WO2017097065A1

WO2017097065A1 - Cleaning device

Info

Publication number: WO2017097065A1
Application number: PCT/CN2016/104324
Authority: WO
Inventors: 吴伟功; 程仁杰; 刘炳
Original assignee: 北京天诚同创电气有限公司
Priority date: 2015-12-09
Filing date: 2016-11-02
Publication date: 2017-06-15
Also published as: CN105414069B; CN105414069A

Abstract

A cleaning device comprises a travel mechanism (1) and a cleaning mechanism (2). The travel mechanism (1) comprises a base (11) and a travel portion (12) disposed on the base (11) and capable of driving the base (11) to move. The cleaning mechanism (2) is disposed on the base (11), and comprises a cleaning assembly (21) and a floating adjustment assembly (22) for tightly pressing the cleaning assembly (21) to the surface of a cleaned object. The cleaning assembly (21) comprises a roller brush (211). A first end of the roller brush (211) is disposed on the base (11), and a second end of the roller brush (211) is disposed on the base (11) by means of the floating adjustment assembly (22). The cleaning device ensures the cleaning effect by arranging the floating adjustment assembly.

Description

Cleaning device

Technical field

The present invention relates to the field of cleaning equipment, and more particularly to a cleaning apparatus.

Background technique

Photovoltaic power plants generate electricity by collecting light energy from photovoltaic solar panels and converting it into electrical energy. For photovoltaic power plants, power generation efficiency is a key indicator affecting their actual revenue. An important aspect that affects the efficiency of power generation in photovoltaic power plants is the cleanliness of solar panels. In addition, the surface cleanliness of photovoltaic modules not only affects the power generation efficiency of photovoltaic modules, but also affects the life of photovoltaic modules.

In the prior art, in order to ensure the cleanliness of the photovoltaic module, there are generally the following ways:

Manual cleaning method; cleaning with a high-pressure water gun connected by a waterwheel or a buried pipe, using a sprinkler system; using professional equipment such as a cleaning vehicle and cleaning with a cleaning device or robot.

Specifically for cleaning by means of a cleaning device, the cleaning device moves on a solar panel that needs to be cleaned, and the cleaning brush on it cleans the surface of the solar panel. In practice, whether in large-scale photovoltaic power plants or distributed photovoltaic power plants, the arrangement of photovoltaic modules cannot be very flush, there will be a large horizontal gap between the PV modules, or a relatively gentle slope (horizontal slope or vertical) Straight slope). At this time, the cleaning device is difficult to clean and difficult to operate, and it is easy to cause the cleaning to be incomplete or the cleaning device to be stuck on the solar panel.

Summary of the invention

Embodiments of the present invention provide a cleaning device to effectively improve the problem of poor cleaning effect due to unevenness of the surface of a solar panel.

In order to achieve the above object, embodiments of the present invention provide a cleaning apparatus including: a walking mechanism, the walking mechanism includes a base and a walking portion disposed on the base and driving the base to move; a cleaning mechanism, the cleaning mechanism is disposed on the base, and includes a cleaning assembly and a device for holding the cleaning assembly against the object to be cleaned The surface of the floating adjustment assembly, the cleaning assembly includes a roller brush, the first end of the roller brush is disposed on the base, and the second end of the roller brush is disposed on the base by the floating adjustment assembly.

The cleaning device of the embodiment of the present invention can ensure that the roller brush is always in contact with the surface by the floating regulating member for pressing the cleaning assembly against the surface of the object to be cleaned, thereby ensuring the cleaning effect.

DRAWINGS

Figure 1 is a plan view of a cleaning device placed on a solar panel in accordance with an embodiment of the present invention;

2 is a perspective view of a cleaning device placed on a solar panel according to an embodiment of the present invention;

Figure 3 is a partial enlarged view of Figure 2;

4 is a schematic perspective structural view of a cleaning device according to an embodiment of the present invention;

FIG. 5 is a schematic perspective structural view of a traveling mechanism of a cleaning device according to an embodiment of the present invention; FIG.

