CN115193786A - A crawler robot for cleaning photovoltaic panels - Google Patents

Abstract

The invention provides a crawler-type robot for cleaning a photovoltaic panel, which comprises a cleaning robot, wherein the cleaning robot comprises a chassis, traveling mechanisms, cleaning mechanisms and dust collection mechanisms, the traveling mechanisms are arranged on two sides of the chassis, the cleaning mechanisms are arranged at two ends of the chassis, and the dust collection mechanisms are arranged in the center of the chassis and connected with the cleaning mechanisms; the cleaning robot of above-mentioned structure, clean operation is carried out jointly to clean mechanism and dust absorption mechanism, and running gear drive cleaning robot walks, and the in-process cleaning mechanism of walking will follow the dust on the way through the round brush subassembly and clean the collection, improves photovoltaic cleaning robot's degree of automation, realizes carrying out the multilevel processing to the collection of dust and to the dust to make the clean more efficient of dust.

Description

A crawler robot for cleaning photovoltaic panels

technical field

The invention relates to the technical field of photovoltaic panel cleaning, in particular to a crawler-type robot for cleaning photovoltaic panels.

Background technique

With the gradual exhaustion of traditional fossil energy and people's increasing concern about environmental pollution, solar photovoltaic power generation as one of the main green energy sources has been increasingly used, and the scale of solar power plants has reached an unprecedented level. However, during the actual operation of photovoltaic power plants, due to long-term exposure to the outdoors, tiny dust particles in the air can easily accumulate on the surface of photovoltaic panels to form fouling, which reduces the power generation efficiency of photovoltaic modules and brings huge economic losses to photovoltaic power generation enterprises. Therefore, the cleaning of solar photovoltaic panels has become an important issue in the operation and maintenance of photovoltaic power plants.

At present, most of the photovoltaic cleaning equipment on the market use a fixed track to keep the equipment on the slope, and cannot be moved away. It is also necessary to install the same equipment on each photovoltaic array, which not only increases the cost, but also has many disadvantages; Due to the large area of the photovoltaic array and the relatively long distance, the robot will not be able to clean its own photovoltaic panels in time after being covered with dust; and once the robot is transferred, its fixed track needs to be re-installed; on the other hand, This cleaning robot does not collect dust, which will easily cause secondary pollution.

In order to solve the above problems, such as the patent document with the Chinese patent application number 201921791080.1 and the publication date of 2020.06.12, it discloses a solar photovoltaic panel cleaning robot, including a walking mechanism and a climbing mechanism; the walking mechanism includes a rectangular frame, which is The front frame and the rear frame of the rectangular frame are respectively connected with a roller brush support, the roller brush support is provided with a roller brush and a roller brush driving device, and a suction nozzle is arranged on the inner side of the roller brush, and the suction nozzle is arranged on the rectangular frame. A horizontal walking wheel is fixed under the rectangular frame, and the horizontal walking wheel is connected with the horizontal walking driving device; a gantry frame is fixed on the top of the rectangular frame, and a climbing mechanism is arranged below the gantry frame and inside the rectangular frame The gantry and the climbing mechanism are connected by a lifting device, and the climbing mechanism includes a longitudinal traveling drive device, a longitudinal traveling wheel and a suction cup, and the suction cup is connected with a vacuum pump arranged on a rectangular frame. The cleaning robot can automatically clean the dust on the surface of photovoltaic panels, with flexible movement and high work efficiency, and can be effectively used in various photovoltaic power generation sites. It is an intelligent photovoltaic panel cleaning device.

The structure of this document only cleans the dust through the rotation of the roller brush, and sucks the dust into the dust bag through the dust suction nozzle, and does not collect the cleaned dust. Therefore, the size of the dust suction nozzle needs to be based on the length of the roller brush. Only by adjustment can the cleaned dust be inhaled better, which increases the difficulty of controlling the size of the vacuum nozzle during processing, and at the same time, the dust inhaled into the dust bag is not further processed. Therefore, Large particles of dust or small particles of dust in the dust storage bag exist in the same place, which easily leads to the easy storage of the dust storage bag, which requires frequent replacement and cleaning of the dust storage bag, which ultimately affects the cleaning efficiency of the photovoltaic panel.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a crawler-type robot for cleaning photovoltaic panels, improve the automation degree of the photovoltaic cleaning robot, realize dust collection and multi-stage processing of dust, so as to make dust cleaning more efficient.

In order to achieve the above purpose, a crawler-type robot for cleaning photovoltaic panels, including a cleaning robot, the cleaning robot includes a chassis, a walking mechanism, a cleaning mechanism and a dust suction mechanism, and the walking mechanism is arranged on both sides of the chassis, on the bottom of the chassis. Both ends are provided with a cleaning mechanism, and the dust suction mechanism is arranged in the center of the chassis and connected to the cleaning mechanism.

