CN216757356U - Solar photovoltaic module cleaning robot - Google Patents

Abstract

The utility model discloses a solar photovoltaic module cleaning robot which comprises a cross beam, a traveling device, a rolling brush and a scraping plate, wherein a group of traveling devices are respectively fixed at two ends of the cross beam, a water storage area is arranged in the cross beam and used for storing cleaning water, the scraping plate is arranged at the bottom of the cross beam, the rolling brush is arranged in front of the cross beam, a water pipe connected with the water storage area is arranged between the scraping plate and the rolling brush, a plurality of water spraying holes are formed in the water pipe, and a storage battery for supplying power to the traveling device is further arranged on the cross beam. Utilize the round brush to clean earlier, then the water-washed, the water stain on the scraper blade is scraped away solar PV modules again for solar PV modules after the cleanness goes up the great reduction water stain and remains, has also accelerated the solar PV modules and has gone up the water stain dry-up speed, reduces the dust and adheres to and remain the time that water stain combines, makes follow-up cleanness easier, has promoted cleaning efficiency greatly. The water storage area is arranged in the beam, so that a large space is provided for storing enough cleaning water, and the internal space of the beam is fully utilized.

Description

Solar photovoltaic module cleaning robot

Technical Field

The utility model relates to a cleaning robot for a solar photovoltaic module.

Background

Solar energy is being widely used as a clean and renewable resource, and a large number of solar photovoltaic modules are laid on the roofs of a plurality of factories or buildings to collect solar energy for self use or to be incorporated into a power grid. After the solar photovoltaic module is used for a period of time, dust or other dirt is easily attached to the solar photovoltaic module, and the power generation efficiency of the solar photovoltaic module is greatly influenced.

Therefore, the solar photovoltaic modules need to be cleaned regularly, the existing solar photovoltaic module laying process is better and better, the row laying length of the solar photovoltaic modules can reach more than one hundred meters, a cleaning device is configured for each solar photovoltaic module, the cost is high, and more, one row of solar photovoltaic modules are configured with one set of cleaning equipment, and the solar photovoltaic modules are cleaned through regular reciprocating motion. Traditional automatic solar PV modules cleaning device can only utilize the brush to clean, can only sweep away the floating dust on the solar PV modules like this, can't clear some adnexed filths, also have the design of installation water injection system on cleaning device, but it is through water pipe lug connection, when cleaning the longer solar PV modules of length like this, it can produce the hindrance to the normal operating of cleaning equipment obviously to the water pipe, and the brush adds water and washs the back, can remain a large amount of water stains on the solar PV modules, the dust is attached to and is makeed the next time cleanness more difficult on it.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a solar photovoltaic module cleaning robot which can effectively solve the problems that water stains are easy to remain and clean water is not easy to carry in the existing solar photovoltaic module cleaning.

In order to solve the technical problems, the utility model is realized by the following technical scheme: the utility model provides a solar photovoltaic module cleans machine people, includes crossbeam, running gear, round brush and scraper blade, the both ends of crossbeam are fixed with a set of running gear respectively, be equipped with the water storage district in the crossbeam for the storage washs water, the scraper blade is installed in the bottom of crossbeam, the round brush sets up the place ahead at the crossbeam, be equipped with the water pipe that links to each other with the water storage district between scraper blade and the round brush, it has a plurality of hole for water spraying to open on the water pipe, still be equipped with the battery for the running gear power supply on the crossbeam.

In foretell solar PV modules cleans machine people, still be equipped with the cable district in the crossbeam, the cable district sets up and runs through along crossbeam length direction the crossbeam, be equipped with in the crossbeam with the water storage district with the cable district separates into the baffle in two independent spaces.

In the solar photovoltaic module cleaning robot, the water pipe is arranged on the inner side of the side wall of the cross beam, and the water pipe and the cross beam are integrally arranged.

In foretell solar PV modules cleans machine people, running gear includes guide rail, support and main walking wheel, the guide rail is hollow tubular structure, main walking wheel rotates to be connected on the support, follows the equipartition has a plurality of walking teeth on the circumference wall of main walking wheel, follows the length direction equipartition of guide rail has with walking tooth complex walking hole.

In the solar photovoltaic module cleaning robot, the support is further provided with at least one pair of auxiliary wheels, one auxiliary wheel is in rolling contact with the left side of the guide rail, and the other auxiliary wheel is in rolling contact with the right side of the guide rail according to the moving direction of the support.

In the solar photovoltaic module cleaning robot, a V-shaped groove is formed along the circumferential surface of the auxiliary wheel, and a convex rail with a V-shaped cross section is arranged on the side surface of the guide rail.