Figure 6 is a partial enlarged view of the cleaning device of Figure 4 mated with the upper end of the solar panel;

Figure 7 is a partial enlarged view of the cleaning device of Figure 4 mated with the middle portion of the solar panel;

Figure 8 is a partial enlarged view of the cleaning device of Figure 4 mated with the lower end of the solar panel;

Figure 9 is a plan view of a running mechanism of the cleaning device of the embodiment of the present invention;

Figure 10 is a cross-sectional view taken along line A-A of Figure 9;

Figure 11 is a cross-sectional view taken along line B-B of Figure 9;

Figure 12 is a cross-sectional view taken along line C-C of Figure 9;

Figure 13 is a partial cross-sectional view of a cleaning device in accordance with an embodiment of the present invention;

Figure 14 is a perspective view showing the cleaning mechanism of the cleaning device of the embodiment of the present invention;

Figure 15 is a plan view of a cleaning mechanism of a cleaning device according to an embodiment of the present invention;

Figure 16 is a cross-sectional view taken along line A-A of Figure 15;

Figure 17 is a cross-sectional view taken along line B-B of Figure 15;

Figure 18 is a cross-sectional view taken along line C-C of Figure 15;

Figure 19 is a schematic structural view of a middle partition of a cleaning device according to an embodiment of the present invention;

Fig. 20 is a partially enlarged plan view showing a swinging plate portion of the cleaning device of the embodiment of the present invention.

Detailed ways

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

As shown in FIG. 1, the cleaning device includes a running mechanism 1, a cleaning mechanism 2, a housing 4, and a power supply control portion 5, wherein the cleaning mechanism 2 is disposed on the traveling mechanism 1, and is driven by the traveling mechanism 1 to work on the surface to be cleaned. The casing 4 is disposed outside the cleaning mechanism 2 to prevent the cleaning mechanism 2 from being corroded by the environment. The power supply control unit 5 supplies power to the traveling mechanism 1 and the cleaning mechanism 2, and realizes the operation control of both.

As shown in FIG. 2, the cleaning device can be used to clean the surface of the solar panel 61. Of course, the cleaning device can also be applied to other environments to clean other structures, such as cleaning the exterior wall glass. Here, the following embodiments are described by taking the surface cleaning of the solar cell panel 61 as an example. As shown in FIG. 2, there is generally an inter-plate gap 62 between the solar cell panels 61, and an inter-board rail 63 may be provided as needed.

As shown in FIG. 3 and FIG. 4, in the present embodiment, the running mechanism 1 shown in FIG. 1 may include a base 11 and a running portion 12 disposed on the base 11 and driving the base 11 to move. The entire cleaning device moves on the solar panel 61.

The cleaning mechanism 2 is disposed on the base 11 and includes a cleaning assembly 21 and a float adjustment assembly 22 for abutting the cleaning assembly 21 against the surface of the object to be cleaned.

The cleaning assembly 21 includes a roller brush 211 having a first end disposed on the base 11 and a second end of the roller 211 disposed on the base 11 by a float adjustment assembly 22. The roller brush 211 of the cleaning assembly 21 is used to clean the solar panel 61, and the floating adjustment assembly 22 is used to press the roller brush 211 against the surface of the solar panel to ensure the cleaning effect of the roller brush 211 on the solar panel.

By providing the floating adjustment assembly 22 to ensure that there is unevenness on the surface of the solar panel, the roller brush 211 can be pressed against the surface by the floating adjustment assembly 22 to accommodate the uneven surface, and the entire surface is cleaned to ensure a cleaning effect.

As shown in FIG. 5, in the present embodiment, the base 11 includes an upper partition 113, a lower partition 114, and a middle partition 115. The upper partition 113 refers to a partition located at the upper edge of the solar panel in use. The lower partition 114 refers to a partition located at the lower edge of the solar panel in use. The intermediate partition 115 refers to a partition between the upper partition 113 and the lower partition 114. The number of the intermediate partitions 115 can be determined according to the object to be cleaned, that is, the intermediate partition 115 can be omitted, or a plurality of intermediate partitions 115 can be provided.

In order to facilitate the staff to carry or move the cleaning device, the base 11 further includes a strut 71, In the embodiment, the struts 71 are two, and the struts 71 sequentially pass through the upper partition 113, the middle partition 115 and the lower partition 114, and the struts 71 pass through the upper partition 113 and the lower partition 114 to facilitate Staff grabbed. In this embodiment, the strut 71 is a steel pipe, but it may of course be other reliable and durable materials.

As shown in FIGS. 3 to 9 (which may be modified as shown in FIG. 4), the running portion 12 of the traveling mechanism 1 is disposed at a lower portion of the base 11 for driving it to travel on the solar panel 61. . The walking portion 12 includes a first active running assembly 121, a travel drive member 122, a drive shaft 124, and a driven travel assembly 123. Wherein, the first active running component 121 is located at an upper portion of the solar panel (in the use state). The driven walking assembly 123 is located in the lower portion of the solar panel (in use). The travel drive member 122 is used to drive the first active travel assembly 121 and the driven travel assembly 123.

