CN219394778U

CN219394778U - Photovoltaic cleaning robot

Info

Publication number: CN219394778U
Application number: CN202320179667.7U
Authority: CN
Inventors: 杨士汉; 程勇
Original assignee: Lingdu Guangdong Intelligent Technology Development Co Ltd
Current assignee: Guangdong Lingdu Intelligent Technology Development Co.,Ltd.
Priority date: 2023-02-07
Filing date: 2023-02-07
Publication date: 2023-07-21
Anticipated expiration: 2033-02-07

Abstract

The utility model discloses a photovoltaic cleaning robot, which relates to the technical field of photovoltaic cleaning and comprises the following components: a mobile chassis; the walking assembly is used for driving the movable chassis to move along the working surface; the cleaning assembly is at least provided with one group and is positioned at the front end of the movable chassis; and the connecting structure comprises a swing arm and a locking mechanism, wherein the swing arm is connected with the cleaning assembly, the swing arm and the movable chassis are relatively rotatable, the locking mechanism comprises a lock pin, the lock pin is detachably connected with the movable chassis and the swing arm, and the swing arm can rotate relative to the movable chassis after the lock pin is connected with the movable chassis and the swing arm. According to the photovoltaic cleaning robot, the swing arm is connected with the movable chassis through the lock pin, so that the swing arm and the movable chassis are quickly assembled and disassembled, namely the cleaning assembly is quickly assembled and disassembled, and the photovoltaic cleaning robot has the characteristics of convenience in assembly and quickness in disassembly.

Description

Photovoltaic cleaning robot

Technical Field

The utility model relates to the technical field of photovoltaic cleaning, in particular to a photovoltaic cleaning robot.

Background

Currently, there are some cleaning or cleaning robots for application scenes such as glass, window or photovoltaic panels, wherein: taking cleaning of the photovoltaic panel as an example, in the prior art, some cleaning robots adopt roller brush cleaning structures, but these roller brush cleaning structures are generally rotated and arranged on a mounting frame, and then are connected with the frame through the mounting frame, and the connection mode of the conventionally adopted mounting frame and the frame is not convenient for integrally disassembling the roller brush cleaning structures, for example: a cleaning robot as disclosed in application No. 202010691516.0.

Therefore, due to the inconvenient disassembly and assembly between the mounting structure and the frame, the debugging or transportation of the machine is troublesome, and the connection structure of the cleaning assembly of the cleaning robot is necessary to be optimized.

Disclosure of Invention

In order to overcome at least one of the defects described in the prior art, the utility model aims to provide a photovoltaic cleaning robot which has the advantages of convenient assembly and quick disassembly.

The utility model adopts the technical proposal for solving the problems that:

a photovoltaic cleaning robot comprising: a mobile chassis; the walking assembly is used for driving the movable chassis to move along the working surface; the cleaning assembly is at least provided with one group and is positioned at the front end of the movable chassis; and the connecting structure comprises a swing arm and a locking mechanism, wherein the swing arm is connected with the cleaning assembly, the swing arm and the movable chassis are relatively rotatable, the locking mechanism comprises a lock pin, the lock pin is detachably connected with the movable chassis and the swing arm, and the swing arm can rotate relative to the movable chassis after the lock pin is connected with the movable chassis and the swing arm.

Optionally, the swing arm comprises a middle connecting piece and an inserting piece, wherein the middle connecting piece is rotatably connected with the movable chassis, the inserting piece is fixed with the cleaning assembly, one of the middle connecting piece and the inserting piece is provided with a connecting slot, and the other is provided with an inserting joint matched with the connecting slot; the lock pin is arranged on the middle connecting piece or the swing arm, and the plug connector is locked by the lock pin after being inserted into the connecting slot.

Optionally, the connection slot has an inclined guiding slope therein.

Optionally, the locking pin is an indexing pin.

Optionally, the swing arm further comprises a limiting structure, wherein the limiting structure is connected with the movable chassis, and the limiting structure can prop against the lower side face of the swing arm to limit the amplitude of the swing arm.

Optionally, an elastic buffer piece is arranged on the surface of the limiting structure, which is attached to the swing arm, and/or the surface of the swing arm, which is attached to the limiting structure.

