CN110445463A - Flat/curved surface self-adaption Intelligent sweeping machine device people of solar energy and boundary detection method - Google Patents
Flat/curved surface self-adaption Intelligent sweeping machine device people of solar energy and boundary detection method Download PDFInfo
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- CN110445463A CN110445463A CN201910764370.5A CN201910764370A CN110445463A CN 110445463 A CN110445463 A CN 110445463A CN 201910764370 A CN201910764370 A CN 201910764370A CN 110445463 A CN110445463 A CN 110445463A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 21
- 239000011159 matrix material Substances 0.000 claims abstract description 47
- 238000010926 purge Methods 0.000 claims abstract description 31
- 230000009466 transformation Effects 0.000 claims abstract description 30
- 238000004140 cleaning Methods 0.000 claims abstract description 29
- 230000003044 adaptive effect Effects 0.000 claims abstract description 23
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Classifications
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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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S40/00—Safety or protection arrangements of solar heat collectors; Preventing malfunction of solar heat collectors
- F24S40/20—Cleaning; Removing snow
-
- 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
- B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
- B08B1/165—Scrapers
-
- 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
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
- Y02E10/40—Solar thermal energy, e.g. solar towers
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sustainable Energy (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Robotics (AREA)
- Thermal Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
- Cleaning In General (AREA)
Abstract
The present invention provides a kind of flat/curved surface self-adaption Intelligent sweeping machine device people of solar energy and boundary detection method, robot includes rack, running gear, control system, photovoltaic self-contained electric system, robot further includes putting down/curved surface self-adaption purging system, flat/curved surface self-adaption purging system includes moving back and forth driving mechanism, adaptive cleaning agency, adaptive cleaning agency can realize reciprocating linear motion in the perpendicular direction of the driving lower edge and robot ambulation direction for moving back and forth driving mechanism, adaptive cleaning agency includes flat/curved face transformation driving direct current generator, Self-resetting elastic matrix, drive rod is provided on flat/curved face transformation driving direct current generator, drive rod bottom end is provided with pressure sensor.This sweeping robot can adapt to the helioplant (the slot light collection paraboloid of plane, all kinds of molded line) in different shaped face, have the advantages that clean that effect is good, high-efficient, high degree of automation.
Description
Technical field
The invention mainly relates to photovoltaic/photo-thermal array maintenance technology fields, specifically flat/curved face of solar energy certainly
Adapt to Intelligent sweeping machine device people and boundary detection method.
Background technique
Helioplant transmission plane/reflecting surface dust stratification is one of the main extraneous factor for influencing its transfer efficiency, long
Phase dust stratification can seriously affect the transfer efficiency of solar energy.
Current paraboloid trough type concentrating collector takes hand sweeping mode mostly, and existing machine cleaning method is uncomfortable
With main cause is that dedusting executing agency does not have type surface self-adaption ability.The common cleaning of photovoltaic/photo-thermal planar array
Mode is that hand sweeping and machine clean two major classes (dedusting of ground machine vehicle semi-girder, climb face machine at mechanical dust-extraction unit dedusting
People's dedusting).Wherein, hand sweeping mode is time-consuming and laborious, low efficiency, at high cost, intelligence degree is low；Ground machine vehicle semi-girder removes
Dirt has that high requirement, initial cost is larger, there is still a need for certain people to the spacing and topography and geomorphology of helioplant array
Work investment, executing agency do not adapt to that all kinds of curved surfaces, intelligence degree are low, energy consumption is high, therefore have biggish limitation.Mechanically
Dust-extraction unit needs fixed walking track and stationary base mount, generally existing walk stuck, heeling condition lower stress unevenness, walking
Deflection, executing agency do not adapt to the drawbacks such as all kinds of curved surfaces, dedusting executive mode be more single；Existing Pa Mian robot is generally applicable in
It creeps in plane, no curved surface adaptability, and also monocyclic sweep-out pattern is smaller, and the dedusting period is long, and initial cost is larger.
Summary of the invention
For the deficiency for solving current technology, the present invention combination prior art provides a kind of solar energy from practical application
Flat/curved surface self-adaption Intelligent sweeping machine device people and boundary detection method, can adapt to the helioplant in different shaped face
(the slot light collection paraboloid of plane, all kinds of molded line), has the advantages that clean that effect is good, high-efficient, high degree of automation.
Technical scheme is as follows:
Flat/curved surface self-adaption Intelligent sweeping machine device people of solar energy, the robot include rack, are set in rack
Running gear, control system, photovoltaic self-contained electric system, the robot further includes putting down/curved surface self-adaption purging system, described
Flat/curved surface self-adaption purging system includes moving back and forth driving mechanism, adaptive cleaning agency, the adaptive cleaning agency
It can realize that reciprocating straight line is transported in the perpendicular direction of the driving lower edge and robot ambulation direction for moving back and forth driving mechanism
Dynamic, the adaptive cleaning agency includes flat/curved face transformation driving direct current generator, Self-resetting elastic matrix, described flat/curved
Be provided on face transformation driving direct current generator makes it carry out the drive rod of deformation, the driving for depressing Self-resetting elastic matrix
Bar bottom end is provided with pressure sensor, flat/curved face of feedback signal control that the control system passes through the pressure sensor
Transformation driving direct current generator movement, so that Self-resetting elastic matrix be made to carry out the shape adaptable with flat/curved face of required cleaning
Become, scraper plate and/or hairbrush are equipped on the Self-resetting elastic matrix.
Further, the reciprocating motion driving mechanism includes reciprocal driving direct current generator and reciprocal driving direct current generator
The screw rod of connection, with the sliding block of wire rod thread cooperation, the limit frid that is connect with sliding block.
Further, the adaptive cleaning agency further includes having working plate, and the working plate is fixedly installed on limiting slot
Below plate, the Self-resetting elastic matrix is installed below the working plate, and Self-resetting elastic matrix both ends pass through the tooling
The drive rod of plate support, flat/curved face transformation driving direct current generator acts on Self-resetting elastic matrix middle position.
