CN110524578A - A kind of automatic locking device for photovoltaic module sweeping robot ferry bus - Google Patents

A kind of automatic locking device for photovoltaic module sweeping robot ferry bus Download PDF

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Publication number
CN110524578A
CN110524578A CN201910779118.1A CN201910779118A CN110524578A CN 110524578 A CN110524578 A CN 110524578A CN 201910779118 A CN201910779118 A CN 201910779118A CN 110524578 A CN110524578 A CN 110524578A
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CN
China
Prior art keywords
locking
ferry bus
ferry
component
close
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Granted
Application number
CN201910779118.1A
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Chinese (zh)
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CN110524578B (en
Inventor
瞿畅
谷玉之
周亦瞿
张啸天
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Nantong University
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Nantong University
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Priority to CN201910779118.1A priority Critical patent/CN110524578B/en
Publication of CN110524578A publication Critical patent/CN110524578A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00Accessories or details of general applicability for machines or apparatus for cleaning
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/008Manipulators for service tasks
    • B25J11/0085Cleaning
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/02Manipulators mounted on wheels or on carriages travelling along a guideway
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02SGENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10Cleaning arrangements
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/50Photovoltaic [PV] energy

Abstract

The invention discloses a kind of automatic locking devices for photovoltaic module sweeping robot ferry bus, the locking system is mounted on ferry bus one end, the latch functions of invention realization ferry bus, compared to existing locking system, this locking system may be implemented in after ferry bus reaches stop position and ferry bus and walking track be fixed automatically, ferry bus is prevented to be moved forward and backward and turn on one's side, and during locking, feed back locking information, for judging whether locking in place, improves the safety in sweeping robot system operation to locking system.

Description

A kind of automatic locking device for photovoltaic module sweeping robot ferry bus
Technical field
The present invention relates to solar photovoltaic assembly automatic cleaning technical fields, specially a kind of to be used for photovoltaic module scavenging machine The automatic locking device of device people's ferry bus.
Background technique
Increasingly deteriorate in ecological environment, today that fossil fuel day is becoming tight, solar energy as cleaning, safety it is renewable Resource, compared with traditional fossil energy, solar energy has many advantages, such as inexhaustible, nexhaustible, cleanliness without any pollution, has become One of principal mode of new energy.For long-term running photovoltaic system, panel dust stratification and its influence are one and do not allow to neglect Depending on the problem of.Photovoltaic panel dust stratification has reflection, scattering and absorption to solar radiation, and photovoltaic panel is caused to receive too Positive amount of radiation is reduced, output power declines, and becomes apparent with the increase of dust stratification thickness.In addition, dirt absorption sun spoke Penetrating can make solar panel heat up, and contain some corrosive chemical components in dust, can be formed to a certain degree to photovoltaic panel Heat preservation and corrosiveness, aggravation reduce its photoelectric conversion efficiency reduce solar panel service life.
With the Large scale construction of solar photovoltaic power plant, photovoltaic plant is faced with unit clean problem.Past photovoltaic group The cleaning of part is mostly artificial cleaning mode, currently, more and more automatic cleaning robots start to apply to the clear of photovoltaic module Clean work.In order to improve the utilization efficiency of robot, generallys use ferry bus and carry sweeping robot, by sweeping robot It is delivered by the track that enters a new line to each row's photovoltaic module, it is clear to realize that separate unit sweeping robot can carry out multiple groups photovoltaic module It sweeps.In the operational process of ferry bus, due to factors such as landform or weather, unexpected movement may occur for ferry bus, to keep away Exempt from ferry bus and generate movement because unexpected, keep stability of the ferry bus when stopping, ferry bus need to usually have certain lock Only function.At present there is common locking mode in sweeping robot ferry bus system: being locked by the self-locking function of driving motor Driving wheel prevents ferry bus from moving;It is mobile in stop position limitation ferry bus or by way of bar, baffle.These Locking method can limit ferry bus movement to a certain extent, but there is also certain to lack simultaneously in actual use It falls into.