In foretell solar PV modules cleans machine people, the round brush has two at least sections and sets up side by side, every section the tip of round brush all is equipped with height adjusting mechanism and is connected with the crossbeam, connects through flexible coupling between two adjacent sections round brush, and one of them section round brush is connected with the transmission of rolling motor.

In foretell solar PV modules cleans machine people, height adjusting mechanism includes connecting plate and swing board, the upper end and the connecting plate of swing board rotate to be connected, the lower extreme of swing board and the end connection of round brush, the relative connecting plate of round brush drive swing board rotates for realize round brush automatically regulated in the direction of height.

In foretell solar PV modules cleans machine people, it has the commentaries on classics hole to open on the connecting plate, swing board upper portion be equipped with normal running fit's pivot, swing board lower part is opened have with round brush complex lower hole, still open the arc wall on the connecting plate, the centre of a circle of arc wall is located the axis in commentaries on classics hole, be equipped with the gag lever post with arc wall sliding fit on the swing board.

In the solar photovoltaic module cleaning robot, a first limiting plate is fixed on the connecting plate, a second limiting plate is fixed on the swinging plate, and an adjusting bolt facing the other limiting plate penetrates through one limiting plate to control the swinging amplitude of the swinging plate relative to the connecting plate.

In foretell solar PV modules cleans machine people, still include tap, be equipped with the solenoid valve on the tap, the one end of crossbeam is equipped with the funnel of intaking with tap butt joint, the funnel of intaking communicates with each other with the water storage district, be equipped with level sensor in the water storage district, level sensor and solenoid valve electric connection.

Compared with the prior art, the utility model has the advantages that:

the utility model provides a solar photovoltaic module cleans machine people, includes crossbeam, running gear, round brush and scraper blade, the both ends of crossbeam are fixed with a set of running gear respectively, be equipped with the water storage district in the crossbeam for the storage washs water, the scraper blade is installed in the bottom of crossbeam, the round brush sets up the place ahead at the crossbeam, be equipped with the water pipe that links to each other with the water storage district between scraper blade and the round brush, it has a plurality of hole for water spraying to open on the water pipe, still be equipped with the battery for the running gear power supply on the crossbeam. Through increasing scraper blade and round brush cooperation, solved present solar PV modules and cleaned the problem that the robot remained water stain after clean easily, utilize the round brush to clean earlier, then the water washing, the water stain on the scraper blade is scraped away with solar PV modules again, make the solar PV modules after the cleanness go up the great reduction water stain and remain, the water stain dry-up speed on the solar PV modules has also been accelerated, reduce the dust and adhere to and remain the time that water stain combines, make follow-up cleanness easier, the cleaning efficiency has been promoted greatly. The water storage area is arranged in the cross beam, so that enough cleaning water can be stored in a large space, the left side and the right side of the cleaning robot in operation can be kept balanced, the center of gravity of the original cleaning robot cannot be damaged, and the inner space of the cross beam is fully utilized. In addition, the storage battery can supply power to the whole cleaning robot, and the cleaning robot is free from the constraint of a wire harness when running.

Further, still be equipped with the cable district in the crossbeam, the cable district sets up and runs through along crossbeam length direction the crossbeam, be equipped with in the crossbeam with the water storage district with the baffle that the cable district separates into two independent spaces. Still be equipped with the cable district in the crossbeam, make the electrical components of the crossbeam left and right sides can connect to utilize the crossbeam to protect the cable, the life of extension cable utilizes the baffle to separate water storage district and cable district, prevents that the aqueous vapor from entering into the cable district, further promotes the cable safety in cable district.

Further, the water pipe sets up the inboard of crossbeam lateral wall, just the water pipe with the crossbeam is integrative to be set up. The water pipe is arranged on the inner side of the side wall of the cross beam to reduce the length of the water spray holes, so that water flow can be sprayed out as soon as possible, and the integrated arrangement mode is manufactured at one time when the cross beam is produced, so that the forming efficiency is improved, and the sealing performance of the water pipe can be ensured.

Further, running gear includes guide rail, support and main walking wheel, the guide rail is hollow tubular structure, main walking wheel rotates to be connected on the support, follows the equipartition has a plurality of walking teeth on the circumference wall of main walking wheel, follows the length direction equipartition of guide rail has with walking tooth complex walking hole. Through the guide rail that sets up hollow tubular structure, effectively reduce the weight of guide rail under the prerequisite of guaranteeing the enough holding power of guide rail, be convenient for the construction and be favorable to reducing construction cost. The circumferential wall of the main travelling wheel is provided with the travelling teeth which are matched with the travelling holes on the guide rail, so that the travelling wheels can not slip on the guide rail, the travelling distance of the main travelling wheels on two sides can be accurately judged, and the synchronous operation of the main travelling wheels on two sides of the cleaning robot can be kept.