Further, it is symmetrically arranged with guide slide in the tooling board ends, the guide slide is parabolic type knot
Structure is symmetrically arranged with slide-bar at Self-resetting elastic matrix both ends, and the slide-bar and slideway are slidably matched to guarantee Self-resetting
The deformed chord length of elastic matrix is consistent with the chord length for contacting flat/curved face.
Further, the drive rod is outer silk output shaft, is threadedly engaged between the outer silk output shaft and working plate, institute
It states flat/curved face transformation driving direct current generator and can slide up and down and be installed on limit frid.
Further, the adaptive cleaning agency further includes two purging motors, and two purging motors are respectively arranged in
The bottom of the frame of Self-resetting elastic matrix two sides.
Further, the running gear is pneumatic suction formula structure, including mechanical arm, pneumatic suction positioning mechanism, gas
Dynamic to adsorb/desorb mechanism, the mechanical arm is four, is respectively arranged in rack quadrangle；The mechanical arm include steering mechanical arm,
Walking machine arm, revolution positioning mechanical arm are turned round, the diverted joint of steering mechanical arm connects rack, the revolution vehicle with walking machine
Tool arm connects steering mechanical arm through revolution walking joint, and the revolution positioning mechanical arm is connected back to through revolution positioning joint and changed one's profession away
Mechanical arm, steering connections, revolution walking joint, the rotation at revolution positioning joint pass through direct current steering engine and realize, the revolution
The axis in walking joint is vertical with steering connections axis, and the axis of the revolution positioning joint is parallel with revolution walking joint, institute
It states pneumatic suction positioning mechanism to connect with revolution positioning mechanical arm end, the pneumatic suction/desorb mechanism for controlling pneumatically
Adsorb positioning mechanism.
Further, the pneumatic suction positioning mechanism includes sucker, and axis connection is freely rotated by two-way in the sucker
Positioning mechanical arm is turned round, and is connect with the revolution adaptive regulatable in positioning mechanical arm end, the two-way rotation that axis is freely rotated
Angle is limited by the limited block being arranged；The pneumatic suction/desorb mechanism includes vacuum generator, solenoid valve, described
Vacuum generator installs B/P EGR Back Pressure Transducer EGR by branch tracheae connecting sucker at the main tracheae in vacuum generator front end, for anti-
Present the negative pressure value of pumping state branch pipe.
Further, the running gear further includes four pressure relief support bars, pressure relief support bar upper end with it is corresponding
The mounting rack bottom of steering connections is fixedly connected, and pressure relief support bar lower end is provided with rubber pad.
Further, after terminal sucker group positions before direction of travel, vacuum generator pumping, and when setting maximum pumping
It is long, when reaching absorption limit response time, if B/P EGR Back Pressure Transducer EGR value of feedback is 0, controls group revolution positioning mechanical arm and mention
Arm, steering mechanical arm carry out 90 ° of steerings, turn round positioning mechanical arm later and revolution walking machine arm common action makes sucker group
Positioning, and start vacuum generator and be evacuated, if absorption is normal, shows border detection success, be then judged to detecting side
Boundary.
Beneficial effects of the present invention:
1, flat/curved surface self-adaption purging system designed by the present invention, it is special using the transition of pressure sensor pressure signal
Point cooperation Self-resetting elastic matrix realizes curved surface adaptive, therefore the helioplant that robot is suitable for different shaped face is (flat
Face, all kinds of molded line slot light collection paraboloid), dedusting executive mode is that the triple Reciprocatory dries of loose dirt-dust blowing-drifting dust clean, and is fitted
The area big for water shortage, dust storm, system have versatile, the good advantage of cleaning effect.
2, the pneumatic suction formula running gear designed by the present invention, can be realized the reliable location of robot, mechanical arm group
Accurately turning round and (turn to and walk) cooperation can be achieved accurately positioning, advances, and the two is combined and met to robot reliability
And the requirement of precision.
3, boundary detection method provided by the present invention, can during robot ambulation automatic identification boundary, automatically
Change degree is high, and operational reliability is strong.
Detailed description of the invention
Attached drawing 1 is use state diagram of the present invention；
Attached drawing 2 is general structure schematic diagram one of the present invention；
Attached drawing 3 is general structure schematic diagram two of the present invention；
Attached drawing 4 is the adaptive purging system schematic diagram of the present invention；
Attached drawing 5 is parabolic type slideway structure figure of the present invention；
Attached drawing 6, which is that the present invention is two-way, is freely rotated axle construction figure；
Attached drawing 7 is that flat/curved surface self-adaption pressure process of the present invention changes theoretical curve；
Attached drawing 8 is pneumatic suction positioning system schematic diagram of the present invention；
Attached drawing 9 is the monocycle of the invention to walk schematic diagram (side view)；
Attached drawing 10 is that the present invention turns to schematic diagram (vertical view)；
Attached drawing 11 is operational process when robot of the present invention cleans groove type paraboloid；
Attached drawing 12 is operational process when robot of the present invention cleans plane.
Label shown in attached drawing:
1, paraboloid groove type condenser；2, photovoltaic module；3, running gear；4, flat/curved surface self-adaption purging system；5,
Reciprocal driving direct current generator；6, screw rod；7, Self-resetting elastic matrix；8, pressure sensor；9, drive rod；10, flat/curved face becomes
Change driving direct current generator；11, hairbrush；12, working plate；13, frid is limited；14, scraper plate；15, purging motor；16, steering connections；
17, steering mechanical arm；18, revolution walking joint；19, walking machine arm is turned round；20, positioning joint is turned round；21, localization machine is turned round
Tool arm；22, two-way that axis is freely rotated；23, sucker；24, limited block；25, guide slide；26, slide-bar；27, pressure relief support bar.
Specific embodiment
With reference to the drawings and specific embodiments, the invention will be further described.It should be understood that these embodiments are merely to illustrate
The present invention rather than limit the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, this field
Technical staff can make various changes or modifications the present invention, and such equivalent forms equally fall within range defined herein.
As shown in Figure 1, based on flat/curved surface self-adaption Intelligent sweeping machine device of self-powered pneumatic suction walking solar energy
People, robot include flat/curved surface self-adaption purging system 4, running gear 3, self-contained electric system, intelligent control system and use
In the rack of fixed above system.Explanation is specifically described below for each section system.
