolling brush assembly is lifted or falls down.

The lifting fixing seat is provided with a fixing hole, a fourth flange bearing is arranged in the fixing hole, a third fastening bolt is arranged on the fourth flange bearing, and the other ends of the second lifting connecting rods are respectively sleeved on the third fastening bolt and located on two sides of the fourth flange bearing.

First lifting connecting rod with be provided with buffer between the chassis of frame, buffer includes the extension spring, first lifting connecting rod front side is close to the position of third flange bearing is provided with connect the via hole, install the upper end of extension spring in the connect the via hole, the lower extreme of extension spring is fixed to be set up on the chassis of frame, the extension spring is in tensile state so that the round brush subassembly of first lifting connecting rod left end combines closely with the photovoltaic board working face.

The invention has the following advantages and beneficial effects: according to the photovoltaic cleaning robot with the self-adaptive rolling brush component, provided by the embodiment of the invention, all photovoltaic panel areas can be cleaned on a photovoltaic array with a bulge, the cleaning effect is enhanced, the slipping condition caused by the reduction of the friction coefficient due to the ash adhesion of a track is reduced, the adaptability to a complex environment is increased, the automation degree is improved, the labor cost is reduced, and the cleaning efficiency is improved.

Drawings

Fig. 1 is a schematic perspective view of a photovoltaic cleaning robot with an adaptive rolling brush assembly according to an embodiment of the present invention.

Fig. 2 is an enlarged schematic view of a position a in fig. 1.

Fig. 3 is a schematic top view of a photovoltaic cleaning robot with an adaptive rolling brush assembly according to an embodiment of the present invention.

Fig. 4 is a schematic front view of a photovoltaic cleaning robot with an adaptive rolling brush assembly according to an embodiment of the present invention.

Fig. 5 is a schematic perspective view of an adaptive rolling brush assembly according to an embodiment of the present invention.

Fig. 6 is a schematic perspective view of another direction of the adaptive rolling brush assembly according to the embodiment of the present invention.

Fig. 7 is an exploded schematic view of a mounting bracket, a connecting bracket, and a lifting bracket according to an embodiment of the present invention.

Fig. 8 is an exploded schematic view of an adaptive rolling brush assembly according to an embodiment of the present invention.

Fig. 9 is an enlarged perspective view of a connection bracket according to an embodiment of the present invention.

Fig. 10 is an enlarged perspective view of the lifting module 204 according to an embodiment of the present invention.

Fig. 11 is an enlarged perspective view of a lifting bracket according to an embodiment of the present invention.

Fig. 12 is an enlarged schematic perspective view of a first lifting link, a second lifting link, and a lifting fixing base provided in an embodiment of the present invention.

Fig. 13 is an enlarged perspective view of a steering engine of a rolling brush according to an embodiment of the present invention.

Fig. 14 is an exploded schematic view of a fixed roller, bristles, a rolling brush wheel, a first bearing fixing seat, a second bearing, and a second bearing fixing seat provided in the embodiment of the present invention.

Fig. 15 is an enlarged schematic structural view of the fixing assembly provided in the embodiment of the present invention, cooperating with the first extending plate and the roller brush fixing plate.

Fig. 16 is a schematic perspective view of a matched three-dimensional structure of a driving gear, a transmission gear and a driven gear according to an embodiment of the present invention.

Fig. 17 is a schematic top view of a photovoltaic cleaning robot according to an embodiment of the present invention, illustrating a cleaning operation performed on a working surface of a photovoltaic panel.

Fig. 18 is a schematic front view of the photovoltaic cleaning robot after the adaptive rolling brush assembly is lifted according to the embodiment of the present invention.

Fig. 19 is a schematic side view of the photovoltaic cleaning robot with the adaptive rolling brush assembly lifted according to the embodiment of the present invention.

Fig. 20 is a schematic front view of a photovoltaic cleaning robot with a buffer device installed thereon according to an embodiment of the present invention.

Fig. 21 is a schematic side view of a turning obstacle crossing performed between photovoltaic panels having a height difference when the photovoltaic cleaning robot provided by the embodiment of the invention is not provided with a lifting module.

Fig. 22 is a schematic top view of a photovoltaic cleaning robot according to an embodiment of the present invention, the photovoltaic cleaning robot performing a cleaning operation between photovoltaic panels having a first height difference.