Optionally, the limiting structure comprises a limiting plate, the limiting plate is fixed with the movable chassis, and the surface of the limiting plate, which is propped against the swing arm, forms a fixed inclination angle with the horizontal plane.

Optionally, the limiting structure comprises a limiting plate, and one end of the limiting plate is rotatably connected with the movable chassis; the limiting structure further comprises an angle adjusting mechanism which is arranged on the movable chassis and connected with the limiting plate, the surface of the limiting plate, which is propped against the swing arm, forms an included angle beta with the horizontal plane, and the angle adjusting mechanism can drive the limiting plate to swing relative to the movable chassis so as to adjust the included angle beta.

Optionally, the device further comprises a traction elastic piece, wherein the traction elastic piece is respectively connected with the swing arm and the movable chassis, and the traction elastic piece applies elastic force to the swing arm, so that the swing arm can swing towards the direction close to the limiting structure.

Optionally, the traction elastic member is a tension spring or an elastic belt.

In summary, the photovoltaic cleaning robot provided by the utility model has the following technical effects:

1. the utility model provides a photovoltaic cleaning robot, it is connected swing arm and removal chassis through the lockpin, realizes the quick installation and the dismantlement of swing arm and removal chassis, also realizes cleaning assembly's quick installation and dismantlement promptly, has equipment convenience, dismantles swift characteristics.

2. And the difficulty in machining the part structure is reduced by additionally arranging the intermediate connecting piece.

3. Through setting up limit structure, limit the swing range of swing arm, avoid cleaning assembly to appear the excessive condition of lower hem range in the operation in-process, be favorable to protecting cleaning assembly.

4. The elastic buffer piece is arranged to buffer the impact force of the swing arm in contact with the limiting structure, so that the possibility of collision damage of the swing arm and the limiting structure is reduced.

5. The angle of the limiting structure is fixed, or the limiting structure can be adjusted through the angle adjusting mechanism, so that the limiting structure is suitable for cleaning different working surfaces.

6. Through setting up and pull the elastic component, when cleaning the subassembly when protruding surface, cleaning the subassembly and receiving protruding effect and self-adaptation to lift up, pull the elastic component and can apply elasticity to cleaning the subassembly, assist its lower hem in order to resume to abluent position.

Drawings

FIG. 1 is a schematic view of the overall structure of a photovoltaic cleaning robot according to an embodiment of the present utility model;

FIG. 2 is a schematic exploded view of a photovoltaic cleaning robot according to an embodiment of the present utility model;

FIG. 3 is a schematic top view of a photovoltaic cleaning robot according to an embodiment of the present utility model;

FIG. 4 is a cross-sectional view taken along the A-A plane in FIG. 3;

FIG. 5 is an enlarged view of portion A of FIG. 4;

FIG. 6 is a cross-sectional view taken along the B-B plane in FIG. 3;

FIG. 7 is an enlarged view of portion B of FIG. 6;

FIG. 8 is a schematic diagram of a first angle adjustment mechanism according to an embodiment of the present utility model;

fig. 9 is a schematic diagram of a second angle adjustment mechanism according to an embodiment of the present utility model.

Wherein the reference numerals have the following meanings:

1. a mobile chassis; 2. a walking assembly; 3. cleaning the assembly; 301. a roller brush; 302. a driving mechanism; 4. a connection structure; 401. swing arms; 4011. an intermediate connection; 40111. a connection slot; 401111, inclined guide ramp; 4012. a plug-in component; 40121. a plug; 402. a locking mechanism; 4021. a locking pin; 5. a limit structure; 501. a limiting plate; 502. an angle adjusting mechanism; 5021. a connecting rod; 5022. a slide block; 5023. a linear driving member; 6. traction elastic member; 7. and a water outlet assembly.

Detailed Description

For a better understanding and implementation, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the drawings in the embodiments of the present utility model.

In the description of the present utility model, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model.

Examples

Referring to fig. 1 to 9, the utility model discloses a photovoltaic cleaning robot, which comprises a mobile chassis 1, a walking assembly 2, a cleaning assembly 3 and a connecting structure 4, wherein:

the walking assembly 2 is arranged on the mobile chassis 1 and is used for driving the mobile chassis 1 to move along a working surface.