In order to reduce the volume, reduce the cost, and improve the reliability and controllability of the driving, in the embodiment, the traveling driving member 122 is a driving motor, which is fixedly disposed on the upper partition plate 113, and the output shaft and the first active The walking assembly 121 is coupled so as to be able to drive its rotation.

The first active running assembly 121 is disposed on the base 11 and mates with the surface of the object to be cleaned to move on the surface of the object to be cleaned.

Referring to FIG. 6 and FIG. 9 to FIG. 12 , the first active running component 121 shown in FIG. 4 includes a first active traveling wheel 1211 , a first traveling tensioning wheel 1212 and a first traveling crawler 1213 .

The first driving wheel 1211 is coupled to the traveling drive member 122 and is driven to rotate by the travel drive member 122. The first traveling tensioning pulley 1212 is rotatably disposed on the upper partition 113 of the base 11. The first walking track 1213 is sleeved outside the first driving wheel 1211 and the first traveling tensioning wheel 1212, and is rotated by the driving of the first driving wheel 1211. By providing the first running track 1213, the ability to cross the gap and the ability of the climbing device can be improved. For example, when there is an inter-plate gap 62 as shown in FIG. 2 between the solar panels, the crawler belt can be directly traversed, thereby improving work reliability. If there is a large gap between the solar panels, the cleaning device can be traversed by providing an inter-plate rail 63 as shown in FIG.

Preferably, in order to ensure the adhesion of the first walking track 1213 to the walking surface, the first walking guide wheel 1214 is further disposed on the upper partition 113. The pressure is set on the first crawling track 1213 on the lower side.

Referring to Figures 8 to 10 and Figure 12, the driven walking assembly 123 is disposed on the base 11 and mates with the surface of the object to be cleaned. The driven traveling assembly 123 includes a driven traveling wheel 1231, a driven tensioning wheel 1232, and a driven traveling track 1233.

The driven traveling wheel 1231 is rotatably disposed on the lower partition plate 114 and connected to the first active traveling wheel 1211 via the transmission shaft 124. The driven tensioning wheel 1232 is rotatably disposed on the lower partition 114 of the base 11. The driven crawler track 1233 is sleeved on the driven traveling wheel 1231 and the driven tensioning wheel 1232, and is driven to rotate by the driven traveling wheel 1231. The transmission shaft 124 is coupled to the first active traveling wheel 1211 and the driven traveling wheel 1231 via a coupling.

Referring to Figure 10 in combination, the drive shaft 124 includes a drive shaft tube, a universal joint, and a connecting shaft. Wherein, a transmission shaft tube is welded and connected with a universal joint, and is connected to the first active traveling wheel 1211 through the universal joint, and the other end of the transmission shaft tube is also welded with a universal joint, and the universal joint passes through the pin anchor The way is connected to the connecting shaft to connect the drive shaft tube to the connecting shaft. The connecting shaft is disposed on the intermediate partition 115 through a bearing. One end of the other transmission shaft tube is welded with a universal joint which is connected with the connecting shaft by means of a pin anchor, and the other end of the transmission shaft tube is welded and connected with a universal joint, and passes through the universal joint and the driven joint The walking wheels 1231 are connected, thereby achieving transmission.

Since four universal joints are used, they are placed at positions where the transmission is eccentric, which can reduce the machining accuracy and assembly accuracy of parts, reduce the processing and manufacturing costs, and reduce the vibration of the device itself due to errors. Equipment operation reliability and life.

Preferably, in order to ensure the bonding of the driven crawler track 1233 to the running surface, the lower partition 114 is further provided with a driven guide wheel 1234 which is press-fitted on the lower driven crawler track 1233.

Preferably, in order to improve the applicability and safety, as shown in FIG. 13, the width of the driven crawler track 1233 is greater than the width of the first crawler track 1213. During the installation of the solar panel array, due to the installation accuracy, there may be no alignment between the solar panels, and there are front and rear irregularities between the solar panels, in order to avoid the unevenness affecting the operation of the cleaning device, The width of the driven crawler track 1233 is increased to ensure that there is at least a portion of the driven crawler track 1233 in contact with the surface of the bezel of the solar panel when the solar panel is misaligned, thereby ensuring work safety. In this way, the adaptation to the width of the panel is achieved.

Preferably, as shown in FIG. 13, in order to position the cleaning device well on the solar panel, the walking portion 12 further includes a second active walking assembly 125, and the second active walking assembly 125 is disposed on the base 11, and The side of the object to be cleaned is fitted, and the angle between the side surface and the surface is a predetermined value (in the embodiment, the side surface and the surface are perpendicular to each other). When the cleaning device is mounted to the solar panel, the second active running assembly 125 and the first active running assembly 121 are mated to the two surfaces in a one-to-one correspondence, and the two surfaces are perpendicular to each other, so that the cleaning device can be well defined.

