CN104828169A - Walking-spanning device of multiple-row solar cell panel cleaning robot - Google Patents
Walking-spanning device of multiple-row solar cell panel cleaning robot Download PDFInfo
- Publication number
- CN104828169A CN104828169A CN201510268434.4A CN201510268434A CN104828169A CN 104828169 A CN104828169 A CN 104828169A CN 201510268434 A CN201510268434 A CN 201510268434A CN 104828169 A CN104828169 A CN 104828169A
- Authority
- CN
- China
- Prior art keywords
- leap
- walking
- wheels
- wheels unit
- group structure
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The invention relates to a photovoltaic solar cell panel cleaning device and belongs to the field of photovoltaic power generation operation and maintenance. A multiple-row solar cell panel cleaning robot comprises a cleaning part arranged on the surface of a solar cell panel, a walking device arranged on the solar cell panel and a spanning device arranged on the side of the walking device. The walking-spanning device is characterized in that the walking-spanning device comprises a left spanning wheel set unit and a right spanning wheel set unit, the left spanning wheel set unit and the right spanning wheel set unit are arranged on the left side and the right side of the walking device, a motor is arranged between the left spanning wheel set unit and the right spanning wheel set unit and is connected with a T-shaped reverser through a coupling, and two output shafts of the T-shaped reverser in the horizontal direction respectively output rotation speeds consistent in rotation direction and respectively drive a leftward-screwed ball screw and a rightward-screwed ball screw which are connected to rotate so as to drive sliding block connecting plates arranged on the ball screws to perform reciprocating motion and achieve simultaneous extension of the left spanning wheel set unit and the right spanning wheel set unit respectively connected with the sliding block connecting plates.
Description
Technical field
The present invention relates to photovoltaic solar cell board cleaning machine device people, particularly relate to a kind of walking traverse device of many row's solar panel cleaning robots.
Background technology
Solar power receives the concern of people day by day as a kind of novel renewable energy, and photovoltaic generation is the major way of current Solar use.Photovoltaic battery panel is as the major part of photovoltaic generation, and under it is chronically exposed to natural environment, dust and foreign material are very easily piled up in its surface, have a strong impact on generating efficiency and the service life of cell panel, therefore, for large-sized photovoltaic power station, the cleaned at regular intervals of photovoltaic module is very necessary.
Be in the patent of the photovoltaic battery panel washing equipment based on single track running part of 201210457688.7 in the patent No., the walking traverse mechanism of existing photovoltaic battery panel washing equipment is provided with wheels in road wheel direction of travel side, wheels is driven by the leap motor be arranged on top board or base plate, wheels is connected with leap motor by the coupling assembling comprising wheels pole, wheels can be rotated or convergent-divergent or not only rotated but also convergent-divergent, wheels pole thus pack up backward or release wheels forward to cross over motor for axle center.When cleaning robot crosses another block cell panel from one piece of solar panel, control wheels by controller overturn under the traction of crossing over motor and be stretched on the upper surface of next block solar panel, use as leap fulcrum, arrive next block cell panel by the gap between two pieces of cell panels, realize the leap of cleaning robot between two pieces of solar panels.
But, the wheels that the effect relying on wheels pole and cross over motor is carried out stretching is when crossing over, one is the problem that there is flexible accuracy and precision, two is in leap process, two road wheels have one vacant within a period of time, wheels needs and the effect of another one road wheel, makes cleaning robot transfer on adjacent cell panel, at this moment existing wheels there will be the situation that cannot clamp cell panel, not steady when therefore making cleaning robot cross over.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of walking traverse device of many row's solar panel cleaning robots, and the walking traverse device solving present cleaning robot is precisely read not in leap process, and jiggly defect when crossing over.
Technical scheme
The walking traverse device of many rows solar panel cleaning robot, cleaning robot comprises the cleaning part that is arranged on solar panel surface and is arranged on the upper and lower running gear of solar panel and is arranged on the crossover device on running gear limit, it is characterized in that: described crossover device comprises left leap wheels unit and right leap wheels unit, be arranged on the left side and the right of running gear, motor is provided with in the middle of described left leap wheels unit and right leap wheels unit, motor is by coupler connecting T-shaped commutator, two output shafts of the horizontal direction of T-shaped commutator export respectively and turn to consistent rotating speed, left-handed and dextrorotation ball screw turns respectively with being dynamically connected, thus drive the slide attachment plate be arranged on left-handed and dextrorotation ball-screw to move back and forth, and left slider connecting panel is contrary with the sense of motion of right side slide attachment plate, the left leap wheels unit that realization and described left slider connecting panel and right side slide attachment plate are connected respectively and right leap wheels unit stretch simultaneously or bounce back.
