WO2024016531A1 - 一种清洁光伏板的履带式机器人 - Google Patents

一种清洁光伏板的履带式机器人 Download PDF

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Publication number
WO2024016531A1
WO2024016531A1 PCT/CN2022/132354 CN2022132354W WO2024016531A1 WO 2024016531 A1 WO2024016531 A1 WO 2024016531A1 CN 2022132354 W CN2022132354 W CN 2022132354W WO 2024016531 A1 WO2024016531 A1 WO 2024016531A1
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WO
WIPO (PCT)
Prior art keywords
roller brush
settling
dust
cleaning
traveling
Prior art date
Application number
PCT/CN2022/132354
Other languages
English (en)
French (fr)
Inventor
郭建
唐广
涂尊鹏
徐镔滨
张晓佳
梁永杰
李虹
Original Assignee
广州城市理工学院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广州城市理工学院 filed Critical 广州城市理工学院
Publication of WO2024016531A1 publication Critical patent/WO2024016531A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/12—Brushes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D45/00—Separating dispersed particles from gases or vapours by gravity, inertia, or centrifugal forces
    • B01D45/02—Separating dispersed particles from gases or vapours by gravity, inertia, or centrifugal forces by utilising gravity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B5/00—Cleaning by methods involving the use of air flow or gas flow
    • B08B5/04—Cleaning by suction, with or without auxiliary action
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10—Cleaning arrangements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Definitions

  • the invention relates to the technical field of photovoltaic panel cleaning, and in particular to a crawler robot for cleaning photovoltaic panels.
  • a solar photovoltaic panel cleaning robot including a walking mechanism and a climbing mechanism; the walking mechanism includes a rectangular frame, in The front and rear frames of the rectangular frame are respectively connected with roller brush brackets.
  • the roller brush bracket is provided with a roller brush and a roller brush driving device.
  • a dust suction nozzle is provided inside the roller brush. The dust suction nozzle is arranged on the rectangular frame.
  • the vacuum pump is connected to the vacuum pump; a transverse traveling wheel is fixedly provided below the rectangular frame, and the transverse traveling wheel is connected to the transverse traveling drive device; a gantry is fixedly provided above the rectangular frame, and a climbing mechanism is provided below the gantry and inside the rectangular frame , the gantry and the climbing mechanism are connected through a lifting device.
  • the climbing mechanism includes a longitudinal traveling drive device, a longitudinal traveling wheel and a suction cup.
  • the suction cup is connected to a vacuum pump arranged on the rectangular frame.
  • the structure of this document only rotates the roller brush to clean dust and sucks the dust into the dust storage bag through the vacuum nozzle. It does not collect the cleaned dust. Therefore, the size of the vacuum nozzle needs to be based on the length of the roller brush. Only by adjusting can the cleaned dust be better sucked in, which also increases the difficulty of controlling the size of the vacuum nozzle during processing. At the same time, the dust sucked into the dust storage bag is not further processed. Therefore, Both large particles of dust and small particles of dust in the dust storage bag exist in the same place, which can easily lead to the dust storage bag being filled up easily and requiring frequent replacement and cleaning of the dust storage bag, ultimately affecting the cleaning efficiency of photovoltaic panels.
  • the purpose of the present invention is to provide a crawler robot for cleaning photovoltaic panels, improve the automation level of the photovoltaic cleaning robot, realize dust collection and multi-stage dust processing, thereby making dust cleaning more efficient.
  • a crawler robot for cleaning photovoltaic panels includes a cleaning robot.
  • the cleaning robot includes a chassis, a walking mechanism, a cleaning mechanism and a dust suction mechanism.
  • the walking mechanism is arranged on both sides of the chassis.
  • Cleaning mechanisms are provided at both ends, and the dust suction mechanism is arranged in the center of the chassis and connected to the cleaning mechanism.
  • the dust suction mechanism includes a settling chamber, a fan, a first suction port and a second suction port; the first suction port is located at one end of the settling chamber, and the second suction port is located at the other end of the settling chamber. There is a fan in the center of the room.
  • the settling chamber includes a first settling box, a second settling box and a total settling box.
  • the first settling box is located at one end of the settling chamber and connected to the first suction port.
  • the second settling box is located at the other end of the settling chamber.
  • the main settling box is located between the first settling box and the second settling box, and the fan is located above the main settling box; a first air flow channel is formed between the first dust suction port and the fan , a second air flow channel is formed between the second dust suction port and the fan.
  • the first air flow channel is inclined inward and upward from the first dust suction port to the direction of the main settling box, and the second air flow channel is from the second dust suction port to The total settling box is tilted inward and upward; an air outlet is provided on one side of the fan.
  • a primary settling tank is provided below the first settling tank and the second settling tank, and a secondary settling tank is provided below the main settling tank; a third settling tank is provided in the first settling tank and the second settling tank above the primary settling tank.
  • a blocking block is provided below the first settling tank and the second settling tank, and a secondary settling tank is provided below the main settling tank; a third settling tank is provided in the first settling tank and the second settling tank above the primary settling tank.
  • the cleaning mechanism includes a roller brush assembly that collects dust into a first suction port and a second suction port.
  • the cleaning mechanism and the dust suction mechanism jointly perform cleaning operations.
  • the walking mechanism drives the cleaning robot to walk.
  • the cleaning mechanism cleans and collects dust along the road through the roller brush assembly, thereby improving the degree of cleaning automation.
  • the dust suction mechanism draws out the air in the settling chamber through the fan to generate negative air pressure in the settling chamber, so that the dust collected by the roller brush assembly is sucked into the dust chamber through the first dust suction port and the second dust suction port.
  • the first blocking block includes a first body, a first diverting part and a second diverting part.
  • the first diverting part is provided at one end of the first body, and the first diverting part extends toward the end of the first body along one end of the first body.
  • the second diverter part is provided at one end of the first body and the second diverter part is provided along one end of the first body and extends upward and outward obliquely.
  • the vertical projection part of the end of the first diverter part is located at a inside the sedimentation tank.
  • a second blocking block is provided at the connection between the first settling box and the total settling box and at the connection between the second settling box and the total settling box; the second blocking block is provided at the upper end and lower end of the settling chamber, A dust channel is formed between the second blocking blocks at the upper end and the lower end of the settling chamber, and the width of the dust channel is smaller than the width of the first blocking block and the second blocking block projected in the direction of the dust channel.
  • a dust dropping slope is provided at the bottom of the first settling box and the second settling box and extends downwardly toward the direction of the primary settling tank.
  • a first limiting column is provided between the first settling tank and the total settling tank, and the top surface of the first limiting column extends downward from one end close to the main settling tank to an end close to the first settling tank.
  • a second limiting column is provided between the second settling tank and the total settling tank, and the top surface of the second limiting column is inclined downward from one end close to the main settling tank to an end close to the second settling tank.
  • the second barrier located at the lower end of the settling chamber is disposed on the top surfaces of the first limiting column and the second limiting column. This arrangement ensures that the dust falling above the limiting column can fall into the first-level settling tank through the tilted limiting column.
  • the traveling mechanism includes a traveling mounting plate, a traveling shell, a traveling motor, a traveling driving wheel, a traveling driven wheel and a traveling track.