The second active running assembly 125 can be driven by a separate drive member or can share a drive member with the first active travel assembly 121. As shown in FIG. 10, in the present embodiment, the second active running component 125 and the first active running component 121 are connected by the speed dividing component 126 and are driven by the traveling driving component 122.

As shown in FIG. 10, the speed dividing assembly 126 includes a first differential gear 1261 and a second differential gear 1262. The first differential gear 1261 is connected to the travel drive 122, and the axis of the first differential gear 1261 coincides with the axis of the first active travel wheel 1211. The second differential gear 1262 meshes with the first differential gear 1261, and the axis of the second differential gear 1262 is perpendicular to the axis of the first differential gear 1261. The first differential gear 1261 and the second differential gear 1262 are both helical gears and mesh with each other.

As shown in FIGS. 10-12, the second active running assembly 125 includes a second active traveling wheel 1251, a second traveling tensioning wheel 1252, and a second traveling track 1253. The second driving wheel 1251 is sleeved on the second dividing gear 1262 and rotates with the second dividing gear 1262. The second travel tensioning wheel 1252 is rotatably disposed on the base 11. The second walking track 1253 is sleeved outside the second driving wheel 1251 and the second traveling tensioning wheel 1252, and is driven to rotate by the second driving wheel 1251.

Preferably, in order to ensure the adhesion of the second walking track 1253 to its walking surface, the upper partition 113 is further provided with a second walking guide wheel 1254 which is pressed against the second traveling track 1253 on the lower side.

Referring to FIG. 10, during operation, the first active traveling wheel 1211, the helical gear shaft, the bearing, the differential gear bearing cover, the second active traveling wheel 1251, the first differential gear 1261, the second differential gear 1262, and the like are After being assembled together in the order of the fasteners, the driving member 122 is keyed and fastened to the upper partition 113.

When walking, the drive motor divides the power into two directions of horizontal and vertical through the first differential gear 1261 and the second differential gear 1262, which will provide traction in both horizontal and vertical directions, so that the motor power is more sufficient. For the walking action, the walking ability of the solar panel array in which the traveling mechanism 1 is uneven (including the distance deviation between the horizontal and vertical directions) is improved, and the frictional force after the obstacle is insufficient to balance the traction and the slip occurs. Probability.

The walking portion 12 of the traveling mechanism 1 adopts a synchronous belt transmission, and the center of gravity of the cleaning device is placed at one-half of the center distance between the driving wheel and the tensioning wheel, thereby achieving horizontal gap between the arrays (horizontal direction and vertical direction). The distance deviation of the direction is less than the gap of the state of 10 mm) the trackless crossing of less than one-half of the center distance. That is, as long as the horizontal gap between the solar panels is less than one-half of the center distance, the clear The cleaning device can be skipped.

In use, the second active walking component 125 is placed on the edge of the array of solar panels, and the traction is performed on the edge with the edge as a guide rail, crossing the gap, crawling the slope, and the like. The driven walking assembly 123 operates synchronously under the driving of the first active running unit 121. The widened unconstrained cantilever redundant design of the driven walking track 1233 has no cantilever structure with vertical restraint, and can adapt to the width of the solar panel array to increase or decrease within a certain range due to factors such as erection or over-slope. The phenomenon enhances the operational reliability under different working conditions.

Preferably, as shown in FIG. 9, in order to prevent the cleaning device from coming off the solar panel 61, a retaining member 72 is provided on the upper partition 113. In operation, the retaining member 72 is located below the solar panel so that the first active running assembly 121 and the second active running assembly 125 together define a cleaning device for the purpose of preventing slipping.

Referring to FIG. 14 in combination, in the present embodiment, the cleaning mechanism 2 includes four cleaning components 21, and the four cleaning components are divided into two groups, and the two groups are spaced apart along the traveling direction of the cleaning device. Each set includes two cleaning assemblies 21, one of which is disposed between the upper partition 113 and the intermediate partition 115, and the other of which is disposed between the intermediate partition 115 and the lower partition 114. Of course, in other embodiments, the number and setting position of the cleaning components 21 can be determined according to requirements, and is not limited thereto.

