CN117955425A - Cleaning robot - Google Patents

Abstract

The application provides a cleaning robot, which comprises a vehicle body, a rolling brush and a snow removing device, wherein the advancing direction of the vehicle body is defined as the front; the rolling brush is rotatably connected to the vehicle body, and the central shaft of the rolling brush is perpendicular to the advancing direction of the vehicle body; the snow removing device is connected to the front side of the vehicle body and is positioned on the outer side of the vehicle body; the snow removing device comprises a snow scraping assembly, and the plane of the snow scraping assembly is perpendicular to the cleaning plane; the snow scraping assembly reciprocates along the advancing direction perpendicular to the vehicle body so as to push snow to slide from the upper side or the lower side of the cleaning plane, so that the technical problem that the power generation efficiency of the photovoltaic panel is reduced because snow on the surface of the photovoltaic panel is melted into liquid state through the heating wire and snow water on the photovoltaic panel is easy to freeze in the environment with lower temperature is solved.

Description

Cleaning robot

Technical Field

The application relates to the technical field of cleaning of photovoltaic panels, in particular to a cleaning robot.

Background

Most materials of photovoltaic panels are silicon, which can utilize semiconductor materials to generate a volt effect under illumination conditions, thereby directly converting solar energy into electrical energy. To ensure power generation efficiency, the photovoltaic panel is inclined at an angle with respect to the horizontal plane.

When a plurality of photovoltaic panels are arranged to form a photovoltaic panel array, after one or two photovoltaic panels are arranged into a unit along the length thereof, the unit can be arranged along the width direction of the photovoltaic panels to form the photovoltaic panel array.

The photovoltaic panel is installed outdoors, so that snow is easily accumulated on the surface of the panel in winter, and the power generation efficiency of the photovoltaic panel is reduced. Usually, the surface of the photovoltaic panel needs to be cleaned with snow regularly, so that the manual cleaning cost is reduced, the cleaning efficiency is improved, and the photovoltaic power station adopts heating wires to melt snow on the surface of the panel.

Snow on the surface of the photovoltaic panel is melted into liquid through the heating wire and flows to the ground, but under the environment of lower temperature, snow on the photovoltaic panel is easy to freeze, so that the ice layer on the surface of the photovoltaic panel is more difficult to remove, and the power generation efficiency of the photovoltaic panel is reduced.

Disclosure of Invention

The application provides a cleaning robot which is used for solving the technical problems that snow on the surface of a photovoltaic panel is melted into a liquid state through a heating wire, snow water on the photovoltaic panel is easy to freeze in a low-temperature environment, so that an ice layer on the surface of the photovoltaic panel is more difficult to clean, and the power generation efficiency of the photovoltaic panel is reduced.

The application provides a cleaning robot, which comprises a vehicle body, a rolling brush and a snow removing device, wherein the advancing direction of the vehicle body is defined as the front; the rolling brush is rotatably connected to the vehicle body, and the central shaft of the rolling brush is perpendicular to the advancing direction of the vehicle body; the snow removing device is connected to the front side of the vehicle body and is positioned on the outer side of the vehicle body; the snow removing device comprises a snow scraping assembly, and the plane of the snow scraping assembly is perpendicular to the cleaning plane; wherein, the snow scraping component reciprocates along the advancing direction vertical to the vehicle body so as to push snow to slide from the upper side or the lower side of the cleaning plane.

Optionally, the snow removing device further comprises two driving wheels, a rotary driving piece and a driving belt, wherein the two driving wheels are respectively and rotatably connected to two ends of the front side of the vehicle body; the rotary driving piece is connected to the car body, and the rotating shaft of the rotary driving piece is connected to one driving wheel; the transmission belt is annular and sleeved outside the two transmission wheels; the snow scraping assembly comprises more than two scraping plates, the scraping plates are distributed along the annular center line of the transmission belt, one end of each scraping plate is connected to the outer side of the transmission belt, and the other end of each scraping plate can extend towards the direction away from the transmission belt; when the rotary driving piece drives the driving wheel to rotate, the scraping plate positioned at the lower side part of the driving belt can be abutted to the cleaning plane, so that the scraping plate can push snow to slide from the upper side or the lower side of the cleaning plane.

Optionally, the scraper comprises a first plate body and a second plate body which are connected, wherein the first plate body is connected to the transmission belt, and the end part of the second plate body can be abutted to the cleaning plane; the hardness of the first plate body is greater than or equal to that of the second plate body.