The dust suction mechanism includes a settling chamber, a fan, a first dust suction port and a second dust suction port; the first dust suction port is located at one end of the settling chamber, and the second dust suction port is located at the other end of the settling chamber. There is a fan in the center of the room.

The settling chamber includes a first settling tank, a second settling tank and a total settling tank, the first settling box is located at one end of the settling chamber and is connected to the first dust suction port, and the second settling box is located at the other end of the settling chamber and communicate with the second dust suction port, the total settling box is located between the first settling box and the second settling box, the fan is located above the total settling box; a first air flow channel is formed between the first dust suction port and the fan , a second air flow channel is formed between the second suction port and the fan, the first air flow channel is inclined inward and upward from the first suction port to the direction of the total settling tank, and the second air flow channel is from the second suction port to the direction of the total settling box. The direction of the total settling box is inclined inward and upward; an air outlet is provided on one side of the fan.

A primary settling tank is provided below the first settling tank and the second settling tank, and a secondary settling tank is set below the total settling tank; a first settling tank and a second settling tank are provided above the primary settling tank. A blocking block.

The cleaning mechanism includes a roller brush assembly that collects dust to the first dust suction port and the second dust suction port.

In the cleaning robot of the above structure, the cleaning mechanism and the dust suction mechanism jointly perform the cleaning operation, the walking mechanism drives the cleaning robot to walk, and the cleaning mechanism cleans and collects the dust along the road through the roller brush assembly during the walking process, so as to improve the degree of cleaning automation. The dust suction mechanism draws out the air in the settling chamber through the fan to generate negative air pressure in the settling chamber, so that the dust collected by the roller brush assembly is sucked into the dust reduction chamber through the first dust suction port and the second dust suction port. When flowing, the larger particles of dust will be blocked by the first blocking block due to the factor of gravity, so that the suction will be released and then fall into the first-stage sedimentation tank, thereby collecting the large particles of dust, while the small particles of dust gravity If it is smaller, it will continue to flow to the total settling tank, and finally fall into the secondary settling tank, thus allowing the dust to be collected and stored in multiple stages, and through the setting of the first blocking block, the flow path of the dust can be extended, making the dust flow longer. The flow rate of the dust is reduced to ensure that the dust falls into the settling tank better.

Further, the first blocking block includes a first main body, a first branching part and a second branching part, the first branching part is arranged at one end of the first main body, and the first branching part extends along one end of the first main body. The second shunt portion is arranged at one end of the first main body and the second shunt portion is arranged along one end of the first body and extends upward and outward obliquely, and the vertical projection of the end of the first shunt portion is located at a in the sedimentation tank. In this way, the flow directions of the dust become two, and the dust with larger particles will fall directly into the first-stage sedimentation tank under the diversion of the first diverting part inclined downward and outward, while the smaller dust will fall directly into the first-stage sedimentation tank. Under the upward and outward diversion action of the second diversion part, it continues to flow to the secondary settling tank above the settling chamber, and because the dust with larger particles has a larger weight, it is easier to flow under the diversion action of the first diversion part And reliably enter into the first-level settling tank, thereby realizing multi-level collection of dust.

Further, a second blocking block is provided on the connection between the first settling tank and the total settling tank and the connection between the second settling tank and the total settling tank; the second blocking block is arranged on the upper and lower ends of the settling chamber, A dust channel is formed between the second blocking blocks at the upper and lower ends of the sedimentation chamber, and the width of the dust channel is smaller than the projected width of the first blocking block and the second blocking block in the direction of the dust channel. In this way, the flow direction of the dust is further changed by the second blocking block, so that the flow rate of the dust is further reduced, so as to ensure that the dust can better fall into the settling tank, and the width of the dust channel is set to prevent the dust from entering the settling tank. Dust backflow in the fan.

Further, the bottoms of the first settling tank and the second settling tank are provided with a dust-blanking slope extending downward and inclined in the direction of the first-level settling tank. With this arrangement, if dust falls on the bottom of the first settling box or the second settling box without directly falling into the first-level settling tank, due to the inclined setting of the dust blanking slope, at the same time, it is driven by the air flow in the settling chamber. The dust can be driven down and fall into the primary settling tank along the slope, so as to ensure that the dust can accurately fall into the primary settling tank.

Further, a first limiting column is provided between the first settling tank and the total settling tank, and the top surface of the first limiting column is inclined downward from one end of the first settling tank close to the end of the total settling tank to the end close to the first settling tank. set up; a second limit column is arranged between the second settling tank and the total settling tank, and the top surface of the second limit column is inclined and extended downward from one end of the second settling box close to the end of the total settling tank to the end close to the second settling tank ; The second blocking block located at the lower end of the sedimentation chamber is arranged on the top surfaces of the first limiting column and the second limiting column. According to this arrangement, through the obliquely arranged limiting column, it is ensured that the dust falling above the limiting column can fall into the primary settling tank.