Fig. 23 is a schematic front view of a photovoltaic cleaning robot according to an embodiment of the present invention, which performs a cleaning operation between photovoltaic panels having a first height difference.

Fig. 24 is a schematic top view of a photovoltaic cleaning robot according to an embodiment of the present invention, illustrating a cleaning operation performed between photovoltaic panels having a second height difference

Fig. 25 is a schematic front view of the photovoltaic cleaning robot according to the embodiment of the present invention, which performs a cleaning operation between photovoltaic panels having a second height difference.

Fig. 26 is a schematic top view of a photovoltaic cleaning robot according to an embodiment of the present invention, when a rolling brush wheel is not provided, cleaning is performed between photovoltaic panels having a height difference.

Fig. 27 is a schematic front view of a photovoltaic cleaning robot according to an embodiment of the present invention, when a rolling brush wheel is not provided, cleaning is performed between photovoltaic panels having a height difference.

Fig. 28 is a schematic top view of a photovoltaic cleaning robot using a universal ball to perform a cleaning operation according to an embodiment of the present invention.

Fig. 29 is a schematic front view of a photovoltaic cleaning robot using a universal ball to perform cleaning operation according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The invention will be further described with reference to the drawings and specific examples.

As shown in fig. 1 to 29: the photovoltaic cleaning robot with the adaptive rolling brush assembly provided by the embodiment of the invention comprises a vehicle body 100 and track driving assemblies 300, wherein the track driving assemblies 300 are arranged on two sides of the vehicle body 100, the photovoltaic cleaning robot is driven by the track driving assemblies 300 to walk, the photovoltaic cleaning robot further comprises the adaptive rolling brush assembly 200, the adaptive rolling brush assembly 200 is arranged on the front side of the vehicle body 100, the photovoltaic cleaning robot cleans a photovoltaic panel working surface through the adaptive rolling brush assembly, the vehicle body 100 comprises a vehicle frame 101, the left side and the right side of the vehicle frame 101 are respectively provided with one track driving assembly 300, the adaptive rolling brush assembly 200 is arranged on the outer side of the front side wall of the vehicle frame 101, the adaptive rolling brush assembly 200 comprises a rolling brush module 201, a mounting bracket 202, a connecting bracket 203 and a lifting module 204, the round brush module 201 is arranged in the mounting bracket 202, the mounting bracket 202 passes through the connecting bracket 203 is arranged on the outer side wall of the front end of the frame 101, the lifting module 204 is arranged on the frame 101, and the photovoltaic cleaning robot lifts up and falls down the round brush module 201 through the lifting module 204 and the round brush wheel 244 to adapt to a photovoltaic panel working surface with a height difference.

The mounting bracket 202 includes a mounting plate 210, a first extension plate 221 and a second extension plate 222, wherein the first extension plate 221 is fixedly disposed at the front side of the left end of the mounting plate 210, and the second extension plate 222 is fixedly disposed at the front side of the right end of the mounting plate 210. Meanwhile, the second extension plate 222 and the mounting plate 210 are integrally formed, so that the firmness of the combination of the second extension plate 222 and the mounting plate 210 can be improved; in addition, the upper end 210 of mounting panel extends forward and is provided with third extension board 210, the right-hand member of third extension board 211 extends to the upper end of second extension board 222, and mounting panel 210, third extension board 211 and second extension board are integrated into one piece to further improve the fastness that second extension board 222 and mounting panel 210 combined together, the fail safe nature is further promoted, and then reaches extension installing support 202 life's purpose.

The mounting plate 210 is connected with the front parts of the outer sides of the left side wall and the right side wall of the frame 101 in a rotating mode through the two connecting supports 203, and the front parts of the outer sides of the left side wall and the right side wall of the frame 101 are provided with a fifth flange bearing 103, a sixth flange bearing 105 and a limiting bolt 104. Since the mounting plate 210 is rotatably connected to the front portion of the outer side of the left and right side walls of the frame 101 through the two connecting brackets 203, the stability and firmness of the mounting bracket 202 in cooperation with the frame 101 are improved.