The locking system of existing photovoltaic sweeping robot ferry bus, the mostly locking structure of opened loop control, without correlation The feedback function of locking information, system can not judge locking system whether in place, robot ferry bus positioning accuracy by locking Ask higher, once there is deviation in positioning, then locking system usually can not locking in place, in some instances it may even be possible to occur with related components dry It relates to, causes droid damage, reduce the safety in robot operational process;Existing partial robotic's ferry bus locking system Using unidirectional locking mode, the movement of ferry bus direction along ng a path is usually only limited, having ignored ferry bus may be due to unexpected The risk turned on one's side.And the diastema of some locking systems is larger, and locking positioning accuracy is not high, under external force, ferry-boat Certain movement can still occur for vehicle, and reliability is not high.Part sweeping robot ferry bus utilizes the self-locking function of driving motor, real Fixation locking of the existing ferry bus in stop position;Such locking mode need to keep motor to be persistently powered, once motor power loss, ferry bus Latch functions will be lost, may be moved because unexpected, will be generated dangerous.Meanwhile lasting electrical power, it need to consume limited Battery power is unfavorable for the long-time locking of robot ferry bus, it would therefore be highly desirable to which a kind of improved technology solves the prior art In the presence of this problem.
Summary of the invention
The purpose of the present invention is to provide a kind of automatic locking device for photovoltaic module sweeping robot ferry bus, with Solve the problems mentioned above in the background art.
To achieve the above object, the invention provides the following technical scheme: a kind of ferry for photovoltaic module sweeping robot The automatic locking device of vehicle, the locking system are mounted on ferry bus one end, and the ferry bus setting is described on walking track Cleaning trolley is movably set on ferry bus, the walking track both ends are respectively arranged with terminal rail frame, the walking track It is provided with stop position on the inside of any end terminal rail frame, the walking track, which is located at stop position inside and is provided with ground, to be filled Electric system, the walking track side are provided with several row's photovoltaic modulies, are provided with extension on the outside of photovoltaic module described in every row Frame is stretched, the walking track, which is located at each row's photovoltaic module, is provided with locking positioning track frame, and the locking system includes stepping Motor, upper end mounting plate, active synchronization belt wheel, synchronous belt, driven synchronous pulley, upper end bearing block, sleeve, lower end mounting plate, Tapered end, hole retaining ring, rolling bearing, feed screw nut, lead screw, spring, locking push rod, locating snap ring, linear bearing, bottom end bearing Seat, spring cushion block, probe and pressure sensor, the stepper motor are fixed on upper end mounting plate lower end, the stepper motor Active synchronization belt wheel is fixed on output shaft, the lead screw is installed in the bearing block of upper end, and the upper end bearing block is nested in set In the hole of cylinder one end and it is fixed on upper end mounting plate, two side positions are respectively provided with rolling bearing inside the upper end bearing block, institute It states rolling bearing through hole to be fixed with retaining ring, the end of described lead screw one end is fixed with driven synchronous pulley, the driven synchronization By synchronous band connection between belt wheel and active synchronization belt wheel, the stepper motor by active synchronization belt wheel, synchronous belt and from Power is reached lead screw and lead screw is driven to rotate by dynamic synchronous pulley, and locking push rod is installed in linear bearing, the linear bearing It is fixed in the through-hole of bottom end bearing seat, the linear bearing both ends are fixed with locating snap ring, and the bottom end bearing seat is nested in set It is mutually fixed in the hole of the cylinder other end and by screw with lower end mounting plate, one end of the locking push rod passes through screw and lead screw spiral shell Mother is fixed, and the locking push rod other end has been threadably secured tapered end, and when locking system work, the lead screw is in stepping electricity Machine is rotated by, and the feed screw nut drives locking push rod to move up and down, and the probe is installed in the through-hole of tapered end, Tapered end end face certain distance is stretched out on the probe lower end head, and the pressure sensor is affixed on probe upper end face, the pressure Spring cushion block is covered on sensor, the spring is installed in the through-hole of locking push rod, the spring one end and feed screw nut End face contact, the spring other end are contacted with the upper surface of spring cushion block.
