CN216679221U

CN216679221U - Reflective solar panel cleaning robot system

Info

Publication number: CN216679221U
Application number: CN202123410155.7U
Authority: CN
Inventors: 丁婧; 徐文胜; 张睿志; 雷林成; 孙笑雨; 姜小祥; 马骏; 杨松祥; 刘巍
Original assignee: Nanjing Normal University
Current assignee: Nanjing Normal University
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-06-07
Anticipated expiration: 2031-12-31

Abstract

The utility model discloses a reflective solar electric board cleaning robot system, which comprises a walking track and an electric board cleaning robot, wherein the walking track is arranged on the walking track; the electric board cleaning robot comprises a robot body and a cleaning mechanism; the cleaning mechanism comprises a brush roller set, a brush roller mounting bracket and a brush roller rotating device; the sets of brush rollers comprising rollers symmetrically arranged about the centre line XnA pre-root brush roller andna back hair brush roll; each front brush roller is arranged along the width direction of the corresponding front photovoltaic panel, and the top end of each front brush roller is connected with the brush roller rotating device through a universal joint; each rear brush roller is arranged along the width direction of the corresponding rear photovoltaic panel, and the top end of each rear brush roller isAre connected with the brush roller rotating device through universal joints. The application discloses running gear can independently walk on the walking track at photovoltaic equipment both ends, cleans the reflecting mirror surface that the brush roller that the mechanism used can laminate the photovoltaic board, can effectively get rid of photovoltaic board surface dust, improves the generating efficiency, reduce cost.

Description

Reflective solar panel cleaning robot system

Technical Field

The utility model relates to the technical field of photovoltaic panel cleaning machinery manufacturing, in particular to a reflective solar panel cleaning robot system.

Background

Solar energy is a clean and safe renewable energy source and plays an important role in the overall planning of energy systems. Photoelectric conversion, i.e. the use of solar energy for the generation of electricity by means of photovoltaic panels, is the main route for the utilization of solar energy. However, the photovoltaic module is exposed to air for a long time, dust falls on the surface of the photovoltaic module, and dust accumulation is caused by erosion of wind and sand, so that the power generation efficiency of the photovoltaic module is severely limited and influenced. In addition, the dust deposition can also generate a temperature effect, so that the battery panel is in failure; the long-term dust deposition can also generate a chemical corrosion effect, the performance of the solar panel is reduced, the service life of the solar panel is shortened, and the negative effect of the dust deposition on the surface of the photovoltaic panel is very obvious.

At present, most photovoltaic power stations on the market are in a natural dust removal state (wind blowing dust removal and rainfall dust removal), a small part of artificial dust removal is performed, dust removal of robots, cleaning vehicles and the like is under development, and the leading-edge technology self-dust removal technology and the electric dust removal technology cannot be applied to the photovoltaic power stations on a large scale due to research progress and cost problems. However, manual cleaning is inefficient and costly; the large-scale sweeper is not suitable for all terrains and is easy to damage photovoltaic equipment; the small robot is low in cleaning efficiency and complex in later maintenance, and can not be applied to dust removal of the reflective photovoltaic panel only by using the planar solar cell panel.

SUMMERY OF THE UTILITY MODEL

The technical problem to be solved by the utility model is to provide a reflective solar panel cleaning robot system aiming at the defects of the prior art, wherein a traveling mechanism of the reflective solar panel cleaning robot system can autonomously travel on traveling rails at two ends of a photovoltaic device, and a brush roller used by the cleaning mechanism can be attached to a reflecting mirror surface of the photovoltaic panel, so that a better cleaning effect is achieved.

In order to solve the technical problems, the utility model adopts the technical scheme that:

a reflective solar electric board cleaning robot system comprises a walking track and an electric board cleaning robot.