Furthermore, the support is also provided with at least one pair of auxiliary wheels, one auxiliary wheel is in rolling contact with the left side of the guide rail, and the other auxiliary wheel is in rolling contact with the right side of the guide rail according to the moving direction of the support. The auxiliary wheels are arranged to be in rolling contact with the left side and the right side of the guide rail, so that the stability of the support during walking is kept, and the support cannot deviate from the length direction of the guide rail to move forwards.

Furthermore, a V-shaped groove is formed along the circumferential surface of the auxiliary wheel, and a convex rail with a V-shaped cross section is arranged on the side surface of the guide rail. The auxiliary wheels on the left side and the right side are matched with the convex rail to clamp the guide rail and then limit the cleaning robot in the transverse direction, and the cleaning robot can be limited in the vertical direction, so that the main travelling wheels are guaranteed to be in good contact with the guide rail.

Furthermore, the round brush has two at least sections and sets up side by side, every section the tip of round brush all is equipped with height adjusting mechanism and is connected with the crossbeam, connects through flexible coupling between two adjacent sections round brush, and one of them section round brush is connected with the rolling motor transmission. Through setting up two at least section round brushes side by side, and every section round brush can height-adjusting alone, the solar PV modules of adaptation co-altitude not clean, solve the problem that same row of solar PV modules highly different can not clean totally, connect through flexible coupling between the adjacent round brush, drive all round brushes by the roll motor and rotate together, clean one row of solar PV modules in step, two at least sections round brushes that set up side by side cooperate high adjustment mechanism again, can adjust to same row of solar PV modules not co-altitude, ensure to clean the robot and can clean same row of solar PV modules in step, thereby improve clean efficiency, also ensure that all solar PV modules of same row can both be cleaned.

Further, the height adjusting mechanism comprises a connecting plate and a swinging plate, the upper end of the swinging plate is rotatably connected with the connecting plate, the lower end of the swinging plate is connected with the end part of the rolling brush, and the rolling brush drives the swinging plate to rotate relative to the connecting plate and is used for realizing automatic adjustment of the rolling brush in the height direction. Utilize the rotation of swing board and connecting plate to be connected, rely on round brush self weight whereabouts and solar PV modules contact, realize that the solar PV modules of the not co-altitude of round brush automatic adaptation homoenergetic keeps same clean dynamics, the round brush drive swing board rotates relative to the connecting plate, lets the round brush receive the effect of vertical direction and can make the swing board take place the swing to the altitude of adjusting the round brush is with the altitude variation of adaptation solar PV modules.

Furthermore, the connecting plate is provided with a rotating hole, the upper part of the oscillating plate is provided with a rotating shaft which is matched with the rotating shaft in a rotating way, the lower part of the oscillating plate is provided with a lower hole which is matched with the rolling brush, the connecting plate is also provided with an arc-shaped groove, the circle center of the arc-shaped groove is positioned on the axis of the rotating hole, and the oscillating plate is provided with a limiting rod which is matched with the arc-shaped groove in a sliding way. Through the cooperation of the rotating hole and the rotating shaft, the swinging plate can better swing relative to the connecting plate. Through arc wall and gag lever post cooperation, do spacingly to the swing of the relative connecting plate of swing board, alleviate the atress of pivot, avoid swing board deflection and die with the connecting plate card, the arc wall also can do the restriction to the swing range of swing board in addition.

Furthermore, a first limiting plate is fixed on the connecting plate, a second limiting plate is fixed on the swinging plate, and an adjusting bolt facing the other limiting plate penetrates through one limiting plate to control the swinging amplitude of the swinging plate relative to the connecting plate. Through set up adjusting bolt on a limiting plate, utilize the bolt to adjust and another spacing between the limiting plate to can adjust the swing scope of swing board, avoid the swing board to produce and beat on a large scale and influence cleanness.

Further, still include tap, be equipped with the solenoid valve on the tap, the one end of crossbeam is equipped with the funnel of intaking with tap butt joint, the funnel of intaking communicates with each other with the water storage district, be equipped with level sensor in the water storage district, level sensor and solenoid valve electric connection. The water level sensor senses the water level change in the water storage area and judges whether water needs to be injected or the water level is full and stops injecting water, so that automatic water adding is realized.