Further, the traveling mechanism includes a traveling mounting plate, a traveling casing, a traveling motor, a traveling driving wheel, a traveling driven wheel and a traveling crawler, the traveling mounting plate is fixed on the chassis, and the traveling driven wheel is rotated by the traveling driven wheel shaft. is installed on one end of the walking mounting plate, the walking driving wheel is located at the other end of the walking mounting plate, the walking motor is arranged on the chassis, the drive shaft of the walking motor passes through the walking mounting plate and is connected with the walking driving wheel, the walking The crawler is wound between the traveling driving wheel and the traveling driven wheel; the traveling casing is arranged on the traveling mounting plate and is covered above the traveling crawler. In this way, when the photovoltaic panel needs to be cleaned, the traveling driving wheel is driven to rotate by the traveling motor and the traveling driven wheel is driven to rotate, thereby driving the traveling crawler to move. When steering is required, only one of the two sides of the chassis is required. The traveling motor stops rotating, and the steering can be realized by the rotation of another traveling motor, which is simple and effective.

Further, the cleaning mechanism further includes a rolling brush drive assembly, the rolling brush driving assembly includes a rolling brush driving motor, a rolling brush driving wheel, a rolling brush driving driven wheel and a rolling brush driving belt; the rolling brush driving motor The brush mounting frame is installed on the settling chamber, and the drive shaft of the rolling brush driving motor is provided with a rolling brush driving wheel; the rolling brush assembly is arranged at the top of the settling chamber and is located below the rolling brush driving assembly, and the rolling brush drive is driven from The driving wheel is arranged on the rolling brush assembly, and a rolling brush driving belt is arranged between the rolling brush driving driven wheel and the rolling brush driving wheel. With this arrangement, the roller brush assembly is driven by the roller brush drive motor to work to collect dust.

Further, the rolling brush assembly includes a first rolling brush mounting frame, a second rolling brush mounting frame, a rolling brush drive shaft, a rolling brush elevator steering gear, a first lifting arm, a second lifting arm, a first rolling brush and a second rolling brush Rolling brush; the rolling brush lift steering gear is arranged on one side of the top end of the settlement chamber, a first lifting arm is arranged on the drive shaft of the rolling brush lift steering gear, and a first rolling brush mounting frame is arranged on the first lift arm; The second lift arm is rotated through the second lift arm connecting shaft to be arranged on the other side of the top of the sedimentation chamber, a second roller brush mounting frame is arranged on the second lift arm, and the roller brush drive shaft is arranged on the first roller brush Between the mounting frame and the second rolling brush mounting frame, one end of the rolling brush drive shaft passes through one end of the first rolling brush mounting frame and is connected to the other end of the first rolling brush mounting frame through the first rolling brush bearing. The roller brush drive shaft on the first roller brush mounting frame is provided with a first roller brush; the other end of the roller brush drive shaft passes through one end of the second roller brush mounting frame and is connected to the second roller brush through the first roller brush bearing. The other end of the roller brush mounting frame is provided with a second roller brush on the roller brush drive shaft on the second roller brush mounting frame; the roller brush drive driven wheel is arranged on the first roller brush mounting frame and the second roller brush mounting frame on the brush drive shaft between the racks. In this way, when the photovoltaic panel is to be cleaned, the roller brush drive motor starts to drive the roller brush drive wheel to rotate, thereby drives the roller brush drive driven wheel to rotate, and then drives the roller brush drive shaft to rotate, thereby driving the first roller brush and the second roller brush. The roller brush rotates, and when the first roller brush and the second roller brush need to be lifted and lowered, the roller brush lift servo rotates to drive the first lift arm and the second lift arm to swing up and down to realize the lifting action. Therefore, when the cleaning robot moves The cleaning of photovoltaic panels can be achieved.

Further, the cleaning mechanisms at both ends of the chassis are placed in a centrally symmetrical manner; the first rolling brush is a right-handed thread structure, and the second rolling brush is a left-handed thread structure; The position is between the first roller brush and the second roller brush. In this way, through the right-handed thread structure of the first rolling brush and the left-handed thread structure of the second rolling brush, when the first rolling brush and the second rolling brush are rotating, the thread structure of the first rolling brush will proceed to the right. Guided movement, so that the dust located on the left side of the chassis can be collected to the position of the first suction port or the second suction port; the thread structure of the second roller brush will guide and move to the left, so that it can be The dust located on the right side of the chassis is collected at the position of the first dust suction port or the second dust suction port, so that the first dust suction port or the second dust suction port can facilitate the inhalation of dust.