The reflective solar panel comprises a photovoltaic frame and a photovoltaic panel group arranged on the top surface of the photovoltaic frame; the photovoltaic panel set comprisesnFront photovoltaic panels with parallel blocks andnthe blocks are parallel to the back photovoltaic panel;nphotovoltaic panel in front of block andnthe photovoltaic panels behind the blocks are symmetrically arranged about the central line X of the photovoltaic rack; wherein the content of the first and second substances,n≥1。

the walking track comprises a front walking track and a rear walking track which are both parallel to the central line X; the front walking rails and the rear walking rails are arranged on the tops of the photovoltaic frames on two sides of the photovoltaic panel set in parallel.

The electric board cleaning robot comprises a robot body and a cleaning mechanism.

The robot body is located above the photovoltaic panel set, and two ends of the robot body are erected on the front walking track and the rear walking track respectively and can walk in a reciprocating mode along the walking tracks.

The cleaning mechanism includes a brush roller set, a brush roller mounting bracket, and a brush roller rotating device.

The brush roller mounting brackets including arrangements symmetrically about the centre line XnA front brush roller mounting bracket andna back brush roller mounting bracket; the top ends of each brush roller mounting bracket and each rear brush roller mounting bracket are arranged at the bottom of the robot body.

The sets of brush rollers comprising rollers symmetrically arranged about the centre line XnA pre-root brush roller andnbrush rolls behind the roots.

nThe brush rollers are respectively arranged in front of the rootsnThe upper surface of photovoltaic board before the piece, every preceding brush roller all lay along the width direction who corresponds preceding photovoltaic board, the top of every preceding brush roller all through the universal joint with brush roller rotary device is connected, the bottom of every preceding brush roller all with correspond the bottom rotation of a preceding brush roller installing support and be connected.

nThe brush rollers are respectively arranged at the back of the rootnThe upper surface of photovoltaic board behind the piece, every back brush roller all lays along the width direction who corresponds back photovoltaic board, the top of every back brush roller all through the universal joint with brush roller rotary device is connected, the bottom of every back brush roller all with correspond a back brush roller installing support the bottom rotate be connected.

The robot body comprises a robot body frame, a walking mechanism and a transmission mechanism.

Two ends of the robot body frame are respectively erected on the front walking track and the rear walking track.

The walking mechanism comprises a front driving wheel assembly and a rear driving wheel assembly.

The front driving wheel assembly comprises a first driving wheel, a second driving wheel and a front limiting wheel.

The first driving wheel and the second driving wheel are arranged at the bottom of the robot body frame right opposite to the front walking track and can actively and synchronously roll and walk along the top end face of the front walking track.

The front limiting wheel is arranged at the bottom of the robot body frame on the outer sides of the first driving wheel and the second driving wheel and can freely roll and walk along the outer side wall surface of the front walking track.

The rear driving wheel assembly comprises a driving wheel III, a driving wheel IV and a rear limiting wheel.

The third driving wheel and the fourth driving wheel are arranged at the bottom of the robot body frame right opposite to the rear walking track and can actively and synchronously roll and walk along the top end face of the rear walking track.

The rear limiting wheel is arranged at the bottom of the robot body frame outside the driving wheel III and the driving wheel IV and can freely roll and walk along the outer side wall surface of the rear walking track.

The transmission mechanism can be used for controlling the driving wheels I, II, III and IV to actively roll and walk.

The transmission mechanism comprises a motor, a first transmission shaft and a third transmission shaft.

The first driving wheel and the third driving wheel synchronously rotate along with the first transmission shaft.

The second driving wheel and the fourth driving wheel synchronously rotate along with the third transmission shaft.

The motor is used for driving the first transmission shaft and the third transmission shaft to synchronously rotate.

The brush roller rotating device comprises a transmission shaft II which is positioned between the transmission shaft I and the transmission shaft III.

The middle of the first transmission shaft is coaxially sleeved with a driving gear, and the middle of the second transmission shaft is coaxially sleeved with a driven gear meshed with the driving gear.

The other ends of the universal joints at the top ends of the front brush roller and the rear brush roller are rotatably installed on the robot body frame body.

The transmission shaft II drives each universal joint to synchronously rotate through a synchronous transmission device.