Drawings

Fig. 1 is a front view of a solar photovoltaic module cleaning robot according to the present invention;

fig. 2 is a bottom view of a solar photovoltaic module cleaning robot according to the present invention;

FIG. 3 is a cross-sectional view of a beam in the solar photovoltaic module cleaning robot according to the present invention;

FIG. 4 is a perspective view of a cross beam of the solar photovoltaic module cleaning robot of the present invention;

FIG. 5 is an enlarged view of a portion A of FIG. 3;

FIG. 6 is a perspective view of a traveling device in the solar photovoltaic module cleaning robot according to the present invention;

fig. 7 is a schematic structural diagram of a bracket of a traveling device in a solar photovoltaic module cleaning robot according to the present invention;

fig. 8 is a schematic structural view of a guide rail of a traveling device in the solar photovoltaic module cleaning robot according to the present invention;

FIG. 9 is a schematic view of a connecting structure of a rolling brush and a cross beam in the solar photovoltaic module cleaning robot of the utility model;

fig. 10 is a schematic view of a connecting structure of a rolling brush and a height adjusting mechanism in the solar photovoltaic module cleaning robot according to the present invention;

fig. 11 is a schematic structural view of a height adjusting mechanism in the solar photovoltaic module cleaning robot according to the present invention;

fig. 12 is a schematic structural diagram of a connecting plate in a solar photovoltaic module cleaning robot according to the present invention.

The reference signs are:

the water storage device comprises a beam 100, a water storage area 110, a cable area 120, a partition 130, a water pipe 140, a water spraying hole 141, a groove 150, an inclined plane 151, a threaded hole 160 and a fixing groove 170;

the device comprises a guide rail 210, a walking hole 211, a convex rail 212, a base 213, a bracket 220, a main walking wheel 230, walking teeth 231, an auxiliary wheel 240, a V-shaped groove 241, a displacement sensor 250, a walking motor 260 and a buckle 270;

a rolling motor 310, a rolling brush 320 and a flexible coupling 330;

the height adjusting mechanism 400, the connecting plate 410, the rotating hole 411, the arc-shaped groove 412, the first limiting plate 413, the threaded hole 414, the fixing plate 415, the fixing hole 416, the swinging plate 420, the rotating shaft 421, the lower hole 422, the limiting rod 423, the second limiting plate 424, the baffle 425 and the adjusting bolt 430;

a squeegee 500;

a water inlet funnel 600 and a water tap 610;

a proximity switch 700.

Detailed Description

The utility model provides a solar PV modules cleans machine people, includes crossbeam, running gear, round brush and scraper blade, the both ends of crossbeam are fixed with a set of running gear respectively, be equipped with the water storage district in the crossbeam for the storage washs water, the scraper blade is installed in the bottom of crossbeam, the round brush sets up the place ahead at the crossbeam, be equipped with the water pipe that links to each other with the water storage district between scraper blade and the round brush, it has a plurality of hole for water spraying to open on the water pipe. Through increasing scraper blade and round brush cooperation, solved present solar PV modules and cleaned the problem that the robot remained water stain after clean easily, utilize the round brush to clean earlier, then the water washing, the water stain on the scraper blade is scraped away with solar PV modules again, make the solar PV modules after the cleanness go up the great reduction water stain and remain, the water stain dry-up speed on the solar PV modules has also been accelerated, reduce the dust and adhere to and remain the time that water stain combines, make follow-up cleanness easier, the cleaning efficiency has been promoted greatly. The water storage area is arranged in the cross beam, so that enough cleaning water can be stored in a large space, the left side and the right side of the cleaning robot in operation can be kept balanced, the center of gravity of the original cleaning robot cannot be damaged, and the inner space of the cross beam is fully utilized.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1 and 2, the embodiment of the solar photovoltaic module cleaning robot of the utility model is shown, and the solar photovoltaic module cleaning robot comprises a beam 100, a traveling device, a rolling brush 320 and a scraper 500, wherein the traveling device is respectively installed at two ends of the beam 100, in this embodiment, a row of solar photovoltaic modules comprises two rows of solar photovoltaic modules, therefore, the number of the scraper 500 and the rolling brush 320 can be the same as the row number of the solar photovoltaic modules, that is, two rolling brushes 320 and two scraper 500 are arranged side by side, the scraper 500 is installed at the bottom of the beam, and the rolling brush 320 is arranged in front of the beam.

As shown in fig. 3, 4, and 5, the cross beam 100 is made of an aluminum alloy material, and has a light weight and a high strength, and the whole cross beam 100 has a rectangular structure, and the length direction can be determined according to the width of the solar photovoltaic module to be spanned in actual needs.

The internal space of the beam 100 is divided into the cable area 120 and the water storage area 110 which are independent from each other by the partition 130 which is horizontally arranged, and the cable area 120 is positioned above the water storage area 110, so that the safety of the cable in the cable area 120 cannot be influenced in case of water leakage in the water storage area 110. The cable section 120 extends through the entire beam 100 along the length of the beam 100, which facilitates the transmission of signals or power by the cables for the components on the left and right sides of the beam 100. After the length of the beam 100 is determined, the water storage area 110 may be sealed by using an end plate to form a water storage space, water in the water storage area 110 is pumped by using a water pump to supply water to the water pipe 140, and the water is sprayed to the solar photovoltaic module through the water pipe 140 to be cleaned.