Described crossover device comprises the left leap wheels unit of the upper crossover device being arranged on the running gear left side and the right and right leap wheels unit, with be arranged on the left leap wheels unit of lower crossover device on the lower running gear left side and the right and right leap wheels unit, the left leap wheels unit of described upper and lower crossover device is identical with mode of motion with the connection of right leap wheels unit.
Described left leap wheels unit is identical with the structure of right leap wheels unit, comprise wheel group structure support and be arranged on three wheels in wheel group structure support, three wheels comprise one and cross over walking guide wheel and the castor on two sides for being clamped battery board bracket two sides.
Described leap walking guide wheel is connected by expansion set inner ring and the swelling of expansion set outer ring with wheel shaft, and leap walking guide wheel and wheel shaft are arranged in roller front fork by circlip and flange bearing attaching parts, and crossing over walking guide wheel counter roller front fork can freely rotate; Described roller front fork is fixed on wheel group structure support by guide pillar connecting panel and flange linear bearing, guide pillar is through guide pillar connecting panel, one end and straight support seat affixed, the other end is through wheel group structure support, part cover in wheel group structure support has stage clip, realize the relative wheel group structure support of wheel shaft and there is mobile space, and keep certain elastic force; Castor guide pillar one end is fixed on wheel group structure support by nut, the other end is through wheel group structure support, castor stage clip and the straight support seat of suit are affixed, straight support seat and castor are fixed on connecting panel along castor guide pillar direction, realize the relative wheel group structure support of castor and there is mobile space, and keep certain elastic force.
The structure of the walking wheels unit of running gear is identical with leap wheels block construction.
Beneficial effect
The walking traverse device of many row's solar panel cleaning robots of the present invention by by motor be driven across coupler and T-shaped commutator exports, realize the leap wheels of stretching, extension simultaneously or the retraction left and right sides, the direction crossed over and distance are accurately controlled by stepping motor and ball-screw, and output is identical rotating speed, improve the accuracy of leap and be subject to force intensity, the composite structure of three wheels of each wheels unit also can ensure the friction force that wheels are walked and elasticity, thus ensure that the accurate, light, steady of leap and laminating.
Accompanying drawing explanation
Fig. 1 is working state schematic representation of the present invention.
Fig. 2 is the structural representation of crossover device of the present invention.
Fig. 3 is crossover device retracted state schematic diagram of the present invention.
Fig. 4 is that crossover device of the present invention trails view.
Fig. 5 is that the Standard of leap wheels unit of the present invention completes schematic diagram.
Fig. 6 is the structural blast schematic diagram of leap wheels unit of the present invention.
Wherein: 1-solar panel group unit, 2-walking wheels unit, 3-cleaning part, 4-running gear framework, 5-left leap wheels unit, 6-right leap wheels unit, 7-motor, 8-coupler, 9-T type commutator, 10-ball-screw, 11-slide attachment plate, 12-wheels end polish rod fixing seat, 13-polished rod, 14-linear bearing, 15-bearing seat, 16-leading screw end polish rod fixing seat, 17-guide rail, 18-wheel group structure support, 19-crosses over walking guide wheel, 20-castor, 21-wheel shaft, 22-expansion set inner ring, 23-expansion set outer ring, 24-circlip, 25-flange bearing attaching parts, 26-roller front fork, 27-guide pillar connecting panel, 28-flange linear bearing, 29-guide pillar, 30-straight support seat, 31-stage clip, 32-castor guide pillar, 33-nut, 34-castor stage clip, 35-supporting seat, 36-connecting panel.
Detailed description of the invention
Below in conjunction with specific embodiments and the drawings, set forth the present invention further.
The present invention is directed to the shortcoming on the crossover device of present photovoltaic solar cell board cleaning machine device people, a kind of walking traverse device of many row's solar panel cleaning robots is proposed, cleaning robot comprises the cleaning part that is arranged on solar panel surface and is arranged on the upper and lower running gear of solar panel and is arranged on the crossover device on running gear limit, described crossover device comprises left leap wheels unit and right leap wheels unit, be arranged on the left side and the right of running gear, be the service condition of cleaning robot on solar panel group unit as shown in Figure 1, cleaning robot needs to cross another block cell panel from one piece of cell panel.
