CN104889970A - Walking device of photovoltaic solar panel cleaning robot - Google Patents
Walking device of photovoltaic solar panel cleaning robot Download PDFInfo
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- CN104889970A CN104889970A CN201510266207.8A CN201510266207A CN104889970A CN 104889970 A CN104889970 A CN 104889970A CN 201510266207 A CN201510266207 A CN 201510266207A CN 104889970 A CN104889970 A CN 104889970A
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- running gear
- solar panel
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- engaging element
- walking
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Abstract
The invention relates to a walking device of a photovoltaic solar panel cleaning robot and belongs to the field of solar panel cleaning. According to the walking device of the photovoltaic solar panel cleaning robot, a solar panel is arranged obliquely, the cleaning robot comprises a cleaning component arranged on the surface of the solar panel, and the walking device bodies arranged on the upper portion and the lower portion of the solar panel, the walking device of the photovoltaic solar panel cleaning robot is characterized in that the walking device comprises the upper walking device body arranged on the upper portion of the solar panel and the lower walking device body arranged on the lower portion of the solar panel, one of the upper walking device body and the lower walking device body is a driving walking device, the other is a driven walking device, the driven walking device is connected with the driving walking device through a synchronizing device, and the driven walking device is driven to walk synchronously with the driving walking device-. The synchronization linkage of the upper waking device body and the lower walking device body of the cleaning robot is achieved through connection of the synchronizing device, the accuracy of moving of the cleaning robot is improved, energy is saved, and cost is lowered.
Description
Technical field
The present invention relates to photovoltaic solar cell board cleaning machine device people, particularly relate to the running gear of a kind of photovoltaic solar cell board cleaning machine device people.
Background technology
Solar energy 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 critical piece 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 cleaning device based on single track running part of 201210457688.7 in the patent No., the walking mechanism of existing photovoltaic battery panel cleaning device comprises resilient suspension and is fixed on the top board of mainframe and photovoltaic battery panel upper surface or the road wheel between base plate and photovoltaic battery panel lower surface, road wheel comprises driving wheel and follower, road wheel is driven by reducing gear by movable motor, two walking pinch wheels are provided with in the both sides of road wheel, walking pinch wheels is fixed on the center-wheel arbor of road wheel by connecting rod, two walking pinch wheels one are positioned at the front of photovoltaic battery panel, another is positioned at photovoltaic cell back, clamping photovoltaic battery panel, stabilized walking is taken turns, the cleaning device installed between photovoltaic battery panel up-downgoing travelling wheel is connected to ground walking dolly, walking mechanism drives at operated by personnel's walking dolly or follows when cleaning device moves and walks at photovoltaic battery panel up and down for driving cleaning device to move, because terrain differences and separating of up-downgoing travelling wheel drive, this walking mechanism moves rear easy generation deviation, especially in leap, cannot closely walk on solar panel, be difficult to the workbench that cleaning device provides stable, cleaning device is caused to move and damaging in cleaning cell panel process cell panel, not only affect cleaning performance, also may bring damage to solar panel, and the high expensive of running gear.
Summary of the invention
Technical problem to be solved by this invention is to provide the running gear of a kind of photovoltaic solar cell board cleaning machine device people, solve present cleaning robot in moving process easily because landform and separately driving, easily position deviation is there is after movement, not only affect cleaning performance, also may bring the defect of damage to solar panel.
Technical scheme
The running gear of a kind of photovoltaic solar cell board cleaning machine device people, described solar panel is for being obliquely installed, 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, it is characterized in that: described running gear comprises the upper running gear be arranged on above solar panel and the lower running gear be arranged on below solar panel, described upper running gear and lower running gear one of them be initiatively running gear, another is passive walking device, passive walking device is connected with active running gear by sychronisation, be driven and active running gear synchronous walking.
Further, described sychronisation comprises " L " shape commutator be connected with the positive transport wheel rotating shaft of described active running gear, the other end of described " L " shape commutator connects the connector being parallel to solar panel surface, and described connector connects the axle center of the road wheel of passive walking device again by one or more " L " shape commutator.
