CN104828169B - 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 PDF

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Publication number
CN104828169B
CN104828169B CN201510268434.4A CN201510268434A CN104828169B CN 104828169 B CN104828169 B CN 104828169B CN 201510268434 A CN201510268434 A CN 201510268434A CN 104828169 B CN104828169 B CN 104828169B
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China
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wheel
unit
leap
walking
support
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CN201510268434.4A
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CN104828169A (en
Inventor
杭鲁滨
陆九如
王玉昭
黄晓波
李畅
卞怀强
丁红汉
沈铖玮
秦伟
王君
皇甫亚波
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Shanghai University of Engineering Science
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Shanghai University of Engineering Science
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Publication of CN104828169A publication Critical patent/CN104828169A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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

The walking traverse device of multiple rows of solar panel cleaning robot
Technical field
The present invention relates to photovoltaic solar cell board cleaning machine device people, more particularly, to a kind of multiple rows of solar panel cleaning The walking traverse device of robot.
Background technology
Solar energy is increasingly subject to the concern of people as a kind of novel renewable energy, and photovoltaic generation is current solar energy profit Major way.Photovoltaic battery panel is as the critical piece of photovoltaic generation, because it is chronically exposed under natural environment, its table Dust and debris are easily piled up in face, have a strong impact on generating efficiency and the service life of cell panel, therefore, for large-sized photovoltaic electricity Stand, the regular cleaning of photovoltaic module is very necessary.
In the patent based on the photovoltaic battery panel cleaning device of single track running part for the Patent No. 201210457688.7, The walking traverse mechanism of existing photovoltaic battery panel cleaning device is that road wheel direction of travel side is provided with leap wheel, crosses over wheel By the leap Motor drive being arranged on top board or base plate, cross over and take turns by the coupling assembly including crossing over wheel pole and leap electricity Machine connects, and so that leap wheel had been rotated but also scale for axle center rotation or scaling or not only to cross over motor, crosses over and take turns pole thus backward Pack up or release forward and cross over wheel.When cleaning robot crosses another piece of cell panel from one piece of solar panel, be by Controller controls leap wheel to overturn under the traction crossing over motor and extend to the upper surface of next block solar panel, makees For cross over fulcrum use, by two pieces of cell panels between gap reach next block cell panel, realize cleaning robot at two pieces too Leap between sun energy cell panel.
But, rely on the effect crossing over wheel pole and leap motor to carry out flexible leap wheel when crossing over, one is to exist The problem of flexible accuracy and precision, two is during crossing over, and two road wheels have a sky within a period of time Put, crossing over wheel needs and the effect of another one road wheel, so that cleaning robot is transferred on adjacent cell panel, at this moment existing Cross over wheel and the situation that cannot clamp cell panel occurs, therefore make cleaning robot unstable when crossing over.
Content of the invention
The technical problem to be solved be provide a kind of walking of multiple rows of solar panel cleaning robot across More device, solve the walking traverse device of present cleaning robot during crossing over precision not, and when crossing over not Smoothly defect.
Technical scheme
The walking traverse device of multiple rows of solar panel cleaning robot, cleaning robot includes being arranged on solar-electricity The cleaning part and be arranged on the upper and lower running gear of solar panel and the leap being arranged on running gear side of pond plate surface Device it is characterised in that: described crossover device includes left leap wheel group unit and right leap wheel group unit, is arranged on running gear The left side and the right, described left leap wheel group unit and right leap wheel group unit middle setting have motor, motor pass through shaft coupling Device connects t type diverter, and two output shafts of the horizontal direction of t type diverter export respectively and turn to consistent rotating speed, carry respectively The left-handed and dextrorotation ball screw turns being dynamically connected, thus drive the slide attachment plate being arranged on left-handed and dextrorotation ball-screw Move back and forth, and left slider connecting plate is contrary with the direction of motion of right side slide attachment plate, realize with described left slider even The left leap wheel group unit that fishplate bar is connected respectively with right side slide attachment plate and right leap wheel group unit stretch simultaneously or bounce back.