Motor is provided with in the middle of described left leap wheels unit and right leap wheels unit, motor is by coupler connecting T-shaped commutator, two output shafts of the horizontal direction of T-shaped commutator export respectively and turn to consistent rotating speed, left-handed and dextrorotation ball screw turns respectively with being dynamically connected, thus drive the slide attachment plate be arranged on left-handed and dextrorotation ball-screw to move back and forth, and left slider connecting panel is contrary with the sense of motion of right side slide attachment plate, the left leap wheels unit that realization and described left slider connecting panel and right side slide attachment plate are connected respectively and right leap wheels unit stretch simultaneously or bounce back.Structure such as accompanying drawing 2 is illustrated, motor transfers the motion to T-shaped commutator by coupler, two output shafts of T-shaped commutator export respectively and turn to consistent rotating speed, drive left-handed and dextrorotation ball screw turns respectively, drive slide attachment plate moves back and forth, and it is contrary with sense of motion with right side slide attachment plate to realize left slider connecting panel, thus realize the leap wheels unit simultaneous retractable motion of arranged on left and right sides.
As illustrated in accompanying drawing 2, slide attachment plate is arranged on the guide rail of ball-screw, slide attachment plate is connected with polished rod by leading screw end polish rod fixing seat, the other end of polished rod connects crosses over wheels unit, be fixed on wheels end polish rod fixing seat, centre connects with linear bearing between leading screw and leap wheels unit.
Crossover device comprises the left leap wheels unit of the upper crossover device being arranged on the running gear left side and the right and right leap wheels unit, with be arranged on the left leap wheels unit of lower crossover device on the lower running gear left side and the right and right leap wheels unit, the left leap wheels unit of described upper and lower crossover device is identical with mode of motion with the connection of right leap wheels unit.
Left leap wheels unit is identical with the structure of right leap wheels unit, comprise wheel group structure support and be arranged on three wheels in wheel group structure support, three wheels comprise one and cross over walking guide wheel and the castor on two sides for being clamped cell panel two sides.
The structure of concrete leap wheels adopts: cross over walking guide wheel and be connected by expansion set inner ring and the swelling of expansion set outer ring with wheel shaft, leap walking guide wheel and wheel shaft are arranged in roller front fork by circlip and flange bearing attaching parts, and crossing over walking guide wheel counter roller front fork can freely rotate; Described roller front fork is fixed on wheel group structure support by guide pillar connecting panel and flange linear bearing, guide pillar is through guide pillar connecting panel, one end and straight support seat affixed, the other end is through wheel group structure support, part cover in wheel group structure support has stage clip, realize the relative wheel group structure support of wheel shaft and there is mobile space, and keep certain elastic force; Castor guide pillar one end is fixed on wheel group structure support by nut, the other end is through wheel group structure support, castor stage clip and the straight support seat of suit are affixed, straight support seat and castor are fixed on connecting panel along castor guide pillar direction, realize the relative wheel group structure support of castor and there is mobile space, and keep certain elastic force.
The structure of the walking wheels unit of running gear can adopt the structure identical with crossing over wheels unit.When cleaning part cleaning robot track move up and down clean time, stage clip ensures walking guide wheel and castor and cell panel surface contact all the time, can provide enough friction force, prevent the generation of skidding.Stage clip and other components form elastic system simultaneously, and run can play buffer action to mechanism, assurance mechanism operates steadily reliably.
After cleaning part has cleaned a solar panel group unit, the sensor of trigger rows walking apparatus end when running gear moves to the edge of a unit, control system Received signal strength also stops running gear moving, control crossover device to stretch simultaneously, leap wheels unit is extended on an adjacent solar panel group unit, restarts running gear, cleaning part is moved on this solar panel group unit, complete leap, and continue cleaning.
The walking traverse device of many row's solar panel cleaning robots of the present invention by by motor be driven across coupler and T-shaped commutator exports, realize the leap wheels of stretching, extension simultaneously or the retraction left and right sides, the direction crossed over and distance are accurately controlled by stepping motor and ball-screw, and output is identical rotating speed, improve the accuracy of leap and be subject to force intensity, the composite structure of three wheels of each wheels unit also can ensure the friction force that wheels are walked and elasticity, thus ensure that the accurate, light, steady of leap and laminating.