Further, described upper running gear and lower running gear include former and later two or multiple ground-engaging element, two or more ground-engaging element includes road wheel separately, and described former and later two or multiple ground-engaging element are by the belt wheel be coaxially connected with road wheel and the Timing Belt synchronous walking be wrapped on the belt wheel of front and back.
Further, two or more ground-engaging elements of described upper running gear and lower running gear are corresponding up and down, adopt " L " shape commutator to be synchronously connected with connector between the ground-engaging element that upper running gear is corresponding with lower running gear.
Further, described upper running gear and lower running gear wherein initiatively former and later two or multiple ground-engaging element of running gear are also divided into initiatively ground-engaging element and passive walking parts, connecting plate is provided with between described active ground-engaging element and passive walking parts, connecting plate is provided with stepper motor, and stepper motor directly drives positive transport wheel to walk or drives positive transport wheel to walk by " L " shape commutator, the belt wheel be connected with " L " shape commutator, the belt wheel be coaxially connected with positive transport wheel and the rotating band be wrapped on two belt wheels.
Further, the ground-engaging element of described upper running gear and lower running gear comprises the end face or bottom surface, the surface of solar panel and three walking mechanisms at the back side that are arranged on solar panel, one of them is walking mechanism, wheel is road wheel, two other is auxiliary propelling machine, and wheel is secondary row travelling wheel.
Described ground-engaging element comprises walking mechanism support, and walking mechanism and two auxiliary propelling machines are all fixedly mounted on walking mechanism support by adjustable bolt.
Described each auxiliary propelling machine comprises two secondary row travelling wheels.
Described upper running gear is active running gear, and what its ground-engaging element was arranged on solar cell plate top surface is walking mechanism, and what be arranged on solar panel surface is upper auxiliary propelling machine, and what be arranged on Solar panel backside is lower auxiliary propelling machine; Described lower running gear is passive walking device, and what its ground-engaging element was arranged on solar panel surface is walking mechanism, and what be arranged on solar panel bottom surface is upper auxiliary propelling machine, and what be arranged on Solar panel backside is lower auxiliary propelling machine.
Further, described connector is the lead screw guide rails up and down of cleaning part.
Beneficial effect
The running gear of photovoltaic solar cell board cleaning machine device people of the present invention can realize the upper running gear of cleaning robot and the synchronous interaction of lower running gear by the connection of sychronisation, and a driving can be shared, by driving the stepper motor of initiatively running gear can ensure that whole running gear carries cleaning robot synchronous interaction, move to next operating position exactly.Running gear of the present invention can not only improve the accuracy of the movement of cleaning robot on solar panel greatly, and economize energy, reduce costs, and arranged by the ground-engaging element of walking mechanism and two auxiliary propelling machines, running gear can be made to be in stable holding cell panel state, highly stable workbench can be provided to cleaning robot.
Accompanying drawing explanation
Fig. 1 is working state schematic representation of the present invention.
Fig. 2 is the synchronization principles schematic diagram of upper running gear of the present invention and lower running gear.
Fig. 3 is the synchronization structure schematic diagram of the front and back ground-engaging element of upper running gear of the present invention.
Fig. 4 is the structural representation of the ground-engaging element of upper running gear of the present invention.
Fig. 5 is the structural representation of the ground-engaging element of lower running gear of the present invention.
Wherein: 1-solar panel, 2-battery board bracket, 3-water supply dolly, 4-cleaning part, the upper running gear of 5-, running gear under 6-, 7-solar panel surface, 8-Solar panel backside, the walking mechanism of the upper running gear of 9-, the upper auxiliary propelling machine of the upper running gear of 10-, the lower auxiliary propelling machine of the upper running gear of 11-, the walking mechanism of running gear under 12-, the upper auxiliary propelling machine of running gear under 13-, the lower auxiliary propelling machine of running gear under 14-, the walking mechanism support of the upper running gear of 15-, the walking mechanism support of running gear under 16-, 17-walks up and down " L " shape commutator of sychronisation of device, 18-lead screw guide rails, the front ground-engaging element of the upper running gear of 19-, the rear ground-engaging element of the upper running gear of 20-, 21-connecting plate, 22-stepper motor, 23-positive transport wheel, 24-Timing Belt, 25-rotating band, 26-belt wheel, 27-connects " L " shape commutator of stepper motor output shaft, 28-adjustable bolt.