Further, the end face of the end of the first splitting part close to the first-stage sedimentation tank is inclined upward, the end of the first splitting part is inclined downwardly away from the end face of the first-stage sedimentation tank, and the end of the second splitting part is close to the side of the fan. The end face is inclined upward and outward, and the end face of the end of the second splitting part on the side away from the fan is inclined upward and inward.

With the above arrangement, since the lower end of the end of the first dividing part is inclined upward, other dusts after entering the first-stage sedimentation tank can enter the dust channel under the guiding action of the first dividing part, and the dust at the end of the first dividing part The upper end face is inclined downwardly, so that part of the larger particles passing through the second splitting part can enter into the first-stage sedimentation tank under the guidance of the upper end face of the distal end of the first splitting part.

Description of drawings

FIG. 1 is a schematic structural diagram of the cleaning robot of the present invention.

FIG. 2 is a schematic diagram of the internal structure of the sedimentation chamber of the present invention.

Fig. 3 is a flow direction diagram of dust when the present invention is vacuuming.

FIG. 4 is an exploded schematic diagram of the traveling mechanism of the present invention.

FIG. 5 is an exploded schematic diagram of the cleaning mechanism of the present invention.

FIG. 6 is an enlarged view of A in FIG. 5 .

FIG. 7 is a top view of the cleaning robot of the present invention.

FIG. 8 is a working flow chart of the cleaning robot of the present invention.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in FIGS. 1 to 8 , a crawler-type robot for cleaning photovoltaic panels includes a cleaning robot. The cleaning robot includes a chassis 1, a walking mechanism 2, a cleaning mechanism 3 and a dust suction mechanism 4. The walking mechanism 2 is provided with On both sides of the chassis 1 , cleaning mechanisms 3 are provided at both ends of the chassis 1 , and the dust suction mechanism 4 is arranged in the center of the chassis 1 and connected to the cleaning mechanism 3 .

The dust suction mechanism 4 includes a sedimentation chamber 5, a fan 42, a first dust suction port 43 and a second dust suction port 44; the first dust suction port 43 is located at one end of the sedimentation chamber 5, and the second dust suction port 44 is located at one end of the sedimentation chamber 5. The other end of the settling chamber 5 is provided with a fan 42 in the center of the settling chamber 5 .

The settling chamber 5 includes a first settling tank 51, a second settling tank 52 and a total settling tank 53. The first settling tank 51 is located at one end of the settling chamber 5 and communicates with the first dust suction port 43. The second settling tank 51 The box 52 is located at the other end of the settling chamber 5 and is connected to the second dust suction port 44 , the total settling box 53 is located between the first settling box 51 and the second settling box 52 , and the fan 42 is located above the total settling box 53 A first air flow channel 431 is formed between the first suction port 43 and the fan 42, a second air flow channel 441 is formed between the second suction port 44 and the fan 42, and the first air flow channel 431 is from the first suction port 43. It is inclined inward and upward in the direction of the total settling tank 53, and the second air flow channel 441 is inclined inward and upward from the second dust suction port 44 to the direction of the total settling tank 53; one side of the fan is provided with an air outlet (not shown in the figure). out).

A primary settling tank 55 is provided below the first settling tank 51 and the second settling tank 52, and a secondary settling tank 56 is provided below the total settling tank 53; The second settling tank 52 is provided with a first blocking block 54 .

The cleaning mechanism 3 includes a roller brush assembly 6 for collecting dust to the first dust suction port 43 and the second dust suction port 44 .

In the cleaning robot of the above structure, the cleaning mechanism 3 and the dust suction mechanism 4 jointly perform the cleaning operation, the walking mechanism 2 drives the cleaning robot to walk, and the cleaning mechanism 3 cleans and collects the dust along the road through the roller brush assembly 6 during the walking process. To improve the degree of cleaning automation, the dust suction mechanism 4 draws out the air in the dust reduction chamber through the fan 42 to generate a negative air pressure in the dust reduction chamber, so that the dust collected by the roller brush assembly 6 is removed through the first dust suction port 43 and the second dust suction port 44. Inhaled into the settling chamber 5, when the dust flows in the settling chamber (the flow direction of the dust in the settling chamber is shown by the arrow in Figure 3), the larger particles of dust will be blocked by the first blocking block 54 due to the factor of gravity, so as to escape. Turn on the suction and then fall into the primary settling tank 55, thereby collecting the dust of large particles, while the dust of small particles will continue to flow to the total settling tank 53 and finally fall into the secondary settling tank. 56, the dust is collected and stored in multiple stages, and the first blocking block 54 can extend the flow path of the dust, reduce the flow rate of the dust, and ensure that the dust better falls into the settling tank.