(1) flat/curved surface self-adaption purging system 4
1) system structure:
As shown in Figure 2-5, it is (suitable can to realize that adaptive reciprocal composite dry cleans for flat/curved surface self-adaption purging system 4
For water shortage, the easy attachment area of dust).Main includes moving back and forth driving mechanism (adaptive cleaning agency to be driven back and forth to transport
It is dynamic), adaptive cleaning agency (cleaning dedusting).
Driving mechanism is moved back and forth by back and forth driving direct current generator 5, screw rod 6, sliding block, limit frid 13 to form, screw rod 6 is logical
Bearing is crossed to connect with rack, it is reciprocal that direct current generator 5 is driven to connect by shaft coupling with screw rod 6, for driving 6 positive/negative turns of screw rod,
Sliding block is threadedly engaged with screw rod 6, while being fixedly installed with locating slide rod in rack, and sliding block is slidably matched with locating slide rod, positioning
Anti-rotation of the slide bar for sliding block is oriented to, and screw rod 6 is positive/negative when turning, driving slide block reciprocating type linear motion.Sliding block and limit frid 13
Between pass through screw detachable connection.
Adaptive cleaning agency include flat/curved face transformation driving direct current generator 10 (band drive rod 9), flat/curved face from
Adapt to fixed/limiting tool plate 12, (material is similar to bamboo clappers to Self-resetting elastic matrix 7, pastes silica gel scraper plate 14, plants into Song Chenmao
Brush 11), purging motor 15, pressure sensor 8 (be fixed on 9 end of drive rod, particularly 8 upper surface of pressure sensor and drive
9 bottom of lever is fixedly connected, and lower surface and Self-resetting elastic matrix 7 are not connected to, but is connect when pushing with Self-resetting elastic matrix 7
Touching) composition.Flat/curved face transformation driving direct current generator 10 is mounted on limit frid 13, and with the sliding slot on limit frid 13
It is slidably matched, the packaged type wire compression/line for realizing flat/curved face transformation driving direct current generator 10 resets.12 liang of working plate
End symmetrically opens up that (25 width of guide slide is greater than 26 diameter of slide-bar, and guide slide 25 sets there are four parabolic type guide slide 25
Set inside construction opening), it is detachably fixed by screw and is installed on limit 13 bottom of frid.Flat/curved face transformation driving
The drive rod 9 of direct current generator 10 uses outer silk output shaft, cooperates with the interior wire hole of 12 center of working plate, realizes outer silk
Synchronous reciprocating wire compression/line of output shaft and flat/curved face transformation driving direct current generator 10 resets.Self-resetting elastic matrix 7
Both ends are symmetrical arranged four slide-bars 26, and silica gel scraper plate 14 is pasted in lower surface, plant and connect loose dirt hairbrush 11, slide-bar 26 and guiding into formula
The combination of slideway 25 ensure that the deformed chord length of Self-resetting elastic matrix 7 with contact put down/curved face chord length is consistent.When flat/curved
When face transformation driving direct current generator 10 moves down progress wire compression, Self-resetting elastic matrix 7 is compressed, and pressure sensor 8 returns
The pressure value returned becomes larger.When flat/curved face transformation driving direct current generator 10, which moves up, carries out line reset, Self-resetting bullet
Property matrix 7 Self-resetting (reset speed limit by outer silk output axis movement speed), the pressure value of the return of pressure sensor 8 is gradually
Become smaller, the adaptivity deformation to flat/curved face can be realized.
2) flat/curved surface self-adaption method:
Purging system operational mode is divided into plane mode and curved surface mode, and pattern switching is realized (general bent by manual switch
Face cleans object and plane cleans object and is located at two completely self-contained regions).
When as described in Figure 7, curved surface mode is converted to plane mode (such as: robot is transferred to photovoltaic by slot type heat collecting field
Power station), mode selector switch is beaten to plane shelves on paraboloid trough type light and heat collection type face, flat/curved face transformation driving
Direct current generator 10 inverts, 8 initial reset movement of outer silk output shaft and pressure sensor, flat/curved face transformation driving direct current
Machine 10 moves up.8 pressure feedback value of pressure sensor is slowly lowered to F2 by F1 in the 0-t1 period, which is cleaning dynamics
It keeps period (14 deformation convalescence of loose dirt hairbrush 11 and scraper plate), 8 pressure feedback value of t1 moment pressure sensor is by F2 bust
F3 (loose dirt hairbrush 11 and 14 deformation of scraper plate reset completely), Self-resetting elastic matrix 7 starts Self-resetting later, because of flat/curved face
Transformation driving 10 velocity of rotation of direct current generator is constant, i.e., the line reset speed of outer silk output shaft is constant, to Self-resetting elastic matrix 7
Runback bit rate have certain restrictions, therefore 8 value of feedback of t1-t2 period pressure sensor with shaped form gradual change type variation, until t2
Pressure sensor value of feedback is reduced to F4 when the moment, and Self-resetting elastic matrix 7 restores to straightened condition, and pressure sensor 8 is anti-later
Feedback value is 0 by F4 bust, and bust signal is fed back to controller by pressure sensor 8, and controls flat/curved face transformation driving direct current
Motor 10 stalls, and completes conversion of the curved surface mode to plane mode.
When plane mode is converted to curved surface mode (such as: robot is transferred to slot type heat collecting field by photovoltaic plant), it is throwing
Mode selector switch is beaten to curved surface shelves on object plane slot light collection heat-collector type face, flat/curved face transformation driving direct current generator 10
It rotates forward, it is mobile that outer silk output shaft and pressure sensor 8 start wire compression, and flat/curved face transformation driving direct current generator 10 is to moving down
It is dynamic.8 pressure feedback value of pressure sensor remains 0 in the 0-t1 period, and for pressure sensor 8 and Self-resetting elastic matrix 7 is non-connects
The period is touched, t1 moment pressure sensor 8 and Self-resetting elastic matrix 7 start to contact, and outer silk output shaft carries pressure sensor 8 and presses
Contracting Self-resetting elastic matrix 7 starts wire compression, and 8 value of feedback of pressure sensor is changed by 0 with shaped form gradual change type, with
The continuous increase of suppressed range, pressure value speedup also increase with it, and t2 moment, 8 value of feedback of pressure sensor increases to F1, with processus aboralis
F2 (loose dirt hairbrush 11 and the contact of scraper plate 14 clean plate face) is increased to, 8 value of feedback of pressure sensor slowly increases (loose dirt hairbrush after t2
11 and the 14 deformation phase of scraper plate), in short-term grow after, t4 moment pressure sensor value of feedback increases to F3 (deformation limit pressure), Zhi Houchi
Continue constant.Wire compression process, at the t2+2s moment, uprush value of feedback and clock co- controlling that controller passes through pressure sensor 8
Flat/curved face transformation driving direct current generator 10 stalls, and completes the conversion of a plane-curved surface mode and curved surface adaptive process.