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 running gear of present photovoltaic solar cell board cleaning machine device people, propose the running gear of a kind of photovoltaic solar cell board cleaning machine device people.Solar panel is generally and is obliquely installed, 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, described running gear comprises the upper running gear be arranged on above solar panel and the lower running gear be arranged on below solar panel, described upper running gear and lower running gear one of them be initiatively running gear, another is passive walking device, passive walking device is connected with active running gear by sychronisation, is driven and active running gear synchronous walking.
Attachedly Figure 1 shows that solar photovoltaic cell panel cleaning robot working state schematic representation of the present invention, mainly comprise solar panel 1, battery board bracket 2, water supply dolly 3 and water system, cleaning part 4 and upper running gear 5 and lower running gear 6 forms.Wherein, cleaning part 4 have employed the synchronous cleaning technology with self-cleaning function, and cleaning part 4 is arranged between the lead screw guide rails 18 of two upward and downwards in left and right; Battery board bracket 2 adopts can the multiple bay at step-less adjustment inclination angle; Sewage after water system can collect cleaning in time also filters, and clean water can be used by iterative cycles.Upper running gear 5, lower running gear 6 and making of adopting lead screw guide rails 18 the to form synchronous sychronisation of device that walks up and down constitutes the running gear of cleaning robot of the present invention, and what realize solar photovoltaic cell panel with can guaranteeing cleaning robot steady ordered is clean.
Described sychronisation comprises " L " shape commutator 17 be connected with positive transport wheel 23 rotating shaft of upper running gear 5, the other end of described " L " shape commutator connects lead screw guide rails 18, lead screw guide rails 18 as the connector being parallel to solar panel surface, then connects the axle center of the road wheel of running gear 6 down after connecting one or more " L " shape commutator.Concrete principle schematic such as accompanying drawing 2 is illustrated.In figure, from upper running gear 5 to lower running gear 6 by the L shape commutator that is connected with positive transport wheel 23, lead screw guide rails 18, be connected to the L shape commutator of lower running gear 6 and be connected to the L shape commutator of road wheel of lower running gear 6, the driving force driving positive transport wheel 23 is transmitted in final interlock, makes running gear and lower running gear form linkage.Described L shape commutator is commutated to realization by bevel gear.
Described upper running gear 5 and lower running gear 6 and include former and later two or multiple ground-engaging element, two or more ground-engaging element includes road wheel separately, described former and later two or multiple ground-engaging element are by the belt wheel be coaxially connected with road wheel and the Timing Belt synchronous walking be wrapped on the belt wheel of front and back, and two or more ground-engaging elements of upper running gear 5 and lower running gear 6 are corresponding up and down, be all synchronously connected between the ground-engaging element that upper running gear 5 is corresponding with lower running gear 6.
The structure of former and later two or multiple ground-engaging element of upper running gear 5 and lower running gear 6 is similar, what illustrate as accompanying drawing 3 is the synchronization structure of former and later two ground-engaging elements of upper running gear 5, in Fig. 3, connecting plate 21 is provided with between front ground-engaging element and rear ground-engaging element, connecting plate 21 is provided with stepper motor 22, stepper motor 22 directly can drive positive transport wheel 23 to walk or pass through " L " shape commutator as what illustrate in figure, the belt wheel be connected with " L " shape commutator, drive positive transport wheel 23 to rotate with the coaxial belt wheel that is connected of positive transport wheel 23 and the rotating band 25 be wrapped on two belt wheels to walk, then by driving the walking mechanism of rear ground-engaging element to rotate with positive transport wheel 23 and the road wheel below belt wheel 26 be coaxially connected and the Timing Belt 24 be wrapped on front and back belt wheel 26, thus realize the synchronous walking of former and later two ground-engaging elements of upper running gear 5.