In this embodiment, a filter screen is also provided on the fan. When the fan pulls out the air in the settling chamber, the air in the settling chamber is filtered and extracted through the filter screen. The technology of generating negative air pressure is the working principle of the vacuum cleaner in the prior art, and there is a specific prior art, which will not be repeated here.

As shown in FIG. 2 , the first blocking block 54 includes a first main body 541 , a first branching part 542 and a second branching part 543 , the first branching part 542 is provided at one end of the first main body 541 and the first branching part 542 The part 542 extends downward and outward along one end of the first main body 541 ; In the extended arrangement, the width α of the dust passage is smaller than the projected width β of the first blocking block and the second blocking block in the direction of the dust passage. With this arrangement, the flow directions of the dust are changed to two, and the dust with larger particles will fall directly into the first-level sedimentation tank 55 under the diversion of the first shunt part inclined downward and outward, while the smaller dust will fall directly into the first-stage sedimentation tank 55 Under the upward and outward diversion action of the second diversion part, it continues to flow to the secondary settling tank 56 above the settling chamber 5, and because the dust with larger particles has a larger weight, the diversion effect of the first diversion part It is easier and more reliable to enter the first settling tank, thereby realizing the multi-stage collection of dust.

As shown in FIG. 2 , a second blocking block 57 is provided at the connection between the first settling tank 51 and the total settling tank 53 and the connection between the second settling tank 52 and the total settling tank 53 ; the second blocking block 57 Set at the upper and lower ends of the sedimentation chamber 5, a dust channel 571 is formed between the second blocking blocks 57 at the upper and lower ends of the sedimentation chamber 5, and the width of the dust channel is smaller than the projection of the first blocking block and the second blocking block in the direction of the dust channel width. In this way, the flow direction of the dust is further changed by the second blocking block 57, so that the flow rate of the dust is further reduced, so as to ensure that the dust can better fall into the settling tank, and the width of the dust channel is set to prevent the dust from entering. Dust backflow into the fan.

As shown in FIG. 2 , the bottoms of the first settling tank 51 and the second settling tank 52 are provided with a dust blanking slope 58 which is inclined and extends downward in the direction of the primary settling tank 55 . With this arrangement, if dust falls on the bottom of the first settling tank 51 or the second settling tank 52 but does not directly fall into the primary settling tank 55, due to the inclined setting of the dust blanking slope 58, it will pass through the settling chamber 5 at the same time. Driven by the air flow inside, the dust can be driven and fall into the primary settling tank 55 along the slope, so as to ensure that the dust can accurately fall into the primary settling tank.

As shown in FIG. 2 , a first limiting column 501 is provided between the first settling tank 51 and the total settling tank 53 . One end of the settling tank 51 is inclined and extended downward; a second limiting column 502 is arranged between the second settling tank 52 and the total settling tank 53 , and the top surface of the second limiting column 502 is close to the bottom of the total settling tank 53 . One end of the second settling tank 52 is inclined and extended downwards; the second stopper located at the lower end of the settling chamber is arranged on the top surfaces of the first limiting column and the second limiting column. According to this arrangement, through the obliquely arranged limiting column, it is ensured that the dust falling above the limiting column can fall into the primary settling tank.

As shown in FIG. 4 , the traveling mechanism 2 includes a traveling mounting plate 21 , a traveling housing 22 , a traveling motor 23 , a traveling driving wheel 24 , a traveling driven wheel 25 and a traveling crawler 26 , and the traveling mounting plate 21 is fixed on the chassis 1 . , the traveling driven wheel 25 is rotated and installed on one end of the traveling mounting plate 21 through the traveling driven wheel shaft (not shown in the figure), the traveling driving wheel 24 is located at the other end of the traveling mounting plate 21, and the traveling motor 23 Provided on the chassis 1, the drive shaft of the traveling motor 23 is connected with the traveling driving wheel 24 through the traveling mounting plate 21, and the traveling crawler 26 is wound between the traveling driving wheel 24 and the traveling driven wheel 25; the traveling shell 22 is provided with On the traveling mounting plate 21 and covering the upper part of the traveling crawler 26 . In this way, when the photovoltaic panel needs to be cleaned, the traveling driving wheel 24 is driven to rotate by the traveling motor 23 and the traveling driven wheel 25 is driven to rotate, thereby driving the traveling crawler 26 to move. One of the walking motors on both sides stops rotating, and the steering can be realized by the rotation of the other walking motor, which is simple and effective. There are technologies, which will not be repeated here.