The cleaning assembly 3 is provided in at least one group and is located at the front end of the mobile chassis 1.

The connecting structure 4 comprises a swing arm 401 and a locking mechanism 402, the swing arm 401 is connected with the cleaning assembly 3, and the swing arm 401 and the movable chassis 1 are relatively rotatable;

the lock mechanism 402 includes a lock pin 4021, the lock pin 4021 is detachably connected to the chassis 1 and the swing arm 401, and the swing arm 401 is rotatable relative to the chassis 1 after the lock pin 4021 is connected to the chassis 1 and the swing arm 401.

Through the structure arrangement, when in installation, the movable chassis 1 is connected with the swing arm 401 and then fixed through the lock pin 4021, so that the installation is quick and convenient; and after the lock pin 4021 is connected with the movable chassis 1 and the swing arm 401, the swing arm 401 can rotate relative to the movable chassis 1, so that the cleaning assembly 3 can perform self-adaptive swing with a certain amplitude when the photovoltaic cleaning robot passes through the bulge or the pit on the working surface.

Referring to fig. 2-5, in some possible embodiments, swing arm 401 includes an intermediate connector 4011 and a plug 4012, wherein intermediate connector 4011 is rotatably connected to mobile chassis 1, plug 4012 is fixed to cleaning assembly 3, one of intermediate connector 4011 and plug 4012 is provided with a connection slot 40111, and the other is provided with a plug 40121 that mates with connection slot 40111; the lock pin 4021 is disposed on the intermediate connector 4011 or the swing arm 401, and the plug 40121 is locked by the lock pin 4021 after being plugged into the connection slot 40111.

With the above structure, during installation, the plug 40121 is plugged into the connection slot 40111, for example, when the plug 40121 is disposed on the swing arm 401, the connection slot 40111 is disposed on the intermediate connection member 4011, at this time, the plug 40121 on the swing arm 401 is plugged into the connection slot 40111 of the intermediate connection member 4011, and then the swing arm 401 is locked with the intermediate connection member 4011 by the lock pin 4021, so that the connection between the swing arm 401 and the intermediate connection member 4011 is achieved, and the connection between the swing arm 401 and the mobile chassis 1 is also achieved due to the fact that the intermediate connection member 4011 is fixed with the mobile chassis 1.

The addition of the intermediate connecting piece 4011 can reduce the difficulty of structural processing, such as slotting, on the movable chassis 1 and reduce the process difficulty of product production.

Referring to fig. 5, in some possible embodiments, the connection slot 40111 has an angled guide ramp 401111 therein.

The arrangement of the inclined guide surface is convenient for the plug 40121 to be plugged with the connecting slot 40111, so that the convenience of installation is improved, and the installation is convenient.

Further, inclined guide slopes 401111 may be provided on opposite inner surfaces (preferably inner surfaces of upper and lower sides) within the connection slot 40111 such that the inside of the connection slot 40111 takes the shape of an isosceles trapezoid or an isosceles triangle.

Of course, the inclined guide slope 401111 may be provided only on one of the surfaces (preferably the inner surface of the upper side or the lower side) of the connection slot 40111 so that the inside of the connection slot 40111 takes a right-angle trapezoidal shape or a right-angle triangular shape.

Referring to fig. 6 and 7, in some possible embodiments, the lock pin 4021 is an indexing pin.

The adoption of the index pin can reduce the difficulty of accommodating the swing arm 401 or the movable chassis 1 without separating the swing arm from the movable chassis after unlocking, and reduce the risk of losing the swing arm due to improper accommodating.

Referring to fig. 2 and 5, in some possible embodiments, the swing arm 401 further includes a limiting structure 5, where the limiting structure 5 is connected to the mobile chassis 1, and the limiting structure 5 can abut against the lower side surface of the swing arm 401 to limit the amplitude of the swing arm 401.