The connecting bracket 203 comprises a first connecting plate 231 and a second connecting plate 232, the left end of the first connecting plate 231 is fixedly connected with the front end of the second connecting plate 232, and the first connecting plate 231 is fixedly connected with the mounting plate 210 through a fastening screw (not shown in the figure), so that the first-stage assembly and the later-stage disassembly of the first connecting plate 231 and the mounting plate 210 are facilitated, and the firmness of the combination of the first connecting plate 231 and the mounting plate 210 can be improved; be provided with spacing slide 205, spacing recess 206 and rotation slide 208 on the second connecting plate 232, the second connecting plate 232 passes through spacing recess 206 and fifth flange bearing 103's cooperation location in order to realize with the swing joint of frame 101, the second connecting plate 232 passes through the sliding connection of rotation slide 208 and sixth flange bearing 105 in order to realize with the rotation of frame 101 is connected, the second connecting plate 232 passes through spacing slide 205 and spacing bolt 104's sliding connection is connected and spacing in order to realize with the rotation of frame 101.

The orthographic projection of the limiting slide way 205 and the orthographic projection of the rotating slide way 208 are both arc-shaped, the limiting bolt 104 slides in the limiting slide way 205 to realize the limitation of the rotating angle of the rolling brush module 201 relative to the frame 101, the sixth flange bearing 105 slides in the rotating slide way position 208 to realize transverse limiting, and when the second connecting plate 232, namely the connecting support 203, rotates counterclockwise by a certain angle (namely, the maximum angle), the limiting bolt 104 abuts against the right side wall of the limiting slide way 205 to prevent the connecting support 203 from continuing to rotate, so that the safety and reliability performance is improved. When the second connecting plate 232, i.e., the connecting bracket 203, rotates clockwise by a certain angle (i.e., the maximum angle), the limit bolt 104 abuts against the left side wall of the limit slide 205 to prevent the connecting bracket 203 from rotating further. When the limit bolt 104 is removed, the second connecting plate 232, i.e., the connecting bracket 203, may continue to rotate clockwise by a certain angle so that the sixth flange bearing 105 is separated from the rotating chute position 208 to remove the rolling brush module.

The rolling brush module 201 comprises bristles 240, a fixed roller 241, a driven gear 242, a transmission gear 243, a rolling brush wheel 244, a driving gear 245 and a rolling brush motor 246, wherein the bristles 240 are arranged on the outer side wall of the fixed roller 241, the rolling brush wheels 244 are respectively arranged at two ends of the fixed roller 241, the driven gear 242 is fixedly arranged at the left end of the fixed roller 241, the transmission gear 243 is arranged on the first extending plate 221 through a fixing component, the transmission gear 243 is in meshing transmission with the driven gear 242, the rolling brush motor 246 is fixedly arranged on the first extending plate 221, an output shaft 247 of the rolling brush motor 246 is connected with the driving gear 245, and the driving gear 245 is in meshing transmission with the transmission gear 243. That is, the driving gear 245 drives the transmission gear 243 to rotate under the driving of the rolling brush motor 246, so that the transmission gear 243 drives the driven gear 242 to rotate, and further drives the fixed roller 241 in meshing transmission with the driven gear 242 to synchronously rotate, and further drives the bristles 240 to rotate, so as to achieve the purpose of cleaning the working surface of the photovoltaic panel. In addition, the roller brush motor 246 is externally provided with the motor dustproof shell 212, the motor dustproof shell 212 is sleeved on the roller brush motor 246 through an opening formed in the left end of the motor dustproof shell 212, the left end of the motor dustproof shell 212 is fixedly arranged on the first extension plate 221 through fastening screws, assembly and later-stage disassembly are facilitated, and safety and reliability are improved.