The ground-engaging element of described upper running gear 5 and lower running gear 6 comprises the end face or bottom surface, the surface of solar panel and three walking mechanisms at the back side that are arranged on solar panel, one of them is walking mechanism, wheel is road wheel, two other is auxiliary propelling machine, and wheel is secondary row travelling wheel.Attached Figure 4 and 5 are shown in the monomer structure signal of the ground-engaging element of concrete upper running gear 5 and lower running gear 6.Each ground-engaging element comprises walking mechanism and upper and lower auxiliary propelling machine, by screwing adjustable bolt 28 its road wheel adjustable or secondary row travelling wheel relative to the distance between walking mechanism support, thus regulate road wheel or secondary row travelling wheel relative to the distance between cell panel, realize the stable clamping of running gear to cell panel.
In the present invention, the difference of ground-engaging element of device of walking up and down is that the walking mechanism of the ground-engaging element of lower running gear 6, upper auxiliary propelling machine are different relative to the position of cell panel with walking mechanism support with lower auxiliary propelling machine, the walking mechanism of upper running gear 5 is at the middle part of running gear, and the walking mechanism of lower running gear 6 is at the upper side of running gear.Upper running gear 5 is active running gear, and what its ground-engaging element was arranged on solar cell plate top surface is walking mechanism, and what be arranged on solar panel surface is upper auxiliary propelling machine, and what be arranged on Solar panel backside is lower auxiliary propelling machine; Described lower running gear 6 is passive walking device, and what its ground-engaging element was arranged on solar panel surface is walking mechanism, and what be arranged on solar panel bottom surface is upper auxiliary propelling machine, and what be arranged on Solar panel backside is lower auxiliary propelling machine.
Running gear of the present invention has two duties, i.e. stable holding cell panel state and drive the cleaning robot mobile status that is positioned on running gear.Cleaning robot is when cleaning cell panel, and running gear is in stable holding cell panel state, can provide stable workbench to cleaning robot.When cleaning terminates, can ensure that running gear carries cleaning robot and moves to next operating position exactly by driving the stepper motor 22 being positioned at upper running gear 5, carry out the cleaning of next block cell panel, two kinds of duties are constantly changed, and can realize the cleaning of all cell panels.
Claims (10)
1. the running gear of a photovoltaic solar cell board cleaning machine device people, described solar panel is for being obliquely installed, 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, it is characterized in that: described running gear comprises the upper running gear be arranged on above solar panel and the lower running gear be arranged on below solar panel, described upper running gear and lower running gear one of them be initiatively running gear, another is passive walking device, passive walking device is connected with active running gear by sychronisation, be driven and active running gear synchronous walking.
2. the running gear of photovoltaic solar cell board cleaning machine device people as claimed in claim 1, it is characterized in that: described sychronisation comprises " L " shape commutator be connected with the positive transport wheel rotating shaft of described active running gear, the other end of described " L " shape commutator connects the connector being parallel to solar panel surface, and described connector connects the axle center of the road wheel of passive walking device again by one or more " L " shape commutator.
3. the running gear of photovoltaic solar cell board cleaning machine device people as claimed in claim 1 or 2, it is characterized in that: described upper running gear and lower running gear include former and later two or multiple ground-engaging element, two or more ground-engaging element includes road wheel separately, and described former and later two or multiple ground-engaging element are by the belt wheel be coaxially connected with road wheel and the Timing Belt synchronous walking be wrapped on the belt wheel of front and back.
4. the running gear of photovoltaic solar cell board cleaning machine device people as claimed in claim 3, it is characterized in that: two or more ground-engaging elements of described upper running gear and lower running gear are corresponding up and down, between the ground-engaging element that upper running gear is corresponding with lower running gear, adopt " L " shape commutator to be synchronously connected with connector.