Optionally, the snow removing device further comprises a linear driving piece and a linkage rod, wherein the linear driving piece is connected to the vehicle body, and the movement direction of the linear driving piece is perpendicular to the advancing direction of the vehicle body; one end of the linkage rod is connected to the linear driving piece, the other end of the linkage rod extends to the outer side of the vehicle body, and the center line of the linkage rod is perpendicular to the movement direction of the linear driving piece; the snow scraping assembly comprises a snow scraping support and a snow scraping support, the snow scraping support comprises a cutting strip positioned at the bottom end, the central line of the cutting strip is parallel to the central line of the linkage rod, the top end of the snow scraping support is connected to the linkage rod, and the bottom end of the snow scraping support is higher than the cleaning plane by a distance; the auxiliary plate is positioned on one side of the snow scraping support, the top end of the auxiliary plate is rotatably connected to the linkage rod, and the bottom end of the auxiliary plate can be abutted to the cleaning plane; when the linear driving piece drives the snow scraping assembly to reciprocate through the linkage rod, the snow scraping support can cut snow along a straight line, and the auxiliary plate and the snow scraping support can push the snow to slide from the upper side or the lower side of the cleaning plane.

Optionally, the auxiliary plate is located at a side of the snow scraping support towards the bottom end of the cleaning plane, and the snow scraping support can cut snow along a straight line when the snow scraping assembly moves from the bottom end of the cleaning plane to the top end of the cleaning plane in one reciprocating motion of the snow scraping assembly; when the snow scraping assembly moves from the top end of the cleaning plane to the bottom end of the cleaning plane, the auxiliary plate and the snow scraping support can push cut snow to slide from the lower side of the cleaning plane; or alternatively

The auxiliary plate is positioned on one side of the snow scraping support towards the top end of the cleaning plane, and the snow scraping support can cut snow along a straight line when the snow scraping assembly moves from the top end of the cleaning plane to the bottom end of the cleaning plane in one reciprocating motion of the snow scraping assembly; when the snow scraping assembly moves from the bottom end of the cleaning plane to the top end of the cleaning plane, the auxiliary plate and the snow scraping support can push cut snow to slide from the upper side of the cleaning plane.

Optionally, the hardness of the auxiliary plate is smaller than that of the snow scraping support; the hardness of the top end of the auxiliary plate is higher than that of the bottom end of the auxiliary plate; the bottom end of the auxiliary plate comprises a bending part, and the bending part inclines towards the direction deviating from the snow scraping support.

Optionally, the cleaning robot further comprises a controller and an identification device, wherein the controller is connected to the vehicle body; the identification device is electrically connected to the controller and used for assisting the controller to acquire the distance between the bottom end of the cleaning plane and the ground snow; the identification device is a camera or a distance sensor.

Optionally, the cleaning robot further comprises a steel wire rope, the steel wire rope is connected to the vehicle body, and two ends of the steel wire rope are respectively wound on the two winding and unwinding devices; wherein the vehicle body travels synchronously on the cleaning plane when the wire rope is wound and unwound.

Optionally, the vehicle body comprises at least two vehicle frames, two adjacent vehicle frames are rotatably connected through a rotating assembly, the rolling brush comprises at least two brush bodies, and each brush body is rotatably connected to one vehicle frame; the rotating assembly can limit the rotating angle between two adjacent frames.

Optionally, the rotating assembly includes a mounting shaft, the mounting shaft includes a first shaft end and a second shaft end opposite to the first shaft end, the first shaft end is connected to a side wall of one frame, and the second shaft end penetrates through a side wall of another adjacent frame and extends into an interior of the frame, so that the two frames can slide relatively through the mounting shaft.

Optionally, the cleaning robot further comprises two groups of first driving devices, and the two groups of first driving devices are respectively connected to bottoms of two ends of the vehicle body; each first driving device comprises at least one first driving wheel, a driving motor, at least one driving sprocket and a transmission chain, wherein the at least one first driving wheel is rotatably connected to the side wall of the vehicle body, and the central axis of the first driving wheel is perpendicular to the advancing direction of the vehicle body; the driving motor is connected to the vehicle body, and the rotating shaft of the driving motor is connected to a driving sprocket; each driving sprocket is connected to the corresponding first driving wheel through a driving shaft; the transmission chain is wound on the outer sides of the driving sprocket and is used for driving the first driving wheel to synchronously rotate.

Optionally, the cleaning robot further comprises a second driving device, the second driving device comprises a supporting frame and at least one second driving wheel, and the supporting frame is connected to the bottom end of the middle part of the vehicle body; at least one second driving wheel is rotatably connected to the supporting frame, each second driving wheel is connected to the corresponding first driving wheel through a linkage shaft, and the center line of the second driving wheel, the center line of the linkage shaft and the center line of the first driving wheel are collinear; at least two groups of the first driving devices and the second driving devices can be attached to the cleaning plane.

Optionally, the cleaning robot further includes at least one limiting roller and at least one first bevel gear, the at least one limiting roller is rotatably connected to a side wall of the vehicle body, a center line of the limiting roller is perpendicular to a center line of the first driving wheel, and an outer side wall of the limiting roller can be abutted to a side edge of the cleaning plane; each first bevel gear is connected to the top end of a limiting roller; the driving shaft is sleeved with a second bevel gear at the outer side, and the second bevel gear is meshed with the first bevel gear.

Optionally, two cleaning chain wheels are respectively arranged at two ends of the rolling brush, and the cleaning chain wheels are meshed with the transmission chain.