The number of synchronous drives is 2n-1, the front brush roller adjacent to the centre line X and the rear brush roller adjacent to the centre line X sharing a common joint and a synchronous drive.

The rotating speed of the second transmission shaft is 2-3 times of that of the first transmission shaft.

The electric board cleaning robot also comprises a storage battery, a cleaning solar electric board, a coulometer and a monitoring terminal; the cleaning solar panel is arranged on the top surface of the robot body; the storage battery is respectively connected with the cleaning solar panel, the motor and the coulometer; the coulometer is connected with the monitoring terminal in a wireless mode.

The front driving wheel assembly also comprises a front limiting shaft and a front baffle; the front limiting shaft is vertically arranged at the bottom of the robot body frame, and the front limiting wheel is coaxially and rotatably sleeved in the middle of the front limiting shaft; the front baffle is coaxially and fixedly arranged at the bottom end of the limiting shaft; the top surface of the front baffle can be attached to or close to the bottom surface of the front walking track.

The rear driving wheel assembly also comprises a rear limiting shaft and a rear baffle; the rear limiting shaft is vertically arranged at the bottom of the robot body frame, and the rear limiting wheel is coaxially and rotatably sleeved in the middle of the rear limiting shaft; the rear baffle plate is coaxially and fixedly arranged at the bottom end of the limiting shaft; the top surface of the rear baffle plate can be attached to or close to the bottom surface of the rear walking track.

The front limiting shaft between the front limiting wheel and the front baffle and the rear limiting shaft between the rear limiting wheel and the rear baffle are both sleeved with limiting wheel height limiting sleeves.

n=3。

The utility model has the following beneficial effects:

1. the walking mechanism can independently walk on the walking tracks at two ends of the photovoltaic equipment, the brush roller used by the cleaning mechanism can be attached to the reflecting mirror surface, dust on the surface of the photovoltaic equipment can be effectively removed, the power generation efficiency is improved, and the cost is reduced. In addition, the cleaning robot can work in an environment with harsh natural conditions; meanwhile, the pure mechanical waterless cleaning can effectively prevent the problems of corrosion of photovoltaic equipment, foundation settlement and the like. The robot can obviously improve the power generation efficiency of the solar photovoltaic panel, effectively solves the problem of later maintenance of a photovoltaic power station, and accordingly promotes the development of the photovoltaic industry.

2. The cleaning robot can also detect the capacity of the battery, synchronously monitor the voltage, the current and the power of the battery, find unexpected conditions in time and guide maintenance and replacement.

Drawings

Fig. 1 shows a schematic perspective view of a reflective solar panel cleaning robot system during cleaning according to the present application.

Fig. 2 shows a schematic perspective view of an electric board cleaning robot according to the present application.

Fig. 3 shows an enlarged schematic view a of the end a in fig. 2.

Fig. 4 shows an enlarged schematic view of end a of fig. 2.

Fig. 5 shows an enlarged schematic view of end a of fig. 2.

Fig. 6 shows an enlarged schematic view one of the end B in fig. 2.

Fig. 7 shows an enlarged schematic view of the end B in fig. 2.

Fig. 8 shows a partially enlarged schematic view of the front brush roller in the present application.

Fig. 9 shows a schematic view of the structure of the transmission mechanism in the present application.

Fig. 10 shows an enlarged schematic view one of the end C in fig. 2.

Fig. 11 shows an enlarged schematic view of the end C of fig. 2.

Fig. 12 shows an enlarged schematic view one of the end D in fig. 8.

Fig. 13 shows a second enlarged schematic view of the end D in fig. 8.

Fig. 14 shows a transmission principle diagram of the transmission mechanism in the present application.

Fig. 15 shows a schematic diagram of the drive of the brush roller according to the utility model.