By means of the two sets of cleaning mechanism 2, the composite cleaning effect can be achieved. When cleaning the pollutants (floating dust, snow, leaves, etc.) on the solar panel, the cleaning device walks once, and the number of cleanings is equivalent to 2 times. The cleaning assembly 21 includes a roller brush 211, an inner carrier plate 214, a rear carrier plate 216, an outer carrier plate 217, a roller brush driver 215, and a pendulum plate portion (not shown). The cleaning assembly 21 is coupled to the intermediate partition 115 by a float adjustment assembly 22.

Referring to FIGS. 15 to 17, the roller drive member 215 is a drive motor that is fixedly disposed on the swing plate portion. Of course, in other embodiments, the roller drive member 215 can also be other members capable of driving the rotation of the roller brush 211, such as a hydraulic motor or the like. One end of the roller brush 211 is coupled to the output shaft of the roller brush drive member 215 via the connecting shaft, thereby realizing the roller brush 211 to move in accordance with the set rotational direction and rotational speed by the roller drive member 215. The other end of the roller brush 211 is coupled to the rear carrier plate 216 by a connecting shaft and a bearing.

Preferably, the roller brush 211 is a spiral roller brush, and in the two sets of cleaning assemblies 21, the rotation direction of the roller brush 211 of one of the cleaning components 21 is counterclockwise, and the rotation direction of the roller brush 211 of the other group of cleaning components 21 Rotate clockwise. The purpose of this setting is to be able to move the dirt toward the cleaning device. The front side sweeps to prevent dirt from contaminating the cleaned surface again. The spiral roller brush can accelerate the falling speed of the contaminants under the cleaning, so that the pollutants cannot be accumulated in a certain position and the cleaning task is hindered or the cleaning is not clean.

Preferably, in order to improve the automaticness, the cleaning device further comprises at least one edge detecting member 3, the edge detecting member 3 sends a signal when the cleaning device goes to the edge, the cleaning device can be reversed, on the one hand, the automation of the cleaning device is improved, on the other hand Prevent the cleaning device from falling off the solar panel and ensure the safety of the cleaning device. The edge detecting member 3 is disposed on the base 11, and the cleaning assembly 21 is located forward of the at least one edge detecting member 3 in the traveling direction. Specifically, the edge detecting member 3 is a photoelectric switch, and edge detecting members 3 are respectively disposed on the front and rear sides of the upper partition plate 113, and two edge detecting members 3 are disposed on each side. The roller brush 211 is located in the middle of the two edge detecting members 3. During the walking of the cleaning device, if there is no signal for the two edge detecting members 3, the state is the edge of the solar panel array. When the cleaning device walks to the edge of the solar panel array, the roller brush 211 has completely cleaned the solar panel array before the next action (commutation or shutdown), so there is no need to add a parking port when cleaning. It can avoid the problem of clean dead zone caused by non-parking port.

As shown in FIG. 7, the inner carrier plate 216 is fixedly coupled to the rear carrier plate 216 and connected to the floating adjustment assembly 22 via the inner carrier plate 214. One end of the inner carrier plate 214 is connected to the rear carrier plate 216, and the other end is connected to the pendulum plate portion.

The float adjustment assembly 22 includes a guide rod 221, an elastic member 222, and a slider 223. It is used to continuously adjust the position of the cleaning assembly 21 to adapt to the installation angle error of the solar panel, and to perform the cleaning work efficiently and comprehensively.

Referring to Figures 7, 18 and 19, the guide bar 221 is fixedly disposed on the intermediate partition 115 of the base 11 for mounting the resilient member 222 and the slider 223 for guiding therefor. The elastic member 222 is sleeved on the guide rod 221 for pressing the slider 223. In the present embodiment, the elastic member 222 is a spring. In other embodiments, the elastic member 222 may be other members capable of providing an abutting force.

One end of the floating block 223 is movably disposed on the guiding rod 221, and the elastic member 222 is located above the floating block 223 and abuts on the floating block 223, and the other end of the floating block 223 is fixedly connected with the inner carrying plate 214 of the cleaning assembly 21. .

Preferably, in order to ensure reliable operation of the cleaning device, the floating adjustment assembly 22 further includes a guide limit roller 224 including a fixed rod fixedly disposed on the slider 223 and a rotation rotatably disposed on the fixed rod Roller. The base 11 is provided with a guiding groove 111, and the rotating roller is disposed at The guide groove 111 is inside and movable along the guide groove 111. The guide limit roller 224 cooperates with the guide groove 111 to define a movement stroke of the guide limit roller 224.

As shown in FIG. 20, the wobble plate portion includes a wobble plate 212 and a limit mounting roller 213.