The application provides a cleaning robot, which utilizes the cleaning robot to clean snow on the surface of a photovoltaic panel in real time, and can avoid the icing phenomenon caused by snow melting by using a resistance wire in the prior art, thereby improving the cleaning effect of the cleaning robot. Meanwhile, the scraping plate can clean dust on the surface of the photovoltaic panel simultaneously in the process of cleaning snow, so that the power generation efficiency of the photovoltaic panel is guaranteed.

According to the use scene, the movement direction of the snow scraping assembly is comprehensively controlled according to various factors such as ground snow and the like, snow can be pushed out from a proper position of the photovoltaic panel by the snow scraping assembly, and the power generation efficiency of the photovoltaic panel is ensured; meanwhile, accumulated snow can be prevented from accumulating below the photovoltaic panel, and interference is caused to the advancing of the cleaning robot.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of a cleaning robot traveling on a photovoltaic panel according to the present application;

fig. 2 is a schematic structural view of the cleaning robot provided by the present application;

FIG. 3 is an enlarged schematic view of portion A of FIG. 2;

FIG. 4 is a schematic view of a part of the construction of the cleaning robot according to the present application;

fig. 5 is a schematic structural view of a first driving device and a second driving device in the cleaning robot according to the present application;

fig. 6 is a schematic view of a part of a vehicle body in the cleaning robot according to the present application;

FIG. 7 is a schematic view of a construction of a cleaning robot including another snow removing apparatus solution provided by the present application;

Fig. 8 is a schematic structural view of a snow scraping assembly in the cleaning robot provided by the application.

Reference numerals illustrate:

100. a vehicle body; 110. a frame; 120. a rope loop; 130. a rolling brush; 131. cleaning a chain wheel; 200. a mounting shaft; 310. a first drive wheel; 320. a driving motor; 330. a drive sprocket; 340. a drive sprocket; 341. a drive shaft; 350. a second bevel gear; 360. a drive chain; 410. a support frame; 420. a second drive wheel; 421. a linkage shaft; 500. limiting idler wheels; 510. a first bevel gear; 610. a driving wheel; 611. a rotary driving member; 620. a transmission belt; 630. a scraper; 710. a linear driving member; 720. a linkage rod; 730. scraping snow and supporting; 731. cutting the strip; 740. an auxiliary plate; 741. a bending part; 810. a wire rope; 820. a winding and unwinding device; 900. a photovoltaic panel.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application. Furthermore, it should be understood that the detailed description is presented herein for purposes of illustration and description only, and is not intended to limit the application. In the present application, unless otherwise indicated, terms of orientation such as "upper", "lower", "left" and "right" are generally used to refer to the directions of the upper, lower, left and right sides of the device in actual use or operation, and are specifically shown in the drawings.

The present application provides a cleaning robot, which is described in detail below. It should be noted that the following description order of the embodiments is not intended to limit the preferred order of the embodiments of the present application. In the following embodiments, the descriptions of the embodiments are focused on, and for the part that is not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.

Referring to fig. 1, the present application provides a cleaning robot that can travel over a cleaning surface and can clean snow on the cleaning surface. The cleaning surface may be a surface of a photovoltaic panel or a panel array formed by photovoltaic panels, or may be a surface made of glass or other materials, and in this embodiment, the cleaning surface is exemplified by a photovoltaic panel.

Referring to fig. 1 and 4, the cleaning robot includes a vehicle body 100, a rolling brush 130, and a snow removing device, the central axis of the rolling brush 130 is perpendicular to the advancing direction of the vehicle body 100 and rotatably connected to the inside of the vehicle body 100, while the snow removing device is connected to the front side of the vehicle body 100 and located on the outside of the vehicle body 100, the advancing direction of the vehicle body 100 being defined as the front in this embodiment. When cleaning robot cleans snow of photovoltaic panel 900, automobile body 100 marches along the surface of photovoltaic panel 900, and snow removing device pushes away snow from the upside or the downside of photovoltaic panel 900 in advancing, avoids snow to pile up on photovoltaic panel 900, and automobile body 100 drives the round brush 130 that sets up in its inside simultaneously and marches on the surface after the clearance, and round brush 130 can carry out the clean of the snow and the dust on photovoltaic panel 900 surface to guarantee photovoltaic panel 900's generating efficiency.

Referring to fig. 1 and 4, the vehicle body 100 includes at least two frames 110, the frames 110 are sequentially arranged in a direction perpendicular to a forward direction of the vehicle body 100, the adjacent two frames 110 may be rotatably connected by a rotation assembly such that the adjacent two frames 110 can rotate about a hinge point, and the rotation assembly is used to limit a rotation angle between the two frames 110.

Referring to fig. 1, 4 and 6, the side plates of two adjacent frames 110 are disposed opposite to each other, and a certain gap is left between the two side plates to avoid collision and interference when the two frames 110 rotate relatively. The bottom or the top of two curb plates can pass through hinge hinged connection for two adjacent frames 110 can be around the pin joint relative rotation, and the bottom of two curb plates is articulated through the hinge in this embodiment, makes the top of two frames 110 can be close to each other or keep away from.