The rolling brush module 201 further comprises a gear dust-proof box 248, the right side of the gear dust-proof box 248 is open and fixedly connected with the first extension plate 221, the driving gear 245, the transmission gear 243 and the driven gear 242 are all located in the gear dust-proof box 248, a rolling brush fixing plate 249 is arranged at an opening position of the lower portion of the left side wall of the gear dust-proof box 248, the rolling brush fixing plate 249 is fixedly connected with the first extension plate 221 through a plurality of fixing columns 253, the second fixing seat 252 is connected with the rolling brush fixing plate 249 through the plurality of third mounting holes 258, and therefore the firmness of combination of the second fixing seat 252 and the rolling brush fixing plate 249 can be improved. Specifically, the lower end of the gear dust-proof box 248 is designed to be open and is closed by the dust-proof box bottom cover 213, that is, the lower end of the gear dust-proof box 248 is provided with an opening, the size of the opening is consistent with that of the roller brush fixing plate 249, the left end of the fixing column 253 is fixedly arranged on the right side wall of the roller brush fixing plate 249, and the right end of the fixing column 253 is fixedly arranged on the left side wall of the first extending plate 221; after the roller brush fixing plate 249 and the dust box bottom cover 213 are connected to the gear dust box 248, the driving gear 245, the transmission gear 243 and the driven gear 242 are enclosed inside the gear dust cover 248, the gear dust box 248 and the dust box bottom cover 213 located at the lower end of the gear dust box 248 are arranged outside the left side of the first extension plate 221, so that the driving gear 245, the transmission gear 243 and the driven gear 242 can be protected, external dust or impurities are prevented from entering a gap where the driving gear 245, the transmission gear 243 and the driven gear 242 are combined, and safety and reliability are improved.

The fixing assembly includes a first fixing seat 251 and a second fixing seat 253, the first fixing seat 251 is fixedly disposed on the first extension plate 221, the second fixing seat 253 is fixedly disposed on the roller brush fixing plate 249, the transmission gear 243 is rotatably connected with a fixing shaft 255 through a first flange bearing 254, and two ends of the fixing shaft 255 are fixedly disposed on the first fixing seat 251 and the second fixing seat 252, respectively. Specifically, the first fixing seat 251 is provided with a plurality of first mounting holes 256, and the first fixing seat 251 is fixedly arranged on the left side wall of the first extending plate 221 through the first mounting holes 256, so that the firmness of the combination of the first fixing seat 251 and the first extending plate 221 can be improved; the first fixing seat 251 is further provided with two mounting holes 257, and the right end of the fixing shaft 255 is mounted in the second mounting hole 257; the second fixing seat 252 is provided with a plurality of third mounting holes 258, and the second fixing seat 252 is fixedly arranged on the right side wall of the rolling brush fixing plate 249 through the third mounting holes 258, so that the firmness of combination of the second fixing seat 252 and the rolling brush fixing plate 249 is improved; in addition, the second fixing seat 252 is further provided with a fourth mounting hole 259, and the left end of the fixing shaft 255 is mounted in the fourth mounting hole 259, so that the firmness of the combination of the fixing shaft 255 and the first and second fixing seats 251 and 252 is improved, and the firmness of the combination of the first fixing seat 251 and the first extending plate 221, and the firmness of the combination of the second fixing seat 252 and the rolling brush fixing plate 249 is improved, so that the safety and reliability are further improved.

The left end and the right end of the fixed roller 241 are respectively provided with a first rolling brush bearing 261 and a second rolling brush bearing 262, the first rolling brush bearing 261 is installed in a first bearing fixing seat 271 provided on the right side wall of the first extension plate 221, and the second rolling brush bearing 262 is installed in a second bearing fixing seat 272 provided on the left side wall of the second extension plate 222. Through the above design, that is, the first rolling brush bearing 261 and the second rolling brush bearing 262 are respectively sleeved at the left end and the right end of the fixed roller 241, so that the rolling brush module 201 can operate stably; meanwhile, the first bearing fixing seat 271 is fixedly arranged on the first extension plate 221, and the second bearing fixing seat 272 is fixedly arranged on the second extension plate 222, so that the firmness of the combination of the fixing roller 241 and the mounting bracket 202 is improved, the safety and reliability are improved, and meanwhile, the assembly in the early stage and the maintenance in the later stage are facilitated.

The first bearing seat 271 includes a first upper bearing seat 273 and a first lower bearing seat 274, the first upper bearing seat 273 is fixedly disposed on the right sidewall of the first extension plate 221, and the first lower bearing seat 274 is fixedly connected to the first upper bearing seat 273 by a first fastening screw (not shown in the figure); the second bearing seat 272 includes a second upper bearing seat 275 and a second lower bearing seat 276, the second upper bearing seat 275 is fixedly disposed on the left side wall of the second extension plate 222, and the second lower bearing seat 276 is fixedly connected to the second upper bearing seat 275 through a second fastening screw (not shown).