In order to further protect the water pipe 140 and prolong the service life of the water pipe 140, the water pipe 140 is arranged in the beam 100 and closely attached to the side wall of the beam 100, the water pipe 140 is protected by the side wall of the beam 100, and the length of the water spraying holes 141 on the water pipe 140 is shortened, so that the pressurized water can be more easily sprayed out from the water spraying holes 141.

The water pipe 140 may be integrally formed with the beam 100, that is, integrally formed with the beam 100, and the water pipe 140 is also arranged along the length direction of the beam 100, so as to span the whole solar photovoltaic module, and the number and density of the water spray holes 141 may be determined according to the pollution condition of the arrangement position of the solar photovoltaic module.

As shown in fig. 5, the water spraying holes 141 are preferably sprayed toward the solar photovoltaic module, so that the stains on the solar photovoltaic module can be cleaned by using water pressure, and water is not sprayed onto the roller brush arranged in front of the beam 100, thereby ensuring dryness of the roller brush. In order to reduce the difficulty of processing the water spray holes 141, a groove 150 is formed in the side wall of the beam 100 along the length direction, one surface of the groove 150 is an inclined surface 151, and preferably, the inclined surface 151 is perpendicular to the axis of the water spray hole 141, so that when the water spray holes 141 communicated with the water pipe 140 are formed in the inclined surface 151, punching on a plane is equivalent to punching, the processing difficulty is effectively reduced, the processing precision can be improved, and the spraying angle of the water spray holes 141 meets the design requirement. Further, in order to avoid interference to the drill bit during drilling, the opening of the groove 150 is also facilitated, and the cross section of the groove 150 is arranged in a V shape turned by 90 degrees, and the opening direction faces away from the center of the beam 100.

In addition, a plurality of threaded holes 160 are formed at both ends of the cross beam 100, so that it is convenient to dock with other components or install end caps to seal the water storage region 110. And the bottom of the beam 100 is provided with a fixing groove 170 for fixing a scraper, water stains and stains on the solar photovoltaic module can be scraped completely through the scraper, and the dryness of the solar photovoltaic module is kept.

Through the crossbeam of above-mentioned structure, ingenious hides the water tank in crossbeam 100 for whole structure of cleaning the robot need not to do big change, and the water tank sets up in crossbeam 100, also helps keeping whole balance when cleaning the robot work, has increased the water tank and can provide clean water when cleaning the robot and cleaning for solar PV modules, lets clear sweep efficiency higher, and clean cleaner.

As shown in fig. 6 and 7, the running gear includes a rail 210, a bracket 220, and a main running wheel 230. As shown in fig. 8, the guide rail 210 main part is hollow circular tube, walking hole 211 has evenly been seted up along guide rail 210 length direction on its top surface, walking hole 211's cross section is runway shape, and run through the roof of guide rail 210, be equipped with the protruding rail 212 that the cross section is the V-arrangement respectively in the left and right sides of guide rail 210, be equipped with the cross section in the bottom of guide rail 210 and be trapezoidal base 213, whole guide rail 210 adopts the aluminum alloy material, higher intensity has and weight is lighter, easily carry out the construction, guide rail 210, base 213 and protruding rail 212 adopt integrated into one piece to make, improve holistic intensity, walking hole 211 interval sets up, for changing in rack processing more.

As shown in fig. 7, a plurality of walking teeth 231 are uniformly distributed on the outer circumferential wall of the main walking wheel 230, the walking teeth 231 are cylindrical, and the end of the walking tooth 231, which is far away from the main walking wheel 230, is a hemispherical shape, the walking tooth 231 of such a structure is easy to post-process manufacture, and can be well matched with the walking holes 211, the rotation axis of the main walking wheel 230 is horizontally arranged and is vertical to the length direction of the guide rail 210 in space, the walking motor 260 is fixed on the bracket 220 for driving the main walking wheel 230 to rotate, and a displacement sensor 250 is further fixed to the bracket 220 at the other side of the main running wheel 230, for detecting the rotation distance of the main running wheel 230, and correspondingly, the main running wheel 230 is provided with a detected mark point, therefore, the system can calculate the walking distance of the main walking wheels 230 at the two sides of the cleaning robot to judge whether the two sides of the cleaning robot incline or not, and timely adjust to keep the walking of the two sides synchronous.