Among them are:

1. a traveling rail; 1-1, a front walking track; 1-2, a rear walking track;

2. a motor; 3. a speed reducer; 4. a front limit wheel; 5. a front baffle plate; 6. a first driving wheel; 7. a second driving wheel; 8. a second driving shaft; 9. a first driving shaft; 10. a chain wheel I; 11. a first chain; 12. a first transmission shaft; 13. a third transmission shaft; 14. a first pin shaft; 15. a first bearing set with a seat; 16. a driving wheel axial limiting sleeve; 17. a drive wheel mounting frame; 18. a limiting wheel height limiting sleeve; 19. a front limit shaft;

20. driving wheels III; 21. a third driving shaft; 22. driving wheel IV; 23. driving shaft four; 24. a second pin shaft;

25. a second transmission shaft;

26. a brush roller set;

26-1. a front brush roller; 26-2, a rear brush roller; 26-3, mounting a bracket for the front brush roller; 26-4, mounting a bracket on the rear brush roller;

27. a driving gear; 28. a driven gear; 29. a second chain; 30. a second chain wheel; 31. a second bearing set with a seat;

32. a third chain; 33. a roller brush drive shaft; 34. a universal joint; 35. a third chain wheel; 36. a bearing; 37. a bearing retainer ring; 38. a roller brush shaft; 39. a third bearing group with a seat; 40. a fourth bearing group with a seat;

41. a photovoltaic frame; 42. a front photovoltaic panel; 43. a rear photovoltaic panel; 44. a center line X;

50. a cleaning robot; 51. robot body frame.

Detailed Description

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

In the description of the present invention, it is to be understood that the terms "left side", "right side", "upper part", "lower part", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and that "first", "second", etc., do not represent an important degree of the component parts, and thus are not to be construed as limiting the present invention. The specific dimensions used in the present example are only for illustrating the technical solution and do not limit the scope of protection of the present invention.

As shown in fig. 1, the reflective solar panel includes a photovoltaic frame 41 and a photovoltaic panel group disposed on a top surface of the photovoltaic frame.

The photovoltaic panel set comprisesnFront photovoltaic panels 42 with parallel juxtaposed blocks andna rear photovoltaic panel 43 with blocks arranged in parallel;nphotovoltaic panel in front of block andnthe photovoltaic panels behind the block are symmetrically arranged about a center line X44 of the photovoltaic frame; wherein the content of the first and second substances,nnot less than 1, in this example, the preferable rangen=3。

As shown in fig. 1, a reflective solar panel cleaning robot system includes a traveling rail 1 and a panel cleaning robot 50.

The walking tracks comprise a front walking track 1-1 and a rear walking track 1-2 which are both parallel to the central line X; the front walking rails and the rear walking rails are arranged on the tops of the photovoltaic frames on two sides of the photovoltaic panel set in parallel.

Both ends of the front walking track 1-1 and the rear walking track 1-2 are preferably provided with proximity switches (not marked in the figure), and the proximity switches are used for detecting the end in-place situation of the electric board cleaning robot 50 and limiting the stroke of the electric board cleaning robot 50. When the electric board cleaning robot 50 contacts the corresponding proximity switch, the electric board cleaning robot travels in the reverse direction, and the robot is prevented from falling. Alternatively, the proximity switches may be provided only at both ends of the front running rail 1-1 or both ends of the rear running rail 1-2.

Further, the longitudinal sections of the front running rail 1-1 and the rear running rail 1-2 are preferably rectangular or square, that is, the top end surface is perpendicular to the outer side wall surface.

The electric plate cleaning robot comprises a robot body, a cleaning mechanism, a storage battery, a cleaning solar electric plate, a coulometer and a monitoring terminal.

As shown in fig. 2, the robot body includes a robot body frame 51, a traveling mechanism, and a transmission mechanism.

The cleaning solar panel is preferably arranged on the top surface of the robot body frame and used for absorbing solar energy and storing the solar energy in the storage battery, and the specific arrangement and storage method is the prior art and is not described herein again.

The coulometer monitors and displays the voltage, current, electric quantity and power of the storage battery in real time, and transmits the detected battery information to a monitoring terminal, and the monitoring terminal is preferably a computer, a smart phone or an IPAD and the like.