Preferably, the ferry bus includes ferry-boat chassis, the close switch in ferry bus lower end, ferry bus angular adjustment dress It sets, clean trolley braced frame, ferry bus height adjustment device, the close switch in ferry bus upper end, ferry bus driving device and group Close to switch, the ferry-boat chassis is by ferry bus angle adjustment device and ferry bus height adjustment device and cleans for part positioning Trolley braced frame is connected, and cleaning trolley braced frame one end is provided with ferry bus lower end close to switch, and the cleaning is small The vehicle braced frame other end is provided with ferry bus upper end close to switch, and the locking system is mounted on ferry-boat chassis one end, institute It states ferry-boat chassis installation locking system one end and is also equipped with ferry bus driving device and component positioning close to switch.
Preferably, the photovoltaic module is closely separately installed with component upper end close to switch baffle and group from walking track side The close switch baffle in part lower end.
Preferably, any side is equipped with close to switch baffle, the locking positioning on the inside of the locking positioning track frame Two sides are provided with locking orifice plate on the inside of track box.
Preferably, application method the following steps are included:
Step 1: firstly, walking between multiple rows of component for convenience of ferry bus and connecting multiple rows of component, ferry bus walking track cloth It is placed in component side, lower end is equipped with locking positioning track frame and terminal rail frame, wherein locking positioning track frame distinguishes position In the stop position of ferry bus and the corresponding position of every row's component side, for fixing ferry bus with locking system cooperation locking;
Step 2: when the work of sweeping robot system, ferry bus, which carries, cleans trolley from stop position, along walking track row Into will clean trolley and send to by every row's component, when ferry bus is arrived close to inductive switching positioned at component by the positioning of the component of bottom On other locking positioning track frame close to switch baffle when, ferry bus halts;
Step 3: after ferry bus stops completely, ferry bus locking system starts to act, and the stepper motor in locking system opens Dynamic, the active synchronization belt wheel on stepper motor output shaft is located at the driven synchronous pulley of lead screw upper end by synchronous belt driving, from Dynamic synchronous pulley drives lead screw rotation, and under the rotation of lead screw, the feed screw nut on lead screw moves up and down, and will be secured to Locking push rod together is released downwards, and during locking push rod moves downward, the tapered end of locking push rod end is inserted into position In in the through-hole of locking orifice plate, ferry bus and locking positioning track frame mutually being fixed, in locking push rod on locking positioning track frame During moving downward, dislocation is generated with locking orifice plate through-hole because ferry bus positioning is inaccurate for anti-throw-out lever position, is caused Tapered end and the interference of locking orifice plate are equipped with pressure sensor in the inside of tapered end, when tapered end is normally inserted into the through-hole of locking orifice plate, Pressure sensor will not trigger, and locking system can normally in place, robot continues to execute to be acted locking in next step;When tapered end and When locking orifice plate misplaces, during tapered end decline, the probe and locking orifice plate rims of tapered end end generate interference, at this point, Pressure sensor is triggered, and locking system and robot system stop acting in next step, and robot system issues alarm signal, mentions Inspection is adjusted in awake staff;
Step 4: when the normal locking of locking system, ferry bus continue in next step act, ferry bus height adjustment device and Ferry bus angle adjustment device successively acts, and passes through the close switch in ferry bus upper end and ferry bus lower end respectively close to inductive switching Identification is located at the component upper end on photovoltaic module close to switch baffle and component lower end close to switch baffle, will clean trolley and light Component accurate alignment is lied prostrate, later, trolley is cleaned and climbs up component, start to clean, and return to ferry bus after having cleaned every row's component;
Step 5: after cleaning trolley return ferry bus stopping, ferry bus angle adjustment device and ferry bus height adjustment device It successively acts, trolley will be cleaned and restored to default location, later, locking system is again started up, and stepper motor drives lead screw rotation, Locking push rod is removed from locking orifice plate by feed screw nut, ferry bus and locking positioning track frame cancel fixation, ferry bus Driving device starting, driving ferry bus are gone to next row component to continue to clean, are recycled with this, until last row's component, Or when sweeping robot not enough power supply, ferry bus, which carries, cleans trolley return stop position, and passes through locking system for ferry bus It is locked with the locking positioning track frame for being located at stop position.