Referring to fig. 1,4 and 6, the above-mentioned rotating assembly includes a mounting shaft 200, the mounting shaft 200 includes a first shaft end and a second shaft end which are disposed opposite to each other, and the mounting shaft 200 sequentially passes through two side plates of the adjacent frame 110 along a direction perpendicular to the advancing direction of the vehicle body 100, such that the central axis of the mounting shaft 200 is perpendicular to the advancing direction of the vehicle body 100. The first shaft end is fixedly connected to a side plate of one frame 110, and the second shaft end penetrates through a side plate of another adjacent frame 110 and then extends into the frame 110, so that the frame 110 can slide relative to the mounting shaft 200, and the distance between the two adjacent frames 110 can be adjusted.

Referring to fig. 1 and 4, each of the rolling brushes 130 further includes two or more brush bodies, wherein the center lines of the brush bodies can be sequentially overlapped and arranged along a direction perpendicular to the advancing direction of the vehicle body 100.

Referring to fig. 1-3, the snow removing device includes a snow scraping assembly, two driving wheels 610, a rotary driving member 611 and an endless belt 620, wherein the two driving wheels 610 are rotatably connected to two ends of the front side of the vehicle body 100, respectively, the housing of the rotary driving member 611 is fixedly connected to the front side or the inside of the vehicle body 100, and the rotary shaft of the rotary driving member 611 is connected to a driving wheel 610, so that the rotary driving member 611 can drive the driving wheel 610 to rotate, and in this embodiment, the rotary driving member 611 is preferably a pulse motor. The transmission belt 620 is sleeved outside all the transmission wheels 610, so that the transmission wheels 610 can be driven to synchronously rotate.

Referring to fig. 1-3, the plane of the snow scraping assembly is perpendicular to the surface of the photovoltaic panel 900, and the snow scraping assembly includes more than two scraping plates 630, and the plurality of scraping plates 630 are equally spaced along the annular center line of the driving belt 620. One end of each flight 630 is fixedly attached to the outside of the belt 620 and the other end extends in a direction away from the belt 620. Because the two driving wheels 610 are respectively disposed at two ends of the front side of the vehicle body 100, the snow removing device can clean the whole photovoltaic panel 900 array when the vehicle body 100 travels, and the photovoltaic cleaning robot is prevented from turning to and fro, so that the snow removing efficiency can be improved.

Snow on the surface of the photovoltaic panel 900 is cleaned in real time by the cleaning robot, and icing caused by snow melting by using the resistance wire in the prior art can be avoided, so that the cleaning effect of the cleaning robot is improved. Meanwhile, the scraping plate 630 can clean dust on the surface of the photovoltaic panel 900 at the same time in the process of cleaning snow, so as to ensure the power generation efficiency of the photovoltaic panel 900.

Referring to fig. 1-3, each scraper 630 includes a first plate body and a second plate body, the other end of the first plate body is connected to the outer side of the driving belt 620, the other end of the second plate body can be abutted to the surface of the photovoltaic panel 900, when the driving wheel 610 is driven to rotate by the rotating driving member 611, the scraper 630 located at the lower side portion of the driving belt 620 can be attached to the photovoltaic panel 900, and can push snow to slide from the upper side or the lower side of the photovoltaic panel 900 in the synchronous movement process.

The hardness of the first plate body is greater than or equal to that of the second plate body, so that the strength and stability of the connection part of the scraping plate 630 and the transmission belt 620 can be improved, the cleaning effect of the second plate body for cleaning the photovoltaic panel 900 can be improved, and the surface of the photovoltaic panel 900 is prevented from being damaged by the scraping plate 630 in snow sweeping. In this embodiment, to ensure the strength of the connection between the first plate and the second plate, the second plate may be fixedly connected to the first plate through an injection molding process.

Referring to fig. 1 to 3, since the scraping plates 630 located at the lower side portion of the driving belt 620 can be abutted to the surface of the photovoltaic panel 900, the plurality of scraping plates 630 are driven to move synchronously by the forward and reverse rotation of the driving belt 620, so that the plurality of scraping plates 630 can slide snow from the upper side or the lower side of the photovoltaic panel 900, and thus the rotation direction of the driving belt 620 can be selected comprehensively according to various factors such as the use situation and the snow on the ground, so that the scraping plates 630 are controlled to push the snow out from different positions of the photovoltaic panel 900. For example, when the snow on the ground is less or the installation position of the photovoltaic panel 900 is high, the snow is pushed out from the lower side of the photovoltaic panel 900 by the scraper 630, so that the snow is more likely to slide down under the effect of its own gravity. When the snow on the ground is large or the installation position of the photovoltaic panel 900 is low, the scraping plate 630 is used to push the snow out of the upper side of the photovoltaic panel 900, so that the snow accumulation on the lower side is prevented from affecting the travel of the cleaning robot.