Described crossover device includes the left leap wheel group list being arranged on the upper crossover device on the running gear left side and the right First and right leap wheel group unit, and be arranged on the lower running gear left side and the right the left leap wheel group unit of lower crossover device and Right leap wheel group unit, the right leap wheel group unit of the left leap wheel group unit of described upper crossover device and upper crossover device and under The left leap wheel group unit of crossover device is identical with motion mode with the connection of the right leap wheel group unit of lower crossover device.
Described left leap wheel group unit identical with the structure of right leap wheel group unit, include wheel group structure support with set Put three face wheel groups in wheel group structure support, three face wheel groups include one and cross over walking guide wheel and be used for cell panel two sides The castor on the two sides of clamping.
Described walking guide wheel of crossing over is connected by expansion set inner ring and the swelling of expansion set outer ring with wheel shaft, crosses over walking guide wheel and wheel Axle is arranged in roller front fork by circlip and flange bearing connector, and crossing over walking guide wheel counter roller front fork can be freely Rotate;Described roller front fork is fixed on wheel group structure support by guide pillar connecting plate and flange linear bearing, and guide pillar passes through and leads Post connecting plate, one end is affixed with straight support seat, and the other end passes through wheel group structure support, the part set in wheel group structure support There is stage clip, realize wheel shaft and there is mobile space relative to wheel group structure support, and keep certain elastic force;Castor guide pillar one end is passed through Nut is fixed on wheel group structure support, and the other end passes through wheel group structure support, and the castor stage clip of suit is solid with straight support seat Connect, straight support seat and castor are fixed on connecting plate along castor guide pillar direction, realize castor and exist relative to wheel group structure support Mobile space, and keep certain elastic force.
The structure of road wheel group unit of running gear is identical with crossing over wheel group cellular construction.
Beneficial effect
The walking traverse device of multiple rows of solar panel cleaning robot of the present invention passes through being driven across motor Shaft coupling and the output of t type diverter, realize stretching simultaneously or the retraction left and right sides leap wheel group, the direction of leap and distance by Motor and ball-screw precise control, and export be identical rotating speed, improve leap accuracy and be subject to force intensity, The composite structure of three face wheel groups of each wheel group unit also can guarantee that frictional force and the elasticity of wheel group walking, thus ensure that leap Accurate, light, steady and laminating.
Brief description
Fig. 1 is the working state schematic representation of the present invention.
Fig. 2 is the structural representation of the crossover device of the present invention.
Fig. 3 is the crossover device retracted state schematic diagram of the present invention.
Fig. 4 is that the crossover device of the present invention trails view.
Fig. 5 is that the Standard of the leap wheel group unit of the present invention completes schematic diagram.
Fig. 6 is the structural blast schematic diagram of the leap wheel group unit of the present invention.
Wherein: 1- solar panel group unit, 2- road wheel group unit, 3- cleans part, 4- running gear framework, 5- Left leap wheel group unit, 6- is right to cross over wheel group unit, 7- motor, 8- shaft coupling, 9-t type diverter, 10- ball-screw, and 11- is slided Block connecting plate, 12- wheel group end polish rod fixing seat, 13- polished rod, 14- linear bearing, 15- bearing block, 16- leading screw end polished rod is fixed 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, and 23- is swollen Set outer ring, 24- circlip, 25- flange bearing connector, 26- roller front fork, 27- guide pillar connecting plate, the linear axle of 28- flange Hold, 29- guide pillar, 30- straight support seat, 31- stage clip, 32- castor guide pillar, 33- nut, 34- castor stage clip, 35- support base, 36- connecting plate.
Specific embodiment
With reference to specific embodiments and the drawings, the present invention is expanded on further.
The present invention is directed to the shortcoming on the present crossover device of photovoltaic solar cell board cleaning machine device people, proposes a kind of The walking traverse device of multiple rows of solar panel cleaning robot, cleaning robot includes being arranged on solaode plate surface Cleaning part and be arranged on the upper and lower running gear of solar panel and the crossover device being arranged on running gear side, described Crossover device includes left leap wheel group unit and right leap wheel group unit, is arranged on the left side and the right of running gear, such as accompanying drawing 1 Show working condition on solar panel group unit for the cleaning robot, cleaning robot need from one piece of cell panel across More arrive another piece of cell panel.