  • the traveling mounting plate is fixed on the chassis, and the traveling driven wheel rotates through the traveling driven wheel shaft.
  • the traveling driving wheel is located at the other end of the traveling installation plate, the traveling motor is arranged on the chassis, the driving shaft of the traveling motor passes through the traveling mounting plate and is connected to the traveling driving wheel, the traveling driving wheel
  • the crawler track is wound between the traveling driving wheel and the traveling driven wheel; the traveling shell is arranged on the traveling mounting plate and covers the top of the traveling crawler track.
  • the traveling motor drives the traveling driving wheel to rotate and drives the traveling driven wheel to rotate, which in turn drives the traveling track to move.
  • steering only one of the wheels on both sides of the chassis is required.
  • steering can be achieved by turning the other traveling motor, which is simple and effective.
  • the cleaning mechanism also includes a roller brush drive assembly, which includes a roller brush drive motor, a roller brush drive wheel, a roller brush drive driven wheel, and a roller brush drive belt; the roller brush drive motor passes through a roller brush.
  • the brush mounting bracket is installed on the settling chamber, and a rolling brush driving wheel is provided on the driving shaft of the rolling brush driving motor; the rolling brush assembly is arranged at the top of the settling chamber and is located below the rolling brush driving assembly, and the rolling brush driving is driven from The moving wheel is arranged on the roller brush assembly, and a roller brush driving belt is provided between the roller brush driving driven wheel and the roller brush driving wheel.
  • the roller brush drive motor drives the roller brush assembly to work to collect dust.
  • the roller brush assembly includes a first roller brush installation frame, a second roller brush installation frame, a roller brush driving shaft, a roller brush elevator servo, a first lifting arm, a second lifting arm, a first roller brush and a second roller brush.
  • Rolling brush ; the rolling brush lifting servo is arranged on one side of the top of the settling chamber, a first lifting arm is provided on the drive shaft of the rolling brush lifting servo, and a first rolling brush mounting bracket is provided on the first lifting arm;
  • the second lifting arm is rotated by the second lifting arm connecting shaft and is arranged on the other side of the top of the settling chamber.
  • a second roller brush mounting bracket is provided on the second lifting arm, and the roller brush drive shaft is arranged on the first roller brush.
  • one end of the rolling brush driving shaft passes through one end of the first rolling brush mounting bracket and is connected to the other end of the first rolling brush mounting bracket through the first rolling brush bearing.
  • a first roller brush is provided on the roller brush driving shaft on the first roller brush mounting frame; the other end of the roller brush driving shaft passes through one end of the second roller brush mounting frame and is connected to the second roller brush bearing through the first roller brush bearing.
  • a second rolling brush is provided on the rolling brush driving shaft on the second rolling brush mounting frame; the rolling brush driving driven wheel is provided on the first rolling brush mounting frame and the second rolling brush mounting frame. on the roller brush drive shaft between the racks.
  • the roller brush drive motor is started to drive the roller brush drive wheel to rotate, which in turn drives the roller brush drive driven wheel to rotate and then drives the roller brush drive shaft to rotate, thereby driving the first roller brush and the second roller brush.
  • the roller brush rotates.
  • the roller brush lift servo rotates to drive the first lifting arm and the second lifting arm to swing up and down to achieve the lifting action. Therefore, when the cleaning robot moves, The cleaning of photovoltaic panels can be achieved.
  • the cleaning mechanisms at both ends of the chassis are placed in a centrally symmetrical manner; the first roller brush has a right-hand thread structure, and the second roller brush has a left-hand thread structure; the first suction port and the second suction port are The position is between the first roller brush and the second roller brush. According to this arrangement, through the right-hand thread structure of the first roller brush and the left-hand thread structure of the second roller brush, when the first roller brush and the second roller brush are rotating, the thread structure of the first roller brush will move to the right.
  • the end of the first splitting part close to the primary sedimentation tank is inclined upward, the end of the first splitting part away from the first sedimentation tank is tilted downward, and the end of the second splitting part is close to the fan side.
  • the end surface is inclined upward and outward, and the end surface of the end of the second diverter part away from the fan is inclined upward and inward.
  • Figure 1 is a schematic structural diagram of the cleaning robot of the present invention.
  • Figure 2 is a schematic diagram of the internal structure of the settling chamber of the present invention.
  • Figure 3 is a flow direction diagram of dust during vacuuming according to the present invention.
  • Figure 4 is an exploded schematic diagram of the walking mechanism of the present invention.
  • Figure 5 is an exploded schematic diagram of the cleaning mechanism of the present invention.
  • Figure 6 is an enlarged view of point A in Figure 5.
  • Figure 7 is a top view of the cleaning robot of the present invention.
  • Figure 8 is a work flow chart of the cleaning robot of the present invention.
  • a crawler robot for cleaning photovoltaic panels includes a cleaning robot.
  • the cleaning robot includes a chassis 1, a walking mechanism 2, a cleaning mechanism 3 and a dust suction mechanism 4.
  • the walking mechanism 2 is provided with On both sides of the chassis 1, cleaning mechanisms 3 are provided at both ends of the chassis 1.
  • the dust suction mechanism 4 is arranged in the center of the chassis 1 and connected to the cleaning mechanism 3.
  • the dust suction mechanism 4 includes a settling chamber 5, a fan 42, a first dust suction port 43 and a second dust suction port 44; the first dust suction port 43 is located at one end of the settling chamber 5, and the second dust suction port 44 is located at At the other end of the settling chamber 5, a fan 42 is provided in the center of the settling chamber 5.
  • the settling chamber 5 includes a first settling box 51, a second settling box 52 and a total settling box 53.
  • the first settling box 51 is located at one end of the settling chamber 5 and connected to the first suction port 43.
  • the box 52 is located at the other end of the settling chamber 5 and connected to the second suction port 44.
  • the total settling box 53 is located between the first settling box 51 and the second settling box 52.
  • the fan 42 is located above the total settling box 53. ;
  • a first air flow channel 431 is formed between the first dust suction port 43 and the fan 42, and a second air flow channel 441 is formed between the second dust suction port 44 and the fan 42.
  • the first air flow channel 431 is formed from the first dust suction port 43
  • the second air flow channel 441 is arranged inwardly and upwardly toward the direction of the main settling box 53 .
  • the second air flow channel 441 is arranged inwardly and upwardly from the second suction port 44 toward the direction of the main settling box 53 .
  • One side of the fan is provided with an air outlet (not shown in the figure). out).
  • a primary settling tank 55 is provided below the first settling tank 51 and the second settling tank 52, and a secondary settling tank 56 is provided below the main settling tank 53; above the first settling tank 51 and the second settling tank 55
  • the second settling box 52 is provided with a first blocking block 54 .
  • the cleaning mechanism 3 includes a roller brush assembly 6 that collects dust into a first suction port 43 and a second suction port 44 .
  • the cleaning mechanism 3 and the dust suction mechanism 4 jointly perform cleaning operations.
  • the walking mechanism 2 drives the cleaning robot to walk.
  • the cleaning mechanism 3 cleans and collects dust along the road through the roller brush assembly 6.
