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CN-122001291-A - Rocker arm type photovoltaic cleaning robot and obstacle surmounting control method

CN122001291ACN 122001291 ACN122001291 ACN 122001291ACN-122001291-A

Abstract

The application provides a rocker arm type photovoltaic cleaning robot and an obstacle surmounting control method, and belongs to the technical field of photovoltaic cleaning equipment. The robot comprises a rocker arm, an electric push rod, a crawler running mechanism, a rolling brush assembly, a mechanical suspension mechanism and a suspension mechanism, wherein the rocker arm is connected with a robot main body through a rocker arm shaft, one end of the electric push rod is hinged with the rocker arm shaft, the electric push rod is electrically connected with a main controller, the crawler running mechanism comprises a driving wheel, a driven wheel and a crawler wound between the driving wheel and the driven wheel, the driving wheel is driven by a crawler motor arranged in the rocker arm shaft, the crawler motor is electrically connected with the main controller, the rolling brush assembly comprises a rolling brush and a rolling brush motor used for driving the rolling brush to rotate, the rolling brush motor is electrically connected with the main controller, and the mechanical suspension mechanism is used for controlling the suspension wheel to retract and retract through expansion. The electric push rod actively controls the rocker to lift and match with the symmetrical crawler travelling mechanism and the adjustable suspension system, so that the photovoltaic array with height drop or gap can stably surmount the obstacle, and the photovoltaic array is self-adaptively attached to the plate surface and is efficiently cleaned.

Inventors

  • SHI SHUO
  • LIU YANHUA
  • WEI JIAHAO
  • LI BING
  • JIANG WANLEI
  • LIU XUEFEI
  • SU XIYUN

Assignees

  • 山东道与物联科技有限公司

Dates

Publication Date
20260508
Application Date
20260203

Claims (10)

  1. 1. A rocker arm type photovoltaic cleaning robot, comprising: a main controller; A rocker arm (11), wherein the rocker arm (11) is connected with the robot main body (12) through a rocker arm shaft (14); The electric push rod (13) is hinged with the rocker arm shaft (14) at one end of the electric push rod (13), and the electric push rod (13) is electrically connected with the main controller and is used for controlling the rocker arm (11) to lift or fall relative to the rocker arm shaft (14) through telescopic action; The crawler traveling mechanism comprises a driving wheel (15), a driven wheel (16) and a crawler (17) wound between the driving wheel (15) and the driven wheel (16), wherein the driving wheel (15) is driven by a crawler motor arranged in the rocker shaft (14), and the crawler motor is electrically connected with the main controller; the rolling brush assembly comprises a rolling brush (18) and a rolling brush motor (19) for driving the rolling brush (18) to rotate, and the rolling brush motor (19) is electrically connected with the main controller; The mechanical suspension mechanism is arranged on the rolling brush (18) and comprises a suspension push rod (20) and a suspension wheel (21), one end of the suspension push rod (20) is hinged to the suspension wheel (21), the other end of the suspension push rod is fixed to the rolling brush assembly, and the suspension push rod (20) is electrically connected with the main controller and used for controlling the retraction of the suspension wheel (21) through extension and retraction.
  2. 2. The rocker arm type photovoltaic cleaning robot according to claim 1, wherein a hall encoder is arranged in the electric push rod (13), and the hall encoder is electrically connected with the main controller and is used for acquiring telescopic displacement data of the electric push rod (13) so as to control the lifting or falling angle of the rocker arm (11).
  3. 3. The rocker arm type photovoltaic cleaning robot according to claim 1, wherein shock pads are provided at both ends of the rolling brush (18) for buffering contact force during the pressing down of the rolling brush (18).
  4. 4. The rocker arm type photovoltaic cleaning robot according to claim 1, characterized in that the diameter of the driving wheel (15) is larger than that of the driven wheel (16), and the caterpillar tracks (17) are wound to form a tilting envelope structure.
  5. 5. The rocker arm type photovoltaic cleaning robot according to claim 1, wherein the rocker arms (11) are provided in two sets, respectively provided on the front and rear sides of the robot main body (12); the crawler travelling mechanisms are arranged in two sets and are respectively arranged on the front side and the rear side of the robot main body (12); The electric push rods (13) are arranged in two sets and are respectively arranged at the front end and the rear end of the robot main body (12).
  6. 6. The rocker arm type photovoltaic cleaning robot according to claim 5, wherein the crawler traveling mechanisms each include a left driving wheel (15), a left driven wheel (16) and a left crawler (17), and a right driving wheel (15), a right driven wheel (16) and a right crawler (17).
  7. 7. The rocker arm type photovoltaic cleaning robot according to claim 6, characterized in that the left driving wheel (15) and the right driving wheel (15), the left driven wheel (16) and the right driven wheel (16), the left caterpillar (17) and the right caterpillar (17) are arranged symmetrically with respect to a longitudinal center plane of the robot body (12), respectively.
  8. 8. The rocker arm type photovoltaic cleaning robot according to claim 1, characterized in that the outer surface of the crawler belt (17) is provided with rubber anti-slip lines.
  9. 9. The rocker-arm type photovoltaic cleaning robot according to claim 1, wherein a central carrier beam (22) is arranged in the middle of the robot main body (12), and the main controller and the power supply module are both installed on the central carrier beam (22).
  10. 10. Obstacle surmounting control method based on a rocker arm type photovoltaic cleaning robot according to any one of claims 1 to 9, characterized in that it comprises: identifying gaps or height drops between photovoltaic panel rows existing in front; controlling the front electric push rod (13) to pull the front rocker arm (11) to lift, so that the front rocker arm (11) is separated from the current photovoltaic panel; Driving the crawler travelling mechanism to move forwards, and driving the whole machine to move forwards until the front rocker arm (11) is lapped to the surface of the next row of photovoltaic panels; The front side electric push rod (13) is controlled to push the front side rocker arm (11) to press the front side rocker arm (11) to a new photovoltaic panel, so that gaps among rows of the photovoltaic panels or height drops are reduced.