There is motor in described left leap wheel group unit and right leap wheel group unit middle setting, motor is connected by shaft coupling T type diverter, two output shafts of the horizontal direction of t type diverter export respectively and turn to consistent rotating speed, and band is dynamically connected respectively Left-handed and dextrorotation ball screw turns, thus driving the slide attachment plate being arranged on left-handed and dextrorotation ball-screw back and forth to move Dynamic, and left slider connecting plate is contrary with the direction of motion of right side slide attachment plate, realize and described left slider connecting plate and The left leap wheel group unit that right side slide attachment plate connects respectively and right leap wheel group unit stretch simultaneously or bounce back.Structure is for example attached Fig. 2 illustrates, and motor transfers the motion to t type diverter by shaft coupling, and two output shafts of t type diverter export steering respectively Consistent rotating speed, drives left-handed and dextrorotation ball screw turns respectively, drives slide attachment plate to move back and forth, and it is sliding to realize left side Block connecting plate is contrary with right side slide attachment plate and the direction of motion, thus the leap wheel group unit realizing arranged on left and right sides is stretched simultaneously Contracting motion.
As illustrated in accompanying drawing 2, slide attachment plate is arranged on the guide rail of ball-screw, passes through leading screw on slide attachment plate End polish rod fixing seat is connected with polished rod, and the other end of polished rod connects crosses over wheel group unit, is fixed on the polish rod fixing seat of wheel group end, Centre in leading screw and is crossed between wheel group unit with linear bearing connection.
Crossover device include being arranged on the upper crossover device on the running gear left side and the right left leap wheel group unit and Right leap wheel group unit, and be arranged on the lower running gear left side and the right the left leap wheel group unit of lower crossover device and right across More wheel group unit, the left leap wheel group unit of described upper crossover device and the right leap wheel group unit of upper crossover device and lower leap The left leap wheel group unit of device is identical with motion mode with the connection of the right leap wheel group unit of lower crossover device.
Left leap wheel group unit identical with the structure of right leap wheel group unit, include wheel group structure support be arranged on Three face wheel groups in wheel group structure support, three face wheel groups include one and cross over walking guide wheel and for clamping cell panel two sides Two sides castor.
The specific structure crossing over wheel group adopts: crosses over walking guide wheel and passes through expansion set inner ring and the swelling of expansion set outer ring with wheel shaft Connect, cross over walking guide wheel and be arranged in roller front fork by circlip and flange bearing connector with wheel shaft, cross over walking Guide wheel counter roller front fork can be freely rotatable;Described roller front fork is fixed on wheel group by guide pillar connecting plate and flange linear bearing On structure stand, guide pillar passes through guide pillar connecting plate, and one end is affixed with straight support seat, and the other end passes through wheel group structure support, Part in wheel group structure support is cased with stage clip, realizes wheel shaft and there is mobile space relative to wheel group structure support, and keeps certain Elastic force;Castor guide pillar one end is fixed on wheel group structure support by nut, and the other end passes through wheel group structure support, suit Castor stage clip is affixed with straight support seat, and straight support seat and castor are fixed on connecting plate along castor guide pillar direction, realize foot There is mobile space in wheel wheel group structure support relatively, and keep certain elastic force.
The structure of the road wheel group unit of running gear can adopt and cross over wheel group unit identical structure.Work as cleaning part Part cleaning robot track move up and down be carried out when, stage clip be always ensured that walking guide wheel and castor connect with battery plate surface Touch the frictional force it is provided that enough, prevent the generation of skidding.Stage clip and other components form elastic system simultaneously, right Reliability that mechanism's operation can play cushioning effect it is ensured that mechanism operates steadily.
After cleaning an element purge complete solar panel group unit, the edge of running gear movement a to unit When triggering running gear end sensor, control system receipt signal simultaneously stops running gear and moves, control simultaneously and cross over dress Put stretching, extension, extend to crossing over wheel group unit on an adjacent solar panel group unit, restart running gear, will be clear Wash part movement to this solar panel group unit, complete to cross over, and continue to clean.
The walking traverse device of multiple rows of solar panel cleaning robot of the present invention passes through being driven across motor Shaft coupling and the output of t type diverter, realize stretching simultaneously or the retraction left and right sides leap wheel group, the direction of leap and distance by Motor and ball-screw precise control, and export be identical rotating speed, improve leap accuracy and be subject to force intensity, The composite structure of three face wheel groups of each wheel group unit also can guarantee that frictional force and the elasticity of wheel group walking, thus ensure that leap Accurate, light, steady and laminating.