When robot turns to, when mobile to next piece of curved surface to be cleaned, turn signal feeds back to controller, and then controls flat/bent
Type face transformation driving direct current generator 10 inverts, and repeats abrupt pressure reduction feedback signal control when curved surface mode is converted to plane mode
Process, after Self-resetting elastic matrix 7 is straight, Robot vertical direction walking, when area to be cleaned is completely covered in clearing apparatus
When domain, repeats pressure sensor 8 and uprush the curved surface adaptive process that value of feedback+clock controlled, the nothing of flat/curved surface can be realized
Dead angle cleans.
3) the reciprocal composite dedusting process of purging system:
After flat/curved surface self-adaption purging system completes adaptability deformation, under the premise of completing a walking cycle, dress
It sets when next flat/curved face to be cleaned is completely covered, the reciprocal driving direct current generator 5 of control system control starts, Self-resetting elasticity
7 synchronous reciprocating of matrix is mobile, and then realizes loose dirt hairbrush 11 to carry out reciprocal loose dirt, dust blowing silica gel scraper plate 14 further reciprocal poly-
Collect the purpose of dust, 2 single flow purging motors 15 are respectively arranged in the bottom of the frame of 7 two sides of Self-resetting elastic matrix, realize
The purpose of the reciprocal simultaneous purge in front and back, can strengthen drifting dust and clean dynamics.It the reciprocating movement of sliding block and playbacked in cleaning process
Journey is realized by the fixed induction type limit switch of two side connecting plate of rack.
(2) running gear 3
1) system structure:
As shown in Fig. 2,3,4,6,8, running gear 3 use pneumatic suction formula walking manner, by pneumatic suction positioning system,
Pneumatic suction/desorb system, mechanical arm and the composition of pressure relief support bar 27.
Mechanical arm is mainly realized the forward and reverse walking of the straight line of robot (laterally/longitudinal direction) and is turned to, and steering mechanical arm is divided into
17, walking machine arm 19, revolution 21 three classes of positioning mechanical arm are turned round.Robot sets four mechanical arms altogether, is respectively arranged in rack
Quadrangle is divided into 2 mechanical arm groups (being reconfigured after longitudinal walking and laterally walking deflecting), is respectively designated as walking side
Forward end mechanical arm group and direction of travel rear robot arm group.Single mechanical arm is walked by steering mechanical arm 17 (one), revolution
Mechanical arm 19 (one), revolution positioning mechanical arm 21 (one) are connected in series through direct current steering engine, and steering mechanical arm 17 is through straight
It flows steering engine (steering connections 16) and connects rack, revolution positioning tool arm 21 is through direct current steering engine (revolution positioning joint 20) connection turning machine
Tool arm 17, revolution walking machine arm 19 is through direct current steering engine (revolution walking joint 18) connection revolution positioning mechanical arm 21.
Pneumatic suction positioning system has the function of guaranteeing robot reliable location, stabilized walking and border detection.Pneumatically
Absorption positioning system mainly passes through vacuum chuck 23 and realizes, vacuum chuck 23 is connected to revolution calmly by the two-way axis 22 that is freely rotated
It on the mechanical arm 21 of position, and is connect with the revolution adaptive regulatable in 21 end of positioning mechanical arm, for ensuring that vacuum chuck 23 is suitable
Answer the type face of different curvature.Because adjacent surface curvature difference is small, therefore it is freely rotated at 22 horizontal central plane of axis and two two-way
The limiting block board group that 1cm (adjustable) width is symmetrically arranged in the respective members of side (is made of three limited blocks 24, fixes respectively
Be mounted on it is two-way be freely rotated at axis 22 and support frame, it is two-way be freely rotated at axis 22 be arranged one, at support frame be arranged two,
Two-way one be freely rotated at axis 22 is arranged between two at support frame, can be limited by limited block 24 so two-way
The rotational angle of axis 22 is freely rotated, rotates it in a certain range), it is ensured that the stabilization of robot ambulation and dust removal process
Property, improve the curved surface adaptability of robot.
Pneumatic suction/the system of desorbing is mainly used for the control of pneumatic suction positioning system.It is mainly by vacuum generator, electricity
Magnet valve and connection tracheae composition.Entire robot configures four high resiliency silica gel Pneumatic suction cups 23, one for four mechanical arms altogether
A vacuum generator, five solenoid valves.Single mechanical arm configuration one high resiliency silica gel Pneumatic suction cup, 23, solenoid valves are (true
Empty generator keeps branch vacuum degree after closing), vacuum generator and a solenoid valve are common elements, vacuum generator front end master
B/P EGR Back Pressure Transducer EGR is installed, for feeding back the negative pressure value after each branch is evacuated (before branch way solenoid valve is not turned off) at tracheae.
The robot reciprocal dedusting stage need to guarantee reliable location, be height inside four high resiliency silicon rubber suction cups 23 of the stage
Negative pressure, the big suction that big pressure difference between atmospheric pressure and high negative pressure generates can make robot stabilized to be adsorbed in flat/curved face.Robot
Walking phase need to guarantee accurate run trace and stability, and it is two groups which, which is divided to high resiliency silicon rubber suction cup 23, respectively
Terminal sucker group, two sucker group intermittents are adsorbed-are desorbed after terminal sucker group and direction of travel before direction of travel, and the realization of absorption group can
By positioning, desorbs mechanical arm group and realize walking and positioning revolution, when two sucker groups are adsorbed jointly and front and back mechanical arm is in the same direction, two
A mechanical arm group carries out synchronous walking formula forward and turns round.When robot reaches boundary, controller needs to receive accurately boundary and examines
Feedback signal is surveyed, signal feeds back to controller by B/P EGR Back Pressure Transducer EGR.