The lifting module 204 comprises a first lifting connecting rod 281, a second lifting connecting rod 282 and a rolling brush steering engine 283, wherein a second flange bearing 284 is arranged at the front end of the first lifting connecting rod 281, a lifting support 220 is arranged on the rear side wall of the mounting plate 210, and the lifting support 220 is movably connected with the second flange bearing 284 through a first fastening bolt 285; a third flange bearing 286 is arranged at the front part of the first lifting link 281, a second fastening bolt 287 is arranged in the third flange bearing 286, two sides of the second fastening bolt 287, which are positioned on the first lifting link 281, are respectively connected with one end of the second lifting link 282, and the other end of the second lifting link 282 is fixedly connected with the chassis 102 of the frame 101 through a lifting fixing seat 288. Specifically, the lifting bracket 220 includes a lifting plate 214, and a first fixing protrusion 215 and a second fixing protrusion 216 disposed on a rear sidewall of the lifting plate 214, wherein one or more first connection holes 217 are disposed on the lifting plate 214, and the lifting plate 214 is fixedly connected to the mounting plate 210 through the first connection holes 217, so as to facilitate assembly and later disassembly; the first fixing protrusion 215 is provided with a second coupling hole 218 therein, the second fixing protrusion 216 is provided with a third coupling hole 219 therein, the front end of the first lifting link 281 is positioned in the first fixing protrusion 215 and the second fixing protrusion 216, and a first fastening bolt 285 of a second flange bearing 284 positioned at the front end of the first lifting link 281 is positioned in the second coupling hole 218 and the third coupling hole 219 and is fastened by a nut, so that the first lifting link 281 is movably coupled to the fixing plate 210 by the cooperation of the first fastening bolt 285, the second flange bearing 284, and the lifting bracket 220. Meanwhile, the front portion of the first lifting link 281 is provided with a third flange bearing 286, the third flange bearing 286 is provided with a second fastening bolt 287, the second fastening bolt 287 is located at both sides of the third flange bearing 286 (i.e. at both sides of the first lifting link 281), and is respectively connected with one end of a second lifting link 282, and the other end of the second lifting link 282 is fixedly connected with the chassis 102 of the frame 101 through a lifting fixing seat 288, so that the first lifting link 281 is connected with the chassis of the frame 101 through the third flange bearing 286, the second fastening bolt 287, the two second lifting links 282 and the lifting fixing seat 288, and has the characteristics of convenient installation and high safety and reliability, and meanwhile, the first lifting link 281 is rotatably connected with the upper end of the second lifting link 282 through the cooperation of the third flange bearing 286 and the second fastening bolt 287, that is, that the left end of the first lifting link 281 can be lifted and lowered, when the left end of the first lift link 281 ascends, the right end thereof descends, and when the left end of the first lift link 281 descends, the right end thereof ascends.

The rolling brush steering gear 283 is fixedly arranged on the chassis 102 of the frame 101 and is positioned at the rear side of the lifting fixing seat 288, a driving shaft (not shown in the figure) of the rolling brush steering gear 283 is fixedly connected with a rudder disc 289, the rudder disc 289 is fixedly connected with one end of a steering gear arm 290, the other end of the steering gear arm 290 is provided with a screw bearing 291, the steering gear arm 290 abuts against the upper end face of the rear end of the first lifting connecting rod 281 through the screw bearing 291, and the steering gear arm 290 abuts against the upper end face of the right end of the second lifting connecting rod 282 under the driving of the rolling brush steering gear 283 so as to enable the left end of the second lifting connecting rod 282 to ascend or descend, thereby enabling the rolling brush assembly 200 to ascend or descend. Through the above design, that is, by installing the rolling brush steering engine 283 on the chassis 102 of the vehicle frame 101, the rudder arm 290 connected with the driving shaft can be driven to rotate by the rotation of the driving shaft of the rolling brush steering engine 283, meanwhile, the screw bearing 291 is arranged at one end of the steering engine arm 290 far away from the rolling brush steering engine 283, and the screw bearing 291 is abutted against the upper side surface of the rear end of the first lifting connecting rod 281, so that the rear end of the first lifting connecting rod 281 automatically realizes descending or ascending actions under the rotation of the steering engine arm 290, and further the front end of the first lifting connecting rod 281 realizes ascending or descending actions, thereby driving the rolling brush assembly 200 to ascend or descend, so that the photovoltaic cleaning robot cannot be clamped when turning between photovoltaic plates with height difference, and the adaptability of the photovoltaic cleaning robot is also improved.