Claims (5)

1. the walking traverse device of multiple rows of solar panel cleaning robot, cleaning robot includes being arranged on solaode Plate surface cleaning part and be arranged on the upper and lower running gear of solar panel and be arranged on running gear side leap dress Put it is characterised in that: described crossover device includes left leap wheel group unit and right leap wheel group unit, is arranged on running gear , there is motor on the left side and the right in described left leap wheel group unit and right leap wheel group unit middle setting, and motor passes through shaft coupling Connect t type diverter, two output shafts of the horizontal direction of t type diverter export respectively and turn to consistent rotating speed, drive respectively The left-handed and dextrorotation ball screw turns connecting, thus drive the slide attachment plate being arranged on left-handed and dextrorotation ball-screw past Multiple movement, and left slider connecting plate is contrary with the direction of motion of right side slide attachment plate, realizes being connected with described left slider The left leap wheel group unit that plate is connected respectively with right side slide attachment plate and right leap wheel group unit stretch simultaneously or bounce back.
2. as claimed in claim 1 multiple rows of solar panel cleaning robot walking traverse device it is characterised in that: institute State crossover device and include being arranged on the left leap wheel group unit of the upper crossover device on the running gear left side and the right and right leap Wheel group unit, and it is arranged on the left leap wheel group unit of the lower crossover device on the lower running gear left side and the right and right leap wheel group Unit, the left leap wheel group unit of described upper crossover device and the right leap wheel group unit of upper crossover device and lower crossover device Left leap wheel group unit is identical with motion mode with the connection of the right leap wheel group unit of lower crossover device.
3. the walking traverse device of multiple rows of solar panel cleaning robot as claimed in claim 1 or 2, its feature exists In: described left leap wheel group unit identical with the structure of right leap wheel group unit, include wheel group structure support be arranged on Three face wheel groups in wheel group structure support, three face wheel groups include one and cross over walking guide wheel and for clamping cell panel two sides Two sides castor.
4. as claimed in claim 3 multiple rows of solar panel cleaning robot walking traverse device it is characterised in that: institute State leap walking guide wheel to be connected by expansion set inner ring and the swelling of expansion set outer ring with wheel shaft, cross over walking guide wheel and pass through elasticity with wheel shaft Back-up ring and flange bearing connector are arranged in roller front fork, and crossing over walking guide wheel counter roller front fork can be freely rotatable;Described Roller front fork is fixed on wheel group structure support by guide pillar connecting plate and flange linear bearing, and guide pillar passes through guide pillar connecting plate, One end is affixed with straight support seat, and the other end passes through wheel group structure support, and the part in wheel group structure support is cased with stage clip, real There is mobile space relative to wheel group structure support in existing wheel shaft, and keep certain elastic force;Castor guide pillar one end is fixed by nut On wheel group structure support, the other end passes through wheel group structure support, and the castor stage clip of suit is affixed with support base, support base and foot Wheel is fixed on connecting plate along castor guide pillar direction, realizes castor and there is mobile space relative to wheel group structure support, and keeps one Determine elastic force.
5. as claimed in claim 4 multiple rows of solar panel cleaning robot walking traverse device it is characterised in that: OK The structure of road wheel group unit of walking apparatus is identical with described leap wheel group cellular construction.
CN201510268434.4A 2015-05-22 2015-05-22 Walking-spanning device of multiple-row solar cell panel cleaning robot Active CN104828169B (en)

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

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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

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CN104828169B true CN104828169B (en) 2017-02-01

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105598115B (en) * 2016-03-22 2019-01-15 宁夏瑞翼天成自动化科技有限公司 A kind of walking structure of the cleaning device for photovoltaic power generation plate

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* Cited by examiner, † Cited by third party
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ES2322745B1 (en) * 2007-10-09 2010-04-08 Brown Group Spain S.A. AUTOMATIC SOLAR PANEL CLEANING SYSTEM.
BR112014032277A2 (en) * 2012-06-25 2020-05-12 Ecoppia Scientific Ltd. METHOD AND SYSTEM FOR CLEANING SOLAR PINEL
CN102974557B (en) * 2012-11-14 2014-10-08 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
CN103878130B (en) * 2014-02-26 2017-03-08 镇江润德节能科技有限公司 Multiple rows of photovoltaic battery panel group cleaning device and cleaning method
CN103934225B (en) * 2014-04-28 2015-09-09 江阴万事兴技术有限公司 Jet-propelled solar panel clearing apparatus

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