Compared with prior art, the beneficial effects of the present invention are:
The present invention is a kind of locking system, which can be used in photovoltaic module sweeping robot ferry bus, realizes ferry bus Latch functions, compared to existing locking system, this locking system may be implemented in automatically will ferry-boat after ferry bus reaches stop position Vehicle is fixed with walking track, and ferry bus is prevented to be moved forward and backward and turn on one's side, and during locking, feeds back locking information, uses In judge locking system whether locking in place, improve sweeping robot system operation in safety.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is cross-sectional view of the invention.
Fig. 3 is sweeping robot ferry bus operation schematic diagram.
Fig. 4 is ferry bus structural schematic diagram.
Fig. 5 is locking positioning track mount structure schematic diagram.
In figure: 1- terminal rail frame;The ground 2- charging system;3- photovoltaic module;4- cleans trolley;The outer Extension support of 5-;6- Stop position;7- locking positioning track frame;8- walking track;9- ferry bus;10- ferry-boat chassis;11- ferry bus lower end is close to open It closes;12- ferry bus angle adjustment device;13- cleans trolley braced frame;14- ferry bus height adjustment device;15- ferry bus The close switch in upper end;16- ferry bus driving device;The close switch of 17- component positioning;18- locking system;19- stepper motor; The upper end 20- mounting plate;21- active synchronization belt wheel;22- synchronous belt;The driven synchronous pulley of 23-;The upper end 24- bearing block;25- set Cylinder;The lower end 26- mounting plate;27- tapered end;The hole 28- retaining ring;29- rolling bearing;30- feed screw nut;31- lead screw;32- spring; 33- locking push rod;34- locating snap ring;35- linear bearing;36- bottom end bearing seat;37- spring cushion block;38- probe;39- pressure passes Sensor;The close switch baffle in 40- component upper end;The close switch baffle in 41- component lower end;The close switch baffle of 42-;43- locking Orifice plate.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
The present invention provides a kind of technical solution referring to FIG. 1-2: a kind of for photovoltaic module sweeping robot ferry bus Automatic locking device, this locking system is mainly made of three parts, first is that the driving part of locking system, second is that locking system Locking component, third is that the feedback element of locking system.
The driving part of locking system is used to provide power for locking system, driving locking system normal work, mainly by Stepper motor 19, active synchronization belt wheel 21, synchronous belt 22, driven synchronous pulley 23 and lead screw 31 form, and stepper motor 19 is solid Due to 20 lower end of upper end mounting plate, active synchronization belt wheel 21 is fixed on output shaft.Lead screw 31 is installed on upper end bearing block 24 In, upper end bearing block 24 is nested in the hole of 25 one end of sleeve, and is fixed on upper end mounting plate 20, internal two side positions difference Equipped with rolling bearing 29,29 through hole of rolling bearing is fixed with retaining ring 28, prevents from moving.The end of 31 one end of lead screw be fixed with from Dynamic synchronous pulley 23, is connected between driven synchronous pulley 23 and active synchronization belt wheel 21 by synchronous belt 22.Stepper motor 19 is logical It crosses active synchronization belt wheel 21, synchronous belt 22 and driven synchronous pulley 23 and power is reached into lead screw 31, lead screw 31 is driven to rotate.