As shown in figure 3, pressure relief support bar 27 under specific operation for balancing and supporting robot body, specific operation packet
It includes sucker group and has and desorb and correspond to operating condition and dedusting operating condition that mechanical arm group has revolution.When sucker group desorbs and corresponds to mechanical arm
When group has revolution, pressure relief support bar 27 can balancing machine human body weight to a certain extent, to mitigate the branch of absorption sucker group
Weight is supportted, achievees the purpose that be reliably fixed robot body under specific operation.27 one end of pressure relief support bar and steering connections 16
Mounting rack bottom is fixedly connected, flat/curved face of the other end (be equipped with resilient rubbber cushion) contact, length be equal to rack bottom surface to put down/
Curved surface self-adaption is fixed/distance+0.5cm (hairbrush 11 and the silicon on 25 lower opening portion surface of limiting tool parabolic type guide slide
14 ultimate deformation amount of glue scraper plate), four are set altogether.
2) running gear operation method:
In the present embodiment, it is only explained and is walked with the motion flow of pneumatic suction walking process Pneumatic suction cup and each mechanical arm
System operation method.Each mechanical arm group and Pneumatic suction cup group are named on the basis of running gear direction of travel, respectively
Direction of travel front end Pneumatic suction cup group, direction of travel front end steering mechanical arm group, direction of travel front end revolution walking machine arm group,
Positioning mechanical arm group, direction of travel front end solenoid valve block, direction of travel rear end Pneumatic suction cup group, walking are turned round in direction of travel front end
Positioning mechanical arm is turned round in direction rear end steering mechanical arm group, direction of travel rear end revolution walking machine arm group, direction of travel rear end
Group, direction of travel rear end solenoid valve block (hereinafter referred to as front-end and back-end).
As shown in figs. 9-10, walking process presses following flow implementation (opening and closing of total solenoid valve and the opening and closing of vacuum generator
Linkage control):
Initial time front end, rear end Pneumatic suction cup are in negative-pressure adsorption state, and (front end, rear end solenoid valve block are closed
Close) --- robot controller, which issues, cleans sign on --- controller controls rear end Pneumatic suction cup group branch way solenoid valve
Opening --- rear end Pneumatic suction cup desorbs --- rear end revolution positioning mechanical arm group is rotated by 90 ° counterclockwise ---, and return by rear end
Turn positioning mechanical arm group keep horizontality --- rear end revolution walking machine arm group rotate counterclockwise 120 ° (can set, can
Feedback regulation) --- rear end revolution positioning mechanical arm group rotates clockwise 90 ° --- rear end Pneumatic suction cup group is close to flat/bent
Controller receives the negative pressure letter of complete adsorbed state in type face --- controller control vacuum generator pumping ---
Number --- rear end solenoid valve block closes that --- absorption of rear end Pneumatic suction cup --- is synchronous to be implemented, front and back end revolution vehicle with walking machine
Tool arm group rotates clockwise 120 °, and (for the step for realizing walking forward, walking machine arm group is turned round in the front and back end in this step
Rotation be to be realized using turning round positioning joint as rotation center, operating principle are as follows: revolution positioning joint is towards keeping revolution fixed
The direction that position mechanical arm group rotates counterclockwise rotates 120 °, at this time since the sucker of revolution positioning mechanical arm group connection is in adsorption-like
State, therefore revolution positioning mechanical arm group can't rotate 120 ° counterclockwise, but remain stationary, therefore, turn round at positioning joint
Active force can be driven in the reverse direction revolution walking machine arm group and rotate clockwise 120 ° centered on turning round positioning joint, realize machine
The walking of people, meanwhile, revolution walking joint rotates 120 ° towards the direction for rotating clockwise revolution walking machine arm group, to match
Close walking) --- controller controls front end Pneumatic suction cup group branch way solenoid valve and opens --- front end Pneumatic suction cup solution
Attached --- front end revolution positioning mechanical arm group is rotated by 90 ° counterclockwise --- front end turns round positioning mechanical arm group and keeps horizontal
Front end revolution is fixed for state --- front end revolution walking machine arm group rotates 120 ° (can set, can feedback regulation) counterclockwise ---
Position mechanical arm group rotates clockwise 90 ° --- front end Pneumatic suction cup group is close to flat/curved face ---, and controller controls vacuum
--- controller receives the negative pressure signal of complete adsorbed state --- closing of front end solenoid valve block --- for generator pumping
---/curved surface self-adaption dedusting system is put down in detection boundary --- non-boundary condition --- starting to the absorption of front end Pneumatic suction cup
The reciprocal dedusting of system progress --- dust pelletizing system stopping --- repetition aforementioned process (detection boundary --- boundary shape
Flat/curved face transformation driving of state --- pressure sensor feeds back terminal pressure signal to controller --- controller control is straight
Revolution positioning mechanical arm group in stream motor reversal --- reset of Self-resetting elastic matrix --- front end rotates counterclockwise
90 ° --- front end turns round positioning mechanical arm and keeps horizontality --- front end steering mechanical arm group is outwardly turned to
90 ° --- front end revolution positioning mechanical arm group rotates clockwise 90 ° --- front end Pneumatic suction cup group is close to flat/curved
--- controller controls vacuum generator pumping --- negative pressure signal that controller receives complete adsorbed state --- in face
Front end solenoid valve block is closed, and --- it is fixed that front end Pneumatic suction cup adsorbs the revolution of --- rear end Pneumatic suction cup desorbs --- rear end
Position mechanical arm group is rotated by 90 ° --- rear end turn round positioning mechanical arm keep horizontality --- rear end steering mechanical counterclockwise
Arm group rotates outward 90 ° --- rear end revolution positioning mechanical arm group rotates clockwise 90 ° ---, and rear end Pneumatic suction cup group is tight
Developing/curved face --- controller control vacuum generator pumping ---, controller receives the negative pressure letter of complete adsorbed state
Number --- rear end solenoid valve block close --- rear end Pneumatic suction cup absorption --- walking process --- run to clear
Put down/completely capped --- flat/curved face transformation driving direct current generator of controller control rotates forward --- runback in curved face
Flat/curved face of adaptation after the elastic matrix deformation of position --- --- walking and cleaning process ---).