Limiting structure 5 limits the scope of the lower hem of swing arm 401, when the photovoltaic cleaning robot washs the edge of photovoltaic board, wash subassembly 3 can be because of the dead weight for removing chassis 1 lower hem, and limit structure 5 can offset with the downside surface of swing arm 401 to avoid wasing subassembly 3 lower hem excessively, reduce the possibility of wasing subassembly 3 damage.

In some possible embodiments, the surface of the limiting structure 5 abutting the swing arm 401 and/or the surface of the swing arm 401 abutting the limiting structure 5 is provided with an elastic buffer (not shown in the figure), that is, the elastic buffer may be disposed on the limiting structure 5 or may be disposed on the swing arm 401, and of course, the elastic buffer may also be disposed on both the limiting structure 5 and the swing arm 401.

The elastic buffer piece can be made of elastic materials such as rubber blocks and silica gel blocks.

The elastic buffer member can also adopt other elements such as springs to realize the contact buffer of the swing arm 401 and the limit structure 5.

Referring to fig. 5, in some possible embodiments, the limiting structure 5 includes a limiting plate 501, where the limiting plate 501 is fixed to the mobile chassis 1, and a surface of the limiting plate 501 that abuts against the swing arm 401 forms a fixed inclination angle (an angle α as shown in the figure) with a horizontal plane.

The structure of this embodiment is relatively simple, the limiting plate 501 may be fixed to the mobile chassis 1 by, but not limited to, welding or fastening by screws, and the limiting capability of the limiting plate 501 to the amplitude of the lower swing of the cleaning assembly 3 is fixed due to the fixed angle of the limiting plate 501.

Referring to fig. 8, in some possible embodiments, the limiting structure 5 includes a limiting plate 501, and one end of the limiting plate 501 is rotatably connected to the mobile chassis 1; the limiting structure 5 further comprises an angle adjusting mechanism 502 which is arranged on the movable chassis 1 and connected with the limiting plate 501, the surface of the limiting plate 501, which is propped against the swing arm 401, forms an included angle beta with the horizontal plane, and the angle adjusting mechanism 502 can drive the limiting plate 501 to swing relative to the movable chassis 1 so as to adjust the included angle beta.

The angle formed between the limiting plate 501 and the horizontal plane is adjusted through the angle adjusting mechanism 502, so that the maximum range of downward swing of the limiting plate 501 to the swing arm 401, namely the maximum range of downward swing of the cleaning assembly 3, can be adjusted, and when a lower protruding structure exists on the cleaning operation surface, the angle beta can be properly reduced; when the cleaning operation surface has a higher protruding structure, the included angle beta can be properly adjusted, so that the cleaning robot can be suitable for cleaning different operation surfaces.

Referring to fig. 8, in one possible embodiment, the angle adjusting mechanism 502 is a telescopic cylinder/rod, one end of the telescopic cylinder/rod is hinged to the mobile chassis 1, the other end of the telescopic cylinder/rod is hinged to the other end of the limiting plate 501, and the angle β formed by the limiting plate 501 and the horizontal plane is adjusted by telescopic cylinder/rod.

Referring to fig. 9, in other possible embodiments, the angle adjusting structure includes a connecting rod 5021, a sliding block 5022 and a linear driving member 5023, where one end of the connecting rod 5021 is hinged to the other end of the limiting plate 501, the other end of the connecting rod 5021 is hinged to the sliding block 5022, and the sliding block 5022 is slidably disposed on the moving chassis 1 and is driven by the linear driving member 5023 to slide relative to the moving chassis 1, so as to drive the limiting plate 501 to swing through the transmission of the connecting rod 5021, and further adjust the angle β.

The linear driving member 5023 may be a telescopic cylinder/rod, however, the linear driving member 5023 may also be a linear driving mechanism 302, such as a screw-nut mechanism, a rack-and-pinion mechanism, etc., which are not limited herein.

Referring to fig. 3 to 5, in some possible embodiments, the device further includes a traction elastic member 6, where the traction elastic member 6 is connected to the swing arm 401 and the moving chassis 1, and the traction elastic member 6 applies an elastic force to the swing arm 401, so that the swing arm 401 swings in a direction approaching the limit structure 5.