The swinging plate 212 is disposed on the upper partition 113 or the lower partition 114 of the base 11 via the swing shaft 219, and the axis of the swing shaft 219 is perpendicular to the adjustment direction of the floating adjustment assembly 22. The pendulum shaft 219 passes through the pendulum plate 212 and the base 11.

The limit mounting roller 213 includes a limit mounting rod fixedly disposed on the swing plate 212 and having an axis perpendicular to the axis of the swing shaft 219, and a limit roller rotatably disposed on the limit mounting rod. The base 11 is provided with a limited position. The groove 112, the limit roller is rotatably disposed in the limit mounting groove 112. The engagement of the limit mounting roller 213 and the limit mounting groove 112 can define the position of the wobble plate 212 to prevent the wobble plate 212 from rotating about the swing axis 219.

Preferably, referring to FIG. 14, in order to improve the cleaning efficiency, a vertical brush 218 is disposed outside the roller brush 211. The vertical brush 218 is fixedly coupled to the outer carrier plate 217 by a vertical brush mounting plate. The first end of the outer carrier plate 217 is fixedly connected to the swing plate 212, and the second end of the outer carrier plate 217 is fixedly connected to the rear carrier plate 216. The vertical brush 218 added outside the roller brush 211 can pre-crush or push the large-scale pollutants to create conditions for cleaning the next roller brush 211, reduce the difficulty of cleaning, and improve the efficiency and effect of cleaning. At the same time, the vertical brush 218 and the casing 4 form an effective barrier against dust, preventing secondary pollution of the solar panel by dust during the cleaning process. Reduce unnecessary manual intervention. Achieve efficient and high quality cleaning work.

In the present embodiment, the cleaning device further includes a power supply control portion 5 which is a portion that provides power and action decision schemes for the mechanical portion. The power supply control unit includes a rechargeable battery for supplying power to the mechanical part and a controller for controlling (the controller may be a single chip microcomputer or a programmable controller, that is, a PLC, etc.). The power supply control unit 5 is disposed in the casing 4 of the cleaning device, and is protected by the casing 4 to prevent dust contamination and the like, thereby ensuring work safety. Of course, the data transmission unit can be provided in the power supply control unit 5 to remotely transmit data to a computer or the like to implement remote control. Of course, the power supply control unit 5 can also have functions such as fault alarm, fault shutdown, power monitoring, and insufficient warning.

The controller is connected with the driving motor and the edge detecting member 3 to control the rotation speed and the rotation direction of the driving motor, thereby realizing the reciprocating cleaning, completing the cleaning and stopping, and the malfunctioning and the like. By controlling the speed of the driving motor, the speed ratio between the two sets of spiral rolling brushes can be controlled, and the rotary matching can be performed to cooperate with the solar panel cleaning to improve the cleaning effect and the cleaning speed.

At the same time, by setting local control and remote control, the cleaning device can be flexibly operated, so that the cleaning device can smoothly and smoothly travel on the solar panel assembly according to the preset requirements, and pass through the edge detecting member 3 when running to the edge of the solar panel. The feedback signal comes to stop and start actions.

Preferably, the power supply control unit 5 includes an audible and visual alarm, a fault emergency stop button, and when the preset fault condition is detected, the stop and audible and visual alarm actions are completed by automatic judgment. At the same time, when there is an unpredicted fault condition and the device cannot automatically intervene, it can be artificially interfered by the emergency stop button.

When the cleaning device is used:

The installation is carried out by manual handling or by means of a shuttle car handling assembly, and the cleaning device is placed on the upper edge of the solar panel.

The power supply control unit 5 initiates a cleaning command to achieve smoothness between the arrays of the single solar panel array, the arrays having a large horizontal gap, or the arrays of the gentle slope auxiliary rails under the action of the traction force provided by the driving motor in the traveling mechanism 1. mobile. During the moving process, the cleaning mechanism 2 automatically adapts to the angular deviation of the solar panels in the array to comprehensively clean the solar panels.

Specifically, referring to Figures 7, 14, and 20, when the cleaning device is placed on the solar panel, the resilient member 222 in the floating adjustment assembly 22 will always provide a positive pressure to the trailing end of the roller brush 211 (and thereafter). The end of the supporting plate 216 is engaged, and the limiting roller of the limiting mounting roller 213 is slidable in the limiting mounting groove 112 of the upper partition 113 and the lower partition 114, so that the swinging portion is centered on the swinging shaft 219. The yaw is performed, and the structure is adapted to the angular error of the installation of the solar panel itself, and the roller brush 211 and the vertical brush 218 are always adhered to the surface of the solar panel.