5. the running gear of photovoltaic solar cell board cleaning machine device people as claimed in claim 3, it is characterized in that: described upper running gear and lower running gear wherein initiatively former and later two or multiple ground-engaging element of running gear are also divided into initiatively ground-engaging element and passive walking parts, connecting plate is provided with between described active ground-engaging element and passive walking parts, connecting plate is provided with stepper motor, stepper motor directly drives positive transport wheel to walk or passes through " L " shape commutator, the belt wheel be connected with " L " shape commutator, the belt wheel be coaxially connected with positive transport wheel and the rotating band be wrapped on two belt wheels drive positive transport wheel to walk.
6. the running gear of photovoltaic solar cell board cleaning machine device people as claimed in claim 3, it is characterized in that: the ground-engaging element of described upper running gear and lower running gear comprises the end face or bottom surface, the surface of solar panel and three walking mechanisms at the back side that are arranged on solar panel, one of them is walking mechanism, wheel is road wheel, two other is auxiliary propelling machine, and wheel is secondary row travelling wheel.
7. the running gear of photovoltaic solar cell board cleaning machine device people as claimed in claim 6, it is characterized in that: described ground-engaging element comprises walking mechanism support, walking mechanism and two auxiliary propelling machines are all fixedly mounted on walking mechanism support by adjustable bolt.
8. the running gear of photovoltaic solar cell board cleaning machine device people as claimed in claim 6, is characterized in that: described each auxiliary propelling machine comprises two secondary row travelling wheels.
9. the running gear of photovoltaic solar cell board cleaning machine device people as claimed in claim 6, it is characterized in that: described upper running gear is active running gear, what its ground-engaging element was arranged on solar cell plate top surface is walking mechanism, what be arranged on solar panel surface is upper auxiliary propelling machine, and what be arranged on Solar panel backside is lower auxiliary propelling machine; Described lower running gear is passive walking device, and what its ground-engaging element was arranged on solar panel surface is walking mechanism, and what be arranged on solar panel bottom surface is upper auxiliary propelling machine, and what be arranged on Solar panel backside is lower auxiliary propelling machine.
10. the running gear of photovoltaic solar cell board cleaning machine device people as claimed in claim 2, is characterized in that: described connector is the lead screw guide rails up and down of cleaning part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510266207.8A CN104889970A (en) | 2015-05-22 | 2015-05-22 | Walking device of photovoltaic solar panel cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510266207.8A CN104889970A (en) | 2015-05-22 | 2015-05-22 | Walking device of photovoltaic solar panel cleaning robot |
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| CN104889970A true CN104889970A (en) | 2015-09-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510266207.8A Pending CN104889970A (en) | 2015-05-22 | 2015-05-22 | Walking device of photovoltaic solar panel cleaning robot |
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Cited By (8)
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| CN106269621A (en) * | 2016-08-29 | 2017-01-04 | 贺兰县盛达联合收割机厂 | A kind of solaode board cleaning device |
| CN106625692A (en) * | 2015-10-29 | 2017-05-10 | 新疆西北星信息技术有限责任公司 | Solar photovoltaic cell continuous blowdown cleaning robot |
| CN107379230A (en) * | 2017-08-07 | 2017-11-24 | 安徽海龙建筑工业有限公司 | A kind of wallboard automatic cleaning system |
| JP2018192942A (en) * | 2017-05-18 | 2018-12-06 | ＰＶ Ｊａｐａｎ株式会社 | vehicle |
| CN109333023A (en) * | 2018-11-16 | 2019-02-15 | 青海黄河上游水电开发有限责任公司光伏产业技术分公司 | A kind of photovoltaic module auxiliary installation device |
| CN109909251A (en) * | 2019-04-24 | 2019-06-21 | 河北工业大学 | A kind of deviation correcting device |
| CN112422070A (en) * | 2020-09-27 | 2021-02-26 | 衢州学院 | Automatic cleaning machine for solar cell panel |
| CN116192024A (en) * | 2022-09-09 | 2023-05-30 | 苏州吉弘能源科技有限公司 | Photovoltaic power generation device with high power generation efficiency |
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| CN116192024B (en) * | 2022-09-09 | 2024-01-23 | 苏州吉弘能源科技有限公司 | Photovoltaic power generation device with high power generation efficiency |
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Application publication date: 20150909 |