  • the dust suction mechanism 4 draws out the air in the dust collection chamber through the fan 42 to generate negative air pressure in the dust collection chamber, so that the dust collected by the roller brush assembly 6 is removed through the first dust suction port 43 and the second dust suction port 44 Inhaled into the settling chamber 5, when the dust flows in the settling chamber (the flow direction of the dust in the settling chamber is shown by the arrow in Figure 3), the larger particles of dust will be blocked by the first blocking block 54 due to gravity and thus escape.
  • the suction is turned on and then falls into the primary sedimentation tank 55, thereby collecting large particles of dust, while small particles of dust will continue to flow to the main sedimentation tank 53 due to their smaller gravity, and finally fall into the secondary sedimentation tank. 56, thereby allowing dust to be collected and stored in multiple stages, and through the arrangement of the first blocking block 54, the flow path of the dust can be extended, the flow rate of the dust is reduced, and the dust is ensured to fall into the settling tank better.
  • the fan is also provided with a filter.
  • the air in the settling chamber is filtered and extracted through the filter.
  • the fan is an exhaust fan, that is, the air is drawn out so that the air in the settling chamber is The technology for generating negative air pressure is based on the working principle of vacuum cleaners in the prior art. There are specific prior art technologies, which will not be described again here.
  • the first blocking block 54 includes a first main body 541, a first diverting part 542 and a second diverting part 543.
  • the first diverting part 542 is disposed at one end of the first main body 541 and the first diverting part 542 is disposed at one end of the first main body 541.
  • the second diverter portion 542 extends downward and outward along one end of the first body 541; the second diverter portion 543 is provided at one end of the first body 541, and the second diverter portion 543 slopes upward and outward along one end of the first body 541.
  • the width ⁇ of the dust channel is smaller than the projected width ⁇ of the first blocking block and the second blocking block in the direction of the dust channel.
  • the flow direction of the dust becomes two. Dust with larger particles will directly fall into the first-level settling tank 55 under the diversion provided by the first diverting part that is inclined downward and outward, while dust with smaller particles will fall directly into the first-level settling tank 55. Under the upward and outward diversion effect of the second diverting part, it continues to flow to the secondary settling tank 56 above the settling chamber 5, and due to the larger weight of dust with larger particles, the flow diversion effect of the first diverting part The dust enters the first-level settling tank more easily and reliably, thus achieving multi-stage collection of dust.
  • a second blocking block 57 is provided at the connection between the first settling box 51 and the total settling box 53 and at the connection between the second settling box 52 and the total settling box 53; the second blocking block 57 Disposed at the upper and lower ends of the settling chamber 5, a dust channel 571 is formed between the second blocking blocks 57 at the upper and lower ends of the settling chamber 5.
  • the width of the dust channel is smaller than the projection of the first blocking block and the second blocking block in the direction of the dust channel. width.
  • the flow direction of the dust is further changed through the second blocking block 57, so that the flow rate of the dust is further reduced, ensuring that the dust can better fall into the settling tank, and by setting the width of the dust channel, it is prevented from entering Dust flows back into the fan.
  • a dust dropping slope 58 extending downwardly toward the primary settling tank 55 .
  • a first limiting post 501 is provided between the first settling box 51 and the total settling box 53.
  • the top surface of the first limiting post 501 is close to the end of the total settling box 53 and is close to the first One end of the settling box 51 is inclined and extends downward;
  • a second limiting column 502 is provided between the second settling box 52 and the total settling box 53 , and the top surface of the second limiting column 502 is close to the main settling box 53
  • One end is inclined and extended downward toward an end close to the second settling box 52;
  • a second blocking block located at the lower end of the settling chamber is disposed on the top surfaces of the first limiting column and the second limiting column.
  • the traveling mechanism 2 includes a traveling mounting plate 21, a traveling shell 22, a traveling motor 23, a traveling driving wheel 24, a traveling driven wheel 25 and a traveling crawler track 26.
  • the traveling mounting plate 21 is fixed on the chassis 1
  • the traveling driven wheel 25 is rotatably installed on one end of the traveling installation plate 21 through the traveling driven wheel shaft (not shown in the figure)
  • the traveling driving wheel 24 is located at the other end of the traveling installation plate 21, and the traveling motor 23 Set on the chassis 1, the driving shaft of the traveling motor 23 passes through the traveling installation plate 21 and is connected to the traveling driving wheel 24.
  • the traveling crawler 26 is wound between the traveling driving wheel 24 and the traveling driven wheel 25; the traveling housing 22 is provided On the traveling installation plate 21 and covering the top of the traveling crawler track 26 .
  • the traveling motor 23 drives the traveling driving wheel 24 to rotate and drives the traveling driven wheel 25 to rotate, thereby driving the traveling crawler track 26 to move.
  • the traveling motor 23 drives the traveling driving wheel 24 to rotate and drives the traveling driven wheel 25 to rotate, thereby driving the traveling crawler track 26 to move.
  • the traveling method of the traveling mechanism is the steering method of the common crawler traveling device, specifically the current steering method. There are techniques, which I won’t repeat here.
  • the cleaning mechanism 3 also includes a roller brush drive assembly 31.
  • the roller brush drive assembly 31 includes a roller brush drive motor 311, a roller brush drive wheel 312, a roller brush drive driven wheel 313, and a roller brush drive wheel 312.
  • the roller brush drive motor 311 is installed on the settling chamber 5 through the roller brush mounting bracket 315, and a roller brush drive wheel 312 is provided on the drive shaft of the roller brush drive motor 311;
  • the roller brush assembly 6 is provided At the top of the settling chamber 5 and below the roller brush drive assembly 31, the roller brush drive driven wheel 313 is provided on the roller brush assembly 6, and a roller brush is provided between the roller brush drive driven wheel 313 and the roller brush drive wheel 312.
  • the roller brush assembly 6 includes a first roller brush mounting bracket 61, a second roller brush mounting bracket 62, a roller brush driving shaft 63, a roller brush lifting servo 64, a first lifting arm 65,
  • the roller brush lift servo 64 is arranged on one side of the top of the settling chamber 5, and a first lift servo is provided on the drive shaft of the roller brush lift servo 64.
  • Arm 65, the first lifting arm 65 is provided with a first roller brush mounting bracket 61;
  • the second lifting arm 66 is rotated through the second lifting arm connecting shaft (not shown in the figure) and is arranged on another side of the top of the settling chamber 5.
  • a second roller brush mounting bracket 62 is provided on the second lifting arm 66, and the roller brush driving shaft 63 is arranged between the first roller brush mounting bracket 61 and the second roller brush mounting bracket 62.
  • One end of the brush drive shaft 63 passes through one end of the first roller brush mounting bracket 61 and is connected to the other end of the first roller brush mounting bracket 61 through a first roller brush bearing (not shown in the figure).
  • the roller brush drive shaft 63 on the frame 61 is provided with a first roller brush 67; the other end of the roller brush drive shaft 63 passes through one end of the second roller brush mounting frame 62 and passes through the first roller brush bearing (not shown in the figure).