The driving motor drives the roller brush 211 to perform a rotating motion in a certain direction to realize the forward and downward movement of the pollutants at the cleaning points in the walking direction of the cleaning device. It should be noted that, with reference to FIG. 1 , the roller brush 211 in which the bristles are rotated clockwise is disposed on the left side of the cleaning device, and the roller brush 211 in which the bristles are rotated counterclockwise is disposed on the right side of the cleaning device.

The vertical brush 218 disposed on the side of the roller brush 211 can realize pretreatment of large pollutants and post-treatment of the floating and sinking, and can also block the dust that is swept by the roller brush 211 to prevent secondary pollution. The vertical brush 218 here is a brush, not a wiping brush, and does not scratch the solar panel in the case of no water cleaning.

The driving motor drives the movement of the first active running component 121, thereby driving the driven walking component 123 to perform a corresponding walking motion with a certain rotation speed and steering, thereby achieving cooperation with the solar panel assembly. When using, drag the cleaning device to walk on the solar panel. At the same time, under the cooperative work of the edge detecting member 3, the function of detecting the edge of the solar panel and automatically reversing or stopping is realized. When the edge is detected, the signal is transmitted to the power supply control unit 5, and is judged by a preset control logic, and reciprocating motion is performed, and cleaning such as multiple cleaning or shutdown is completed.

As a result, the cleaning device reciprocates laterally at a controllable speed on the solar panel under the traction provided by the running gear 1. The cleaning mechanism 2 can perform a clockwise or counterclockwise rotational motion at a controlled speed while the cleaning device is moving, and comprehensively clean the solar panel by the roller brush 211 and the vertical brush 218 that are in contact with the solar panel, and The running gear 1 can span a small trackless horizontal gap and a tracked larger or gentle slope. The track here is made according to the measured data of the specific project, and the flexible connection with the panel is not to damage the panel due to the stress generated between the rail and the panel due to changes in climate and temperature.

The cleaning device of the present invention has the following effects:

The cleaning device has strong environmental adaptability in a photovoltaic power plant or a distributed photovoltaic power plant.

The cleaning device includes a floating spiral brush roller that is in constant contact with the panel and applies a force in both forward and downward directions to the cleaning point, thereby achieving less cleaning in the absence of water. The number of times achieves a cleansing effect. At the same time, optional brush can be used on both sides of the roller brush to clean snow and large pollutants.

A photoelectric sensor with edge detection is provided to perform a reciprocating or stopping operation after the roller sweeps the entire surface, thereby removing the parking bracket at the edge of the solar panel array, thereby reducing construction and maintenance costs.

The output of the drive motor is divided into horizontal and vertical (here, horizontal and vertical refers to the surface parallel to the surface of the solar panel and the surface of the vertical solar panel) through the speed dividing assembly, and is constrained by the crawler-type walking portion. The design idea realizes the function of erecting the auxiliary guide rail to span a small horizontal gap or erecting the auxiliary rail through a large horizontal gap and gentle slope, and can automatically adapt to the width variation of the solar panel array, and the applicability is better.

The modular design of each part makes installation, production and transportation more convenient.

The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention. It should be covered by the scope of the present invention. Therefore, the scope of the invention should be determined by the scope of the appended claims.

Claims

A cleaning device, comprising:

a running mechanism (1), the running mechanism (1) includes a base (11) and a running portion (12) disposed on the base (11) and driving the base (11) to move;

a cleaning mechanism (2) disposed on the base (11) and including a cleaning assembly (21) and a member for abutting the cleaning assembly (21) against the surface of the object to be cleaned a floating adjustment assembly (22), the cleaning assembly (21) comprising a roller brush (211), a first end of the roller brush (211) being disposed on the base (11), the roller brush (211) The second end is disposed on the base (11) by the floating adjustment assembly (22).
The cleaning device of claim 1 wherein said float adjustment assembly (22) comprises:

a guide rod (221), the guide rod (221) is fixedly disposed on the base (11);