Further, in order to prevent the bracket 220 from moving transversely and sliding out of the guide rail 210, two pairs of auxiliary wheels 240 are arranged on the bracket 220 and are positioned at the front end and the rear end of the bracket 220, each pair of auxiliary wheels 240 clamp the guide rail 210 from the left side and the right side, namely, one auxiliary wheel 240 is in rolling contact with the left side of the guide rail 210, and the other auxiliary wheel 240 is in rolling contact with the right side of the guide rail 210, so that when the bracket 220 is accepted transversely, the bracket 220 can be ensured not to deviate from the guide rail 210 and always runs along the length direction of the guide rail 210. It can be designed that a V-shaped groove 241 is opened along the circumferential surface of the auxiliary wheel 240 to cooperate with the convex rail 212 on the side surface of the guide rail 210, so as to prevent the bracket 220 from transversely separating from the guide rail 210, and also to perform a limiting function in the height direction.

During installation, the bottom of the guide rail 210 is the base 213 with the trapezoidal cross section, and a groove is formed between the base 213 and the guide rail 210, so that the guide rail 210 can be fixed as long as the connecting frame is provided with the buckle 270 to clamp the base 213, the installation is simple and convenient, after the guide rail 210 is installed, the bracket 220 is placed on the guide rail 210, the walking teeth 231 of the main walking wheels 230 are clamped into the walking holes 211 of the guide rail 210, then the two pairs of auxiliary wheels 240 are installed, the left, the right and the upper and the lower of the bracket 220 are limited, and the installation of the walking device is completed. The walking motor 260 is started to drive the main walking wheel 230 to rotate, the walking teeth 231 are matched with the walking holes 211, the main walking wheel 230 and the guide rail 210 are guaranteed not to slip, whether the walking displacement of the main walking wheels 230 on the two sides of the cleaning robot is consistent or not is judged according to the data detected by the displacement sensor 250, so that the rotating speed of the walking motor 260 is adjusted in time, and the cleaning robot can run stably. After the traveling device is adopted, compared with the traditional gear and rack meshing drive, on the premise of ensuring that the main traveling wheels 230 and the guide rail 210 do not slip, the guide rail 210 has enough strength, the weight of the guide rail 210 is reduced, the construction is facilitated, and the processing cost is also reduced.

As shown in fig. 9 to 12, two adjacent roller brushes 320 are connected by a flexible coupling 330 to ensure the transmission of the two roller brushes 320, and one of the roller brushes 320 is driven by the rolling motor 310 to rotate, so that all the roller brushes 320 rotate to perform a cleaning operation.

Both ends of each roll brush 320 are provided with a height adjusting mechanism 400 so that the roll brush 320 is mounted on the cross beam 100 of the cleaning robot. The specific height adjusting mechanism 400 comprises a connecting plate 410 and a swinging plate 420, wherein the connecting plate 410 and the swinging plate 420 are both flat plates and are arranged in parallel, a rotating hole 411 and an arc-shaped groove 412 coaxial with the rotating hole 411 are formed in the connecting plate 410, the arc-shaped groove 412 is a through groove and penetrates through the connecting plate 410, a rotating shaft 421 matched with the rotating hole 411 is arranged at the upper part of the swinging plate 420, a limiting rod 423 sliding in the arc-shaped groove 412 is further arranged at the upper part of the swinging plate 420, the swinging of the swinging plate 420 relative to the connecting plate 410 can be realized through the matching of the rotating hole 411 and the rotating shaft 421, so that the rolling brush 320 is contacted with a solar photovoltaic module for cleaning under the control of the self weight, when the height of the solar photovoltaic module at the rear position is lower than that of the previous solar photovoltaic module, the swinging plate 420 can be driven to rotate downwards due to the self weight of the rolling brush 320, and the rolling brush 320 can be tightly attached to the solar photovoltaic module for cleaning, and if the height of the back solar photovoltaic module is higher than that of the front solar photovoltaic module, the rolling brush 320 drives the swing plate 420 to rotate upwards, and the rolling brush 320 can be kept to be attached to the solar photovoltaic module for cleaning, so that the rolling brush 320 is automatically adjusted in height by self weight, always kept in contact with the solar photovoltaic module, the contact force can be kept basically the same, and the cleaning effect is basically the same. The arc-shaped groove 412 on the connecting plate 410 is matched with the limiting rod 423 on the swing plate 420, so that the movement amplitude of the swing plate 420 is limited, the rolling brush 320 cannot fall too low when no solar photovoltaic component is arranged below the rolling brush 320, and the rolling brush 320 can automatically roll on the solar photovoltaic component for cleaning after the cleaning robot continuously runs and touches the solar photovoltaic component.