  • roller brush drive motor 311 is started to drive the roller brush drive wheel 312 to rotate, which in turn drives the roller brush drive driven wheel 313 to rotate and then drives the roller brush drive shaft 63 to rotate, thereby driving the first roller brush drive shaft 63 to rotate.
  • the brush 67 and the second roller brush 68 rotate.
  • the roller brush lifting servo 64 rotates to drive the first lifting arm 65 and the second lifting arm 66 to swing up and down. Lifting action, whereby the photovoltaic panels can be cleaned while the cleaning robot is moving.
  • the cleaning mechanisms 3 at both ends of the chassis 1 are placed in a centrally symmetrical manner; the first roller brush 67 has a right-hand thread structure, and the second roller brush 68 has a left-hand thread structure; the first suction port 43 and the second suction port 44 are located between the first roller brush 67 and the second roller brush 68 .
  • the thread structure of the first roller brush 67 is It will be guided and moved to the right, so that the dust on the left side of the chassis 1 can be collected centrally to the position of the first suction port 43 or the second suction port 44; the thread structure of the second roller brush 68 will move to the right.
  • the guide movement is performed to the left, so that the dust located on the right side of the chassis can be collected centrally to the position of the first dust suction port 43 or the second dust suction port 44, thereby making it convenient for the first dust suction port 43 or the second dust suction port 44.
  • the dust suction port 44 sucks in dust.
  • the end surface of the first branch part 542 close to the primary sedimentation tank 55 is inclined upward
  • the end surface of the first branch part 542 away from the primary sedimentation tank 55 is inclined downward
  • the second branch part 542 is inclined downward.
  • 543 has an end surface close to the fan 42 that is inclined upward and outward
  • an end surface of the second diverter portion 543 that is away from the fan 42 is inclined upward and inward.
  • the working method of the above-mentioned cleaning robot includes:
  • the walking mechanism drives the cleaning robot to move on the photovoltaic panels.
  • roller brush assembly collects dust to the first suction port and the second suction port.
  • the fan draws air to suck the dust from the first suction port and the second suction port into the settling chamber.
  • the walking motor drives the walking track to move.
  • the roller brush drive motor drives the first roller brush and the second roller brush to rotate to clean the dust along the way of the cleaning robot. Clean collection, when dust is concentrated on the first suction port or the second suction port, the fan will suck the dust into the settling chamber for dust collection. Since there are cleaning mechanisms for dust collection at the front and rear ends of the chassis, When the cleaning robot walks, the front end is cleaned once, and the back end can be cleaned again, which avoids the problem of dust left during front end cleaning and improves the overall cleanliness.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Cleaning In General (AREA)