The locking component of locking system prevents ferry bus mobile, mainly by silk in structure for the fixed ferry bus of locking Thick stick nut 30, locking push rod 33, tapered end 27, locking positioning track frame 7 and locking orifice plate 43 form, and locking push rod 33 is installed on In linear bearing 35, linear bearing 35 is fixed in the through-hole of bottom end bearing seat 36, and both ends are fixed with locating snap ring 34, for preventing Only linear bearing 35 slides in bottom end bearing seat 36.Bottom end bearing seat 36 is nested in the hole of 25 other end of sleeve, and is passed through Screw is fixed with 26 phase of lower end mounting plate.One end of locking push rod 33 is fixed by screw and feed screw nut 30, and the other end passes through Being screwed has tapered end 27, and when locking system work, lead screw 31 is rotated by stepper motor 19,30 band of feed screw nut Dynamic locking push rod 33 moves up and down, and during moving downward, the insertion of tapered end 27 is located at locking positioning rail by locking push rod 33 On road frame 7 in the through-hole of locking orifice plate 43, ferry bus and locking positioning track frame are fixed.
The feedback element of locking system is mainly made of probe 38, pressure sensor 39, spring cushion block 37 and spring 32. Wherein, probe 38 is installed in the through-hole of tapered end 27, and 27 end face certain distance of tapered end is stretched out on lower end head.Pressure sensor 39 Be affixed on probe 38 upper end faces, be covered with spring cushion block 37 thereon, spring 32 is installed in the through-hole of locking push rod 33, one end with The end face of feed screw nut 30 contacts, and the other end is contacted with the upper surface of spring cushion block 37, by spring cushion block 37 to pressure sensing Device 39 presses.When locking system work, if ferry bus positioning is not accurate enough, in the process that locking push rod 33 moves downward In, tapered end 27 and locking orifice plate 43 generate interference, and 38 compressions of popping one's head at this time move upwards, and spring 32 is compressed, spring cushion block 37 The pressure of pressure sensor 39 is increased, the pressure changing information judgement lock that ferry-boat vehicle control is fed back according to pressure sensor The state of locking apparatus.
Automatic locking device of the invention is mainly used in photovoltaic module sweeping robot ferry bus, as shown in figure 3, being Operation schematic diagram of the ferry bus in sweeping robot system.The sweeping robot system is mainly by photovoltaic module 3, cleaning trolley 4, ferry bus 9, walking track 8, terminal rail frame 1, stop position 6, locking positioning track frame 7, outer Extension support 5 and ground charging System 2 forms.Locking system 18 is mounted on 9 one end of ferry bus, and the setting of ferry bus 9 is movable on ferry bus 9 on walking track 8 It is provided with and cleans trolley 4, walking 8 both ends of track are respectively arranged with terminal rail frame 1, and walking track 8 is located at one end terminal rail Stop position 6 is provided on the inside of frame 1, walking track 8, which is located on the inside of stop position, is provided with ground charging system 2,8 side of track of walking Several row's photovoltaic modulies 3 are provided with, outer Extension support 5 is provided on the outside of every row's photovoltaic module 3, walking track 8 is located at each row's light Locking positioning track frame 7 is provided at volt component 3.
As shown in figure 4, ferry bus 9 includes ferry-boat chassis 10, ferry bus lower end close switch 11, ferry bus angular adjustment Device 12 cleans trolley braced frame 13, ferry bus height adjustment device 14, the close switch 15 in ferry bus upper end, ferry bus drive Dynamic device 16 and component are positioned close to switch 17, and ferry-boat chassis 10 passes through ferry bus angle adjustment device 12 and ferry-boat height Regulating device 14 is connected with trolley braced frame 13 is cleaned, and it is close that cleaning 13 one end of trolley braced frame is provided with ferry bus lower end Switch 11 cleans 13 other end of trolley braced frame and is provided with ferry bus upper end close to switch 15, and locking system 18 is mounted on pendulum 10 one end of chassis is crossed, the ferry-boat installation of chassis 10 18 one end of locking system is also equipped with ferry bus driving device 16 and component is fixed The close switch 17 in position.
As shown in figure 5, photovoltaic module 3 is closely separately installed with component upper end close to switch baffle 40 from walking 8 side of track And component lower end, close to switch baffle 41, any side in 7 inside of locking positioning track frame is equipped with close to switch baffle 42, locking 7 inside both ends of positioning track frame are provided with locking orifice plate 43.