As shown in FIG. 5 and FIG. 6 , the cleaning mechanism 3 further includes a roller brush drive assembly 31 , and the roller brush drive assembly 31 includes a roller brush drive motor 311 , a roller brush drive wheel 312 , a roller brush drive driven wheel 313 and a roller brush drive motor 311 . The brush drive belt 314; the roller brush drive motor 311 is installed on the settling chamber 5 through the roller brush mounting frame 315, and the roller brush drive wheel 312 is provided on the drive shaft of the roller brush drive motor 311; the roller brush assembly 6 is provided with At the top of the settling chamber 5 and below the rolling brush driving assembly 31 , the rolling brush driving driven wheel 313 is arranged on the rolling brush assembly 6 , and a rolling brush is provided between the rolling brush driving driven wheel 313 and the rolling brush driving wheel 312 Drive belt 314 . With this arrangement, the roller brush assembly is driven by the roller brush drive motor to work to collect dust.

As shown in FIG. 5 to FIG. 7 , the rolling brush assembly 6 includes a first rolling brush mounting frame 61 , a second rolling brush mounting frame 62 , a rolling brush driving shaft 63 , a rolling brush elevator steering gear 64 , a first lifting arm 65 , The second lift arm 66 , the first roller brush 67 and the second roller brush 68 ; the roller brush lift steering gear 64 is arranged on one side of the top end of the settling chamber 5 , and the drive shaft of the roller brush lift steering gear 64 is provided with a first lift gear The arm 65, the first lifting arm 65 is provided with a first rolling brush mounting frame 61; On one side, a second roller brush mounting frame 62 is provided on the second lifting arm 66, and the roller brush drive shaft 63 is arranged between the first roller brush mounting frame 61 and the second roller brush mounting frame 62. One end of the brush drive shaft 63 passes through one end of the first rolling brush mounting frame 61 and is connected to the other end of the first rolling brush mounting frame 61 through a first rolling brush bearing (not shown in the figure), and is mounted on the first rolling brush The roller brush drive shaft 63 on the frame 61 is provided with a first roller brush 67; the other end of the roller brush drive shaft 63 passes through one end of the second roller brush mounting frame 62 and passes through the first roller brush bearing (not shown in the figure). shown) is connected to the other end of the second rolling brush mounting frame 62, and a second rolling brush 68 is provided on the rolling brush driving shaft 63 on the second rolling brush mounting frame 62; the rolling brush driving driven wheel 313 is provided on the On the roller brush drive shaft 63 between the first roller brush mounting frame 61 and the second roller brush mounting frame 62 . In this way, when the photovoltaic panel is to be cleaned, the roller brush drive motor 311 starts to drive the roller brush drive wheel 312 to rotate, thereby drives the roller brush drive driven wheel 313 to rotate, and then drives the roller brush drive shaft 63 to rotate, thereby driving the first roller. The brush 67 and the second rolling brush 68 rotate. When the first rolling brush 67 and the second rolling brush 68 need to be lifted and lowered, the rolling brush lift servo 64 rotates to drive the first lifting arm 65 and the second lifting arm 66 to swing up and down. Lifting action, thus, the cleaning of the photovoltaic panel can be realized when the cleaning robot moves.

As shown in FIG. 7 , the cleaning mechanisms 3 at both ends of the chassis 1 are placed in a centrally symmetrical manner; the first roller brush 67 is a right-hand thread structure, and the second roller brush 68 is a left-hand thread structure; the first dust suction port 43 and the second dust suction port 44 are located between the first roller brush 67 and the second roller brush 68 . In this way, through the right-handed thread structure of the first rolling brush 67 and the left-handed thread structure of the second rolling brush 68, when the first rolling brush 67 and the second rolling brush 68 are rotating, the thread structure of the first rolling brush 67 is It will guide the movement to the right, so that the dust located on the left side of the chassis 1 can be collected to the position of the first dust suction port 43 or the second dust suction port 44; the thread structure of the second roller brush 68 will The left side is guided to move, so that the dust located on the right side of the chassis can be collected to the position of the first vacuum port 43 or the second vacuum port 44, so that the first vacuum port 43 or the second vacuum port 44 can be conveniently collected. The dust suction port 44 sucks dust.

As shown in FIG. 2 , the end surface of the end of the first splitting part 542 close to the first-stage deposition tank 55 is inclined upward, the end of the first splitting part 542 is disposed away from the end of the first-level deposition tank 55 and inclined downward, and the second splitting part The end face of the end of the end 543 on the side close to the fan 42 is inclined upward and outward, and the end face of the end of the second diverting part 543 is inclined upward and inward at the end face of the side away from the fan 42 .