When the cleaning component 3 passes over the raised surface, the cleaning component 3 is raised by the action of the protrusions, and the traction elastic piece 6 can apply elastic force to the cleaning component 3 to assist the lower hem of the cleaning component to restore to the cleaning position.

Referring to fig. 1, to further improve the cleaning effect, the photovoltaic cleaning robot may further include a water outlet assembly 7, where the water outlet assembly 7 is at least one set of water outlet assemblies 7 and is disposed on the front side, the upper side or the rear side of the cleaning assembly 3 located at the front end of the moving chassis 1, and the water outlet assembly 7 is configured to outlet water toward the surface to be cleaned and/or the cleaning assembly 3, that is: the water outlet assembly 7 can be arranged to spray water towards the working surface, and the arrangement can be used for flushing dirt on the working surface by means of the impact force of the water;

the water outlet assembly 7 can be selectively arranged to spray water towards the cleaning assembly 3, and the structure can flush the cleaning assembly 3 by means of the impact force of water, so that the cleaning assembly 3 can be cleaned conveniently, and the cleaning assembly 3 can be moved to wet the working surface to soften dirt adhered to the working surface.

Of course, when the water outlet assemblies 7 are provided in plural groups, the water outlet assemblies 7 may be configured to spray water to the working surface and the cleaning assembly 3 at the same time, and such a configuration has the advantages of both the above-mentioned two modes, that is, the cleaning assembly 3 can be simultaneously flushed.

Further, when the water outlet modules 7 are provided in plural sets, the water outlet modules 7 may be provided in any one or two or more of the front side, the upper side and the rear side of the washing module 3 at the front end of the moving chassis 1.

In this manner, water can be discharged from a plurality of directions to the work surface or the cleaning unit 3, and the possibility of clogging of the water discharge unit 7 can be reduced.

In some possible embodiments, the walking assembly 2 may be a tracked drive configuration or a wheeled drive configuration, as is specifically referred to in the art.

Referring to fig. 2, in some possible embodiments, the cleaning assembly 3 may include a roller brush 301 and a drive roller brush 301 rotation driving mechanism 302, such as a motor, although other cleaning mechanisms known in the art, such as a mop or a scraper bar, may be used with the cleaning assembly 3.

The working process and principle of the embodiment are as follows:

during operation, the traveling assembly 2 drives the movable chassis 1 to move along the operation surface, so that the autonomous movement of the photovoltaic cleaning robot is realized; when the cleaning process of the working surface is carried out, the cleaning assemblies 3 on the front side and the rear side of the movable chassis 1 sequentially pass through the working surface, wherein the water outlet assembly 7 of the cleaning assembly 3 positioned at the front end of the movable chassis 1 is used for discharging water towards the working surface and/or the cleaning assembly 3, so that the working surface can be directly or indirectly wetted or washed, dirt on the working surface is softened, then the cleaning assemblies 3 positioned at the front end and the rear end of the movable chassis 1 respectively brush the wetted working surface in sequence, the residue of the dirt on the working surface is reduced, the cleaning effect is improved, the whole structure of the photovoltaic cleaning robot is simpler, the photovoltaic cleaning robot can adapt to the cleaning process of the photovoltaic panel, and the photovoltaic cleaning robot can be also suitable for the working surface similar to the photovoltaic panel or slightly lacking the smoothness.

When the photovoltaic cleaning robot passes through the bulge or the pit on the working surface, as the cleaning assembly 3 can rotate relative to the movable chassis 1, the cleaning assembly 3 swings upwards under the upward acting force of the bulge in the advancing process of the cleaning assembly 3 when the photovoltaic cleaning robot passes through the bulge, and after passing through the bulge, the cleaning assembly 3 can be assisted to reset by the arrangement of the traction elastic piece 6;

when the photovoltaic cleaning robot passes through the pit, the cleaning assembly 3 swings downward.

When the photovoltaic cleaning robot cleans to the edge position of the working surface, the limiting structure 5 can limit the maximum position of the lower hem of the cleaning assembly 3, and the lower hem of the cleaning assembly 3 is prevented from being too large.