A kind of automatic locking device for photovoltaic module sweeping robot ferry bus, workflow include following step It is rapid:
Step 1: firstly, walking between multiple rows of component for convenience of ferry bus 9 and connecting multiple rows of component, ferry bus walking track 8 It is arranged in component side, lower end is equipped with locking positioning track frame 7 and terminal rail frame 1, wherein locking positioning track frame 7 It is located at the stop position 6 of ferry bus and the corresponding position of every row's component side, for fixing pendulum with locking system cooperation locking Cross vehicle;
Step 2: when the work of sweeping robot system, ferry bus 9, which carries, cleans trolley 4 from stop position 6s, along walking rail Road 8 is advanced, and will be cleaned trolley 4 and is sent to by every row's component, is sensed when ferry bus is positioned by the component of bottom close to switch 17 By the component on locking positioning track frame 7 close to switch baffle 42 when, ferry bus halts;
Step 3: after ferry bus stops completely, ferry bus locking system 18 starts to act, the stepper motor in locking system 18 19 start, and the active synchronization belt wheel 21 on stepper motor output shaft is located at the driven same of 31 upper end of lead screw by the driving of synchronous belt 22 Belt wheel 23 is walked, driven synchronous pulley 23 drives lead screw 31 to rotate, and under the rotation of lead screw 31, the feed screw nut 30 on lead screw 31 is done It moves up and down, and locking push rod 33 together will be secured to and released downwards, during locking push rod 33 moves downward, 33 end of locking push rod tapered end 27 insertion be located at locking positioning track frame 7 on locking orifice plate 43 through-hole in, by ferry bus 9 with 7 phase of locking positioning track frame is fixed, and prevents ferry bus from moving because of accident, is anti-during locking push rod 33 moves downward Throw-out lever position generates dislocation with 43 through-hole of locking orifice plate because ferry bus positioning is inaccurate, leads to tapered end 27 and locking orifice plate 43 Interference is equipped with pressure sensor 39 in the inside of tapered end 27, and when the normally through-hole of insertion locking orifice plate 43 of tapered end 27, pressure is passed Sensor 39 will not trigger, and locking system can normally in place, robot continues to execute to be acted locking in next step;When tapered end 27 and lock When only orifice plate 43 misplaces, during tapered end 27 declines, the probe 38 and 43 edge of locking orifice plate of 27 end of tapered end generate dry It relates to, at this point, pressure sensor 39 is triggered, locking system and robot system stop acting in next step, and robot system issues Alarm signal reminds staff that inspection is adjusted;
Step 4: when 18 normal locking of locking system, ferry bus continues to act in next step, ferry bus height adjustment device 14 and ferry bus angle adjustment device 12 successively act, approached respectively by ferry bus upper end close to switch 15 and ferry bus lower end Switch 11 incudes the close switch baffle 41 of the close switch baffle 40 in component upper end and component lower end that identification is located on photovoltaic module, Trolley 4 and 3 accurate alignment of photovoltaic module will be cleaned, later, trolley is cleaned and climbs up component, start to clean, and cleaning every row Ferry bus is returned after component;
Step 5: after cleaning trolley return ferry bus stopping, ferry bus angle adjustment device 12 and ferry bus height adjustment dress It sets 14 successively to act, trolley will be cleaned and restored to default location, later, locking system 18 is again started up, and stepper motor 19 drives Lead screw 31 rotates, and is removed locking push rod 33 from locking orifice plate 43 by feed screw nut 30, ferry bus and locking positioning track Frame 7, which is cancelled, to be fixed, and ferry bus driving device 16 starts, and driving ferry bus goes to next row component to continue to clean, and is followed with this Ring, until last row's component, or when sweeping robot not enough power supply, ferry bus 9, which carries, cleans the return stop position 6 of trolley 4, And locked ferry bus 9 with the locking positioning track frame 7 for being located at stop position 6 by locking system 18, prevent ferry bus from existing It is moved in stopped process because of accident.