The snow removing device of the present embodiment may be replaced with another embodiment, referring to fig. 1, 7 and 8, and the snow removing device includes a linear driving member 710, a linkage rod 720 and a snow scraping assembly, wherein the linear driving member 710 is connected to the upper surface of the vehicle body 100, and the movement direction of the linear driving member 710 is perpendicular to the advancing direction of the vehicle body 100, and the linear driving member 710 is preferably a linear motor in the present embodiment.

One end of the linkage rod 720 is connected to the linear driving member 710 to drive the linkage rod 720 to synchronously move by using the linear driving member 710; the other end of the link lever 720 extends to the front side of the vehicle body 100 such that the center line of the link lever 720 is perpendicular to the movement direction of the linear driving member 710. The snow scraping assembly includes a snow scraping support 730 and an auxiliary plate 740, wherein the top end of the snow scraping support 730 is fixedly connected to the extended end of the linkage rod 720, so that the linear driving member 710 can push the snow scraping support 730 to move along the direction perpendicular to the advancing direction of the vehicle body 100 through the linkage rod 720, and when the snow scraping support 730 moves from one end of the vehicle body 100 to the other end thereof, the snow scraping support 730 can cut snow on the front side of the vehicle body 100, so that the snow can be pushed down later. The top end of the auxiliary plate 740 is rotatably connected to the linkage rod 720, the auxiliary plate 740 is disposed on one side of the snow scraping support 730, and the bottom end of the auxiliary plate 740 can be abutted to the surface of the photovoltaic panel 900, wherein the distance from the top end of the auxiliary plate 740 to the bottom end of the auxiliary plate is greater than or equal to the vertical distance from the side wall of the linkage rod 720 to the photovoltaic panel 900 in the embodiment, so as to ensure that the bottom of the auxiliary plate 740 can be always attached to the surface of the photovoltaic panel 900.

Referring to fig. 7 and 8, the bottom end of the snow scraper 730 includes a cutting strip 731, the center line of the cutting strip 731 is parallel to the center line of the linkage 720, and in this embodiment, the snow scraper 730 has a rectangular structure, and the cutting strip 731 has a bottom edge of the rectangular structure.

The hardness of the snow scraper 730 is greater than that of the auxiliary plate 740, and the snow scraper 730 is made of a rigid metal material in this embodiment, and the auxiliary plate 740 is made of a flexible elastic material. The bottom end of the snow scraping support 730 (i.e. the position of the cutting strip 731) is higher than the photovoltaic panel 900 by a distance, so that the cleaning robot is prevented from colliding with the surface and the frame of the photovoltaic panel 900 during the running process, and the photovoltaic panel 900 and the cleaning robot are protected.

Referring to fig. 1, 7 and 8, when the linear driving member 710 drives the snow scraping assembly to reciprocate through the link lever 720, the snow scraping support 730 can linearly move from one end of the vehicle body 100 to the other end and cut snow on the front side of the vehicle body 100, and when the linear driving member 710 drives the snow scraping assembly to reversely move through the link lever 720, the auxiliary plate 740 and the snow scraping support 730 can push the cut snow to slide from the upper side or the lower side of the photovoltaic panel 900.

Referring to fig. 1, 7 and 8, when the auxiliary plate 740 is positioned at a side of the snow scraping support 730 facing the bottom end of the photovoltaic panel 900, the snow scraping support 730 can cut snow along a straight line when the snow scraping assembly moves from the bottom end of the photovoltaic panel 900 to the top end thereof during one reciprocation of the snow scraping assembly; when the snow scraping assembly moves from the top end of the photovoltaic panel 900 to the bottom end thereof, the auxiliary plate 740 and the snow scraping support 730 can push the cut snow to slide from the lower side of the photovoltaic panel 900.

When the auxiliary plate 740 is positioned at a side of the snow scraping support 730 facing the top end of the photovoltaic panel 900, the snow scraping support 730 can cut snow along a straight line when the snow scraping assembly moves from the top end of the photovoltaic panel 900 to the bottom end thereof during one reciprocation of the snow scraping assembly; when the snow scraping assembly moves from the bottom end of the photovoltaic panel 900 to the top end thereof, the auxiliary plate 740 and the snow scraping support 730 can push the cut snow to slide off the upper side of the photovoltaic panel 900.

Because the auxiliary plate 740 is rotatably connected with the snow scraping support 730, snow can be slid from the upper side or the lower side of the photovoltaic panel 900 by utilizing the combination of the snow scraping support 730 and the auxiliary plate 740, the relative positions of the auxiliary plate 740 and the snow scraping support 730 can be comprehensively selected according to various factors such as use scenes, ground snow and the like, so that the snow can be pushed out from different positions of the photovoltaic panel 900.