A fixing hole (not shown) is formed in the lifting fixing seat 288, a fourth flange bearing 292 is arranged in the fixing hole, the fourth flange bearing 292 is provided with a third fastening bolt 293, and the other ends of the two second lifting connecting rods 282 are respectively sleeved on the third fastening bolt 293 and located on two sides of the fourth flange bearing 292.

A buffer device is arranged between the first lifting link 281 and the chassis 102 of the frame 101, the buffer device includes a tension spring 294, a connecting through hole 295 is arranged at a position on the front side of the first lifting link 281, which is close to the third flange bearing 286, an upper end of the tension spring 294 is installed in the connecting through hole 295, and a lower end of the tension spring 294 is fixedly arranged on the chassis 102 of the frame 101.

According to the photovoltaic cleaning robot with the self-adaptive rolling brush component, when the photovoltaic cleaning robot runs in a straight line, the rudder arm 290 is located at a higher position, the movement of the rolling brush module 201 is not limited, the tension spring 294 plays a buffering role in the swinging of the rolling brush module 201, and the influence of the shaking caused by the floating rolling brush module 201 on the running of the photovoltaic cleaning robot is reduced. When the rolling brush module 201 meets a photovoltaic panel with an upward or downward height difference, the brush hair 240 can be in contact with the working surface of the photovoltaic panel, all areas can be cleaned, and meanwhile, the rolling brush wheel 244 ensures that the photovoltaic panel cannot cross due to too large resistance when meeting a higher obstacle. When the photovoltaic cleaning robot is about to turn, the steering engine 283 works to lift the rolling brush module 201 to a certain height, the rolling brush module turns after being lifted, the steering engine arm 290 returns to the position where the movement of the rolling brush module 201 is not limited after the turning is finished, and the photovoltaic cleaning robot continues to perform linear motion.

As shown in fig. 23 to 26, when there is a height difference between the photovoltaic panels or when there is a photovoltaic array with protrusions such as photovoltaic pressing blocks, in order to ensure that the brush bristles 240 in the rolling brush module 201 can be cleaned to all areas, the rolling brush module 201 needs to have a larger floating range in height relative to the vehicle body 100, so that the brush bristles 240 are always attached to the working surface of the photovoltaic panel. As shown in fig. 27 and 28, the bristles 240 rotate to sweep dust outwards, the rotation direction is opposite to the rotation direction of the driving gear 245 when the photovoltaic cleaning robot moves forwards, a forward resistance exists, the overall weight of the rolling brush module 201 is large, the bristles 240 are soft, the bristles 240 can be pressed to be bent and deformed until a limit position is reached, at this time, the contact length between the bristles 240 and the working surface of the photovoltaic panel is long, the resistance is large, the driving of the track driving assembly 300 can be greatly influenced, the forward movement of the photovoltaic cleaning robot is influenced, the torque requirement on the rolling brush motor 246 is large, and when the position of a next photovoltaic panel is higher than that of the current photovoltaic panel, the resistance is more obvious, and even the photovoltaic panel can be blocked and cannot step climbing is achieved. After the rolling brush wheel 244 with the outer diameter not larger than that of the brush bristles 240 is added to the rolling brush module 201, when the photovoltaic panel runs across steps and planes and in other working states, the contact length of the brush bristles 240 and the working surface of the photovoltaic panel is not larger than the difference between the maximum radius of the rolling brush wheel 244 and the maximum radius of the brush bristles 240, resistance is obviously reduced, and the contact length of the brush bristles 240 and the working surface of the photovoltaic panel can be adjusted by adjusting the outer diameter difference between the brush bristles 240 and the rolling brush wheel 244, so that cleaning force is adjusted.