Locking system of the invention automatically can ferry sweeping robot when photovoltaic sweeping robot moves stopping Vehicle is fixed with walking track locking, is solved the problems, such as ferry bus sliding transfer due to accident in the process of running, is improved machine Safety in device people's operational process.
Locking system of the invention has locking information feedback function, can feed back and lock to control system during locking Only whether information in place, solve common locking system lack during locking information feedback cause locking is not in place to ask Topic, improves the reliability of locking system.
Locking system of the invention be modularized design, can on separate unit ferry bus many places install, avoid ferry bus because The unexpected risk turned on one's side.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding And modification, the scope of the present invention is defined by the appended.

Claims (5)

1. a kind of automatic locking device for photovoltaic module sweeping robot ferry bus, the locking system are mounted on ferry bus One end, the ferry bus setting are movably set with cleaning trolley, the walking track two on walking track on the ferry bus End is respectively arranged with terminal rail frame, and the walking track, which is located on the inside of any end terminal rail frame, is provided with stop position, institute State walking track be located at stop position inside be provided with ground charging system, the walking track side is provided with several row's photovoltaic groups Part is provided with outer Extension support on the outside of photovoltaic module described in every row, and the walking track, which is located at each row's photovoltaic module, to be provided with Locking positioning track frame, it is characterised in that: the locking system includes stepper motor, upper end mounting plate, active synchronization belt wheel, same Walk band, driven synchronous pulley, upper end bearing block, sleeve, lower end mounting plate, tapered end, hole retaining ring, rolling bearing, feed screw nut, Lead screw, spring, locking push rod, locating snap ring, linear bearing, bottom end bearing seat, spring cushion block, probe and pressure sensor, it is described Stepper motor is fixed on upper end mounting plate lower end, and active synchronization belt wheel, the silk are fixed on the output shaft of the stepper motor Thick stick is installed in the bearing block of upper end, and the upper end bearing block is nested in the hole of sleeve one end and is fixed on upper end mounting plate, institute It states two side positions inside the bearing block of upper end and is respectively provided with rolling bearing, the rolling bearing through hole is fixed with retaining ring, the silk The end of thick stick one end is fixed with driven synchronous pulley, is connected between the driven synchronous pulley and active synchronization belt wheel by synchronous belt It connects, power is reached lead screw by active synchronization belt wheel, synchronous belt and driven synchronous pulley and drives lead screw by the stepper motor Rotation, the locking push rod are installed in linear bearing, and the linear bearing is fixed in the through-hole of bottom end bearing seat, described straight Spool holds both ends and is fixed with locating snap ring, and the bottom end bearing seat is nested in the hole of the sleeve other end and is pacified by screw and lower end Loading board is mutually fixed, and one end of the locking push rod is fixed by screw and feed screw nut, and the locking push rod other end passes through spiral shell Line is fixed with tapered end, and when locking system work, lead screw being rotated by stepper motor, the feed screw nut are driven Locking push rod moves up and down, and the probe is installed in the through-hole of tapered end, and tapered end end face one is stretched out on the probe lower end head Set a distance, the pressure sensor are affixed on probe upper end face, and spring cushion block, the spring peace are covered on the pressure sensor In through-hole loaded on locking push rod, the spring one end is contacted with the end face of feed screw nut, the spring other end and spring pad The upper surface of block contacts.
2. a kind of automatic locking device for photovoltaic module sweeping robot ferry bus according to claim 1, special Sign is: the ferry bus is small close to switch, ferry bus angle adjustment device, cleaning including ferry-boat chassis, ferry bus lower end Vehicle braced frame, ferry bus height adjustment device, ferry bus upper end are close close to switch, ferry bus driving device and component positioning Switch, the ferry-boat chassis is by ferry bus angle adjustment device and ferry bus height adjustment device and cleans trolley support frame Frame is connected, and cleaning trolley braced frame one end is provided with ferry bus lower end close to switch, the cleaning trolley braced frame The other end is provided with ferry bus upper end close to switch, and the locking system is mounted on ferry-boat chassis one end, the ferry bus bottom Disk installation locking system one end is also equipped with ferry bus driving device and component positioning close to switch.