In addition, based on the photovoltaic cleaning robot structure, when the cleaning assembly 3 is installed on the movable chassis 1, the movable chassis 1 is only required to be connected with the swing arm 401 and then fixed through the lock pin 4021, so that the installation is quick and convenient;

after transportation or operation is completed, the lock pin 4021 can be released, the movable chassis 1 is separated from the swing arm 401, and then the cleaning assembly 3 can be separated from the movable chassis 1, so that transportation and storage are facilitated, and modular replacement and production of products are facilitated.

The technical means disclosed by the scheme of the utility model is not limited to the technical means disclosed by the embodiment, and also comprises the technical scheme formed by any combination of the technical features. It should be noted that modifications and adaptations to the utility model may occur to one skilled in the art without departing from the principles of the present utility model and are intended to be within the scope of the present utility model.

Claims

1. A photovoltaic cleaning robot, comprising:

a mobile chassis (1);

the walking assembly (2) is used for driving the movable chassis (1) to move along a working surface;

a cleaning assembly (3) at least provided with one group and positioned at the front end of the mobile chassis (1); and

connection structure (4), including swing arm (401) and locking mechanism (402), wherein, swing arm (401) with wash subassembly (3) link to each other, swing arm (401) with it is rotatable relatively to remove chassis (1), locking mechanism (402) include lockpin (4021), lockpin (4021) detachably with remove chassis (1) and swing arm (401) are connected, lockpin (4021) with remove chassis (1) with behind swing arm (401) connection, swing arm (401) can be for remove chassis (1) rotatable.

2. The photovoltaic cleaning robot according to claim 1, characterized in that the swing arm (401) comprises an intermediate connection piece (4011) and a plug-in piece (4012), wherein the intermediate connection piece (4011) is rotatably connected with the mobile chassis (1), the plug-in piece (4012) is fixed with the cleaning assembly (3), one of the intermediate connection piece (4011) and the plug-in piece (4012) is provided with a connection slot (40111), and the other is provided with a plug-in connector (40121) matched with the connection slot (40111);

the lock pin (4021) is arranged on the middle connecting piece (4011) or the swing arm (401), and the plug (40121) is locked by the lock pin (4021) after being plugged in the connecting slot (40111).

3. The photovoltaic cleaning robot of claim 2, characterized in that the connection socket (40111) has an inclined guiding ramp (401111) therein.

4. The photovoltaic cleaning robot according to claim 2, characterized in that the locking pin (4021) is an indexing pin.

5. The photovoltaic cleaning robot according to any of claims 1-4, further comprising a limit structure (5), the limit structure (5) being connected with the mobile chassis (1), the limit structure (5) being capable of abutting against the underside of the swing arm (401) to limit the amplitude of the swing arm (401) lower hem.

6. The photovoltaic cleaning robot according to claim 5, characterized in that the surface of the limit structure (5) against which the swing arm (401) is attached and/or the surface of the swing arm (401) against which the limit structure (5) is attached is provided with an elastic buffer.

7. The photovoltaic cleaning robot according to claim 5, characterized in that the limit structure (5) comprises a limit plate (501), the limit plate (501) is fixed with the mobile chassis (1), and the surface thereof against the swing arm (401) forms a fixed inclination angle with the horizontal plane.

8. The photovoltaic cleaning robot according to claim 5, characterized in that the limit structure (5) comprises a limit plate (501), one end of the limit plate (501) being rotatably connected with the mobile chassis (1);

the limiting structure (5) further comprises an angle adjusting mechanism (502) which is arranged on the movable chassis (1) and connected with the limiting plate (501), an included angle beta is formed between the surface of the limiting plate (501) which is propped against the swing arm (401) and the horizontal plane, and the angle adjusting mechanism (502) can drive the limiting plate (501) to swing relative to the movable chassis (1) so as to adjust the size of the included angle beta.

9. The photovoltaic cleaning robot according to claim 5, further comprising a traction elastic member (6), wherein the traction elastic member (6) is respectively connected with the swing arm (401) and the moving chassis (1), and the traction elastic member (6) applies elastic force to the swing arm (401) so as to enable the swing arm (401) to swing in a direction approaching the limit structure (5).

10. The photovoltaic cleaning robot according to claim 9, characterized in that the traction spring (6) is a tension spring or an elastic belt.