In above-mentioned walking process of the invention, the ipsilateral mechanical arm after steering is all directed towards medial support, therefore
After the completion of steering, the adjustment of mechanical arm direction need to be carried out, i.e., mechanical arm in front of direction of travel is kept into the machinery of rear side to outer support
Arm is constant.
3) boundary detection method:
Boundary detection method when running gear of the invention is provided for robot ambulation can pass through the machine of setting
Tool arm group cooperation pneumatic suction positioning system, pneumatic suction/desorb the automatic detection that system realizes boundary.
Its method particularly includes: B/P EGR Back Pressure Transducer EGR is set at the gas main of vacuum generator front end, when Robot is flat/curved
When face runs to boundary (non-shutdown bit boundary) nearby, terminal sucker group is first advanced into border outer before direction of travel, to the sucker
Vacuum generator starts to be evacuated after group positioning, sets a length of 30s when maximum pumping, when reaching absorption limit response time, if
B/P EGR Back Pressure Transducer EGR value of feedback is still 0 (feedback signal shows that robot reaches boundary), and controller controls group revolution localization machine
After tool arm mentions arm, steering mechanical arm carries out 90 ° of steerings, and turning round positioning mechanical arm and revolution walking machine arm common action later makes
The positioning of sucker group is obtained, and starts vacuum generator and is evacuated, if absorption is normal, shows border detection success.
(3) self-contained electric system
The present invention uses self-contained electric system to meet the power demand of robot.Self-contained electric system be used for direct current steering engine,
Vacuum generator and purging motor 15 provide DC power supply, and guarantee system does not consume extra power, by photovoltaic module 2, lithium battery
Group, charging-discharging controller and conducting wire composition.The novel component that photovoltaic module 2 selects photoelectric conversion efficiency high, is laid in rack top
Portion, when shutting down because of robot at the aircraft gate of flat/curved face two sides of solar energy, aircraft gate is poly- with solar energy paraboloid trough type
Light device synchronous sun tracking is consistent with planar inclination, therefore system can guarantee that photovoltaic module 2 converts solar radiation with optimum state
Can, the electric energy of photovoltaic module output is directly stored to lithium battery group.According to the per day power consumption of electrical appliance input voltage and robot
The series-parallel number for determining lithium battery group is measured, lithium battery group is packaged in inside the control cabinet at rack lower surface.Charge and discharge control
Device is packaged in inside control cabinet, can be controlled the charge and discharge process of lithium battery, prevents from overcharging and over-discharge, has maximum power
Following function.
(4) intelligent control system
For robot of the invention, there is corresponding intelligent control system, can be realized robot automatically walk,
Turn to, clean etc..Its control principle and control flow are as follows.
1) control principle:
Intelligent control system is by input power, controller, performer, signal source, signal transmission and communication module group
At for real-time reception solar irradiance (total spoke/straight spoke), solar energy conversion efficiency, 8 feedback signal of pressure sensor, negative pressure
Sensor feedback signal, duration and step number signal (signal source), the maximum decline mark sense allowed according to solar energy conversion efficiency
Direct current steering engine (performer), purging motor 15 (performer), timer and pedometer issue start and stop instruction, it can be achieved that flat/
Curved surface self-adaption, border detection, accurately track route, depth clean the intelligence of flat/processes such as curved face and efficient charge and discharge
Seamless connection can be changed, performer, controller etc. provide input power by self-contained electric system.Wherein, controller is packaged in control
Inside case processed, pass through accurate border detection feedback signal, pedometer feedback signal, timer feedback signal and the main road of setting
The judgement of direction of travel and playback stopping process, are robots after the starting of line traffic control robot, walking, cleaning, steering, steering
Maincenter core.
The photovoltaic module transfer efficiency when the solar energy conversion efficiency of helioplant drops to clean conditions
When 97%, controller sending starts to clean instruction, and each functional module powers on, robot starting.Flat/curved surface self-adaption is excessively program-controlled
Device processed receives 8 feedback signal of pressure sensor, and then controls the positive and negative rotation of flat/curved face transformation driving direct current generator 10, with reality
The adaptability deformation of existing Self-resetting elastic matrix 7.Border detection process controller receives the feedback of B/P EGR Back Pressure Transducer EGR in gas main
Signal, judges whether it is the boundary external space, and then controls the judgement of the direction of travel after the steering of robot, steering and playback stops
Machine process.Accurately track route is codetermined by border detection, steering and walking process.Depth cleans mainly best by history
Clean duration, timer-signals and limit switch (the reciprocal control that cleans and playback) coordinated control.Direction of travel after steering by
Border detection result is judged, after mechanical arm turns to, first adjusting mechanical arm makes its positioning states become original state position,
Then random selection direction of travel, when detecting sideband signal after row makes a move, robot reversely walks immediately, when walking two
When sideband signal being not detected after step, i.e., the expression direction is correct direction of travel.The playback stopping process of robot is by three
Border detection result is controlled, and after pedometer, which is fed back, turns to step number, robot turns to and run to next boundary, is carried out again
Secondary steering simultaneously judges that the direction of travel after turning to shows that robot has arrived at aircraft gate if two sides return to sideband signal, into
One successive step state to original state position, controller controls robot and shuts down, and completes to clean.When robot detects that boundary is believed
Number, after completion takes a step back and turns to, next boundary is run to, is returned again to and judged the direction of travel after turning to, if
Two sides return to sideband signal, then show that robot has arrived at aircraft gate, further adjust state to original state position, control
Device controls robot and shuts down, and completes to clean.