Description

Rocker arm type photovoltaic cleaning robot and obstacle surmounting control method Technical Field The application belongs to the technical field of photovoltaic cleaning equipment, and particularly relates to a rocker arm type photovoltaic cleaning robot and an obstacle surmounting control method. Background Along with the rapid increase of the installed capacity of the photovoltaic power station, particularly the popularization of large-scale centralized and water floating photovoltaic power stations, the problems of dust accumulation on the surface of a photovoltaic panel, bird droppings accumulation and the like seriously reduce the photoelectric conversion efficiency, and a high-efficiency and automatic cleaning means is needed. At present, the crawler-type photovoltaic cleaning robot is widely applied due to the advantages of small ground specific pressure, large traction force and the like. However, in actual operation, especially in the scene of complex terrain or uneven installation (such as mountain photovoltaics, floating power stations with water surface fluctuating due to wind and waves), a non-negligible height drop or gap often exists between adjacent photovoltaic panel rows. When the traditional rigid chassis or the single-body crawler robot spans such obstacles, the bottom supporting, clamping stagnation and even overturning are extremely easy to occur, so that the cleaning operation is interrupted, and the reliability and the application range of the automatic operation and maintenance are severely restricted. Disclosure of Invention In order to solve at least one technical problem in the background art, the application provides the rocker arm type photovoltaic cleaning robot, which realizes stable obstacle surmounting, self-adaptive plate surface fitting and efficient cleaning among photovoltaic arrays with height drop or gap and remarkably improves the operation stability and the automation reliability under complex scenes by actively controlling the lifting of a rocker arm through an electric push rod and matching with a symmetrical crawler travelling mechanism and an adjustable suspension system. An embodiment of the second aspect of the present application provides an obstacle surmounting control method. The technical scheme adopted by the application is as follows: an embodiment of a first aspect of the present application provides a rocker arm type photovoltaic cleaning robot, including: a main controller; The rocker arm is connected with the robot main body through a rocker arm shaft; The electric push rod is hinged with the rocker arm shaft at one end, is electrically connected with the main controller and is used for controlling the rocker arm to lift or fall relative to the rocker arm shaft through telescopic action; The crawler traveling mechanism comprises a driving wheel, a driven wheel and a crawler wound between the driving wheel and the driven wheel, wherein the driving wheel is driven by a crawler motor arranged in the rocker shaft, and the crawler motor is electrically connected with the main controller; The rolling brush assembly comprises a rolling brush and a rolling brush motor used for driving the rolling brush to rotate, and the rolling brush motor is electrically connected with the main controller; The mechanical suspension mechanism is arranged on the rolling brush and comprises a suspension push rod and a suspension wheel, one end of the suspension push rod is hinged with the suspension wheel, the other end of the suspension push rod is fixed on the rolling brush assembly, and the suspension push rod is electrically connected with the main controller and used for controlling the retraction of the suspension wheel through expansion and retraction. According to the rocker arm type photovoltaic cleaning robot provided by the embodiment of the first aspect of the application, the action of each execution part is uniformly coordinated through the main controller, so that the self-adaptive walking and efficient cleaning of the complex photovoltaic array terrain are realized. Specifically, when the robot advances to an area with height drop or gap between adjacent photovoltaic panel rows, the main controller drives the electric push rod to extend or shorten so as to push and pull the electric push rod around a hinging point with the rocker shaft, thereby actively controlling the lifting or falling of the rocker arm relative to the robot main body; meanwhile, the rolling brush component continuously rotates to clean under the drive of the rolling brush motor, and a mechanical suspension mechanism arranged on the rolling brush regulates and controls the expansion and contraction of a suspension push rod through a main controller, so that a suspension wheel is dynamically retracted, and stable contact pressure between the rolling brush and the photovoltaic panel is maintained on an obstacle-surmounting or uneven panel surface, and cleaning failure or panel surface damage