With the above arrangement, since the lower end of the end of the first dividing part is inclined upward, other dusts after entering the first-stage sedimentation tank can enter the dust channel under the guiding action of the first dividing part, and the dust at the end of the first dividing part The upper end face is inclined downwardly, so that part of the larger particles passing through the second splitting part can enter into the first-stage sedimentation tank under the guidance of the upper end face of the distal end of the first splitting part.

As shown in Fig. 8, the working method of the above-mentioned cleaning robot, the specific steps include:

(1) The walking mechanism drives the cleaning robot to move on the photovoltaic panel.

(2) The cleaning mechanism and the dust collection mechanism are activated to clean the dust along the way.

(3) The roller brush assembly collects dust to the first dust suction port and the second dust suction port.

(3.1) The rotation of the first roller brush drives the dust on the left side of the chassis to move to the right.

(3.2) The rotation of the second roller brush drives the dust on the right side of the chassis to move to the left.

(3.3) The dust driven by the first roller brush and the second roller brush is concentrated at the positions of the first dust suction port and the second dust suction port.

(4) The fan sucks the dust from the first dust suction port and the second dust suction port into the settling chamber.

(5) Dust flows in the settling chamber.

(6) The large particles of dust are blocked by the first blocking block and fall into the first-stage sedimentation tank by gravity under the diversion of the first diverting part inclined downward and outward.

(7) The small particle dust flows into the total settling tank under the upward and outward diversion of the second diverting part, and finally falls into the secondary settling tank.

In the above structure, when the photovoltaic panel needs to be cleaned, the walking motor drives the walking crawler to move. During the movement, the roller brush drive motor drives the first roller brush and the second roller brush to rotate, cleaning the dust along the way of the cleaning robot. Clean collection, when the dust is concentrated on the first suction port or the second suction port, the fan will suck the dust into the settling chamber for dust collection. Since the front and rear ends of the chassis are provided with cleaning mechanisms for collecting dust, therefore, When the cleaning robot walks, the front end is cleaned once, and the rear end can be cleaned again, which avoids the problem of dust left over when the front end is cleaned, and improves the overall cleanliness.

Claims (10)

1. The utility model provides a cleaning photovoltaic board's crawler-type robot, includes cleaning machines people, its characterized in that: the cleaning robot comprises a chassis, traveling mechanisms, cleaning mechanisms and a dust suction mechanism, wherein the traveling mechanisms are arranged on two sides of the chassis, the cleaning mechanisms are arranged on two ends of the chassis, and the dust suction mechanism is arranged in the center of the chassis and connected with the cleaning mechanisms;

the dust collection mechanism comprises a settling chamber, a fan, a first dust collection port and a second dust collection port; the first dust suction port is positioned at one end of the settling chamber, the second dust suction port is positioned at the other end of the settling chamber, and a fan is arranged in the center of the settling chamber;

the settling chamber comprises a first settling tank, a second settling tank and a total settling tank, the first settling tank is positioned at one end of the settling chamber and is communicated with the first dust suction port, the second settling tank is positioned at the other end of the settling chamber and is communicated with the second dust suction port, the total settling tank is positioned between the first settling tank and the second settling tank, and the fan is positioned above the total settling tank; a first air flow channel is formed between the first dust suction port and the fan, a second air flow channel is formed between the second dust suction port and the fan, the first air flow channel is arranged in a manner of inclining inwards and upwards from the first dust suction port to the total settling tank, and the second air flow channel is arranged in a manner of inclining inwards and upwards from the second dust suction port to the total settling tank; an air outlet is formed in one side of the fan;

a primary settling tank is arranged below the first settling tank and the second settling tank, and a secondary settling tank is arranged below the total settling tank; a first blocking block is arranged in the first settling tank and the second settling tank above the primary settling tank;

the cleaning mechanism includes a roller brush assembly that collects dust to a first dust suction port and a second dust suction port.

2. A tracked robot for cleaning photovoltaic panels according to claim 1, characterised in that: the first blocking block comprises a first main body, a first flow dividing part and a second flow dividing part, the first flow dividing part is arranged at one end of the first main body, and the first flow dividing part extends downwards and outwards obliquely along one end of the first main body; the second part of shunting sets up the one end and the second part of shunting upwards outwards extends the setting along the one end of first main part in the slope, and the vertical projection portion of the terminal of first part of shunting is located one-level subsider.

3. A tracked robot for cleaning photovoltaic panels according to claim 1, characterised in that: second stop blocks are arranged at the joint of the first settling tank and the total settling tank and the joint of the second settling tank and the total settling tank; the second stop blocks are arranged at the upper end and the lower end of the settling chamber, a dust channel is formed between the second stop blocks at the upper end and the lower end of the settling chamber, and the width of the dust channel is smaller than the width of the projections of the first stop block and the second stop block in the dust channel direction.