In addition, a gimbaled ball 106 may also be used; specifically, the outer side walls of the first extending plate 221 and the roller brush fixing plate 249 are both fixedly provided with a fixing bracket 107, and a universal ball 106 is movably connected below the fixing bracket 107. Compared with the rolling brush wheel 244, the universal wheel 106 can not only move forward and cross the front step (i.e. the end of the photovoltaic panel), but also move in other directions and cross the step. As shown in fig. 29, when the radian of the spherical surface of the universal ball 106 is large, the degree of the tangent plane of the contact point between the spherical surface and the step is gentle, and the horizontal extrusion force can be easily converted into the force in the vertical direction, so that the rolling brush module can be easily lifted to adapt to photovoltaic panels with different height differences.

Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a photovoltaic cleaning robot with self-adaptation round brush subassembly, photovoltaic cleaning robot includes automobile body and track drive assembly, track drive assembly sets up the both sides of automobile body, photovoltaic cleaning robot is in walk its characterized in that under track drive assembly's the drive: still include the self-adaptation round brush subassembly, the self-adaptation round brush subassembly sets up the front side of automobile body, photovoltaic cleaning machines people passes through the self-adaptation round brush subassembly is cleaned, the automobile body includes the frame, the left side and the right side of frame are provided with one respectively track drive assembly, the self-adaptation round brush subassembly sets up the preceding lateral wall outside of frame, the self-adaptation round brush subassembly includes round brush module, installing support, linking bridge and lifting module, the round brush module sets up in the installing support, the installing support passes through the linking bridge sets up the front end lateral wall of frame, the lifting module sets up on the frame, photovoltaic cleaning machines people passes through the lifting module is right the round brush module lifts up and falls down the action to the adaptation has the photovoltaic board working face of difference in height.

2. The photovoltaic cleaning robot with the adaptive rolling brush assembly according to claim 1, wherein the mounting bracket comprises a mounting plate, a first extension plate and a second extension plate, the first extension plate is fixedly arranged on the front side of the left end of the mounting plate, and the second extension plate is fixedly arranged on the front side of the right end of the mounting plate.

3. The photovoltaic cleaning robot with the adaptive rolling brush assembly according to claim 2, wherein the mounting plate is rotatably connected with the outer front parts of the left side wall and the right side wall of the frame through two connecting brackets, and a fifth flange bearing, a sixth flange bearing and a limiting bolt are arranged on the outer front parts of the left side wall and the right side wall of the frame.

4. The photovoltaic cleaning robot with the adaptive rolling brush assembly according to claim 3, wherein the connecting bracket comprises a first connecting plate and a second connecting plate, the left end of the first connecting plate is fixedly connected with the front end of the second connecting plate, and the first connecting plate is fixedly connected with the mounting plate through a fastening screw;

be provided with spacing slide, spacing recess and rotation slide on the second connecting plate, the second connecting plate passes through the cooperation location of spacing recess and fifth flange bearing in order to realize with the swing joint of frame, the second connecting plate passes through the sliding connection who rotates slide and sixth flange bearing in order to realize with the rotation of frame is connected, the second connecting plate passes through spacing slide is connected and spacing with the rotation of frame with the sliding connection of spacing bolt.

5. The photovoltaic cleaning robot with the adaptive rolling brush assembly according to claim 4, wherein the orthographic projection of the limiting slide way and the orthographic projection of the rotating slide way are both arc-shaped, and when the second connecting plate rotates anticlockwise by a certain angle, the limiting bolt abuts against the right side wall of the limiting slide way.

6. The photovoltaic cleaning robot with the adaptive rolling brush assembly according to claim 2, wherein the rolling brush module comprises bristles, a fixed roller, a driven gear, a transmission gear, a rolling brush wheel, a driving gear and a rolling brush motor, wherein the bristles are arranged on the outer side wall of the fixed roller, the rolling brush wheel is respectively arranged at two ends of the fixed roller, the driven gear is fixedly arranged at the left end of the fixed roller, the transmission gear is arranged on the first extending plate through the fixed assembly, the transmission gear is in meshing transmission with the driven gear, the rolling brush motor is fixedly arranged on the first extending plate, an output shaft of the rolling brush motor is connected with the driving gear, and the driving gear is in meshing transmission with the transmission gear.