Generally, the rotation axes of the swing plate 420 and the connecting plate 410 are parallel to the rotation axis of the rolling brush 320, so that when the swing plate 420 rotates relative to the connecting plate 410, the swing plates 420 on both sides are not locked, and the lifting or lowering force can be well transmitted to the swing plate 420, so that the swing plate 420 rotates relative to the connecting plate 410 to adjust the height of the rolling brush 320. The rolling brush 320 is generally rotatably connected to the lower portion of the swing plate 420, a lower hole 422 may be formed in the lower portion of the swing plate 420, and a bearing may be disposed in the lower hole 422, so that the rolling brush 320 passes through the bearing, thereby achieving the connection between the swing plate 420 and the rolling brush 320.

Further, in order to control the swing amplitude of the swing plate 420 relative to the connection plate 410, a vertical first limit plate 413 is arranged on the surface of the connection plate 410 opposite to the swing plate 420, a second limit plate 424 is fixed on the swing plate 420, the second limit plate 424 can be directly fixed in the middle of the swing plate 420, or can be fixed on a limit rod 423 and a rotating shaft 421 of the swing plate 420 penetrating through the connection plate 410, so that on one hand, the swing of the swing plate 420 is not affected, the positions of the limit rod 423 and the rotating shaft 421 can be limited to prevent the limit rod 423 and the rotating shaft from being separated from the connection plate 410, the second limit plate 424 comprises a baffle plate 425, the baffle plate 425 is arranged opposite to the first limit plate 413, a threaded hole 414 is formed in the first limit plate 413, an adjusting bolt 430 penetrating through the threaded hole 414 is arranged in the threaded hole 414, and the relative position between the end of the adjusting bolt 430 and the baffle plate 425 can be controlled by rotating the adjusting bolt 430, so as to adjust the swing amplitude of the swing plate 420, set up baffle 425, increase adjusting bolt 430 and second limiting plate 424's contact surface, let spacing more accurate, adjusting bolt 430 sets up first limiting plate 413 on, can reduce adjusting bolt 430's vibration, keeps adjusting bolt 430 relative position of first limiting plate 413. Of course, the threaded hole 414 may be formed in the retainer 425.

The connection plate 410 is further provided with a fixing plate 415, the fixing plate 415 may be provided in parallel with the first stopper plate 413 so as not to interfere with the swing of the swing plate 420, the fixing plate 415 is provided with a fixing hole 416, and the connection plate 410 is fixed to the beam 100 of the cleaning robot by passing a bolt through the fixing hole 416.

Because the swing plate 420 can swing according to the distance between the photovoltaic module and the rolling brush 320, in order to simplify installation and reduce the difficulty of electric appliance arrangement, the rolling motor 310 is fixed on the swing plate 420 of the height adjusting mechanism 400 positioned at the end part, so that the influence of the rolling motor 310 on other parts can be reduced, the rolling motor 310 swings on the swing plate 420 together, the position of the rolling motor 310 relative to the rolling brush 320 is not changed, the position of the rolling motor 310 does not need to be adjusted, the rolling motor 310 can still be kept to drive the rolling brush 320 to continuously operate, the transmission between the rolling motor 310 and the rolling brush 320 generally adopts gear transmission, the transmission efficiency is high, the rolling brush is not easy to slip, and long-term stable operation can be kept under outdoor conditions.

By adopting the cleaning device with the structure, when one row of two, three or even a plurality of solar photovoltaic components are touched, the self weight of the rolling brush 320 is combined with the height adjusting mechanism 400, so that the cleaning device can adapt to the installation error of the solar photovoltaic components, the rolling brush 320 is always kept in contact with the solar photovoltaic components, the solar photovoltaic components are cleaned, the cleaning efficiency is improved, and the dead angle is reduced.

The water faucet is fixedly installed at the initial position of the solar photovoltaic component cleaning robot in operation, the water faucet is controlled to be opened and closed by an electromagnetic valve, the end part of the beam 100 can also be provided with the water inlet funnel 600, the water inlet funnel 600 is communicated with the water storage area 110, the water inlet funnel 600 is provided with a hole, so that the water faucet 610 is inserted through the hole in the funnel when the cleaning robot returns to the initial position, water injection is started to the water storage area 110, a water level sensor is arranged in the water storage area 110, water level change is sensed, when the water level reaches a set value, the electromagnetic valve on the water faucet 610 is controlled to close the water injection, and the purpose of automatic water storage is achieved. And a water pump may be provided at the other end of the cross member 100 for pumping the cleaning water in the water storage area 110 into the water tap 610, thereby supplying water to the water tap 610 and providing a certain water pressure. The front and rear sides of the beam 100 may be provided with the water taps 610, when the cleaning robot moves forward, the water taps 610 in the front spray water, and the water is hung off by the scraping plate 500 after washing dirt, and when the cleaning robot moves backward, the water taps 610 in the rear spray water, and after being hung off by the scraping plate 500, the drying of the rolling brush 320 is still maintained, and the dust is reduced from being attached to the rolling brush 320. When the scraper 500 is installed at the bottom of the beam 100, the scraper may be inclined with the advancing direction so as to better hang water stains away from the solar photovoltaic module.