Abstract

一种清洁光伏板的履带式机器人，包括清洁机器人，清洁机器人包括底盘（1）、行走机构（2）、清洁机构（3）和吸尘机构（4），行走机构（2）设置在底盘（1）的两侧，在底盘（1）的两端设有清洁机构（3），吸尘机构（4）设置在底盘（1）的中心并连接清洁机构（3）。通过该设置，清洁机构（3）和吸尘机构（4）共同进行清洁作业，行走机构（2）驱动清洁机器人进行行走，在行走的过程中清洁机构（3）通过滚刷组件（6）将沿路上的灰尘进行清洁收集，提高光伏清洁机器人的自动化程度，实现对灰尘的收集以及对灰尘进行多级处理，从而使得灰尘的清洁更加有效率。

Description

一种清洁光伏板的履带式机器人 技术领域
本发明涉及光伏板清洁技术领域，具体涉及一种清洁光伏板的履带式机器人。
背景技术
随着传统化石能源的逐渐枯竭和人们对环境污染问题的日益关注，太阳能光伏发电作为主要绿色能源之一得到越来越多的应用，太阳能发电站的规模也达到了前所未有的程度。然而在光伏电站实际运行过程中由于长期暴露在户外，空气中的灰尘微小颗粒很容易积聚在光伏板表面形成积灰，导致光伏组件发电效率降低，给光伏发电企业带来巨大的经济损失。因此，太阳能光伏板的清扫清洁成了光伏电站运行维护的重要课题。
目前市场上的光伏清洁设备大多数是采用固定轨道式保持设备斜面上停留，且无法移动搬走，还需要在每个光伏阵列上加装相同的设备，这不仅增加了成本，且弊端很多；由于光伏阵列面积较大，距离也比较远，会导致机器人在自带的光伏板在沾满灰尘后得不到及时的清洗；且机器人一旦转场则其固定轨道需要重新安装；另一方面，这种清洁机器人不对灰尘进行收集，会容易造成二次污染。
为解决上述问题，如中国专利申请号为201921791080.1，公布日为2020.06.12的专利文献，其公开了一种太阳能光伏板清扫机器人，包括行走机构和爬升机构；所述行走机构包括矩形框架，在矩形框架的前边框和后边框上分别连接有辊刷支架，辊刷支架上设置有辊刷和辊刷驱动装置，在辊刷的内侧设置有吸尘嘴，吸尘嘴与设置在矩形框架上的吸尘泵连接；在矩形框架的下面固定设置有横向行走轮，横向行走轮与横向行走驱动装置连接；矩形框架的上面固定设置有龙门架，在龙门架下方、矩形框架内侧设置有爬升机构，龙门架与爬升机构之间通过升降装置连接，所述爬升机构包括纵向行走驱动装置、纵向行走轮和吸盘，所述吸盘与设置在矩形框架上的真空泵连接。该清扫机器人可实现对光伏板表面灰尘自动清扫，移动灵活，工作效率高，能有效应用于多种光伏发电场所，是一种智能化的光伏电池板清扫装置。
该文献的结构，只是通过辊刷旋转清扫灰尘在通过吸尘嘴将灰尘吸入到储尘袋内，其并没有对清扫的灰尘做收集，因此，吸尘嘴的大小就需要根据辊刷的长度进行调节才能较好的将清扫完的灰尘进行吸入，这也就增加了加工时对吸尘嘴的尺寸控制难度，且同时，吸入到储尘袋内的灰尘也没有做进一步的处理，因此，在储尘袋内的大颗粒灰尘还是小颗粒灰尘都存在同一个地方，这样容易导致储尘袋容易储满从而需要经常更换清理储尘袋，最终影响 光伏板的清洁效率。
发明内容
本发明的目的在于提供一种清洁光伏板的履带式机器人，提高光伏清洁机器人的自动化程度，实现对灰尘的收集以及对灰尘进行多级处理，从而使得灰尘的清洁更加有效率。
为达到上述目的，一种清洁光伏板的履带式机器人，包括清洁机器人，所述清洁机器人包括底盘、行走机构、清洁机构和吸尘机构，所述行走机构设置在底盘的两侧，在底盘的两端设有清洁机构，所述吸尘机构设置在底盘的中心并连接清洁机构。
所述吸尘机构包括沉降室、风机、第一吸尘口和第二吸尘口；所述第一吸尘口位于沉降室的一端，第二吸尘口位于沉降室的另一端，在沉降室的中心设有风机。
所述沉降室包括第一沉降箱、第二沉降箱和总沉降箱，所述第一沉降箱位于沉降室的一端并连通第一吸尘口，所述第二沉降箱位于沉降室的另一端并连通第二吸尘口，所述总沉降箱位于第一沉降箱和第二沉降箱之间，所述风机位于总沉降箱的上方；第一吸尘口与风机之间形成第一风流通道，第二吸尘口与风机之间形成第二风流通道，第一风流通道为自第一吸尘口向总沉降箱方向向内向上倾斜设置，第二风流通道为自第二吸尘口向总沉降箱方向向内向上倾斜设置；风机的一侧设有出风口。
在第一沉降箱和第二沉降箱的下方设有一级沉降槽，在总沉降箱下方设有二级沉降槽；在一级沉降槽上方的第一沉降箱和第二沉降箱内设有第一阻挡块。
所述清洁机构包括将灰尘收集至第一吸尘口和第二吸尘口的滚刷组件。
上述结构的清洁机器人，清洁机构和吸尘机构共同进行清洁作业，行走机构驱动清洁机器人进行行走，在行走的过程中清洁机构通过滚刷组件将沿路上的灰尘进行清洁收集，提高清洁自动化程度，吸尘机构通过风机抽出沉降室内的空气使得沉降室内产生空气负压，从而使得被滚刷组件收集的灰尘通过第一吸尘口和第二吸尘口被吸入至降尘室内，当灰尘在降尘室内流动时，较大颗粒的灰尘由于重力的因素会被第一阻挡块阻挡从而脱开了吸力进而落入到一级沉降槽内，由此将大颗粒的灰尘进行收集，而小颗粒的灰尘重力较小则会继续向总沉降箱流动，最终落入到二级沉降槽内，由此使得灰尘进行多级的收集储存，且通过第一阻挡块的设置，使得可以延长灰尘的流动路程，使得灰尘的流速下降，保证灰尘更好的落入沉降槽内。
进一步的，所述第一阻挡块包括第一主体、第一分流部和第二分流部，所述第一分流部设置在第一主体的一端且第一分流部沿着第一主体的一端向下向外倾斜延伸；所述第二分流部设置在第一主体的一端且第二分流部沿着第一主体的一端向上向外倾斜延伸设置，第一 分流部的末端的垂直投影部位于一级沉降槽内。由此设置，使得灰尘的流动方向变为两道，颗粒较大的灰尘在第一分流部向下向外倾斜设置的导流下会直接落入到一级沉降槽，而较小的灰尘在第二分流部的向上向外的导流作用下则继续在沉降室的上方流向二级沉降槽，且由于颗粒较大的灰尘重量较大，从而在第一分流部的导流作用下更加容易且可靠地进入到一级沉降槽内，由此实现灰尘的多级收集。
进一步的，在第一沉降箱与总沉降箱的连接处以及第二沉降箱与总沉降箱的连接处上设有第二阻挡块；所述第二阻挡块设置在沉降室的上端和下端，在沉降室上端和下端的第二阻挡块之间形成灰尘通道，灰尘通道的宽度小于第一阻挡块和第二阻挡块在灰尘通道方向上投影的宽度。由此设置，通过第二阻挡块进一步对灰尘的流动方向进行改变，从而使得灰尘的流速进一步下降，保证灰尘能够更好的落入沉降槽内，且通过设置灰尘通道的宽度大小，防止进入到风机内的灰尘反流。