An elastic member (222), the elastic member (222) is sleeved on the guiding rod (221);

a floating block (223), one end of the floating block (223) is movably disposed on the guiding rod (221), and the elastic member (222) is located above the floating block (223) and abuts at the On one end of the slider (223), the other end of the slider (223) is fixedly coupled to the cleaning assembly (21).
The cleaning apparatus according to claim 2, wherein said floating adjustment assembly (22) further comprises a guide limit roller (224), said guide limit roller (224) comprising a fixed arrangement on said slider ( a fixing rod on the 223) and a rotating roller rotatably disposed on the fixing rod, the base (11) is provided with a guiding groove (111), and the rotating roller is disposed at the guiding groove (111) It can move inside the guiding groove (111).
The cleaning device according to claim 1, wherein the cleaning assembly (21) further comprises a pendulum portion, and the first end of the roller brush (211) is disposed on the base through the pendulum portion (11) The swinging plate portion comprises:

a pendulum plate (212), the pendulum plate (212) is disposed on the base (11) through a swing shaft (219), and an axis of the swing shaft (219) is perpendicular to the floating adjustment assembly (22) Adjust the direction.
The cleaning device according to claim 4, wherein the swinging plate portion further comprises a limit mounting roller (213), the limit mounting roller (213) comprising a limit mounting rod and a limit roller, a limit mounting rod fixedly disposed on the swing plate (212) and having an axis perpendicular to an axis of the swing shaft (219); the limit roller is rotatably disposed on the limit mounting rod, the base A seat mounting groove (112) is disposed on the seat (11), and the limit roller is rotatably disposed in the limit mounting groove (112).
The cleaning device according to claim 4, wherein the cleaning assembly (21) further comprises:

An inner carrier plate (214), a first end of the inner carrier plate (214) is fixedly coupled to the swing plate (212), a second end of the inner carrier plate (214) and the floating adjustment assembly (22) Fixed connection;

a brush driving member (215), the roller driving member (215) is fixedly disposed on the swinging plate (212), the first end of the roller brush (211) and the roller driving member (215) Connected and rotated by the roller drive member (215);

a rear carrier plate (216) fixedly disposed on the inner carrier plate (214) and a second end of the roller brush (211) rotatably disposed on the rear carrier plate ( 216).
The cleaning device according to claim 6, wherein the cleaning assembly (21) further comprises an outer carrier plate (217), the first end of the outer carrier plate (217) being fixedly coupled to the pendulum plate ( 212) The second end of the outer carrier plate (217) is fixedly connected to the rear carrier plate (216), and the outer carrier plate (217) is further provided with a vertical brush (218).
The cleaning device according to claim 1, wherein the cleaning assembly (21) is two sets and is spaced apart along a walking direction of the cleaning device, and each set of the cleaning assembly (21) includes at least one The cleaning assembly (21), the roller brush (211) is a spiral roller brush, and the rotation direction of the roller brush (211) of one of the two groups of the cleaning assembly (21) For the counterclockwise rotation, the rotation of the roller brush (211) of the other group of the cleaning assembly (21) is clockwise.
The cleaning device according to claim 1, wherein the running portion (12) comprises:

a first active running component (121), the first active running component (121) is disposed on the base (11) and mates with a surface of the object to be cleaned;

a travel drive member (122), the travel drive member (122) is coupled to the first active travel assembly (121) and drives the first active travel assembly (121) to move;

a driven walking assembly (123), the driven walking assembly (123) is disposed on the base (11) and mates with a surface of the object to be cleaned;

A drive shaft (124) connecting the first active travel assembly (121) and the driven travel assembly (123).
The cleaning device according to claim 9, wherein the running portion (12) further comprises a second active running assembly (125), and the second active running assembly (125) is disposed at the base (11) And engaging with a side surface of the object to be cleaned, the angle between the side surface and the surface is a predetermined value, the second active running component (125) and the first active walking component (121) Connected by a speed dividing component (126).
The cleaning device of claim 10, wherein the first active walking component (121) comprises:

a first active traveling wheel (1211), the first driving wheel (1211) is coupled to the traveling driving member (122) and driven to rotate by the traveling driving member (122);

a first walking tensioning wheel (1212), the first walking tensioning wheel (1212) is rotatably disposed on the base (11);

a first walking track (1213), the first running track (1213) is sleeved outside the first driving wheel (1211) and the first traveling tensioning wheel (1212), and is subjected to the first The driving wheel (1211) is driven to rotate.
The cleaning device of claim 11 wherein said speed dividing assembly (126) comprises:

a first differential gear (1261), the first differential gear (1261) is coupled to the travel drive (122), an axis of the first differential gear (1261) and a first active travel wheel (1211) The axes coincide;

a second differential gear (1262), the second differential gear (1262) meshes with the first differential gear (1261), and an axis of the second differential gear (1262) is perpendicular to the first The axis of an intermediate speed gear (1261).
A cleaning device according to claim 1, characterized in that said cleaning device further comprises at least one edge detecting member (3), said at least one edge detecting member (3) being disposed on said base (11), The cleaning assembly (21) is located forward of at least one of the edge detecting members (3) in the walking direction.