The traveling mechanism comprises a front driving wheel assembly and a rear driving wheel assembly.

As shown in fig. 3, 4 and 5, the front driving wheel assembly includes a first driving wheel 6, a second driving wheel 7, a front limit shaft 19, a front limit wheel 4 and a front barrier 5.

The front limiting wheels are arranged at the bottom of the robot body frame on the outer sides of the first driving wheel and the second driving wheel, preferably two front limiting wheels, and correspond to the first driving wheel and the second driving wheel one by one respectively. The first driving wheel and the second driving wheel can freely roll and walk along the outer side wall surface of the front walking track.

In the present embodiment, since the top end surface of the front travel rail is perpendicular to the outer side wall surface, the central axis of the front stopper wheel is perpendicular to the central axis of the first driving wheel or the second driving wheel.

The front limit shafts are vertically arranged at the bottom of a driving wheel mounting rack 17 of the robot body frame and are provided with two.

The front limiting wheel is coaxially and rotatably sleeved in the middle of the corresponding front limiting shaft; the front baffle is coaxially and fixedly arranged at the bottom end of the limiting shaft; the top surface of the front baffle can be attached to or close to the bottom surface of the front walking track.

As shown in fig. 6 and 7, the rear driving wheel assembly includes a driving wheel three 20, a driving wheel four 22, a rear limit shaft, a rear limit wheel and a rear flap.

The rear limiting wheels are arranged at the bottoms of the robot body frames on the outer sides of the driving wheel III and the driving wheel IV, preferably two rear limiting wheels, and correspond to the driving wheel III and the driving wheel IV one by one respectively. The third driving wheel and the fourth driving wheel can freely roll and walk along the outer side wall surface of the rear walking track.

In the present embodiment, since the top end surface of the rear travel rail is perpendicular to the outer side wall surface, the central axis of the rear stopper wheel is perpendicular to the central axis of the driving wheel three or the driving wheel four.

The rear limiting shaft is vertically arranged at the bottom of the robot body frame, and the rear limiting wheel is coaxially and rotatably sleeved in the middle of the rear limiting shaft; the rear baffle plate is coaxially and fixedly arranged at the bottom end of the limiting shaft; the top surface of the rear baffle plate can be attached to or close to the bottom surface of the rear walking track.

Further, a front limiting shaft between the front limiting wheel and the front blocking piece and a rear limiting shaft between the rear limiting wheel and the rear blocking piece are sleeved with limiting wheel height limiting sleeves 18 shown in fig. 5.

The transmission mechanism in the application can control the driving rolling walking of the first driving wheel, the second driving wheel, the third driving wheel and the fourth driving wheel on one hand, and can control the rotation of the brush roller rotating device.

As shown in fig. 1, 9 and 14, the transmission mechanism includes a motor 2, a first transmission shaft 12 and a third transmission shaft 13.

In the present embodiment, the driving wheel is coaxially sleeved on the periphery of the first driving shaft 9, one end of the first driving shaft is connected with the motor 1 through the speed reducer 3, and the other end of the first driving shaft is preferably connected with one end of the first transmission shaft through the first pin shaft.

The second coaxial cover of drive wheel is established in the second 8 peripheries of drive shaft, and drive shaft one and drive shaft two are all preferably installed on robot body frame through a belt seat bearing group 15, guarantee the moment of torsion and stably transmit.

Further, the driving wheel axial limiting sleeve 16 shown in fig. 5 is sleeved on the driving shaft one between the driving wheel one and the corresponding belt seat bearing set one and on the driving shaft two between the driving wheel two and the corresponding belt seat bearing set one.

The second driving shaft is preferably connected with one end of the third driving shaft through the first pin shaft.

And a synchronous transmission device I is preferably adopted between the first driving shaft and the second driving shaft to realize synchronous rotation. The first synchronous transmission device is preferably a chain wheel I10 and a chain I11, the chain wheel I10 is respectively coaxially sleeved on the peripheries of the first driving shaft I and the second driving shaft II, and the chain I11 is sleeved on the peripheries of the two chain wheel I. Alternatively, the first synchronous transmission device may be a synchronous belt or a gear transmission.