2) robot operational process:
It is as shown in figure 11: when robot cleans parabolic trough concentrators, to need to overlap connecting bridge (two between upper lower half slot
End).Initial time, robot stop aircraft gate, and aircraft gate tracks the sun in company with paraboloid groove type condenser, and photovoltaic module 1 will
Solar energy is converted to direct current electricity output, and stores to lithium battery group, provides power for the operational process of robot.Work as intelligent control
After system receives all kinds of feedback signals, dedusting start time is differentiated according to Rule of judgment, when judging result, which is, needs dedusting, machine
Device people starting, according to the operational process of Figure 11, intelligence control system controls each steering engine group and purging wind according to walking and Rule of judgment
The start and stop of machine, and then realize that comprehensive no dead angle cleans.Carrying out practically process are as follows:
A) robot starts and go away airplane parking area process: controller sending starts to clean instruction --- running gear (from
Flexible Reset matrix 7 is in reset state) electrifying startup --- walking forward --- walking step number N=that pedometer is fed back
--- mechanical arm steering --- mechanical arm positioning states are adjusted to L/l (L is robot length, and l is single step travel distance)
Original state position ---；
B) direction of travel judge process after turning to: connecing a) --- it randomly chooses direction of travel and walks one forward
Step --- border detection --- feedback sideband signal --- reversed walking immediately --- (border detection --- feedback
Non- sideband signal --- walking on ---)；
C) robot enters the first purging zone process: connecing b) --- continuing lateral walking --- and often makes a move progress
--- mechanical arm positioning states are adjusted to initial shape to feedback sideband signal --- mechanical arm steering --- to border detection
State --- flat/curved surface self-adaption purging system adapts to clean curved surface (7 deformation of Self-resetting elastic matrix) --- is after steering
Direction of travel judges process ---；
D) longitudinal walking process: --- starting longitudinal walking --- walking step number N=L/ of pedometer feedback is met c)
L --- running gear stopping ---；
E) longitudinal to clean process: to connect d) --- timer clearing --- flat/curved surface self-adaption purging system and open
It is dynamic that --- reciprocal cleaning --- timer feedback result reaches setting value (history most preferably cleans duration) --- is flat/curved
The playback of surface self-adaption purging system is shut down --- longitudinal walking process ---；
F) " longitudinal walking+dedusting " turns " laterally walking " process: connecing e) --- feeding back sideband signal --- Self-resetting
Elastic matrix 7 resets, and --- mechanical arm steering --- mechanical arm positioning states are adjusted to original state --- is gone after steering
Walk walking direction process --- laterally walking ---；
G) " laterally walking " turns " longitudinal walking+dedusting " process: connecing f) --- the walking step number N=of pedometer feedback
L1/l (L1 is robot width, and l is single step travel distance) --- mechanical arm steering --- mechanical arm positioning states are adjusted
For original state, --- direction of travel judges process after steering --- flat/curved surface self-adaption purging system adapts to clean bent
Face (7 deformation of Self-resetting elastic matrix) ---；
H) " longitudinal walking+dedusting " turns " laterally dust removal process: longitudinal process that cleans --- longitudinal walking process ---
--- laterally walking process --- " laterally walking " turns " longitudinal walking+dedusting " process --- is longitudinal clear for walking " process
Sweep process --- longitudinal walking process --- " longitudinal walking+dedusting " turns " laterally walking " process --- laterally walking stream
--- " laterally walking " turns --- longitudinal to clean process --- the longitudinal walking stream of " longitudinal walking+dedusting " process to journey
Journey ---；
I) process is shut down in playback: laterally walking --- and (L1 is that robot is wide to the walking step number N < L1/l of pedometer feedback
Degree, l are single step travel distance) --- feedback sideband signal --- laterally walking process (stepping back a step) --- is " laterally
Walking " turns " longitudinal walking+dedusting " process --- longitudinal process that cleans --- longitudinal walking process --- feedback boundary
Signal --- mechanical arm steering --- mechanical arm positioning states are adjusted to original state position --- random selection walking
Direction and --- border detection --- feedback sideband signal --- the reversed walking two immediately that makes a move capable forward
--- mechanical arm turns border detection --- feedback sideband signal-transverse direction walking process (stepping back a step) --- step
Resetting to --- mechanical arm positioning states are adjusted to original state position --- Self-resetting elastic matrix 7 (prevents because long-term
Deform and occur the elastic extenuation of Self-resetting elastic matrix 7) --- shutdown --- execution system cut-off.
It is as shown in figure 12: when robot cleans plane (photovoltaic array or flat plate collector array), without overlapping connecting bridge,
Track route is same as above substantially, therefore carrying out practically process is the same as paraboloid groove type condenser cleaning process.Initial time, robot are stopped at
Aircraft gate, aircraft gate inclination angle (best mounted angle) with photovoltaic array or flat plate collector array (generally non-tracking installation),
Photovoltaic module converts the solar into direct current electricity output, and stores to lithium battery group, provides power for the operational process of robot.
After intelligence control system receives all kinds of feedback signals, dedusting start time is differentiated according to Rule of judgment, when judging result is
When dedusting, robot starting, according to the operational process of Figure 12, intelligence control system controls each steering engine group according to walking and Rule of judgment
And the start and stop of purging motor, and then realize that comprehensive no dead angle cleans.The intelligentized control method realize flat/curved surface self-adaption,
Border detection, accurately track route, depth clean the intelligent nothing that flat/functions such as curved face and efficient charge and discharge realize process
Seam linking.
Claims (10)
1. flat/curved surface self-adaption Intelligent sweeping machine device people of solar energy, the robot includes rack, the row that is set in rack
Walking system, control system, photovoltaic self-contained electric system, it is characterised in that: the robot further include put down/curved surface self-adaption cleans
System, flat/curved surface self-adaption purging system includes moving back and forth driving mechanism, adaptive cleaning agency, described adaptive
Answer cleaning agency that can realize in the driving lower edge for the moving back and forth driving mechanism direction perpendicular with robot ambulation direction past
Compound linear motion, the adaptive cleaning agency include flat/curved face transformation driving direct current generator, Self-resetting elastic matrix,
Be provided on flat/curved face transformation driving direct current generator makes it carry out the driving of deformation for depressing Self-resetting elastic matrix
Bar, the drive rod bottom end are provided with pressure sensor, the feedback signal control that the control system passes through the pressure sensor
Flat/curved face transformation driving direct current generator movement of system, so that Self-resetting elastic matrix be made to carry out flat/curved face with required cleaning
Adaptable deformation is equipped with scraper plate and/or hairbrush on the Self-resetting elastic matrix.