7. The photovoltaic cleaning robot with the adaptive rolling brush assembly according to claim 6, wherein the rolling brush module further comprises a gear dust-proof box, the right side of the gear dust-proof box is open and fixedly connected with the first extension plate, the driving gear and the driven gear are all located in the gear dust-proof box, a rolling brush fixing plate is arranged at the lower opening position of the left side wall of the gear dust-proof box, and the rolling brush fixing plate is fixedly connected with the first extension plate through a plurality of fixing columns.

8. The photovoltaic cleaning robot with the adaptive rolling brush assembly according to claim 7, wherein the fixing assembly comprises a first fixing seat and a second fixing seat, the first fixing seat is fixedly arranged on the first extending plate, the second fixing seat is fixedly arranged on the rolling brush fixing plate, the transmission gear is rotatably connected with a fixing shaft through a first flange bearing, and two ends of the fixing shaft are respectively and fixedly arranged on the first fixing seat and the second fixing seat.

9. The photovoltaic cleaning robot with the adaptive rolling brush assembly according to claim 6, wherein the left end and the right end of the fixed roller are respectively provided with a first rolling brush bearing and a second rolling brush bearing, the first rolling brush bearing is installed in a first bearing fixing seat arranged on the right side wall of the first extension plate, and the second rolling brush bearing is installed in a second bearing fixing seat arranged on the left side wall of the second extension plate.

10. The photovoltaic cleaning robot with the adaptive rolling brush assembly according to claim 9, wherein the first bearing seat comprises a first upper bearing seat and a first lower bearing seat, the first upper bearing seat is fixedly arranged on the right side wall of the first extension plate, and the first lower bearing seat is fixedly connected with the first upper bearing seat through a first fastening screw;

the second bearing seat comprises a second upper bearing seat and a second lower bearing seat, the second upper bearing seat is fixedly arranged on the left side wall of the second extension plate, and the second lower bearing seat is fixedly connected with the second upper bearing seat through a second fastening screw.

11. The photovoltaic cleaning robot with the self-adaptive rolling brush assembly according to claim 2, wherein the lifting module comprises a first lifting connecting rod, a second lifting connecting rod and a rolling brush steering engine, a second flange bearing is arranged at the front end of the first lifting connecting rod, a lifting support is arranged on the rear side wall of the mounting plate, and the lifting support is movably connected with the second flange bearing through a first fastening bolt;

the front part of the first lifting connecting rod is provided with a third flange bearing, a second fastening bolt is arranged in the third flange bearing, the second fastening bolt is located on two sides of the first lifting connecting rod and is connected with one end of the second lifting connecting rod respectively, and the other end of the second lifting connecting rod is fixedly connected with a chassis of the frame through a lifting fixing seat.

12. The photovoltaic cleaning robot with the self-adaptive rolling brush assembly according to claim 11, wherein the rolling brush steering engine is fixedly arranged on a chassis of the frame and located on the rear side of the lifting fixing seat, a driving shaft of the rolling brush steering engine is fixedly connected with a steering wheel, the steering wheel is fixedly connected with one end of a steering engine arm, a screw bearing is arranged at the other end of the steering engine arm, the steering engine arm abuts against the upper end face of the rear end of the first lifting connecting rod through the screw bearing, and the steering engine arm abuts against the upper end face of the right end of the second lifting connecting rod under the driving of the rolling brush steering engine so that the left end of the second lifting connecting rod ascends or descends to further enable the rolling brush assembly to ascend or descend.

13. The photovoltaic cleaning robot with the adaptive rolling brush assembly according to claim 12, wherein a fixing hole is formed in the lifting fixing seat, a fourth flange bearing is arranged in the fixing hole, a third fastening bolt is arranged on the fourth flange bearing, and the other ends of the two second lifting connecting rods are respectively sleeved on the third fastening bolt and located on two sides of the fourth flange bearing.

14. The photovoltaic cleaning robot with the adaptive rolling brush assembly according to claim 11, wherein a buffering device is arranged between the first lifting connecting rod and the chassis of the frame, the buffering device comprises a tension spring, a connecting through hole is formed in the position, close to the third flange bearing, of the front side of the first lifting connecting rod, the upper end of the tension spring is installed in the connecting through hole, the lower end of the tension spring is fixedly arranged on the chassis of the frame, and the tension spring is in a stretching state so that the rolling brush assembly at the left end of the first lifting connecting rod is tightly combined with the working surface of the photovoltaic panel.