The first pin shaft is used for fixedly connecting the first driving shaft and the first transmission shaft, and the second driving shaft and the third transmission shaft to realize torque transmission; and the sleeves are respectively embedded between the driving wheel I, the driving wheel II and the belt seat bearing assembly I to realize axial positioning.

The driving wheel III is coaxially sleeved on the periphery of the driving shaft III 21, and the driving shaft III is preferably connected with the transmission shaft I by a pin shaft 24.

The driving wheel IV is coaxially sleeved on the periphery of the driving shaft IV 23, and the driving shaft IV is preferably connected with the transmission shaft in a three-phase manner by a pin shaft 24.

Alternatively, the transmission mechanism may be in other forms, such as four driving wheels driven by four motors separately, one driving wheel one and two driving wheels driven by one motor, and the other driving wheel one and two driving wheels driven by the other motor. Alternatively, the brush roller rotating means may be a separate driving means.

As shown in fig. 2, 8, 12 and 13, the sweeping mechanism includes a brush roller group 26, a brush roller mounting bracket, and a brush roller rotating device.

The brush roller mounting brackets including symmetrically arranged about the centre line Xn=3 front brush roll mounting brackets 26-3 andnand =3 rear brush roller mounting brackets 26-4.

The top ends of each brush roller mounting bracket and each rear brush roller mounting bracket are arranged at the bottom of the robot body, and are preferably consistent with the arc shape of the reflecting plate.

The sets of brush rollers comprising rollers symmetrically arranged about the centre line Xn=3 front brush rolls 26-1 andn=3 rear brush rollers 26-2.

Each front brush roller and each brush roller have the same structure and comprise a roller brush shaft 38 and brush bristles uniformly distributed on the periphery of the roller brush shaft 38.

nThe brush rollers are respectively arranged in front of the rootnThe upper surface of photovoltaic board before the piece, every preceding brush roller all lays along the width direction who corresponds preceding photovoltaic board, and the top of every preceding brush roller all is connected with brush roller rotary device through universal joint 34, and the brush axle of every preceding brush roller bottom all rotates through bearing 36 with the bottom that corresponds a preceding brush roller installing support to be connected, and the outer terminal surface of bearing still preferably is provided with retaining ring 37.

As shown in fig. 9, 14 and 15, the brush roller rotating means includes a second driving shaft 25 between the first driving shaft and the third driving shaft.

As shown in fig. 10 and 11, the driving gear 27 is coaxially sleeved in the middle of the first transmission shaft, the driven gear 28 engaged with the driving gear is coaxially sleeved in the middle of the second transmission shaft, and the number of teeth of the driving gear and the driven gear is set so that the rotating speed of the second transmission shaft is 2-3 times of the rotating speed of the first transmission shaft.

Further, the driving gear and the driven gear are preferably rotatably mounted on the robot body frame body through the second bearing set with a base 31.

The other ends of the universal joints at the top ends of the front brush roller and the rear brush roller are rotatably installed on the robot body frame body. The universal joint transmission angle is variable, can adjust according to the radian and the position of actual photovoltaic board speculum face, realizes cleaning the fixed angle rotation of in-process round brush.

In this embodiment, the number of synchronous drives is 2n1, that is to say 5.

The front brush rollers adjacent to the center line X and the rear brush rollers adjacent to the center line X share a synchronous transmission device, referred to herein as a second synchronous transmission device, which preferably includes a second sprocket 30 and a second chain 29.

The top end of the universal joint is also called a rolling brush driving shaft 33, namely the front rolling brush roller adjacent to the central line X and the rear rolling brush roller adjacent to the central line X share one rolling brush driving shaft, which is called an intermediate rolling brush driving shaft herein, and the intermediate rolling brush driving shaft realizes synchronous transmission with the transmission shaft II through the chain wheel II 30 and the chain II 29.