Claims (5)
1. the walking traverse device of many row's solar panel cleaning robots, cleaning robot comprises the cleaning part that is arranged on solar panel surface and is arranged on the upper and lower running gear of solar panel and is arranged on the crossover device on running gear limit, it is characterized in that: described crossover device comprises left leap wheels unit and right leap wheels unit, be arranged on the left side and the right of running gear, motor is provided with in the middle of described left leap wheels unit and right leap wheels unit, motor is by coupler connecting T-shaped commutator, two output shafts of the horizontal direction of T-shaped commutator export respectively and turn to consistent rotating speed, left-handed and dextrorotation ball screw turns respectively with being dynamically connected, thus drive the slide attachment plate be arranged on left-handed and dextrorotation ball-screw to move back and forth, and left slider connecting panel is contrary with the sense of motion of right side slide attachment plate, the left leap wheels unit that realization and described left slider connecting panel and right side slide attachment plate are connected respectively and right leap wheels unit stretch simultaneously or bounce back.
2. the walking traverse device of many row's solar panel cleaning robots as claimed in claim 1, it is characterized in that: described crossover device comprises the left leap wheels unit of the upper crossover device being arranged on the running gear left side and the right and right leap wheels unit, with be arranged on the left leap wheels unit of lower crossover device on the lower running gear left side and the right and right leap wheels unit, the left leap wheels unit of described upper and lower crossover device is identical with mode of motion with the connection of right leap wheels unit.
3. the walking traverse device of many row's solar panel cleaning robots as claimed in claim 1 or 2, it is characterized in that: described left leap wheels unit is identical with the structure of right leap wheels unit, comprise wheel group structure support and be arranged on three wheels in wheel group structure support, three wheels comprise one and cross over walking guide wheel and the castor on two sides for being clamped battery board bracket two sides.
4. the walking traverse device of many row's solar panel cleaning robots as claimed in claim 3, it is characterized in that: described leap walking guide wheel is connected by expansion set inner ring and the swelling of expansion set outer ring with wheel shaft, leap walking guide wheel and wheel shaft are arranged in roller front fork by circlip and flange bearing attaching parts, and crossing over walking guide wheel counter roller front fork can freely rotate; Described roller front fork is fixed on wheel group structure support by guide pillar connecting panel and flange linear bearing, guide pillar is through guide pillar connecting panel, one end and straight support seat affixed, the other end is through wheel group structure support, part cover in wheel group structure support has stage clip, realize the relative wheel group structure support of wheel shaft and there is mobile space, and keep certain elastic force; Castor guide pillar one end is fixed on wheel group structure support by nut, the other end is through wheel group structure support, castor stage clip and the supporting seat of suit are affixed, supporting seat and castor are fixed on connecting panel along castor guide pillar direction, realize the relative wheel group structure support of castor and there is mobile space, and keep certain elastic force.
5. the walking traverse device of many row's solar panel cleaning robots as claimed in claim 4, is characterized in that: the structure of the walking wheels unit of running gear is identical with described leap wheels block construction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510268434.4A CN104828169B (en) | 2015-05-22 | 2015-05-22 | Walking-spanning device of multiple-row solar cell panel cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510268434.4A CN104828169B (en) | 2015-05-22 | 2015-05-22 | Walking-spanning device of multiple-row solar cell panel cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104828169A true CN104828169A (en) | 2015-08-12 |
| CN104828169B CN104828169B (en) | 2017-02-01 |
Family
ID=53806464
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510268434.4A Expired - Fee Related CN104828169B (en) | 2015-05-22 | 2015-05-22 | Walking-spanning device of multiple-row solar cell panel cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104828169B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598115A (en) * | 2016-03-22 | 2016-05-25 | 宁夏瑞翼天成自动化科技有限公司 | Walking structure of cleaning device for photovoltaic power generation plate |