进一步的，在第一沉降箱和第二沉降箱的底部设有向一级沉降槽方向倾斜向下延伸设置的灰尘落料斜面。由此设置，若有灰尘落在第一沉降箱或第二沉降箱底部而没有直接落入到一级沉降槽内时，由于灰尘落料斜面的倾斜设置，同时通过沉降室内的空气流动的带动下即可将灰尘带动并沿着该斜面向一级沉降槽落入，从而确保灰尘能准确的落入一级沉降槽。
进一步的，在第一沉降箱和总沉降箱之间设有第一限位柱，所述第一限位柱的顶面靠近总沉降箱的一端向靠近第一沉降箱的一端倾斜向下延伸设置；在第二沉降箱和总沉降箱之间设有第二限位柱，所述第二限位柱的顶面靠近总沉降箱的一端向靠近第二沉降箱的一端倾斜向下延伸设置；位于沉降室下端的第二阻挡快设置在第一限位柱和第二限位柱的顶面上。由此设置，通过倾斜设置的限位柱，保证落在限位柱上方的灰尘能够落入到一级沉降槽内。
进一步的，所述行走机构包括行走安装板、行走外壳、行走电机、行走主动轮、行走从动轮和行走履带，所述行走安装板固定在底盘上，所述行走从动轮通过行走从动轮轴转动的安装在行走安装板的一端，所述行走主动轮位于行走安装板的另一端，所述行走电机设置在底盘上，行走电机的驱动轴穿过行走安装板与行走主动轮连接，所述行走履带缠绕在行走主动轮和行走从动轮之间；所述行走外壳设置在行走安装板上且盖在行走履带的上方。由此设置，当需要对光伏板进行清洁时，通过行走电机驱动行走主动轮转动并带动行走从动轮转动，进而带动行走履带进行移动，当需要进行转向时，只需位于底盘两侧的其中一个行走电机停止转动，靠另一个行走电机转动即可实现转向，简单且有效。
进一步的，所述清洁机构还包括滚刷驱动组件，所述滚刷驱动组件包括滚刷驱动电机、滚刷驱动轮、滚刷驱动从动轮和滚刷驱动带；所述滚刷驱动电机通过滚刷安装架安装在沉降室上，在滚刷驱动电机的驱动轴上设有滚刷驱动轮；所述滚刷组件设置在沉降室的顶端且位 于滚刷驱动组件下方，所述滚刷驱动从动轮设置在滚刷组件上，在滚刷驱动从动轮与滚刷驱动轮之间设有滚刷驱动带。由此设置，通过滚刷驱动电机驱动滚刷组件工作进行灰尘的收集。
进一步的，所述滚刷组件包括第一滚刷安装架、第二滚刷安装架、滚刷驱动轴、滚刷升降舵机、第一升降臂、第二升降臂、第一滚刷和第二滚刷；所述滚刷升降舵机设置在沉降室顶端的一侧，在滚刷升降舵机的驱动轴上设有第一升降臂，所述第一升降臂上设有第一滚刷安装架；第二升降臂通过第二升降臂连接轴转动得设置在沉降室顶端的另一侧，在第二升降臂上设有第二滚刷安装架，所述滚刷驱动轴设置在第一滚刷安装架和第二滚刷安装架之间，所述滚刷驱动轴的一端穿过第一滚刷安装架的一端并通过第一滚刷轴承连接在第一滚刷安装架的另一端，在第一滚刷安装架上的滚刷驱动轴上设有第一滚刷；所述滚刷驱动轴的另一端穿过第二滚刷安装架的一端并通过第一滚刷轴承连接在第二滚刷安装架的另一端，在第二滚刷安装架上的滚刷驱动轴上设有第二滚刷；所述滚刷驱动从动轮设置在第一滚刷安装架和第二滚刷安装架之间的滚刷驱动轴上。由此设置，当要进行光伏板的清洁时，滚刷驱动电机启动带动滚刷驱动轮转动进而带动滚刷驱动从动轮转动进而驱动滚刷驱动轴进行转动，从而带动第一滚刷和第二滚刷进行转动，当需要对第一滚刷和第二滚刷进行升降时，滚刷升降舵机转动带动第一升降臂和第二升降臂上下摆动实现升降动作，由此，在清洁机器人移动时即可实现光伏板的清洁。
进一步的，底盘的两端的清洁机构为中心对称方式放置；所述第一滚刷为右旋螺纹结构，所述第二滚刷为左旋螺纹结构；第一吸尘口和第二吸尘口的位置位于第一滚刷和第二滚刷的之间。由此设置，通过第一滚刷的右旋螺纹和第二滚刷的左旋螺纹结构，在第一滚刷和第二滚刷在转动时，第一滚刷的螺纹结构则会向右方进行导向移动，从而即可将位于底盘左侧的灰尘集中收集至第一吸尘口或第二吸尘口的位置上；第二滚刷的螺纹结构则会向左方进行导向移动，从而即可将位于底盘右侧的灰尘集中收集至第一吸尘口或第二吸尘口的位置上，由此即可方便第一吸尘口或第二吸尘口进行灰尘的吸入。
进一步的，第一分流部的末端的靠近一级沉积槽的端面向上倾斜设置，第一分流部的末端远离一级沉积槽的端面向下倾斜设置，第二分流部的末端靠近风机一侧的端面向上向外倾斜设置，第二分流部的末端远离风机一侧的端面向上向内倾斜设置。
以上设置，由于第一分流部末端下端面向上倾斜设置，能使得进去到一级沉降槽之后的其它灰尘能在第一分流部的导向作用下进入到灰尘通道内，而在第一分流部末端上端面向下倾斜设置，使得部分通过第二分流部的较大颗粒能在第一分流部末端上端面的导向下进入到一级沉降槽内。
附图说明
图1为本发明的清洁机器人的结构示意图。
图2为本发明的沉降室的内部结构示意图。
图3为本发明在吸尘时灰尘的流动方向图。
图4为本发明的行走机构的爆炸示意图。
图5为本发明的清洁机构的爆炸示意图。
图6为图5中A处的放大图。
图7为本发明的清洁机器人的俯视图。
图8为本发明的清洁机器人的工作流程图。
具体实施方式
下面结合附图和具体实施方式对本发明做进一步详细说明。
如图1至图8所示，一种清洁光伏板的履带式机器人，包括清洁机器人，所述清洁机器人包括底盘1、行走机构2、清洁机构3和吸尘机构4，所述行走机构2设置在底盘1的两侧，在底盘1的两端设有清洁机构3，所述吸尘机构4设置在底盘1的中心并连接清洁机构3。
所述吸尘机构4包括沉降室5、风机42、第一吸尘口43和第二吸尘口44；所述第一吸尘口43位于沉降室5的一端，第二吸尘口44位于沉降室5的另一端，在沉降室5的中心设有风机42。
所述沉降室5包括第一沉降箱51、第二沉降箱52和总沉降箱53，所述第一沉降箱51位于沉降室5的一端并连通第一吸尘口43，所述第二沉降箱52位于沉降室5的另一端并连通第二吸尘口44，所述总沉降箱53位于第一沉降箱51和第二沉降箱52之间，所述风机42位于总沉降箱53的上方；第一吸尘口43与风机42之间形成第一风流通道431，第二吸尘口44与风机42之间形成第二风流通道441，第一风流通道431为自第一吸尘口43向总沉降箱53方向向内向上倾斜设置，第二风流通道441为自第二吸尘口44向总沉降箱53方向向内向上倾斜设置；风机的一侧设有出风口(图中未示出)。
在第一沉降箱51和第二沉降箱52的下方设有一级沉降槽55，在总沉降箱53下方设有二级沉降槽56；在一级沉降槽55上方的第一沉降箱51和第二沉降箱52内设有第一阻挡块54。
所述清洁机构3包括将灰尘收集至第一吸尘口43和第二吸尘口44的滚刷组件6。
上述结构的清洁机器人，清洁机构3和吸尘机构4共同进行清洁作业，行走机构2驱动清洁机器人进行行走，在行走的过程中清洁机构3通过滚刷组件6将沿路上的灰尘进行清洁 收集，提高清洁自动化程度，吸尘机构4通过风机42抽出降尘室内的空气使得降尘室内产生空气负压，从而使得被滚刷组件6收集的灰尘通过第一吸尘口43和第二吸尘口44被吸入至沉降室5内，当灰尘在沉降室内流动时(灰尘在沉降室内的流动方向如图3中箭头所示)，较大颗粒的灰尘由于重力的因素会被第一阻挡块54阻挡从而脱开了吸力进而落入到一级沉降槽55内，由此将大颗粒的灰尘进行收集，而小颗粒的灰尘重力较小则会继续向总沉降箱53流动，最终落入到二级沉降槽56内，由此使得灰尘进行多级的收集储存，且通过第一阻挡块54的设置，使得可以延长灰尘的流动路程，使得灰尘的流速下降，保证灰尘更好的落入沉降槽内。