Referring to fig. 1, 7 and 8, the top end of the auxiliary plate 740 has a hardness greater than that of the bottom end, so that the strength and stability of the connection between the auxiliary plate 740 and the snow scraping support 730 can be increased, and the cleaning effect of the photovoltaic panel 900 can be improved, thereby avoiding the damage to the surface of the photovoltaic panel 900 during the snow sweeping of the auxiliary plate 740.

Referring to fig. 1, 7 and 8, the bottom end of the auxiliary plate 740 includes a bending portion 741, and the bending portion 741 is inclined in a direction away from the snow scraping support 730, so that the auxiliary plate 740 is convenient for cleaning snow and the auxiliary plate 740 is convenient for crossing the frame of the photovoltaic panel 900.

Referring to fig. 1-8, because the paving area of the photovoltaic panels 900 is large, it cannot be guaranteed that the paving ground is kept in a flat plane, which may cause a height difference and an angle difference between two adjacent photovoltaic panels 900, or collapse of the photovoltaic panels 900 at the position of the pressed lower part of the snow cover, so that the height difference exists between the position and other positions.

Because the two adjacent frames 110 are hinged through the rotating assembly, the length of the scraping plate 630 is slightly longer than the vertical distance between the lower part of the transmission belt 620 and the photovoltaic panel 900, and the end part of the second plate body is made of flexible elastic materials, so that the end part of the scraping plate 630 can be always attached to the surface of the photovoltaic panel 900, and therefore the cleaning robot is adapted to the photovoltaic panels 900 in various installation scenes by utilizing a plurality of evenly arranged scraping plates 630, and the snow sweeping effect of the cleaning robot can be improved.

Referring to fig. 1 and 2, a controller (not shown) and an identification device (not shown) are disposed on the vehicle body 100, and the identification device is electrically connected to the controller and is used for assisting the controller to obtain the distance between the bottom end of the photovoltaic panel 900 and the ground snow.

According to the use scene, the movement direction of the snow scraping assembly is comprehensively controlled according to various factors such as ground snow and the like, snow can be pushed out from a proper position of the photovoltaic panel 900 by the snow scraping assembly, and the power generation efficiency of the photovoltaic panel 900 is ensured; meanwhile, accumulated snow can be prevented from accumulating below the photovoltaic panel 900, and interference is caused to the travelling of the cleaning robot.

Referring to fig. 1 and 2, when the cleaning robot travels along an array formed by a plurality of photovoltaic panels 900, in order to avoid slipping, falling, etc. of the vehicle body 100, two ends of the array of photovoltaic panels 900 are respectively provided with a winding and unwinding device 820 and a wire rope 810, two ends of the wire rope 810 are respectively wound on the two winding and unwinding devices 820, and the two winding and unwinding devices 820 synchronously rotate along opposite directions, so as to realize winding and unwinding of the wire rope 810.

The rope ring 120 is disposed at the side end of the vehicle body 100, the wire rope 810 is inserted into the rope ring 120 and is fixedly connected with the vehicle body 100, and when the wire rope 810 is wound and unwound by using the two winding and unwinding devices 820, the wire rope 810 can drive the vehicle body 100 connected with the wire rope to synchronously travel, thereby improving the stability and safety of the cleaning robot during cleaning.

Referring to fig. 1 and 4, two sets of first driving devices and one set of second driving devices are disposed at the bottom of the vehicle body 100, wherein the two sets of first driving devices are respectively connected to the bottoms of the frames 110 at two ends of the vehicle body 100, and in this embodiment, the vehicle body 100 includes two frames 110, so that the two sets of first driving devices are respectively disposed at the bottom ends of the edges of the two frames 110. Meanwhile, since the second driving device is disposed at the center of the vehicle body 100, the second driving device is disposed at the junction of the two frames 110 in the present embodiment.

Referring to fig. 4-6, each first driving device includes at least one first driving wheel 310, a driving motor 320, at least one driving sprocket 340, and a driving chain 360, all the first driving wheels 310 are rotatably connected to a side wall of the vehicle body 100, and a central axis of the first driving wheels 310 is perpendicular to an advancing direction of the vehicle body 100, so that the first driving wheels 310 walk on the photovoltaic panel 900. The housing of the driving motor 320 is fixed to the bottom of the vehicle body 100 by fastening screws, and simultaneously the rotation shaft of the driving motor 320 is connected to a driving sprocket 330, so that the driving motor 320 can drive the driving sprocket 330 to rotate.

Each of the driving sprockets 340 is coupled to the corresponding first driving wheel 310 via a driving shaft 341 such that the driving sprocket 340 can rotate in synchronization with the first driving wheel 310. The driving chain 360 is wound around the driving sprocket 330 and the driving sprocket 340, and when the driving motor 320 drives the driving sprocket 330 to rotate, the driving sprocket 330 drives the driving sprockets 340 to synchronously rotate through the driving chain 360, so that the first driving wheels 310 synchronously travel.