3. a kind of automatic locking device for photovoltaic module sweeping robot ferry bus according to claim 1, special Sign is: the photovoltaic module is closely separately installed under the close switch baffle in component upper end and component from walking track side and terminates Nearly switch baffle.
4. a kind of automatic locking device for photovoltaic module sweeping robot ferry bus according to claim 1, special Sign is: any side, which is equipped with, on the inside of the locking positioning track frame approaches switch baffle, in the locking positioning track frame Side two sides are provided with locking orifice plate.
5. a kind of automatic locking device for photovoltaic module sweeping robot ferry bus according to claim 1, special Sign is: its application method the following steps are included:
Step 1: firstly, walking between multiple rows of component for convenience of ferry bus and connecting multiple rows of component, ferry bus walking track cloth It is placed in component side, lower end is equipped with locking positioning track frame and terminal rail frame, wherein locking positioning track frame distinguishes position In the stop position of ferry bus and the corresponding position of every row's component side, for fixing ferry bus with locking system cooperation locking;
Step 2: when the work of sweeping robot system, ferry bus, which carries, cleans trolley from stop position, along walking track row Into will clean trolley and send to by every row's component, when ferry bus is arrived close to inductive switching positioned at component by the positioning of the component of bottom On other locking positioning track frame close to switch baffle when, ferry bus halts;
Step 3: after ferry bus stops completely, ferry bus locking system starts to act, and the stepper motor in locking system opens Dynamic, the active synchronization belt wheel on stepper motor output shaft is located at the driven synchronous pulley of lead screw upper end by synchronous belt driving, from Dynamic synchronous pulley drives lead screw rotation, and under the rotation of lead screw, the feed screw nut on lead screw moves up and down, and will be secured to Locking push rod together is released downwards, and during locking push rod moves downward, the tapered end of locking push rod end is inserted into position In in the through-hole of locking orifice plate, ferry bus and locking positioning track frame mutually being fixed, in locking push rod on locking positioning track frame During moving downward, dislocation is generated with locking orifice plate through-hole because ferry bus positioning is inaccurate for anti-throw-out lever position, is caused Tapered end and the interference of locking orifice plate are equipped with pressure sensor in the inside of tapered end, when tapered end is normally inserted into the through-hole of locking orifice plate, Pressure sensor will not trigger, and locking system can normally in place, robot continues to execute to be acted locking in next step;When tapered end and When locking orifice plate misplaces, during tapered end decline, the probe and locking orifice plate rims of tapered end end generate interference, at this point, Pressure sensor is triggered, and locking system and robot system stop acting in next step, and robot system issues alarm signal, mentions Inspection is adjusted in awake staff;
Step 4: when the normal locking of locking system, ferry bus continue in next step act, ferry bus height adjustment device and Ferry bus angle adjustment device successively acts, and passes through the close switch in ferry bus upper end and ferry bus lower end respectively close to inductive switching Identification is located at the component upper end on photovoltaic module close to switch baffle and component lower end close to switch baffle, will clean trolley and light Component accurate alignment is lied prostrate, later, trolley is cleaned and climbs up component, start to clean, and return to ferry bus after having cleaned every row's component;
Step 5: after cleaning trolley return ferry bus stopping, ferry bus angle adjustment device and ferry bus height adjustment device It successively acts, trolley will be cleaned and restored to default location, later, locking system is again started up, and stepper motor drives lead screw rotation, Locking push rod is removed from locking orifice plate by feed screw nut, ferry bus and locking positioning track frame cancel fixation, ferry bus Driving device starting, driving ferry bus are gone to next row component to continue to clean, are recycled with this, until last row's component, Or when sweeping robot not enough power supply, ferry bus, which carries, cleans trolley return stop position, and passes through locking system for ferry bus It is locked with the locking positioning track frame for being located at stop position.
CN201910779118.1A 2019-08-22 2019-08-22 Automatic locking device for ferry vehicle with photovoltaic module cleaning robot Active CN110524578B (en)

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