4. A tracked robot for cleaning photovoltaic panels according to claim 1, characterised in that: and dust blanking inclined planes which extend downwards in an inclined manner towards the direction of the primary settling tank are arranged at the bottoms of the first settling tank and the second settling tank.

5. A tracked robot for cleaning photovoltaic panels according to claim 3, characterized in that: a first limiting column is arranged between the first settling tank and the main settling tank, and the top surface of the first limiting column is obliquely and downwardly extended from one end, close to the main settling tank, to the end, close to the first settling tank; a second limiting column is arranged between the second settling tank and the main settling tank, and the top surface of the second limiting column is obliquely and downwardly extended from one end, close to the main settling tank, of the top surface of the second limiting column to one end, close to the second settling tank; the second blocking block at the lower end of the settling chamber is arranged on the top surfaces of the first limiting column and the second limiting column.

6. A tracked robot for cleaning photovoltaic panels according to claim 1, characterised in that: the walking mechanism comprises a walking mounting plate, a walking shell, a walking motor, a walking driving wheel, a walking driven wheel and a walking crawler belt, wherein the walking mounting plate is fixed on the chassis, the walking driven wheel is rotatably mounted at one end of the walking mounting plate through a walking driven wheel shaft, the walking driving wheel is positioned at the other end of the walking mounting plate, the walking motor is arranged on the chassis, a driving shaft of the walking motor penetrates through the walking mounting plate to be connected with the walking driving wheel, and the walking crawler belt is wound between the walking driving wheel and the walking driven wheel; the walking shell is arranged on the walking mounting plate and covers the upper portion of the walking crawler belt.

7. A tracked robot for cleaning photovoltaic panels according to claim 1, characterised in that: the cleaning mechanism further comprises a rolling brush driving assembly, and the rolling brush driving assembly comprises a rolling brush driving motor, a rolling brush driving wheel, a rolling brush driving driven wheel and a rolling brush driving belt; the rolling brush driving motor is arranged on the settling chamber through a rolling brush mounting frame, and a rolling brush driving wheel is arranged on a driving shaft of the rolling brush driving motor; the rolling brush assembly is arranged at the top end of the settling chamber and is located below the rolling brush driving assembly, the rolling brush driving driven wheel is arranged on the rolling brush assembly, and a rolling brush driving belt is arranged between the rolling brush driving driven wheel and the rolling brush driving wheel.

8. A tracked robot for cleaning photovoltaic panels according to claim 7, characterized in that: the rolling brush assembly comprises a first rolling brush mounting frame, a second rolling brush mounting frame, a rolling brush driving shaft, a rolling brush lifting steering engine, a first lifting arm, a second lifting arm, a first rolling brush and a second rolling brush; the rolling brush lifting steering engine is arranged on one side of the top end of the settling chamber, a first lifting arm is arranged on a driving shaft of the rolling brush lifting steering engine, and a first rolling brush mounting frame is arranged on the first lifting arm; the second lifting arm is arranged on the other side of the top end of the settling chamber through a second lifting arm connecting shaft in a rotating mode, a second rolling brush mounting frame is arranged on the second lifting arm, the rolling brush driving shaft is arranged between the first rolling brush mounting frame and the second rolling brush mounting frame, one end of the rolling brush driving shaft penetrates through one end of the first rolling brush mounting frame and is connected to the other end of the first rolling brush mounting frame through a first rolling brush bearing, and a first rolling brush is arranged on the rolling brush driving shaft on the first rolling brush mounting frame; the other end of the rolling brush driving shaft penetrates through one end of the second rolling brush mounting frame and is connected to the other end of the second rolling brush mounting frame through a first rolling brush bearing, and a second rolling brush is arranged on the rolling brush driving shaft on the second rolling brush mounting frame; the rolling brush driving driven wheel is arranged on a rolling brush driving shaft between the first rolling brush mounting frame and the second rolling brush mounting frame.

9. A tracked robot for cleaning photovoltaic panels according to claim 8, characterised in that: the cleaning mechanisms at the two ends of the chassis are arranged in a centrosymmetric mode; the first rolling brush is of a right-handed thread structure, and the second rolling brush is of a left-handed thread structure; the first dust suction port and the second dust suction port are positioned between the first rolling brush and the second rolling brush.

10. A tracked robot for cleaning photovoltaic panels according to claim 2, characterized in that: the terminal surface tilt up setting that is close to one-level deposit tank of the end of first reposition of redundant personnel portion, the terminal surface tilt down setting of one-level deposit tank is kept away from to the end of first reposition of redundant personnel portion, and the terminal surface that the end of second reposition of redundant personnel portion is close to fan one side upwards inclines to set up, and the terminal surface that fan one side was kept away from to the end of second reposition of redundant personnel portion upwards inwards inclines to set up.

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