At solar PV modules's end, can set up proximity switch 700 on guide rail 210, when cleaning the robot and moving to solar PV modules' end, send out the signal through proximity switch 700, let clean the robot direction operation to realize reciprocating cleaning. The beam is also provided with a storage battery which supplies power for electrical elements such as the walking device, the rolling motor and the like, so that the constraint of a wire harness is eliminated.

The above description is only an embodiment of the present invention, but the technical features of the present invention are not limited thereto, and any changes or modifications within the technical field of the present invention by those skilled in the art are covered by the claims of the present invention.

Claims (11)

1. The utility model provides a solar PV modules cleans machine people which characterized in that: the cleaning device comprises a cross beam, a walking device, a rolling brush and a scraping plate, wherein a group of walking device is fixed at each of two ends of the cross beam, a water storage area is arranged in the cross beam and used for storing cleaning water, the scraping plate is arranged at the bottom of the cross beam, the rolling brush is arranged in front of the cross beam, a water pipe connected with the water storage area is arranged between the scraping plate and the rolling brush, a plurality of water spraying holes are formed in the water pipe, and a storage battery for supplying power to the walking device is further arranged on the cross beam.

2. The solar photovoltaic module cleaning robot of claim 1, wherein: still be equipped with the cable district in the crossbeam, the cable district sets up and runs through along crossbeam length direction the crossbeam, be equipped with in the crossbeam with the water storage district with the baffle that the cable district separates into two independent spaces.

3. The solar photovoltaic module cleaning robot of claim 1, wherein: the water pipe sets up the inboard of crossbeam lateral wall, just the water pipe with crossbeam an organic whole sets up.

4. The solar photovoltaic module cleaning robot of claim 1, wherein: the walking device comprises a guide rail, a support and a main walking wheel, wherein the guide rail is of a hollow tubular structure, the main walking wheel is rotatably connected to the support, a plurality of walking teeth are uniformly distributed on the circumferential wall of the main walking wheel, and walking holes matched with the walking teeth are uniformly distributed in the length direction of the guide rail.

5. The solar photovoltaic module cleaning robot of claim 4, wherein: and at least one pair of auxiliary wheels is arranged on the bracket, and one auxiliary wheel is in rolling contact with the left side of the guide rail and the other auxiliary wheel is in rolling contact with the right side of the guide rail according to the moving direction of the bracket.

6. The solar photovoltaic module cleaning robot of claim 5, wherein: and a V-shaped groove is formed along the circumferential surface of the auxiliary wheel, and a convex rail with a V-shaped cross section is arranged on the side surface of the guide rail.

7. The solar photovoltaic module cleaning robot of claim 1, wherein: the rolling brush is provided with at least two sections which are arranged side by side, each section is provided with a height adjusting mechanism at the end part of the rolling brush and connected with the beam, two adjacent sections of rolling brushes are connected through a flexible coupling, and one section of rolling brush is in transmission connection with the rolling motor.

8. The solar photovoltaic module cleaning robot of claim 7, wherein: the height adjusting mechanism comprises a connecting plate and a swinging plate, the upper end of the swinging plate is rotatably connected with the connecting plate, the lower end of the swinging plate is connected with the end part of the rolling brush, and the rolling brush drives the swinging plate to rotate relative to the connecting plate and is used for realizing automatic adjustment of the rolling brush in the height direction.

9. The solar photovoltaic module cleaning robot of claim 8, wherein: the connecting plate is provided with a rotating hole, the upper part of the oscillating plate is provided with a rotating shaft which is matched with the rotating shaft in a rotating way, the lower part of the oscillating plate is provided with a lower hole which is matched with the rolling brush, the connecting plate is also provided with an arc-shaped groove, the circle center of the arc-shaped groove is positioned on the axis of the rotating hole, and the oscillating plate is provided with a limiting rod which is matched with the arc-shaped groove in a sliding way.

10. The solar photovoltaic module cleaning robot of claim 8, wherein: the swing mechanism is characterized in that a first limiting plate is fixed on the connecting plate, a second limiting plate is fixed on the swing plate, and an adjusting bolt facing the other limiting plate penetrates through one limiting plate to control the swing amplitude of the swing plate relative to the connecting plate.

11. The solar photovoltaic module cleaning robot of claim 1, wherein: still include tap, be equipped with the solenoid valve on the tap, the one end of crossbeam is equipped with the funnel of intaking with tap butt joint, the funnel of intaking communicates with each other with the water storage district, be equipped with level sensor in the water storage district, level sensor and solenoid valve electric connection.

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