2. flat/curved surface self-adaption Intelligent sweeping machine device people of solar energy as described in claim 1, it is characterised in that: described past
Multiple motion driving mechanism includes back and forth driving direct current generator, the screw rod connecting with reciprocal driving direct current generator, matching with wire rod thread
The sliding block of conjunction, the limit frid connecting with sliding block, the adaptive cleaning agency are installed on limit frid.
3. flat/curved surface self-adaption Intelligent sweeping machine device people of solar energy as claimed in claim 2, it is characterised in that: it is described from
Adapting to cleaning agency further includes having working plate, and the working plate is fixedly installed below limit frid, the Self-resetting elasticity base
Body is installed below the working plate, and Self-resetting elastic matrix both ends are supported by the working plate, flat/curved face transformation
The drive rod of driving direct current generator acts on Self-resetting elastic matrix middle position.
4. flat/curved surface self-adaption Intelligent sweeping machine device people of solar energy as claimed in claim 3, it is characterised in that: described
Tooling board ends are symmetrically arranged with guide slide, and the guide slide is parabolic shaped structure, in the Self-resetting elastic matrix
Both ends are symmetrically arranged with slide-bar, and the slide-bar is slidably matched to guarantee the deformed chord length of Self-resetting elastic matrix and connect with slideway
The chord length in flat/curved face of touching is consistent.
5. flat/curved surface self-adaption Intelligent sweeping machine device people of solar energy as claimed in claim 3, it is characterised in that: the drive
Lever is outer silk output shaft, is threadedly engaged between the outer silk output shaft and working plate, flat/curved face transformation driving direct current
Motor, which can slide up and down, to be installed on limit frid.
6. flat/curved surface self-adaption Intelligent sweeping machine device people of solar energy as described in claim 1, it is characterised in that: it is described from
Adapting to cleaning agency further includes two purging motors, and two purging motors are respectively arranged in the rack of Self-resetting elastic matrix two sides
Bottom.
7. flat/curved surface self-adaption Intelligent sweeping machine device people of solar energy as described in any one of claims 1 to 6, feature exist
In: the running gear is pneumatic suction formula structure, including mechanical arm, pneumatic suction positioning mechanism, pneumatic suction/solution random
Structure, the mechanical arm are four, are respectively arranged in rack quadrangle；The mechanical arm includes steering mechanical arm, revolution walking machine
Arm, revolution positioning mechanical arm, the diverted joint of steering mechanical arm connect rack, and the revolution walking machine arm is gone through revolution
It gets round by bribery and connects steering mechanical arm, the revolution positioning mechanical arm connects back to mechanical arm of changing one's profession away through turning round positioning joint, turns to
Joint, revolution walking joint, the rotation at revolution positioning joint pass through direct current steering engine and realize, the axis in revolution walking joint
Line is vertical with steering connections axis, and the axis of the revolution positioning joint is parallel with revolution walking joint, and the pneumatic suction is fixed
Position mechanism is connect with revolution positioning mechanical arm end, the pneumatic suction/desorb mechanism for controlling pneumatic suction positioning mechanism.
8. flat/curved surface self-adaption Intelligent sweeping machine device people of solar energy as claimed in claim 7, it is characterised in that: the gas
Dynamic absorption positioning mechanism includes sucker, and axis connection revolution positioning mechanical arm is freely rotated by two-way in the sucker, and with revolution
The adaptive regulatable connection in positioning mechanical arm end, the two-way rotational angle that axis is freely rotated are carried out by the limited block of setting
Limitation；The pneumatic suction/desorb mechanism includes vacuum generator, solenoid valve, and the vacuum generator is connected by branch tracheae
Sucker is connect, B/P EGR Back Pressure Transducer EGR is installed at the main tracheae in vacuum generator front end, for feeding back pumping state branch pipe
Negative pressure value.
9. flat/curved surface self-adaption Intelligent sweeping machine device people of solar energy as claimed in claim 8, it is characterised in that: the row
Walking system further includes four pressure relief support bars, and pressure relief support bar upper end is fixed with the mounting rack bottom of corresponding steering connections
Connection, pressure relief support bar lower end is provided with rubber pad.
10. the boundary detection method of flat/curved surface self-adaption Intelligent sweeping machine device people of solar energy as claimed in claim 8,
It is characterized in that: after terminal sucker group positions before direction of travel, vacuum generator pumping, and set maximum pumping duration, when reaching
When adsorbing limit response time, if B/P EGR Back Pressure Transducer EGR value of feedback is 0, controls group revolution positioning mechanical arm and propose arm, turning machine
Tool arm carries out 90 ° of steerings, turns round positioning mechanical arm later and revolution walking machine arm common action positions sucker group, and open
Dynamic vacuum generator is evacuated, if absorption is normal, shows border detection success.
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| CN114789438A (en) * | 2022-03-30 | 2022-07-26 | 中国科学院合肥物质科学研究院 | Interactive robot movement unit |
| CN115682649A (en) * | 2022-10-24 | 2023-02-03 | 深圳市行知行机器人技术有限公司 | Wiping mechanism and cleaning device |
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| CN111634681A (en) * | 2020-06-09 | 2020-09-08 | 吉林大学 | Adsorption loading and unloading device |
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| CN112600502A (en) * | 2020-12-17 | 2021-04-02 | 徐州嘉寓光能科技有限公司 | Photovoltaic module frame |
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| CN114035591A (en) * | 2021-11-15 | 2022-02-11 | 哈尔滨工程大学 | Motion switching control method of underwater variable-curvature wall surface motion robot |
| CN114789438A (en) * | 2022-03-30 | 2022-07-26 | 中国科学院合肥物质科学研究院 | Interactive robot movement unit |
| CN114789438B (en) * | 2022-03-30 | 2023-08-29 | 中国科学院合肥物质科学研究院 | Interactive robot motion unit |
| CN115682649A (en) * | 2022-10-24 | 2023-02-03 | 深圳市行知行机器人技术有限公司 | Wiping mechanism and cleaning device |
| CN115682649B (en) * | 2022-10-24 | 2023-08-08 | 深圳市行知行机器人技术有限公司 | Wiping mechanism and cleaning device |
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