Referring to fig. 4-6, the second driving device includes a support frame 410 and at least one second driving wheel 420, the support frame 410 is fixed to the center of the lower surface of the vehicle body 100 by a fastening screw, and the plurality of second driving wheels 420 are rotatably connected to the support frame 410. Each of the second driving wheels 420 may be connected to the corresponding first driving wheel 310 by a coupling shaft 421, and the center line of the second driving wheel 420, the center line of the coupling shaft 421, and the center line of the first driving wheel 310 may be collinear, so that the first driving wheel 310 may synchronously rotate the second driving wheel 420 by the coupling shaft 421.

Referring to fig. 1 and 4-6, when the cleaning robot travels on the photovoltaic panel 900, the first driving device is located at two ends of the vehicle body 100, so that the first driving wheel 310 can travel along the uppermost and lowermost frames of the photovoltaic panel 900, and the second driving device is located in the middle of the vehicle body 100, so that the second driving wheel 420 can travel along the frames in the middle of the photovoltaic panel 900. Because the first driving device and the second driving device are both active traveling structures, at least two groups of the first driving devices located at the two ends and at least two groups of the second driving devices located at the middle can be attached to the photovoltaic panel 900, so that the vehicle body 100 can travel stably.

Referring to fig. 1 and fig. 4-6, the side ends of the vehicle body 100 are respectively provided with at least one limiting roller 500 and at least one first bevel gear 510, the limiting roller 500 is rotatably connected to the side wall of the vehicle body 100 through a rolling bearing, the center line of the limiting roller 500 is perpendicular to the center line of the first driving wheel 310, and the outer side wall of the limiting roller 500 can be abutted to the side edge of the photovoltaic panel 900. When the cleaning robot travels on the photovoltaic panel 900, the limit rollers 500 located at two sides of the vehicle body 100 are respectively abutted to the upper side and the lower side of the photovoltaic panel 900, so that the cleaning robot can be prevented from sliding and falling when traveling on the photovoltaic panel 900, and the safety and stability during cleaning are improved.

Referring to fig. 1 and fig. 4-6, each first bevel gear 510 is connected to a top end of a limiting roller 500, a second bevel gear 350 is sleeved on an outer side wall of the driving shaft 341, and the first bevel gear 510 is meshed with the second bevel gear 350, so that when the driving motor 320 drives the first driving wheel 310 to rotate through the chain transmission pair, the driving shaft 341 drives the limiting roller 500 to rotate along a side edge of the photovoltaic panel 900 through the meshing of the first bevel gear 510 and the second bevel gear 350.

Referring to fig. 4 to 6, the cleaning sprockets 131 are respectively provided at both ends of the roller brush 130, and the cleaning sprockets 131 are engaged with the driving chain 360, and when the driving sprocket 330 drives the driving chain 360 to move, the driving chain 360 can drive the roller brush 130 to move through the cleaning sprockets 131.

The foregoing has provided a cleaning robot in detail, and specific examples have been provided herein to illustrate the principles and embodiments of the present application, the above examples being provided only to assist in understanding the method and core ideas of the present application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims (14)

1. A cleaning robot, comprising:

A vehicle body defining a forward direction of the vehicle body as a front;

A rolling brush rotatably connected to the vehicle body, a central axis of the rolling brush being perpendicular to a forward direction of the vehicle body; and

A snow removing device connected to a front side of the vehicle body and located outside the vehicle body; the snow removing device comprises a snow scraping assembly, and the plane of the snow scraping assembly is perpendicular to the cleaning plane;

Wherein, the snow scraping component reciprocates along the advancing direction vertical to the vehicle body so as to push snow to slide from the upper side or the lower side of the cleaning plane.

2. The cleaning robot according to claim 1, characterized in that the snow removing device further comprises:

two driving wheels which are respectively and rotatably connected to two ends of the front side of the vehicle body;

A rotary driving member connected to the vehicle body, a rotating shaft of the rotary driving member being connected to one of the driving wheels; and

The transmission belt is annular and sleeved outside the two transmission wheels;

the snow scraping assembly comprises more than two scraping plates, the scraping plates are distributed along the annular center line of the transmission belt, one end of each scraping plate is connected to the outer side of the transmission belt, and the other end of each scraping plate can extend towards the direction away from the transmission belt;

when the rotary driving piece drives the driving wheel to rotate, the scraping plate positioned at the lower side part of the driving belt can be abutted to the cleaning plane, so that the scraping plate can push snow to slide from the upper side or the lower side of the cleaning plane.

3. The cleaning robot according to claim 2, wherein,

The scraper comprises a first plate body and a second plate body which are connected, the first plate body is connected to the transmission belt, and the end part of the second plate body can be abutted to the cleaning plane;

the hardness of the first plate body is greater than or equal to that of the second plate body.