The roller brush driving shafts of the other 2 front brush rollers and the other 2 rear brush rollers are preferably synchronously driven with the second driving shaft through a third chain wheel 35 and a third chain 32.

In addition, each rolling brush driving shaft is preferably rotatably mounted on the robot body frame body through a third rolling brush driving shaft bearing set 39 and a fourth rolling brush driving shaft bearing set 40.

Firstly, the torque of a motor 2 is directly transmitted to a first driving shaft through a reduction gearbox 3, the first driving shaft simultaneously transmits the torque to the first driving wheel and the first transmission shaft, and the torque is transmitted to a second driving shaft through a first chain wheel and a first chain; the first transmission shaft transmits the torque to a third driving shaft at the same time, and transmits the torque to a second transmission shaft (a bearing group II with a seat plays a role in fixing and maintaining stability) through a driving gear and a driven gear, and the second driving shaft transmits the torque to a second driving wheel and the third transmission shaft at the same time; the third driving shaft transmits torque to the third driving wheel, the second driving shaft transmits the torque to the brush roller through a second chain, a second chain wheel and the like, and the third driving shaft transmits the torque to the fourth driving shaft; drive shaft four transmits torque to drive wheel four, as shown in detail in fig. 14.

Because the brush roller and the transmission shaft are not parallel, the universal joint with variable-angle power transmission is selected to transmit torque to the brush roller. The transmission shaft II transmits torque to the rolling brush driving shaft through a chain III and a chain wheel III; the rolling brush driving shaft transmits torque to the rolling brush shaft through a universal joint; the roller brush shaft drives the roller brush to rotate, as shown in fig. 15.

This application enables to clean perfect adaptation photovoltaic equipment of robot, realizes carrying out full-automatic detection achievement that cleans to the solar photovoltaic board under the complex environment to reach better effect of cleaning, filled the blank that reflection type photovoltaic equipment cleaned industry correlation technique.

Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the embodiments, and various equivalent modifications can be made within the technical spirit of the present invention, and the scope of the present invention is also within the scope of the present invention.

Claims

1. The utility model provides a reflection-type solar energy electroplax cleans machine people system which characterized in that: comprises a walking track and an electric board cleaning robot;

the reflective solar panel comprises a photovoltaic frame and a photovoltaic panel group arranged on the top surface of the photovoltaic frame; the photovoltaic panel set comprisesnFront photovoltaic panels with parallel blocks andnthe blocks are parallel to the back photovoltaic panel;nphotovoltaic panel in front of block andnthe photovoltaic panels behind the blocks are symmetrically arranged about the central line X of the photovoltaic rack; wherein the content of the first and second substances,n≥1；

the walking track comprises a front walking track and a rear walking track which are both parallel to the central line X; the front walking track and the rear walking track are arranged on the tops of the photovoltaic frames on two sides of the photovoltaic panel group in parallel;

the electric board cleaning robot comprises a robot body and a cleaning mechanism;

the robot body is positioned above the photovoltaic panel set, and two ends of the robot body are respectively erected on the front walking track and the rear walking track and can walk back and forth along the walking tracks;

the cleaning mechanism comprises a brush roller set, a brush roller mounting bracket and a brush roller rotating device;

the brush roller mounting brackets including symmetrically arranged about the centre line XnA front brush roller mounting bracket andna back brush roller mounting bracket; the top ends of each brush roller mounting bracket and each rear brush roller mounting bracket are arranged at the bottom of the robot body;

the sets of brush rollers comprising rollers symmetrically arranged about the centre line XnA pre-root brush roller andna back hair brush roll;

nthe brush rollers are respectively arranged in front of the rootnEach front brush roller is arranged along the width direction of the corresponding front photovoltaic plate, the top end of each front brush roller is connected with the brush roller rotating device through a universal joint, and the bottom end of each front brush roller is rotatably connected with the bottom end of the corresponding front brush roller mounting bracket;

nthe brush rollers are respectively arranged at the back of the rootnThe upper surface of photovoltaic board behind the piece, every back brush roller all lays along the width direction who corresponds back photovoltaic board, and every back brushThe top of the roller is connected with the brush roller rotating device through a universal joint, and the bottom of each rear brush roller is rotatably connected with the bottom of a corresponding rear brush roller mounting bracket.