在本实施例中，在风机上还设有过滤网，当风机将沉降室内的空气抽出时，通过过滤网对沉降室内的空气进行过滤并抽出，该风机为抽风机，即抽出空气使得沉降室内产生空气负压的技术为现有技术中吸尘器的工作原理，具体有现有技术，在此不再累述。
如图2所示，所述第一阻挡块54包括第一主体541、第一分流部542和第二分流部543，所述第一分流部542设置在第一主体541的一端且第一分流部542沿着第一主体541的一端向下向外倾斜延伸；所述第二分流部543设置在第一主体541的一端且第二分流部543沿着第一主体541的一端向上向外倾斜延伸设置，灰尘通道的宽度α小于第一阻挡块和第二阻挡块在灰尘通道方向上投影的宽度β。由此设置，使得灰尘的流动方向变为两道，颗粒较大的灰尘在第一分流部向下向外倾斜设置的导流下会直接落入到一级沉降槽55，而较小的灰尘在第二分流部的向上向外的导流作用下则继续在沉降室5的上方流向二级沉降槽56，且由于颗粒较大的灰尘重量较大，从而在第一分流部的导流作用下更加容易且可靠地进入到一级沉降槽内，由此实现灰尘的多级收集。
如图2所示，在第一沉降箱51与总沉降箱53的连接处以及第二沉降箱52与总沉降箱53的连接处上设有第二阻挡块57；所述第二阻挡块57设置在沉降室5的上端和下端，在沉降室5上端和下端的第二阻挡块57之间形成灰尘通道571，灰尘通道的宽度小于第一阻挡块和第二阻挡块在灰尘通道方向上投影的宽度。由此设置，通过第二阻挡块57进一步对灰尘的流动方向进行改变，从而使得灰尘的流速进一步下降，保证灰尘能够更好的落入沉降槽内，且通过设置灰尘通道的宽度大小，防止进入到风机内的灰尘反流。
如图2所示，在第一沉降箱51和第二沉降箱52的底部设有向一级沉降槽55方向倾斜向下延伸设置的灰尘落料斜面58。由此设置，若有灰尘落在第一沉降箱51或第二沉降箱52底部而没有直接落入到一级沉降槽55内时，由于灰尘落料斜面58的倾斜设置，同时通过沉降室5内的空气流动的带动下即可将灰尘带动并沿着该斜面向一级沉降槽55落入，从而确保灰尘能准确的落入一级沉降槽。
如图2所示，在第一沉降箱51和总沉降箱53之间设有第一限位柱501，所述第一限位 柱501的顶面靠近总沉降箱53的一端向靠近第一沉降箱51的一端倾斜向下延伸设置；在第二沉降箱52和总沉降箱53之间设有第二限位柱502，所述第二限位柱502的顶面靠近总沉降箱53的一端向靠近第二沉降箱52的一端倾斜向下延伸设置；位于沉降室下端的第二阻挡快设置在第一限位柱和第二限位柱的顶面上。由此设置，通过倾斜设置的限位柱，保证落在限位柱上方的灰尘能够落入到一级沉降槽内。
如图4所示，所述行走机构2包括行走安装板21、行走外壳22、行走电机23、行走主动轮24、行走从动轮25和行走履带26，所述行走安装板21固定在底盘1上，所述行走从动轮25通过行走从动轮轴(图中未示出)转动的安装在行走安装板21的一端，所述行走主动轮24位于行走安装板21的另一端，所述行走电机23设置在底盘1上，行走电机23的驱动轴穿过行走安装板21与行走主动轮24连接，所述行走履带26缠绕在行走主动轮24和行走从动轮25之间；所述行走外壳22设置在行走安装板21上且盖在行走履带26的上方。由此设置，当需要对光伏板进行清洁时，通过行走电机23驱动行走主动轮24转动并带动行走从动轮25转动，进而带动行走履带26进行移动，当需要进行转向时，只需位于底盘1两侧的其中一个行走电机停止转动，靠另一个行走电机转动即可实现转向，简单且有效，在本实施例中，行走机构的转向方式为常见的履带式行走装置的转向方法，具体为现有技术，在此不再累述。
如图5和图6所示，所述清洁机构3还包括滚刷驱动组件31，所述滚刷驱动组件31包括滚刷驱动电机311、滚刷驱动轮312、滚刷驱动从动轮313和滚刷驱动带314；所述滚刷驱动电机311通过滚刷安装架315安装在沉降室5上，在滚刷驱动电机311的驱动轴上设有滚刷驱动轮312；所述滚刷组件6设置在沉降室5的顶端且位于滚刷驱动组件31下方，所述滚刷驱动从动轮313设置在滚刷组件6上，在滚刷驱动从动轮313与滚刷驱动轮312之间设有滚刷驱动带314。由此设置，通过滚刷驱动电机驱动滚刷组件工作进行灰尘的收集。
如图5至图7所示，所述滚刷组件6包括第一滚刷安装架61、第二滚刷安装架62、滚刷驱动轴63、滚刷升降舵机64、第一升降臂65、第二升降臂66、第一滚刷67和第二滚刷68；所述滚刷升降舵机64设置在沉降室5顶端的一侧，在滚刷升降舵机64的驱动轴上设有第一升降臂65，所述第一升降臂65上设有第一滚刷安装架61；第二升降臂66通过第二升降臂连接轴(图中未示出)转动得设置在沉降室5顶端的另一侧，在第二升降臂66上设有第二滚刷安装架62，所述滚刷驱动轴63设置在第一滚刷安装架61和第二滚刷安装架62之间，所述滚刷驱动轴63的一端穿过第一滚刷安装架61的一端并通过第一滚刷轴承(图中未示出)连接在第一滚刷安装架61的另一端，在第一滚刷安装架61上的滚刷驱动轴63上设有第一滚刷67；所述滚刷驱动轴63的另一端穿过第二滚刷安装架62的一端并通过第一滚刷轴承(图中未示出)连接在第二滚刷安装架62的另一端，在第二滚刷安装架62上的滚刷驱 动轴63上设有第二滚刷68；所述滚刷驱动从动轮313设置在第一滚刷安装架61和第二滚刷安装架62之间的滚刷驱动轴63上。由此设置，当要进行光伏板的清洁时，滚刷驱动电机311启动带动滚刷驱动轮312转动进而带动滚刷驱动从动轮313转动进而驱动滚刷驱动轴63进行转动，从而带动第一滚刷67和第二滚刷68进行转动，当需要对第一滚刷67和第二滚刷68进行升降时，滚刷升降舵机64转动带动第一升降臂65和第二升降臂66上下摆动实现升降动作，由此，在清洁机器人移动时即可实现光伏板的清洁。
如图7所示，底盘1的两端的清洁机构3为中心对称方式放置；所述第一滚刷67为右旋螺纹结构，所述第二滚刷68为左旋螺纹结构；第一吸尘口43和第二吸尘口44的位置位于第一滚刷67和第二滚刷68的之间。由此设置，通过第一滚刷67的右旋螺纹和第二滚刷68的左旋螺纹结构，在第一滚刷67和第二滚刷68在转动时，第一滚刷67的螺纹结构则会向右方进行导向移动，从而即可将位于底盘1左侧的灰尘集中收集至第一吸尘口43或第二吸尘口44的位置上；第二滚刷68的螺纹结构则会向左方进行导向移动，从而即可将位于底盘右侧的灰尘集中收集至第一吸尘口43或第二吸尘口44的位置上，由此即可方便第一吸尘口43或第二吸尘口44进行灰尘的吸入。
如图2所示，第一分流部542的末端的靠近一级沉积槽55的端面向上倾斜设置，第一分流部542的末端远离一级沉积槽55的端面向下倾斜设置，第二分流部543的末端靠近风机42一侧的端面向上向外倾斜设置，第二分流部543的末端远离风机42一侧的端面向上向内倾斜设置。