4. The cleaning robot according to claim 1, characterized in that the snow removing device further comprises:

a linear driving member connected to the vehicle body, a moving direction of the linear driving member being perpendicular to a proceeding direction of the vehicle body; and

One end of the linkage rod is connected to the linear driving piece, the other end of the linkage rod extends to the outer side of the vehicle body, and the center line of the linkage rod is perpendicular to the movement direction of the linear driving piece;

The snow scraping assembly includes:

The snow scraping support comprises a cutting bar positioned at the bottom end, the central line of the cutting bar is parallel to the central line of the linkage rod, the top end of the snow scraping support is connected to the linkage rod, and the bottom end of the snow scraping support is higher than the cleaning plane by a distance; and

An auxiliary plate located at one side of the snow scraping support, the top end of the auxiliary plate being rotatably connected to the linkage rod, and the bottom end thereof being capable of abutting to the cleaning plane;

when the linear driving piece drives the snow scraping assembly to reciprocate through the linkage rod, the snow scraping support can cut snow along a straight line, and the auxiliary plate and the snow scraping support can push the snow to slide from the upper side or the lower side of the cleaning plane.

5. The cleaning robot according to claim 4, wherein,

The auxiliary plate is positioned on one side of the snow scraping support towards the bottom end of the cleaning plane, and the snow scraping support can cut snow along a straight line when the snow scraping assembly moves to the top end of the cleaning plane from the bottom end of the cleaning plane in one reciprocating motion of the snow scraping assembly; when the snow scraping assembly moves from the top end of the cleaning plane to the bottom end of the cleaning plane, the auxiliary plate and the snow scraping support can push cut snow to slide from the lower side of the cleaning plane; or alternatively

The auxiliary plate is positioned on one side of the snow scraping support towards the top end of the cleaning plane, and the snow scraping support can cut snow along a straight line when the snow scraping assembly moves from the top end of the cleaning plane to the bottom end of the cleaning plane in one reciprocating motion of the snow scraping assembly; when the snow scraping assembly moves from the bottom end of the cleaning plane to the top end of the cleaning plane, the auxiliary plate and the snow scraping support can push cut snow to slide from the upper side of the cleaning plane.

6. The cleaning robot according to claim 4, wherein,

The hardness of the auxiliary plate is smaller than that of the snow scraping support;

the hardness of the top end of the auxiliary plate is higher than that of the bottom end of the auxiliary plate;

The bottom end of the auxiliary plate comprises a bending part, and the bending part inclines towards the direction deviating from the snow scraping support.

7. The cleaning robot of claim 1, further comprising:

a controller connected to the vehicle body; and

The identification device is electrically connected to the controller and used for assisting the controller to acquire the distance between the bottom end of the cleaning plane and the ground snow;

the identification device is a camera or a distance sensor.

8. The cleaning robot of claim 1, further comprising:

The steel wire rope is connected to the car body, and two ends of the steel wire rope are respectively wound to the two winding and unwinding devices;

Wherein the vehicle body travels synchronously on the cleaning plane when the wire rope is wound and unwound.

9. The cleaning robot according to claim 1, wherein,

The rolling brush comprises at least two brush bodies, and each brush body is rotatably connected to one frame;

The rotating assembly can limit the rotating angle between two adjacent frames.

10. The cleaning robot of claim 9, wherein the rotating assembly comprises:

The mounting shaft comprises a first shaft end and a second shaft end which are opposite, the first shaft end is connected to the side wall of one frame, and the second shaft end penetrates through the side wall of the other adjacent frame and stretches into the frame, so that the two frames can slide relatively through the mounting shaft.

11. The cleaning robot of claim 1, further comprising:

two sets of first driving devices connected to bottoms of both ends of the vehicle body, respectively;

each of the first driving devices includes:

At least one first driving wheel rotatably connected to a side wall of the vehicle body, a central axis of the first driving wheel being perpendicular to a forward direction of the vehicle body;

a driving motor connected to the vehicle body, a rotation shaft of the driving motor being connected to a driving sprocket;

At least one drive sprocket, each of said drive sprockets being coupled to a corresponding one of said first drive wheels by a drive shaft; and

And the transmission chain is wound on the outer sides of the driving sprocket and is used for driving the first driving wheel to synchronously rotate.

12. The cleaning robot of claim 11, further comprising a second drive device, the second drive device comprising:

a support frame connected to a bottom end of a middle portion of the vehicle body; and

At least one second driving wheel rotatably connected to the supporting frame, each second driving wheel being connected to the corresponding first driving wheel by a linkage shaft, the center lines of the second driving wheel, the linkage shaft and the first driving wheel being collinear;

at least two groups of the first driving devices and the second driving devices can be attached to the cleaning plane.

13. The cleaning robot of claim 11, further comprising:

The limiting roller is rotatably connected to the side wall of the vehicle body, the center line of the limiting roller is perpendicular to the center line of the first driving wheel, and the outer side wall of the limiting roller can be abutted to the side edge of the cleaning plane; and

At least one first bevel gear, each first bevel gear is connected to the top end of a limit roller;

The driving shaft is sleeved with a second bevel gear at the outer side, and the second bevel gear is meshed with the first bevel gear.

14. The cleaning robot according to claim 11, wherein,

Two ends of the rolling brush are respectively provided with two cleaning chain wheels, and the cleaning chain wheels are meshed with the transmission chain.