2. The reflective solar-electric panel cleaning robot system of claim 1, characterized by: the robot body comprises a robot body frame, a walking mechanism and a transmission mechanism;

two ends of the robot body frame are respectively erected on the front walking track and the rear walking track;

the traveling mechanism comprises a front driving wheel assembly and a rear driving wheel assembly;

the front driving wheel assembly comprises a driving wheel I, a driving wheel II and a front limiting wheel;

the first driving wheel and the second driving wheel are arranged at the bottom of the robot body frame opposite to the front walking track and can actively and synchronously roll and walk along the top end face of the front walking track;

the front limiting wheel is arranged at the bottom of the robot body frame on the outer sides of the first driving wheel and the second driving wheel and can freely roll along the outer side wall surface of the front walking track;

the rear driving wheel assembly comprises a driving wheel III, a driving wheel IV and a rear limiting wheel;

the driving wheel III and the driving wheel IV are arranged at the bottom of the robot body frame which is just opposite to the rear walking track, and can actively and synchronously roll and walk along the top end surface of the rear walking track;

the rear limiting wheel is arranged at the bottom of the robot body frame outside the third driving wheel and the fourth driving wheel and can freely roll and walk along the outer side wall surface of the rear walking track;

3. The reflective solar-electric panel cleaning robot system of claim 2, characterized in that: the transmission mechanism comprises a motor, a first transmission shaft and a third transmission shaft;

the first driving wheel and the third driving wheel synchronously rotate along with the first transmission shaft;

the second driving wheel and the fourth driving wheel synchronously rotate along with the third transmission shaft;

4. The reflective solar-electric panel cleaning robot system of claim 3, characterized in that: the brush roller rotating device comprises a transmission shaft II positioned between the transmission shaft I and the transmission shaft III;

a driving gear is coaxially sleeved in the middle of the first transmission shaft, and a driven gear meshed with the driving gear is coaxially sleeved in the middle of the second transmission shaft;

the other ends of the universal joints at the top ends of the front brush roller and the rear brush roller are rotatably arranged on the robot body frame body;

5. The reflective solar-electric panel cleaning robot system of claim 4, characterized in that: the number of synchronous drives is 2n-1, the front brush roller adjacent to the centre line X and the rear brush roller adjacent to the centre line X sharing a common joint and a synchronous drive.

6. The reflective solar-electric panel cleaning robot system of claim 4, characterized in that: the rotating speed of the second transmission shaft is 2-3 times of that of the first transmission shaft.

7. The reflective solar-electric panel cleaning robot system of claim 3, characterized in that: the electric board cleaning robot also comprises a storage battery, a cleaning solar electric board, a coulometer and a monitoring terminal; the cleaning solar panel is arranged on the top surface of the robot body; the storage battery is respectively connected with the cleaning solar panel, the motor and the coulometer; the coulometer is connected with the monitoring terminal in a wireless mode.

8. The reflective solar-electric panel cleaning robot system of claim 2, characterized in that: the front driving wheel assembly also comprises a front limiting shaft and a front baffle; the front limiting shaft is vertically arranged at the bottom of the robot body frame, and the front limiting wheel is coaxially and rotatably sleeved in the middle of the front limiting shaft; the front baffle is coaxially and fixedly arranged at the bottom end of the limiting shaft; the top surface of the front baffle can be attached to or close to the bottom surface of the front walking track;

9. The reflective solar-electric panel cleaning robot system of claim 7, wherein: the front limiting shaft between the front limiting wheel and the front baffle and the rear limiting shaft between the rear limiting wheel and the rear baffle are both sleeved with limiting wheel height limiting sleeves.

10. The reflective solar-electric panel cleaning robot system of claim 1, characterized by:n=3。