以上设置，由于第一分流部末端下端面向上倾斜设置，能使得进去到一级沉降槽之后的其它灰尘能在第一分流部的导向作用下进入到灰尘通道内，而在第一分流部末端上端面向下倾斜设置，使得部分通过第二分流部的较大颗粒能在第一分流部末端上端面的导向下进入到一级沉降槽内。
如图8所示，上述的清洁机器人的工作方法，具体步骤包括：
(1)行走机构驱动清洁机器人在光伏板上进行移动。
(2)清洁机构和吸尘机构启动，对沿途的灰尘进行清洁。
(3)滚刷组件将灰尘收集至第一吸尘口和第二吸尘口。
(3.1)第一滚刷转动将底盘左侧的灰尘带动向右移动。
(3.2)第二滚刷转动将底盘右侧的灰尘带动向左移动。
(3.3)第一滚刷和第二滚刷带动的灰尘集中在第一吸尘口和第二吸尘口的位置。
(4)风机抽风将第一吸尘口和第二吸尘口的灰尘吸入至沉降室内。
(5)灰尘在沉降室内流动。
(6)大颗粒灰尘被第一阻挡块阻挡且在第一分流部向下向外倾斜设置的导流下通过重 力下落至一级沉降槽内。
(7)小颗粒灰尘在第二分流部的向上向外的导流作用下向总沉降箱内流动，最终落入二级沉降槽内。
上述结构，当需要对光伏板进行清洁时，行走电机驱动行走履带进行移动，在移动的过程中，滚刷驱动电机驱动第一滚刷和第二滚刷转动，对清洁机器人沿途上的灰尘进行清洁收集，当灰尘集中在第一吸尘口或第二吸尘口上时，风机将灰尘吸入至沉降室内进行灰尘的收集，由于在底盘的前后两端都设有收集灰尘的清洁机构，因此，在清洁机器人行走时，前端进行一次清洁，后端还可以再进行一次清洁，避免了前端清洁时会有灰尘遗留的问题，提高了整体的清洁度。

Claims (10)

  1. 一种清洁光伏板的履带式机器人，包括清洁机器人，其特征在于：所述清洁机器人包括底盘、行走机构、清洁机构和吸尘机构，所述行走机构设置在底盘的两侧，在底盘的两端设有清洁机构，所述吸尘机构设置在底盘的中心并连接清洁机构；
    所述吸尘机构包括沉降室、风机、第一吸尘口和第二吸尘口；所述第一吸尘口位于沉降室的一端，第二吸尘口位于沉降室的另一端，在沉降室的中心设有风机；
    所述沉降室包括第一沉降箱、第二沉降箱和总沉降箱，所述第一沉降箱位于沉降室的一端并连通第一吸尘口，所述第二沉降箱位于沉降室的另一端并连通第二吸尘口，所述总沉降箱位于第一沉降箱和第二沉降箱之间，所述风机位于总沉降箱的上方；第一吸尘口与风机之间形成第一风流通道，第二吸尘口与风机之间形成第二风流通道，第一风流通道为自第一吸尘口向总沉降箱方向向内向上倾斜设置，第二风流通道为自第二吸尘口向总沉降箱方向向内向上倾斜设置；风机的一侧设有出风口；
    在第一沉降箱和第二沉降箱的下方设有一级沉降槽，在总沉降箱下方设有二级沉降槽；在一级沉降槽上方的第一沉降箱和第二沉降箱内设有第一阻挡块；
    所述清洁机构包括将灰尘收集至第一吸尘口和第二吸尘口的滚刷组件。
  2. 根据权利要求1所述的一种清洁光伏板的履带式机器人，其特征在于：所述第一阻挡块包括第一主体、第一分流部和第二分流部，所述第一分流部设置在第一主体的一端且第一分流部沿着第一主体的一端向下向外倾斜延伸；所述第二分流部设置在第一主体的一端且第二分流部沿着第一主体的一端向上向外倾斜延伸设置，第一分流部的末端的垂直投影部位于一级沉降槽内。
  3. 根据权利要求1所述的一种清洁光伏板的履带式机器人，其特征在于：在第一沉降箱与总沉降箱的连接处以及第二沉降箱与总沉降箱的连接处上设有第二阻挡块；所述第二阻挡块设置在沉降室的上端和下端，在沉降室上端和下端的第二阻挡块之间形成灰尘通道，灰尘通道的宽度小于第一阻挡块和第二阻挡块在灰尘通道方向上投影的宽度。
  4. 根据权利要求1所述的一种清洁光伏板的履带式机器人，其特征在于：在第一沉降箱和第二沉降箱的底部设有向一级沉降槽方向倾斜向下延伸设置的灰尘落料斜面。
  5. 根据权利要求3所述的一种清洁光伏板的履带式机器人，其特征在于：在第一沉降箱和总沉降箱之间设有第一限位柱，所述第一限位柱的顶面靠近总沉降箱的一端向靠近第一沉降箱的一端倾斜向下延伸设置；在第二沉降箱和总沉降箱之间设有第二限位柱，所述第二限位柱的顶面靠近总沉降箱的一端向靠近第二沉降箱的一端倾斜向下延伸设置；位于 沉降室下端的第二阻挡快设置在第一限位柱和第二限位柱的顶面上。
  6. 根据权利要求1所述的一种清洁光伏板的履带式机器人，其特征在于：所述行走机构包括行走安装板、行走外壳、行走电机、行走主动轮、行走从动轮和行走履带，所述行走安装板固定在底盘上，所述行走从动轮通过行走从动轮轴转动的安装在行走安装板的一端，所述行走主动轮位于行走安装板的另一端，所述行走电机设置在底盘上，行走电机的驱动轴穿过行走安装板与行走主动轮连接，所述行走履带缠绕在行走主动轮和行走从动轮之间；所述行走外壳设置在行走安装板上且盖在行走履带的上方。
  7. 根据权利要求1所述的一种清洁光伏板的履带式机器人，其特征在于：所述清洁机构还包括滚刷驱动组件，所述滚刷驱动组件包括滚刷驱动电机、滚刷驱动轮、滚刷驱动从动轮和滚刷驱动带；所述滚刷驱动电机通过滚刷安装架安装在沉降室上，在滚刷驱动电机的驱动轴上设有滚刷驱动轮；所述滚刷组件设置在沉降室的顶端且位于滚刷驱动组件下方，所述滚刷驱动从动轮设置在滚刷组件上，在滚刷驱动从动轮与滚刷驱动轮之间设有滚刷驱动带。
  8. 根据权利要求7所述的一种清洁光伏板的履带式机器人，其特征在于：所述滚刷组件包括第一滚刷安装架、第二滚刷安装架、滚刷驱动轴、滚刷升降舵机、第一升降臂、第二升降臂、第一滚刷和第二滚刷；所述滚刷升降舵机设置在沉降室顶端的一侧，在滚刷升降舵机的驱动轴上设有第一升降臂，所述第一升降臂上设有第一滚刷安装架；第二升降臂通过第二升降臂连接轴转动得设置在沉降室顶端的另一侧，在第二升降臂上设有第二滚刷安装架，所述滚刷驱动轴设置在第一滚刷安装架和第二滚刷安装架之间，所述滚刷驱动轴的一端穿过第一滚刷安装架的一端并通过第一滚刷轴承连接在第一滚刷安装架的另一端，在第一滚刷安装架上的滚刷驱动轴上设有第一滚刷；所述滚刷驱动轴的另一端穿过第二滚刷安装架的一端并通过第一滚刷轴承连接在第二滚刷安装架的另一端，在第二滚刷安装架上的滚刷驱动轴上设有第二滚刷；所述滚刷驱动从动轮设置在第一滚刷安装架和第二滚刷安装架之间的滚刷驱动轴上。
  9. 根据权利要求8所述的一种清洁光伏板的履带式机器人，其特征在于：底盘的两端的清洁机构为中心对称方式放置；所述第一滚刷为右旋螺纹结构，所述第二滚刷为左旋螺纹结构；第一吸尘口和第二吸尘口的位置位于第一滚刷和第二滚刷的之间。
  10. 根据权利要求2所述的一种清洁光伏板的履带式机器人，其特征在于：第一分流部的末端的靠近一级沉积槽的端面向上倾斜设置，第一分流部的末端远离一级沉积槽的端面向下倾斜设置，第二分流部的末端靠近风机一侧的端面向上向外倾斜设置，第二分流部的末端远离风机一侧的端面向上向内倾斜设置。
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