| CN108858130A (en) * | 2018-08-14 | 2018-11-23 | 上海安轩自动化科技有限公司 | A kind of spring guide wheel device and photovoltaic module O&M robot |
| CN108945137A (en) * | 2018-08-14 | 2018-12-07 | 上海安轩自动化科技有限公司 | A kind of obstacle crossing device suitable for photovoltaic array sweeping robot |
| CN109909251A (en) * | 2019-04-24 | 2019-06-21 | 河北工业大学 | A kind of deviation correcting device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2048455A2 (en) * | 2007-10-09 | 2009-04-15 | Brown Group Spain, S.A. | Automatic solar panel cleaning system |
| CN102974557A (en) * | 2012-11-14 | 2013-03-20 | 上海工程技术大学 | Photovoltaic battery panel pack cleaning device based on monorail travel unit |
| CN103878130A (en) * | 2014-02-26 | 2014-06-25 | 镇江润德节能科技有限公司 | Device and method for cleaning multiple rows of photovoltaic cell panel groups |
| CN103934225A (en) * | 2014-04-28 | 2014-07-23 | 江阴万事兴技术有限公司 | Jet type solar panel cleaning device |
| CN203737689U (en) * | 2014-01-09 | 2014-07-30 | 镇江润德节能科技有限公司 | Walking mechanism of photovoltaic cell panel cleaning device |
| CN104470647A (en) * | 2012-06-25 | 2015-03-25 | 艾科派尔科技有限公司 | Solar panel cleaning system and method |
-
2015
- 2015-05-22 CN CN201510268434.4A patent/CN104828169B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2048455A2 (en) * | 2007-10-09 | 2009-04-15 | Brown Group Spain, S.A. | Automatic solar panel cleaning system |
| CN104470647A (en) * | 2012-06-25 | 2015-03-25 | 艾科派尔科技有限公司 | Solar panel cleaning system and method |
| CN102974557A (en) * | 2012-11-14 | 2013-03-20 | 上海工程技术大学 | Photovoltaic battery panel pack cleaning device based on monorail travel unit |
| CN203737689U (en) * | 2014-01-09 | 2014-07-30 | 镇江润德节能科技有限公司 | Walking mechanism of photovoltaic cell panel cleaning device |
| CN103878130A (en) * | 2014-02-26 | 2014-06-25 | 镇江润德节能科技有限公司 | Device and method for cleaning multiple rows of photovoltaic cell panel groups |
| CN103934225A (en) * | 2014-04-28 | 2014-07-23 | 江阴万事兴技术有限公司 | Jet type solar panel cleaning device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598115A (en) * | 2016-03-22 | 2016-05-25 | 宁夏瑞翼天成自动化科技有限公司 | Walking structure of cleaning device for photovoltaic power generation plate |
| CN108858130A (en) * | 2018-08-14 | 2018-11-23 | 上海安轩自动化科技有限公司 | A kind of spring guide wheel device and photovoltaic module O&M robot |
| CN108945137A (en) * | 2018-08-14 | 2018-12-07 | 上海安轩自动化科技有限公司 | A kind of obstacle crossing device suitable for photovoltaic array sweeping robot |
| CN109909251A (en) * | 2019-04-24 | 2019-06-21 | 河北工业大学 | A kind of deviation correcting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104828169B (en) | 2017-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203900061U (en) | Adjusting device used for photovoltaic panel cleaning | |
| CN204517742U (en) | The regular dust cleaning apparatus of a kind of guide tracked solar panel array | |
| CN102974557B (en) | Photovoltaic battery panel pack cleaning device based on monorail travel unit | |
| CN108405383B (en) | Solar cell panel has rail cleaning device | |
| WO2018010508A1 (en) | Cleaning device and photovoltaic array | |
| CN203140336U (en) | Solar assembly surface cleaning device | |
| CN104828169A (en) | Walking-spanning device of multiple-row solar cell panel cleaning robot | |
| CN105080923A (en) | Cleaning adjusting device for photovoltaic panels | |
| CN106040625A (en) | Solar photovoltaic panel cleaning equipment with cleaning brushes capable of being adjusted in self-adaptation mode | |
| CN104889970A (en) | Walking device of photovoltaic solar panel cleaning robot | |
| CN208479563U (en) | A kind of solar photovoltaic bracket with cleaning function | |
| CN208787009U (en) | Photovoltaic panel wind energy dust-extraction unit | |
| CN106424056A (en) | Cleaning equipment and photovoltaic module cleaning system | |
| CN207076748U (en) | A kind of portable photovoltaic panel sweeping robot system | |
| CN102601068A (en) | Waterless cleaner for photovoltaic cell panel | |
| CN203522625U (en) | Automatic snow removing device used by being matched with solar bracket | |
| CN112039420B (en) | Hydraulic drive and photovoltaic cleaning device with dust removal function | |
| CN203091316U (en) | Automatic cleaning device used for curved mirror | |
| CN105964584A (en) | Multifunctional solar cell panel cleaning system | |
| CN205966574U (en) | Automatic dust -collecting equipment of solar cell panel | |
| CN108262277A (en) | A kind of high-efficiency cleaning device of large-area planar | |
| CN105964585A (en) | Multifunctional cleaning system for solar panels | |
| CN201728195U (en) | Automatic dust removing device of solar panel | |
| CN111330930B (en) | Automatic cleaning device for solar panel | |
| CN106311702A (en) | Automatic line changing device for photovoltaic panel cleaning machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170201 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |